More refactoring...

Author: PaulZC

Firmware/RTK_Surveyor/Base.ino

@@ -35,11 +35,23 @@ bool configureUbloxModuleBase()
 
   response &= theGNSS.addCfgValset(UBLOX_CFG_NAVSPG_DYNMODEL, (dynModel)settings.dynamicModel); // Set dynamic model
 
+  //RTCM is only available on ZED-F9P modules
+  //
+  //For most RTK products, the GNSS is interfaced via both I2C and UART1. Configuration and PVT/HPPOS messages are
+  //configured over I2C. Any messages that need to be logged are output on UART1, and received by this code using
+  //serialGNSS.
   //In base mode the RTK device should output RTCM over all ports:
   //(Primary) UART2 in case the Surveyor is connected via radio to rover
   //(Optional) I2C in case user wants base to connect to WiFi and NTRIP Caster
   //(Seconday) USB in case the Surveyor is used as an NTRIP caster connected to SBC or other
   //(Tertiary) UART1 in case Surveyor is sending RTCM to phone that is then NTRIP Caster
+  //
+  //But, on the Reference Station, the GNSS is interfaced via SPI. It has no access to I2C and UART1.
+  //We use the GNSS library's built-in logging buffer to mimic UART1. The code in Tasks.ino reads
+  //data from the logging buffer as if it had come from UART1.
+  //So for that product - in Base mode - we can only output RTCM on SPI, USB and UART2.
+  //If we want to log the RTCM messages, we need to add them to the logging buffer inside the GNSS library.
+  //If we want to pass them along to (e.g.) radio, we do that using processRTCM (defined below).
 
   if (USE_I2C_GNSS)
   {
@@ -48,7 +60,7 @@ bool configureUbloxModuleBase()
     response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_I2C, 1);
     response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_I2C, 1);
     response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_I2C, 1);
-    response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_I2C, 10);  //Enable message every 10 seconds
+    response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_I2C, 10);  //Enable message every 10 cycles - note: this may conflict with settings and setMessages?
 
     response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_UART1, 1);
     response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_UART1, 1);
@@ -57,18 +69,36 @@ bool configureUbloxModuleBase()
     response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_UART1, 1);
     response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_UART1, 10);
   }
-  else
+  else // SPI GNSS
   {
     response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_SPI, 1);
     response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_SPI, 1);
     response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_SPI, 1);
     response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_SPI, 1);
     response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_SPI, 1);
-    response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_SPI, 10);  //Enable message every 10 seconds
-
-    // Enable logging of these messages so the RTCM will be stored automatically in the logging buffer
-    theGNSS.setRTCMLoggingMask( SFE_UBLOX_FILTER_RTCM_TYPE1005 | SFE_UBLOX_FILTER_RTCM_TYPE1074 | SFE_UBLOX_FILTER_RTCM_TYPE1084
-                                | SFE_UBLOX_FILTER_RTCM_TYPE1094 | SFE_UBLOX_FILTER_RTCM_TYPE1124 | SFE_UBLOX_FILTER_RTCM_TYPE1230 );
+    response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_SPI, 10);  //Enable message every 10 cycles - note: this may conflict with settings and setMessages?
+
+    // Enable logging of these messages so the RTCM will be stored automatically in the logging buffer.
+    // This mimics the data arriving via UART1.
+    uint32_t logRTCMMessages = theGNSS.getRTCMLoggingMask();
+    logRTCMMessages |= ( SFE_UBLOX_FILTER_RTCM_TYPE1005 | SFE_UBLOX_FILTER_RTCM_TYPE1074 | SFE_UBLOX_FILTER_RTCM_TYPE1084
+                       | SFE_UBLOX_FILTER_RTCM_TYPE1094 | SFE_UBLOX_FILTER_RTCM_TYPE1124 | SFE_UBLOX_FILTER_RTCM_TYPE1230 );
+    theGNSS.setRTCMLoggingMask(logRTCMMessages);
+    log_d("setRTCMLoggingMask 0x%X", logRTCMMessages);
+
+    // Update settings, otherwise setMessages could disable these again...
+    for (int x = 0; x < MAX_UBX_MSG; x++)
+    {
+      if (settings.ubxMessages[x].msgClass == UBX_RTCM_MSB) // RTCM messages
+      {
+        if (settings.ubxMessages[x].filterMask & // This is quicker than checking the msgID
+          ( SFE_UBLOX_FILTER_RTCM_TYPE1005 | SFE_UBLOX_FILTER_RTCM_TYPE1074 | SFE_UBLOX_FILTER_RTCM_TYPE1084
+          | SFE_UBLOX_FILTER_RTCM_TYPE1094 | SFE_UBLOX_FILTER_RTCM_TYPE1124))
+          settings.ubxMessages[x].msgRate = 1;
+        if (settings.ubxMessages[x].filterMask & SFE_UBLOX_FILTER_RTCM_TYPE1230)
+          settings.ubxMessages[x].msgRate = 10;
+      }
+    }
   }
 
   response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_USB, 1);

Firmware/RTK_Surveyor/Begin.ino

@@ -696,7 +696,7 @@ 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
-
+  
   //Configuring the ZED can take more than 2000ms. We save configuration to
   //ZED so there is no need to update settings unless user has modified
   //the settings file or internal settings.
@@ -938,7 +938,9 @@ bool beginExternalTriggers()
     systemPrintln("beginExternalTriggers config failed");
 
   if (settings.enableExternalHardwareEventLogging == true)
+  {
     theGNSS.setAutoTIMTM2callbackPtr(&eventTriggerReceived); //Enable automatic TIM TM2 messages with callback to eventTriggerReceived
+  }
   else
     theGNSS.setAutoTIMTM2callbackPtr(nullptr);
 

Firmware/RTK_Surveyor/FileSdFatMMC.h

@@ -52,6 +52,7 @@ class FileSdFatMMC : public SdFile
     else
       return _file;
 #endif
+    return false; // Keep the compiler happy
   };
 
   size_t println(const char printMe[])
@@ -62,6 +63,7 @@ class FileSdFatMMC : public SdFile
     else
       return _file->println(printMe);
 #endif
+    return 0; // Keep the compiler happy
   };
 
   bool open(const char *filepath, oflag_t mode)
@@ -86,6 +88,7 @@ class FileSdFatMMC : public SdFile
       return false;
     }
 #endif    
+    return false; // Keep the compiler happy
   };
 
   uint32_t size()
@@ -96,6 +99,7 @@ class FileSdFatMMC : public SdFile
     else
       return _file->size();
 #endif    
+    return 0; // Keep the compiler happy
   };
 
   uint32_t position()
@@ -106,6 +110,7 @@ class FileSdFatMMC : public SdFile
     else
       return _file->position();
 #endif    
+    return 0; // Keep the compiler happy
   };
 
   int available()
@@ -116,7 +121,8 @@ class FileSdFatMMC : public SdFile
     else
       return _file->available();
 #endif    
-  };
+    return 0; // Keep the compiler happy
+};
 
   int read(uint8_t *buf, uint16_t nbyte)
   {
@@ -126,7 +132,8 @@ class FileSdFatMMC : public SdFile
     else
       return _file->read(buf, nbyte);
 #endif    
-  };
+    return 0; // Keep the compiler happy
+};
 
   size_t write(const uint8_t *buf, size_t size)
   {
@@ -136,6 +143,7 @@ class FileSdFatMMC : public SdFile
     else
       return _file->write(buf, size);
 #endif    
+    return 0; // Keep the compiler happy
   };
 
   void close()

Firmware/RTK_Surveyor/Form.ino

@@ -289,7 +289,7 @@ static void handleFirmwareFileDownload(AsyncWebServerRequest *request)
         logmessage += " deleted";
         if (USE_SPI_MICROSD)
           sd->remove(fileName);
-#ifdef COMPLIE_SD_MMC
+#ifdef COMPILE_SD_MMC
         else
           SD_MMC.remove(fileName);
 #endif

Firmware/RTK_Surveyor/Rover.ino

@@ -33,9 +33,15 @@ bool configureUbloxModuleRover()
   response &= theGNSS.addCfgValset(UBLOX_CFG_NAVSPG_DYNMODEL, (dynModel)settings.dynamicModel); // Set dynamic model
 
   //RTCM is only available on ZED-F9P modules
+  //
+  //For most RTK products, the GNSS is interfaced via both I2C and UART1. Configuration and PVT/HPPOS messages are
+  //configured over I2C. Any messages that need to be logged are output on UART1, and received by this code using
+  //serialGNSS. So in Rover mode, we want to disable any RTCM messages on I2C (and USB and UART2).
+  //
+  //But, on the Reference Station, the GNSS is interfaced via SPI. It has no access to I2C and UART1. So for that
+  //product - in Rover mode - we want to leave any RTCM messages enabled on SPI so they can be logged if desired.
   if (zedModuleType == PLATFORM_F9P)
   {
-    //Disable RTCM sentences from being generated on I2C, USB, and UART2. (Don't disable on UART1.)
     if (USE_I2C_GNSS)
     {
       response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_I2C, 0);
@@ -45,15 +51,6 @@ bool configureUbloxModuleRover()
       response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_I2C, 0);
       response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_I2C, 0);
     }
-    else
-    {
-      response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_SPI, 0);
-      response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_SPI, 0);
-      response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_SPI, 0);
-      response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_SPI, 0);
-      response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_SPI, 0);
-      response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_SPI, 0);
-    }
 
     response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_USB, 0);
     response &= theGNSS.addCfgValset(UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_USB, 0);

Firmware/RTK_Surveyor/System.ino

@@ -207,7 +207,9 @@ bool configureUbloxModule()
     log_d("Module config block 3 complete");
 
   if (zedModuleType == PLATFORM_F9R)
+  {
     response &= theGNSS.setAutoESFSTATUS(true, false); //Tell the GPS to "send" each ESF Status, but do not update stale data when accessed
+  }
 
   return (response);
 }
@@ -522,19 +524,39 @@ bool setMessages()
     do
     {
       if (settings.ubxMessages[x].supported & zedModuleType)
-        response &= theGNSS.addCfgValset(settings.ubxMessages[x].msgConfigKey - spiOffset, settings.ubxMessages[x].msgRate);
+      {
+        uint8_t rate = settings.ubxMessages[x].msgRate;
+
+        // If the GNSS is SPI, we need to make sure that NAV_PVT, NAV_HPPOSLLH and ESF_STATUS remained enabled
+        // (but not enabled for logging)
+        if (USE_SPI_GNSS)
+        {
+          if (settings.ubxMessages[x].msgClass == UBX_CLASS_NAV)
+            if ((settings.ubxMessages[x].msgID ==  UBX_NAV_PVT) || (settings.ubxMessages[x].msgID ==  UBX_NAV_HPPOSLLH))
+              rate = 1;
+          if (settings.ubxMessages[x].msgClass == UBX_CLASS_ESF)
+              if (settings.ubxMessages[x].msgID ==  UBX_ESF_STATUS)
+                if (zedModuleType == PLATFORM_F9R)
+                  rate = 1;
+          if (settings.ubxMessages[x].msgClass == UBX_CLASS_TIM)
+            if (settings.ubxMessages[x].msgID ==  UBX_TIM_TM2)
+              rate = 1;
+        }
+        
+        response &= theGNSS.addCfgValset(settings.ubxMessages[x].msgConfigKey - spiOffset, rate);
+      }
       x++;
     }
-    while (((x % 40) < 39) && (x < MAX_UBX_MSG)); // Limit 1st batch to 39. Batches after that will be (up to) 40 in size.
+    while (((x % 43) < 42) && (x < MAX_UBX_MSG)); // Limit 1st batch to 42. Batches after that will be (up to) 43 in size. It's a HHGTTG thing.
 
     response &= theGNSS.sendCfgValset();
     log_d("sent Valset for message %d", x);
   }
 
   log_d("message config complete");
 
-  // settings.ubxMessages contains a mix or UBX, NMEA and RTCM messages
   // For SPI GNSS products, we need to add each message to the GNSS Library logging buffer
+  // to mimic UART1
   if (USE_SPI_GNSS)
   {
     uint32_t logRTCMMessages = 0;
@@ -587,7 +609,7 @@ bool setMessagesUSB()
         response &= theGNSS.addCfgValset(settings.ubxMessages[x].msgConfigKey + 2, settings.ubxMessages[x].msgRate);
       x++;
     }
-    while (((x % 40) < 39) && (x < MAX_UBX_MSG)); // Limit 1st batch to 39. Batches after that will be (up to) 40 in size.
+    while (((x % 43) < 42) && (x < MAX_UBX_MSG)); // Limit 1st batch to 42. Batches after that will be (up to) 43 in size. It's a HHGTTG thing.
 
     response &= theGNSS.sendCfgValset();
     log_d("sent Valset for message %d", x);

Firmware/RTK_Surveyor/menuBase.ino

@@ -547,7 +547,7 @@ bool removeFileSD(const char* fileName)
           removed = true;
         }
       }
-#ifdef COMPPILE_SD_MMC
+#ifdef COMPILE_SD_MMC
       else
       {
         if (SD_MMC.exists(fileName))

Firmware/RTK_Surveyor/settings.h

@@ -60,6 +60,7 @@ typedef enum
 } ProductVariant;
 ProductVariant productVariant = RTK_SURVEYOR;
 
+// Macros which show if: the GNSS is I2C or SPI; the microSD is SPI or SDIO
 #define USE_SPI_GNSS    ((productVariant & PRODUCT_HAS_SPI_GNSS) > 0)
 #define USE_I2C_GNSS    (!USE_SPI_GNSS)
 #define USE_MMC_MICROSD ((productVariant & PRODUCT_HAS_MMC_MICROSD) > 0)