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Merged
merged 3 commits into from
Oct 28, 2022
Merged

Configure module using keys #355

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879d4b4
Begin moving to val get/set method for config of ZED
nseidle Oct 27, 2022
c7a2223
Move to get/set val method for configuring ZED
nseidle Oct 27, 2022
48ea1ee
Convert Timepulse to get/set val
nseidle Oct 28, 2022
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167 changes: 87 additions & 80 deletions Firmware/RTK_Surveyor/Base.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -3,9 +3,6 @@ bool configureUbloxModuleBase()
{
if (online.gnss == false) return (false);

bool response = true;
int maxWait = 2000;

//If our settings haven't changed, and this is first config since power on, trust ZED's settings
if (settings.updateZEDSettings == false && firstPowerOn == true)
{
Expand All @@ -18,76 +15,73 @@ bool configureUbloxModuleBase()

i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM

const int baseNavigationFrequency = 1;

//In Base mode we force 1Hz
if (i2cGNSS.getNavigationFrequency(maxWait) != baseNavigationFrequency)
response &= i2cGNSS.setNavigationFrequency(baseNavigationFrequency, maxWait);
if (response == false)
Serial.println("setNavigationFrequency failed");
i2cGNSS.setNMEAGPGGAcallbackPtr(NULL); // Disable GPGGA call back that may have been set during Rover NTRIP Client mode

i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
bool response = true;

i2cGNSS.setNMEAGPGGAcallbackPtr(NULL); // Disable GPGGA call back that may have been set during Rover NTRIP Client mode
i2cGNSS.disableNMEAMessage(UBX_NMEA_GGA, COM_PORT_I2C); // Disable NMEA message that may have been set during Rover NTRIP Client mode
//In Base mode we force 1Hz
response &= i2cGNSS.newCfgValset16(UBLOX_CFG_RATE_MEAS, 1000);
response &= i2cGNSS.addCfgValset16(UBLOX_CFG_RATE_NAV, 1);

response = i2cGNSS.setSurveyMode(0, 0, 0); //Disable Survey-In or Fixed Mode
if (response == false)
Serial.println("Disable TMODE3 failed");
//Since we are at 1Hz, allow GSV NMEA to be reported at whatever the user has chosen
response &= i2cGNSS.addCfgValset8(settings.ubxMessages[8].msgConfigKey, settings.ubxMessages[8].msgRate); //Update rate on module

// Set dynamic model
if (i2cGNSS.getDynamicModel(maxWait) != DYN_MODEL_STATIONARY)
{
response &= i2cGNSS.setDynamicModel(DYN_MODEL_STATIONARY, maxWait);
if (response == false)
{
Serial.println("setDynamicModel failed");
return (false);
}
}
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_NMEA_ID_GGA_I2C, 0); // Disable NMEA message that may have been set during Rover NTRIP Client mode

#define OUTPUT_SETTING 14
//Survey mode is only available on ZED-F9P modules
if (zedModuleType == PLATFORM_F9P)
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_TMODE_MODE, 0); //Disable survey-in mode

//Turn on RTCM so that we can harvest RTCM over I2C and send out over WiFi
//This is easier than parsing over UART because the library handles the frame detection
getPortSettings(COM_PORT_I2C); //Load the settingPayload with this port's settings
if (settingPayload[OUTPUT_SETTING] != (COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3))
response &= i2cGNSS.setPortOutput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3); //Set the I2C port to output UBX (config), and RTCM3 (casting)
//response &= i2cGNSS.setPortOutput(COM_PORT_I2C, COM_TYPE_UBX | COM_TYPE_RTCM3); //Not a valid state. Goes to UBX+NMEA+RTCM3
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_NAVSPG_DYNMODEL, (dynModel)settings.dynamicModel); // Set dynamic model

//In base mode the Surveyor should output RTCM over all ports:
//In base mode the RTK device should output RTCM over all ports:
//(Primary) UART2 in case the Surveyor is connected via radio to rover
//(Optional) I2C in case user wants base to connect to WiFi and NTRIP Caster
//(Seconday) USB in case the Surveyor is used as an NTRIP caster connected to SBC or other
//(Tertiary) UART1 in case Surveyor is sending RTCM to phone that is then NTRIP Caster
response &= enableRTCMSentences(COM_PORT_UART2);
response &= enableRTCMSentences(COM_PORT_UART1);
response &= enableRTCMSentences(COM_PORT_USB);
response &= enableRTCMSentences(COM_PORT_I2C); //Enable for plain radio so we can count RTCM packets for display

//If enabled, adjust GSV NMEA to be reported at 1Hz
if (settings.ubxMessages[8].msgRate > baseNavigationFrequency)
setMessageRateByName("UBX_NMEA_GSV", baseNavigationFrequency); //Update GSV setting in file

response &= configureGNSSMessageRates(COM_PORT_UART1, settings.ubxMessages); //In the interest of logging, make sure the appropriate messages are enabled
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_I2C, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_I2C, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_I2C, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_I2C, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_I2C, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_I2C, 1);

response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_USB, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_USB, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_USB, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_USB, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_USB, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_USB, 1);

response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_UART1, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_UART1, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_UART1, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_UART1, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_UART1, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_UART1, 1);

response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_UART2, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_UART2, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_UART2, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_UART2, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_UART2, 1);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_UART2, 1);

response &= i2cGNSS.sendCfgValset8(UBLOX_CFG_MSGOUT_NMEA_ID_VTG_SPI, 0); //Dummy closing value - #31

if (response == false)
{
Serial.println("RTCM settings failed to enable");
return (false);
}

response &= i2cGNSS.saveConfiguration(); //Save the current settings to flash and BBR
if (response == false)
Serial.println("Module failed to save.");
Serial.println("Base config fail");

return (response);
}

//Start survey
//The ZED-F9P is slightly different than the NEO-M8P. See the Integration manual 3.5.8 for more info.
bool beginSurveyIn()
bool surveyInStart()
{
i2cGNSS.setVal8(UBLOX_CFG_TMODE_MODE, 0); //Disable survey-in mode
delay(100);

bool needSurveyReset = false;
if (i2cGNSS.getSurveyInActive(100) == true) needSurveyReset = true;
if (i2cGNSS.getSurveyInValid(100) == true) needSurveyReset = true;
Expand All @@ -96,17 +90,19 @@ bool beginSurveyIn()
{
Serial.println("Resetting survey");

if (resetSurvey() == false)
if (surveyInReset() == false)
{
Serial.println("Survey reset failed");
if (resetSurvey() == false)
{
if (surveyInReset() == false)
Serial.println("Survey reset failed - 2nd attempt");
}
}
}

bool response = i2cGNSS.enableSurveyMode(settings.observationSeconds, settings.observationPositionAccuracy, 5000); //Enable Survey in, with user parameters. Wait up to 5s.
bool response = true;
response &= i2cGNSS.setVal8(UBLOX_CFG_TMODE_MODE, 1); //Survey-in enable
response &= i2cGNSS.setVal32(UBLOX_CFG_TMODE_SVIN_ACC_LIMIT, settings.observationPositionAccuracy * 10000);
response &= i2cGNSS.setVal32(UBLOX_CFG_TMODE_SVIN_MIN_DUR, settings.observationSeconds);

if (response == false)
{
Serial.println("Survey start failed");
Expand All @@ -130,16 +126,23 @@ bool beginSurveyIn()
return (true);
}

bool resetSurvey()
//Slightly modified method for restarting survey-in from: https://portal.u-blox.com/s/question/0D52p00009IsVoMCAV/restarting-surveyin-on-an-f9p
bool surveyInReset()
{
int maxWait = 2000;
bool response = true;

//Slightly modified method for restarting survey-in from: https://portal.u-blox.com/s/question/0D52p00009IsVoMCAV/restarting-surveyin-on-an-f9p
bool response = i2cGNSS.setSurveyMode(maxWait, 0, 0); //Disable Survey-In or Fixed Mode
//Disable survey-in mode
response &= i2cGNSS.setVal8(UBLOX_CFG_TMODE_MODE, 0);
delay(1000);
response &= i2cGNSS.enableSurveyMode(1000, 400.000, maxWait); //Enable Survey in with bogus values

//Enable Survey in with bogus values
response &= i2cGNSS.newCfgValset8(UBLOX_CFG_TMODE_MODE, 1); //Survey-in enable
response &= i2cGNSS.addCfgValset32(UBLOX_CFG_TMODE_SVIN_ACC_LIMIT, 40 * 10000); //40.0m
response &= i2cGNSS.sendCfgValset32(UBLOX_CFG_TMODE_SVIN_MIN_DUR, 1000); //1000s
delay(1000);
response &= i2cGNSS.setSurveyMode(maxWait, 0, 0); //Disable Survey-In or Fixed Mode

//Disable survey-in mode
response &= i2cGNSS.setVal8(UBLOX_CFG_TMODE_MODE, 0);

if (response == false)
return (response);
Expand All @@ -159,8 +162,7 @@ bool resetSurvey()
//Start the base using fixed coordinates
bool startFixedBase()
{
bool response = false;
int maxWait = 2000;
bool response = true;

if (settings.fixedBaseCoordinateType == COORD_TYPE_ECEF)
{
Expand All @@ -179,20 +181,23 @@ bool startFixedBase()

//Units are cm with a high precision extension so -1234.5678 should be called: (-123456, -78)
//-1280208.308,-4716803.847,4086665.811 is SparkFun HQ so...
response = i2cGNSS.setStaticPosition(majorEcefX, minorEcefX,
majorEcefY, minorEcefY,
majorEcefZ, minorEcefZ,
false,
maxWait
); //With high precision 0.1mm parts

response &= i2cGNSS.newCfgValset8(UBLOX_CFG_TMODE_MODE, 2); //Fixed
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_TMODE_POS_TYPE, 0); //Position in ECEF
response &= i2cGNSS.addCfgValset32(UBLOX_CFG_TMODE_ECEF_X, majorEcefX);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_TMODE_ECEF_X_HP, minorEcefX);
response &= i2cGNSS.addCfgValset32(UBLOX_CFG_TMODE_ECEF_Y, majorEcefY);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_TMODE_ECEF_Y_HP, minorEcefY);
response &= i2cGNSS.addCfgValset32(UBLOX_CFG_TMODE_ECEF_Z, majorEcefZ);
response &= i2cGNSS.sendCfgValset8(UBLOX_CFG_TMODE_ECEF_Z_HP, minorEcefZ);
}
else if (settings.fixedBaseCoordinateType == COORD_TYPE_GEODETIC)
{
//Add height of instrument (HI) to fixed altitude
//https://www.e-education.psu.edu/geog862/node/1853
//For example, if HAE is at 100.0m, + 2m stick + 73mm ARP = 102.073
float totalFixedAltitude = settings.fixedAltitude + (settings.antennaHeight / 1000.0) + (settings.antennaReferencePoint / 1000.0);

//Break coordinates into main and high precision parts
//The type casting should not effect rounding of original double cast coordinate
int64_t majorLat = settings.fixedLat * 10000000;
Expand All @@ -214,12 +219,14 @@ bool startFixedBase()
// Serial.printf("major (should be 156022): %ld\r\n", majorAlt);
// Serial.printf("minor (should be 84): %ld\r\n", minorAlt);

response = i2cGNSS.setStaticPosition(
majorLat, minorLat,
majorLong, minorLong,
majorAlt, minorAlt,
true, //Use lat/long as input
maxWait);
response &= i2cGNSS.newCfgValset8(UBLOX_CFG_TMODE_MODE, 2); //Fixed
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_TMODE_POS_TYPE, 1); //Position in LLH
response &= i2cGNSS.addCfgValset32(UBLOX_CFG_TMODE_LAT, majorLat);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_TMODE_LAT_HP, minorLat);
response &= i2cGNSS.addCfgValset32(UBLOX_CFG_TMODE_LON, majorLong);
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_TMODE_LON_HP, minorLong);
response &= i2cGNSS.addCfgValset32(UBLOX_CFG_TMODE_HEIGHT, majorAlt);
response &= i2cGNSS.sendCfgValset8(UBLOX_CFG_TMODE_HEIGHT_HP, minorAlt);
}

return (response);
Expand Down Expand Up @@ -251,7 +258,7 @@ void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
{
rtcmLastReceived = millis();
rtcmBytesSent++;

ntripServerProcessRTCM(incoming);

espnowProcessRTCM(incoming);
Expand Down
95 changes: 15 additions & 80 deletions Firmware/RTK_Surveyor/Begin.ino
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -336,7 +336,7 @@ void beginUART2()
//Allows more time between when the UART interrupt occurs and when the FIFO buffer overruns
//serialGNSS.setRxFIFOFull(50); //Available in >v2.0.5
uart_set_rx_full_threshold(2, 50); //uart_num, threshold

// if (pinUART2TaskHandle == NULL) xTaskCreatePinnedToCore(
// pinUART2Task,
// "UARTStart", //Just for humans
Expand Down Expand Up @@ -367,65 +367,6 @@ void pinUART2Task( void *pvParameters )
vTaskDelete( NULL ); //Delete task once it has run once
}

//Serial Read/Write tasks for the F9P must be started after BT is up and running otherwise SerialBT->available will cause reboot
void startUART2Tasks()
{
//Reads data from ZED and stores data into circular buffer
if (F9PSerialReadTaskHandle == NULL)
xTaskCreate(
F9PSerialReadTask, //Function to call
"F9Read", //Just for humans
readTaskStackSize, //Stack Size
NULL, //Task input parameter
F9PSerialReadTaskPriority, //Priority
&F9PSerialReadTaskHandle); //Task handle

//Reads data from circular buffer and sends data to SD, SPP, or TCP
if (handleGNSSDataTaskHandle == NULL)
xTaskCreate(
handleGNSSDataTask, //Function to call
"handleGNSSData", //Just for humans
handleGNSSDataTaskStackSize, //Stack Size
NULL, //Task input parameter
handleGNSSDataTaskPriority, //Priority
&handleGNSSDataTaskHandle); //Task handle

//Reads data from BT and sends to ZED
if (F9PSerialWriteTaskHandle == NULL)
xTaskCreate(
F9PSerialWriteTask, //Function to call
"F9Write", //Just for humans
writeTaskStackSize, //Stack Size
NULL, //Task input parameter
F9PSerialWriteTaskPriority, //Priority
&F9PSerialWriteTaskHandle); //Task handle
}

//Stop tasks - useful when running firmware update or WiFi AP is running
void stopUART2Tasks()
{
//Delete tasks if running
if (F9PSerialReadTaskHandle != NULL)
{
vTaskDelete(F9PSerialReadTaskHandle);
F9PSerialReadTaskHandle = NULL;
}
if (handleGNSSDataTaskHandle != NULL)
{
vTaskDelete(handleGNSSDataTaskHandle);
handleGNSSDataTaskHandle = NULL;
}
if (F9PSerialWriteTaskHandle != NULL)
{
vTaskDelete(F9PSerialWriteTaskHandle);
F9PSerialWriteTaskHandle = NULL;
}

//Give the other CPU time to finish
//Eliminates CPU bus hang condition
delay(100);
}

void beginFS()
{
if (online.fs == false)
Expand Down Expand Up @@ -712,39 +653,33 @@ bool beginExternalTriggers()
return (true);
}

UBX_CFG_TP5_data_t timePulseParameters;
if (settings.dataPortChannel != MUX_PPS_EVENTTRIGGER)
return (true); //No need to configure PPS if port is not selected

if (i2cGNSS.getTimePulseParameters(&timePulseParameters) == false)
log_e("getTimePulseParameters failed!");
bool response = true;

timePulseParameters.tpIdx = 0; // Select the TIMEPULSE pin
response &= i2cGNSS.newCfgValset8(UBLOX_CFG_TP_USE_LOCKED_TP1, 1); //Use CFG-TP-PERIOD_LOCK_TP1 and CFG-TP-LEN_LOCK_TP1 as soon as GNSS time is valid
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_TP_TP1_ENA, settings.enableExternalPulse); //Enable/disable timepulse
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_TP_PULSE_DEF, 0); //Time pulse definition is a period (in us)
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_TP_PULSE_LENGTH_DEF, 1); //Define timepulse by length (not ratio)
response &= i2cGNSS.addCfgValset8(UBLOX_CFG_TP_POL_TP1, settings.externalPulsePolarity); //0 = falling, 1 = raising edge

// While the module is _locking_ to GNSS time, turn off pulse
timePulseParameters.freqPeriod = 1000000; //Set the period between pulses in us
timePulseParameters.pulseLenRatio = 0; //Set the pulse length in us
response &= i2cGNSS.addCfgValset32(UBLOX_CFG_TP_PERIOD_TP1, 1000000); //Set the period between pulses in us
response &= i2cGNSS.addCfgValset32(UBLOX_CFG_TP_LEN_TP1, 0); //Set the pulse length in us

// When the module is _locked_ to GNSS time, make it generate 1kHz
timePulseParameters.freqPeriodLock = settings.externalPulseTimeBetweenPulse_us; //Set the period between pulses is us
timePulseParameters.pulseLenRatioLock = settings.externalPulseLength_us; //Set the pulse length in us

timePulseParameters.flags.bits.active = settings.enableExternalPulse; //Make sure the active flag is set to enable the time pulse. (Set to 0 to disable.)
timePulseParameters.flags.bits.lockedOtherSet = 1; //Tell the module to use freqPeriod while locking and freqPeriodLock when locked to GNSS time
timePulseParameters.flags.bits.isFreq = 0; //Tell the module that we want to set the period
timePulseParameters.flags.bits.isLength = 1; //Tell the module that pulseLenRatio is a length (in us)
timePulseParameters.flags.bits.polarity = (uint8_t)settings.externalPulsePolarity; //Rising or failling edge type pulse
response &= i2cGNSS.addCfgValset32(UBLOX_CFG_TP_PERIOD_LOCK_TP1, settings.externalPulseTimeBetweenPulse_us); //Set the period between pulses is us
response &= i2cGNSS.sendCfgValset32(UBLOX_CFG_TP_LEN_LOCK_TP1, settings.externalPulseLength_us); //Set the pulse length in us

if (i2cGNSS.setTimePulseParameters(&timePulseParameters, 1000) == false)
log_e("setTimePulseParameters failed!");
if (response == false)
Serial.println("beginExternalTriggers config failed");

if (settings.enableExternalHardwareEventLogging == true)
i2cGNSS.setAutoTIMTM2callback(&eventTriggerReceived); //Enable automatic TIM TM2 messages with callback to eventTriggerReceived
else
i2cGNSS.setAutoTIMTM2callback(NULL);

bool response = i2cGNSS.saveConfiguration(); //Save the current settings to flash and BBR
if (response == false)
Serial.println("Module failed to save.");

return (response);
}

Expand Down
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