Correct SPI key offset. Doh! Add better GNSS debug for Ref Stn. Add log position

Author: PaulZC

Firmware/RTK_Surveyor/Begin.ino

@@ -550,7 +550,14 @@ void beginUART2()
 //Assign UART2 interrupts to the core 0. See: https://github.com/espressif/arduino-esp32/issues/3386
 void pinUART2Task( void *pvParameters )
 {
-  if (USE_I2C_GNSS)
+//Note: ESP32 2.0.6 does some strange auto-bauding thing here which takes 20s to complete if there is no data for it to auto-baud.
+//      That's fine for most RTK products, but causes the Ref Stn to stall for 20s. However, it doesn't stall with ESP32 2.0.2...
+//      Note to my future self: uncomment these lines to prevent the stall if/when we upgrade to ESP32 ~2.0.6.
+//#if defined(ENABLE_DEVELOPER) && defined(REF_STN_GNSS_DEBUG)
+//  if (productVariant == REFERENCE_STATION)
+//#else
+//  if (USE_I2C_GNSS)
+//#endif
   {
     serialGNSS.setRxBufferSize(settings.uartReceiveBufferSize); // TODO: work out if we can reduce or skip this when using SPI GNSS
     serialGNSS.setTimeout(settings.serialTimeoutGNSS); // Requires serial traffic on the UART pins for detection

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -34,6 +34,7 @@
 #define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
 //#define FACTORY_RESET_AT_POWER_ON //Uncomment this line to perform a factory reset at every power-on. Needs ENABLE_DEVELOPER
 //#define ERASE_PROFILES_AT_POWER_ON //Uncomment this line to erase _all_ profiles at power-on. Needs FACTORY_RESET_ON_POWER_ON
+#define REF_STN_GNSS_DEBUG //Uncomment this line to output GNSS library debug messages on serialGNSS. Ref STn only. Needs ENABLE_DEVELOPER
 
 //Define the RTK board identifier:
 //  This is an int which is unique to this variant of the RTK Surveyor hardware which allows us
@@ -307,6 +308,7 @@ volatile bool uart2pinned = false; //This variable is touched by core 0 but chec
 
 volatile static int combinedSpaceRemaining = 0; //Overrun indicator
 volatile static long fileSize = 0; //Updated with each write
+volatile static long filePosition = 0; //Updated with each write
 int bufferOverruns = 0; //Running count of possible data losses since power-on
 
 bool zedUartPassed = false; //Goes true during testing if ESP can communicate with ZED over UART
@@ -452,7 +454,8 @@ uint8_t loggingIconDisplayed = 0; //Increases every 500ms while logging
 uint8_t espnowIconDisplayed = 0; //Increases every 500ms while transmitting
 
 uint64_t lastLogSize = 0;
-bool logIncreasing = false; //Goes true when log file is greater than lastLogSize
+uint64_t lastLogPosition = 0;
+bool logIncreasing = false; //Goes true when log file is greater than lastLogSize or logPosition changes
 bool reuseLastLog = false; //Goes true if we have a reset due to software (rather than POR)
 
 uint16_t rtcmPacketsSent = 0; //Used to count RTCM packets sent via processRTCM()
@@ -841,6 +844,11 @@ void updateLogs()
           lastLogSize = fileSize;
           logIncreasing = true;
         }
+        else if (filePosition != lastLogPosition)
+        {
+          lastLogPosition = filePosition;
+          logIncreasing = true;
+        }        
         else
         {
           log_d("No increase in file size");

Firmware/RTK_Surveyor/System.ino

@@ -9,7 +9,14 @@ bool configureUbloxModule()
 
   //Turn on/off debug messages
   if (settings.enableI2Cdebug)
+  {
+#if defined(ENABLE_DEVELOPER) && defined(REF_STN_GNSS_DEBUG)
+    if (productVariant == REFERENCE_STATION)
+      theGNSS.enableDebugging(serialGNSS); //Output all debug messages over serialGNSS
+    else
+#endif
     theGNSS.enableDebugging(Serial, true); //Enable only the critical debug messages over Serial
+  }
   else
     theGNSS.disableDebugging();
 
@@ -512,9 +519,9 @@ bool setMessages()
 {
   bool response = true;
 
-  uint32_t spiOffset = 0; // Set to 1 if using SPI to convert UART1 keys to SPI
+  uint32_t spiOffset = 0; // Set to 3 if using SPI to convert UART1 keys to SPI. This is brittle and non-perfect, but works.
   if (USE_SPI_GNSS)
-    spiOffset = 1;
+    spiOffset = 3;
 
   int x = 0;
   while (x < MAX_UBX_MSG)
@@ -543,14 +550,14 @@ bool setMessages()
               rate = 1;
         }
 
-        response &= theGNSS.addCfgValset(settings.ubxMessages[x].msgConfigKey - spiOffset, rate);
+        response &= theGNSS.addCfgValset(settings.ubxMessages[x].msgConfigKey + spiOffset, rate);
       }
       x++;
     }
     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("sent Valset for message %d: %s", x, response ? "OK" : "ERROR");
   }
 
   log_d("message config complete");

Firmware/RTK_Surveyor/Tasks.ino

@@ -409,6 +409,7 @@ void handleGNSSDataTask(void *e)
 
           sdBytesToRecord = ubxFile->write(&ringBuffer[sdTail], sliceToRecord);
           fileSize = ubxFile->fileSize(); //Update file size
+          filePosition = ubxFile->position(); //Update file position
 
           sdFreeSpace -= sliceToRecord; //Update remaining space on SD
 

Firmware/RTK_Surveyor/menuMessages.ino

@@ -374,6 +374,7 @@ void beginLogging(const char *customFileName)
 
         fileSize = 0;
         lastLogSize = 0; //Reset counter - used for displaying active logging icon
+        lastLogPosition = 0;
 
         bufferOverruns = 0; //Reset counter
 

Firmware/RTK_Surveyor/menuSystem.ino

@@ -606,7 +606,14 @@ void menuDebug()
       settings.enableI2Cdebug ^= 1;
 
       if (settings.enableI2Cdebug)
+      {
+#if defined(ENABLE_DEVELOPER) && defined(REF_STN_GNSS_DEBUG)
+        if (productVariant == REFERENCE_STATION)
+          theGNSS.enableDebugging(serialGNSS); //Output all debug messages over serialGNSS
+        else
+#endif
         theGNSS.enableDebugging(Serial, true); //Enable only the critical debug messages over Serial
+      }
       else
         theGNSS.disableDebugging();
     }