pcUpdates

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

@@ -89,12 +89,12 @@ jobs:
           "SparkFun u-blox GNSS v3"@3.1.8
           "SparkFun Qwiic OLED Arduino Library"@1.0.13
           SSLClientESP32@2.0.0
-          "SparkFun Extensible Message Parser"@1.0.2
+          "SparkFun Extensible Message Parser"@1.0.4
           "SparkFun BQ40Z50 Battery Manager Arduino Library"@1.0.0
           "ArduinoMqttClient"@0.1.8
           "SparkFun u-blox PointPerfect Library"@1.11.4
           "SparkFun IM19 IMU Arduino Library"@1.0.1
-          "SparkFun UM980 Triband RTK GNSS Arduino Library"@1.0.4
+          "SparkFun UM980 Triband RTK GNSS Arduino Library"@1.0.5
           "SparkFun LG290P Quadband RTK GNSS Arduino Library"@1.0.8
           "SparkFun I2C Expander Arduino Library"@1.0.1
 

.github/workflows/non-release-build.yml

@@ -88,13 +88,13 @@ jobs:
           "SparkFun u-blox GNSS v3"@3.1.8
           "SparkFun Qwiic OLED Arduino Library"@1.0.13
           SSLClientESP32@2.0.0
-          "SparkFun Extensible Message Parser"@1.0.2
+          "SparkFun Extensible Message Parser"@1.0.4
           "SparkFun BQ40Z50 Battery Manager Arduino Library"@1.0.0
           "ArduinoMqttClient"@0.1.8
           "SparkFun u-blox PointPerfect Library"@1.11.4
           "SparkFun IM19 IMU Arduino Library"@1.0.1
-          "SparkFun UM980 Triband RTK GNSS Arduino Library"@1.0.4
-          "SparkFun LG290P Quadband RTK GNSS Arduino Library"@1.0.7
+          "SparkFun UM980 Triband RTK GNSS Arduino Library"@1.0.5
+          "SparkFun LG290P Quadband RTK GNSS Arduino Library"@1.0.8
           "SparkFun I2C Expander Arduino Library"@1.0.1
 
       - name: Patch libmbedtls

Firmware/RTK_Everywhere/AP-Config/index.html

@@ -2016,7 +2016,7 @@
                             <label for="maxLogTime" class="box-margin40 col-sm-3 col-7 col-form-label">Max Logging
                                 Time (min):
                                 <span class="tt" data-bs-placement="right"
-                                    title="Once the max log time is achieved, logging will cease. This is useful for limiting long term, overnight, static surveys to a certain length of time. Default: 1440 minutes. Limits: 1 to 2880 minutes.">
+                                    title="Once the max log time is achieved, logging will cease. This is useful for limiting long term, overnight, static surveys to a certain length of time. Default: 1440 minutes. Limits: 0 to 1,051,200 minutes. 0 = no limit.">
                                     <span class="icon-info-circle text-primary ms-2"></span>
                                 </span>
                             </label>
@@ -2027,15 +2027,23 @@
                         <div class="form-group row">
                             <label for="maxLogLength" class="box-margin40 col-sm-3 col-7 col-form-label">Max Log
                                 File Length (min):<span class="tt" data-bs-placement="right"
-                                    title="Once this length of time is achieved, a new log will be created. This is useful for creating multiple logs over a long survey. Default: 1440 minutes. Limits: 1 to 2880 minutes.">
+                                    title="Once this length of time is achieved, a new log will be created. This is useful for creating multiple logs over a long survey. Default: 1440 minutes. Limits: 0 to 2880 minutes. 0 = no limit.">
                                     <span class="icon-info-circle text-primary ms-2"></span>
                                 </span>
                             </label>
-
                             <input type="number" class="form-control box-small" id="maxLogLength">
                             <p id="maxLogLengthError" class="inlineError"></p>
                         </div>
 
+                        <div class="form-check mt-1 box-margin20">
+                            <label class="form-check-label" for="alignedLogFiles">Aligned Log Files</label>
+                            <input class="form-check-input" type="checkbox" value="" id="alignedLogFiles" unchecked>
+                            <span class="tt" data-bs-placement="right"
+                                title="If enabled, log files will be aligned to the Max Log File Length. Only possible if the Max Log Length is an integral fraction of 24 hours.">
+                                <span class="icon-info-circle text-primary ms-2"></span>
+                            </span>
+                        </div>
+
                         <div id="logFile" class="row">
                             <div class="mb-2">
                                 <label for="logFile" class="form-group box-margin20">Log file name: <span
@@ -2069,7 +2077,7 @@
                                 <label for="ARPLoggingInterval" class="box-margin40 col-sm-3 col-7 col-form-label">ARP
                                     Logging Interval (s):
                                     <span class="tt" data-bs-placement="right"
-                                        title="If ARP logging is enabled, the Antenna Reference Position will be logged at intervals of this many seconds.">
+                                        title="If ARP logging is enabled, the Antenna Reference Position will be logged at intervals of this many seconds. Min: 1. Max 600. Default: 10.">
                                         <span class="icon-info-circle text-primary ms-2"></span>
                                     </span>
                                 </label>

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

@@ -1004,8 +1004,8 @@ function validateFields() {
 
     //System Config
     if (ge("enableLogging").checked == true) {
-        checkElementValue("maxLogTime", 1, 1051200, "Must be 1 to 1,051,200", "collapseSystemConfig");
-        checkElementValue("maxLogLength", 1, 1051200, "Must be 1 to 1,051,200", "collapseSystemConfig");
+        checkElementValue("maxLogTime", 0, 1051200, "Must be 0 to 1,051,200", "collapseSystemConfig");
+        checkElementValue("maxLogLength", 0, 2880, "Must be 0 to 2880", "collapseSystemConfig");
     }
     else {
         clearElement("maxLogTime", 60 * 24);

Firmware/RTK_Everywhere/Begin.ino

@@ -843,10 +843,10 @@ void beginSD()
 
     gotSemaphore = false;
 
-    while (settings.enableSD == true)
+    while (settings.enableSD == true) // Note: settings.enableSD is never set to false
     {
         // Setup SD card access semaphore
-        if (sdCardSemaphore == nullptr)
+        if (sdCardSemaphore == NULL)
             sdCardSemaphore = xSemaphoreCreateMutex();
         else if (xSemaphoreTake(sdCardSemaphore, fatSemaphore_shortWait_ms) != pdPASS)
         {
@@ -862,7 +862,7 @@ void beginSD()
             break; // Give up on loop
 
         // If an SD card is present, allow SdFat to take over
-        log_d("SD card detected");
+        systemPrintf("SD card detected @ %s\r\n", getTimeStamp());
 
         // Allocate the data structure that manages the microSD card
         if (!sd)
@@ -930,7 +930,7 @@ void beginSD()
         sdCardSize = 0;
         outOfSDSpace = true;
 
-        systemPrintln("microSD: Online");
+        systemPrintf("microSD: Online @ %s\r\n", getTimeStamp());
         online.microSD = true;
         break;
     }
@@ -951,7 +951,7 @@ void endSD(bool alreadyHaveSemaphore, bool releaseSemaphore)
         sd->end();
 
         online.microSD = false;
-        systemPrintln("microSD: Offline");
+        systemPrintf("microSD: Offline @ %s\r\n", getTimeStamp());
     }
 
     // Free the caches for the microSD card
@@ -1699,7 +1699,7 @@ void tpISR()
     {
         if (online.rtc) // Only sync if the RTC has been set via PVT first
         {
-            if (timTpUpdated) // Only sync if timTpUpdated is true
+            if (timTpUpdated) // Only sync if timTpUpdated is true - set by storeTIMTPdata on ZED platforms only
             {
                 if (millisNow - lastRTCSync >
                     syncRTCInterval) // Only sync if it is more than syncRTCInterval since the last sync

Firmware/RTK_Everywhere/Buttons.ino

@@ -119,7 +119,7 @@ void buttonRead()
         gpioChanged = false;
 
         // Get all the pins in one read
-        uint8_t currentState = io.getInputRegister() & 0b00111111; // Ignore unconnected GPIO6/7
+        uint8_t currentState = io.getInputRegister() & 0b00011111; // Mask the five buttons. Ignore SD detect
 
         if (currentState != gpioExpander_previousState)
         {

Firmware/RTK_Everywhere/ESPNOW.ino

@@ -161,6 +161,7 @@ void espNowOnDataReceived(const esp_now_recv_info *mac, const uint8_t *incomingD
         {
             // Pass RTCM bytes (presumably) from ESP NOW out ESP32-UART to GNSS
             gnss->pushRawData((uint8_t *)incomingData, len);
+            sempParseNextBytes(rtcmParse, (uint8_t *)incomingData, len); // Parse the data for RTCM1005/1006
 
             if ((settings.debugEspNow == true || settings.debugCorrections == true) && !inMainMenu)
                 systemPrintf("ESPNOW received %d RTCM bytes, pushed to GNSS, RSSI: %d\r\n", len, espNowRSSI);

Firmware/RTK_Everywhere/GNSS.ino

@@ -72,29 +72,52 @@ bool GNSS::supportsAntennaShortOpen()
 }
 
 // Periodically push GGA sentence over NTRIP Client, to Caster, if enabled
-void pushGPGGA(char *ggaData)
+// We must not push to the Caster while we are reading data from the Caster
+// See #695
+// pushGPGGA is called by processUart1Message from gnssReadTask
+// ntripClient->read is called by ntripClientUpdate and ntripClientResponse from networkUpdate from loop
+// We need to make sure processUart1Message doesn't gatecrash
+// If ggaData is provided, store it. If ggaData is nullptr, try to push it
+static void pushGPGGA(char *ggaData)
 {
-#ifdef COMPILE_NETWORK
-    // Wait until the client has been created
-    if (ntripClient != nullptr)
+    static char storedGPGGA[100];
+
+    static SemaphoreHandle_t reentrant = xSemaphoreCreateMutex();  // Create the mutex
+
+    if (xSemaphoreTake(reentrant, 10 / portTICK_PERIOD_MS) == pdPASS)
     {
-        // Provide the caster with our current position as needed
-        if (ntripClient->connected() && settings.ntripClient_TransmitGGA == true)
+        if (ggaData)
         {
-            if (millis() - lastGGAPush > NTRIPCLIENT_MS_BETWEEN_GGA)
-            {
-                lastGGAPush = millis();
+            snprintf(storedGPGGA, sizeof(storedGPGGA), "%s", ggaData);
+            xSemaphoreGive(reentrant);
+            return;
+        }
 
-                if (settings.debugNtripClientRtcm || PERIODIC_DISPLAY(PD_NTRIP_CLIENT_GGA))
+#ifdef COMPILE_NETWORK
+        // Wait until the client has been created
+        if (ntripClient != nullptr)
+        {
+            // Provide the caster with our current position as needed
+            if (ntripClient->connected() && settings.ntripClient_TransmitGGA == true)
+            {
+                if (millis() - lastGGAPush > NTRIPCLIENT_MS_BETWEEN_GGA)
                 {
-                    PERIODIC_CLEAR(PD_NTRIP_CLIENT_GGA);
-                    systemPrintf("NTRIP Client pushing GGA to server: %s", (const char *)ggaData);
-                }
+                    lastGGAPush = millis();
 
-                // Push our current GGA sentence to caster
-                ntripClient->print((const char *)ggaData);
+                    if ((settings.debugNtripClientRtcm || PERIODIC_DISPLAY(PD_NTRIP_CLIENT_GGA)) && !inMainMenu)
+                    {
+                        PERIODIC_CLEAR(PD_NTRIP_CLIENT_GGA);
+                        systemPrintf("NTRIP Client pushing GGA to server: %s", (const char *)storedGPGGA);
+                    }
+
+                    // Push our current GGA sentence to caster
+                    if (strlen(storedGPGGA) > 0)
+                        ntripClient->write((const uint8_t *)storedGPGGA, strlen(storedGPGGA));
+                }
             }
         }
-    }
 #endif // COMPILE_NETWORK
+
+        xSemaphoreGive(reentrant);
+    }
 }

Firmware/RTK_Everywhere/GNSS_ZED.ino

@@ -542,10 +542,6 @@ bool GNSS_ZED::configureGNSS()
         _zed->setAutoPVTcallbackPtr(&storePVTdata, VAL_LAYER_ALL); // Enable automatic NAV PVT messages with callback to storePVTdata
     response &= _zed->setAutoHPPOSLLHcallbackPtr(
         &storeHPdata, VAL_LAYER_ALL); // Enable automatic NAV HPPOSLLH messages with callback to storeHPdata
-    _zed->setRTCM1005InputcallbackPtr(
-        &storeRTCM1005data); // Configure a callback for RTCM 1005 - parsed from pushRawData
-    _zed->setRTCM1006InputcallbackPtr(
-        &storeRTCM1006data); // Configure a callback for RTCM 1006 - parsed from pushRawData
 
     if (present.timePulseInterrupt)
         response &= _zed->setAutoTIMTPcallbackPtr(
@@ -2598,30 +2594,6 @@ void GNSS_ZED::storeMONCOMMSdataRadio(UBX_MON_COMMS_data_t *ubxDataStruct)
     }
 }
 
-//----------------------------------------
-// Callback to save ARPECEF*
-//----------------------------------------
-void storeRTCM1005data(RTCM_1005_data_t *rtcmData1005)
-{
-    ARPECEFX = rtcmData1005->AntennaReferencePointECEFX;
-    ARPECEFY = rtcmData1005->AntennaReferencePointECEFY;
-    ARPECEFZ = rtcmData1005->AntennaReferencePointECEFZ;
-    ARPECEFH = 0;
-    newARPAvailable = true;
-}
-
-//----------------------------------------
-// Callback to save ARPECEF*
-//----------------------------------------
-void storeRTCM1006data(RTCM_1006_data_t *rtcmData1006)
-{
-    ARPECEFX = rtcmData1006->AntennaReferencePointECEFX;
-    ARPECEFY = rtcmData1006->AntennaReferencePointECEFY;
-    ARPECEFZ = rtcmData1006->AntennaReferencePointECEFZ;
-    ARPECEFH = rtcmData1006->AntennaHeight;
-    newARPAvailable = true;
-}
-
 //----------------------------------------
 void storeTIMTPdata(UBX_TIM_TP_data_t *ubxDataStruct)
 {

Firmware/RTK_Everywhere/LoRa.ino

@@ -175,6 +175,9 @@ void updateLora()
                 // Pass RTCM bytes (presumably) from LoRa out ESP32-UART to GNSS
                 gnss->pushRawData(rtcmData, rtcmCount); // Push RTCM to GNSS module
 
+                // Parse the data for RTCM1005/1006
+                sempParseNextBytes(rtcmParse, rtcmData, rtcmCount);
+
                 if (((settings.debugCorrections == true) || (settings.debugLora == true)) && !inMainMenu)
                 {
                     systemFlush();  // Complete prints
@@ -254,6 +257,9 @@ void updateLora()
                 // Pass RTCM bytes (presumably) from LoRa out ESP32-UART to GNSS
                 gnss->pushRawData(rtcmData, rtcmCount); // Push RTCM to GNSS module
 
+                // Parse the data for RTCM1005/1006
+                sempParseNextBytes(rtcmParse, rtcmData, rtcmCount);
+
                 if (((settings.debugCorrections == true) || (settings.debugLora == true)) && !inMainMenu)
                 {
                     systemFlush();  // Complete prints

Firmware/RTK_Everywhere/MQTT_Client.ino

@@ -514,6 +514,7 @@ int mqttClientProcessZedMessage(uint8_t *mqttData, uint16_t mqttCount, int bytes
             zed->updateCorrectionsSource(0); // Set SOURCE to 0 (IP) if needed
 
             gnss->pushRawData(mqttData, mqttCount);
+            // Corrections are SPARTN. No point in pushing them to rtcmParse
             bytesPushed += mqttCount;
 
             mqttClientDataReceived = true;
@@ -542,6 +543,7 @@ int mqttClientProcessZedMessage(uint8_t *mqttData, uint16_t mqttCount, int bytes
         }
 
         gnss->pushRawData(mqttData, mqttCount);
+        // No point in pushing keys / MGA to rtcmParse
         bytesPushed += mqttCount;
     }
 #endif // COMPILE_ZED

Firmware/RTK_Everywhere/NtripClient.ino

@@ -138,7 +138,7 @@ static const uint32_t NTRIP_CLIENT_RESPONSE_TIMEOUT = 10 * 1000; // Milliseconds
 static const uint32_t NTRIP_CLIENT_RECEIVE_DATA_TIMEOUT = 30 * 1000; // Milliseconds
 
 // Most incoming data is around 500 bytes but may be larger
-static const int RTCM_DATA_SIZE = 512 * 4;
+static const size_t RTCM_DATA_SIZE = 512 * 4;
 
 // NTRIP client server request buffer size
 static const int SERVER_BUFFER_SIZE = CREDENTIALS_BUFFER_SIZE + 3;
@@ -228,7 +228,7 @@ bool ntripClientConnect()
         systemPrintf("NTRIP Client connecting to %s:%d\r\n", settings.ntripClient_CasterHost,
                      settings.ntripClient_CasterPort);
 
-    int connectResponse = ntripClient->connect(settings.ntripClient_CasterHost, settings.ntripClient_CasterPort);
+    int connectResponse = ntripClient->connect(settings.ntripClient_CasterHost, settings.ntripClient_CasterPort, NTRIP_CLIENT_RESPONSE_TIMEOUT);
 
     if (connectResponse < 1)
     {
@@ -248,7 +248,7 @@ bool ntripClientConnect()
     length = strlen(serverRequest);
     serverRequest[length++] = '\r';
     serverRequest[length++] = '\n';
-    serverRequest[length++] = 0;
+    serverRequest[length] = 0;
 
     // Set up the credentials
     char credentials[CREDENTIALS_BUFFER_SIZE];
@@ -657,7 +657,8 @@ void ntripClientUpdate()
         {
             // Allocate the ntripClient structure
             networkUseDefaultInterface();
-            ntripClient = new NetworkClient();
+            if (!ntripClient)
+                ntripClient = new NetworkClient();
             if (!ntripClient)
             {
                 // Failed to allocate the ntripClient structure
@@ -803,6 +804,7 @@ void ntripClientUpdate()
                     // We don't use a task because we use I2C hardware (and don't have a semaphore).
                     online.ntripClient = true;
                     ntripClientStartTime = millis();
+                    ntripClient->setConnectionTimeout(NTRIP_CLIENT_RECEIVE_DATA_TIMEOUT);
                     ntripClientSetState(NTRIP_CLIENT_CONNECTED);
                 }
             }
@@ -919,9 +921,10 @@ void ntripClientUpdate()
                         {
                             // Push RTCM to GNSS module over I2C / SPI
                             gnss->pushRawData(rtcmData, rtcmCount);
+                            sempParseNextBytes(rtcmParse, rtcmData, rtcmCount); // Parse the data for RTCM1005/1006
 
                             if ((settings.debugCorrections || settings.debugNtripClientRtcm ||
-                                 PERIODIC_DISPLAY(PD_NTRIP_CLIENT_DATA)) &&
+                                    PERIODIC_DISPLAY(PD_NTRIP_CLIENT_DATA)) &&
                                 (!inMainMenu))
                             {
                                 PERIODIC_CLEAR(PD_NTRIP_CLIENT_DATA);
@@ -931,7 +934,7 @@ void ntripClientUpdate()
                         else
                         {
                             if ((settings.debugCorrections || settings.debugNtripClientRtcm ||
-                                 PERIODIC_DISPLAY(PD_NTRIP_CLIENT_DATA)) &&
+                                    PERIODIC_DISPLAY(PD_NTRIP_CLIENT_DATA)) &&
                                 (!inMainMenu))
                             {
                                 PERIODIC_CLEAR(PD_NTRIP_CLIENT_DATA);
@@ -943,6 +946,9 @@ void ntripClientUpdate()
                     }
                 }
             }
+
+            // Now that the ntripClient->read is complete, write GPGGA if needed and available. See #695
+            pushGPGGA(nullptr);
         }
         break;
     }