The Iliad - Book I

Firmware/Dockerfile

@@ -76,12 +76,12 @@ RUN arduino-cli lib install "SparkFun MAX1704x Fuel Gauge Arduino Library"@1.0.4
 RUN arduino-cli lib install "SparkFun u-blox GNSS v3"@3.1.10
 RUN arduino-cli lib install "SparkFun Qwiic OLED Arduino Library"@1.0.13
 RUN arduino-cli lib install [email protected]
-RUN arduino-cli lib install "SparkFun Extensible Message Parser"@1.0.4
+RUN arduino-cli lib install "SparkFun Extensible Message Parser"@1.0.6
 RUN arduino-cli lib install "SparkFun BQ40Z50 Battery Manager Arduino Library"@1.0.0
 RUN arduino-cli lib install "ArduinoMqttClient"@0.1.8
 RUN arduino-cli lib install "SparkFun u-blox PointPerfect Library"@1.11.4
 RUN arduino-cli lib install "SparkFun IM19 IMU Arduino Library"@1.0.1
-RUN arduino-cli lib install "SparkFun UM980 Triband RTK GNSS Arduino Library"@1.0.9
+RUN arduino-cli lib install "SparkFun UM980 Triband RTK GNSS Arduino Library"@1.0.10
 RUN arduino-cli lib install "SparkFun LG290P Quadband RTK GNSS Arduino Library"@1.0.8
 RUN arduino-cli lib install "SparkFun I2C Expander Arduino Library"@1.0.1
 RUN arduino-cli lib install "SparkFun Apple Accessory Arduino Library"@3.0.9

Firmware/RTK_Everywhere/AP-Config/index.html

@@ -903,6 +903,11 @@
                         <div class="collapse" id="ntripServerConfig0">
                             <div class="card card-body" style="margin-top:5px;">
 
+                                <div class="form-check mt-3 mb-2 box-margin20">
+                                    <label class="form-check-label" for="ntripServerCasterEnabled_0">Enable</label>
+                                    <input class="form-check-input" type="checkbox" value="" id="ntripServerCasterEnabled_0">
+                                </div>
+
                                 <div class="form-group row">
                                     <label for="ntripServerCasterHost_0"
                                         class="box-margin20 col-sm-3 col-5 col-form-label">Caster
@@ -976,6 +981,11 @@
                         <div class="collapse" id="ntripServerConfig1">
                             <div class="card card-body" style="margin-top:5px;">
 
+                                <div class="form-check mt-3 mb-2 box-margin20">
+                                    <label class="form-check-label" for="ntripServerCasterEnabled_1">Enable</label>
+                                    <input class="form-check-input" type="checkbox" value="" id="ntripServerCasterEnabled_1">
+                                </div>
+
                                 <div class="form-group row">
                                     <label for="ntripServerCasterHost_1"
                                         class="box-margin20 col-sm-3 col-5 col-form-label">Caster
@@ -1049,6 +1059,11 @@
                         <div class="collapse" id="ntripServerConfig2">
                             <div class="card card-body" style="margin-top:5px;">
 
+                                <div class="form-check mt-3 mb-2 box-margin20">
+                                    <label class="form-check-label" for="ntripServerCasterEnabled_2">Enable</label>
+                                    <input class="form-check-input" type="checkbox" value="" id="ntripServerCasterEnabled_2">
+                                </div>
+
                                 <div class="form-group row">
                                     <label for="ntripServerCasterHost_2"
                                         class="box-margin20 col-sm-3 col-5 col-form-label">Caster
@@ -1122,6 +1137,11 @@
                         <div class="collapse" id="ntripServerConfig3">
                             <div class="card card-body" style="margin-top:5px;">
 
+                                <div class="form-check mt-3 mb-2 box-margin20">
+                                    <label class="form-check-label" for="ntripServerCasterEnabled_3">Enable</label>
+                                    <input class="form-check-input" type="checkbox" value="" id="ntripServerCasterEnabled_3">
+                                </div>
+
                                 <div class="form-group row">
                                     <label for="ntripServerCasterHost_3"
                                         class="box-margin20 col-sm-3 col-5 col-form-label">Caster

Firmware/RTK_Everywhere/AP-Config/src/main.js

@@ -661,6 +661,16 @@ function parseIncoming(msg) {
             ge("antennaHeight_m").value = val / 1000.0;
         }
 
+        //enableExtCorrRadio should be bool but is sent as uint8_t because it _could_ be 254
+        else if (id.includes("enableExtCorrRadio")) {
+            if (val == 0) {
+                ge(id).checked = false;
+            }
+            else {
+                ge(id).checked = true;
+            }
+        }
+
         //Check boxes / radio buttons
         else if (val == "true") {
             try {

Firmware/RTK_Everywhere/Base.ino

@@ -2,21 +2,125 @@
 Base.ino
 =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=*/
 
-// This function gets called when an RTCM packet passes parser check in processUart1Message() task
-// Pass data along to NTRIP Server, or ESP-NOW radio
-void processRTCM(uint8_t *rtcmData, uint16_t dataLength)
+// Enough storage for two rounds of RTCM 1074,1084,1094,1124,1005
+// To help prevent the "no increase in file size" and "due to lack of RTCM" glitch:
+// RTCM is stored in PSRAM by the processUart1Message task and written by sendRTCMToConsumers
+const uint8_t rtcmConsumerBufferEntries = 16;
+const uint16_t rtcmConsumerBufferEntrySize = 1032; // RTCM can be up to 1024 + 6 bytes
+uint16_t rtcmConsumerBufferLengths[rtcmConsumerBufferEntries];
+volatile uint8_t rtcmConsumerBufferHead;
+volatile uint8_t rtcmConsumerBufferTail;
+uint8_t *rtcmConsumerBufferPtr = nullptr;
+
+//----------------------------------------
+// Allocate and initialize the rtcmConsumerBuffer
+//----------------------------------------
+bool rtcmConsumerBufferAllocated()
 {
-    // Give this byte to the various possible transmission methods
-    for (int x = 0; x < dataLength; x++)
+    if (rtcmConsumerBufferPtr == nullptr)
     {
-        for (int serverIndex = 0; serverIndex < NTRIP_SERVER_MAX; serverIndex++)
-            ntripServerProcessRTCM(serverIndex, rtcmData[x]);
+        rtcmConsumerBufferPtr = (uint8_t *)rtkMalloc(
+            (size_t)rtcmConsumerBufferEntrySize * (size_t)rtcmConsumerBufferEntries,
+            "ntripBuffer");
+        for (uint8_t i = 0; i < rtcmConsumerBufferEntries; i++)
+            rtcmConsumerBufferLengths[i] = 0;
+        rtcmConsumerBufferHead = 0;
+        rtcmConsumerBufferTail = 0;
+    }
+    if (rtcmConsumerBufferPtr == nullptr)
+    {
+        systemPrintln("rtcmConsumerBuffer malloc failed!");
+        return false;
     }
 
-    for (int x = 0; x < dataLength; x++)
-        espNowProcessRTCM(rtcmData[x]);
+    return true;
+}
 
-    loraProcessRTCM(rtcmData, dataLength);
+//----------------------------------------
+// Check how many RTCM buffers contain data
+//----------------------------------------
+uint8_t rtcmBuffersInUse()
+{
+    if (!rtcmConsumerBufferAllocated())
+        return 0;
+
+    uint8_t buffersInUse = rtcmConsumerBufferHead - rtcmConsumerBufferTail;
+    if (buffersInUse >= rtcmConsumerBufferEntries) // Wrap if Tail is > Head
+        buffersInUse += rtcmConsumerBufferEntries;
+    return buffersInUse;
+}
+
+//----------------------------------------
+// Check if any RTCM data is available
+//----------------------------------------
+bool rtcmDataAvailable()
+{
+    return (rtcmBuffersInUse() > 0);
+}
+
+//----------------------------------------
+// Store each RTCM message in a PSRAM buffer
+// This function gets called as each complete RTCM message comes in
+// The messages are written to the servers by sendRTCMToConsumers
+//----------------------------------------
+void storeRTCMForConsumers(uint8_t *rtcmData, uint16_t dataLength)
+{
+    if (!rtcmConsumerBufferAllocated())
+        return;
+
+    // Check if a buffer is available
+    if (rtcmBuffersInUse() < (rtcmConsumerBufferEntries - 1))
+    {
+        uint8_t *dest = rtcmConsumerBufferPtr;
+        dest += (size_t)rtcmConsumerBufferEntrySize * (size_t)rtcmConsumerBufferHead;
+        memcpy(dest, rtcmData, dataLength); // Store the RTCM
+        rtcmConsumerBufferLengths[rtcmConsumerBufferHead] = dataLength; // Store the length
+        rtcmConsumerBufferHead = rtcmConsumerBufferHead + 1; // Increment the Head
+        rtcmConsumerBufferHead = rtcmConsumerBufferHead % rtcmConsumerBufferEntries; // Wrap
+    }
+    else
+    {
+        if (settings.debugNtripServerRtcm && (!inMainMenu))
+            systemPrintln("rtcmConsumerBuffer full. RTCM lost");
+    }
+}
+
+//----------------------------------------
+// Send the stored RTCM to consumers: ntripServer, LoRa and ESP-NOW
+//----------------------------------------
+void sendRTCMToConsumers()
+{
+    if (!rtcmConsumerBufferAllocated())
+        return;
+
+    while (rtcmConsumerBufferHead != rtcmConsumerBufferTail)
+    {
+        uint8_t *dest = rtcmConsumerBufferPtr;
+        dest += (size_t)rtcmConsumerBufferEntrySize * (size_t)rtcmConsumerBufferTail;
+
+        // NTRIP Server
+        for (int serverIndex = 0; serverIndex < NTRIP_SERVER_MAX; serverIndex++)
+            ntripServerSendRTCM(serverIndex, dest, rtcmConsumerBufferLengths[rtcmConsumerBufferTail]);
+
+        // LoRa
+        loraProcessRTCM(dest, rtcmConsumerBufferLengths[rtcmConsumerBufferTail]);
+
+        // ESP-NOW
+        for (uint16_t x = 0; x < rtcmConsumerBufferLengths[rtcmConsumerBufferTail]; x++)
+            espNowProcessRTCM(dest[x]);
+
+        rtcmConsumerBufferTail = rtcmConsumerBufferTail + 1; // Increment the Tail
+        rtcmConsumerBufferTail = rtcmConsumerBufferTail % rtcmConsumerBufferEntries; // Wrap
+    }
+}
+
+//----------------------------------------
+// Store data ready to be passed along to NTRIP Server, or ESP-NOW radio
+// This function gets called when an RTCM packet passes parser check in processUart1Message() task
+//----------------------------------------
+void processRTCM(uint8_t *rtcmData, uint16_t dataLength)
+{
+    storeRTCMForConsumers(rtcmData, dataLength);
 
     rtcmLastPacketSent = millis();
     rtcmPacketsSent++;

Firmware/RTK_Everywhere/Begin.ino

@@ -357,6 +357,7 @@ void beginBoard()
         pin_modeButton = 0;
         // 24, D2  : Status LED
         pin_baseStatusLED = 2;
+        //pin_debug = 2; // On EVK we can use the Status LED for debug
         // 29, D5  : GNSS TP via 74LVC4066 switch
         pin_GNSS_TimePulse = 5;
         // 14, D12 : I2C1 SDA via 74LVC4066 switch
@@ -421,6 +422,10 @@ void beginBoard()
         pinMode(pin_baseStatusLED, OUTPUT);
         baseStatusLedOff();
 
+        DMW_if systemPrintf("pin_debug: %d\r\n", pin_debug);
+        pinMode(pin_debug, OUTPUT);
+        pinDebugOff();
+
         DMW_if systemPrintf("pin_Cellular_Network_Indicator: %d\r\n", pin_Cellular_Network_Indicator);
         pinMode(pin_Cellular_Network_Indicator, INPUT);
 

Firmware/RTK_Everywhere/Bluetooth.ino

@@ -742,13 +742,13 @@ void bluetoothStop()
         {
             bluetoothSerialBle->flush();      // Complete any transfers
             bluetoothSerialBle->disconnect(); // Drop any clients
-            bluetoothSerialBle->end();        // Release resources
+            //bluetoothSerialBle->end();        // Release resources : causes FreeRTOS Task "BLEFlushTask_" should not return, Aborting now!
             //delete bluetoothSerialBle;
             //bluetoothSerialBle = nullptr;
 
             bluetoothSerialBleCommands->flush();      // Complete any transfers
             bluetoothSerialBleCommands->disconnect(); // Drop any clients
-            bluetoothSerialBleCommands->end();        // Release resources
+            //bluetoothSerialBleCommands->end();        // Release resources : causes FreeRTOS Task "BLEFlushTask_" should not return, Aborting now!
             //delete bluetoothSerialBleCommands;
             //bluetoothSerialBleCommands = nullptr;
 
@@ -776,13 +776,13 @@ void bluetoothStop()
         {
             bluetoothSerialBle->flush();      // Complete any transfers
             bluetoothSerialBle->disconnect(); // Drop any clients
-            bluetoothSerialBle->end();        // Release resources
+            //bluetoothSerialBle->end();        // Release resources : FreeRTOS Task "BLEFlushTask_" should not return, Aborting now!
             //delete bluetoothSerialBle;
             //bluetoothSerialBle = nullptr;
 
             bluetoothSerialBleCommands->flush();      // Complete any transfers
             bluetoothSerialBleCommands->disconnect(); // Drop any clients
-            bluetoothSerialBleCommands->end();        // Release resources
+            //bluetoothSerialBleCommands->end();        // Release resources : FreeRTOS Task "BLEFlushTask_" should not return, Aborting now!
             //delete bluetoothSerialBleCommands;
             //bluetoothSerialBleCommands = nullptr;
 

Firmware/RTK_Everywhere/Developer.ino

@@ -238,10 +238,11 @@ void ntripClientSettingsChanged() {}
 #ifndef COMPILE_NTRIP_SERVER
 bool ntripServerIsCasting(int serverIndex) {return false;}
 void ntripServerPrintStatus(int serverIndex) {systemPrintf("**NTRIP Server %d not compiled**\r\n", serverIndex);}
-void ntripServerProcessRTCM(int serverIndex, uint8_t incoming) {}
+void ntripServerSendRTCM(int serverIndex, uint8_t *rtcmData, uint16_t dataLength) {}
 void ntripServerStop(int serverIndex, bool shutdown) {online.ntripServer[serverIndex] = false;}
 void ntripServerUpdate() {}
 void ntripServerValidateTables() {}
+void ntripServerSettingsChanged(int serverIndex) {}
 #endif   // COMPILE_NTRIP_SERVER
 
 //----------------------------------------

Firmware/RTK_Everywhere/Display.ino

@@ -346,6 +346,7 @@ void displayUpdate()
                 break;
 
             case (STATE_BASE_CASTER_NOT_STARTED):
+            case (STATE_BASE_ASSIST_NOT_STARTED):
             case (STATE_BASE_NOT_STARTED):
             case (STATE_BASE_CONFIG_WAIT):
                 displayBaseStart(0); // Show 'Base' while the system configures the Base
@@ -1281,6 +1282,7 @@ void setModeIcon(std::vector<iconPropertyBlinking> *iconList)
         break;
 
     case (STATE_BASE_CASTER_NOT_STARTED):
+    case (STATE_BASE_ASSIST_NOT_STARTED):
     case (STATE_BASE_NOT_STARTED):
     case (STATE_BASE_CONFIG_WAIT):
         // Do nothing. Static display shown during state change.

Firmware/RTK_Everywhere/GNSS.h

@@ -21,7 +21,8 @@ typedef enum
 class GNSS
 {
   protected:
-    float _altitude;           // Altitude in meters
+    double _altitude;           // Altitude in meters
+    double _geoidalSeparation; // Geoidal separation in meters
     float _horizontalAccuracy; // Horizontal position accuracy in meters
     double _latitude;          // Latitude in degrees
     double _longitude;         // Longitude in degrees
@@ -166,6 +167,9 @@ class GNSS
     // Returns the fix type or zero if not online
     virtual uint8_t getFixType();
 
+    // Returns the geoidal separation
+    virtual double getGeoidalSeparation();
+
     // Returns the hours of 24 hour clock or zero if not online
     virtual uint8_t getHour();
 

Firmware/RTK_Everywhere/GNSS_LG290P.h

@@ -230,6 +230,9 @@ class GNSS_LG290P : GNSS
     // Returns the fix type or zero if not online
     uint8_t getFixType();
 
+    // Returns the geoidal separation
+    double getGeoidalSeparation();
+
     // Returns the hours of 24 hour clock or zero if not online
     uint8_t getHour();
 

Firmware/RTK_Everywhere/GNSS_LG290P.ino

@@ -593,7 +593,10 @@ uint8_t GNSS_LG290P::getActiveRtcmMessageCount()
 double GNSS_LG290P::getAltitude()
 {
     if (online.gnss)
-        return (_lg290p->getAltitude());
+        // See issue #809
+        // getAltitude returns the Altitude above mean sea level (meters)
+        // For Height above Ellipsoid, we need to add the the geoidalSeparation
+        return (_lg290p->getAltitude() + _lg290p->getGeoidalSeparation());
     return (0);
 }
 
@@ -829,6 +832,16 @@ uint8_t GNSS_LG290P::getFixType()
     return 0;
 }
 
+//----------------------------------------
+// Returns the geoidal separation in meters or zero if the GNSS is offline
+//----------------------------------------
+double GNSS_LG290P::getGeoidalSeparation()
+{
+    if (online.gnss)
+        return (_lg290p->getGeoidalSeparation());
+    return (0);
+}
+
 //----------------------------------------
 // Get the horizontal position accuracy
 // Returns the horizontal position accuracy or zero if offline

Firmware/RTK_Everywhere/GNSS_Mosaic.h

@@ -699,6 +699,9 @@ class GNSS_MOSAIC : GNSS
     // Returns the fix type or zero if not online
     uint8_t getFixType();
 
+    // Returns the geoidal separation
+    double getGeoidalSeparation();
+
     // Returns the hours of 24 hour clock or zero if not online
     uint8_t getHour();
 

Firmware/RTK_Everywhere/GNSS_Mosaic.ino

@@ -855,6 +855,8 @@ uint8_t GNSS_MOSAIC::getActiveMessageCount()
 //----------------------------------------
 double GNSS_MOSAIC::getAltitude()
 {
+    // _altitude contains the Ellipsoidal height (meters) from SBF Block 4007
+    // We don't need to adjust for the Geoidal Separation (Undulation)
     return _altitude;
 }
 
@@ -952,6 +954,14 @@ uint8_t GNSS_MOSAIC::getFixType()
     return _fixType;
 }
 
+//----------------------------------------
+// Returns the geoidal separation in meters or zero if the GNSS is offline
+//----------------------------------------
+double GNSS_MOSAIC::getGeoidalSeparation()
+{
+    return _geoidalSeparation;
+}
+
 //----------------------------------------
 // Returns the hours of 24 hour clock or zero if not online
 //----------------------------------------
@@ -2527,7 +2537,8 @@ void GNSS_MOSAIC::storeBlock4007(SEMP_PARSE_STATE *parse)
 {
     _latitude = sempSbfGetF8(parse, 16) * 180.0 / PI; // Convert from radians to degrees
     _longitude = sempSbfGetF8(parse, 24) * 180.0 / PI;
-    _altitude = (float)sempSbfGetF8(parse, 32);
+    _altitude = sempSbfGetF8(parse, 32); // Ellipsoidal height
+    _geoidalSeparation = (double)sempSbfGetF4(parse, 40); // Geoid undulation
     _horizontalAccuracy = ((float)sempSbfGetU2(parse, 90)) / 100.0; // Convert from cm to m
 
     // NrSV is the total number of satellites used in the PVT computation.