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Merge pull request #743 from sparkfun/release_candidate
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Merge v4.0
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@nseidle
nseidle authored Dec 27, 2023
2 parents 00d13f3 + 3356b72 commit 2a6852a
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Showing 19 changed files with 1,020 additions and 507 deletions.
4 changes: 2 additions & 2 deletions .github/workflows/compile-rtk-firmware.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,8 @@ on:

env:
FILENAME_PREFIX: RTK_Surveyor_Firmware
FIRMWARE_VERSION_MAJOR: 3
FIRMWARE_VERSION_MINOR: 10
FIRMWARE_VERSION_MAJOR: 4
FIRMWARE_VERSION_MINOR: 0
POINTPERFECT_TOKEN: ${{ secrets.POINTPERFECT_TOKEN }}

jobs:
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114 changes: 55 additions & 59 deletions Firmware/RTK_Surveyor/Begin.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -9,43 +9,37 @@ Begin.ino
// Constants
//----------------------------------------

#define MAX_ADC_VOLTAGE 3300 // Millivolts
#define MAX_ADC_VOLTAGE 3300 // Millivolts

// Testing shows the combined ADC+resistors is under a 1% window
#define TOLERANCE 4.75 // Percent: 95.25% - 104.75%
#define TOLERANCE 5.20 // Percent: 94.8% - 105.2%

//----------------------------------------
// Hardware initialization functions
//----------------------------------------

// ADC input
// Ra KOhms | Rb KOhms
// MAX_ADC_VOLTAGE -----/\/\/\/\-----+-----/\/\/\/\----- Ground
//

// Determine if the measured value matches the product ID value
bool idWithAdc(uint16_t mvMeasured, float resVcc, float resGnd)
// idWithAdc applies resistor tolerance using worst-case tolerances:
// Upper threshold: R1 down by TOLERANCE, R2 up by TOLERANCE
// Lower threshold: R1 up by TOLERANCE, R2 down by TOLERANCE
bool idWithAdc(uint16_t mvMeasured, float r1, float r2)
{
uint16_t lowerThreshold;
float raK;
float rbK;
uint16_t upperThreshold;
float voltage;

// Compute the upper threshold
raK = resVcc * (1.0 - (TOLERANCE / 100.));
rbK = resGnd * (1.0 + (TOLERANCE / 100.));
voltage = MAX_ADC_VOLTAGE * rbK / (raK + rbK);
upperThreshold = (int)ceil(voltage);

// Compute the lower threshold
raK = (double)resVcc * (1.0 + (TOLERANCE / 100.));
rbK = (double)resGnd * (1.0 - (TOLERANCE / 100.));
voltage = MAX_ADC_VOLTAGE * rbK / (raK + rbK);
lowerThreshold = (int)floor(voltage);
float lowerThreshold;
float upperThreshold;

// ADC input
// r1 KOhms | r2 KOhms
// MAX_ADC_VOLTAGE -----/\/\/\/\-----+-----/\/\/\/\----- Ground

// Return true if the mvMeasured value is within the tolerance range
// of the mvProduct value
upperThreshold = ceil(MAX_ADC_VOLTAGE * (r2 * (1.0 + (TOLERANCE / 100.0))) /
((r1 * (1.0 - (TOLERANCE / 100.0))) + (r2 * (1.0 + (TOLERANCE / 100.0)))));
lowerThreshold = floor(MAX_ADC_VOLTAGE * (r2 * (1.0 - (TOLERANCE / 100.0))) /
((r1 * (1.0 + (TOLERANCE / 100.0))) + (r2 * (1.0 - (TOLERANCE / 100.0)))));

// systemPrintf("r1: %0.2f r2: %0.2f lowerThreshold: %0.0f mvMeasured: %d upperThreshold: %0.0f\r\n", r1, r2,
// lowerThreshold, mvMeasured, upperThreshold);

return (upperThreshold > mvMeasured) && (mvMeasured > lowerThreshold);
}

Expand All @@ -61,13 +55,13 @@ void identifyBoard()
uint16_t idValue = analogReadMilliVolts(pin_deviceID);
log_d("Board ADC ID (mV): %d", idValue);

// Order checks by millivolt values high to low
// Order the following ID checks, by millivolt values high to low

// Facet L-Band Direct: 4.7/1 --> 534mV < 578mV < 626mV
// Facet L-Band Direct: 4.7/1 --> 534mV < 579mV < 626mV
if (idWithAdc(idValue, 4.7, 1))
productVariant = RTK_FACET_LBAND_DIRECT;

// Express: 10/3.3 --> 761mV < 818mV < 879mV
// Express: 10/3.3 --> 761mV < 819mV < 879mV
else if (idWithAdc(idValue, 10, 3.3))
productVariant = RTK_EXPRESS;

Expand Down Expand Up @@ -95,7 +89,10 @@ void identifyBoard()
// Surveyor
// Unknown
else
{
log_d("Out of band or nonexistent resistor IDs");
productVariant = RTK_UNKNOWN; // Need to wait until the GNSS and Accel have been initialized
}
}

// Setup any essential power pins
Expand Down Expand Up @@ -611,8 +608,7 @@ void beginUART2()
// after discarding the oldest data
length = settings.gnssHandlerBufferSize;
rbOffsetEntries = (length >> 1) / AVERAGE_SENTENCE_LENGTH_IN_BYTES;
length = settings.gnssHandlerBufferSize
+ (rbOffsetEntries * sizeof(RING_BUFFER_OFFSET));
length = settings.gnssHandlerBufferSize + (rbOffsetEntries * sizeof(RING_BUFFER_OFFSET));
ringBuffer = nullptr;
rbOffsetArray = (RING_BUFFER_OFFSET *)malloc(length);
if (!rbOffsetArray)
Expand Down Expand Up @@ -1272,40 +1268,40 @@ void pinI2CTask(void *pvParameters)
i2cBusAvailable = true;
switch (addr)
{
default: {
systemPrintf("0x%02x\r\n", addr);
break;
}
default: {
systemPrintf("0x%02x\r\n", addr);
break;
}

case 0x19: {
systemPrintf("0x%02x - LIS2DH12 Accelerometer\r\n", addr);
break;
}
case 0x19: {
systemPrintf("0x%02x - LIS2DH12 Accelerometer\r\n", addr);
break;
}

case 0x36: {
systemPrintf("0x%02x - MAX17048 Fuel Gauge\r\n", addr);
break;
}
case 0x36: {
systemPrintf("0x%02x - MAX17048 Fuel Gauge\r\n", addr);
break;
}

case 0x3d: {
systemPrintf("0x%02x - SSD1306 (64x48) OLED Driver\r\n", addr);
break;
}
case 0x3d: {
systemPrintf("0x%02x - SSD1306 (64x48) OLED Driver\r\n", addr);
break;
}

case 0x42: {
systemPrintf("0x%02x - u-blox ZED-F9P GNSS Receiver\r\n", addr);
break;
}
case 0x42: {
systemPrintf("0x%02x - u-blox ZED-F9P GNSS Receiver\r\n", addr);
break;
}

case 0x43: {
systemPrintf("0x%02x - u-blox NEO-D9S-00B Correction Data Receiver\r\n", addr);
break;
}
case 0x43: {
systemPrintf("0x%02x - u-blox NEO-D9S-00B Correction Data Receiver\r\n", addr);
break;
}

case 0x60: {
systemPrintf("0x%02x - Crypto Coprocessor\r\n", addr);
break;
}
case 0x60: {
systemPrintf("0x%02x - Crypto Coprocessor\r\n", addr);
break;
}
}
}
else if ((millis() - timer) > 3)
Expand Down
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