diff --git a/.github/workflows/compile-rtk-firmware.yml b/.github/workflows/compile-rtk-firmware.yml
index aeb234210..a7124f805 100644
--- a/.github/workflows/compile-rtk-firmware.yml
+++ b/.github/workflows/compile-rtk-firmware.yml
@@ -75,7 +75,7 @@ jobs:
"SdFat"@2.1.1
"SparkFun LIS2DH12 Arduino Library"@1.0.3
"SparkFun MAX1704x Fuel Gauge Arduino Library"@1.0.4
- "SparkFun u-blox GNSS v3"@3.0.9
+ "SparkFun u-blox GNSS v3"@3.0.12
SparkFun_WebServer_ESP32_W5500@1.5.5
- name: Enable external libs
@@ -100,6 +100,32 @@ jobs:
cd Firmware/RTK_Surveyor/Patch/
cp Server.h /home/runner/.arduino15/packages/esp32/hardware/esp32/2.0.2/cores/esp32/Server.h
+ - name: Setup Python
+ uses: actions/setup-python@v4
+ with:
+ python-version: '3.10'
+
+ # Configure Python - now we have Python installed, we need to provide everything needed by esptool otherwise the compile fails
+ - name: Configure Python
+ run: |
+ pip3 install pyserial
+
+ - name: Update index_html
+ run: |
+ cd Firmware/Tools
+ python index_html_zipper.py ../RTK_Surveyor/AP-Config/index.html ../RTK_Surveyor/form.h
+
+ - name: Update main_js
+ run: |
+ cd Firmware/Tools
+ python main_js_zipper.py ../RTK_Surveyor/AP-Config/src/main.js ../RTK_Surveyor/form.h
+
+ - name: Commit and push form.h
+ uses: actions-js/push@master
+ with:
+ github_token: ${{ secrets.GITHUB_TOKEN }}
+ directory: ./Firmware/RTK_Surveyor
+
- name: Compile Sketch
run: arduino-cli compile --fqbn "esp32:esp32:esp32":DebugLevel=${{ env.DEBUG_LEVEL }} ./Firmware/RTK_Surveyor/RTK_Surveyor.ino
--build-property build.partitions=partitions
diff --git a/Firmware/RTK_Surveyor/AP-Config/index.html b/Firmware/RTK_Surveyor/AP-Config/index.html
index 17d5a0683..a49bf178f 100644
--- a/Firmware/RTK_Surveyor/AP-Config/index.html
+++ b/Firmware/RTK_Surveyor/AP-Config/index.html
@@ -425,6 +425,7 @@
+
@@ -1680,7 +1709,7 @@
@@ -1704,8 +1733,8 @@
-
@@ -1716,7 +1745,7 @@
-
@@ -1756,7 +1785,7 @@
@@ -1768,7 +1797,7 @@
@@ -1780,7 +1809,7 @@
diff --git a/Firmware/RTK_Surveyor/AP-Config/src/main.js b/Firmware/RTK_Surveyor/AP-Config/src/main.js
index fbcd230f4..8968e3555 100644
--- a/Firmware/RTK_Surveyor/AP-Config/src/main.js
+++ b/Firmware/RTK_Surveyor/AP-Config/src/main.js
@@ -95,8 +95,8 @@ function parseIncoming(msg) {
hide("ppConfig");
hide("ethernetConfig");
hide("ntpConfig");
- hide("allowWiFiOverEthernetClient")
- hide("allowWiFiOverEthernetServer")
+ //hide("allowWiFiOverEthernetClient"); //For future expansion
+ //hide("allowWiFiOverEthernetServer"); //For future expansion
hide("dataPortChannelDropdown");
}
@@ -106,8 +106,8 @@ function parseIncoming(msg) {
hide("ppConfig");
hide("ethernetConfig");
hide("ntpConfig");
- hide("allowWiFiOverEthernetClient")
- hide("allowWiFiOverEthernetServer")
+ //hide("allowWiFiOverEthernetClient"); //For future expansion
+ //hide("allowWiFiOverEthernetServer"); //For future expansion
}
else if (platformPrefix == "Express Plus") {
hide("baseConfig");
@@ -115,8 +115,8 @@ function parseIncoming(msg) {
hide("ppConfig");
hide("ethernetConfig");
hide("ntpConfig");
- hide("allowWiFiOverEthernetClient")
- hide("allowWiFiOverEthernetServer")
+ //hide("allowWiFiOverEthernetClient"); //For future expansion
+ //hide("allowWiFiOverEthernetServer"); //For future expansion
ge("muxChannel2").innerHTML = "Wheel/Dir Encoder";
}
@@ -126,8 +126,8 @@ function parseIncoming(msg) {
show("ppConfig");
hide("ethernetConfig");
hide("ntpConfig");
- hide("allowWiFiOverEthernetClient")
- hide("allowWiFiOverEthernetServer")
+ //hide("allowWiFiOverEthernetClient"); //For future expansion
+ //hide("allowWiFiOverEthernetServer"); //For future expansion
}
else if (platformPrefix == "Reference Station") {
show("baseConfig");
@@ -135,8 +135,8 @@ function parseIncoming(msg) {
hide("ppConfig");
show("ethernetConfig");
show("ntpConfig");
- show("allowWiFiOverEthernetClient")
- show("allowWiFiOverEthernetServer")
+ //hide("allowWiFiOverEthernetClient"); //For future expansion
+ //hide("allowWiFiOverEthernetServer"); //For future expansion
}
}
else if (id.includes("zedFirmwareVersionInt")) {
@@ -345,6 +345,7 @@ function parseIncoming(msg) {
ge("radioType").dispatchEvent(new CustomEvent('change'));
ge("antennaReferencePoint").dispatchEvent(new CustomEvent('change'));
ge("autoIMUmountAlignment").dispatchEvent(new CustomEvent('change'));
+ ge("enableARPLogging").dispatchEvent(new CustomEvent('change'));
updateECEFList();
updateGeodeticList();
@@ -591,6 +592,7 @@ function validateFields() {
if (ge("enableTcpClient").checked || ge("enableTcpServer").checked) {
checkElementString("wifiTcpPort", 1, 65535, "Must be 1 to 65535", "collapseWiFiConfig");
}
+ checkCheckboxMutex("enableTcpClient", "enableTcpServer", "TCP Client and Server can not be enabled at the same time", "collapseWiFiConfig");
//System Config
if (ge("enableLogging").checked) {
@@ -602,6 +604,13 @@ function validateFields() {
clearElement("maxLogLength_minutes", 60 * 24);
}
+ if (ge("enableARPLogging").checked) {
+ checkElementValue("ARPLoggingInterval", 1, 600, "Must be 1 to 600", "collapseSystemConfig");
+ }
+ else {
+ clearElement("ARPLoggingInterval", 10);
+ }
+
//Ethernet
if (platformPrefix == "Reference Station") {
//if (ge("ethernetDHCP").checked == false) {
@@ -838,6 +847,19 @@ function checkElementCasterUser(id, badUserName, errorText, collapseID) {
clearError(id);
}
+function checkCheckboxMutex(id1, id2, errorText, collapseID) {
+ if ((ge(id1).checked) && (ge(id2).checked)) {
+ ge(id1 + 'Error').innerHTML = 'Error: ' + errorText;
+ ge(id2 + 'Error').innerHTML = 'Error: ' + errorText;
+ ge(collapseID).classList.add('show');
+ errorCount++;
+ }
+ else {
+ clearError(id1);
+ clearError(id2);
+ }
+}
+
function clearElement(id, value) {
ge(id).value = value;
clearError(id);
@@ -1151,6 +1173,15 @@ document.addEventListener("DOMContentLoaded", (event) => {
}
});
+ ge("enableARPLogging").addEventListener("change", function () {
+ if (ge("enableARPLogging").checked) {
+ show("enableARPLoggingDetails");
+ }
+ else {
+ hide("enableARPLoggingDetails");
+ }
+ });
+
ge("fixedAltitude").addEventListener("change", function () {
adjustHAE();
});
diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
index 3eafe5292..3674aad60 100644
--- a/Firmware/RTK_Surveyor/Begin.ino
+++ b/Firmware/RTK_Surveyor/Begin.ino
@@ -26,6 +26,9 @@ void identifyBoard()
else if (idValue > (3300 * 1 / 3 * 0.9) && idValue < (3300 * 1 / 3 * 1.1))
{
productVariant = REFERENCE_STATION;
+ //We can't auto-detect the ZED version if the firmware is in configViaEthernet mode,
+ //so fake it here - otherwise messageSupported always returns false
+ zedFirmwareVersionInt = 112;
}
else
{
@@ -750,6 +753,8 @@ void configureGNSS()
theGNSS.setAutoPVTcallbackPtr(&storePVTdata); //Enable automatic NAV PVT messages with callback to storePVTdata
theGNSS.setAutoHPPOSLLHcallbackPtr(&storeHPdata); //Enable automatic NAV HPPOSLLH messages with callback to storeHPdata
+ theGNSS.setRTCM1005InputcallbackPtr(&storeRTCM1005data); //Configure a callback for RTCM 1005 - parsed from pushRawData
+ theGNSS.setRTCM1006InputcallbackPtr(&storeRTCM1006data); //Configure a callback for RTCM 1006 - parsed from pushRawData
if (HAS_GNSS_TP_INT)
theGNSS.setAutoTIMTPcallbackPtr(&storeTIMTPdata); //Enable automatic TIM TP messages with callback to storeTIMTPdata
diff --git a/Firmware/RTK_Surveyor/Bluetooth.ino b/Firmware/RTK_Surveyor/Bluetooth.ino
index 755f6aa14..b5b90c24d 100644
--- a/Firmware/RTK_Surveyor/Bluetooth.ino
+++ b/Firmware/RTK_Surveyor/Bluetooth.ino
@@ -29,7 +29,7 @@
#ifdef COMPILE_BT
BTSerialInterface *bluetoothSerial;
-static volatile byte bluetoothState = BT_OFF;
+static volatile BTState bluetoothState = BT_OFF;
//----------------------------------------
//Bluetooth Routines - compiled out
@@ -147,7 +147,7 @@ void bluetoothStart()
#ifdef COMPILE_BT
if (bluetoothState == BT_OFF)
{
- char stateName[11];
+ char stateName[11] = { 0 };
if (systemState >= STATE_ROVER_NOT_STARTED && systemState <= STATE_ROVER_RTK_FIX)
strncpy(stateName, "Rover-", sizeof(stateName) - 1);
else if (systemState >= STATE_BASE_NOT_STARTED && systemState <= STATE_BASE_FIXED_TRANSMITTING)
diff --git a/Firmware/RTK_Surveyor/Buttons.ino b/Firmware/RTK_Surveyor/Buttons.ino
index 7e97a09eb..0ed5b7b81 100644
--- a/Firmware/RTK_Surveyor/Buttons.ino
+++ b/Firmware/RTK_Surveyor/Buttons.ino
@@ -28,12 +28,19 @@ void powerDown(bool displayInfo)
//Prevent other tasks from logging, even if access to the microSD card was denied
online.logging = false;
+ //If we are in configureViaEthernet mode, we need to shut down the async web server
+ //otherwise it causes a core panic and badness at the restart
+ if (configureViaEthernet)
+ endEthernerWebServerESP32W5500();
+
if (displayInfo == true)
{
displayShutdown();
delay(2000);
}
+ beginLEDs(); //Turn LEDs off
+
if (pin_powerSenseAndControl >= 0)
{
pinMode(pin_powerSenseAndControl, OUTPUT);
diff --git a/Firmware/RTK_Surveyor/Form.ino b/Firmware/RTK_Surveyor/Form.ino
index ed9be5a5f..4bbbbe658 100644
--- a/Firmware/RTK_Surveyor/Form.ino
+++ b/Firmware/RTK_Surveyor/Form.ino
@@ -204,7 +204,9 @@ void startWebServer(bool startWiFi, int httpPort)
{
String logmessage = "Client:" + request->client()->remoteIP().toString() + " " + request->url();
systemPrintln(logmessage);
- request->send(200, "text/plain", getFileList());
+ String files;
+ getFileList(files);
+ request->send(200, "text/plain", files);
});
//Handler for supported messages list
@@ -212,7 +214,9 @@ void startWebServer(bool startWiFi, int httpPort)
{
String logmessage = "Client:" + request->client()->remoteIP().toString() + " " + request->url();
systemPrintln(logmessage);
- request->send(200, "text/plain", createMessageList());
+ String messages;
+ createMessageList(messages);
+ request->send(200, "text/plain", messages);
});
//Handler for supported RTCM/Base messages list
@@ -220,7 +224,9 @@ void startWebServer(bool startWiFi, int httpPort)
{
String logmessage = "Client:" + request->client()->remoteIP().toString() + " " + request->url();
systemPrintln(logmessage);
- request->send(200, "text/plain", createMessageListBase());
+ String messageList;
+ createMessageListBase(messageList);
+ request->send(200, "text/plain", messageList);
});
//Handler for file manager
@@ -299,7 +305,7 @@ static void handleFileManager(AsyncWebServerRequest *request)
logmessage = "Client:" + request->client()->remoteIP().toString() + " " + request->url() + "?name=" + String(fileName) + "&action=" + String(fileAction);
- char slashFileName[50];
+ char slashFileName[60];
snprintf(slashFileName, sizeof(slashFileName), "/%s", request->getParam("name")->value().c_str());
bool fileExists;
@@ -625,8 +631,8 @@ void createSettingsString(char* newSettings)
stringRecord(newSettings, "ntripClient_MountPointPW", settings.ntripClient_MountPointPW);
stringRecord(newSettings, "ntripClient_TransmitGGA", settings.ntripClient_TransmitGGA);
- stringRecord(newSettings, "ntripServerUseWiFiNotEthernet", settings.ntripServerUseWiFiNotEthernet);
- stringRecord(newSettings, "ntripClientUseWiFiNotEthernet", settings.ntripClientUseWiFiNotEthernet);
+ //stringRecord(newSettings, "ntripServerUseWiFiNotEthernet", settings.ntripServerUseWiFiNotEthernet); //For future expansion
+ //stringRecord(newSettings, "ntripClientUseWiFiNotEthernet", settings.ntripClientUseWiFiNotEthernet); //For future expansion
//Sensor Fusion Config
stringRecord(newSettings, "enableSensorFusion", settings.enableSensorFusion);
@@ -634,13 +640,19 @@ void createSettingsString(char* newSettings)
//System Config
stringRecord(newSettings, "enableLogging", settings.enableLogging);
+ stringRecord(newSettings, "enableARPLogging", settings.enableARPLogging);
+ stringRecord(newSettings, "ARPLoggingInterval", settings.ARPLoggingInterval_s);
stringRecord(newSettings, "maxLogTime_minutes", settings.maxLogTime_minutes);
stringRecord(newSettings, "maxLogLength_minutes", settings.maxLogLength_minutes);
char sdCardSizeChar[20];
- stringHumanReadableSize(sdCardSize).toCharArray(sdCardSizeChar, sizeof(sdCardSizeChar));
+ String cardSize;
+ stringHumanReadableSize(cardSize, sdCardSize);
+ cardSize.toCharArray(sdCardSizeChar, sizeof(sdCardSizeChar));
char sdFreeSpaceChar[20];
- stringHumanReadableSize(sdFreeSpace).toCharArray(sdFreeSpaceChar, sizeof(sdFreeSpaceChar));
+ String freeSpace;
+ stringHumanReadableSize(freeSpace, sdFreeSpace);
+ freeSpace.toCharArray(sdFreeSpaceChar, sizeof(sdFreeSpaceChar));
stringRecord(newSettings, "sdFreeSpace", sdFreeSpaceChar);
stringRecord(newSettings, "sdSize", sdCardSizeChar);
@@ -807,7 +819,7 @@ void createSettingsString(char* newSettings)
else //batt level > 75
iconLevel = 3;
- char batteryIconFileName[sizeof("src/Battery2_Charging.png")]; //sizeof() includes 1 for \0 termination
+ char batteryIconFileName[sizeof("src/Battery2_Charging.png__")]; //sizeof() includes 1 for \0 termination
if (externalPowerConnected)
snprintf(batteryIconFileName, sizeof(batteryIconFileName), "src/Battery%d_Charging.png", iconLevel);
@@ -817,7 +829,7 @@ void createSettingsString(char* newSettings)
stringRecord(newSettings, "batteryIconFileName", batteryIconFileName);
//Determine battery percent
- char batteryPercent[sizeof("+100%")];
+ char batteryPercent[sizeof("+100%__")];
int tempLevel = battLevel;
if (tempLevel > 100) tempLevel = 100;
@@ -972,7 +984,7 @@ void createDynamicDataString(char* settingsCSV)
else //batt level > 75
iconLevel = 3;
- char batteryIconFileName[sizeof("src/Battery2_Charging.png")]; //sizeof() includes 1 for \0 termination
+ char batteryIconFileName[sizeof("src/Battery2_Charging.png__")]; //sizeof() includes 1 for \0 termination
if (externalPowerConnected)
snprintf(batteryIconFileName, sizeof(batteryIconFileName), "src/Battery%d_Charging.png", iconLevel);
@@ -982,7 +994,7 @@ void createDynamicDataString(char* settingsCSV)
stringRecord(settingsCSV, "batteryIconFileName", batteryIconFileName);
//Determine battery percent
- char batteryPercent[sizeof("+100%")];
+ char batteryPercent[sizeof("+100%__")];
if (externalPowerConnected)
snprintf(batteryPercent, sizeof(batteryPercent), "+%d%%", battLevel);
else
@@ -1061,6 +1073,10 @@ void updateSettingWithValue(const char *settingName, const char* settingValueStr
settings.radioPortBaud = settingValue;
else if (strcmp(settingName, "enableLogging") == 0)
settings.enableLogging = settingValueBool;
+ else if (strcmp(settingName, "enableARPLogging") == 0)
+ settings.enableARPLogging = settingValueBool;
+ else if (strcmp(settingName, "ARPLoggingInterval") == 0)
+ settings.ARPLoggingInterval_s = settingValue;
else if (strcmp(settingName, "dataPortChannel") == 0)
settings.dataPortChannel = (muxConnectionType_e)settingValue;
else if (strcmp(settingName, "autoIMUmountAlignment") == 0)
@@ -1117,10 +1133,11 @@ void updateSettingWithValue(const char *settingName, const char* settingValueStr
else if (strcmp(settingName, "ntripClient_TransmitGGA") == 0)
settings.ntripClient_TransmitGGA = settingValueBool;
- else if (strcmp(settingName, "ntripServerUseWiFiNotEthernet") == 0)
- settings.ntripServerUseWiFiNotEthernet = settingValueBool;
- else if (strcmp(settingName, "ntripClientUseWiFiNotEthernet") == 0)
- settings.ntripClientUseWiFiNotEthernet = settingValueBool;
+ //For future expansion
+ //else if (strcmp(settingName, "ntripServerUseWiFiNotEthernet") == 0)
+ // settings.ntripServerUseWiFiNotEthernet = settingValueBool;
+ //else if (strcmp(settingName, "ntripClientUseWiFiNotEthernet") == 0)
+ // settings.ntripClientUseWiFiNotEthernet = settingValueBool;
else if (strcmp(settingName, "serialTimeoutGNSS") == 0)
settings.serialTimeoutGNSS = settingValue;
@@ -1204,22 +1221,22 @@ void updateSettingWithValue(const char *settingName, const char* settingValueStr
else if (strcmp(settingName, "ethernetIP") == 0)
{
String tempString = String(settingValueStr);
- settings.ethernetIP.fromString(settingValueStr);
+ settings.ethernetIP.fromString(tempString);
}
else if (strcmp(settingName, "ethernetDNS") == 0)
{
String tempString = String(settingValueStr);
- settings.ethernetDNS.fromString(settingValueStr);
+ settings.ethernetDNS.fromString(tempString);
}
else if (strcmp(settingName, "ethernetGateway") == 0)
{
String tempString = String(settingValueStr);
- settings.ethernetGateway.fromString(settingValueStr);
+ settings.ethernetGateway.fromString(tempString);
}
else if (strcmp(settingName, "ethernetSubnet") == 0)
{
String tempString = String(settingValueStr);
- settings.ethernetSubnet.fromString(settingValueStr);
+ settings.ethernetSubnet.fromString(tempString);
}
else if (strcmp(settingName, "ethernetHttpPort") == 0)
settings.ethernetHttpPort = settingValue;
@@ -1631,10 +1648,18 @@ bool parseIncomingSettings()
//When called, responds with the root folder list of files on SD card
//Name and size are formatted in CSV, formatted to html by JS
-String getFileList()
+void getFileList(String &returnText)
{
- //settingsCSV[0] = '\'0; //Clear array
- String returnText = "";
+ returnText = "";
+
+ //Update the SD Size and Free Space
+ String cardSize;
+ stringHumanReadableSize(cardSize, sdCardSize);
+ returnText += "sdSize," + cardSize + ",";
+ String freeSpace;
+ stringHumanReadableSize(freeSpace, sdFreeSpace);
+ returnText += "sdFreeSpace," + freeSpace + ",";
+
char fileName[50]; //Handle long file names
//Attempt to gain access to the SD card
@@ -1657,7 +1682,9 @@ String getFileList()
file.getName(fileName, sizeof(fileName));
- returnText += "fmName," + String(fileName) + ",fmSize," + stringHumanReadableSize(file.fileSize()) + ",";
+ String fileSize;
+ stringHumanReadableSize(fileSize, file.fileSize());
+ returnText += "fmName," + String(fileName) + ",fmSize," + fileSize + ",";
}
}
@@ -1680,7 +1707,9 @@ String getFileList()
{
fileCount++;
- returnText += "fmName," + String(file.name()) + ",fmSize," + stringHumanReadableSize(file.size()) + ",";
+ String fileSize;
+ stringHumanReadableSize(fileSize, file.size());
+ returnText += "fmName," + String(file.name()) + ",fmSize," + fileSize + ",";
}
file = root.openNextFile();
@@ -1704,17 +1733,14 @@ String getFileList()
}
log_d("returnText (%d bytes): %s\r\n", returnText.length(), returnText.c_str());
-
- return returnText;
}
//When called, responds with the messages supported on this platform
//Message name and current rate are formatted in CSV, formatted to html by JS
-String createMessageList()
+void createMessageList(String &returnText)
{
- String returnText = "";
+ returnText = "";
- char tempString[50];
for (int messageNumber = 0 ; messageNumber < MAX_UBX_MSG ; messageNumber++)
{
if (messageSupported(messageNumber) == true)
@@ -1722,15 +1748,13 @@ String createMessageList()
}
log_d("returnText (%d bytes): %s\r\n", returnText.length(), returnText.c_str());
-
- return returnText;
}
//When called, responds with the RTCM/Base messages supported on this platform
//Message name and current rate are formatted in CSV, formatted to html by JS
-String createMessageListBase()
+void createMessageListBase(String &returnText)
{
- String returnText = "";
+ returnText = "";
int firstRTCMRecord = getMessageNumberByName("UBX_RTCM_1005");
@@ -1741,12 +1765,10 @@ String createMessageListBase()
}
log_d("returnText (%d bytes): %s\r\n", returnText.length(), returnText.c_str());
-
- return returnText;
}
//Make size of files human readable
-String stringHumanReadableSize(uint64_t bytes)
+void stringHumanReadableSize(String &returnText, uint64_t bytes)
{
char suffix[5] = {'\0'};
char readableSize[50] = {'\0'};
@@ -1771,7 +1793,7 @@ String stringHumanReadableSize(uint64_t bytes)
else
snprintf(readableSize, sizeof(readableSize), "%.0f %s", cardSize, suffix); //Don't print decimal portion
- return String(readableSize);
+ returnText = String(readableSize);
}
#ifdef COMPILE_WIFI
diff --git a/Firmware/RTK_Surveyor/NVM.ino b/Firmware/RTK_Surveyor/NVM.ino
index 5c9fe111c..afc8c2872 100644
--- a/Firmware/RTK_Surveyor/NVM.ino
+++ b/Firmware/RTK_Surveyor/NVM.ino
@@ -244,7 +244,7 @@ void recordSystemSettingsToFile(File * settingsFile)
settingsFile->printf("%s=%s\r\n", "ntripServer_CasterUserPW", settings.ntripServer_CasterUserPW);
settingsFile->printf("%s=%s\r\n", "ntripServer_MountPoint", settings.ntripServer_MountPoint);
settingsFile->printf("%s=%s\r\n", "ntripServer_MountPointPW", settings.ntripServer_MountPointPW);
- settingsFile->printf("%s=%d\r\n", "ntripServerUseWiFiNotEthernet", settings.ntripServerUseWiFiNotEthernet);
+ //settingsFile->printf("%s=%d\r\n", "ntripServerUseWiFiNotEthernet", settings.ntripServerUseWiFiNotEthernet); //For future expansion
settingsFile->printf("%s=%d\r\n", "enableNtripClient", settings.enableNtripClient);
settingsFile->printf("%s=%s\r\n", "ntripClient_CasterHost", settings.ntripClient_CasterHost);
settingsFile->printf("%s=%d\r\n", "ntripClient_CasterPort", settings.ntripClient_CasterPort);
@@ -253,7 +253,7 @@ void recordSystemSettingsToFile(File * settingsFile)
settingsFile->printf("%s=%s\r\n", "ntripClient_MountPoint", settings.ntripClient_MountPoint);
settingsFile->printf("%s=%s\r\n", "ntripClient_MountPointPW", settings.ntripClient_MountPointPW);
settingsFile->printf("%s=%d\r\n", "ntripClient_TransmitGGA", settings.ntripClient_TransmitGGA);
- settingsFile->printf("%s=%d\r\n", "ntripClientUseWiFiNotEthernet", settings.ntripClientUseWiFiNotEthernet);
+ //settingsFile->printf("%s=%d\r\n", "ntripClientUseWiFiNotEthernet", settings.ntripClientUseWiFiNotEthernet); //For future expansion
settingsFile->printf("%s=%d\r\n", "serialTimeoutGNSS", settings.serialTimeoutGNSS);
settingsFile->printf("%s=%s\r\n", "pointPerfectDeviceProfileToken", settings.pointPerfectDeviceProfileToken);
settingsFile->printf("%s=%d\r\n", "enablePointPerfectCorrections", settings.enablePointPerfectCorrections);
@@ -271,6 +271,8 @@ void recordSystemSettingsToFile(File * settingsFile)
settingsFile->printf("%s=%d\r\n", "updateZEDSettings", settings.updateZEDSettings);
settingsFile->printf("%s=%d\r\n", "LBandFreq", settings.LBandFreq);
settingsFile->printf("%s=%d\r\n", "enableLogging", settings.enableLogging);
+ settingsFile->printf("%s=%d\r\n", "enableARPLogging", settings.enableARPLogging);
+ settingsFile->printf("%s=%d\r\n", "ARPLoggingInterval_s", settings.ARPLoggingInterval_s);
settingsFile->printf("%s=%d\r\n", "timeZoneHours", settings.timeZoneHours);
settingsFile->printf("%s=%d\r\n", "timeZoneMinutes", settings.timeZoneMinutes);
settingsFile->printf("%s=%d\r\n", "timeZoneSeconds", settings.timeZoneSeconds);
@@ -858,6 +860,10 @@ bool parseLine(char* str, Settings *settings)
settings->spiFrequency = d;
else if (strcmp(settingName, "enableLogging") == 0)
settings->enableLogging = d;
+ else if (strcmp(settingName, "enableARPLogging") == 0)
+ settings->enableARPLogging = d;
+ else if (strcmp(settingName, "ARPLoggingInterval_s") == 0)
+ settings->ARPLoggingInterval_s = d;
else if (strcmp(settingName, "enableMarksFile") == 0)
settings->enableMarksFile = d;
else if (strcmp(settingName, "enableNTPFile") == 0)
@@ -958,8 +964,9 @@ bool parseLine(char* str, Settings *settings)
strcpy(settings->ntripServer_MountPoint, settingValue);
else if (strcmp(settingName, "ntripServer_MountPointPW") == 0)
strcpy(settings->ntripServer_MountPointPW, settingValue);
- else if (strcmp(settingName, "ntripServerUseWiFiNotEthernet") == 0)
- settings->ntripServerUseWiFiNotEthernet = d;
+ //For future expansion
+ //else if (strcmp(settingName, "ntripServerUseWiFiNotEthernet") == 0)
+ // settings->ntripServerUseWiFiNotEthernet = d;
else if (strcmp(settingName, "enableNtripClient") == 0)
settings->enableNtripClient = d;
else if (strcmp(settingName, "ntripClient_CasterHost") == 0)
@@ -976,8 +983,9 @@ bool parseLine(char* str, Settings *settings)
strcpy(settings->ntripClient_MountPointPW, settingValue);
else if (strcmp(settingName, "ntripClient_TransmitGGA") == 0)
settings->ntripClient_TransmitGGA = d;
- else if (strcmp(settingName, "ntripClientUseWiFiNotEthernet") == 0)
- settings->ntripClientUseWiFiNotEthernet = d;
+ //For future expansion
+ //else if (strcmp(settingName, "ntripClientUseWiFiNotEthernet") == 0)
+ // settings->ntripClientUseWiFiNotEthernet = d;
else if (strcmp(settingName, "serialTimeoutGNSS") == 0)
settings->serialTimeoutGNSS = d;
else if (strcmp(settingName, "pointPerfectDeviceProfileToken") == 0)
@@ -1458,7 +1466,7 @@ uint8_t loadProfileNames()
//Check LittleFS and SD for profile names
for (int x = 0 ; x < MAX_PROFILE_COUNT ; x++)
{
- char fileName[56];
+ char fileName[60];
snprintf(fileName, sizeof(fileName), "/%s_Settings_%d.txt", platformFilePrefix, x);
if (getProfileName(fileName, profileNames[x], sizeof(profileNames[x])) == true)
diff --git a/Firmware/RTK_Surveyor/NtripClient.ino b/Firmware/RTK_Surveyor/NtripClient.ino
index c3e757520..c631f30f1 100644
--- a/Firmware/RTK_Surveyor/NtripClient.ino
+++ b/Firmware/RTK_Surveyor/NtripClient.ino
@@ -219,7 +219,7 @@ void ntripClientResponse(char * response, size_t maxLength)
}
//Update the state of the NTRIP client state machine
-void ntripClientSetState(byte newState)
+void ntripClientSetState(NTRIPClientState newState)
{
if (ntripClientState == newState)
systemPrint("*");
@@ -268,7 +268,7 @@ void ntripClientStart()
systemPrintln("NTRIP Client start");
//Allocate the ntripClient structure
- ntripClient = new NTRIPClient(settings.ntripClientUseWiFiNotEthernet);
+ ntripClient = new NTRIPClient(false); //(settings.ntripClientUseWiFiNotEthernet); //For future expansion
//Startup WiFi and the NTRIP client
if (ntripClient)
@@ -297,7 +297,7 @@ void ntripClientStop(bool wifiClientAllocated)
//Allocate the NTRIP client structure if not done
if (wifiClientAllocated == false)
- ntripClient = new NTRIPClient(settings.ntripClientUseWiFiNotEthernet);
+ ntripClient = new NTRIPClient(false); //settings.ntripClientUseWiFiNotEthernet); //For future expansion
}
//Increase timeouts if we started WiFi
@@ -371,7 +371,7 @@ void ntripClientUpdate()
//Start WiFi
case NTRIP_CLIENT_ON:
{
- if (HAS_ETHERNET && !settings.ntripClientUseWiFiNotEthernet)
+ if (HAS_ETHERNET) // && !settings.ntripClientUseWiFiNotEthernet) //For future expansion
{
if (online.ethernetStatus == ETH_NOT_STARTED)
{
@@ -417,7 +417,7 @@ void ntripClientUpdate()
break;
case NTRIP_CLIENT_WIFI_ETHERNET_STARTED:
- if (HAS_ETHERNET && !settings.ntripClientUseWiFiNotEthernet)
+ if (HAS_ETHERNET) // && !settings.ntripClientUseWiFiNotEthernet) //For future expansion
{
if (online.ethernetStatus == ETH_CONNECTED)
ntripClientSetState(NTRIP_CLIENT_WIFI_ETHERNET_CONNECTED);
diff --git a/Firmware/RTK_Surveyor/NtripServer.ino b/Firmware/RTK_Surveyor/NtripServer.ino
index c096acfd2..2bf9918f8 100644
--- a/Firmware/RTK_Surveyor/NtripServer.ino
+++ b/Firmware/RTK_Surveyor/NtripServer.ino
@@ -173,7 +173,7 @@ void ntripServerResponse(char * response, size_t maxLength)
}
//Update the state of the NTRIP server state machine
-void ntripServerSetState(byte newState)
+void ntripServerSetState(NTRIPServerState newState)
{
if (ntripServerState == newState)
systemPrint("*");
@@ -286,7 +286,7 @@ void ntripServerStart()
reportHeapNow();
//Allocate the ntripServer structure
- ntripServer = new NTRIPClient(settings.ntripServerUseWiFiNotEthernet);
+ ntripServer = new NTRIPClient(false); //(settings.ntripServerUseWiFiNotEthernet); //For future expansion
//Restart WiFi and the NTRIP server if possible
if (ntripServer)
@@ -315,7 +315,7 @@ void ntripServerStop(bool wifiClientAllocated)
//Allocate the NTRIP server structure if not done
if (wifiClientAllocated == false)
- ntripServer = new NTRIPClient(settings.ntripServerUseWiFiNotEthernet);
+ ntripServer = new NTRIPClient(false); //(settings.ntripServerUseWiFiNotEthernet); //For future expansion
}
//Increase timeouts if we started WiFi
@@ -371,7 +371,7 @@ void ntripServerUpdate()
//Start WiFi
case NTRIP_SERVER_ON:
- if (HAS_ETHERNET && !settings.ntripServerUseWiFiNotEthernet)
+ if (HAS_ETHERNET) // && !settings.ntripServerUseWiFiNotEthernet) //For future expansion
{
if (online.ethernetStatus == ETH_NOT_STARTED)
{
@@ -417,7 +417,7 @@ void ntripServerUpdate()
//Wait for connection to an access point
case NTRIP_SERVER_WIFI_ETHERNET_STARTED:
- if (HAS_ETHERNET && !settings.ntripServerUseWiFiNotEthernet)
+ if (HAS_ETHERNET) // && !settings.ntripServerUseWiFiNotEthernet) //For future expansion
{
if (online.ethernetStatus == ETH_CONNECTED)
ntripServerSetState(NTRIP_SERVER_WIFI_ETHERNET_CONNECTED);
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index a1533a4f7..fa5296ddb 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -178,7 +178,7 @@ const uint8_t sdSizeCheckTaskPriority = 0; //3 being the highest, and 0 being th
const int sdSizeCheckStackSize = 3000;
bool sdSizeCheckTaskComplete = false;
-char logFileName[sizeof("SFE_Facet_L-Band_230101_120101.ubx_plusExtraSpace")] = "";
+char logFileName[sizeof("SFE_Reference_Station_230101_120101.ubx_plusExtraSpace")] = { 0 };
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
//Connection settings to NTRIP Caster
@@ -250,25 +250,52 @@ uint8_t zedModuleType = PLATFORM_F9P; //Controls which messages are supported an
class SFE_UBLOX_GNSS_SUPER_DERIVED : public SFE_UBLOX_GNSS_SUPER
{
public:
- SemaphoreHandle_t gnssSemaphore = nullptr;
+ //SemaphoreHandle_t gnssSemaphore = nullptr;
+
+ //Revert to a simple bool lock. The Mutex was causing occasional panics caused by vTaskPriorityDisinheritAfterTimeout in lock()
+ //(I think possibly / probably caused by the GNSS not being pinned to one core?
+ bool iAmLocked = false;
+
bool createLock(void)
{
- if (gnssSemaphore == nullptr)
- gnssSemaphore = xSemaphoreCreateMutex();
- return gnssSemaphore;
+ //if (gnssSemaphore == nullptr)
+ // gnssSemaphore = xSemaphoreCreateMutex();
+ //return gnssSemaphore;
+
+ return true;
}
bool lock(void)
{
- return (xSemaphoreTake(gnssSemaphore, 2100) == pdPASS);
+ //return (xSemaphoreTake(gnssSemaphore, 2100) == pdPASS);
+
+ if (!iAmLocked)
+ {
+ iAmLocked = true;
+ return true;
+ }
+
+ unsigned long startTime = millis();
+ while (((millis() - startTime) < 2100) && (iAmLocked))
+ delay(1); //Yield
+
+ if (!iAmLocked)
+ {
+ iAmLocked = true;
+ return true;
+ }
+
+ return false;
}
void unlock(void)
{
- xSemaphoreGive(gnssSemaphore);
+ //xSemaphoreGive(gnssSemaphore);
+
+ iAmLocked = false;
}
void deleteLock(void)
{
- vSemaphoreDelete(gnssSemaphore);
- gnssSemaphore = nullptr;
+ //vSemaphoreDelete(gnssSemaphore);
+ //gnssSemaphore = nullptr;
}
};
@@ -309,6 +336,13 @@ uint32_t timTpMicros;
uint8_t aStatus = SFE_UBLOX_ANTENNA_STATUS_DONTKNOW;
+unsigned long lastARPLog = 0; //Time of the last ARP log event
+bool newARPAvailable = false;
+int64_t ARPECEFX = 0; //ARP ECEF is 38-bit signed
+int64_t ARPECEFY = 0;
+int64_t ARPECEFZ = 0;
+uint16_t ARPECEFH = 0;
+
const byte haeNumberOfDecimals = 8; //Used for printing and transmitting lat/lon
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
@@ -597,7 +631,7 @@ bool wifiOutgoingRTCM = false;
bool espnowIncomingRTCM = false;
bool espnowOutgoingRTCM = false;
-static byte rtcmParsingState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
+static RtcmTransportState rtcmParsingState = RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3;
uint16_t failedParserMessages_UBX = 0;
uint16_t failedParserMessages_RTCM = 0;
uint16_t failedParserMessages_NMEA = 0;
@@ -930,6 +964,45 @@ void updateLogs()
}
}
+ //Record the Antenna Reference Position - if available
+ if (newARPAvailable == true && settings.enableARPLogging && ((millis() - lastARPLog) > (settings.ARPLoggingInterval_s * 1000)))
+ {
+ systemPrintln("Recording Antenna Reference Position");
+
+ lastARPLog = millis();
+ newARPAvailable = false;
+
+ double x = ARPECEFX;
+ x /= 10000.0; //Convert to m
+ double y = ARPECEFY;
+ y /= 10000.0; //Convert to m
+ double z = ARPECEFZ;
+ z /= 10000.0; //Convert to m
+ double h = ARPECEFH;
+ h /= 10000.0; //Convert to m
+ char ARPData[82]; //Max NMEA sentence length is 82
+ snprintf(ARPData, sizeof(ARPData), "%.4f,%.4f,%.4f,%.4f", x, y, z, h);
+
+ char nmeaMessage[82]; //Max NMEA sentence length is 82
+ createNMEASentence(CUSTOM_NMEA_TYPE_ARP_ECEF_XYZH, nmeaMessage, sizeof(nmeaMessage), ARPData); //textID, buffer, sizeOfBuffer, text
+
+ if (xSemaphoreTake(sdCardSemaphore, fatSemaphore_shortWait_ms) == pdPASS)
+ {
+ markSemaphore(FUNCTION_EVENT);
+
+ ubxFile->println(nmeaMessage);
+
+ xSemaphoreGive(sdCardSemaphore);
+ newEventToRecord = false;
+ }
+ else
+ {
+ char semaphoreHolder[50];
+ getSemaphoreFunction(semaphoreHolder);
+ log_w("sdCardSemaphore failed to yield, held by %s, RTK_Surveyor.ino line %d", semaphoreHolder, __LINE__);
+ }
+ }
+
//Report file sizes to show recording is working
if ((millis() - lastFileReport) > 5000)
{
diff --git a/Firmware/RTK_Surveyor/Rover.ino b/Firmware/RTK_Surveyor/Rover.ino
index d8fc0f8ea..a2bd13e07 100644
--- a/Firmware/RTK_Surveyor/Rover.ino
+++ b/Firmware/RTK_Surveyor/Rover.ino
@@ -253,6 +253,24 @@ void storeMONHWdata(UBX_MON_HW_data_t *ubxDataStruct)
aStatus = ubxDataStruct->aStatus;
}
+void storeRTCM1005data(RTCM_1005_data_t *rtcmData1005)
+{
+ ARPECEFX = rtcmData1005->AntennaReferencePointECEFX;
+ ARPECEFY = rtcmData1005->AntennaReferencePointECEFY;
+ ARPECEFZ = rtcmData1005->AntennaReferencePointECEFZ;
+ ARPECEFH = 0;
+ newARPAvailable = true;
+}
+
+void storeRTCM1006data(RTCM_1006_data_t *rtcmData1006)
+{
+ ARPECEFX = rtcmData1006->AntennaReferencePointECEFX;
+ ARPECEFY = rtcmData1006->AntennaReferencePointECEFY;
+ ARPECEFZ = rtcmData1006->AntennaReferencePointECEFZ;
+ ARPECEFH = rtcmData1006->AntennaHeight;
+ newARPAvailable = true;
+}
+
//Helper method to convert GNSS time and date into Unix Epoch
void convertGnssTimeToEpoch(uint32_t *epochSecs, uint32_t *epochMicros)
{
diff --git a/Firmware/RTK_Surveyor/System.ino b/Firmware/RTK_Surveyor/System.ino
index b27023f92..2a385f5e4 100644
--- a/Firmware/RTK_Surveyor/System.ino
+++ b/Firmware/RTK_Surveyor/System.ino
@@ -381,7 +381,7 @@ bool createTestFile()
{
FileSdFatMMC testFile;
- //TODO: double-check that SdFat tollerates preceeding slashes
+ //TODO: double-check that SdFat tollerates preceding slashes
char testFileName[40] = "/testfile.txt";
//Attempt to write to the file system
@@ -524,7 +524,9 @@ void createNMEASentence(customNmeaType_e textID, char *nmeaMessage, size_t sizeO
//Reset settings struct to default initializers
void settingsToDefaults()
{
- settings = defaultSettings;
+ Settings *defaultSettings = new Settings;
+ memcpy(&settings, defaultSettings, sizeof(Settings));
+ delete defaultSettings;
}
//Given a spot in the ubxMsg array, return true if this message is supported on this platform and firmware version
diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
index 931c75db0..bb364e6b2 100644
--- a/Firmware/RTK_Surveyor/Tasks.ino
+++ b/Firmware/RTK_Surveyor/Tasks.ino
@@ -353,15 +353,7 @@ void handleGNSSDataTask(void *e)
//Send data to the TCP clients
//----------------------------------------------------------------------
- //TODO: consider changing this to:
- //if ((!online.tcpServer) && (!online.tcpClient) && (!wifiTcpConnected))
- //as this would prevent wifiSendTcpData from trying to send bytes after a WiFiStop
- //Note: it would be even better if it were changed to:
- //if (((!online.tcpServer) && (!online.tcpClient)) || (!wifiTcpConnected))
- //but you cannot do that as wifiTcpConnected is configured _inside_ wifiSendTcpData
- //When time permits, we could move the code that configures wifiTcpConnected into tcpUpdate
- //leaving only the actual transmit code in wifiSendTcpData
- if ((!settings.enableTcpServer) && (!settings.enableTcpClient) && (!wifiTcpConnected))
+ if (((!online.tcpServer) && (!online.tcpClient)) || (!wifiTcpConnected))
tcpTailWiFi = dataHead;
else if (tcpBytesToSendWiFi > 0)
{
@@ -1203,9 +1195,13 @@ void sdSizeCheckTask(void *e)
//uint64_t sdUsedSpace = sdCardSize - sdFreeSpace; //Don't think of it as used, think of it as unusable
+ String cardSize;
+ stringHumanReadableSize(cardSize, sdCardSize);
+ String freeSpace;
+ stringHumanReadableSize(freeSpace, sdFreeSpace);
systemPrintf("SD card size: %s / Free space: %s\r\n",
- stringHumanReadableSize(sdCardSize),
- stringHumanReadableSize(sdFreeSpace)
+ cardSize,
+ freeSpace
);
outOfSDSpace = false;
diff --git a/Firmware/RTK_Surveyor/WiFi.ino b/Firmware/RTK_Surveyor/WiFi.ino
index 12468adb0..a50b4c833 100644
--- a/Firmware/RTK_Surveyor/WiFi.ino
+++ b/Firmware/RTK_Surveyor/WiFi.ino
@@ -519,89 +519,41 @@ int wifiNetworkCount()
void wifiSendTcpData(uint8_t * data, uint16_t length)
{
#ifdef COMPILE_WIFI
- static IPAddress ipAddress[WIFI_MAX_TCP_CLIENTS];
- int index = 0;
- static uint32_t lastTcpConnectAttempt;
- if (online.tcpClient)
+ if (!length)
+ return;
+
+ //Send the data to the connected clients
+ if ((settings.enableTcpServer && online.tcpServer)
+ || (settings.enableTcpClient && online.tcpClient))
{
- //Start the TCP client if enabled
- if (((!wifiTcpClient[0]) || (!wifiTcpClient[0].connected()))
- && ((millis() - lastTcpConnectAttempt) >= 1000))
+ //Walk the list of TCP clients
+ for (int index = 0; index < WIFI_MAX_TCP_CLIENTS; index++)
{
- lastTcpConnectAttempt = millis();
- ipAddress[0] = WiFi.gatewayIP();
- if (settings.enablePrintTcpStatus)
- {
- systemPrint("Trying to connect WiFi TCP client to ");
- systemPrintln(ipAddress[0]);
- }
- if (wifiTcpClient[0].connect(ipAddress[0], settings.wifiTcpPort))
- {
- online.tcpClient = true;
- systemPrint("WiFi TCP client connected to ");
- systemPrintln(ipAddress[0]);
- wifiTcpConnected |= 1 << index;
- }
- else
- {
- //Release any allocated resources
- //if (wifiTcpClient[0])
- wifiTcpClient[0].stop();
- }
- }
- }
-
- if (online.tcpServer)
- {
- //Check for another client
- for (index = 0; index < WIFI_MAX_TCP_CLIENTS; index++)
- if (!(wifiTcpConnected & (1 << index)))
+ if (wifiTcpConnected & (1 << index))
{
- if ((!wifiTcpClient[index]) || (!wifiTcpClient[index].connected()))
+ if (wifiTcpClient[index].write(data, length) == length)
{
- wifiTcpClient[index] = wifiTcpServer->available();
- if (!wifiTcpClient[index])
- break;
- ipAddress[index] = wifiTcpClient[index].remoteIP();
- systemPrintf("Connected WiFi TCP client %d to ", index);
- systemPrintln(ipAddress[index]);
- wifiTcpConnected |= 1 << index;
+ if ((settings.enablePrintTcpStatus) && (!inMainMenu))
+ systemPrintf("%d bytes written over WiFi TCP\r\n", length);
}
- }
- }
-
- //Walk the list of TCP clients
- for (index = 0; index < WIFI_MAX_TCP_CLIENTS; index++)
- {
- if (wifiTcpConnected & (1 << index))
- {
- //Check for a broken connection
- if ((!wifiTcpClient[index]) || (!wifiTcpClient[index].connected()))
- systemPrintf("Disconnected TCP client %d from ", index);
+ //Failed to write the data
+ else
+ {
+ //Done with this client connection
+ if (!inMainMenu)
+ {
+ systemPrintf("Breaking WiFi TCP client %d connection\r\n", index);
+ }
- //Send the data to the connected clients
- else if (((settings.enableTcpServer && online.tcpServer)
- || (settings.enableTcpClient && online.tcpClient))
- && ((!length) || (wifiTcpClient[index].write(data, length) == length)))
- {
- if (settings.enablePrintTcpStatus && length)
- systemPrintf("%d bytes written over WiFi TCP\r\n", length);
- continue;
+ wifiTcpClient[index].stop();
+ wifiTcpConnected &= ~(1 << index);
+
+ //Shutdown the TCP server if necessary
+ if (settings.enableTcpServer || online.tcpServer)
+ wifiTcpServerActive();
+ }
}
-
- //Failed to write the data
- else
- systemPrintf("Breaking WiFi TCP client %d connection to ", index);
-
- //Done with this client connection
- systemPrintln(ipAddress[index]);
- wifiTcpClient[index].stop();
- wifiTcpConnected &= ~(1 << index);
-
- //Shutdown the TCP server if necessary
- if (settings.enableTcpServer || online.tcpServer)
- wifiTcpServerActive();
}
}
#endif //COMPILE_WIFI
@@ -662,6 +614,9 @@ void tcpUpdate()
#ifdef COMPILE_WIFI
+ static IPAddress ipAddress[WIFI_MAX_TCP_CLIENTS];
+ static uint32_t lastTcpConnectAttempt;
+
if (settings.enableTcpClient == false && settings.enableTcpServer == false) return; //Nothing to do
if (wifiInConfigMode()) return; //Do not service TCP during WiFi config
@@ -708,6 +663,82 @@ void tcpUpdate()
systemPrint("WiFi TCP Server online, IP Address ");
systemPrintln(WiFi.localIP());
}
+
+ int index = 0;
+
+ //Connect the TCP client if enabled
+ if (online.tcpClient)
+ {
+ if (((!wifiTcpClient[0]) || (!wifiTcpClient[0].connected()))
+ && ((millis() - lastTcpConnectAttempt) >= 1000))
+ {
+ lastTcpConnectAttempt = millis();
+ ipAddress[0] = WiFi.gatewayIP();
+ if (settings.enablePrintTcpStatus)
+ {
+ systemPrint("Trying to connect WiFi TCP client to ");
+ systemPrintln(ipAddress[0]);
+ }
+ if (wifiTcpClient[0].connect(ipAddress[0], settings.wifiTcpPort))
+ {
+ online.tcpClient = true;
+ systemPrint("WiFi TCP client connected to ");
+ systemPrintln(ipAddress[0]);
+ wifiTcpConnected |= 1 << index;
+ }
+ else
+ {
+ //Release any allocated resources
+ //if (wifiTcpClient[0])
+ wifiTcpClient[0].stop();
+ }
+ }
+ }
+
+ //Check for another client
+ if (online.tcpServer)
+ {
+ for (index = 0; index < WIFI_MAX_TCP_CLIENTS; index++)
+ if (!(wifiTcpConnected & (1 << index)))
+ {
+ if ((!wifiTcpClient[index]) || (!wifiTcpClient[index].connected()))
+ {
+ wifiTcpClient[index] = wifiTcpServer->available();
+ if (!wifiTcpClient[index])
+ break;
+ ipAddress[index] = wifiTcpClient[index].remoteIP();
+ systemPrintf("Connected WiFi TCP client %d to ", index);
+ systemPrintln(ipAddress[index]);
+ wifiTcpConnected |= 1 << index;
+ }
+ }
+ }
+
+ //Walk the list of TCP clients
+ for (index = 0; index < WIFI_MAX_TCP_CLIENTS; index++)
+ {
+ if (wifiTcpConnected & (1 << index))
+ {
+ //Check for a broken connection
+ if ((!wifiTcpClient[index]) || (!wifiTcpClient[index].connected()))
+ {
+ //Done with this client connection
+ if (!inMainMenu)
+ {
+ systemPrintf("Disconnected TCP client %d from ", index);
+ systemPrintln(ipAddress[index]);
+ }
+
+ wifiTcpClient[index].stop();
+ wifiTcpConnected &= ~(1 << index);
+
+ //Shutdown the TCP server if necessary
+ if (settings.enableTcpServer || online.tcpServer)
+ wifiTcpServerActive();
+ }
+ }
+ }
+
#endif
}
diff --git a/Firmware/RTK_Surveyor/form.h b/Firmware/RTK_Surveyor/form.h
index 2bc75b933..d4b207483 100644
--- a/Firmware/RTK_Surveyor/form.h
+++ b/Firmware/RTK_Surveyor/form.h
@@ -26,746 +26,759 @@
// python main_js_zipper.py
static const uint8_t main_js[] PROGMEM = {
- 0x1F, 0x8B, 0x08, 0x08, 0x07, 0xE9, 0x4A, 0x64, 0x02, 0xFF, 0x6D, 0x61, 0x69, 0x6E, 0x2E, 0x6A,
+ 0x1F, 0x8B, 0x08, 0x08, 0x58, 0xF4, 0x67, 0x64, 0x02, 0xFF, 0x6D, 0x61, 0x69, 0x6E, 0x2E, 0x6A,
0x73, 0x2E, 0x67, 0x7A, 0x69, 0x70, 0x00, 0xED, 0x7D, 0xEB, 0x7A, 0xDB, 0x38, 0x92, 0xE8, 0xFF,
- 0xF9, 0xBE, 0x79, 0x07, 0xB4, 0xCE, 0x9C, 0x91, 0x34, 0x96, 0x65, 0x49, 0xBE, 0x24, 0x8E, 0x63,
+ 0xF9, 0xBE, 0x79, 0x07, 0xB4, 0xCE, 0x9C, 0x96, 0x34, 0x96, 0x65, 0x49, 0xBE, 0x24, 0x8E, 0x63,
0xEF, 0xF1, 0x35, 0xF1, 0x4E, 0xEC, 0xF8, 0xB3, 0x92, 0x4E, 0x27, 0x3D, 0x59, 0x2F, 0x2D, 0xC2,
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+ 0x22, 0x69, 0xCB, 0x0A, 0x42, 0xC6, 0x40, 0x22, 0xA5, 0x9C, 0x43, 0x5F, 0xE1, 0x89, 0xED, 0xD4,
+ 0xBD, 0x83, 0xAF, 0xEC, 0x16, 0x04, 0x74, 0x87, 0x4C, 0xA0, 0x1D, 0x4F, 0x7C, 0x91, 0xEC, 0x1B,
+ 0xA4, 0x0B, 0x61, 0xA2, 0x28, 0x8B, 0xA8, 0x28, 0x32, 0xFE, 0xA3, 0x3B, 0x7C, 0x27, 0x82, 0x14,
+ 0xD6, 0x61, 0x47, 0x54, 0xFC, 0xA1, 0xC3, 0x17, 0x7A, 0x9A, 0x3E, 0x3E, 0x2E, 0xC9, 0x8B, 0xF4,
+ 0xC6, 0xD3, 0x79, 0x7A, 0x7A, 0xC8, 0x01, 0xDE, 0xCC, 0x6A, 0x54, 0xDE, 0x34, 0xE4, 0xA1, 0x93,
+ 0x37, 0x48, 0x4B, 0xC6, 0x09, 0x36, 0x5C, 0x3E, 0xD6, 0xCC, 0x53, 0xB1, 0x64, 0xAC, 0x57, 0x85,
+ 0x68, 0xC9, 0x63, 0xE2, 0xE5, 0x0A, 0x30, 0x1F, 0xF9, 0xEA, 0xA3, 0x21, 0x67, 0x6B, 0x46, 0x11,
+ 0xB3, 0xD3, 0x8D, 0xEE, 0x23, 0xF4, 0xBA, 0x10, 0xB5, 0xB2, 0xCB, 0x7E, 0x14, 0xE4, 0x15, 0xB8,
+ 0xBE, 0x5A, 0x8D, 0x82, 0x6F, 0xAA, 0x8A, 0x54, 0xA6, 0xE2, 0xB7, 0xFF, 0x0F, 0x6F, 0x29, 0x71,
+ 0x9F, 0xE0, 0x15, 0x00
}; ///main_js
//To convert AP-Config\index.html to index_html[], run the Python index_html_zipper.py script in the Tools folder:
@@ -773,869 +786,882 @@ static const uint8_t main_js[] PROGMEM = {
// python index_html_zipper.py
static const uint8_t index_html[] PROGMEM = {
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- 0xB9, 0x3F, 0x2E, 0x7D, 0x9B, 0xDD, 0xDD, 0xFF, 0x99, 0x75, 0xB8, 0xF0, 0x47, 0x1F, 0x77, 0xE5,
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+ 0x77, 0xB8, 0x1A, 0xB6, 0x52, 0xAE, 0x72, 0xC9, 0x3C, 0x23, 0x52, 0xDA, 0xE0, 0x34, 0xC3, 0xB6,
+ 0x74, 0xA9, 0x4F, 0x62, 0xAA, 0x75, 0x69, 0xFA, 0x20, 0x33, 0x4C, 0x4E, 0x89, 0xEE, 0x0A, 0xE4,
+ 0x3D, 0x4F, 0xEC, 0x81, 0x32, 0x28, 0x69, 0xF0, 0x59, 0x37, 0xC3, 0x92, 0xBE, 0xCC, 0x45, 0x9A,
+ 0x96, 0x72, 0x67, 0xF0, 0xEE, 0x9C, 0xB3, 0x8E, 0xFD, 0x3B, 0x8F, 0x4B, 0x8F, 0x06, 0x16, 0xFE,
+ 0x39, 0x3B, 0xA3, 0x56, 0x9D, 0x7D, 0x3D, 0x45, 0xA2, 0x63, 0xBB, 0xEC, 0xD2, 0xE7, 0x7A, 0x3B,
+ 0xFC, 0xB3, 0x33, 0x02, 0x86, 0x9C, 0xC1, 0x85, 0xB3, 0x7A, 0x2E, 0x75, 0x0B, 0x49, 0x15, 0x07,
+ 0xD2, 0x9B, 0x7D, 0x87, 0x5F, 0xCE, 0x3D, 0xBC, 0x84, 0xAF, 0x20, 0xF5, 0xCE, 0xE1, 0x3D, 0xF1,
+ 0x2E, 0x8B, 0x39, 0x89, 0x41, 0x0B, 0xF3, 0x8D, 0x7D, 0xDC, 0x85, 0x0F, 0xD9, 0xAF, 0x22, 0x20,
+ 0x73, 0xBD, 0x6A, 0xB5, 0x12, 0x0C, 0x75, 0x7C, 0x49, 0x1E, 0xAD, 0xA7, 0x43, 0xD9, 0x13, 0x4E,
+ 0x1C, 0xA7, 0x32, 0xF3, 0x82, 0xBD, 0x68, 0x65, 0x36, 0x0D, 0x4A, 0x44, 0xE0, 0x78, 0x67, 0x0E,
+ 0x93, 0x9D, 0x1B, 0xAA, 0xB4, 0x2B, 0xFC, 0x45, 0x02, 0xD3, 0xA2, 0xF4, 0x6C, 0x17, 0x8F, 0x14,
+ 0x11, 0xFE, 0x3D, 0xBA, 0x3C, 0xFE, 0x5E, 0xAF, 0x89, 0x47, 0x91, 0x31, 0x95, 0xA8, 0x83, 0x03,
+ 0xC2, 0x99, 0x5C, 0xAF, 0xCE, 0x00, 0xB1, 0x4C, 0xD8, 0x81, 0xE0, 0xB8, 0x3A, 0x97, 0x00, 0x9F,
+ 0x3D, 0xA9, 0x9C, 0x40, 0x9E, 0xB1, 0x45, 0x4C, 0x67, 0x43, 0xB9, 0xEA, 0xC2, 0xBD, 0xE4, 0x76,
+ 0x34, 0x9B, 0x8D, 0xFA, 0x5E, 0xE3, 0x7B, 0xBD, 0x59, 0x6F, 0xD4, 0x0F, 0x65, 0xFE, 0xBC, 0x5C,
+ 0x60, 0x86, 0x76, 0xEC, 0x5F, 0x96, 0xBA, 0x27, 0x13, 0x33, 0xFB, 0x63, 0x6E, 0x4B, 0xB3, 0xFE,
+ 0xA1, 0xC0, 0xB6, 0xEC, 0xD7, 0x8F, 0x56, 0xB6, 0x2D, 0x6A, 0x66, 0x1B, 0xB3, 0x2D, 0xF0, 0x08,
+ 0x0F, 0x8A, 0xD6, 0xBC, 0xA3, 0x25, 0xDF, 0x8E, 0xCA, 0xE3, 0x36, 0xCF, 0x9E, 0xCE, 0xBF, 0x18,
+ 0xAC, 0x8C, 0xC5, 0x3D, 0x0D, 0x0C, 0xE7, 0x58, 0x1D, 0x95, 0x18, 0xB5, 0xFC, 0x94, 0x33, 0x5D,
+ 0x62, 0xDE, 0x4D, 0x5F, 0xEC, 0x6B, 0x65, 0xD6, 0x07, 0x42, 0x17, 0xD6, 0x81, 0xA0, 0x15, 0xAA,
+ 0xCF, 0x8B, 0x59, 0x63, 0xAE, 0xCD, 0x9F, 0xE7, 0x94, 0x97, 0xED, 0x5B, 0x57, 0xA0, 0xF6, 0xC9,
+ 0xCC, 0xBA, 0x27, 0xF8, 0xB9, 0x31, 0x3E, 0xF5, 0x1B, 0x7A, 0xA1, 0x13, 0x59, 0xFF, 0x03, 0xC5,
+ 0xC5, 0xAC, 0x02, 0x27, 0xB2, 0x98, 0xC6, 0xAC, 0xD5, 0xCE, 0x4D, 0x8D, 0x31, 0xB5, 0xC4, 0xCE,
+ 0x68, 0x4A, 0x51, 0x9D, 0xBA, 0x56, 0x53, 0x27, 0xB3, 0x5C, 0x4E, 0x46, 0xBD, 0x1A, 0x25, 0x40,
+ 0xCA, 0x05, 0x62, 0x8D, 0x8C, 0x30, 0x98, 0x5D, 0x03, 0xAC, 0x7C, 0x66, 0x04, 0xD7, 0x4A, 0xAB,
+ 0x64, 0xA9, 0xF7, 0x07, 0xFE, 0x1C, 0xE9, 0x7D, 0x86, 0x15, 0x64, 0x5A, 0xED, 0xA6, 0x94, 0x2E,
+ 0x8D, 0xD9, 0xA1, 0x02, 0x50, 0x29, 0xE0, 0x73, 0x83, 0x8C, 0x20, 0x8D, 0x66, 0xF4, 0x55, 0x7D,
+ 0x6E, 0x4A, 0xC2, 0x39, 0x39, 0x5A, 0x8D, 0x7B, 0x7E, 0x2A, 0xDC, 0x09, 0x5D, 0x4F, 0xA6, 0xCB,
+ 0x4B, 0xD2, 0x17, 0xBE, 0x2B, 0xAF, 0xAE, 0x29, 0xDD, 0x2A, 0xFC, 0x35, 0x1B, 0x73, 0x52, 0xB7,
+ 0xF1, 0x13, 0x16, 0x0B, 0xEC, 0x0B, 0xAD, 0x13, 0x8D, 0xD8, 0x3A, 0x91, 0x41, 0x9E, 0x91, 0x6E,
+ 0x20, 0xE7, 0x5B, 0x4A, 0x8D, 0x4F, 0x76, 0x11, 0xA5, 0x92, 0x29, 0x94, 0x60, 0x66, 0xA6, 0x9F,
+ 0x48, 0x8E, 0xCD, 0x93, 0x1B, 0x56, 0x7C, 0x8B, 0xB0, 0xBE, 0xFC, 0xB4, 0x2D, 0xF2, 0x42, 0x81,
+ 0x33, 0x9E, 0xBA, 0x55, 0xD8, 0x66, 0xBC, 0x55, 0x17, 0x58, 0xA1, 0x1E, 0xF4, 0xE7, 0xD9, 0xDB,
+ 0x45, 0x29, 0x5D, 0x26, 0x77, 0xC9, 0xE7, 0x43, 0xEF, 0x5E, 0x99, 0x94, 0xE2, 0x61, 0xCA, 0x6C,
+ 0x9B, 0x5A, 0xC3, 0xB4, 0x6D, 0xCB, 0x93, 0xD2, 0x67, 0xD4, 0xFA, 0xEF, 0x6E, 0x37, 0x18, 0xFD,
+ 0x29, 0xFF, 0xA6, 0xA4, 0xBF, 0x9B, 0xF8, 0x3B, 0x30, 0x7D, 0x7B, 0x24, 0x58, 0xE0, 0x9B, 0x80,
+ 0x11, 0xBE, 0xB9, 0x8B, 0xB9, 0xAA, 0x6A, 0x7F, 0xA1, 0x69, 0xC8, 0x47, 0xEA, 0x65, 0xBD, 0xE1,
+ 0xC7, 0xC4, 0x13, 0x92, 0x38, 0x3C, 0x97, 0xEA, 0xF6, 0x7A, 0x98, 0x2A, 0x3D, 0x60, 0x9F, 0x98,
+ 0xE5, 0x99, 0x21, 0x5A, 0x11, 0x6B, 0x7F, 0x0D, 0xB9, 0xFF, 0x24, 0x95, 0x2D, 0xCF, 0x07, 0x75,
+ 0x6B, 0xEB, 0x5D, 0x4D, 0x88, 0x77, 0xDB, 0xE3, 0xA6, 0x51, 0xA3, 0x1A, 0x88, 0x2B, 0x17, 0x86,
+ 0x39, 0xD8, 0x12, 0xEC, 0x53, 0x8B, 0xFD, 0x6B, 0x72, 0x19, 0x98, 0x20, 0xB8, 0xEB, 0x79, 0x22,
+ 0x10, 0xBE, 0x31, 0xAA, 0xDD, 0xC9, 0x26, 0x5B, 0x42, 0xEB, 0xE6, 0xDF, 0xB6, 0xA3, 0x79, 0xC6,
+ 0x93, 0x83, 0x2D, 0x01, 0xAD, 0x9E, 0xB8, 0xD2, 0xC7, 0xDD, 0x81, 0x18, 0x3A, 0xAD, 0xFF, 0x0F,
+ 0xB2, 0xFF, 0x0B, 0x11, 0x55, 0xD3, 0x00
}; ///index_html
//Content of bootstrap.bundle.min.jss with gzip compression
diff --git a/Firmware/RTK_Surveyor/menuBase.ino b/Firmware/RTK_Surveyor/menuBase.ino
index f023b98fd..fe28ca29e 100644
--- a/Firmware/RTK_Surveyor/menuBase.ino
+++ b/Firmware/RTK_Surveyor/menuBase.ino
@@ -82,33 +82,33 @@ void menuBase()
if (settings.enableNtripServer == true)
{
- int menuEntry = 8;
- if (HAS_ETHERNET)
- {
- systemPrintf("%d) Use WiFi (not Ethernet) for NTRIP Server: ", menuEntry++);
- if (settings.ntripServerUseWiFiNotEthernet == true) systemPrintln("Enabled");
- else systemPrintln("Disabled");
- }
-
- systemPrintf("%d) Set Caster Address: ", menuEntry++);
+ systemPrint("8) Set Caster Address: ");
systemPrintln(settings.ntripServer_CasterHost);
- systemPrintf("%d) Set Caster Port: ", menuEntry++);
+ systemPrint("9) Set Caster Port: ");
systemPrintln(settings.ntripServer_CasterPort);
- systemPrintf("%d) Set Mountpoint: ", menuEntry++);
+ systemPrint("10) Set Mountpoint: ");
systemPrintln(settings.ntripServer_MountPoint);
- systemPrintf("%d) Set Mountpoint PW: ", menuEntry++);
+ systemPrint("11) Set Mountpoint PW: ");
systemPrintln(settings.ntripServer_MountPointPW);
- systemPrintf("%d) Set RTCM Message Rates\r\n", menuEntry++);
+ systemPrint("12) Set RTCM Message Rates\r\n");
if (settings.fixedBase == false) //Survey-in
{
- systemPrintf("%d) Select survey-in radio: ", menuEntry++);
+ systemPrint("13) Select survey-in radio: ");
systemPrintf("%s\r\n", settings.ntripServer_StartAtSurveyIn ? "WiFi" : "Bluetooth");
}
+
+ //For future expansion
+ //if (HAS_ETHERNET)
+ //{
+ // systemPrintf("14) Use WiFi (not Ethernet) for NTRIP Server: ", menuEntry++);
+ // if (settings.ntripServerUseWiFiNotEthernet == true) systemPrintln("Enabled");
+ // else systemPrintln("Disabled");
+ //}
}
else
{
@@ -271,18 +271,13 @@ void menuBase()
restartBase = true;
}
- else if (incoming == 8 && settings.enableNtripServer == true && HAS_ETHERNET)
- {
- settings.ntripServerUseWiFiNotEthernet ^= 1;
- restartBase = true;
- }
- else if ((incoming == 8 + (HAS_ETHERNET ? 1 : 0)) && settings.enableNtripServer == true)
+ else if ((incoming == 8) && settings.enableNtripServer == true)
{
systemPrint("Enter new Caster Address: ");
getString(settings.ntripServer_CasterHost, sizeof(settings.ntripServer_CasterHost));
restartBase = true;
}
- else if ((incoming == 9 + (HAS_ETHERNET ? 1 : 0)) && settings.enableNtripServer == true)
+ else if ((incoming == 9) && settings.enableNtripServer == true)
{
systemPrint("Enter new Caster Port: ");
@@ -296,31 +291,37 @@ void menuBase()
restartBase = true;
}
}
- else if ((incoming == 10 + (HAS_ETHERNET ? 1 : 0)) && settings.enableNtripServer == true)
+ else if ((incoming == 10) && settings.enableNtripServer == true)
{
systemPrint("Enter new Mount Point: ");
getString(settings.ntripServer_MountPoint, sizeof(settings.ntripServer_MountPoint));
restartBase = true;
}
- else if ((incoming == 11 + (HAS_ETHERNET ? 1 : 0)) && settings.enableNtripServer == true)
+ else if ((incoming == 11) && settings.enableNtripServer == true)
{
systemPrintf("Enter password for Mount Point %s: ", settings.ntripServer_MountPoint);
getString(settings.ntripServer_MountPointPW, sizeof(settings.ntripServer_MountPointPW));
restartBase = true;
}
- else if ( ((settings.enableNtripServer == true) && ((incoming == 12 + (HAS_ETHERNET ? 1 : 0))))
+ else if ( ((settings.enableNtripServer == true) && ((incoming == 12)))
|| ((settings.enableNtripServer == false) && (incoming == 8))
)
{
menuMessagesBaseRTCM(); //Set rates for RTCM during Base mode
}
- else if ( ((settings.enableNtripServer == true) && (settings.fixedBase == false) && ((incoming == 13 + (HAS_ETHERNET ? 1 : 0))))
+ else if ( ((settings.enableNtripServer == true) && (settings.fixedBase == false) && ((incoming == 13)))
|| ((settings.enableNtripServer == false) && (settings.fixedBase == false) && (incoming == 9))
)
{
settings.ntripServer_StartAtSurveyIn ^= 1;
restartBase = true;
}
+ //For future expansion
+ //else if (incoming == 14 && settings.enableNtripServer == true && HAS_ETHERNET)
+ //{
+ // settings.ntripServerUseWiFiNotEthernet ^= 1;
+ // restartBase = true;
+ //}
else if (incoming == INPUT_RESPONSE_GETNUMBER_EXIT)
break;
else if (incoming == INPUT_RESPONSE_GETNUMBER_TIMEOUT)
diff --git a/Firmware/RTK_Surveyor/menuEthernet.ino b/Firmware/RTK_Surveyor/menuEthernet.ino
index 9ff727c67..fee63b316 100644
--- a/Firmware/RTK_Surveyor/menuEthernet.ino
+++ b/Firmware/RTK_Surveyor/menuEthernet.ino
@@ -11,14 +11,16 @@ bool ethernetIsNeeded()
if (HAS_ETHERNET
&& settings.enableNtripServer == true
&& (systemState >= STATE_BASE_NOT_STARTED && systemState <= STATE_BASE_FIXED_TRANSMITTING)
- && !settings.ntripServerUseWiFiNotEthernet)
+ //&& !settings.ntripServerUseWiFiNotEthernet //For future expansion
+ )
return true;
//Does Base mode NTRIP Server need Ethernet?
if (HAS_ETHERNET
&& settings.enableNtripClient == true
&& (systemState >= STATE_ROVER_NOT_STARTED && systemState <= STATE_ROVER_RTK_FIX)
- && !settings.ntripClientUseWiFiNotEthernet)
+ //&& !settings.ntripClientUseWiFiNotEthernet //For future expansion
+ )
return true;
//Does TCP need Ethernet?
@@ -694,7 +696,8 @@ void ethernetRestart()
online.ethernetStatus = ETH_NOT_STARTED;
//Ethernet TCP Client
- ethernetTcpClient->stop();
+ if (ethernetTcpClient)
+ ethernetTcpClient->stop();
ethernetTcpConnected = false;
online.tcpClientEthernet = false;
diff --git a/Firmware/RTK_Surveyor/menuFirmware.ino b/Firmware/RTK_Surveyor/menuFirmware.ino
index 5996dfca9..1c9daa6af 100644
--- a/Firmware/RTK_Surveyor/menuFirmware.ino
+++ b/Firmware/RTK_Surveyor/menuFirmware.ino
@@ -248,7 +248,7 @@ void scanForFirmware()
const char* BIN_EXT = "bin";
const char* BIN_HEADER = "/RTK_Surveyor_Firmware";
- char fname[50]; //Handle long file names
+ char fname[60]; //Handle long file names
File dir = SD_MMC.open("/"); //Open root
if (!dir || !dir.isDirectory())
diff --git a/Firmware/RTK_Surveyor/menuGNSS.ino b/Firmware/RTK_Surveyor/menuGNSS.ino
index 425d8bcca..5deb28023 100644
--- a/Firmware/RTK_Surveyor/menuGNSS.ino
+++ b/Firmware/RTK_Surveyor/menuGNSS.ino
@@ -77,39 +77,39 @@ void menuGNSS()
if (settings.enableNtripClient == true)
{
- int menuEntry = 6;
- if (HAS_ETHERNET)
- {
- systemPrintf("%d) Use WiFi (not Ethernet) for NTRIP Client: ", menuEntry++);
- if (settings.ntripClientUseWiFiNotEthernet == true) systemPrintln("Enabled");
- else systemPrintln("Disabled");
- }
-
- systemPrintf("%d) Set Caster Address: ", menuEntry++);
+ systemPrint("6) Set Caster Address: ");
systemPrintln(settings.ntripClient_CasterHost);
- systemPrintf("%d) Set Caster Port: ", menuEntry++);
+ systemPrint("7) Set Caster Port: ");
systemPrintln(settings.ntripClient_CasterPort);
- systemPrintf("%d) Set Caster User Name: ", menuEntry++);
+ systemPrint("8) Set Caster User Name: ");
systemPrintln(settings.ntripClient_CasterUser);
- systemPrintf("%d) Set Caster User Password: ", menuEntry++);
+ systemPrint("9) Set Caster User Password: ");
systemPrintln(settings.ntripClient_CasterUserPW);
- systemPrintf("%d) Set Mountpoint: ", menuEntry++);
+ systemPrint("10) Set Mountpoint: ");
systemPrintln(settings.ntripClient_MountPoint);
- systemPrintf("%d) Set Mountpoint PW: ", menuEntry++);
+ systemPrint("11) Set Mountpoint PW: ");
systemPrintln(settings.ntripClient_MountPointPW);
- systemPrintf("%d) Toggle sending GGA Location to Caster: ", menuEntry++);
+ systemPrint("12) Toggle sending GGA Location to Caster: ");
if (settings.ntripClient_TransmitGGA == true) systemPrintln("Enabled");
else systemPrintln("Disabled");
- systemPrintf("%d) Minimum elevation for a GNSS satellite to be used in fix (degrees): %d\r\n", menuEntry++, settings.minElev);
+ systemPrintf("13) Minimum elevation for a GNSS satellite to be used in fix (degrees): %d\r\n", settings.minElev);
+
+ systemPrintf("14) Minimum satellite signal level for navigation (dBHz): %d\r\n", minCNO);
- systemPrintf("%d) Minimum satellite signal level for navigation (dBHz): %d\r\n", menuEntry++, minCNO);
+ //For future expansion
+ //if (HAS_ETHERNET)
+ //{
+ // systemPrintf("15) Use WiFi (not Ethernet) for NTRIP Client: ", menuEntry++);
+ // if (settings.ntripClientUseWiFiNotEthernet == true) systemPrintln("Enabled");
+ // else systemPrintln("Disabled");
+ //}
}
else
{
@@ -209,18 +209,13 @@ void menuGNSS()
settings.enableNtripClient ^= 1;
restartRover = true;
}
- else if (incoming == 6 && settings.enableNtripClient == true && HAS_ETHERNET)
- {
- settings.ntripClientUseWiFiNotEthernet ^= 1;
- restartRover = true;
- }
- else if ((incoming == 6 + (HAS_ETHERNET ? 1 : 0)) && settings.enableNtripClient == true)
+ else if ((incoming == 6) && settings.enableNtripClient == true)
{
systemPrint("Enter new Caster Address: ");
getString(settings.ntripClient_CasterHost, sizeof(settings.ntripClient_CasterHost));
restartRover = true;
}
- else if ((incoming == 7 + (HAS_ETHERNET ? 1 : 0)) && settings.enableNtripClient == true)
+ else if ((incoming == 7) && settings.enableNtripClient == true)
{
systemPrint("Enter new Caster Port: ");
@@ -234,36 +229,36 @@ void menuGNSS()
restartRover = true;
}
}
- else if ((incoming == 8 + (HAS_ETHERNET ? 1 : 0)) && settings.enableNtripClient == true)
+ else if ((incoming == 8) && settings.enableNtripClient == true)
{
systemPrintf("Enter user name for %s: ", settings.ntripClient_CasterHost);
getString(settings.ntripClient_CasterUser, sizeof(settings.ntripClient_CasterUser));
restartRover = true;
}
- else if ((incoming == 9 + (HAS_ETHERNET ? 1 : 0)) && settings.enableNtripClient == true)
+ else if ((incoming == 9) && settings.enableNtripClient == true)
{
systemPrintf("Enter user password for %s: ", settings.ntripClient_CasterHost);
getString(settings.ntripClient_CasterUserPW, sizeof(settings.ntripClient_CasterUserPW));
restartRover = true;
}
- else if ((incoming == 10 + (HAS_ETHERNET ? 1 : 0)) && settings.enableNtripClient == true)
+ else if ((incoming == 10) && settings.enableNtripClient == true)
{
systemPrint("Enter new Mount Point: ");
getString(settings.ntripClient_MountPoint, sizeof(settings.ntripClient_MountPoint));
restartRover = true;
}
- else if ((incoming == 11 + (HAS_ETHERNET ? 1 : 0)) && settings.enableNtripClient == true)
+ else if ((incoming == 11) && settings.enableNtripClient == true)
{
systemPrintf("Enter password for Mount Point %s: ", settings.ntripClient_MountPoint);
getString(settings.ntripClient_MountPointPW, sizeof(settings.ntripClient_MountPointPW));
restartRover = true;
}
- else if ((incoming == 12 + (HAS_ETHERNET ? 1 : 0)) && settings.enableNtripClient == true)
+ else if ((incoming == 12) && settings.enableNtripClient == true)
{
settings.ntripClient_TransmitGGA ^= 1;
restartRover = true;
}
- else if ( ((incoming == 13 + (HAS_ETHERNET ? 1 : 0)) && settings.enableNtripClient == true)
+ else if ( ((incoming == 13) && settings.enableNtripClient == true)
|| incoming == 6 && settings.enableNtripClient == false)
{
systemPrint("Enter minimum elevation in degrees: ");
@@ -282,7 +277,7 @@ void menuGNSS()
restartRover = true;
}
}
- else if ( ((incoming == 14 + (HAS_ETHERNET ? 1 : 0)) && settings.enableNtripClient == true)
+ else if ( ((incoming == 14) && settings.enableNtripClient == true)
|| incoming == 7 && settings.enableNtripClient == false)
{
systemPrint("Enter minimum satellite signal level for navigation in dBHz: ");
@@ -304,6 +299,12 @@ void menuGNSS()
restartRover = true;
}
}
+ //For future expansion
+ //else if (incoming == 15 && settings.enableNtripClient == true && HAS_ETHERNET)
+ //{
+ // settings.ntripClientUseWiFiNotEthernet ^= 1;
+ // restartRover = true;
+ //}
else if (incoming == INPUT_RESPONSE_GETNUMBER_EXIT)
break;
else if (incoming == INPUT_RESPONSE_GETNUMBER_TIMEOUT)
diff --git a/Firmware/RTK_Surveyor/menuMessages.ino b/Firmware/RTK_Surveyor/menuMessages.ino
index a2336745d..328ff5786 100644
--- a/Firmware/RTK_Surveyor/menuMessages.ino
+++ b/Firmware/RTK_Surveyor/menuMessages.ino
@@ -11,11 +11,15 @@ void menuLog()
if (settings.enableSD && online.microSD)
{
char sdCardSizeChar[20];
- stringHumanReadableSize(sdCardSize).toCharArray(sdCardSizeChar, sizeof(sdCardSizeChar));
+ String cardSize;
+ stringHumanReadableSize(cardSize, sdCardSize);
+ cardSize.toCharArray(sdCardSizeChar, sizeof(sdCardSizeChar));
char sdFreeSpaceChar[20];
- stringHumanReadableSize(sdFreeSpace).toCharArray(sdFreeSpaceChar, sizeof(sdFreeSpaceChar));
+ String freeSpace;
+ stringHumanReadableSize(freeSpace, sdFreeSpace);
+ freeSpace.toCharArray(sdFreeSpaceChar, sizeof(sdFreeSpaceChar));
- char myString[200];
+ char myString[60];
snprintf(myString, sizeof(myString),
"SD card size: %s / Free space: %s",
sdCardSizeChar,
@@ -48,20 +52,32 @@ void menuLog()
systemPrint(settings.maxLogLength_minutes);
systemPrintln(" minutes");
- if (online.logging == true) systemPrintln("4) Start new log");
+ if (online.logging == true)
+ systemPrintln("4) Start new log");
+
+ systemPrint("5) Log Antenna Reference Position from RTCM 1005/1006: ");
+ if (settings.enableARPLogging == true) systemPrintln("Enabled");
+ else systemPrintln("Disabled");
+
+ if (settings.enableARPLogging == true)
+ {
+ systemPrint("6) Set ARP logging interval: ");
+ systemPrint(settings.ARPLoggingInterval_s);
+ systemPrintln(" seconds");
+ }
}
- systemPrint("5) Write Marks_date.csv file to microSD: ");
+ systemPrint("7) Write Marks_date.csv file to microSD: ");
if (settings.enableMarksFile == true) systemPrintln("Enabled");
else systemPrintln("Disabled");
- systemPrint("6) Reset system if the SD card is detected but fails to initialize: ");
+ systemPrint("8) Reset system if the SD card is detected but fails to initialize: ");
if (settings.forceResetOnSDFail == true) systemPrintln("Enabled");
else systemPrintln("Disabled");
if (HAS_ETHERNET)
{
- systemPrint("7) Write NTP requests to microSD: ");
+ systemPrint("9) Write NTP requests to microSD: ");
if (settings.enableNTPFile == true) systemPrintln("Enabled");
else systemPrintln("Disabled");
}
@@ -110,15 +126,31 @@ void menuLog()
beginLogging(); //Create new file based on current RTC.
setLoggingType(); //Determine if we are standard, PPP, or custom. Changes logging icon accordingly.
}
- else if (incoming == 5)
+ else if (incoming == 5 && settings.enableLogging == true && online.logging == true)
+ {
+ settings.enableARPLogging ^= 1;
+ }
+ else if (incoming == 6 && settings.enableLogging == true && settings.enableARPLogging == true)
+ {
+ systemPrint("Enter the ARP logging interval in seconds: ");
+ int logSecs = getNumber(); //Returns EXIT, TIMEOUT, or long
+ if ((logSecs != INPUT_RESPONSE_GETNUMBER_EXIT) && (logSecs != INPUT_RESPONSE_GETNUMBER_TIMEOUT))
+ {
+ if (logSecs < 1 || logSecs > 600) //Arbitrary 10 minute limit
+ systemPrintln("Error: Logging interval out of range");
+ else
+ settings.ARPLoggingInterval_s = logSecs; //Recorded to NVM and file at main menu exit
+ }
+ }
+ else if (incoming == 7)
{
settings.enableMarksFile ^= 1;
}
- else if (incoming == 6)
+ else if (incoming == 8)
{
settings.forceResetOnSDFail ^= 1;
}
- else if ((HAS_ETHERNET) && (incoming == 7))
+ else if ((HAS_ETHERNET) && (incoming == 9))
{
settings.enableNTPFile ^= 1;
}
@@ -273,40 +305,42 @@ void menuMessagesBaseRTCM()
}
else if (incoming == 2)
{
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1005")] = 1; //1105
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1074")] = 1; //1074
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1077")] = 0; //1077
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1084")] = 1; //1084
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1087")] = 0; //1087
-
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1094")] = 1; //1094
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1097")] = 0; //1097
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1124")] = 1; //1124
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1127")] = 0; //1127
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1230")] = 10; //1230
-
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_4072_0")] = 0; //4072_0
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_4072_1")] = 0; //4072_1
+ int firstRTCMRecord = getMessageNumberByName("UBX_RTCM_1005");
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1005") - firstRTCMRecord] = 1; //1105
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1074") - firstRTCMRecord] = 1; //1074
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1077") - firstRTCMRecord] = 0; //1077
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1084") - firstRTCMRecord] = 1; //1084
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1087") - firstRTCMRecord] = 0; //1087
+
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1094") - firstRTCMRecord] = 1; //1094
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1097") - firstRTCMRecord] = 0; //1097
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1124") - firstRTCMRecord] = 1; //1124
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1127") - firstRTCMRecord] = 0; //1127
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1230") - firstRTCMRecord] = 10; //1230
+
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_4072_0") - firstRTCMRecord] = 0; //4072_0
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_4072_1") - firstRTCMRecord] = 0; //4072_1
systemPrintln("Reset to Defaults (1005/74/84/94/124 1Hz & 1230 0.1Hz)");
restartBase = true;
}
else if (incoming == 3)
{
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1005")] = 10; //1105 0.1Hz
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1074")] = 2; //1074 0.5Hz
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1077")] = 0; //1077
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1084")] = 2; //1084 0.5Hz
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1087")] = 0; //1087
-
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1094")] = 2; //1094 0.5Hz
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1097")] = 0; //1097
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1124")] = 2; //1124 0.5Hz
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1127")] = 0; //1127
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1230")] = 10; //1230 0.1Hz
-
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_4072_0")] = 0; //4072_0
- settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_4072_1")] = 0; //4072_1
+ int firstRTCMRecord = getMessageNumberByName("UBX_RTCM_1005");
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1005") - firstRTCMRecord] = 10; //1105 0.1Hz
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1074") - firstRTCMRecord] = 2; //1074 0.5Hz
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1077") - firstRTCMRecord] = 0; //1077
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1084") - firstRTCMRecord] = 2; //1084 0.5Hz
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1087") - firstRTCMRecord] = 0; //1087
+
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1094") - firstRTCMRecord] = 2; //1094 0.5Hz
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1097") - firstRTCMRecord] = 0; //1097
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1124") - firstRTCMRecord] = 2; //1124 0.5Hz
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1127") - firstRTCMRecord] = 0; //1127
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_1230") - firstRTCMRecord] = 10; //1230 0.1Hz
+
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_4072_0") - firstRTCMRecord] = 0; //4072_0
+ settings.ubxMessageRatesBase[getMessageNumberByName("UBX_RTCM_4072_1") - firstRTCMRecord] = 0; //4072_1
systemPrintln("Reset to Low Bandwidth Link (1074/84/94/124 0.5Hz & 1005/230 0.1Hz)");
restartBase = true;
@@ -342,7 +376,7 @@ void menuMessagesSubtype(uint8_t *localMessageRate, const char* messageType)
rtcmOffset = getMessageNumberByName("UBX_RTCM_1005");
}
else
- setMessageOffsets(ubxMessages, messageType, startOfBlock, endOfBlock); //Find start and stop of given messageType in message array
+ setMessageOffsets(&ubxMessages[0], messageType, startOfBlock, endOfBlock); //Find start and stop of given messageType in message array
for (int x = 0 ; x < (endOfBlock - startOfBlock) ; x++)
{
@@ -363,8 +397,8 @@ void menuMessagesSubtype(uint8_t *localMessageRate, const char* messageType)
//Check to see if this ZED platform supports this message
int msgNumber = (incoming - 1) + startOfBlock;
- if (messageSupported(msgNumber) == true)
- inputMessageRate(localMessageRate[msgNumber], msgNumber);
+ if (messageSupported(msgNumber + rtcmOffset) == true)
+ inputMessageRate(localMessageRate[msgNumber], msgNumber + rtcmOffset);
else
printUnknown(incoming);
}
@@ -416,7 +450,7 @@ void setGNSSMessageRates(uint8_t *localMessageRate, uint8_t msgRate)
//Based on GPS data/time, create a log file in the format SFE_Surveyor_YYMMDD_HHMMSS.ubx
void beginLogging()
{
- beginLogging("");
+ beginLogging(nullptr);
}
void beginLogging(const char *customFileName)
@@ -428,22 +462,29 @@ void beginLogging(const char *customFileName)
{
if (online.microSD == true && settings.enableLogging == true && online.rtc == true) //We can't create a file until we have date/time
{
- if (strlen(customFileName) == 0)
+ if (customFileName == nullptr)
{
//Generate a standard log file name
if (reuseLastLog == true) //attempt to use previous log
{
- reuseLastLog = false;
+ reuseLastLog = false; //Don't reuse the file a second time
+
+ //findLastLog does not add the preceding slash. We need to do it manually
+ logFileName[0] = '/'; //Erase any existing file name
+ logFileName[1] = 0;
- if (findLastLog(logFileName, sizeof(logFileName)) == false)
+ if (findLastLog(&logFileName[1], sizeof(logFileName) - 1) == false)
+ {
+ logFileName[0] = 0; //No file found. Erase the slash
log_d("Failed to find last log. Making new one.");
+ }
else
log_d("Using last log file.");
}
else
{
//We are not reusing the last log, so erase the global/original filename
- strcpy(logFileName, "");
+ logFileName[0] = 0;
}
if (strlen(logFileName) == 0)
@@ -457,7 +498,7 @@ void beginLogging(const char *customFileName)
}
else
{
- strncpy(logFileName, customFileName, sizeof(logFileName) - 1);
+ strncpy(logFileName, customFileName, sizeof(logFileName) - 1); //customFileName already has the preceding slash added
}
//Allocate the ubxFile
@@ -624,8 +665,9 @@ void endLogging(bool gotSemaphore, bool releaseSemaphore)
}
//Finds last log
-//Returns true if succesful
-bool findLastLog(char *lastLogNamePrt, int lastLogNameSize)
+//Returns true if successful
+//lastLogName will contain the name of the last log file on return - ** but without the preceding slash **
+bool findLastLog(char *lastLogNamePrt, size_t lastLogNameSize)
{
bool foundAFile = false;
@@ -644,7 +686,7 @@ bool findLastLog(char *lastLogNamePrt, int lastLogNameSize)
SdFile dir;
const char* LOG_EXTENSION = "ubx";
const char* LOG_PREFIX = platformFilePrefix;
- char fname[50]; //Handle long file names
+ char fname[100]; //Handle long file names
dir.open("/"); //Open root
@@ -674,7 +716,7 @@ bool findLastLog(char *lastLogNamePrt, int lastLogNameSize)
File dir;
const char* LOG_EXTENSION = "ubx";
const char* LOG_PREFIX = platformFilePrefix;
- char fname[50]; //Handle long file names
+ char fname[100]; //Handle long file names
dir = SD_MMC.open("/"); //Open root
@@ -718,7 +760,7 @@ bool findLastLog(char *lastLogNamePrt, int lastLogNameSize)
}
//Given a unique string, find first and last records containing that string in message array
-void setMessageOffsets(ubxMsg *localMessage, const char* messageType, int& startOfBlock, int& endOfBlock)
+void setMessageOffsets(const ubxMsg *localMessage, const char* messageType, int& startOfBlock, int& endOfBlock)
{
char messageNamePiece[40]; //UBX_RTCM
snprintf(messageNamePiece, sizeof(messageNamePiece), "UBX_%s", messageType); //Put UBX_ infront of type
@@ -889,10 +931,19 @@ void updateLogTest()
int messages = 5;
int semaphoreWait = 10;
- logTestState++; //Advance to next state
+ //Advance to next state
+ //Note: logTestState is LOGTEST_END by default.
+ // The increment causes the default switch case to be executed, resetting logTestState to LOGTEST_END.
+ // The test is started via the debug menu, setting logTestState to LOGTEST_START.
+ logTestState++;
switch (logTestState)
{
+ default:
+ logTestState = LOGTEST_END;
+ settings.runLogTest = false;
+ break;
+
case (LOGTEST_4HZ_5MSG_10MS):
//During the first test, create the log file
reuseLastLog = false;
@@ -976,11 +1027,6 @@ void updateLogTest()
setLogTestFrequencyMessages(rate, messages); //Set messages and rate for both UART1 / SPI and USB ports
log_d("Log Test Complete");
break;
-
- default:
- logTestState = LOGTEST_END;
- settings.runLogTest = false;
- break;
}
if (settings.runLogTest == true)
diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index 0b114bd5d..8b398ce08 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -401,10 +401,18 @@ void menuWiFi()
systemPrintf("%s\r\n", settings.wifiConfigOverAP ? "AP" : "WiFi");
systemPrint("c) WiFi TCP Client (connect to phone): ");
- systemPrintf("%s\r\n", settings.enableTcpClient ? "Enabled" : "Disabled");
+ systemPrintf("%s", settings.enableTcpClient ? "Enabled" : "Disabled");
+ if (settings.enableTcpClient && settings.enableTcpServer)
+ systemPrintln(" **");
+ else
+ systemPrintln("");
systemPrint("s) WiFi TCP Server: ");
- systemPrintf("%s\r\n", settings.enableTcpServer ? "Enabled" : "Disabled");
+ systemPrintf("%s", settings.enableTcpServer ? "Enabled" : "Disabled");
+ if (settings.enableTcpClient && settings.enableTcpServer)
+ systemPrintln(" **");
+ else
+ systemPrintln("");
if (settings.enableTcpServer == true || settings.enableTcpClient == true)
systemPrintf("p) WiFi TCP Port: %ld\r\n", settings.wifiTcpPort);
@@ -414,6 +422,9 @@ void menuWiFi()
systemPrintln("x) Exit");
+ if (settings.enableTcpClient && settings.enableTcpServer)
+ systemPrintln("\r\n** TCP Server and Client can not be enabled at the same time. Please disable one of them");
+
byte incoming = getCharacterNumber();
if (incoming >= 1 && incoming <= MAX_WIFI_NETWORKS * 2)
@@ -859,6 +870,7 @@ void menuDebug()
}
else if (incoming == 34)
{
+ systemPrintln("Warning: changing the Receive Buffer Size will restart the RTK. Enter 0 to abort");
systemPrint("Enter UART Receive Buffer Size in Bytes (32 to 16384): ");
int queSize = getNumber(); //Returns EXIT, TIMEOUT, or long
if ((queSize != INPUT_RESPONSE_GETNUMBER_EXIT) && (queSize != INPUT_RESPONSE_GETNUMBER_TIMEOUT))
@@ -866,19 +878,28 @@ void menuDebug()
if (queSize < 32 || queSize > 16384) //Arbitrary 16k limit
systemPrintln("Error: Queue size out of range");
else
- settings.uartReceiveBufferSize = queSize; //Recorded to NVM and file at main menu exit
+ {
+ settings.uartReceiveBufferSize = queSize; //Recorded to NVM and file
+ recordSystemSettings();
+ ESP.restart();
+ }
}
}
else if (incoming == 35)
{
- systemPrint("Enter GNSS Handler Buffer Size in Bytes (32 to 16384): ");
+ systemPrintln("Warning: changing the Handler Buffer Size will restart the RTK. Enter 0 to abort");
+ systemPrint("Enter GNSS Handler Buffer Size in Bytes (32 to 65535): ");
int queSize = getNumber(); //Returns EXIT, TIMEOUT, or long
if ((queSize != INPUT_RESPONSE_GETNUMBER_EXIT) && (queSize != INPUT_RESPONSE_GETNUMBER_TIMEOUT))
{
- if (queSize < 32 || queSize > 16384) //Arbitrary 16k limit
+ if (queSize < 32 || queSize > 65535) //Arbitrary 64k limit
systemPrintln("Error: Queue size out of range");
else
- settings.gnssHandlerBufferSize = queSize; //Recorded to NVM and file at main menu exit
+ {
+ settings.gnssHandlerBufferSize = queSize; //Recorded to NVM and file
+ recordSystemSettings();
+ ESP.restart();
+ }
}
}
else if (incoming == 36)
@@ -1038,7 +1059,9 @@ void printFileList()
);
char fileSizeChar[20];
- stringHumanReadableSize(tempFile.fileSize()).toCharArray(fileSizeChar, sizeof(fileSizeChar));
+ String fileSize;
+ stringHumanReadableSize(fileSize, tempFile.fileSize());
+ fileSize.toCharArray(fileSizeChar, sizeof(fileSizeChar));
char fileName[50]; //Handle long file names
tempFile.getName(fileName, sizeof(fileName));
@@ -1081,14 +1104,16 @@ void printFileList()
struct tm *timeinfo = localtime(&lastWrite);
char fileDateChar[20];
- snprintf(fileDateChar, 20, "%.0f-%02.0f-%02.0f",
+ snprintf(fileDateChar, sizeof(fileDateChar), "%.0f-%02.0f-%02.0f",
(float)timeinfo->tm_year + 1900, //Year - ESP32 2.0.2 starts the year at 1900...
(float)timeinfo->tm_mon + 1, //Month
(float)timeinfo->tm_mday //Day
);
char fileSizeChar[20];
- stringHumanReadableSize(tempFile.size()).toCharArray(fileSizeChar, sizeof(fileSizeChar));
+ String fileSize;
+ stringHumanReadableSize(fileSize, tempFile.size());
+ fileSize.toCharArray(fileSizeChar, sizeof(fileSizeChar));
char fileName[50]; //Handle long file names
snprintf(fileName, sizeof(fileName), "%s", tempFile.name());
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index 2ff3574a1..a2eda4093 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -97,7 +97,7 @@ typedef enum
ButtonState buttonPreviousState = BUTTON_ROVER;
//Data port mux (RTK Express) can enter one of four different connections
-typedef enum muxConnectionType_e
+typedef enum
{
MUX_UBLOX_NMEA = 0,
MUX_PPS_EVENTTRIGGER,
@@ -132,6 +132,7 @@ typedef enum
CUSTOM_NMEA_TYPE_DEVICE_BT_ID,
CUSTOM_NMEA_TYPE_PARSER_STATS,
CUSTOM_NMEA_TYPE_CURRENT_DATE,
+ CUSTOM_NMEA_TYPE_ARP_ECEF_XYZH,
} customNmeaType_e;
//Freeze and blink LEDs if we hit a bad error
@@ -153,7 +154,7 @@ enum WiFiState
};
volatile byte wifiState = WIFI_OFF;
-typedef enum ESPNOWState
+typedef enum
{
ESPNOW_OFF,
ESPNOW_ON,
@@ -163,7 +164,7 @@ typedef enum ESPNOWState
} ESPNOWState;
volatile ESPNOWState espnowState = ESPNOW_OFF;
-enum NTRIPClientState
+typedef enum
{
NTRIP_CLIENT_OFF = 0, //Using Bluetooth or NTRIP server
NTRIP_CLIENT_ON, //WIFI_START state
@@ -171,10 +172,10 @@ enum NTRIPClientState
NTRIP_CLIENT_WIFI_ETHERNET_CONNECTED, //Connected to an access point or Ethernet
NTRIP_CLIENT_CONNECTING, //Attempting a connection to the NTRIP caster
NTRIP_CLIENT_CONNECTED, //Connected to the NTRIP caster
-};
-volatile byte ntripClientState = NTRIP_CLIENT_OFF;
+} NTRIPClientState;
+volatile NTRIPClientState ntripClientState = NTRIP_CLIENT_OFF;
-enum NTRIPServerState
+typedef enum
{
NTRIP_SERVER_OFF = 0, //Using Bluetooth or NTRIP client
NTRIP_SERVER_ON, //WIFI_START state
@@ -184,10 +185,10 @@ enum NTRIPServerState
NTRIP_SERVER_CONNECTING, //Attempting a connection to the NTRIP caster
NTRIP_SERVER_AUTHORIZATION, //Validate the credentials
NTRIP_SERVER_CASTING, //Sending correction data to the NTRIP caster
-};
-volatile byte ntripServerState = NTRIP_SERVER_OFF;
+} NTRIPServerState;
+volatile NTRIPServerState ntripServerState = NTRIP_SERVER_OFF;
-enum RtcmTransportState
+typedef enum
{
RTCM_TRANSPORT_STATE_WAIT_FOR_PREAMBLE_D3 = 0,
RTCM_TRANSPORT_STATE_READ_LENGTH_1,
@@ -199,21 +200,23 @@ enum RtcmTransportState
RTCM_TRANSPORT_STATE_READ_CRC_2,
RTCM_TRANSPORT_STATE_READ_CRC_3,
RTCM_TRANSPORT_STATE_CHECK_CRC
-};
+} RtcmTransportState;
-typedef enum RadioType_e
+typedef enum
{
RADIO_EXTERNAL = 0,
RADIO_ESPNOW,
} RadioType_e;
-typedef enum BluetoothRadioType_e
+typedef enum
{
BLUETOOTH_RADIO_SPP = 0,
BLUETOOTH_RADIO_BLE,
BLUETOOTH_RADIO_OFF,
} BluetoothRadioType_e;
+//Don't make this a typedef enum as logTestState
+//can be incremented beyond LOGTEST_END
enum LogTestState
{
LOGTEST_START = 0,
@@ -229,9 +232,8 @@ enum LogTestState
LOGTEST_4HZ_7MSG_50MS,
LOGTEST_10HZ_5MSG_50MS,
LOGTEST_10HZ_7MSG_50MS,
-
LOGTEST_END,
-} ;
+};
uint8_t logTestState = LOGTEST_END;
typedef struct WiFiNetwork
@@ -285,12 +287,12 @@ typedef enum
} ethernetStatus_e;
//Radio status LED goes from off (LED off), no connection (blinking), to connected (solid)
-enum BTState
+typedef enum
{
BT_OFF = 0,
BT_NOTCONNECTED,
BT_CONNECTED,
-};
+} BTState;
//Return values for getString()
typedef enum
@@ -349,7 +351,7 @@ typedef enum
#include //http://librarymanager/All#SparkFun_u-blox_GNSS_v3
//Each constellation will have its config key, enable, and a visible name
-typedef struct ubxConstellation
+typedef struct
{
uint32_t configKey;
uint8_t gnssID;
@@ -363,7 +365,7 @@ typedef struct ubxConstellation
//Different ZED modules support different messages (F9P vs F9R vs F9T)
//Create binary packed struct for different platforms
-typedef enum ubxPlatform
+typedef enum
{
PLATFORM_F9P = 0b0001,
PLATFORM_F9R = 0b0010,
@@ -396,20 +398,20 @@ typedef enum
//Struct to describe the necessary info for each type of UBX message
//Each message will have a key, ID, class, visible name, and various info about which platforms the message is supported on
//Message rates are store within NVM
-typedef struct ubxMsg
+typedef struct
{
- uint32_t msgConfigKey;
- uint8_t msgID;
- uint8_t msgClass;
- uint8_t msgDefaultRate;
- const char* msgTextName;
- uint32_t filterMask;
- uint16_t f9pFirmwareVersionSupported; //The minimum version this message is supported. 0 = all versions. 9999 = Not supported
- uint16_t f9rFirmwareVersionSupported;
+ const uint32_t msgConfigKey;
+ const uint8_t msgID;
+ const uint8_t msgClass;
+ const uint8_t msgDefaultRate;
+ const char msgTextName[20];
+ const uint32_t filterMask;
+ const uint16_t f9pFirmwareVersionSupported; //The minimum version this message is supported. 0 = all versions. 9999 = Not supported
+ const uint16_t f9rFirmwareVersionSupported;
} ubxMsg;
//Static array containing all the compatible messages
-ubxMsg ubxMessages[] =
+const ubxMsg ubxMessages[] =
{
//NMEA
{UBLOX_CFG_MSGOUT_NMEA_ID_DTM_UART1, UBX_NMEA_DTM, UBX_CLASS_NMEA, 0, "UBX_NMEA_DTM", SFE_UBLOX_FILTER_NMEA_DTM, 112, 120},
@@ -613,16 +615,16 @@ ubxMsg ubxMessages[] =
//Struct to describe the necessary info for each UBX command
//Each command will have a key, and minimum F9P/F9R versions that support that command
-typedef struct ubxCmd
+typedef struct
{
- uint32_t cmdKey;
- const char* cmdTextName;
- uint16_t f9pFirmwareVersionSupported; //The minimum version this message is supported. 0 = all versions. 9999 = Not supported
- uint16_t f9rFirmwareVersionSupported;
+ const uint32_t cmdKey;
+ const char cmdTextName[30];
+ const uint16_t f9pFirmwareVersionSupported; //The minimum version this message is supported. 0 = all versions. 9999 = Not supported
+ const uint16_t f9rFirmwareVersionSupported;
} ubxCmd;
//Static array containing all the compatible commands
-ubxCmd ubxCommands[] =
+const ubxCmd ubxCommands[] =
{
{UBLOX_CFG_TMODE_MODE, "CFG_TMODE_MODE", 0, 9999}, //Survey mode is only available on ZED-F9P modules
@@ -676,6 +678,8 @@ typedef struct {
muxConnectionType_e dataPortChannel = MUX_UBLOX_NMEA; //Mux default to ublox UART1
uint16_t spiFrequency = 16; //By default, use 16MHz SPI
bool enableLogging = true; //If an SD card is present, log default sentences
+ bool enableARPLogging = false; //Log the Antenna Reference Position from RTCM 1005/1006 - if available
+ uint16_t ARPLoggingInterval_s = 10; //Log the ARP every 10 seconds - if available
uint16_t sppRxQueueSize = 2048;
uint16_t sppTxQueueSize = 512;
uint8_t dynamicModel = DYN_MODEL_PORTABLE;
@@ -719,7 +723,7 @@ typedef struct {
char ntripServer_MountPointPW[50] = "WR5wRo4H";
//Products that have Ethernet will always use Ethernet for NTRIP Server and Client, unless ntripServerUseWiFiNotEthernet is set to true.
//Setting ntripServerUseWiFiNotEthernet to true will make Ethernet-enabled products use WiFi for NTRIP Server instead.
- bool ntripServerUseWiFiNotEthernet = false;
+ //bool ntripServerUseWiFiNotEthernet = false; //For future expansion
//NTRIP Client
bool enableNtripClient = false;
@@ -731,7 +735,7 @@ typedef struct {
char ntripClient_MountPointPW[50] = "";
bool ntripClient_TransmitGGA = true;
//Setting ntripClientUseWiFiNotEthernet to true will make Ethernet-enabled products use WiFi for NTRIP Client instead.
- bool ntripClientUseWiFiNotEthernet = false;
+ //bool ntripClientUseWiFiNotEthernet = false; //For future expansion
int16_t serialTimeoutGNSS = 1; //In ms - used during SerialGNSS.begin. Number of ms to pass of no data before hardware serial reports data available.
@@ -847,7 +851,6 @@ typedef struct {
bool mdnsEnable = false; //Allows locating of device from browser address 'rtk.local'
} Settings;
Settings settings;
-const Settings defaultSettings = Settings();
//Monitor which devices on the device are on or offline.
struct struct_online {