Add support for multiple NTRIP Servers

.github/workflows/compile-rtk-firmware.yml

@@ -6,7 +6,7 @@ on:
 env:
   FILENAME_PREFIX: RTK_Surveyor_Firmware
   FIRMWARE_VERSION_MAJOR: 4
-  FIRMWARE_VERSION_MINOR: 0
+  FIRMWARE_VERSION_MINOR: 1
   POINTPERFECT_TOKEN: ${{ secrets.POINTPERFECT_TOKEN }}
 
 jobs:

Firmware/RTK_Surveyor/Base.ino

@@ -239,76 +239,92 @@ bool surveyInReset()
 bool startFixedBase()
 {
     bool response = true;
+    int retries = 0;
+    uint16_t maxWait = 1100;
 
-    if (settings.fixedBaseCoordinateType == COORD_TYPE_ECEF)
-    {
-        // Break ECEF into main and high precision parts
-        // The type casting should not effect rounding of original double cast coordinate
-        long majorEcefX = floor((settings.fixedEcefX * 100.0) + 0.5);
-        long minorEcefX = floor((((settings.fixedEcefX * 100.0) - majorEcefX) * 100.0) + 0.5);
-        long majorEcefY = floor((settings.fixedEcefY * 100) + 0.5);
-        long minorEcefY = floor((((settings.fixedEcefY * 100.0) - majorEcefY) * 100.0) + 0.5);
-        long majorEcefZ = floor((settings.fixedEcefZ * 100) + 0.5);
-        long minorEcefZ = floor((((settings.fixedEcefZ * 100.0) - majorEcefZ) * 100.0) + 0.5);
-
-        //    systemPrintf("fixedEcefY (should be -4716808.5807): %0.04f\r\n", settings.fixedEcefY);
-        //    systemPrintf("major (should be -471680858): %ld\r\n", majorEcefY);
-        //    systemPrintf("minor (should be -7): %ld\r\n", minorEcefY);
-
-        // Units are cm with a high precision extension so -1234.5678 should be called: (-123456, -78)
-        //-1280208.308,-4716803.847,4086665.811 is SparkFun HQ so...
-
-        response &= theGNSS.newCfgValset();
-        response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_MODE, 2);     // Fixed
-        response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_POS_TYPE, 0); // Position in ECEF
-        response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_ECEF_X, majorEcefX);
-        response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_ECEF_X_HP, minorEcefX);
-        response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_ECEF_Y, majorEcefY);
-        response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_ECEF_Y_HP, minorEcefY);
-        response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_ECEF_Z, majorEcefZ);
-        response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_ECEF_Z_HP, minorEcefZ);
-        response &= theGNSS.sendCfgValset();
-    }
-    else if (settings.fixedBaseCoordinateType == COORD_TYPE_GEODETIC)
-    {
-        // Add height of instrument (HI) to fixed altitude
-        // https://www.e-education.psu.edu/geog862/node/1853
-        // For example, if HAE is at 100.0m, + 2m stick + 73mm ARP = 102.073
-        float totalFixedAltitude =
-            settings.fixedAltitude + (settings.antennaHeight / 1000.0) + (settings.antennaReferencePoint / 1000.0);
-
-        // Break coordinates into main and high precision parts
-        // The type casting should not effect rounding of original double cast coordinate
-        int64_t majorLat = settings.fixedLat * 10000000;
-        int64_t minorLat = ((settings.fixedLat * 10000000) - majorLat) * 100;
-        int64_t majorLong = settings.fixedLong * 10000000;
-        int64_t minorLong = ((settings.fixedLong * 10000000) - majorLong) * 100;
-        int32_t majorAlt = totalFixedAltitude * 100;
-        int32_t minorAlt = ((totalFixedAltitude * 100) - majorAlt) * 100;
-
-        //    systemPrintf("fixedLong (should be -105.184774720): %0.09f\r\n", settings.fixedLong);
-        //    systemPrintf("major (should be -1051847747): %lld\r\n", majorLat);
-        //    systemPrintf("minor (should be -20): %lld\r\n", minorLat);
-        //
-        //    systemPrintf("fixedLat (should be 40.090335429): %0.09f\r\n", settings.fixedLat);
-        //    systemPrintf("major (should be 400903354): %lld\r\n", majorLong);
-        //    systemPrintf("minor (should be 29): %lld\r\n", minorLong);
-        //
-        //    systemPrintf("fixedAlt (should be 1560.2284): %0.04f\r\n", settings.fixedAltitude);
-        //    systemPrintf("major (should be 156022): %ld\r\n", majorAlt);
-        //    systemPrintf("minor (should be 84): %ld\r\n", minorAlt);
+    do {
+        if (settings.fixedBaseCoordinateType == COORD_TYPE_ECEF)
+        {
+            // Break ECEF into main and high precision parts
+            // The type casting should not effect rounding of original double cast coordinate
+            long majorEcefX = floor((settings.fixedEcefX * 100.0) + 0.5);
+            long minorEcefX = floor((((settings.fixedEcefX * 100.0) - majorEcefX) * 100.0) + 0.5);
+            long majorEcefY = floor((settings.fixedEcefY * 100) + 0.5);
+            long minorEcefY = floor((((settings.fixedEcefY * 100.0) - majorEcefY) * 100.0) + 0.5);
+            long majorEcefZ = floor((settings.fixedEcefZ * 100) + 0.5);
+            long minorEcefZ = floor((((settings.fixedEcefZ * 100.0) - majorEcefZ) * 100.0) + 0.5);
+
+            //    systemPrintf("fixedEcefY (should be -4716808.5807): %0.04f\r\n", settings.fixedEcefY);
+            //    systemPrintf("major (should be -471680858): %ld\r\n", majorEcefY);
+            //    systemPrintf("minor (should be -7): %ld\r\n", minorEcefY);
+
+            // Units are cm with a high precision extension so -1234.5678 should be called: (-123456, -78)
+            //-1280208.308,-4716803.847,4086665.811 is SparkFun HQ so...
+
+            response &= theGNSS.newCfgValset();
+            response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_MODE, 2);     // Fixed
+            response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_POS_TYPE, 0); // Position in ECEF
+            response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_ECEF_X, majorEcefX);
+            response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_ECEF_X_HP, minorEcefX);
+            response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_ECEF_Y, majorEcefY);
+            response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_ECEF_Y_HP, minorEcefY);
+            response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_ECEF_Z, majorEcefZ);
+            response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_ECEF_Z_HP, minorEcefZ);
+            response &= theGNSS.sendCfgValset();
+        }
+        else if (settings.fixedBaseCoordinateType == COORD_TYPE_GEODETIC)
+        {
+            // Add height of instrument (HI) to fixed altitude
+            // https://www.e-education.psu.edu/geog862/node/1853
+            // For example, if HAE is at 100.0m, + 2m stick + 73mm ARP = 102.073
+            float totalFixedAltitude =
+                settings.fixedAltitude + (settings.antennaHeight / 1000.0) + (settings.antennaReferencePoint / 1000.0);
+
+            // Break coordinates into main and high precision parts
+            // The type casting should not effect rounding of original double cast coordinate
+            int64_t majorLat = settings.fixedLat * 10000000;
+            int64_t minorLat = ((settings.fixedLat * 10000000) - majorLat) * 100;
+            int64_t majorLong = settings.fixedLong * 10000000;
+            int64_t minorLong = ((settings.fixedLong * 10000000) - majorLong) * 100;
+            int32_t majorAlt = totalFixedAltitude * 100;
+            int32_t minorAlt = ((totalFixedAltitude * 100) - majorAlt) * 100;
+
+            //    systemPrintf("fixedLong (should be -105.184774720): %0.09f\r\n", settings.fixedLong);
+            //    systemPrintf("major (should be -1051847747): %lld\r\n", majorLat);
+            //    systemPrintf("minor (should be -20): %lld\r\n", minorLat);
+            //
+            //    systemPrintf("fixedLat (should be 40.090335429): %0.09f\r\n", settings.fixedLat);
+            //    systemPrintf("major (should be 400903354): %lld\r\n", majorLong);
+            //    systemPrintf("minor (should be 29): %lld\r\n", minorLong);
+            //
+            //    systemPrintf("fixedAlt (should be 1560.2284): %0.04f\r\n", settings.fixedAltitude);
+            //    systemPrintf("major (should be 156022): %ld\r\n", majorAlt);
+            //    systemPrintf("minor (should be 84): %ld\r\n", minorAlt);
+
+            response &= theGNSS.newCfgValset();
+            response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_MODE, 2);     // Fixed
+            response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_POS_TYPE, 1); // Position in LLH
+            response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_LAT, majorLat);
+            response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_LAT_HP, minorLat);
+            response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_LON, majorLong);
+            response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_LON_HP, minorLong);
+            response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_HEIGHT, majorAlt);
+            response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_HEIGHT_HP, minorAlt);
+            response &= theGNSS.sendCfgValset(maxWait);
+        }
 
-        response &= theGNSS.newCfgValset();
-        response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_MODE, 2);     // Fixed
-        response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_POS_TYPE, 1); // Position in LLH
-        response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_LAT, majorLat);
-        response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_LAT_HP, minorLat);
-        response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_LON, majorLong);
-        response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_LON_HP, minorLong);
-        response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_HEIGHT, majorAlt);
-        response &= theGNSS.addCfgValset(UBLOX_CFG_TMODE_HEIGHT_HP, minorAlt);
-        response &= theGNSS.sendCfgValset();
-    }
+        if (!response) {
+            systemPrint("startFixedBase failed! ");
+            if (retries <= 2) {
+                systemPrintln("Retrying...");
+                delay(1000);
+                maxWait = 2200;
+            }
+            else {
+                systemPrintln("Giving up and going into Rover mode!");
+            }
+        }
+    } while ((!response) && (++retries <= 3));
 
     return (response);
 }
@@ -349,7 +365,8 @@ void DevUBLOXGNSS::processRTCM(uint8_t incoming)
         rtcmLastReceived = millis();
         rtcmBytesSent++;
 
-        ntripServerProcessRTCM(incoming);
+        for (int serverIndex = 0; serverIndex < NTRIP_SERVER_MAX; serverIndex++)
+            ntripServerProcessRTCM(serverIndex, incoming);
 
         espnowProcessRTCM(incoming);
     }
@@ -391,7 +408,8 @@ void processRTCMBuffer()
             rtcmLastReceived = millis();
             rtcmBytesSent++;
 
-            ntripServerProcessRTCM(incoming);
+            for (int serverIndex = 0; serverIndex < NTRIP_SERVER_MAX; serverIndex++)
+                ntripServerProcessRTCM(serverIndex, incoming);
 
             espnowProcessRTCM(incoming);
         }

Firmware/RTK_Surveyor/Begin.ino

@@ -283,6 +283,8 @@ void beginBoard()
         settings.enablePrintBatteryMessages = false; // No pesky battery messages
     }
 
+    displaySfeFlame();
+
     char versionString[21];
     getFirmwareVersion(versionString, sizeof(versionString), true);
     systemPrintf("SparkFun RTK %s %s\r\n", platformPrefix, versionString);
@@ -361,6 +363,9 @@ void beginBoard()
 
 void beginSD()
 {
+    if(sdCardForcedOffline == true)
+        return;
+
     bool gotSemaphore;
 
     online.microSD = false;
@@ -445,6 +450,8 @@ void beginSD()
                     systemPrintln("SD init failed - using SPI and SdFat. Is card formatted?");
                     digitalWrite(pin_microSD_CS, HIGH); // Be sure SD is deselected
 
+                    sdCardForcedOffline = true; //Prevent future scans for SD cards
+
                     // Check reset count and prevent rolling reboot
                     if (settings.resetCount < 5)
                     {
@@ -807,13 +814,14 @@ void beginGNSS()
         // Construct the firmware version as uint8_t. Note: will fail above 2.55!
         zedFirmwareVersionInt = (theGNSS.getFirmwareVersionHigh() * 100) + theGNSS.getFirmwareVersionLow();
 
-        // Check this is known firmware
+        // Check if this is known firmware
         //"1.20" - Mostly for F9R HPS 1.20, but also F9P HPG v1.20
         //"1.21" - F9R HPS v1.21
         //"1.30" - ZED-F9P (HPG) released Dec, 2021. Also ZED-F9R (HPS) released Sept, 2022
         //"1.32" - ZED-F9P released May, 2022
+        //"1.50" - ZED-F9P released July, 2024
 
-        const uint8_t knownFirmwareVersions[] = {100, 112, 113, 120, 121, 130, 132};
+        const uint8_t knownFirmwareVersions[] = {100, 112, 113, 120, 121, 130, 132, 150};
         bool knownFirmware = false;
         for (uint8_t i = 0; i < (sizeof(knownFirmwareVersions) / sizeof(uint8_t)); i++)
         {

Firmware/RTK_Surveyor/Developer.ino

@@ -59,10 +59,10 @@ void ntripClientValidateTables() {}
 // NTRIP server
 //----------------------------------------
 
-bool ntripServerIsCasting() {return false;}
-void ntripServerPrintStatus() {systemPrint("NTRIP Server not compiled");}
-void ntripServerProcessRTCM(uint8_t incoming) {}
-void ntripServerStop(bool clientAllocated) {online.ntripServer = false;}
+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 ntripServerStop(int serverIndex, bool clientAllocated) {online.ntripServer[serverIndex] = false;}
 void ntripServerUpdate() {}
 void ntripServerValidateTables() {}