Real time delivery of ESF-RAW. Add cyclic logging, profiles, faster boot time.

Binaries/readme.md

@@ -2,4 +2,10 @@ This folder contains the various firmware versions for RTK Products (Surveyor, E
 
 esptool.exe --chip esp32 --port COM4 --baud 921600 --before default_reset --after hard_reset write_flash -z --flash_mode dio --flash_freq 80m --flash_size detect 0x1000 ./bin/RTK_Surveyor.ino.bootloader.bin 0x8000 ./bin/RTK_Surveyor.ino.partitions.bin 0xe000 ./bin/boot_app0.bin 0x10000 ./RTK_Surveyor_Firmware_vxx.bin
 
-Where *COM4* is replaced with the COM port that the RTK product enumerated at and *RTK_Surveyor_Firmware_vxx.bin* is the firmware you would like to load.
+Where *COM4* is replaced with the COM port that the RTK product enumerated at and *RTK_Surveyor_Firmware_vxx.bin* is the firmware you would like to load.
+
+---------------------
+
+### Force Firmware Loading
+
+In the rare event a unit is not staying on long enough for new firmware to be loaded into a COM port, the RTK Firmware (as of version 1.2) has an override function. If a file named *RTK_Surveyor_Firmware_Force.bin* is detected on the SD card at boot that file will be used to overwrite the current firmware, and then be deleted. This update path is generally not recommend. Use the [WiFi OTA method](https://learn.sparkfun.com/tutorials/sparkfun-rtk-facet-hookup-guide/all#firmware-updates-and-customization) or via the serial menu as first resort.

Firmware/RTK_Surveyor/AP-Config/index.html

@@ -874,55 +874,57 @@ <h2>
                     </div>
 
                     <div class="form-group row">
-                        <label for="wifiSSID" class="box-margin20 col-sm-3 col-4 col-form-label">WiFi
+                        <label for="ntripServer_wifiSSID" class="box-margin20 col-sm-3 col-4 col-form-label">WiFi
                             SSID:</label>
                         <div class="col-sm-8 col-7">
-                            <input type="text" class="form-control" id="wifiSSID">
-                            <p id="wifiSSIDError" class="inlineError"></p>
+                            <input type="text" class="form-control" id="ntripServer_wifiSSID">
+                            <p id="ntripServer_wifiSSIDError" class="inlineError"></p>
                         </div>
                     </div>
 
                     <div class="form-group row">
-                        <label for="wifiPW" class="box-margin20 col-sm-3 col-4 col-form-label">WiFi PW:</label>
+                        <label for="ntripServer_wifiPW" class="box-margin20 col-sm-3 col-4 col-form-label">WiFi
+                            PW:</label>
                         <div class="col-sm-8 col-7">
-                            <input type="text" class="form-control" id="wifiPW">
-                            <p id="wifiPWError" class="inlineError"></p>
+                            <input type="text" class="form-control" id="ntripServer_wifiPW">
+                            <p id="ntripServer_wifiPWError" class="inlineError"></p>
                         </div>
                     </div>
 
                     <div class="form-group row">
-                        <label for="casterHost" class="box-margin20 col-sm-3 col-5 col-form-label">Caster
+                        <label for="ntripServer_CasterHost" class="box-margin20 col-sm-3 col-5 col-form-label">Caster
                             Host:</label>
                         <div class="col-sm-8 col-6">
-                            <input type="text" class="form-control" id="casterHost">
-                            <p id="casterHostError" class="inlineError"></p>
+                            <input type="text" class="form-control" id="ntripServer_CasterHost">
+                            <p id="ntripServer_CasterHostError" class="inlineError"></p>
                         </div>
                     </div>
 
                     <div class="form-group row">
-                        <label for="casterPort" class="box-margin20 col-sm-3 col-5 col-form-label">Caster
+                        <label for="ntripServer_CasterPort" class="box-margin20 col-sm-3 col-5 col-form-label">Caster
                             Port:</label>
                         <div class="col-sm-8 col-6">
-                            <input type="text" class="form-control" id="casterPort">
-                            <p id="casterPortError" class="inlineError"></p>
+                            <input type="text" class="form-control" id="ntripServer_CasterPort">
+                            <p id="ntripServer_CasterPortError" class="inlineError"></p>
                         </div>
                     </div>
 
                     <div class="form-group row">
-                        <label for="mountPointUpload" class="box-margin20 col-sm-3 col-5 col-form-label">Mount
+                        <label for="ntripServer_MountPoint" class="box-margin20 col-sm-3 col-5 col-form-label">Mount
                             Point:</label>
                         <div class="col-sm-8 col-6">
-                            <input type="text" class="form-control" id="mountPointUpload">
-                            <p id="mountPointUploadError" class="inlineError"></p>
+                            <input type="text" class="form-control" id="ntripServer_MountPoint">
+                            <p id="ntripServer_MountPointError" class="inlineError"></p>
                         </div>
                     </div>
 
                     <div class="form-group row">
-                        <label for="mountPointUploadPW" class="box-margin20 col-sm-4 col-6 col-form-label">Mount Point
+                        <label for="ntripServer_MountPointPW" class="box-margin20 col-sm-4 col-6 col-form-label">Mount
+                            Point
                             PW:</label>
                         <div class="col-sm-7 col-5">
-                            <input type="text" class="form-control" id="mountPointUploadPW">
-                            <p id="mountPointUploadPWError" class="inlineError"></p>
+                            <input type="text" class="form-control" id="ntripServer_MountPointPW">
+                            <p id="ntripServer_MountPointPWError" class="inlineError"></p>
                         </div>
                     </div>
                 </div>
@@ -1046,7 +1048,7 @@ <h2>
                         <div class="col-sm-4 col-9 form-group">
                             <label for="maxLogTime_minutes" class="form-group box-margin20">Max Log
                                 Time (min):</label><span class="tt" data-bs-placement="right"
-                                title="Once the max log time is achieved, logging will cease. This is useful for limiting long term, overnight, static surveys to a certain length of time. Default: 600 minutes. Limit: 1 to 2880 minutes.">
+                                title="Once the max log time is achieved, logging will cease. This is useful for limiting long term, overnight, static surveys to a certain length of time. Default: 1440 minutes. Limit: 1 to 2880 minutes.">
                                 <span class="icon-info-circle text-primary ms-2"></span>
                             </span>
                         </div>
@@ -1055,7 +1057,21 @@ <h2>
                             <input type="number" class="form-control" id="maxLogTime_minutes">
                             <p id="maxLogTime_minutesError" class="inlineError"></p>
                         </div>
+                    </div>
 
+                    <div id="maxLogLength Input" class="row">
+                        <div class="col-sm-4 col-9 form-group">
+                            <label for="maxLogLength_minutes" class="form-group box-margin20">Max Log
+                                Length (min):</label><span class="tt" data-bs-placement="right"
+                                title="Once this length of time is achieved, a new log will be created. This is useful for creating multiple logs over a long survey. Default: 1440 minutes. Limit: 1 to 2880 minutes.">
+                                <span class="icon-info-circle text-primary ms-2"></span>
+                            </span>
+                        </div>
+
+                        <div class="col-sm-4 col-5 ms-3 form-group">
+                            <input type="number" class="form-control" id="maxLogLength_minutes">
+                            <p id="maxLogLength_minutesError" class="inlineError"></p>
+                        </div>
                     </div>
 
                     <div class="form-check mt-3">

Firmware/RTK_Surveyor/AP-Config/src/main.js

@@ -288,20 +288,21 @@ function validateFields() {
     checkElementValue("fixedEcefX", -5000000, 5000000, "Must be -5000000 to 5000000", "collapseBaseConfig");
     checkElementValue("fixedEcefY", -5000000, 5000000, "Must be -5000000 to 5000000", "collapseBaseConfig");
     if (ge("fixedEcefZ").value == 0.0) ge("fixedEcefZ").value = 4084500;
-    checkElementValue("fixedEcefZ", 4084500, 5000000, "Must be 4084500 to 5000000", "collapseBaseConfig");
+    checkElementValue("fixedEcefZ", 3300000, 5000000, "Must be 3300000 to 5000000", "collapseBaseConfig");
     checkElementValue("fixedLat", -180, 180, "Must be -180 to 180", "collapseBaseConfig");
     checkElementValue("fixedLong", -180, 180, "Must be -180 to 180", "collapseBaseConfig");
-    checkElementValue("fixedAltitude", 0, 8849, "Must be 0 to 8849", "collapseBaseConfig");
+    checkElementValue("fixedAltitude", -11034, 8849, "Must be -11034 to 8849", "collapseBaseConfig");
 
-    checkElementString("wifiSSID", 1, 30, "Must be 1 to 30 characters", "collapseBaseConfig");
-    checkElementString("wifiPW", 0, 30, "Must be 0 to 30 characters", "collapseBaseConfig");
-    checkElementString("casterHost", 1, 30, "Must be 1 to 30 characters", "collapseBaseConfig");
-    checkElementValue("casterPort", 1, 99999, "Must be 1 to 99999", "collapseBaseConfig");
-    checkElementString("mountPointUpload", 1, 30, "Must be 1 to 30 characters", "collapseBaseConfig");
-    checkElementString("mountPointUploadPW", 1, 30, "Must be 1 to 30 characters", "collapseBaseConfig");
+    checkElementString("ntripServer_wifiSSID", 1, 30, "Must be 1 to 30 characters", "collapseBaseConfig");
+    checkElementString("ntripServer_wifiPW", 0, 30, "Must be 0 to 30 characters", "collapseBaseConfig");
+    checkElementString("ntripServer_CasterHost", 1, 30, "Must be 1 to 30 characters", "collapseBaseConfig");
+    checkElementValue("ntripServer_CasterPort", 1, 99999, "Must be 1 to 99999", "collapseBaseConfig");
+    checkElementString("ntripServer_MountPoint", 1, 30, "Must be 1 to 30 characters", "collapseBaseConfig");
+    checkElementString("ntripServer_MountPointPW", 1, 30, "Must be 1 to 30 characters", "collapseBaseConfig");
 
     //System Config
     checkElementValue("maxLogTime_minutes", 1, 2880, "Must be 1 to 2880", "collapseSystemConfig");
+    checkElementValue("maxLogLength_minutes", 1, 2880, "Must be 1 to 2880", "collapseSystemConfig");
 
     //Port Config
 
@@ -609,32 +610,34 @@ document.addEventListener("DOMContentLoaded", (event) => {
     ge("enableNtripServer").addEventListener("change", function () {
         if (ge("enableNtripServer").checked) {
             //Enable NTRIP inputs
-            ge("wifiSSID").disabled = false;
-            ge("wifiPW").disabled = false;
-            ge("casterHost").disabled = false;
-            ge("casterPort").disabled = false;
-            ge("mountPointUpload").disabled = false;
-            ge("mountPointUploadPW").disabled = false;
+            ge("ntripServer_wifiSSID").disabled = false;
+            ge("ntripServer_wifiPW").disabled = false;
+            ge("ntripServer_CasterHost").disabled = false;
+            ge("ntripServer_CasterPort").disabled = false;
+            ge("ntripServer_MountPoint").disabled = false;
+            ge("ntripServer_MountPointPW").disabled = false;
         }
         else {
             //Disable NTRIP inputs
-            ge("wifiSSID").disabled = true;
-            ge("wifiPW").disabled = true;
-            ge("casterHost").disabled = true;
-            ge("casterPort").disabled = true;
-            ge("mountPointUpload").disabled = true;
-            ge("mountPointUploadPW").disabled = true;
+            ge("ntripServer_wifiSSID").disabled = true;
+            ge("ntripServer_wifiPW").disabled = true;
+            ge("ntripServer_CasterHost").disabled = true;
+            ge("ntripServer_CasterPort").disabled = true;
+            ge("ntripServer_MountPoint").disabled = true;
+            ge("ntripServer_MountPointPW").disabled = true;
         }
     });
 
     ge("enableLogging").addEventListener("change", function () {
         if (ge("enableLogging").checked) {
             //Enable inputs
             ge("maxLogTime_minutes").disabled = false;
+            ge("maxLogLength_minutes").disabled = false;
         }
         else {
             //Disable inputs
             ge("maxLogTime_minutes").disabled = true;
+            ge("maxLogLength_minutes").disabled = true;
         }
     });
 

Firmware/RTK_Surveyor/Base.ino

@@ -2,13 +2,36 @@
 //Configure specific aspects of the receiver for base mode
 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 (updateZEDSettings == false && firstPowerOn == true)
+  {
+    firstPowerOn = false; //Next time user switches modes, new settings will be applied
+    log_d("Skipping ZED Base configuration");
+    return (true);
+  }
+
   i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
 
+  //The first thing we do is go to 1Hz to lighten any I2C traffic from a previous configuration
+  if (i2cGNSS.getNavigationFrequency(maxWait) != 1)
+    response &= i2cGNSS.setNavigationFrequency(1, maxWait);
+  //    response &= i2cGNSS.setNavigationFrequency(4, maxWait);
+  if (response == false)
+    Serial.println(F("Set rate failed"));
+
+  i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
+
+  i2cGNSS.setNMEAGPGGAcallbackPtr(NULL); // Disable GPGGA call back that may have been set during Rover Client mode
+  i2cGNSS.disableNMEAMessage(UBX_NMEA_GGA, COM_PORT_I2C); // Disable NMEA message
+
   if (i2cGNSS.getSurveyInActive() == true)
   {
+    log_d("Disabling survey");
     response = i2cGNSS.disableSurveyMode(maxWait); //Disable survey
     if (response == false)
       Serial.println(F("Disable Survey failed"));
@@ -59,6 +82,10 @@ bool configureUbloxModuleBase()
     return (false);
   }
 
+  response &= i2cGNSS.saveConfiguration(); //Save the current settings to flash and BBR
+  if (response == false)
+    Serial.println(F("Module failed to save."));
+
   return (response);
 }
 
@@ -226,9 +253,9 @@ void SFE_UBLOX_GNSS::processRTCM(uint8_t incoming)
   }
 
 #ifdef COMPILE_WIFI
-  if (caster.connected() == true)
+  if (ntripServer.connected() == true)
   {
-    caster.write(incoming); //Send this byte to socket
+    ntripServer.write(incoming); //Send this byte to socket
     casterBytesSent++;
     lastServerSent_ms = millis();
   }