Firmware directory shuffle. Add readme.

Author: Nathan Seidle

Firmware/RTK_Enclosed/Base.ino renamed to Firmware/RTK_Surveyor/Base.ino

@@ -0,0 +1,211 @@
+//Wait for survey in to complete
+bool updateSurveyInStatus()
+{
+  //Update the LEDs only every second or so
+  if (millis() - lastBaseUpdate > 1000)
+  {
+    lastBaseUpdate += 1000;
+
+    if (baseState == BASE_SURVEYING_IN_NOTSTARTED)
+    {
+      //Check for <5m horz accuracy
+      uint32_t accuracy = myGPS.getHorizontalAccuracy(250); //This call defaults to 1100ms and can cause the core to crash with WDT timeout
+
+      float f_accuracy = accuracy;
+      f_accuracy = f_accuracy / 10000.0; // Convert the horizontal accuracy (mm * 10^-1) to a float
+
+      if (f_accuracy > 0.0 && f_accuracy < 5.0)
+      {
+        //We've got a good positional accuracy, start survey
+        surveyIn();
+      }
+      else
+      {
+        Serial.print("Waiting for Horz Accuracy < 5m: ");
+        Serial.print(f_accuracy, 2); // Print the accuracy with 2 decimal places
+        Serial.println();
+      }
+
+    } //baseState = Surveying In Not started
+    else
+    {
+
+      bool response = myGPS.getSurveyStatus(2000); //Query module for SVIN status with 2000ms timeout (req can take a long time)
+      if (response == true)
+      {
+        if (myGPS.svin.valid == true)
+        {
+          Serial.println(F("Base survey complete! RTCM now broadcasting."));
+          baseState = BASE_TRANSMITTING;
+
+          digitalWrite(baseStatusLED, HIGH); //Turn on LED
+        }
+        else
+        {
+          byte SIV = myGPS.getSIV();
+
+          Serial.print(F("Time elapsed: "));
+          Serial.print((String)myGPS.svin.observationTime);
+          Serial.print(F(" Accuracy: "));
+          Serial.print((String)myGPS.svin.meanAccuracy);
+          Serial.print(F(" SIV: "));
+          Serial.print(SIV);
+          Serial.println();
+
+          SerialBT.print(F("Time elapsed: "));
+          SerialBT.print((String)myGPS.svin.observationTime);
+          SerialBT.print(F(" Accuracy: "));
+          SerialBT.print((String)myGPS.svin.meanAccuracy);
+          SerialBT.print(F(" SIV: "));
+          SerialBT.print(SIV);
+          SerialBT.println();
+
+          if (myGPS.svin.meanAccuracy > 6.0)
+            baseState = BASE_SURVEYING_IN_SLOW;
+          else
+            baseState = BASE_SURVEYING_IN_FAST;
+
+          if (myGPS.svin.observationTime > maxSurveyInWait_s)
+          {
+            Serial.println(F("Survey-In took more than 5 minutes. Restarting survey in."));
+
+            resetSurvey();
+
+            surveyIn();
+          }
+        }
+      }
+      else
+      {
+        Serial.println(F("SVIN request failed"));
+      }
+    } //baseState = Surveying In Slow or fast
+  } //Check every second
+
+  //Update the Base LED accordingly
+  if (baseState == BASE_SURVEYING_IN_NOTSTARTED || baseState == BASE_SURVEYING_IN_SLOW)
+  {
+    if (millis() - baseStateBlinkTime > 2000)
+    {
+      baseStateBlinkTime += 2000;
+      Serial.println(F("Slow blink"));
+
+      if (digitalRead(baseStatusLED) == LOW)
+        digitalWrite(baseStatusLED, HIGH);
+      else
+        digitalWrite(baseStatusLED, LOW);
+    }
+  }
+  else if (baseState == BASE_SURVEYING_IN_FAST)
+  {
+    if (millis() - baseStateBlinkTime > 500)
+    {
+      baseStateBlinkTime += 500;
+      Serial.println(F("Fast blink"));
+
+      if (digitalRead(baseStatusLED) == LOW)
+        digitalWrite(baseStatusLED, HIGH);
+      else
+        digitalWrite(baseStatusLED, LOW);
+    }
+  }
+}
+
+//Configure specific aspects of the receiver for base mode
+bool configureUbloxModuleBase()
+{
+  bool response = true;
+
+  digitalWrite(positionAccuracyLED_1cm, LOW);
+  digitalWrite(positionAccuracyLED_10cm, LOW);
+  digitalWrite(positionAccuracyLED_100cm, LOW);
+
+  // Set dynamic model
+  if (myGPS.getDynamicModel() != DYN_MODEL_STATIONARY)
+  {
+    if (myGPS.setDynamicModel(DYN_MODEL_STATIONARY) == false)
+    {
+      Serial.println(F("setDynamicModel failed!"));
+      return (false);
+    }
+  }
+
+  //In base mode the Surveyor should output RTCM over UART1, UART2, and USB ports:
+  //(Primary) UART2 in case the Surveyor is connected via radio to rover
+  //(Seconday) USB in case the Surveyor is used as an NTRIP caster
+  //(Tertiary) UART1 in case Surveyor is sending RTCM to phone that is then NTRIP caster
+  if (getRTCMSettings(UBX_RTCM_1005, COM_PORT_UART2) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_UART2, 1); //Enable message 1005 to output through UART2, message every second
+  if (getRTCMSettings(UBX_RTCM_1074, COM_PORT_UART2) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1074, COM_PORT_UART2, 1);
+  if (getRTCMSettings(UBX_RTCM_1084, COM_PORT_UART2) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1084, COM_PORT_UART2, 1);
+  if (getRTCMSettings(UBX_RTCM_1094, COM_PORT_UART2) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1094, COM_PORT_UART2, 1);
+  if (getRTCMSettings(UBX_RTCM_1124, COM_PORT_UART2) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1124, COM_PORT_UART2, 1);
+  if (getRTCMSettings(UBX_RTCM_1230, COM_PORT_UART2) != 10)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_UART2, 10); //Enable message every 10 seconds
+
+  if (getRTCMSettings(UBX_RTCM_1005, COM_PORT_UART1) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_UART1, 1); //Enable message 1005 to output through UART2, message every second
+  if (getRTCMSettings(UBX_RTCM_1074, COM_PORT_UART1) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1074, COM_PORT_UART1, 1);
+  if (getRTCMSettings(UBX_RTCM_1084, COM_PORT_UART1) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1084, COM_PORT_UART1, 1);
+  if (getRTCMSettings(UBX_RTCM_1094, COM_PORT_UART1) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1094, COM_PORT_UART1, 1);
+  if (getRTCMSettings(UBX_RTCM_1124, COM_PORT_UART1) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1124, COM_PORT_UART1, 1);
+  if (getRTCMSettings(UBX_RTCM_1230, COM_PORT_UART1) != 10)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_UART1, 10); //Enable message every 10 seconds
+
+  if (getRTCMSettings(UBX_RTCM_1005, COM_PORT_USB) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_USB, 1); //Enable message 1005 to output through UART2, message every second
+  if (getRTCMSettings(UBX_RTCM_1074, COM_PORT_USB) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1074, COM_PORT_USB, 1);
+  if (getRTCMSettings(UBX_RTCM_1084, COM_PORT_USB) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1084, COM_PORT_USB, 1);
+  if (getRTCMSettings(UBX_RTCM_1094, COM_PORT_USB) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1094, COM_PORT_USB, 1);
+  if (getRTCMSettings(UBX_RTCM_1124, COM_PORT_USB) != 1)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1124, COM_PORT_USB, 1);
+  if (getRTCMSettings(UBX_RTCM_1230, COM_PORT_USB) != 10)
+    response &= myGPS.enableRTCMmessage(UBX_RTCM_1230, COM_PORT_USB, 10); //Enable message every 10 seconds
+
+  if (response == false)
+  {
+    Serial.println(F("RTCM failed to enable."));
+    return (false);
+  }
+
+  return (response);
+}
+
+//Start survey
+//The ZED-F9P is slightly different than the NEO-M8P. See the Integration manual 3.5.8 for more info.
+void surveyIn()
+{
+  resetSurvey();
+
+  bool response = myGPS.enableSurveyMode(60, 5.000); //Enable Survey in, 60 seconds, 5.0m
+  if (response == false)
+  {
+    Serial.println(F("Survey start failed"));
+    return;
+  }
+  Serial.println(F("Survey started. This will run until 60s has passed and less than 5m accuracy is achieved."));
+
+  baseState = BASE_SURVEYING_IN_SLOW;
+}
+
+void resetSurvey()
+{
+  //Slightly modified method for restarting survey-in from: https://portal.u-blox.com/s/question/0D52p00009IsVoMCAV/restarting-surveyin-on-an-f9p
+  bool response = myGPS.disableSurveyMode(); //Disable survey
+  delay(500);
+  response &= myGPS.enableSurveyMode(1000, 400.000); //Enable Survey in with bogus values
+  delay(500);
+  response &= myGPS.disableSurveyMode(); //Disable survey
+  delay(500);
+}