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Add additional ZED-F9R supported messages. Xmit ZED module type to AP config.
1 parent 89cbcd1 commit e78431d

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4 files changed

+31
-17
lines changed

4 files changed

+31
-17
lines changed

‎Firmware/RTK_Surveyor/Form.ino‎

Lines changed: 13 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -211,10 +211,19 @@ void createSettingsString(char* settingsCSV)
211211
//System Info
212212
stringRecord(settingsCSV, "platformPrefix", platformPrefix);
213213

214-
char rtkFirmwareVersion[50];
215-
sprintf(rtkFirmwareVersion, "v%d.%d-%s", FIRMWARE_VERSION_MAJOR, FIRMWARE_VERSION_MINOR, __DATE__);
216-
stringRecord(settingsCSV, "rtkFirmwareVersion", rtkFirmwareVersion);
217-
stringRecord(settingsCSV, "zedFirmwareVersion", zedFirmwareVersion);
214+
char apRtkFirmwareVersion[50];
215+
sprintf(apRtkFirmwareVersion, "RTK %s Firmware: v%d.%d-%s", platformPrefix, FIRMWARE_VERSION_MAJOR, FIRMWARE_VERSION_MINOR, __DATE__);
216+
stringRecord(settingsCSV, "rtkFirmwareVersion", apRtkFirmwareVersion);
217+
218+
char apZedPlatform[50];
219+
if (zedModuleType == PLATFORM_F9P)
220+
strcpy(apZedPlatform, "ZED-F9P");
221+
else if (zedModuleType == PLATFORM_F9R)
222+
strcpy(apZedPlatform, "ZED-F9R");
223+
224+
char apZedFirmwareVersion[50];
225+
sprintf(apZedFirmwareVersion, "%s Firmware: %s", apZedPlatform, zedFirmwareVersion);
226+
stringRecord(settingsCSV, "zedFirmwareVersion", apZedFirmwareVersion);
218227

219228
//GNSS Config
220229
stringRecord(settingsCSV, "measurementRateHz", 1000.0 / settings.measurementRate, 2); //2 = decimals to print

‎Firmware/RTK_Surveyor/RTK_Surveyor.ino‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -150,7 +150,7 @@ uint32_t casterResponseWaitStartTime = 0; //Used to detect if caster service tim
150150
//v1.13 causes the RTK LED to not function if SBAS is enabled. To avoid this, we
151151
//disable SBAS by default.
152152

153-
char zedFirmwareVersion[20]; //The string looks like 'FWVER=HPG 1.12'. Output to debug menu and settings file.
153+
char zedFirmwareVersion[20]; //The string looks like 'HPG 1.12'. Output to debug menu and settings file.
154154
uint8_t zedModuleType = PLATFORM_F9P; //Controls which messages are supported and configured
155155

156156
// Extend the class for getModuleInfo. Used to diplay ZED-F9P firmware version in debug menu.

‎Firmware/RTK_Surveyor/menuMessages.ino‎

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -191,7 +191,11 @@ void menuMessagesSubtype(const char* messageType)
191191

192192
if (incoming >= 1 && incoming <= (endOfBlock - startOfBlock))
193193
{
194-
inputMessageRate(ubxMessages[ (incoming - 1) + startOfBlock]);
194+
//Check to see if this ZED platform supports this message
195+
if (ubxMessages[(incoming - 1) + startOfBlock].supported & zedModuleType)
196+
inputMessageRate(ubxMessages[(incoming - 1) + startOfBlock]);
197+
else
198+
printUnknown(incoming);
195199
}
196200
else if (incoming == STATUS_PRESSED_X)
197201
break;

‎Firmware/RTK_Surveyor/settings.h‎

Lines changed: 12 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -172,30 +172,31 @@ ubxMsg ubxMessages[] =
172172
// uint8_t nmea_txt = 0; //Not supported by u-center
173173
// uint8_t nmea_ths = 0; //Not supported by ZED-F9P
174174

175+
{UBLOX_CFG_MSGOUT_UBX_NAV_ATT_UART1, UBX_NAV_ATT, UBX_CLASS_NAV, 0, "UBX_NAV_ATT", (PLATFORM_F9R)},
175176
{UBLOX_CFG_MSGOUT_UBX_NAV_CLOCK_UART1, UBX_NAV_CLOCK, UBX_CLASS_NAV, 0, "UBX_NAV_CLOCK", (PLATFORM_F9P | PLATFORM_F9R)},
176177
{UBLOX_CFG_MSGOUT_UBX_NAV_DOP_UART1, UBX_NAV_DOP, UBX_CLASS_NAV, 0, "UBX_NAV_DOP", (PLATFORM_F9P | PLATFORM_F9R)},
177178
{UBLOX_CFG_MSGOUT_UBX_NAV_EOE_UART1, UBX_NAV_EOE, UBX_CLASS_NAV, 0, "UBX_NAV_EOE", (PLATFORM_F9P | PLATFORM_F9R)},
178179
{UBLOX_CFG_MSGOUT_UBX_NAV_GEOFENCE_UART1, UBX_NAV_GEOFENCE, UBX_CLASS_NAV, 0, "UBX_NAV_GEOFENCE", (PLATFORM_F9P | PLATFORM_F9R)},
179-
{UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSECEF_UART1, UBX_NAV_HPPOSECEF, UBX_CLASS_NAV, 0, "UBX_NAV_HPPOSECEF", (PLATFORM_F9P | PLATFORM_F9R)},
180180

181+
{UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSECEF_UART1, UBX_NAV_HPPOSECEF, UBX_CLASS_NAV, 0, "UBX_NAV_HPPOSECEF", (PLATFORM_F9P | PLATFORM_F9R)},
181182
{UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSLLH_UART1, UBX_NAV_HPPOSLLH, UBX_CLASS_NAV, 0, "UBX_NAV_HPPOSLLH", (PLATFORM_F9P | PLATFORM_F9R)},
182183
{UBLOX_CFG_MSGOUT_UBX_NAV_ODO_UART1, UBX_NAV_ODO, UBX_CLASS_NAV, 0, "UBX_NAV_ODO", (PLATFORM_F9P | PLATFORM_F9R)},
183184
{UBLOX_CFG_MSGOUT_UBX_NAV_ORB_UART1, UBX_NAV_ORB, UBX_CLASS_NAV, 0, "UBX_NAV_ORB", (PLATFORM_F9P | PLATFORM_F9R)},
184185
{UBLOX_CFG_MSGOUT_UBX_NAV_POSECEF_UART1, UBX_NAV_POSECEF, UBX_CLASS_NAV, 0, "UBX_NAV_POSECEF", (PLATFORM_F9P | PLATFORM_F9R)},
185-
{UBLOX_CFG_MSGOUT_UBX_NAV_POSLLH_UART1, UBX_NAV_POSLLH, UBX_CLASS_NAV, 0, "UBX_NAV_POSLLH", (PLATFORM_F9P | PLATFORM_F9R)},
186186

187+
{UBLOX_CFG_MSGOUT_UBX_NAV_POSLLH_UART1, UBX_NAV_POSLLH, UBX_CLASS_NAV, 0, "UBX_NAV_POSLLH", (PLATFORM_F9P | PLATFORM_F9R)},
187188
{UBLOX_CFG_MSGOUT_UBX_NAV_PVT_UART1, UBX_NAV_PVT, UBX_CLASS_NAV, 0, "UBX_NAV_PVT", (PLATFORM_F9P | PLATFORM_F9R)},
188189
{UBLOX_CFG_MSGOUT_UBX_NAV_RELPOSNED_UART1, UBX_NAV_RELPOSNED, UBX_CLASS_NAV, 0, "UBX_NAV_RELPOSNED", (PLATFORM_F9P | PLATFORM_F9R)},
189190
{UBLOX_CFG_MSGOUT_UBX_NAV_SAT_UART1, UBX_NAV_SAT, UBX_CLASS_NAV, 0, "UBX_NAV_SAT", (PLATFORM_F9P | PLATFORM_F9R)},
190191
{UBLOX_CFG_MSGOUT_UBX_NAV_SIG_UART1, UBX_NAV_SIG, UBX_CLASS_NAV, 0, "UBX_NAV_SIG", (PLATFORM_F9P | PLATFORM_F9R)},
191-
{UBLOX_CFG_MSGOUT_UBX_NAV_STATUS_UART1, UBX_NAV_STATUS, UBX_CLASS_NAV, 0, "UBX_NAV_STATUS", (PLATFORM_F9P | PLATFORM_F9R)},
192192

193+
{UBLOX_CFG_MSGOUT_UBX_NAV_STATUS_UART1, UBX_NAV_STATUS, UBX_CLASS_NAV, 0, "UBX_NAV_STATUS", (PLATFORM_F9P | PLATFORM_F9R)},
193194
{UBLOX_CFG_MSGOUT_UBX_NAV_SVIN_UART1, UBX_NAV_SVIN, UBX_CLASS_NAV, 0, "UBX_NAV_SVIN", (PLATFORM_F9P)},
194195
{UBLOX_CFG_MSGOUT_UBX_NAV_TIMEBDS_UART1, UBX_NAV_TIMEBDS, UBX_CLASS_NAV, 0, "UBX_NAV_TIMEBDS", (PLATFORM_F9P | PLATFORM_F9R)},
195196
{UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGAL_UART1, UBX_NAV_TIMEGAL, UBX_CLASS_NAV, 0, "UBX_NAV_TIMEGAL", (PLATFORM_F9P | PLATFORM_F9R)},
196197
{UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGLO_UART1, UBX_NAV_TIMEGLO, UBX_CLASS_NAV, 0, "UBX_NAV_TIMEGLO", (PLATFORM_F9P | PLATFORM_F9R)},
197-
{UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGPS_UART1, UBX_NAV_TIMEGPS, UBX_CLASS_NAV, 0, "UBX_NAV_TIMEGPS", (PLATFORM_F9P | PLATFORM_F9R)},
198198

199+
{UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGPS_UART1, UBX_NAV_TIMEGPS, UBX_CLASS_NAV, 0, "UBX_NAV_TIMEGPS", (PLATFORM_F9P | PLATFORM_F9R)},
199200
{UBLOX_CFG_MSGOUT_UBX_NAV_TIMELS_UART1, UBX_NAV_TIMELS, UBX_CLASS_NAV, 0, "UBX_NAV_TIMELS", (PLATFORM_F9P | PLATFORM_F9R)},
200201
{UBLOX_CFG_MSGOUT_UBX_NAV_TIMEUTC_UART1, UBX_NAV_TIMEUTC, UBX_CLASS_NAV, 0, "UBX_NAV_TIMEUTC", (PLATFORM_F9P | PLATFORM_F9R)},
201202
{UBLOX_CFG_MSGOUT_UBX_NAV_VELECEF_UART1, UBX_NAV_VELECEF, UBX_CLASS_NAV, 0, "UBX_NAV_VELECEF", (PLATFORM_F9P | PLATFORM_F9R)},
@@ -265,13 +266,6 @@ ubxMsg ubxMessages[] =
265266
// uint8_t tim_tos = 0; //Not supported by library or ZED-F9P
266267
// uint8_t tim_vcocal = 0; //Not supported by library or ZED-F9P
267268

268-
// uint8_t esf_alg = 0; //Not supported by ZED-F9P
269-
// uint8_t esf_ins = 0; //Not supported by ZED-F9P
270-
// uint8_t esf_meas = 0; //Not supported by ZED-F9P
271-
// uint8_t esf_raw = 0; //Not supported by ZED-F9P
272-
// uint8_t esf_status = 0; //Not supported by ZED-F9P
273-
//uint8_t esf_resetalg = 0; //Not supported by u-center
274-
275269
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_UART1, UBX_RTCM_1005, UBX_RTCM_MSB, 0, "UBX_RTCM_1005", (PLATFORM_F9P)},
276270
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_UART1, UBX_RTCM_1074, UBX_RTCM_MSB, 0, "UBX_RTCM_1074", (PLATFORM_F9P)},
277271
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1077_UART1, UBX_RTCM_1077, UBX_RTCM_MSB, 0, "UBX_RTCM_1077", (PLATFORM_F9P)},
@@ -286,6 +280,13 @@ ubxMsg ubxMessages[] =
286280

287281
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_0_UART1, UBX_RTCM_4072_0, UBX_RTCM_MSB, 0, "UBX_RTCM_4072_0", (PLATFORM_F9P)},
288282
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_1_UART1, UBX_RTCM_4072_1, UBX_RTCM_MSB, 0, "UBX_RTCM_4072_1", (PLATFORM_F9P)},
283+
284+
//Config keys exist but are not yet implemented in SparkFun u-blox library
285+
{0x20910278, UBX_ESF_MEAS, UBX_CLASS_ESF, 0, "UBX_ESF_MEAS", (PLATFORM_F9R)},
286+
{0x209102a0, UBX_ESF_RAW, UBX_CLASS_ESF, 0, "UBX_ESF_RAW", (PLATFORM_F9R)},
287+
{0x20910106, UBX_ESF_STATUS, UBX_CLASS_ESF, 0, "UBX_ESF_STATUS", (PLATFORM_F9R)},
288+
{0x20910110, UBX_ESF_ALG, UBX_CLASS_ESF, 0, "UBX_ESF_ALG", (PLATFORM_F9R)},
289+
{0x20910115, UBX_ESF_INS, UBX_CLASS_ESF, 0, "UBX_ESF_INS", (PLATFORM_F9R)},
289290
};
290291

291292
//This is all the settings that can be set on RTK Surveyor. It's recorded to NVM and the config file.

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