Add prelim support for ZED-F9R

Author: nseidle

Firmware/RTK_Surveyor/Base.ino

@@ -5,13 +5,6 @@ bool configureUbloxModuleBase()
   bool response = true;
   int maxWait = 2000;
 
-  if (productVariant == RTK_SURVEYOR)
-  {
-    digitalWrite(pin_positionAccuracyLED_1cm, LOW);
-    digitalWrite(pin_positionAccuracyLED_10cm, LOW);
-    digitalWrite(pin_positionAccuracyLED_100cm, LOW);
-  }
-
   i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
 
   if (i2cGNSS.getSurveyInActive() == true)

Firmware/RTK_Surveyor/Begin.ino

@@ -12,7 +12,8 @@ void beginBoard()
   }
   else if (isConnected(0x19) == true) //Check for accelerometer
   {
-    productVariant = RTK_EXPRESS;
+    if (zedModuleType == PLATFORM_F9P) productVariant = RTK_EXPRESS;
+    else if (zedModuleType == PLATFORM_F9R) productVariant = RTK_EXPRESS_PLUS;
   }
   else
   {
@@ -38,7 +39,7 @@ void beginBoard()
     strcpy(platformFilePrefix, "SFE_Surveyor");
     strcpy(platformPrefix, "Surveyor");
   }
-  else if (productVariant == RTK_EXPRESS)
+  else if (productVariant == RTK_EXPRESS || productVariant == RTK_EXPRESS_PLUS)
   {
     pin_muxA = 2;
     pin_muxB = 4;
@@ -61,8 +62,16 @@ void beginBoard()
 
     setMuxport(settings.dataPortChannel); //Set mux to user's choice: NMEA, I2C, PPS, or DAC
 
-    strcpy(platformFilePrefix, "SFE_Express");
-    strcpy(platformPrefix, "Express");
+    if (productVariant == RTK_EXPRESS)
+    {
+      strcpy(platformFilePrefix, "SFE_Express");
+      strcpy(platformPrefix, "Express");
+    }
+    else if (productVariant == RTK_EXPRESS_PLUS)
+    {
+      strcpy(platformFilePrefix, "SFE_Express_Plus");
+      strcpy(platformPrefix, "Express Plus");
+    }
   }
   else if (productVariant == RTK_FACET)
   {
@@ -268,7 +277,7 @@ void beginDisplay()
   }
 }
 
-//Connect to and configure ZED-F9P
+//Connect to ZED module and identify particulars
 void beginGNSS()
 {
   if (i2cGNSS.begin() == false)
@@ -297,10 +306,24 @@ void beginGNSS()
     if (ptr != NULL)
       strcpy(zedFirmwareVersion, ptr + strlen("FWVER="));
 
-    Serial.print(F("ZED-F9P firmware: "));
-    Serial.println(zedFirmwareVersion);
+    //Determine if we have a ZED-F9P (Express/Facet) or an ZED-F9R (Express Plus/Facet Plus)
+    if (strstr(i2cGNSS.minfo.extension[3], "ZED-F9P") != NULL)
+    {
+      zedModuleType = PLATFORM_F9P;
+    }
+    else if (strstr(i2cGNSS.minfo.extension[3], "ZED-F9R") != NULL)
+    {
+      zedModuleType = PLATFORM_F9R;
+    }
+
+    printModuleInfo(); //Print module type and firmware version
   }
+  online.gnss = true;
+}
 
+//Configuration can take >1s so configure during splash
+void configureGNSS()
+{
   bool response = configureUbloxModule();
   if (response == false)
   {
@@ -318,8 +341,6 @@ void beginGNSS()
   }
 
   Serial.println(F("GNSS configuration complete"));
-
-  online.gnss = true;
 }
 
 //Set LEDs for output and configure PWM
@@ -400,7 +421,7 @@ void beginSystemState()
 
     setupBtn = new Button(pin_setupButton); //Create the button in memory
   }
-  else if (productVariant == RTK_EXPRESS)
+  else if (productVariant == RTK_EXPRESS || productVariant == RTK_EXPRESS_PLUS)
   {
     systemState = settings.lastState; //Return to system state previous to power down.
 

Firmware/RTK_Surveyor/Buttons.ino

@@ -3,6 +3,13 @@
 //Let's make sure they continue to press for two seconds
 void powerOnCheck()
 {
+#ifndef COMPILE_WIFI
+  return;
+#endif
+#ifndef COMPILE_BT
+  return;
+#endif
+
   powerPressedStartTime = millis();
   while (digitalRead(pin_powerSenseAndControl) == LOW)
   {

Firmware/RTK_Surveyor/Display.ino

@@ -113,46 +113,38 @@ void displaySplash()
     oled.begin();     // Initialize the OLED
     oled.clear(PAGE); // Clear the display's internal memory
 
-    oled.setCursor(10, 2); //x, y
-    oled.setFontType(0); //Set font to smallest
-    oled.print(F("SparkFun"));
+    int yPos = 0;
+    int fontHeight = 8;
 
-    oled.setCursor(21, 13);
-    oled.setFontType(1);
-    oled.print(F("RTK"));
+    printTextCenter("SparkFun", yPos, 0, 1, false); //text, y, font type, kerning, inverted
 
-    int textX;
-    int textY;
-    int textKerning;
+    yPos = yPos + fontHeight + 2;
+    printTextCenter("RTK", yPos, 1, 1, false);
+
+    yPos = yPos + fontHeight + 4;
 
     if (productVariant == RTK_SURVEYOR)
     {
-      textX = 2;
-      textY = 25;
-      textKerning = 8;
-      oled.setFontType(1);
-      printTextwithKerning("Surveyor", textX, textY, textKerning);
+      printTextCenter("Surveyor", yPos, 1, 1, false);
     }
     else if (productVariant == RTK_EXPRESS)
     {
-      textX = 3;
-      textY = 25;
-      textKerning = 9;
-      oled.setFontType(1);
-      printTextwithKerning("Express", textX, textY, textKerning);
+      printTextCenter("Express", yPos, 1, 1, false);
+    }
+    else if (productVariant == RTK_EXPRESS_PLUS)
+    {
+      printTextCenter("Express+", yPos, 1, 1, false);
     }
     else if (productVariant == RTK_FACET)
     {
-      textX = 11;
-      textY = 25;
-      textKerning = 9;
-      oled.setFontType(1);
-      printTextwithKerning("Facet", textX, textY, textKerning);
+      printTextCenter("Facet", yPos, 1, 1, false);
     }
 
-    oled.setCursor(20, 41);
-    oled.setFontType(0); //Set font to smallest
-    oled.printf("v%d.%d", FIRMWARE_VERSION_MAJOR, FIRMWARE_VERSION_MINOR);
+    yPos = yPos + fontHeight + 9;
+    char unitFirmware[50];
+    sprintf(unitFirmware, "v%d.%d", FIRMWARE_VERSION_MAJOR, FIRMWARE_VERSION_MINOR);
+    printTextCenter(unitFirmware, yPos, 0, 1, false);
+
     oled.display();
   }
 }
@@ -1362,42 +1354,76 @@ void paintDisplaySetup()
 {
   if (online.display == true)
   {
-    if (setupState == STATE_MARK_EVENT)
-    {
-      printTextCenter("Mark", 12 * 0, 1, 1, true); //string, y, font type, kerning, inverted
-      printTextCenter("Rover", 12 * 1, 1, 1, false);
-      printTextCenter("Base", 12 * 2, 1, 1, false);
-      printTextCenter("Bubble", 12 * 3, 1, 1, false);
-    }
-    else if (setupState == STATE_ROVER_NOT_STARTED)
-    {
-      printTextCenter("Mark", 12 * 0, 1, 1, false);
-      printTextCenter("Rover", 12 * 1, 1, 1, true);
-      printTextCenter("Base", 12 * 2, 1, 1, false);
-      printTextCenter("Bubble", 12 * 3, 1, 1, false);
-    }
-    else if (setupState == STATE_BASE_NOT_STARTED)
-    {
-      printTextCenter("Mark", 12 * 0, 1, 1, false); //string, y, font type, kerning, inverted
-      printTextCenter("Rover", 12 * 1, 1, 1, false);
-      printTextCenter("Base", 12 * 2, 1, 1, true);
-      printTextCenter("Bubble", 12 * 3, 1, 1, false);
-    }
-    else if (setupState == STATE_BUBBLE_LEVEL)
+    if (zedModuleType == PLATFORM_F9P)
     {
-      printTextCenter("Mark", 12 * 0, 1, 1, false); //string, y, font type, kerning, inverted
-      printTextCenter("Rover", 12 * 1, 1, 1, false);
-      printTextCenter("Base", 12 * 2, 1, 1, false);
-      printTextCenter("Bubble", 12 * 3, 1, 1, true);
-    }
-    else if (setupState == STATE_WIFI_CONFIG_NOT_STARTED)
+      if (setupState == STATE_MARK_EVENT)
+      {
+        printTextCenter("Mark", 12 * 0, 1, 1, true); //string, y, font type, kerning, inverted
+        printTextCenter("Rover", 12 * 1, 1, 1, false);
+        printTextCenter("Base", 12 * 2, 1, 1, false);
+        printTextCenter("Bubble", 12 * 3, 1, 1, false);
+      }
+      else if (setupState == STATE_ROVER_NOT_STARTED)
+      {
+        printTextCenter("Mark", 12 * 0, 1, 1, false);
+        printTextCenter("Rover", 12 * 1, 1, 1, true);
+        printTextCenter("Base", 12 * 2, 1, 1, false);
+        printTextCenter("Bubble", 12 * 3, 1, 1, false);
+      }
+      else if (setupState == STATE_BASE_NOT_STARTED)
+      {
+        printTextCenter("Mark", 12 * 0, 1, 1, false); //string, y, font type, kerning, inverted
+        printTextCenter("Rover", 12 * 1, 1, 1, false);
+        printTextCenter("Base", 12 * 2, 1, 1, true);
+        printTextCenter("Bubble", 12 * 3, 1, 1, false);
+      }
+      else if (setupState == STATE_BUBBLE_LEVEL)
+      {
+        printTextCenter("Mark", 12 * 0, 1, 1, false); //string, y, font type, kerning, inverted
+        printTextCenter("Rover", 12 * 1, 1, 1, false);
+        printTextCenter("Base", 12 * 2, 1, 1, false);
+        printTextCenter("Bubble", 12 * 3, 1, 1, true);
+      }
+      else if (setupState == STATE_WIFI_CONFIG_NOT_STARTED)
+      {
+        printTextCenter("Rover", 12 * 0, 1, 1, false);
+        printTextCenter("Base", 12 * 1, 1, 1, false);
+        printTextCenter("Bubble", 12 * 2, 1, 1, false);
+        printTextCenter("Config", 12 * 3, 1, 1, true);
+      }
+    } //end type F9P
+    else if (zedModuleType == PLATFORM_F9R)
     {
-      printTextCenter("Rover", 12 * 0, 1, 1, false);
-      printTextCenter("Base", 12 * 1, 1, 1, false);
-      printTextCenter("Bubble", 12 * 2, 1, 1, false);
-      printTextCenter("Config", 12 * 3, 1, 1, true);
-    }
-  }
+      if (setupState == STATE_MARK_EVENT)
+      {
+        printTextCenter("Mark", 12 * 0, 1, 1, true); //string, y, font type, kerning, inverted
+        printTextCenter("Rover", 12 * 1, 1, 1, false);
+        printTextCenter("Bubble", 12 * 2, 1, 1, false);
+        printTextCenter("Config", 12 * 3, 1, 1, false);
+      }
+      else if (setupState == STATE_ROVER_NOT_STARTED)
+      {
+        printTextCenter("Mark", 12 * 0, 1, 1, false);
+        printTextCenter("Rover", 12 * 1, 1, 1, true);
+        printTextCenter("Bubble", 12 * 2, 1, 1, false);
+        printTextCenter("Config", 12 * 3, 1, 1, false);
+      }
+      else if (setupState == STATE_BUBBLE_LEVEL)
+      {
+        printTextCenter("Mark", 12 * 0, 1, 1, false);
+        printTextCenter("Rover", 12 * 1, 1, 1, false);
+        printTextCenter("Bubble", 12 * 2, 1, 1, true);
+        printTextCenter("Config", 12 * 3, 1, 1, false);
+      }
+      else if (setupState == STATE_WIFI_CONFIG_NOT_STARTED)
+      {
+        printTextCenter("Mark", 12 * 0, 1, 1, false);
+        printTextCenter("Rover", 12 * 1, 1, 1, false);
+        printTextCenter("Bubble", 12 * 2, 1, 1, false);
+        printTextCenter("Config", 12 * 3, 1, 1, true);
+      }
+    } //end type F9R
+  } //end display online
 }
 
 //Given text, and location, print text center of the screen

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -41,8 +41,8 @@
 const int FIRMWARE_VERSION_MAJOR = 1;
 const int FIRMWARE_VERSION_MINOR = 5;
 
-#define COMPILE_WIFI 1 //Comment out to remove all WiFi functionality
-#define COMPILE_BT 1 //Comment out to disable all Bluetooth
+//#define COMPILE_WIFI 1 //Comment out to remove all WiFi functionality
+//#define COMPILE_BT 1 //Comment out to disable all Bluetooth
 
 //Define the RTK board identifier:
 //  This is an int which is unique to this variant of the RTK Surveyor hardware which allows us
@@ -151,6 +151,7 @@ uint32_t casterResponseWaitStartTime = 0; //Used to detect if caster service tim
 //disable SBAS by default.
 
 char zedFirmwareVersion[20]; //The string looks like 'FWVER=HPG 1.12'. Output to debug menu and settings file.
+uint8_t zedModuleType = PLATFORM_F9P; //Controls which messages are supported and configured
 
 // Extend the class for getModuleInfo. Used to diplay ZED-F9P firmware version in debug menu.
 class SFE_UBLOX_GNSS_ADD : public SFE_UBLOX_GNSS
@@ -295,7 +296,6 @@ int incomingSettingsSpot = 0;
 unsigned long timeSinceLastIncomingSetting = 0;
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
-
 //Global variables
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 uint8_t unitMACAddress[6]; //Use MAC address in BT broadcast and display
@@ -358,6 +358,8 @@ void setup()
   Wire.begin(); //Start I2C on core 1
   Wire.setClock(400000);
 
+  beginGNSS(); //Connect to GNSS
+
   beginBoard(); //Determine what hardware platform we are running on
 
   beginDisplay(); //Check if an external Qwiic OLED is attached
@@ -385,7 +387,7 @@ void setup()
   beginFuelGauge(); //Configure battery fuel guage monitor
   checkBatteryLevels(); //Force display so you see battery level immediately at power on
 
-  beginGNSS(); //Connect and configure ZED-F9P
+  configureGNSS(); //Configure ZED module
 
   beginAccelerometer();
 

Firmware/RTK_Surveyor/Rover.ino

@@ -5,9 +5,13 @@ bool configureUbloxModuleRover()
   bool response = true;
   int maxWait = 2000;
 
-  response = i2cGNSS.disableSurveyMode(maxWait); //Disable survey
-  if (response == false)
-    Serial.println(F("Disable Survey failed"));
+  //Survey mode is only available on ZED-F9P modules
+  if (zedModuleType == PLATFORM_F9P)
+  {
+    response = i2cGNSS.disableSurveyMode(maxWait); //Disable survey
+    if (response == false)
+      Serial.println(F("Disable Survey failed"));
+  }
 
   // Set dynamic model
   if (i2cGNSS.getDynamicModel(maxWait) != settings.dynamicModel)
@@ -17,11 +21,15 @@ bool configureUbloxModuleRover()
       Serial.println(F("setDynamicModel failed"));
   }
 
-  //Disable RTCM sentences on I2C, USB, and UART2
-  response = true; //Reset
-  response &= disableRTCMSentences(COM_PORT_I2C);
-  response &= disableRTCMSentences(COM_PORT_UART2);
-  response &= disableRTCMSentences(COM_PORT_USB);
+  //RTCM is only available on ZED-F9P modules
+  if (zedModuleType == PLATFORM_F9P)
+  {
+    //Disable RTCM sentences on I2C, USB, and UART2
+    response = true; //Reset
+    response &= disableRTCMSentences(COM_PORT_I2C);
+    response &= disableRTCMSentences(COM_PORT_UART2);
+    response &= disableRTCMSentences(COM_PORT_USB);
+  }
 
   //Re-enable any RTCM msgs on UART1 the user has set within settings
   response &= configureGNSSMessageRates(COM_PORT_UART1, ubxMessages); //Make sure the appropriate messages are enabled