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Merge pull request #218 from sparkfun/release_candidate
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Merge v0.9 changes to main
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@nseidle
nseidle authored Apr 4, 2024
2 parents 1373a79 + 15af4f1 commit 8586edc
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Showing 6 changed files with 175 additions and 102 deletions.
5 changes: 4 additions & 1 deletion Firmware/RTK_Everywhere/RTK_Everywhere.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -737,7 +737,10 @@ unsigned long um980BaseStartTimer; // Tracks how long the base averaging mode ha

RtkMode_t rtkMode; // Mode of operation

unsigned long beepStopMs; // Time at which to turn off beeper
unsigned long beepLengthMs; // Number of ms to make noise
unsigned long beepQuietLengthMs; // Number of ms to make reset between multiple beeps
unsigned long beepNextEventMs; // Time at which to move the beeper to the next state
unsigned long beepCount; // Number of beeps to do

//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-

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11 changes: 9 additions & 2 deletions Firmware/RTK_Everywhere/System.ino
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Expand Up @@ -39,8 +39,15 @@ void finishDisplay()
// Start the beeper and limit its beep length using the tickerBeepUpdate task
void beepDurationMs(uint16_t lengthMs)
{
beepStopMs = millis() + lengthMs;
beepOn();
beepMultiple(1, lengthMs, 0); // Number of beeps, length of beep, length of quiet
}

// Number of beeps, length of beep ms, length of quiet ms
void beepMultiple(int numberOfBeeps, int lengthOfBeepMs, int lengthOfQuietMs)
{
beepCount = numberOfBeeps;
beepLengthMs = lengthOfBeepMs;
beepQuietLengthMs = lengthOfQuietMs;
}

void beepOn()
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89 changes: 75 additions & 14 deletions Firmware/RTK_Everywhere/Tasks.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -1042,7 +1042,7 @@ void handleGnssDataTask(void *e)
slowConsumer = "SD card";
}
} // bytesToSend
} // End connected
} // End connected

//----------------------------------------------------------------------
// Update the available space in the ring buffer
Expand Down Expand Up @@ -1230,18 +1230,74 @@ void tickerBatteryLedUpdate()
}
}

enum BeepState
{
BEEP_OFF = 0,
BEEP_ON,
BEEP_QUIET,
};
BeepState beepState = BEEP_OFF;

// Control the length of time the beeper makes noise
// We move through a simple state machine in order to handle multiple types of beeps (see beepMultiple())
void tickerBeepUpdate()
{
if (present.beeper == true)
{
if (beepStopMs > 0)
switch (beepState)
{
if (millis() >= beepStopMs)
default:
if (beepState != BEEP_OFF)
beepState = BEEP_OFF;
break;

case BEEP_OFF:
if (beepLengthMs > 0)
{
beepNextEventMs = millis() + beepLengthMs;
beepOn();
beepState = BEEP_ON;
}
break;

case BEEP_ON:
if (millis() >= beepNextEventMs)
{
if (beepCount == 1)
{
beepLengthMs = 0; // Stop state machine
beepState = BEEP_OFF;
beepOff();
}
else
{
beepNextEventMs = millis() + beepQuietLengthMs;
beepState = BEEP_QUIET;
beepOff();
}
}
break;

case BEEP_QUIET:
if (millis() >= beepNextEventMs)
{
beepStopMs = 0; // Signal the beeper is off
beepOff();
beepCount--;

if (beepCount == 0)
{
// We should not be here, but just in case
beepLengthMs = 0; // Stop state machine
beepState = BEEP_OFF;
beepOff();
}
else
{
beepNextEventMs = millis() + beepLengthMs;
beepState = BEEP_ON;
beepOn();
}
}
break;
}
}
}
Expand Down Expand Up @@ -1359,18 +1415,23 @@ void buttonCheckTask(void *e)

// The RTK Torch uses a shutdown IC configured to turn off ~3s
// Beep shortly before the shutdown IC takes over
else if (userBtn->pressedFor(2500))
else if (userBtn->pressedFor(2100))
{
// Beep if we are not locally compiled or a release candidate
if (ENABLE_DEVELOPER == false)
beepDurationMs(500); // Announce powering down

tickerStop(); // Stop controlling LEDs via ticker task

gnssStatusLedOn();
bluetoothLedOn();

// Beep if we are not locally compiled or a release candidate
if (ENABLE_DEVELOPER == false)
{
// Announce powering down
beepMultiple(3, 100, 50); // Number of beeps, length of beep ms, length of quiet ms

delay(500); //We will be shutting off during this delay but this prevents another beepMultiple() from firing
}
}
} // End productVariant == Torch
} // End productVariant == Torch
else // RTK EVK, RTK Facet v2, RTK Facet mosaic
{
if (systemState == STATE_SHUTDOWN)
Expand Down Expand Up @@ -1477,7 +1538,7 @@ void buttonCheckTask(void *e)
// requestChangeState(STATE_BASE_NOT_STARTED);
break;
} // End singleTap switch (systemState)
} // End singleTap
} // End singleTap
else if (doubleTap && (firstRoverStart == false) && (settings.disableSetupButton == false))
{
switch (systemState)
Expand Down Expand Up @@ -1516,8 +1577,8 @@ void buttonCheckTask(void *e)
// requestChangeState(STATE_BASE_NOT_STARTED);
break;
} // End doubleTap switch (systemState)
} // End doubleTap
} // End productVariant != Torch
} // End doubleTap
} // End productVariant != Torch

feedWdt();
taskYIELD();
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2 changes: 1 addition & 1 deletion Firmware/RTK_Everywhere/Tilt.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -141,7 +141,7 @@ void tiltUpdate()
// Check to see if tilt compensation is active
if (tiltSensor->isCorrecting())
{
beepDurationMs(2000); // Audibly indicate the start of tilt
beepMultiple(2, 500, 500); //Number of beeps, length of beep ms, length of quiet ms

lastTiltBeepMs = millis();

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88 changes: 40 additions & 48 deletions Firmware/RTK_Everywhere/menuGNSS.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -85,49 +85,41 @@ void menuGNSS()

systemPrintln("4) Set Constellations");

systemPrint("5) Toggle NTRIP Client: ");
systemPrintf("5) Minimum elevation for a GNSS satellite to be used in fix (degrees): %d\r\n", settings.minElev);

systemPrintf("6) Minimum satellite signal level for navigation (dBHz): %d\r\n", gnssGetMinCno());

systemPrint("7) Toggle NTRIP Client: ");
if (settings.enableNtripClient == true)
systemPrintln("Enabled");
else
systemPrintln("Disabled");

if (settings.enableNtripClient == true)
{
systemPrint("6) Set Caster Address: ");
systemPrint("8) Set Caster Address: ");
systemPrintln(settings.ntripClient_CasterHost);

systemPrint("7) Set Caster Port: ");
systemPrint("9) Set Caster Port: ");
systemPrintln(settings.ntripClient_CasterPort);

systemPrint("8) Set Caster User Name: ");
systemPrint("10) Set Caster User Name: ");
systemPrintln(settings.ntripClient_CasterUser);

systemPrint("9) Set Caster User Password: ");
systemPrint("11) Set Caster User Password: ");
systemPrintln(settings.ntripClient_CasterUserPW);

systemPrint("10) Set Mountpoint: ");
systemPrint("12) Set Mountpoint: ");
systemPrintln(settings.ntripClient_MountPoint);

systemPrint("11) Set Mountpoint PW: ");
systemPrint("13) Set Mountpoint PW: ");
systemPrintln(settings.ntripClient_MountPointPW);

systemPrint("12) Toggle sending GGA Location to Caster: ");
systemPrint("14) Toggle sending GGA Location to Caster: ");
if (settings.ntripClient_TransmitGGA == true)
systemPrintln("Enabled");
else
systemPrintln("Disabled");

systemPrintf("13) Minimum elevation for a GNSS satellite to be used in fix (degrees): %d\r\n",
settings.minElev);

systemPrintf("14) Minimum satellite signal level for navigation (dBHz): %d\r\n", gnssGetMinCno());
}
else
{
systemPrintf("6) Minimum elevation for a GNSS satellite to be used in fix (degrees): %d\r\n",
settings.minElev);

systemPrintf("7) Minimum satellite signal level for navigation (dBHz): %d\r\n", gnssGetMinCno());
}

systemPrintln("x) Exit");
Expand Down Expand Up @@ -227,18 +219,39 @@ void menuGNSS()
{
gnssMenuConstellations();
}

else if (incoming == 5)
{
// Arbitrary 90 degree max
if (getNewSetting("Enter minimum elevation in degrees", 0, 90, &settings.minElev) == INPUT_RESPONSE_VALID)
{
gnssSetElevation(settings.minElev);
}
}
else if (incoming == 6)
{
int minCNO = 0;
// Arbitrary 90 dBHz max
if (getNewSetting("Enter minimum satellite signal level for navigation in dBHz", 0, 90, &minCNO) ==
INPUT_RESPONSE_VALID)
{
// We don't know which platform we are using so we cannot explicitly use the settings.minCNO_F9P, eg
gnssSetMinCno(minCNO);
}
}

else if (incoming == 7)
{
settings.enableNtripClient ^= 1;
restartRover = true;
}
else if ((incoming == 6) && settings.enableNtripClient == true)
else if ((incoming == 8) && settings.enableNtripClient == true)
{
systemPrint("Enter new Caster Address: ");
getUserInputString(settings.ntripClient_CasterHost, sizeof(settings.ntripClient_CasterHost));
restartRover = true;
}
else if ((incoming == 7) && settings.enableNtripClient == true)
else if ((incoming == 9) && settings.enableNtripClient == true)
{
// Arbitrary 99k max port #
if (getNewSetting("Enter new Caster Port", 1, 99999, &settings.ntripClient_CasterPort) ==
Expand All @@ -247,56 +260,35 @@ void menuGNSS()
restartRover = true;
}
}
else if ((incoming == 8) && settings.enableNtripClient == true)
else if ((incoming == 10) && settings.enableNtripClient == true)
{
systemPrintf("Enter user name for %s: ", settings.ntripClient_CasterHost);
getUserInputString(settings.ntripClient_CasterUser, sizeof(settings.ntripClient_CasterUser));
restartRover = true;
}
else if ((incoming == 9) && settings.enableNtripClient == true)
else if ((incoming == 11) && settings.enableNtripClient == true)
{
systemPrintf("Enter user password for %s: ", settings.ntripClient_CasterHost);
getUserInputString(settings.ntripClient_CasterUserPW, sizeof(settings.ntripClient_CasterUserPW));
restartRover = true;
}
else if ((incoming == 10) && settings.enableNtripClient == true)
else if ((incoming == 12) && settings.enableNtripClient == true)
{
systemPrint("Enter new Mount Point: ");
getUserInputString(settings.ntripClient_MountPoint, sizeof(settings.ntripClient_MountPoint));
restartRover = true;
}
else if ((incoming == 11) && settings.enableNtripClient == true)
else if ((incoming == 13) && settings.enableNtripClient == true)
{
systemPrintf("Enter password for Mount Point %s: ", settings.ntripClient_MountPoint);
getUserInputString(settings.ntripClient_MountPointPW, sizeof(settings.ntripClient_MountPointPW));
restartRover = true;
}
else if ((incoming == 12) && settings.enableNtripClient == true)
else if ((incoming == 14) && settings.enableNtripClient == true)
{
settings.ntripClient_TransmitGGA ^= 1;
restartRover = true;
}
else if (((incoming == 13) && settings.enableNtripClient == true) ||
(incoming == 6 && settings.enableNtripClient == false))
{
// Arbitrary 90 degree max
if (getNewSetting("Enter minimum elevation in degrees", 0, 90, &settings.minElev) == INPUT_RESPONSE_VALID)
{
gnssSetElevation(settings.minElev);
}
}
else if (((incoming == 14) && settings.enableNtripClient == true) ||
(incoming == 7 && settings.enableNtripClient == false))
{
int minCNO = 0;
// Arbitrary 90 dBHz max
if (getNewSetting("Enter minimum satellite signal level for navigation in dBHz", 0, 90, &minCNO) ==
INPUT_RESPONSE_VALID)
{
// We don't know which platform we are using so we cannot explicitly use the settings.minCNO_F9P, eg
gnssSetMinCno(minCNO);
}
}

else if (incoming == INPUT_RESPONSE_GETNUMBER_EXIT)
break;
Expand Down
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