More changes - primarily for the Reference Station on Ethernet

.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
           [email protected]
 
       - 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

Firmware/RTK_Surveyor/AP-Config/index.html

@@ -425,6 +425,7 @@
                             </span>
                         </div>
 
+                        <!-- For future expansion
                         <div id="allowWiFiOverEthernetClient">
                             <div class="form-check mt-1 box-margin20">
                                 <label class="form-check-label" for="ntripClientUseWiFiNotEthernet">Use WiFi for NTRIP Client - not Ethernet</label>
@@ -434,7 +435,7 @@
                                     <span class="icon-info-circle text-primary ms-2"></span>
                                 </span>
                             </div>
-                        </div>
+                        </div> -->
                     </div>
 
                     <div id="messageRateButton">
@@ -510,7 +511,7 @@
                     <div id="surveyInConfig" class="collapse mb-2">
                         <div class="form-group row">
                             <label for="observationSeconds" class="box-margin20 col-sm-12 col-form-label">Minimum
-                                observation time(s):</label>
+                                observation time (s):</label>
                             <div class="col-sm-4 col-5 ms-3 mb-2">
                                 <input type="number" class="form-control" id="observationSeconds">
                                 <p id="observationSecondsError" class="inlineError"></p>
@@ -887,6 +888,7 @@
                             </div>
                         </div>
 
+                        <!-- For future expansion 
                         <div id="allowWiFiOverEthernetServer">
                             <div class="form-check mt-1 box-margin20">
                                 <label class="form-check-label" for="ntripUseWiFiNotEthernet">Use WiFi for NTRIP Server - not Ethernet</label>
@@ -896,7 +898,7 @@
                                     <span class="icon-info-circle text-primary ms-2"></span>
                                 </span>
                             </div>
-                        </div>
+                        </div> -->
                     </div>
 
                     <div>
@@ -1300,6 +1302,9 @@
                             <span class="icon-info-circle text-primary ms-2"></span>
                         </span>
                     </div>
+                    <div class="form-group row">
+                        <p id="enableTcpClientError" class="inlineError"></p>
+                    </div>
 
                     <div class="form-check mt-3">
                         <label class="form-check-label" for="enableTcpServer">TCP Server</label>
@@ -1310,6 +1315,9 @@
                             <span class="icon-info-circle text-primary ms-2"></span>
                         </span>
                     </div>
+                    <div class="form-group row">
+                        <p id="enableTcpServerError" class="inlineError"></p>
+                    </div>
 
                     <div id="tcpSettingsConfig">
                         <div class="form-group row">
@@ -1545,6 +1553,27 @@
                             </div>
                         </div>
 
+                        <div class="form-check mt-1 box-margin20">
+                            <label class="form-check-label" for="enableARPLogging">Enable ARP Logging</label>
+                            <input class="form-check-input" type="checkbox" value="" id="enableARPLogging" unchecked>
+                            <span class="tt" data-bs-placement="right"
+                                title="If enabled, the Antenna Reference Position from RTCM 1005/1006 will be added to the log.">
+                                <span class="icon-info-circle text-primary ms-2"></span>
+                            </span>
+                        </div>
+
+                        <div id="enableARPLoggingDetails" class="collapse mb-2">
+                            <div class="form-group row">
+                                <label for="ARPLoggingInterval" class="box-margin40 col-sm-3 col-7 col-form-label">ARP Logging Interval (s):
+                                    <span class="tt" data-bs-placement="right"
+                                        title="If ARP logging is enabled, the Antenna Reference Position will be logged at intervals of this many seconds.">
+                                        <span class="icon-info-circle text-primary ms-2"></span>
+                                    </span>
+                                </label>
+                                <input type="number" class="form-control box-small" id="ARPLoggingInterval">
+                                <p id="ARPLoggingIntervalError" class="inlineError"></p>
+                            </div>
+                        </div>
                     </div>
 
                     <div id="bluetoothRadioTypeDropdown" class="mb-2 mt-3">
@@ -1669,7 +1698,7 @@
                             </span>
                         </label>
                         <div class="col-sm-5">
-                            <input type="text" class="form-control" id="ethernetHttpPort">
+                            <input type="number" class="form-control" id="ethernetHttpPort">
                             <p id="ethernetHttpPortError" class="inlineError"></p>
                         </div>
                     </div>
@@ -1680,7 +1709,7 @@
                             </span>
                         </label>
                         <div class="col-sm-5">
-                            <input type="text" class="form-control" id="ethernetNtpPort">
+                            <input type="number" class="form-control" id="ethernetNtpPort">
                             <p id="ethernetNtpPortError" class="inlineError"></p>
                         </div>
                     </div>
@@ -1704,8 +1733,8 @@
                                     <span class="icon-info-circle text-primary ms-2"></span>
                                 </span>
                             </label>
-                            <div class="col-sm-8 col-7">
-                                <input type="text" class="form-control" id="ethernetTcpPort">
+                            <div class="col-sm-5">
+                                <input type="number" class="form-control" id="ethernetTcpPort">
                                 <p id="ethernetTcpPortError" class="inlineError"></p>
                             </div>
                         </div>
@@ -1716,7 +1745,7 @@
                                     <span class="icon-info-circle text-primary ms-2"></span>
                                 </span>
                             </label>
-                            <div class="col-sm-8 col-7">
+                            <div class="col-sm-5">
                                 <input type="text" class="form-control" id="hostForTCPClient" value="test">
                                 <p id="hostForTCPClientError" class="inlineError"></p>
                             </div>
@@ -1744,7 +1773,7 @@
                             </span>
                         </label>
                         <div class="col-sm-5">
-                            <input type="text" class="form-control" id="ntpPollExponent">
+                            <input type="number" class="form-control" id="ntpPollExponent">
                             <p id="ntpPollExponentError" class="inlineError"></p>
                         </div>
                     </div>
@@ -1756,7 +1785,7 @@
                             </span>
                         </label>
                         <div class="col-sm-5">
-                            <input type="text" class="form-control" id="ntpPrecision">
+                            <input type="number" class="form-control" id="ntpPrecision">
                             <p id="ntpPrecisionError" class="inlineError"></p>
                         </div>
                     </div>
@@ -1768,7 +1797,7 @@
                             </span>
                         </label>
                         <div class="col-sm-5">
-                            <input type="text" class="form-control" id="ntpRootDelay">
+                            <input type="number" class="form-control" id="ntpRootDelay">
                             <p id="ntpRootDelayError" class="inlineError"></p>
                         </div>
                     </div>
@@ -1780,7 +1809,7 @@
                             </span>
                         </label>
                         <div class="col-sm-5">
-                            <input type="text" class="form-control" id="ntpRootDispersion">
+                            <input type="number" class="form-control" id="ntpRootDispersion">
                             <p id="ntpRootDispersionError" class="inlineError"></p>
                         </div>
                     </div>

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");
             }
@@ -106,17 +106,17 @@ 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");
                 show("sensorConfig");
                 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";
             }
@@ -126,17 +126,17 @@ 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");
                 hide("sensorConfig");
                 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();
     });

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

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)

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);