Merge branch 'release_candidate' into pcUpdates

Author: PaulZC

Firmware/RTK_Everywhere/System.ino

@@ -411,6 +411,9 @@ void settingsToDefaults()
 // Periodically print information if enabled
 void printReports()
 {
+    if (bluetoothCommandIsConnected() == true)
+        return;
+
     // Periodically print the position
     if (settings.enablePrintPosition && ((millis() - lastPrintPosition) > 15000))
     {

Firmware/RTK_Everywhere/Tasks.ino

@@ -2423,7 +2423,7 @@ bool tasksStartGnssUart()
 
     availableHandlerSpace = settings.gnssHandlerBufferSize;
 
-    // Reads data from ZED and stores data into circular buffer
+    // Reads data from GNSS and stores data into circular buffer
     if (!task.gnssReadTaskRunning)
         xTaskCreatePinnedToCore(gnssReadTask,                  // Function to call
                                 "gnssRead",                    // Just for humans

Firmware/RTK_Everywhere/form.h

@@ -26,7 +26,7 @@
 //  python main_js_zipper.py
 
 static const uint8_t main_js[] PROGMEM = {
-  0x1F, 0x8B, 0x08, 0x08, 0x64, 0xCE, 0xD1, 0x68, 0x02, 0xFF, 0x6D, 0x61, 0x69, 0x6E, 0x2E, 0x6A,
+  0x1F, 0x8B, 0x08, 0x08, 0xA2, 0x42, 0xDC, 0x68, 0x02, 0xFF, 0x6D, 0x61, 0x69, 0x6E, 0x2E, 0x6A,
   0x73, 0x2E, 0x67, 0x7A, 0x69, 0x70, 0x00, 0xED, 0x7D, 0x7B, 0x5F, 0xDB, 0x48, 0xB2, 0xE8, 0xFF,
   0xF9, 0x14, 0xBD, 0xBE, 0x7B, 0xC7, 0x66, 0x31, 0x46, 0x36, 0x8F, 0x40, 0x08, 0x39, 0x97, 0x00,
   0x49, 0xB8, 0xCB, 0xEB, 0x62, 0x32, 0x33, 0x99, 0x6C, 0x0E, 0x47, 0x58, 0xC2, 0xE8, 0xC4, 0x96,
@@ -1082,7 +1082,7 @@ static const uint8_t main_js[] PROGMEM = {
 //  python index_html_zipper.py
 
 static const uint8_t index_html[] PROGMEM = {
-  0x1F, 0x8B, 0x08, 0x08, 0x64, 0xCE, 0xD1, 0x68, 0x02, 0xFF, 0x69, 0x6E, 0x64, 0x65, 0x78, 0x2E,
+  0x1F, 0x8B, 0x08, 0x08, 0xA2, 0x42, 0xDC, 0x68, 0x02, 0xFF, 0x69, 0x6E, 0x64, 0x65, 0x78, 0x2E,
   0x68, 0x74, 0x6D, 0x6C, 0x2E, 0x67, 0x7A, 0x69, 0x70, 0x00, 0xED, 0x7D, 0x59, 0x76, 0xDB, 0xCA,
   0x92, 0xE0, 0xFF, 0x5D, 0x45, 0x16, 0xAB, 0xBB, 0x2C, 0x57, 0x8B, 0x14, 0x48, 0x4A, 0xB2, 0xAC,
   0x67, 0xEB, 0x1C, 0x6A, 0xB0, 0xAD, 0x7E, 0xB2, 0xCC, 0x12, 0xE5, 0x77, 0x87, 0x3E, 0xDD, 0xF7,

Firmware/RTK_Everywhere/menuCommands.ino

@@ -1,5 +1,6 @@
 char otaOutcome[21] = {0}; // Modified by otaUpdate(), used to respond to rtkRemoteFirmwareVersion commands
-int systemWriteLength = 0; // Modified by systemWrite(), used to calculate the size of LIST command for CLI
+int systemWriteCounts =
+    0; // Modified by systemWrite(), used to calculate the number of items in the LIST command for CLI
 
 void menuCommands()
 {
@@ -268,22 +269,16 @@ t_cliResult processCommand(char *cmdBuffer)
             {
                 // Respond with a list of variables, types, and current value
 
-                // First calculate the size of the LIST response
+                // First calculate the lines in the LIST response
                 PrintEndpoint originalPrintEndpoint = printEndpoint;
                 printEndpoint = PRINT_ENDPOINT_COUNT;
-                systemWriteLength = 0;
+                systemWriteCounts = 0;
                 printAvailableSettings();
                 printEndpoint = originalPrintEndpoint;
 
-                // Use log10 to find the number of digits in systemWriteLength
-                int systemWriteLengthDigits = floor(log10(systemWriteLength)) + 1;
-
-                // Adjust systemWriteLength to include the length of the list entry
-                systemWriteLength = systemWriteLength + sizeof("$SPLST,list,int,*2A") + systemWriteLengthDigits;
-
-                // Print the list entry
-                char settingValue[6]; // 12345
-                snprintf(settingValue, sizeof(settingValue), "%d", systemWriteLength);
+                // Print the list entry with the number of items in the list, including the list entry
+                char settingValue[6];                                                      // 12345
+                snprintf(settingValue, sizeof(settingValue), "%d", systemWriteCounts + 1); // Add list command
                 commandSendExecuteListResponse("list", "int", settingValue);
 
                 // Now actually print the list
@@ -501,8 +496,21 @@ void commandSendAllInterfaces(char *rxData)
 
     // Don't re-direct if we're doing a count of the print output
     if (printEndpoint != PRINT_ENDPOINT_COUNT)
+    {
         printEndpoint = PRINT_ENDPOINT_ALL;
 
+        // The LIST command dumps a large amount of data across the BLE link causing "esp_ble_gatts_send_ notify: rc=-1"
+        // errors
+
+        // With debug=debug, 788 characters are printed locally that slow down the interface enough to avoid errors,
+        // or 68.4ms at 115200 
+        // With debug=error, can we delay 70ms after every line print and avoid errors? Yes! Works
+        // well. 50ms is good, 25ms works sometimes without error, 5 is bad.
+
+        if (bluetoothCommandIsConnected())
+            delay(settings.cliBlePrintDelay_ms);
+    }
+
     systemPrint(rxData); // Send command output to BLE, SPP, and Serial
     printEndpoint = originalPrintEndpoint;
 }
@@ -679,8 +687,8 @@ SettingValueResponse updateSettingWithValue(bool inCommands, const char *setting
         settingValue = 0;
 
     bool knownSetting = false;
-    bool settingIsString = false; // Goes true when setting needs to be surrounded by quotes during command response.
-                                  // Generally char arrays but some others.
+    bool settingIsString = false; // Goes true when setting needs to be surrounded by quotes during command
+                                  // response. Generally char arrays but some others.
 
     // Loop through the valid command entries
     i = commandLookupSettingName(inCommands, settingName, truncatedName, sizeof(truncatedName), suffix, sizeof(suffix));
@@ -807,8 +815,8 @@ SettingValueResponse updateSettingWithValue(bool inCommands, const char *setting
 
             // Update the profile name in the file system if necessary
             if (strcmp(settingName, "profileName") == 0)
-                setProfileName(profileNumber); // Copy the current settings.profileName into the array of profile names
-                                               // at location profileNumber
+                setProfileName(profileNumber); // Copy the current settings.profileName into the array of profile
+                                               // names at location profileNumber
             settingIsString = true;
         }
         break;
@@ -1919,9 +1927,9 @@ void createSettingsString(char *newSettings)
             break;
             case tUmConst: {
                 // Record UM980 Constellations
-                // um980Constellations are uint8_t, but here we have to convert to bool (true / false) so the web page
-                // check boxes are populated correctly. (We can't make it bool, otherwise the 254 initializer will
-                // probably fail...)
+                // um980Constellations are uint8_t, but here we have to convert to bool (true / false) so the web
+                // page check boxes are populated correctly. (We can't make it bool, otherwise the 254 initializer
+                // will probably fail...)
                 for (int x = 0; x < rtkSettingsEntries[i].qualifier; x++)
                 {
                     char tempString[50]; // um980Constellations.GLONASS=true
@@ -2086,9 +2094,9 @@ void createSettingsString(char *newSettings)
             break;
             case tLgConst: {
                 // Record LG290P Constellations
-                // lg290pConstellations are uint8_t, but here we have to convert to bool (true / false) so the web page
-                // check boxes are populated correctly. (We can't make it bool, otherwise the 254 initializer will
-                // probably fail...)
+                // lg290pConstellations are uint8_t, but here we have to convert to bool (true / false) so the web
+                // page check boxes are populated correctly. (We can't make it bool, otherwise the 254 initializer
+                // will probably fail...)
                 for (int x = 0; x < rtkSettingsEntries[i].qualifier; x++)
                 {
                     char tempString[50]; // lg290pConstellations.GLONASS=true
@@ -2487,8 +2495,8 @@ SettingValueResponse getSettingValue(bool inCommands, const char *settingName, c
     void *var;
 
     bool knownSetting = false;
-    bool settingIsString = false; // Goes true when setting needs to be surrounded by quotes during command response.
-                                  // Generally char arrays but some others.
+    bool settingIsString = false; // Goes true when setting needs to be surrounded by quotes during command
+                                  // response. Generally char arrays but some others.
 
     // Loop through the valid command entries - but skip the priority settings and use the GNSS-specific types
     i = commandLookupSettingNameAfterPriority(inCommands, settingName, truncatedName, sizeof(truncatedName), suffix,

Firmware/RTK_Everywhere/menuSystem.ino

@@ -519,6 +519,8 @@ void menuDebugHardware()
         systemPrint("19) Print CLI Debugging: ");
         systemPrintf("%s\r\n", settings.debugCLI ? "Enabled" : "Disabled");
 
+        systemPrintf("20) Delay between CLI LIST prints over BLE: %d\r\n", settings.cliBlePrintDelay_ms);
+
         systemPrintln("e) Erase LittleFS");
 
         systemPrintln("t) Test Screen");
@@ -590,7 +592,9 @@ void menuDebugHardware()
             else if (present.gnss_lg290p)
             {
                 systemPrintln();
-                systemPrintf("QGNSS must be connected to CH342 Port B at %dbps. Begin firmware update from QGNSS (hit the play button) then reset the LG290P.\r\n", settings.dataPortBaud);
+                systemPrintf("QGNSS must be connected to CH342 Port B at %dbps. Begin firmware update from QGNSS (hit "
+                             "the play button) then reset the LG290P.\r\n",
+                             settings.dataPortBaud);
                 gnssReset();
                 delay(100);
                 gnssBoot();
@@ -629,6 +633,15 @@ void menuDebugHardware()
         {
             settings.debugCLI ^= 1;
         }
+        else if (incoming == 20)
+        {
+            systemPrintf("Enter millisecond delay (%d to %d) for CLI LIST command over BLE: ", 0, 1000);
+            int newDelay = getUserInputNumber(); // Returns EXIT, TIMEOUT, or long
+            if ((newDelay != INPUT_RESPONSE_GETNUMBER_EXIT) && (newDelay != INPUT_RESPONSE_GETNUMBER_TIMEOUT))
+            {
+                settings.cliBlePrintDelay_ms = newDelay;
+            }
+        }
 
         else if (incoming == 'e')
         {

Firmware/RTK_Everywhere/settings.h

@@ -1104,6 +1104,7 @@ struct Settings
     bool enableNtripCaster = false; //When true, respond as a faux NTRIP Caster to incoming TCP connections
     bool baseCasterOverride = false; //When true, user has put device into 'BaseCast' mode. Change settings, but don't save to NVM.
     bool debugCLI = false; //When true, output BLE CLI interactions over serial
+    uint16_t cliBlePrintDelay_ms = 50; // Time delayed between prints during a LIST command to avoid overwhelming the BLE connection
 
     // Add new settings to appropriate group above or create new group
     // Then also add to the same group in rtkSettingsEntries below
@@ -1750,7 +1751,7 @@ const RTK_Settings_Entry rtkSettingsEntries[] =
 //    g  s  x  k  2  c  h  d  d  x    2  Type       Qual                Variable                  Name
 
     // UM980 GNSS Receiver - TODO these apply to more than UM980
-    { 1, 1, 0, 0, 0, 0, 1, 0, 0, NON, 0, _bool,     0, & settings.enableGalileoHas, "enableGalileoHas",  },
+    { 1, 1, 0, 0, 0, 0, 1, 0, 1, NON, 1, _bool,     0, & settings.enableGalileoHas, "enableGalileoHas",  },
     { 1, 1, 0, 0, 0, 0, 1, 0, 0, ALL, 0, _bool,     3, & settings.enableMultipathMitigation, "enableMultipathMitigation",  },
     { 0, 0, 0, 0, 0, 0, 1, 0, 0, ALL, 0, _bool,     0, & settings.enableImuCompensationDebug, "enableImuCompensationDebug",  },
     { 0, 0, 0, 0, 0, 0, 1, 0, 0, ALL, 0, _bool,     0, & settings.enableImuDebug, "enableImuDebug",  },
@@ -1817,6 +1818,7 @@ const RTK_Settings_Entry rtkSettingsEntries[] =
     { 1, 1, 0, 1, 1, 1, 1, 1, 1, ALL, 1, _bool,     0, & settings.enableNtripCaster, "enableNtripCaster",  },
     { 0, 1, 0, 1, 1, 1, 1, 1, 1, ALL, 1, _bool,     0, & settings.baseCasterOverride, "baseCasterOverride",  },
     { 0, 0, 0, 1, 1, 1, 1, 1, 1, ALL, 1, _bool,     0, & settings.debugCLI, "debugCLI",  },
+    { 0, 0, 0, 1, 1, 1, 1, 1, 1, ALL, 1, _uint16_t, 0, & settings.cliBlePrintDelay_ms, "cliBlePrintDelay_ms",  },
 
 
     // Add new settings to appropriate group above or create new group

Firmware/RTK_Everywhere/support.ino

@@ -64,7 +64,7 @@ void systemWrite(const uint8_t *buffer, uint16_t length)
     // We're just adding up the size of the list, don't pass along to serial port
     else if (printEndpoint == PRINT_ENDPOINT_COUNT)
     {
-        systemWriteLength += length;
+        systemWriteCounts++;
     }
 }
 

Firmware/Test Sketches/ESPNOW_Receive/ESPNOW_Receive.ino

@@ -6,46 +6,58 @@
   A receiver does not need to have the broadcastMac added to its peer list. It will receive a broadcast
   no matter what.
 
-  If desired, onDataRecieve should check the received MAC against the list of friendly/paired MACs 
+  If desired, onDataRecieve should check the received MAC against the list of friendly/paired MACs
   in order to throw out broadcasted packets that may not be valid data.
+
+  Add peers
+  Add callback to deal with allowed incoming data
+  Update test sketches
 */
 
 #include <esp_now.h>
-#include <WiFi.h>
+#include <esp_mac.h> //Needed for esp_read_mac()
+#include <WiFi.h> //Needed because ESP-NOW requires WiFi.mode()
 
-void onDataRecieve(const uint8_t *mac_addr, const uint8_t *incomingData, int len)
+void onDataReceive(const esp_now_recv_info *mac, const uint8_t *incomingData, int len)
 {
-  Serial.printf("Bytes received: %d", len);
-  Serial.printf(" from peer: 0x%02X%02X%02X%02X%02X%02X\r\n", mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5]);
+  //    typedef struct esp_now_recv_info {
+  //        uint8_t * src_addr;             // Source address of ESPNOW packet
+  //        uint8_t * des_addr;             // Destination address of ESPNOW packet
+  //        wifi_pkt_rx_ctrl_t * rx_ctrl;   // Rx control info of ESPNOW packet
+  //    } esp_now_recv_info_t;
+
+  // Display the packet info
+  Serial.printf(
+    "RX from MAC %02X:%02X:%02X:%02X:%02X:%02X, %d bytes - ",
+    mac->des_addr[0], mac->des_addr[1], mac->des_addr[2], mac->des_addr[3], mac->des_addr[4], mac->des_addr[5],
+    len);
+
+  //Print what was received - it might be binary gobbly-de-gook
+  char toPrint[len + 1];
+  snprintf(toPrint, sizeof(toPrint), "%s", incomingData);
+  Serial.println(toPrint);
 }
 
 void setup()
 {
   Serial.begin(115200);
-  delay(500);
-  Serial.println("Point to Point Receiver - No WiFi");
+  delay(250);
+  Serial.println("Remote to Central - This is Central");
 
-  uint8_t unitMACAddress[6]; //Use MAC address in BT broadcast and display
+  uint8_t unitMACAddress[6];
   esp_read_mac(unitMACAddress, ESP_MAC_WIFI_STA);
-  Serial.print("WiFi MAC Address:");
-  for (int x = 0 ; x < 6 ; x++)
-  {
-    Serial.print(" 0x");
-    if (unitMACAddress[x] < 0x10) Serial.print("0");
-    Serial.print(unitMACAddress[x], HEX);
-  }
-  Serial.println();
+  Serial.printf("Hi! My MAC address is: {0x%02X, 0x%02X, 0x%02X, 0x%02X, 0x%02X, 0x%02X}\r\n",
+                unitMACAddress[0], unitMACAddress[1], unitMACAddress[2], unitMACAddress[3], unitMACAddress[4], unitMACAddress[5]);
 
-  // Set device as a Wi-Fi Station
+  //ESP-NOW must have WiFi initialized
   WiFi.mode(WIFI_STA);
 
-  if (esp_now_init() != ESP_OK) {
+  if (esp_now_init() != ESP_OK)
     Serial.println("Error initializing ESP-NOW");
-    return;
-  }
-
-  esp_now_register_recv_cb(onDataRecieve);
+  else
+    Serial.println("ESP-NOW started");
 
+  esp_now_register_recv_cb(onDataReceive);
 }
 
 void loop()
@@ -63,26 +75,19 @@ void loop()
 
 // Add a given MAC address to the peer list
 esp_err_t espnowAddPeer(uint8_t *peerMac)
-{
-  return (espnowAddPeer(peerMac, true)); // Encrypt by default
-}
-
-esp_err_t espnowAddPeer(uint8_t *peerMac, bool encrypt)
 {
   esp_now_peer_info_t peerInfo;
 
   memcpy(peerInfo.peer_addr, peerMac, 6);
   peerInfo.channel = 0;
   peerInfo.ifidx = WIFI_IF_STA;
-  // memcpy(peerInfo.lmk, "RTKProductsLMK56", 16);
-  // peerInfo.encrypt = encrypt;
   peerInfo.encrypt = false;
 
   esp_err_t result = esp_now_add_peer(&peerInfo);
   if (result != ESP_OK)
-  {
-    Serial.printf("Failed to add peer: 0x%02X%02X%02X%02X%02X%02X\r\n", peerMac[0], peerMac[1], peerMac[2],
-                 peerMac[3], peerMac[4], peerMac[5]);
-  }
+    Serial.printf("Failed to add peer: 0x%02X%02X%02X%02X%02X%02X\r\n", peerMac[0], peerMac[1], peerMac[2], peerMac[3], peerMac[4], peerMac[5]);
+  else
+    Serial.printf("Added peer: 0x%02X%02X%02X%02X%02X%02X\r\n", peerMac[0], peerMac[1], peerMac[2], peerMac[3], peerMac[4], peerMac[5]);
+
   return (result);
 }