pcUpdates

Firmware/RTK_Everywhere/AP-Config/index.html

@@ -363,6 +363,17 @@
                         </div>
                     </div>
 
+                    <div id="useMSM7Setting">
+                        <div class="form-check mt-3">
+                            <label class="form-check-label" for="useMSM7">MSM7 RTCM Selection</label>
+                            <input class="form-check-input" type="checkbox" value="" id="useMSM7">
+                            <span class="tt" data-bs-placement="right"
+                                title="Use MSM7 format RTCM mesages. Default: Disabled (MSM4).">
+                                <span class="icon-info-circle text-primary ms-2"></span>
+                            </span>
+                        </div>
+                    </div>
+
                     <div class="form-check mt-3">
                         <label class="form-check-label" for="enableNtripClient">Enable NTRIP Client</label>
                         <input class="form-check-input" type="checkbox" value="" id="enableNtripClient">

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

@@ -112,6 +112,7 @@ function parseIncoming(msg) {
                 hide("externalPortOptions");
                 show("logToSDCard");
                 hide("galileoHasSetting");
+                hide("useMSM7Setting");
                 hide("tiltConfig");
                 hide("beeperControl");
                 show("measurementRateInput");
@@ -145,6 +146,7 @@ function parseIncoming(msg) {
                 show("externalPortOptions");
                 show("logToSDCard");
                 hide("galileoHasSetting");
+                hide("useMSM7Setting");
                 hide("tiltConfig");
                 hide("beeperControl");
                 show("measurementRateInput");
@@ -165,6 +167,7 @@ function parseIncoming(msg) {
                 show("externalPortOptions");
                 show("logToSDCard");
                 hide("galileoHasSetting");
+                hide("useMSM7Setting");
                 hide("tiltConfig");
                 hide("beeperControl");
                 hide("measurementRateInput");
@@ -255,6 +258,7 @@ function parseIncoming(msg) {
                 show("logToSDCard");
 
                 hide("galileoHasSetting");
+                show("useMSM7Setting");
                 hide("tiltConfig");
                 hide("beeperControl");
 
@@ -324,6 +328,7 @@ function parseIncoming(msg) {
                 hide("constellationSbas"); //Not supported on LG290P
                 show("constellationNavic"); 
                 hide("galileoHasSetting"); //Not supported on LG290P
+                show("useMSM7Setting");
                 hide("tiltConfig"); //Not supported on Torch X2
 
                 show("measurementRateInput");

Firmware/RTK_Everywhere/Begin.ino

@@ -1955,10 +1955,10 @@ void tpISR()
         {
             if (timTpUpdated) // Only sync if timTpUpdated is true - set by storeTIMTPdata on ZED platforms only
             {
-                if (millisNow - lastRTCSync >
+                if ((millisNow - lastRTCSync) >
                     syncRTCInterval) // Only sync if it is more than syncRTCInterval since the last sync
                 {
-                    if (millisNow < (timTpArrivalMillis + 999)) // Only sync if the GNSS time is not stale
+                    if ((millisNow - timTpArrivalMillis) < 999) // Only sync if the GNSS time is not stale
                     {
                         if (gnss->isFullyResolved()) // Only sync if GNSS time is fully resolved
                         {

Firmware/RTK_Everywhere/Bluetooth.ino

@@ -59,7 +59,7 @@ void bluetoothUpdate()
 {
 #ifdef COMPILE_BT
     static uint32_t lastCheck = millis(); // Check if connected every 100ms
-    if (millis() > (lastCheck + 100))
+    if ((millis() - lastCheck) > 100)
     {
         lastCheck = millis();
 

Firmware/RTK_Everywhere/Display.ino

@@ -212,7 +212,7 @@ void displayUpdate()
     if (online.display == true)
     {
         static unsigned long lastDisplayUpdate = 0;
-        if (millis() - lastDisplayUpdate > 500 || forceDisplayUpdate == true) // Update display at 2Hz
+        if (((millis() - lastDisplayUpdate) > 500) || (forceDisplayUpdate == true)) // Update display at 2Hz
         {
             lastDisplayUpdate = millis();
             forceDisplayUpdate = false;
@@ -2493,7 +2493,7 @@ void paintSystemTest()
     if (online.display == true)
     {
         // Toggle between two displays
-        if (millis() - systemTestDisplayTime > 3000)
+        if ((millis() - systemTestDisplayTime) > 3000)
         {
             systemTestDisplayTime = millis();
             systemTestDisplayNumber++;
@@ -3206,7 +3206,7 @@ void displayWebConfig(std::vector<iconPropertyBlinking> &iconPropertyList)
 
     // Toggle display back and forth for long SSIDs and IPs
     // Run the timer no matter what, but load firstHalf/lastHalf with the same thing if strlen < maxWidth
-    if (millis() - ssidDisplayTimer > 2000)
+    if ((millis() - ssidDisplayTimer) > 2000)
     {
         ssidDisplayTimer = millis();
         ssidDisplayFirstHalf = !ssidDisplayFirstHalf;

Firmware/RTK_Everywhere/ESPNOW.ino

@@ -638,7 +638,7 @@ void espNowUpdate()
 
         // If it's been longer than 50ms since we last added a byte to the buffer
         // then we've reached the end of the RTCM stream. Send partial buffer.
-        if (espNowOutgoingSpot > 0 && (millis() - espNowLastAdd) > 50)
+        if ((espNowOutgoingSpot > 0) && ((millis() - espNowLastAdd) > 50))
         {
             if (espNowState == ESPNOW_PAIRED)
                 esp_now_send(0, (uint8_t *)&espNowOutgoing, espNowOutgoingSpot); // Send partial packet to all peers
@@ -654,7 +654,7 @@ void espNowUpdate()
 
         // If we don't receive an ESP NOW packet after some time, set RSSI to very negative
         // This removes the ESPNOW icon from the display when the link goes down
-        if (millis() - espNowLastRssiUpdate > 5000 && espNowRSSI > -255)
+        if (((millis() - espNowLastRssiUpdate) > 5000) && (espNowRSSI > -255))
             espNowRSSI = -255;
 
         // The display menu, serial menu, or CLI may request pairing be started
@@ -682,7 +682,7 @@ void espNowUpdate()
             randomSeed(millis());
             static unsigned long lastMacSend = millis();
             static int timeout = 1000 + random(0, 100); // Pick a random number between 1000 to 1100ms
-            if (millis() - lastMacSend > timeout)
+            if ((millis() - lastMacSend) > timeout)
             {
                 lastMacSend = millis();
                 espNowSendPairMessage(

Firmware/RTK_Everywhere/GNSS.ino

@@ -106,7 +106,7 @@ static void pushGPGGA(char *ggaData)
             // Provide the caster with our current position as needed
             if (ntripClient->connected() && settings.ntripClient_TransmitGGA == true)
             {
-                if (millis() - lastGGAPush > NTRIPCLIENT_MS_BETWEEN_GGA)
+                if ((millis() - lastGGAPush) > NTRIPCLIENT_MS_BETWEEN_GGA)
                 {
                     lastGGAPush = millis();
 
@@ -359,7 +359,7 @@ void gnssFirmwareBeginUpdate()
         // Button task will gnssFirmwareRemoveUpdate and restart
 
         // Temporary fix for buttonless Flex. TODO - remove
-        if ((productVariant == RTK_FLEX) && (millis() > (lastSerial + 30000)))
+        if ((productVariant == RTK_FLEX) && ((millis() - lastSerial) > 30000))
         {
             // Beep to indicate exit
             beepOn();

Firmware/RTK_Everywhere/GNSS_LG290P.ino

@@ -598,11 +598,16 @@ bool GNSS_LG290P::enterConfigMode(unsigned long waitForSemaphoreTimeout_millis)
         do
         { // Wait for up to waitForSemaphoreTimeout for library to stop blocking
             isBlocking = _lg290p->isBlocking();
-        } while (isBlocking && (millis() < (start + waitForSemaphoreTimeout_millis)));
+        } while (isBlocking && ((millis() - start) < waitForSemaphoreTimeout_millis));
 
         // This will fail if the library is still blocking, but it is worth a punt...
-        return (_lg290p->sendOkCommand("$PQTMCFGPROT",
-                                       ",W,1,2,00000000,00000000")); // Disable NMEA and RTCM on the LG290P UART2
+
+        if (lg290pFirmwareVersion >= 6) // See #747
+            // Disable NMEA and RTCM on the LG290P UART2, but leave the undocumented Bit 1 enabled
+            return (_lg290p->sendOkCommand("$PQTMCFGPROT", ",W,1,2,00000007,00000002"));
+
+        // Disable NMEA and RTCM on the LG290P UART2
+        return (_lg290p->sendOkCommand("$PQTMCFGPROT", ",W,1,2,00000000,00000000"));
     }
     return (false);
 }
@@ -613,8 +618,14 @@ bool GNSS_LG290P::enterConfigMode(unsigned long waitForSemaphoreTimeout_millis)
 bool GNSS_LG290P::exitConfigMode()
 {
     if (online.gnss)
-        return (_lg290p->sendOkCommand("$PQTMCFGPROT",
-                                       ",W,1,2,00000005,00000005")); // Enable NMEA and RTCM on the LG290P UART2
+    {
+        if (lg290pFirmwareVersion >= 6) // See #747
+            // Enable NMEA and RTCM on the LG290P UART2, plus the undocumented Bit 1
+            return (_lg290p->sendOkCommand("$PQTMCFGPROT", ",W,1,2,00000007,00000007"));
+
+        // Enable NMEA and RTCM on the LG290P UART2
+        return (_lg290p->sendOkCommand("$PQTMCFGPROT", ",W,1,2,00000005,00000005"));
+    }
     return (false);
 }
 
@@ -849,8 +860,10 @@ bool GNSS_LG290P::enableRTCMBase()
             systemPrintln("Enabling Base RTCM output");
 
         // PQTMCFGRTCM fails to respond with OK over UART2 of LG290P, so don't look for it
+        char cfgRtcm[40];
+        snprintf(cfgRtcm, sizeof(cfgRtcm), "PQTMCFGRTCM,W,%c,0,-90,07,06,2,1", settings.useMSM7 ? '7' : '4');
         _lg290p->sendOkCommand(
-            "PQTMCFGRTCM,W,4,0,-90,07,06,2,1"); // Enable MSM4, output regular intervals, interval (seconds)
+            cfgRtcm); // Enable MSM4/7, output regular intervals, interval (seconds)
     }
 
     return (response);
@@ -1005,12 +1018,13 @@ bool GNSS_LG290P::enableRTCMRover()
         if (settings.debugCorrections)
             systemPrintf("Enabling Rover RTCM MSM output with rate of %d\r\n", minimumRtcmRate);
 
-        // Enable MSM7 (for faster PPP CSRS results), output at a rate equal to the minimum RTCM rate (EPH Mode = 2)
+        // Enable MSM4/7 (for faster PPP CSRS results), output at a rate equal to the minimum RTCM rate (EPH Mode = 2)
         // PQTMCFGRTCM, W, <MSM_Type>, <MSM_Mode>, <MSM_ElevThd>, <Reserved>, <Reserved>, <EPH_Mode>, <EPH_Interval>
         // Set MSM_ElevThd to 15 degrees from rftop suggestion
 
         char msmCommand[40] = {0};
-        snprintf(msmCommand, sizeof(msmCommand), "PQTMCFGRTCM,W,7,0,15,07,06,2,%d", minimumRtcmRate);
+        snprintf(msmCommand, sizeof(msmCommand), "PQTMCFGRTCM,W,%c,0,15,07,06,2,%d",
+                 settings.useMSM7 ? '7' : '4', minimumRtcmRate);
 
         // PQTMCFGRTCM fails to respond with OK over UART2 of LG290P, so don't look for it
         _lg290p->sendOkCommand(msmCommand);
@@ -1904,6 +1918,10 @@ void GNSS_LG290P::menuMessages()
         systemPrintln("11) Reset to PPP Logging (NMEAx7 / RTCMx4 - 30 second decimation)");
         systemPrintln("12) Reset to High-rate PPP Logging (NMEAx7 / RTCMx4 - 1Hz)");
 
+
+        if (namedSettingAvailableOnPlatform("useMSM7")) // Redundant - but good practice for code reuse
+            systemPrintf("13) MSM Selection: MSM%c\r\n", settings.useMSM7 ? '7' : '4');
+
         systemPrintln("x) Exit");
 
         int incoming = getUserInputNumber(); // Returns EXIT, TIMEOUT, or long
@@ -1977,6 +1995,8 @@ void GNSS_LG290P::menuMessages()
                 systemPrintln("Reset to PPP Logging Defaults (NMEAx7 / RTCMx4 - 30 second decimation)");
             }
         }
+        else if ((incoming == 13) && (namedSettingAvailableOnPlatform("useMSM7"))) // Redundant - but good practice for code reuse)
+            settings.useMSM7 ^= 1;
 
         else if (incoming == INPUT_RESPONSE_GETNUMBER_EXIT)
             break;

Firmware/RTK_Everywhere/GNSS_Mosaic.ino

@@ -2121,7 +2121,7 @@ bool GNSS_MOSAIC::sendAndWaitForIdle(HardwareSerial *serialPort, const char *mes
     unsigned long startTime = millis();
     size_t replySeen = 0;
 
-    while ((millis() < (startTime + timeout)) && (replySeen < strlen(reply))) // While not timed out and reply not seen
+    while (((millis() - startTime) < timeout) && (replySeen < strlen(reply))) // While not timed out and reply not seen
     {
         if (serialPort->available()) // If a char is available
         {
@@ -2145,7 +2145,7 @@ bool GNSS_MOSAIC::sendAndWaitForIdle(HardwareSerial *serialPort, const char *mes
     if (replySeen == strlen(reply)) // If the reply was seen
     {
         startTime = millis();
-        while (millis() < (startTime + idle))
+        while ((millis() - startTime) < idle)
         {
             if (serialPort->available())
             {
@@ -2256,18 +2256,18 @@ bool GNSS_MOSAIC::sendWithResponse(HardwareSerial *serialPort, const char *messa
         }
 
         // If the reply has started to arrive at the timeout, allow extra time
-        if (millis() > (startTime + timeout)) // Have we timed out?
+        if ((millis() - startTime) > timeout) // Have we timed out?
             if (replySeen == 0)               // If replySeen is zero, don't keepGoing
                 keepGoing = false;
 
-        if (millis() > (startTime + timeout + wait)) // Have we really timed out?
+        if ((millis() - startTime) > (timeout + wait)) // Have we really timed out?
             keepGoing = false;                       // Don't keepGoing
     }
 
     if (replySeen == strlen(reply)) // If the reply was seen
     {
         startTime = millis();
-        while (millis() < (startTime + wait))
+        while ((millis() - startTime) < wait)
         {
             if (serialPort->available())
             {
@@ -2433,6 +2433,8 @@ bool GNSS_MOSAIC::setDataBaudRate(uint32_t baud)
 // Set the elevation in degrees
 // Inputs:
 //   elevationDegrees: The elevation value in degrees
+// Notes:
+//   mosaic supports negative elevations, but our firmware only support 0-90
 //----------------------------------------
 bool GNSS_MOSAIC::setElevation(uint8_t elevationDegrees)
 {
@@ -2795,7 +2797,7 @@ void GNSS_MOSAIC::update()
     const unsigned long sdCardSizeCheckInterval = 5000;   // Matches the interval in logUpdate
     static unsigned long sdCardLastFreeChange = millis(); // X5 is slow to update free. Seems to be about every ~20s?
     static uint64_t previousFreeSpace = 0;
-    if (millis() > (sdCardSizeLastCheck + sdCardSizeCheckInterval))
+    if ((millis() - sdCardSizeLastCheck) > sdCardSizeCheckInterval)
     {
         updateSD(); // Check if the card has been removed / inserted
 
@@ -2817,7 +2819,7 @@ void GNSS_MOSAIC::update()
                 // The free space has not changed
                 // X5 is slow to update free. Seems to be about every ~20s?
                 // So only set logIncreasing to false after 30s
-                if (millis() > (sdCardLastFreeChange + 30000))
+                if ((millis() - sdCardLastFreeChange) > 30000)
                     logIncreasing = false;
             }
             else // if (sdFreeSpace > previousFreeSpace)
@@ -2839,7 +2841,7 @@ void GNSS_MOSAIC::update()
 
     // Update spartnCorrectionsReceived
     // Does this need if(online.lband_gnss) ? Not sure... TODO
-    if (millis() > (lastSpartnReception + (settings.correctionsSourcesLifetime_s * 1000))) // Timeout
+    if ((millis() - lastSpartnReception) > (settings.correctionsSourcesLifetime_s * 1000)) // Timeout
     {
         if (spartnCorrectionsReceived) // If corrections were being received
         {
@@ -2920,7 +2922,7 @@ void GNSS_MOSAIC::waitSBFReceiverSetup(HardwareSerial *serialPort, unsigned long
         reportFatalError("Failed to initialize the SBF parser");
 
     unsigned long startTime = millis();
-    while ((millis() < (startTime + timeout)) && (_receiverSetupSeen == false))
+    while (((millis() - startTime) < timeout) && (_receiverSetupSeen == false))
     {
         if (serialPort->available())
         {
@@ -3223,7 +3225,7 @@ void mosaicX5flushRX(unsigned long timeout)
     if (timeout > 0)
     {
         unsigned long startTime = millis();
-        while (millis() < (startTime + timeout))
+        while ((millis() - startTime) < timeout)
         {
             if (serial2GNSS->available())
             {
@@ -3247,7 +3249,7 @@ void mosaicX5flushRX(unsigned long timeout)
 bool mosaicX5waitCR(unsigned long timeout)
 {
     unsigned long startTime = millis();
-    while (millis() < (startTime + timeout))
+    while ((millis() - startTime) < timeout)
     {
         if (serial2GNSS->available())
         {

Firmware/RTK_Everywhere/GNSS_ZED.ino

@@ -406,7 +406,9 @@ bool GNSS_ZED::configureBase()
                                            settings.ubxMessageRatesBase[x]); // UBLOX_CFG UART1 + 2 = USB
         }
 
-        response &= _zed->addCfgValset(UBLOX_CFG_NAVSPG_INFIL_MINELEV, settings.minElev); // Set minimum elevation
+        // Set minimum elevation
+        // Note: ZED supports negative elevations, but our firmware only allows 0-90
+        response &= _zed->addCfgValset(UBLOX_CFG_NAVSPG_INFIL_MINELEV, settings.minElev);
 
         response &= _zed->sendCfgValset(); // Closing value
 
@@ -1375,7 +1377,7 @@ float GNSS_ZED::getSurveyInMeanAccuracy()
 
     // Use a local static so we don't have to request these values multiple times (ZED takes many ms to respond
     // to this command)
-    if (millis() - lastCheck > 1000)
+    if ((millis() - lastCheck) > 1000)
     {
         lastCheck = millis();
         svinMeanAccuracy = _zed->getSurveyInMeanAccuracy(50);
@@ -1396,7 +1398,7 @@ int GNSS_ZED::getSurveyInObservationTime()
 
     // Use a local static so we don't have to request these values multiple times (ZED takes many ms to respond
     // to this command)
-    if (millis() - lastCheck > 1000)
+    if ((millis() - lastCheck) > 1000)
     {
         lastCheck = millis();
         svinObservationTime = _zed->getSurveyInObservationTime(50);
@@ -2668,7 +2670,7 @@ bool GNSS_ZED::surveyInReset()
     while (_zed->getSurveyInActive(100) || _zed->getSurveyInValid(100))
     {
         delay(100);
-        if (millis() - startTime > maxTime)
+        if ((millis() - startTime) > maxTime)
             return (false); // Reset of survey failed
     }
 
@@ -2732,7 +2734,7 @@ bool GNSS_ZED::surveyInStart()
     while (_zed->getSurveyInActive(100) == false)
     {
         delay(100);
-        if (millis() - startTime > maxTime)
+        if ((millis() - startTime) > maxTime)
             return (false); // Reset of survey failed
     }