GNSS/Vibrator
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 1 Wiki Activity
2f43b3e089
Vibrator/src/settings.h

429 lines
21 KiB
C
Raw Blame History

#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
//System can enter a variety of states
//See statemachine diagram at: https://lucid.app/lucidchart/53519501-9fa5-4352-aa40-673f88ca0c9b/edit?invitationId=inv_ebd4b988-513d-4169-93fd-c291851108f8
typedef enum
{
STATE_ROVER_NOT_STARTED = 0,
STATE_ROVER_NO_FIX,
STATE_ROVER_FIX,
STATE_ROVER_RTK_FLOAT,
STATE_ROVER_RTK_FIX,
STATE_BASE_NOT_STARTED,
STATE_BASE_TEMP_SETTLE, //User has indicated base, but current pos accuracy is too low
STATE_BASE_TEMP_SURVEY_STARTED,
STATE_BASE_TEMP_TRANSMITTING,
STATE_BASE_FIXED_NOT_STARTED,
STATE_BASE_FIXED_TRANSMITTING,
STATE_BUBBLE_LEVEL,
STATE_MARK_EVENT,
STATE_DISPLAY_SETUP,
STATE_WIFI_CONFIG_NOT_STARTED,
STATE_WIFI_CONFIG,
STATE_TEST,
STATE_TESTING,
STATE_PROFILE,
STATE_KEYS_STARTED,
STATE_KEYS_NEEDED,
STATE_KEYS_WIFI_STARTED,
STATE_KEYS_WIFI_CONNECTED,
STATE_KEYS_WIFI_TIMEOUT,
STATE_KEYS_EXPIRED,
STATE_KEYS_DAYS_REMAINING,
STATE_KEYS_LBAND_CONFIGURE,
STATE_KEYS_LBAND_ENCRYPTED,
STATE_KEYS_PROVISION_WIFI_STARTED,
STATE_KEYS_PROVISION_WIFI_CONNECTED,
STATE_KEYS_PROVISION_WIFI_TIMEOUT,
STATE_ESPNOW_PAIRING_NOT_STARTED,
STATE_ESPNOW_PAIRING,
STATE_SHUTDOWN,
} SystemState;
volatile SystemState systemState = STATE_ROVER_NOT_STARTED;
SystemState lastSystemState = STATE_ROVER_NOT_STARTED;
SystemState requestedSystemState = STATE_ROVER_NOT_STARTED;
bool newSystemStateRequested = false;
//The setup display can show a limited set of states
//When user pauses for X amount of time, system will enter that state
SystemState setupState = STATE_MARK_EVENT;
typedef enum
{
RTK_SURVEYOR = 0,
RTK_EXPRESS,
RTK_FACET,
RTK_EXPRESS_PLUS,
RTK_FACET_LBAND,
} ProductVariant;
ProductVariant productVariant = RTK_SURVEYOR;
//Each constellation will have its config key, enable, and a visible name
typedef struct ubxConstellation
{
uint32_t configKey;
uint8_t gnssID;
bool enabled;
char textName[30];
} ubxConstellation;
//Different ZED modules support different messages (F9P vs F9R vs F9T)
//Create binary packed struct for different platforms
typedef enum ubxPlatform
{
PLATFORM_F9P = 0b0001,
PLATFORM_F9R = 0b0010,
PLATFORM_F9T = 0b0100,
} ubxPlatform;
//Data port mux (RTK Express) can enter one of four different connections
typedef enum muxConnectionType_e
{
MUX_UBLOX_NMEA = 0,
MUX_PPS_EVENTTRIGGER,
MUX_I2C_WT,
MUX_ADC_DAC,
} muxConnectionType_e;
//User can enter fixed base coordinates in ECEF or degrees
typedef enum
{
COORD_TYPE_ECEF = 0,
COORD_TYPE_GEODETIC,
} coordinateType_e;
//User can select output pulse as either falling or rising edge
typedef enum
{
PULSE_FALLING_EDGE = 0,
PULSE_RISING_EDGE,
} pulseEdgeType_e;
typedef enum RadioType_e
{
RADIO_EXTERNAL = 0,
RADIO_ESPNOW,
} RadioType_e;
typedef enum BluetoothRadioType_e
{
BLUETOOTH_RADIO_SPP = 0,
BLUETOOTH_RADIO_BLE,
BLUETOOTH_RADIO_OFF,
} BluetoothRadioType_e;
enum LogTestState
{
LOGTEST_START = 0,
LOGTEST_4HZ_5MSG_10MS,
LOGTEST_4HZ_7MSG_10MS,
LOGTEST_10HZ_5MSG_10MS,
LOGTEST_10HZ_7MSG_10MS,
LOGTEST_4HZ_5MSG_0MS,
LOGTEST_4HZ_7MSG_0MS,
LOGTEST_10HZ_5MSG_0MS,
LOGTEST_10HZ_7MSG_0MS,
LOGTEST_4HZ_5MSG_50MS,
LOGTEST_4HZ_7MSG_50MS,
LOGTEST_10HZ_5MSG_50MS,
LOGTEST_10HZ_7MSG_50MS,
LOGTEST_END,
} ;
uint8_t logTestState = LOGTEST_END;
//Custom NMEA sentence types output to the log file
typedef enum
{
CUSTOM_NMEA_TYPE_RESET_REASON = 0,
CUSTOM_NMEA_TYPE_WAYPOINT,
CUSTOM_NMEA_TYPE_EVENT,
CUSTOM_NMEA_TYPE_SYSTEM_VERSION,
CUSTOM_NMEA_TYPE_ZED_VERSION,
CUSTOM_NMEA_TYPE_STATUS,
CUSTOM_NMEA_TYPE_LOGTEST_STATUS,
} customNmeaType_e;
//These are the allowable constellations to receive from and log (if enabled)
//Tested with u-center v21.02
#define MAX_CONSTELLATIONS 6 //(sizeof(ubxConstellations)/sizeof(ubxConstellation))
//Each message will have a rate, a visible name, and a class
typedef struct ubxMsg
{
uint32_t msgConfigKey;
uint8_t msgID;
uint8_t msgClass;
uint8_t msgRate;
char msgTextName[30];
uint8_t supported;
} ubxMsg;
//These are the allowable messages to broadcast and log (if enabled)
//Tested with u-center v21.02
#define MAX_UBX_MSG (13 + 25 + 5 + 10 + 3 + 12 + 5) //(sizeof(ubxMessages)/sizeof(ubxMsg))
//This is all the settings that can be set on RTK Surveyor. It's recorded to NVM and the config file.
typedef struct {
int sizeOfSettings = 0; //sizeOfSettings **must** be the first entry and must be int
int rtkIdentifier = RTK_IDENTIFIER; // rtkIdentifier **must** be the second entry
bool printDebugMessages = false;
bool enableSD = true;
bool enableDisplay = true;
int maxLogTime_minutes = 60 * 24; //Default to 24 hours
int observationSeconds = 60; //Default survey in time of 60 seconds
float observationPositionAccuracy = 5.0; //Default survey in pos accy of 5m
bool fixedBase = false; //Use survey-in by default
bool fixedBaseCoordinateType = COORD_TYPE_ECEF;
double fixedEcefX = -1280206.568;
double fixedEcefY = -4716804.403;
double fixedEcefZ = 4086665.484;
double fixedLat = 40.09029479;
double fixedLong = -105.18505761;
double fixedAltitude = 1560.089;
uint32_t dataPortBaud = 460800; //Default to 460800bps to support >10Hz update rates
uint32_t radioPortBaud = 57600; //Default to 57600bps to support connection to SiK1000 radios
float surveyInStartingAccuracy = 1.0; //Wait for 1m horizontal positional accuracy before starting survey in
uint16_t measurementRate = 250; //Elapsed ms between GNSS measurements. 25ms to 65535ms. Default 4Hz.
uint16_t navigationRate = 1; //Ratio between number of measurements and navigation solutions. Default 1 for 4Hz (with measurementRate).
bool enableI2Cdebug = false; //Turn on to display GNSS library debug messages
bool enableHeapReport = true; //Turn on to display free heap
bool enableTaskReports = false; //Turn on to display task high water marks
muxConnectionType_e dataPortChannel = MUX_UBLOX_NMEA; //Mux default to ublox UART1
uint16_t spiFrequency = 16; //By default, use 16MHz SPI
bool enableLogging = true; //If an SD card is present, log default sentences
uint16_t sppRxQueueSize = 2048;
uint16_t sppTxQueueSize = 512;
uint8_t dynamicModel = DYN_MODEL_PORTABLE;
SystemState lastState = STATE_ROVER_NOT_STARTED; //For Express, start unit in last known state
bool enableSensorFusion = false; //If IMU is available, avoid using it unless user specifically selects automotive
bool autoIMUmountAlignment = true; //Allows unit to automatically establish device orientation in vehicle
bool enableResetDisplay = false;
uint8_t resetCount = 0;
bool enableExternalPulse = true; //Send pulse once lock is achieved
uint32_t externalPulseTimeBetweenPulse_us = 900000; //us between pulses, max of 65s
uint32_t externalPulseLength_us = 100000; //us length of pulse
pulseEdgeType_e externalPulsePolarity = PULSE_RISING_EDGE; //Pulse rises for pulse length, then falls
bool enableExternalHardwareEventLogging = false; //Log when INT/TM2 pin goes low
bool enableMarksFile = false; //Log marks to the marks file
ubxMsg ubxMessages[MAX_UBX_MSG] = //Report rates for all known messages
{
//NMEA
{UBLOX_CFG_MSGOUT_NMEA_ID_DTM_UART1, UBX_NMEA_DTM, UBX_CLASS_NMEA, 0, "UBX_NMEA_DTM", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_NMEA_ID_GBS_UART1, UBX_NMEA_GBS, UBX_CLASS_NMEA, 0, "UBX_NMEA_GBS", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_NMEA_ID_GGA_UART1, UBX_NMEA_GGA, UBX_CLASS_NMEA, 1, "UBX_NMEA_GGA", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_NMEA_ID_GLL_UART1, UBX_NMEA_GLL, UBX_CLASS_NMEA, 0, "UBX_NMEA_GLL", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_NMEA_ID_GNS_UART1, UBX_NMEA_GNS, UBX_CLASS_NMEA, 0, "UBX_NMEA_GNS", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_NMEA_ID_GRS_UART1, UBX_NMEA_GRS, UBX_CLASS_NMEA, 0, "UBX_NMEA_GRS", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_NMEA_ID_GSA_UART1, UBX_NMEA_GSA, UBX_CLASS_NMEA, 1, "UBX_NMEA_GSA", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_NMEA_ID_GST_UART1, UBX_NMEA_GST, UBX_CLASS_NMEA, 1, "UBX_NMEA_GST", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_NMEA_ID_GSV_UART1, UBX_NMEA_GSV, UBX_CLASS_NMEA, 4, "UBX_NMEA_GSV", (PLATFORM_F9P | PLATFORM_F9R)}, //Default to 1 update every 4 fixes
{UBLOX_CFG_MSGOUT_NMEA_ID_RMC_UART1, UBX_NMEA_RMC, UBX_CLASS_NMEA, 1, "UBX_NMEA_RMC", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_NMEA_ID_VLW_UART1, UBX_NMEA_VLW, UBX_CLASS_NMEA, 0, "UBX_NMEA_VLW", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_NMEA_ID_VTG_UART1, UBX_NMEA_VTG, UBX_CLASS_NMEA, 0, "UBX_NMEA_VTG", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_NMEA_ID_ZDA_UART1, UBX_NMEA_ZDA, UBX_CLASS_NMEA, 0, "UBX_NMEA_ZDA", (PLATFORM_F9P | PLATFORM_F9R)},
//NAV
{UBLOX_CFG_MSGOUT_UBX_NAV_ATT_UART1, UBX_NAV_ATT, UBX_CLASS_NAV, 0, "UBX_NAV_ATT", (PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_CLOCK_UART1, UBX_NAV_CLOCK, UBX_CLASS_NAV, 0, "UBX_NAV_CLOCK", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_DOP_UART1, UBX_NAV_DOP, UBX_CLASS_NAV, 0, "UBX_NAV_DOP", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_EOE_UART1, UBX_NAV_EOE, UBX_CLASS_NAV, 0, "UBX_NAV_EOE", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_GEOFENCE_UART1, UBX_NAV_GEOFENCE, UBX_CLASS_NAV, 0, "UBX_NAV_GEOFENCE", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSECEF_UART1, UBX_NAV_HPPOSECEF, UBX_CLASS_NAV, 0, "UBX_NAV_HPPOSECEF", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSLLH_UART1, UBX_NAV_HPPOSLLH, UBX_CLASS_NAV, 0, "UBX_NAV_HPPOSLLH", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_ODO_UART1, UBX_NAV_ODO, UBX_CLASS_NAV, 0, "UBX_NAV_ODO", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_ORB_UART1, UBX_NAV_ORB, UBX_CLASS_NAV, 0, "UBX_NAV_ORB", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_POSECEF_UART1, UBX_NAV_POSECEF, UBX_CLASS_NAV, 0, "UBX_NAV_POSECEF", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_POSLLH_UART1, UBX_NAV_POSLLH, UBX_CLASS_NAV, 0, "UBX_NAV_POSLLH", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_PVT_UART1, UBX_NAV_PVT, UBX_CLASS_NAV, 0, "UBX_NAV_PVT", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_RELPOSNED_UART1, UBX_NAV_RELPOSNED, UBX_CLASS_NAV, 0, "UBX_NAV_RELPOSNED", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_SAT_UART1, UBX_NAV_SAT, UBX_CLASS_NAV, 0, "UBX_NAV_SAT", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_SIG_UART1, UBX_NAV_SIG, UBX_CLASS_NAV, 0, "UBX_NAV_SIG", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_STATUS_UART1, UBX_NAV_STATUS, UBX_CLASS_NAV, 0, "UBX_NAV_STATUS", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_SVIN_UART1, UBX_NAV_SVIN, UBX_CLASS_NAV, 0, "UBX_NAV_SVIN", (PLATFORM_F9P)},
{UBLOX_CFG_MSGOUT_UBX_NAV_TIMEBDS_UART1, UBX_NAV_TIMEBDS, UBX_CLASS_NAV, 0, "UBX_NAV_TIMEBDS", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGAL_UART1, UBX_NAV_TIMEGAL, UBX_CLASS_NAV, 0, "UBX_NAV_TIMEGAL", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGLO_UART1, UBX_NAV_TIMEGLO, UBX_CLASS_NAV, 0, "UBX_NAV_TIMEGLO", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGPS_UART1, UBX_NAV_TIMEGPS, UBX_CLASS_NAV, 0, "UBX_NAV_TIMEGPS", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_TIMELS_UART1, UBX_NAV_TIMELS, UBX_CLASS_NAV, 0, "UBX_NAV_TIMELS", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_TIMEUTC_UART1, UBX_NAV_TIMEUTC, UBX_CLASS_NAV, 0, "UBX_NAV_TIMEUTC", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_VELECEF_UART1, UBX_NAV_VELECEF, UBX_CLASS_NAV, 0, "UBX_NAV_VELECEF", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_NAV_VELNED_UART1, UBX_NAV_VELNED, UBX_CLASS_NAV, 0, "UBX_NAV_VELNED", (PLATFORM_F9P | PLATFORM_F9R)},
//RXM
{UBLOX_CFG_MSGOUT_UBX_RXM_MEASX_UART1, UBX_RXM_MEASX, UBX_CLASS_RXM, 0, "UBX_RXM_MEASX", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_RXM_RAWX_UART1, UBX_RXM_RAWX, UBX_CLASS_RXM, 0, "UBX_RXM_RAWX", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_RXM_RLM_UART1, UBX_RXM_RLM, UBX_CLASS_RXM, 0, "UBX_RXM_RLM", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_RXM_RTCM_UART1, UBX_RXM_RTCM, UBX_CLASS_RXM, 0, "UBX_RXM_RTCM", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_RXM_SFRBX_UART1, UBX_RXM_SFRBX, UBX_CLASS_RXM, 0, "UBX_RXM_SFRBX", (PLATFORM_F9P | PLATFORM_F9R)},
//MON
{UBLOX_CFG_MSGOUT_UBX_MON_COMMS_UART1, UBX_MON_COMMS, UBX_CLASS_MON, 0, "UBX_MON_COMMS", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_MON_HW2_UART1, UBX_MON_HW2, UBX_CLASS_MON, 0, "UBX_MON_HW2", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_MON_HW3_UART1, UBX_MON_HW3, UBX_CLASS_MON, 0, "UBX_MON_HW3", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_MON_HW_UART1, UBX_MON_HW, UBX_CLASS_MON, 0, "UBX_MON_HW", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_MON_IO_UART1, UBX_MON_IO, UBX_CLASS_MON, 0, "UBX_MON_IO", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_MON_MSGPP_UART1, UBX_MON_MSGPP, UBX_CLASS_MON, 0, "UBX_MON_MSGPP", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_MON_RF_UART1, UBX_MON_RF, UBX_CLASS_MON, 0, "UBX_MON_RF", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_MON_RXBUF_UART1, UBX_MON_RXBUF, UBX_CLASS_MON, 0, "UBX_MON_RXBUF", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_MON_RXR_UART1, UBX_MON_RXR, UBX_CLASS_MON, 0, "UBX_MON_RXR", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_MON_TXBUF_UART1, UBX_MON_TXBUF, UBX_CLASS_MON, 0, "UBX_MON_TXBUF", (PLATFORM_F9P | PLATFORM_F9R)},
//TIM
{UBLOX_CFG_MSGOUT_UBX_TIM_TM2_UART1, UBX_TIM_TM2, UBX_CLASS_TIM, 0, "UBX_TIM_TM2", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_TIM_TP_UART1, UBX_TIM_TP, UBX_CLASS_TIM, 0, "UBX_TIM_TP", (PLATFORM_F9P | PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_UART1, UBX_TIM_VRFY, UBX_CLASS_TIM, 0, "UBX_TIM_VRFY", (PLATFORM_F9P | PLATFORM_F9R)},
//RTCM
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_UART1, UBX_RTCM_1005, UBX_RTCM_MSB, 0, "UBX_RTCM_1005", (PLATFORM_F9P)},
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_UART1, UBX_RTCM_1074, UBX_RTCM_MSB, 0, "UBX_RTCM_1074", (PLATFORM_F9P)},
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1077_UART1, UBX_RTCM_1077, UBX_RTCM_MSB, 0, "UBX_RTCM_1077", (PLATFORM_F9P)},
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_UART1, UBX_RTCM_1084, UBX_RTCM_MSB, 0, "UBX_RTCM_1084", (PLATFORM_F9P)},
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1087_UART1, UBX_RTCM_1087, UBX_RTCM_MSB, 0, "UBX_RTCM_1087", (PLATFORM_F9P)},
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_UART1, UBX_RTCM_1094, UBX_RTCM_MSB, 0, "UBX_RTCM_1094", (PLATFORM_F9P)},
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1097_UART1, UBX_RTCM_1097, UBX_RTCM_MSB, 0, "UBX_RTCM_1097", (PLATFORM_F9P)},
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_UART1, UBX_RTCM_1124, UBX_RTCM_MSB, 0, "UBX_RTCM_1124", (PLATFORM_F9P)},
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1127_UART1, UBX_RTCM_1127, UBX_RTCM_MSB, 0, "UBX_RTCM_1127", (PLATFORM_F9P)},
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_UART1, UBX_RTCM_1230, UBX_RTCM_MSB, 0, "UBX_RTCM_1230", (PLATFORM_F9P)},
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_0_UART1, UBX_RTCM_4072_0, UBX_RTCM_MSB, 0, "UBX_RTCM_4072_0", (PLATFORM_F9P)},
{UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_1_UART1, UBX_RTCM_4072_1, UBX_RTCM_MSB, 0, "UBX_RTCM_4072_1", (PLATFORM_F9P)},
//ESF
{UBLOX_CFG_MSGOUT_UBX_ESF_MEAS_UART1, UBX_ESF_MEAS, UBX_CLASS_ESF, 0, "UBX_ESF_MEAS", (PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_ESF_RAW_UART1, UBX_ESF_RAW, UBX_CLASS_ESF, 0, "UBX_ESF_RAW", (PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_ESF_STATUS_UART1, UBX_ESF_STATUS, UBX_CLASS_ESF, 0, "UBX_ESF_STATUS", (PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_ESF_ALG_UART1, UBX_ESF_ALG, UBX_CLASS_ESF, 0, "UBX_ESF_ALG", (PLATFORM_F9R)},
{UBLOX_CFG_MSGOUT_UBX_ESF_INS_UART1, UBX_ESF_INS, UBX_CLASS_ESF, 0, "UBX_ESF_INS", (PLATFORM_F9R)},
};
//Constellations monitored/used for fix
ubxConstellation ubxConstellations[MAX_CONSTELLATIONS] =
{
{UBLOX_CFG_SIGNAL_GPS_ENA, SFE_UBLOX_GNSS_ID_GPS, true, "GPS"},
{UBLOX_CFG_SIGNAL_SBAS_ENA, SFE_UBLOX_GNSS_ID_SBAS, true, "SBAS"},
{UBLOX_CFG_SIGNAL_GAL_ENA, SFE_UBLOX_GNSS_ID_GALILEO, true, "Galileo"},
{UBLOX_CFG_SIGNAL_BDS_ENA, SFE_UBLOX_GNSS_ID_BEIDOU, true, "BeiDou"},
//{UBLOX_CFG_SIGNAL_QZSS_ENA, SFE_UBLOX_GNSS_ID_IMES, false, "IMES"}, //Not yet supported? Config key does not exist?
{UBLOX_CFG_SIGNAL_QZSS_ENA, SFE_UBLOX_GNSS_ID_QZSS, true, "QZSS"},
{UBLOX_CFG_SIGNAL_GLO_ENA, SFE_UBLOX_GNSS_ID_GLONASS, true, "GLONASS"},
};
int maxLogLength_minutes = 60 * 24; //Default to 24 hours
char profileName[50] = "";
//NTRIP Server
bool enableNtripServer = false;
bool ntripServer_StartAtSurveyIn = false; //true = Start WiFi instead of Bluetooth at Survey-In
char ntripServer_CasterHost[50] = "rtk2go.com"; //It's free...
uint16_t ntripServer_CasterPort = 2101;
char ntripServer_CasterUser[50] = "test@test.com"; //Some free casters require auth. User must provide their own email address to use RTK2Go
char ntripServer_CasterUserPW[50] = "";
char ntripServer_MountPoint[50] = "bldr_dwntwn2"; //NTRIP Server
char ntripServer_MountPointPW[50] = "WR5wRo4H";
char ntripServer_wifiSSID[50] = "TRex"; //NTRIP Server WiFi
char ntripServer_wifiPW[50] = "parachutes";
//NTRIP Client
bool enableNtripClient = false;
char ntripClient_CasterHost[50] = "rtk2go.com"; //It's free...
uint16_t ntripClient_CasterPort = 2101;
char ntripClient_CasterUser[50] = "test@test.com"; //Some free casters require auth. User must provide their own email address to use RTK2Go
char ntripClient_CasterUserPW[50] = "";
char ntripClient_MountPoint[50] = "bldr_SparkFun1";
char ntripClient_MountPointPW[50] = "";
char ntripClient_wifiSSID[50] = "TRex"; //NTRIP Server WiFi
char ntripClient_wifiPW[50] = "parachutes";
bool ntripClient_TransmitGGA = true;
int16_t serialTimeoutGNSS = 1; //In ms - used during SerialGNSS.begin. Number of ms to pass of no data before hardware serial reports data available.
char pointPerfectDeviceProfileToken[40] = "";
bool enablePointPerfectCorrections = true;
char home_wifiSSID[50] = ""; //WiFi network to use when attempting to obtain PointPerfect keys and ThingStream provisioning
char home_wifiPW[50] = "";
bool autoKeyRenewal = true; //Attempt to get keys if we get under 28 days from the expiration date
char pointPerfectClientID[50] = "";
char pointPerfectBrokerHost[50] = ""; // pp.services.u-blox.com
char pointPerfectLBandTopic[20] = ""; // /pp/key/Lb
char pointPerfectCurrentKey[33] = ""; //32 hexadecimal digits = 128 bits = 16 Bytes
uint64_t pointPerfectCurrentKeyDuration = 0;
uint64_t pointPerfectCurrentKeyStart = 0;
char pointPerfectNextKey[33] = "";
uint64_t pointPerfectNextKeyDuration = 0;
uint64_t pointPerfectNextKeyStart = 0;
uint64_t lastKeyAttempt = 0; //Epoch time of last attempt at obtaining keys
bool updateZEDSettings = true; //When in doubt, update the ZED with current settings
uint32_t LBandFreq = 1556290000; //Default to US band
//Time Zone - Default to UTC
int8_t timeZoneHours = 0;
int8_t timeZoneMinutes = 0;
int8_t timeZoneSeconds = 0;
//Debug settings
bool enablePrintWifiIpAddress = true;
bool enablePrintState = false;
bool enablePrintWifiState = false;
bool enablePrintNtripClientState = false;
bool enablePrintNtripServerState = false;
bool enablePrintPosition = false;
bool enablePrintIdleTime = false;
bool enablePrintBatteryMessages = true;
bool enablePrintRoverAccuracy = true;
bool enablePrintBadMessages = false;
bool enablePrintLogFileMessages = false;
bool enablePrintLogFileStatus = true;
bool enablePrintRingBufferOffsets = false;
bool enablePrintNtripServerRtcm = false;
bool enablePrintNtripClientRtcm = false;
bool enablePrintStates = true;
bool enablePrintDuplicateStates = false;
RadioType_e radioType = RADIO_EXTERNAL;
uint8_t espnowPeers[5][6]; //Max of 5 peers. Contains the MAC addresses (6 bytes) of paired units
uint8_t espnowPeerCount;
bool enableRtcmMessageChecking = false;
// BluetoothRadioType_e bluetoothRadioType = BLUETOOTH_RADIO_SPP;
BluetoothRadioType_e bluetoothRadioType = BLUETOOTH_RADIO_BLE;
bool runLogTest = false; //When set to true, device will create a series of test logs
} Settings;
Settings settings;
struct struct_online {
bool microSD = false;
bool display = false;
bool gnss = false;
bool logging = false;
bool serialOutput = false;
bool fs = false;
bool rtc = false;
bool battery = false;
bool accelerometer = false;
bool ntripClient = false;
bool ntripServer = false;
bool lband = false;
bool lbandCorrections = false;
bool i2c = false;
} online;
//Radio status LED goes from off (LED off), no connection (blinking), to connected (solid)
enum BTState
{
BT_OFF = 0,
BT_NOTCONNECTED,
BT_CONNECTED,
};
Reference in New Issue View Git Blame Copy Permalink