├── .gitattributes ├── .github └── workflows │ ├── compile-rtk-firmware.yml │ ├── mkdocs.yml │ └── non-release-build.yml ├── .gitignore ├── Firmware ├── RTKFirmware.csv ├── RTK_Surveyor │ ├── AP-Config │ │ ├── favicon.ico │ │ ├── index.html │ │ └── src │ │ │ ├── Battery0.png │ │ │ ├── Battery0_Charging.png │ │ │ ├── Battery1.png │ │ │ ├── Battery1_Charging.png │ │ │ ├── Battery2.png │ │ │ ├── Battery2_Charging.png │ │ │ ├── Battery3.png │ │ │ ├── Battery3_Charging.png │ │ │ ├── BatteryBlank.png │ │ │ ├── BatteryBlank.png.gz │ │ │ ├── bootstrap.bundle.min.js │ │ │ ├── bootstrap.min.css │ │ │ ├── bootstrap.min.js │ │ │ ├── fonts │ │ │ ├── icomoon.eot │ │ │ ├── icomoon.svg │ │ │ ├── icomoon.ttf │ │ │ └── icomoon.woff │ │ │ ├── jquery-3.6.0.min.js │ │ │ ├── main.js │ │ │ ├── rtk-setup-wifi.png │ │ │ ├── rtk-setup.png │ │ │ └── style.css │ ├── Base.ino │ ├── Begin.ino │ ├── Bluetooth.ino │ ├── Buttons.ino │ ├── Developer.ino │ ├── Display.ino │ ├── ESPNOW.ino │ ├── Esp32Timer.h │ ├── Ethernet.ino │ ├── FileSdFatMMC.h │ ├── Form.ino │ ├── GpsMessageParser.h │ ├── GpsMessageParser.ino │ ├── NTP.ino │ ├── NVM.ino │ ├── Network.ino │ ├── NetworkClient.h │ ├── NetworkUDP.h │ ├── NtripClient.ino │ ├── NtripServer.ino │ ├── OtaClient.ino │ ├── Parse_NMEA.ino │ ├── Parse_RTCM.ino │ ├── Parse_UBLOX.ino │ ├── Patch │ │ ├── Server.h │ │ └── WiFiGeneric.cpp │ ├── PvtClient.ino │ ├── PvtServer.ino │ ├── PvtUdpServer.ino │ ├── RTK_Surveyor.ino │ ├── Rover.ino │ ├── SD.ino │ ├── States.ino │ ├── System.ino │ ├── Tasks.ino │ ├── W5500.ino │ ├── WiFi.ino │ ├── X509_Certificate_Bundle.h │ ├── ZED.ino │ ├── bluetoothSelect.h │ ├── crc24q.h │ ├── form.h │ ├── icons.h │ ├── menuBase.ino │ ├── menuFirmware.ino │ ├── menuGNSS.ino │ ├── menuMain.ino │ ├── menuMessages.ino │ ├── menuPP.ino │ ├── menuPorts.ino │ ├── menuSystem.ino │ ├── settings.h │ ├── src │ │ └── BluetoothSerial │ │ │ ├── BTAddress.cpp │ │ │ ├── BTAddress.h │ │ │ ├── BTAdvertisedDevice.h │ │ │ ├── BTAdvertisedDeviceSet.cpp │ │ │ ├── BTScan.h │ │ │ ├── BTScanResultsSet.cpp │ │ │ ├── BluetoothSerial.cpp │ │ │ └── BluetoothSerial.h │ └── support.ino ├── Test Sketches │ ├── Battery_Check │ │ ├── Battery_Check.ino │ │ ├── Begin.ino │ │ └── system.ino │ ├── Button_Read │ │ ├── Begin.ino │ │ ├── Button_Read.ino │ │ ├── System.ino │ │ ├── Tasks.ino │ │ └── settings.h │ ├── Core_Load │ │ ├── Core_Load.ino │ │ └── Idle.ino │ ├── Display │ │ ├── Display.ino │ │ ├── DisplayHelper.ino │ │ ├── icons.h │ │ └── settings.h │ ├── GNSS_GetPosition │ │ └── GNSS_GetPosition.ino │ ├── GNSS_GetPosition_v3 │ │ └── GNSS_GetPosition_v3.ino │ ├── GNSS_Serial_Test │ │ └── GNSS_Serial_Test.ino │ ├── Hookup_Display │ │ ├── Display.ino │ │ ├── Hookup_Display.ino │ │ ├── icons.h │ │ └── settings.h │ ├── Idle_Loop │ │ └── Idle_Loop.ino │ ├── NTRIP_Server │ │ ├── NTRIP_Server.ino │ │ ├── menuMain.ino │ │ ├── secrets.h │ │ └── support.ino │ ├── PSRAM │ │ └── PSRAM.ino │ ├── SD_FileListing │ │ ├── Begin.ino │ │ ├── SD_FileListing.ino │ │ ├── System.ino │ │ └── settings.h │ ├── SD_UART_Tasks │ │ ├── SD_UART_Tasks.ino │ │ ├── Tasks.ino │ │ └── settings.h │ ├── StayOn │ │ ├── StayOn.bin │ │ ├── StayOn.ino │ │ ├── Successful Loading of StayOn.jpg │ │ ├── batch_program.bat │ │ ├── esptool.exe │ │ └── readme.md │ ├── System_Check │ │ ├── Begin.ino │ │ ├── Buttons.ino │ │ ├── Display.ino │ │ ├── SD.ino │ │ ├── System.ino │ │ ├── System_Check.ino │ │ ├── System_Check.ino.esp32.bin │ │ ├── batch_program.bat │ │ ├── bin │ │ │ ├── RTK_Surveyor.ino.bootloader.bin │ │ │ ├── RTK_Surveyor.ino.partitions.bin │ │ │ └── boot_app0.bin │ │ ├── esptool.exe │ │ ├── menuFirmware.ino │ │ ├── menuGNSS.ino │ │ ├── menuSystem.ino │ │ ├── settings.h │ │ └── support.ino │ ├── WebServer │ │ ├── Begin.ino │ │ ├── Print.ino │ │ ├── SD.ino │ │ └── WebServer.ino │ ├── WiFiBluetoothSwitch │ │ └── WiFiBluetoothSwitch.ino │ └── WiFiConnect │ │ └── WiFiConnect.ino ├── Tools │ ├── Compare.c │ ├── NMEA_Client.c │ ├── PVT_Server.py │ ├── RTK_Reset.c │ ├── Read_Map_File.c │ ├── Split_Messages.c │ ├── X.509_crt_bundle_bin_to_c.c │ ├── crc24q.c │ ├── crc24q.h │ ├── index_html_zipper.py │ ├── main_js_zipper.py │ ├── makefile │ └── png_zipper.py ├── app3M_fat9M_16MB - Future.csv ├── app3M_fat9M_16MB.csv └── readme.md ├── Graphics ├── Base-Fixed.bmp ├── Base-Temporary.bmp ├── Battery-0.bmp ├── Battery-1.bmp ├── Battery-2.bmp ├── Battery-3.bmp ├── Bluetooth Symbol.bmp ├── C │ ├── Fonts.c │ ├── Icons.c │ └── makefile ├── CrossHair-Dual.bmp ├── CrossHair.bmp ├── DownloadArrow.bmp ├── DynamicModel-1-Portable.bmp ├── DynamicModel-10-Bike.bmp ├── DynamicModel-11-Mower.bmp ├── DynamicModel-12-EScooter.bmp ├── DynamicModel-2-Stationary.bmp ├── DynamicModel-3-Pedestrian.bmp ├── DynamicModel-4-Automotive.bmp ├── DynamicModel-5-Sea.bmp ├── DynamicModel-6-Airborne-1g.bmp ├── DynamicModel-7-Airborne-2g.bmp ├── DynamicModel-8-Airborne-4g.bmp ├── DynamicModel-9-Wrist.bmp ├── ESP NOW Symbol-0.bmp ├── ESP NOW Symbol-1.bmp ├── ESP NOW Symbol-2.bmp ├── ESP NOW Symbol-3.bmp ├── LCDAssistant.exe ├── Logging-0.bmp ├── Logging-1.bmp ├── Logging-2.bmp ├── Logging-3.bmp ├── Logging-Custom-1.bmp ├── Logging-Custom-2.bmp ├── Logging-Custom-3.bmp ├── Logging-PPP-1.bmp ├── Logging-PPP-2.bmp ├── Logging-PPP-3.bmp ├── RTK Surveyor Logo.png ├── RTK Surveyor Logo.svg ├── Rover-Fusion-Empty.bmp ├── Rover-Fusion.bmp ├── SIV-Antenna-LBand.bmp ├── SIV-Antenna.bmp ├── Unused │ └── RTCM Antenna.bmp ├── WiFi Symbol-0.bmp ├── WiFi Symbol-1.bmp ├── WiFi Symbol-2.bmp ├── WiFi Symbol-3.bmp ├── WiFi Symbol.bmp └── icon.h ├── Issue_Template.md ├── License.md ├── README.md ├── docs ├── accuracy_verification.md ├── configure_with_bluetooth.md ├── configure_with_serial.md ├── configure_with_settings_file.md ├── configure_with_ucenter.md ├── configure_with_wifi.md ├── connecting_bluetooth.md ├── contribute.md ├── correction_sources.md ├── correction_transport.md ├── displays.md ├── embeddedsystem_connection.md ├── firmware_update.md ├── gis_software.md ├── gis_software_android.md ├── gis_software_ios.md ├── gis_software_windows.md ├── img │ ├── ArcGIS │ │ ├── SparkFun RTK - ArcGIS Location Network.png │ │ ├── SparkFun RTK - ArcGIS Location Providers.png │ │ ├── SparkFun RTK - ArcGIS Main Screen.png │ │ ├── SparkFun RTK - ArcGIS Map Interface.png │ │ ├── SparkFun RTK - ArcGIS Network Information.png │ │ ├── SparkFun RTK - ArcGIS Sensor Data.png │ │ ├── SparkFun RTK - ArcGIS Sensor Settings.png │ │ ├── SparkFun RTK - ArcGIS Settings List.png │ │ ├── SparkFun RTK - ArcGIS Settings.png │ │ ├── SparkFun RTK - ArcGIS TCP Config.png │ │ ├── SparkFun RTK - ArcGIS WiFi Hotspot Web Config.png │ │ ├── SparkFun RTK - ArcGIS WiFi Hotspot.png │ │ └── SparkFun RTK - ArcGIS WiFi IP Address.png │ ├── Bluetooth │ │ ├── SparkFun RTK BEM - Config Menu.png │ │ ├── SparkFun RTK BEM - EscapeCharacters.png │ │ ├── SparkFun RTK BEM - Exit BEM.png │ │ ├── SparkFun RTK BEM - Settings Terminal.png │ │ ├── SparkFun RTK BEM - Settings.png │ │ ├── SparkFun RTK BEM - System Output.png │ │ ├── SparkFun RTK Bluetooth List Connect.png │ │ ├── SparkFun RTK Software - Add Bluetooth Device 2.jpg │ │ ├── SparkFun RTK Software - Add Bluetooth Device 3.jpg │ │ ├── SparkFun RTK Software - Add Bluetooth Device 4.jpg │ │ └── SparkFun RTK Software - Add Bluetooth Device.jpg │ ├── Corrections │ │ ├── 17239-GHR-04V-S_to_GHR-06V-S_Cable_-_150mm-01.jpg │ │ ├── 19032-SiK_Telemetry_Radio_V3_-_915MHz__100mW-01.jpg │ │ ├── Antenna_Semi-Fixed_to_roof - Big.jpg │ │ ├── Antenna_Semi-Fixed_to_roof.jpg │ │ ├── Base_Antenna_-_Anchor_installed.jpg │ │ ├── Base_Antenna_-_Antenna_attached.jpg │ │ ├── Base_Antenna_-_Broken_Block.jpg │ │ ├── Base_Antenna_-_Drill.jpg │ │ ├── Base_Antenna_-_SparkFun_u-blox_Antenna1.jpg │ │ ├── Convert_UBX_to_OBS_with_time_22_hour_window.jpg │ │ ├── Convert_UBX_to_OBS_with_time_22_hour_window2.jpg │ │ ├── Email_from_CSRS_Summary_.jpg │ │ ├── Old Weather Setup-4.jpg │ │ ├── PPP_record_time_vs_error.jpg │ │ ├── RTKCNV_-_OBS_Time_stamps1.jpg │ │ ├── Roof_Enclosure.jpg │ │ ├── Skylark-Coverage.png │ │ ├── SparkFun NTRIP 4 - UNAVCO Map.png │ │ ├── SparkFun NTRIP 5 - RTK2Go Map.png │ │ ├── SparkFun NTRIP 6 - EUREF Map.png │ │ ├── SparkFun NTRIP 7 - Wisconsin Map.png │ │ ├── SparkFun NTRIP Skylark 1 - Credentials.png │ │ ├── SparkFun RTK Emlid Mount Points.png │ │ ├── SparkFun RTK Facet SD RAWX Log Files.png │ │ ├── SparkFun RTK Facet Text Editor RAWX packets.png │ │ ├── SparkFun RTK Facet u-center RAWX packets.png │ │ ├── SparkFun RTK Facet u-center view of Log Files.png │ │ ├── SparkFun RTK RTK2Go SparkFun Mount Point.png │ │ ├── SparkFun-PPP.pdf │ │ ├── SparkFun_PPP_Results.png │ │ ├── SparkFun_RTK_Express_-_Base_Radio - Big.jpg │ │ ├── SparkFun_RTK_Express_-_Base_Radio.jpg │ │ ├── SparkFun_RTK_Facet_-_Ports_-_microSD.jpg │ │ ├── SparkFun_RTK_Facet_L-Band_Coverage_Area.jpg │ │ ├── SparkFun_RTK_Surveyor_-_Radio.jpg │ │ └── Uploading_file_to_CSRS.jpg │ ├── DiamondMaps │ │ ├── SparkFun RTK Diamond Maps - GNSS Source Selected.png │ │ ├── SparkFun RTK Diamond Maps - GNSS Source.png │ │ ├── SparkFun RTK Diamond Maps - Home Screen.png │ │ ├── SparkFun RTK Diamond Maps - NTRIP Settings.png │ │ ├── SparkFun RTK Diamond Maps - RTK Fix.png │ │ └── SparkFun RTK Diamond Maps - Settings Menu.png │ ├── Displays │ │ ├── Antenna_Open.png │ │ ├── Antenna_Short.png │ │ ├── SparkFun RTK - NTP Select.gif │ │ ├── SparkFun RTK Boot Screen Version Number.png │ │ ├── SparkFun RTK Config Display.png │ │ ├── SparkFun RTK Display - Bluetooth.png │ │ ├── SparkFun RTK Display - Double Crosshair.png │ │ ├── SparkFun RTK Facet Boot Display.png │ │ ├── SparkFun RTK Logging Types.png │ │ ├── SparkFun RTK Radio Display.png │ │ ├── SparkFun RTK Radio E-Pair.png │ │ ├── SparkFun RTK Rover Display.png │ │ ├── SparkFun RTK WiFi Config IP.png │ │ ├── SparkFun_RTK_Express_-_Display_-_FixedBase-Casting.jpg │ │ ├── SparkFun_RTK_Express_-_Display_-_FixedBase-Xmitting.jpg │ │ ├── SparkFun_RTK_Express_-_Display_-_Rover_RTK_Fixed.jpg │ │ ├── SparkFun_RTK_Express_-_Display_-_Survey-In.jpg │ │ ├── SparkFun_RTK_Facet_-_Display_On_Off.jpg │ │ ├── SparkFun_RTK_Facet_-_Display_WiFi_Config.jpg │ │ ├── SparkFun_RTK_Facet_-_Main_Display_Icons.jpg │ │ ├── SparkFun_RTK_LBand_DayToExpire.jpg │ │ ├── SparkFun_RTK_LBand_Indicator.jpg │ │ └── SparkFun_RTK_Rover_NTRIP_Client_Connection.png │ ├── Edit Page.png │ ├── FieldGenius │ │ ├── Field Genius 1.png │ │ ├── Field Genius 10.png │ │ ├── Field Genius 11.png │ │ ├── Field Genius 12.png │ │ ├── Field Genius 13.png │ │ ├── Field Genius 2.png │ │ ├── Field Genius 3.png │ │ ├── Field Genius 4.png │ │ ├── Field Genius 5.png │ │ ├── Field Genius 6.png │ │ ├── Field Genius 7.png │ │ ├── Field Genius 8.png │ │ └── Field Genius 9.png │ ├── FieldMaps │ │ ├── SparkFun RTK Field Maps - Main.png │ │ └── SparkFun RTK Field Maps - RTK Fix.png │ ├── GNSSMaster │ │ ├── SparkFun RTK GNSS Master - Correction Input.png │ │ ├── SparkFun RTK GNSS Master - Correction Source Data Flowing.png │ │ ├── SparkFun RTK GNSS Master - Correction Source List.png │ │ ├── SparkFun RTK GNSS Master - Main.png │ │ ├── SparkFun RTK GNSS Master - Mock Location.png │ │ ├── SparkFun RTK GNSS Master - NTRIP Client Input.png │ │ └── SparkFun RTK GNSS Master - Receiver Selection.png │ ├── Icons │ │ ├── GreenDot.png │ │ ├── RedDot.png │ │ ├── YellowDot.png │ │ ├── sfe_logo_sm.png │ │ └── sfe_logo_sq.png │ ├── Lefebure │ │ ├── SparkFun RTK Lefebure - Getting Data with Mock Location.png │ │ ├── SparkFun RTK Lefebure - Main.png │ │ ├── SparkFun RTK Lefebure - NTRIP Client Settings.png │ │ ├── SparkFun RTK Lefebure - NTRIP Settings.png │ │ ├── SparkFun RTK Lefebure - Receiver Settings Bluetooth.png │ │ └── SparkFun RTK Lefebure - Receiver Settings.png │ ├── MockLocation │ │ ├── SparkFun RTK Mock Location - Build Number.png │ │ ├── SparkFun RTK Mock Location - Developer Options.png │ │ ├── SparkFun RTK Mock Location - Select Mock Location App.png │ │ └── SparkFun RTK Mock Location - Settings.png │ ├── NTP │ │ ├── NTP_Config_1.png │ │ ├── NTP_Config_1_small.png │ │ ├── NTP_Config_2.png │ │ ├── NTP_Config_2_small.png │ │ ├── NTP_Config_3.png │ │ ├── NTP_Config_3_small.png │ │ ├── NTP_Config_4.png │ │ ├── NTP_Config_5.png │ │ ├── NTP_Diagnostics.png │ │ ├── NTP_Install_1.png │ │ ├── NTP_Install_2.png │ │ ├── NTP_Log.png │ │ └── NTP_Logging.png │ ├── PointPerfect │ │ ├── SparkFun RTK Everywhere - PointPerfect Coverage Map Small.png │ │ ├── SparkFun RTK Everywhere - PointPerfect Coverage Map.png │ │ └── SparkFun RTK Everywhere - PointPerfect Localized Distribution.png │ ├── QField │ │ ├── SparkFun RTK QField - Connected with RTK Fix.png │ │ ├── SparkFun RTK QField - Create Project.png │ │ ├── SparkFun RTK QField - Main Map.png │ │ ├── SparkFun RTK QField - NMEA Messages.png │ │ ├── SparkFun RTK QField - Open Project.png │ │ ├── SparkFun RTK QField - Open Settings.png │ │ ├── SparkFun RTK QField - Opening Page.png │ │ ├── SparkFun RTK QField - Project Settings 2.png │ │ ├── SparkFun RTK QField - Project Settings.png │ │ ├── SparkFun RTK QField - Refresh Project.png │ │ ├── SparkFun RTK QField - Select Positioning Devce.png │ │ ├── SparkFun RTK QField - Settings Gear.png │ │ ├── SparkFun RTK QField - Settings Menu.png │ │ ├── SparkFun RTK QField - Settings Positioning Menu.png │ │ ├── SparkFun RTK QField - TCP Connected.png │ │ ├── SparkFun RTK QField - TCP Connection Type.png │ │ ├── SparkFun RTK QField - TCP Connection.png │ │ └── SparkFun RTK QField - TCP Server.png │ ├── QGIS │ │ ├── SparkFun RTK QGIS - Direct Serial Connection.png │ │ ├── SparkFun RTK QGIS - Enable GPS Info Panel.png │ │ ├── SparkFun RTK QGIS - GPS Panel Entering IP and port.png │ │ ├── SparkFun RTK QGIS - GPS Panel.png │ │ ├── SparkFun RTK QGIS - Location on Map.png │ │ └── SparkFun RTK QGIS - View Menu.png │ ├── QuickCapture │ │ ├── SparkFun RTK QuickCapture - BioBlitz Map.png │ │ ├── SparkFun RTK QuickCapture - BioBlitz.png │ │ ├── SparkFun RTK QuickCapture - Main Window.png │ │ ├── SparkFun RTK QuickCapture - Select Project.png │ │ ├── SparkFun RTK QuickCapture - WiFi Credentials.png │ │ ├── SparkFun RTK QuickCapture - Workspace.png │ │ └── iOS │ │ │ ├── SparkFun RTK QuickCapture - Add Project.png │ │ │ ├── SparkFun RTK QuickCapture - BioBlitz Project.png │ │ │ ├── SparkFun RTK QuickCapture - Main Add Project.png │ │ │ ├── SparkFun RTK QuickCapture - Main Screen.png │ │ │ ├── SparkFun RTK QuickCapture - Map.png │ │ │ ├── SparkFun RTK QuickCapture - Settings Menu Location Provider.png │ │ │ ├── SparkFun RTK QuickCapture - Settings Menu.png │ │ │ ├── SparkFun RTK QuickCapture - Splash.png │ │ │ ├── SparkFun RTK QuickCapture - TCP Added.png │ │ │ ├── SparkFun RTK QuickCapture - TCP Settings.png │ │ │ ├── SparkFun RTK QuickCapture iOS - Enable PVT Server.png │ │ │ ├── SparkFun RTK QuickCapture iOS - IP Address.png │ │ │ └── SparkFun RTK QuickCapture iOS - WiFi Settings.png │ ├── RTK Express with External Microphones.png │ ├── RTK_Uploader_Windows.png │ ├── Radios │ │ └── SparkFun RTK ESP-Now Distance Testing.png │ ├── Repair │ │ ├── RTK-Facet-Repair-3.jpg │ │ ├── RTK_Surveyor_Internal_-_NMEA_Switches.jpg │ │ ├── Ref_Station_Disassembly.png │ │ ├── SparkFun-RTK-Repair-1.jpg │ │ ├── SparkFun-RTK-Repair-10.jpg │ │ ├── SparkFun-RTK-Repair-11.jpg │ │ ├── SparkFun-RTK-Repair-12.jpg │ │ ├── SparkFun-RTK-Repair-13.jpg │ │ ├── SparkFun-RTK-Repair-14.jpg │ │ ├── SparkFun-RTK-Repair-15.jpg │ │ ├── SparkFun-RTK-Repair-16.jpg │ │ ├── SparkFun-RTK-Repair-17.jpg │ │ ├── SparkFun-RTK-Repair-18.jpg │ │ ├── SparkFun-RTK-Repair-19.jpg │ │ ├── SparkFun-RTK-Repair-2.jpg │ │ ├── SparkFun-RTK-Repair-20.jpg │ │ ├── SparkFun-RTK-Repair-21.jpg │ │ ├── SparkFun-RTK-Repair-22.jpg │ │ ├── SparkFun-RTK-Repair-23.jpg │ │ ├── SparkFun-RTK-Repair-24.jpg │ │ ├── SparkFun-RTK-Repair-25.jpg │ │ ├── SparkFun-RTK-Repair-26.jpg │ │ ├── SparkFun-RTK-Repair-3.jpg │ │ ├── SparkFun-RTK-Repair-4.jpg │ │ ├── SparkFun-RTK-Repair-5.jpg │ │ ├── SparkFun-RTK-Repair-6.jpg │ │ ├── SparkFun-RTK-Repair-7.jpg │ │ ├── SparkFun-RTK-Repair-8.jpg │ │ └── SparkFun-RTK-Repair-9.jpg │ ├── SWMaps │ │ ├── SW_Maps_-_NTRIP_Client.jpg │ │ ├── SparkFun NTRIP Skylark 2 - SW Maps Credentials.png │ │ ├── SparkFun NTRIP Skylark 2 - SW Maps HPA.png │ │ ├── SparkFun RTK SW Maps - Green Bubble-1.png │ │ ├── SparkFun RTK SW Maps - Green Bubble.png │ │ ├── SparkFun RTK SW Maps - NTRIP Credentials.png │ │ ├── SparkFun RTK SW Maps for Android QR Code.png │ │ ├── SparkFun RTK SW Maps for Apple QR Code.png │ │ ├── SparkFun RTK SWMaps Bluetooth Connect.png │ │ ├── SparkFun RTK SWMaps GNSS Status.png │ │ ├── SparkFun RTK SWMaps Sky Plot.png │ │ └── SparkFun_RTK_Surveyor_-_SW_Maps_NTRIP_Connection.jpg │ ├── Serial │ │ ├── RTK_Surveyor_-_Firmware_Update_COM_Port.jpg │ │ ├── SparkFun RTK Firmware Uploader COM Port.jpg │ │ ├── SparkFun_RTK_Facet_-_Multiple_COM_Ports.jpg │ │ ├── SparkFun_RTK_Facet_-_Ports_-_USB.jpg │ │ └── SparkFun_RTK_Surveyor_-_Connectors1.jpg │ ├── SparkFun RTK Device Attached to Monopole.png │ ├── SparkFun RTK Express Plus.png │ ├── SparkFun RTK Express.png │ ├── SparkFun RTK Facet L-Band u-blox Firmware Update GUI.png │ ├── SparkFun RTK Facet L-Band.png │ ├── SparkFun RTK Facet.png │ ├── SparkFun RTK Firmware Update GUI - 4MB.png │ ├── SparkFun RTK Reference Station.png │ ├── SparkFun RTK Settings File - Factory Reset.png │ ├── SparkFun RTK Surveyor.png │ ├── SparkFun ZED-F9P Navigation Rates.png │ ├── SparkFun_GNSS_RTK_Reference_Station_IO.jpg │ ├── SparkFun_RTK_Express_-_Data_Port_USB.jpg │ ├── SparkFun_RTK_Express_-_Ports_Menu_MON-COMM_Overrun.jpg │ ├── SparkFun_RTK_Express_-_Settings_File.jpg │ ├── SparkFun_RTK_Facet_-_Data_Port_to_USB.jpg │ ├── SparkFun_RTK_Facet_L-Band_ARP.jpg │ ├── SparkFun_RTK_Facet_Profile.jpg │ ├── SparkFun_RTK_Reference_Station.jpg │ ├── SparkFun_RTK_Surveyor_-_Data_Port_HiRes.jpg │ ├── SurPad │ │ ├── SparkFun RTK - SurPad - Communication NTRIP Connected.png │ │ ├── SparkFun RTK - SurPad - Communication.png │ │ ├── SparkFun RTK - SurPad - Data Link.png │ │ ├── SparkFun RTK - SurPad - Home Screen.png │ │ ├── SparkFun RTK - SurPad - Map with RTK Fix.png │ │ └── SparkFun RTK - SurPad - Point Survey.png │ ├── SurvPC │ │ ├── SparkFun RTK Software - SurvPC Equip Menu.jpg │ │ ├── SparkFun RTK Software - SurvPC NTRIP Client.jpg │ │ ├── SparkFun RTK Software - SurvPC Rover Antenna.jpg │ │ ├── SparkFun RTK Software - SurvPC Rover Comms.jpg │ │ ├── SparkFun RTK Software - SurvPC Rover DGPS.jpg │ │ ├── SparkFun RTK Software - SurvPC Rover Find Device.jpg │ │ ├── SparkFun RTK Software - SurvPC Rover NMEA.jpg │ │ ├── SparkFun RTK Software - SurvPC Rover NTRIP Mount Point.jpg │ │ ├── SparkFun RTK Software - SurvPC Rover NTRIP.jpg │ │ ├── SparkFun RTK Software - SurvPC Rover Receiver.jpg │ │ ├── SparkFun RTK Software - SurvPC Rover Select Bluetooth Connect.jpg │ │ ├── SparkFun RTK Software - SurvPC Rover Select Bluetooth Device With MAC.jpg │ │ ├── SparkFun RTK Software - SurvPC Rover Select Bluetooth Device.jpg │ │ ├── SparkFun RTK Software - SurvPC Skyplot.jpg │ │ └── SparkFun RTK Software - SurvPC Survey.jpg │ ├── Survey123 │ │ ├── SparkFun RTK Survey123 - Location Status.png │ │ ├── SparkFun RTK Survey123 - Main.png │ │ ├── SparkFun RTK Survey123 - Map.png │ │ └── SparkFun RTK Survey123 - Splash.png │ ├── SurveyMaster │ │ ├── SparkFun RTK Survey Master - 01.png │ │ ├── SparkFun RTK Survey Master - 02.png │ │ ├── SparkFun RTK Survey Master - 03.png │ │ ├── SparkFun RTK Survey Master - 04.png │ │ ├── SparkFun RTK Survey Master - 05.png │ │ ├── SparkFun RTK Survey Master - 09.png │ │ ├── SparkFun RTK Survey Master - 10.png │ │ ├── SparkFun RTK Survey Master - 11.png │ │ ├── SparkFun RTK Survey Master - 12.png │ │ ├── SparkFun RTK Survey Master - 13.png │ │ ├── SparkFun RTK Survey Master - 14.png │ │ ├── SparkFun RTK Survey Master - 15.png │ │ ├── SparkFun RTK Survey Master - 16.png │ │ ├── SparkFun RTK Survey Master - 21.png │ │ ├── SparkFun RTK Survey Master - 22.png │ │ ├── SparkFun RTK Survey Master - 23.png │ │ ├── SparkFun RTK Survey Master - 25.png │ │ ├── SparkFun RTK Survey Master - 26 .jpg │ │ ├── SparkFun RTK Survey Master - 27.png │ │ ├── SparkFun RTK Survey Master - 29.png │ │ ├── SparkFun RTK Survey Master - 30.png │ │ └── SparkFun RTK Survey Master - 33.png │ ├── Terminal │ │ ├── Ethernet_DHCP.png │ │ ├── Ethernet_Fixed_IP.png │ │ ├── Ethernet_TCP_Client_1.png │ │ ├── RTK_Surveyor_-_Device_Configuration_-_NTRIP_Server_Broadcasting_Bytes_v11.jpg │ │ ├── RTK_Surveyor_-_Device_Configuration_-_NTRIP_Server_Broadcasting_v11.jpg │ │ ├── SparkFun RTK - Alternate Coordinate Types for Fixed Base Serial.png │ │ ├── SparkFun RTK - Sensor Menu.png │ │ ├── SparkFun RTK Debug Menu.png │ │ ├── SparkFun RTK Firmware Update CLI.png │ │ ├── SparkFun RTK Firmware Update Menu.png │ │ ├── SparkFun RTK Firmware Update OTA.png │ │ ├── SparkFun RTK Logging Menu.png │ │ ├── SparkFun RTK Main Menu.png │ │ ├── SparkFun RTK Network Menu.png │ │ ├── SparkFun RTK PointPerfect Menu.png │ │ ├── SparkFun RTK Radio Menu.png │ │ ├── SparkFun RTK Software - Add Bluetooth Device 5.jpg │ │ ├── SparkFun RTK System Menu - Factory Reset.png │ │ ├── SparkFun RTK System Menu.png │ │ ├── SparkFun RTK System Status Trigger.png │ │ ├── SparkFun RTK WiFi Menu Terminal.png │ │ ├── SparkFun_RTK_ExpressPlus_MainMenu.jpg │ │ ├── SparkFun_RTK_ExpressPlus_Profiles.jpg │ │ ├── SparkFun_RTK_ExpressPlus_ReceiverNTRIP.jpg │ │ ├── SparkFun_RTK_ExpressPlus_Receiver_Constellations.jpg │ │ ├── SparkFun_RTK_Express_-_Base_Menu.jpg │ │ ├── SparkFun_RTK_Express_-_Base_Menu_-_Fixed_NTRIP.jpg │ │ ├── SparkFun_RTK_Express_-_Messages_Menu.jpg │ │ ├── SparkFun_RTK_Express_-_Messages_Menu_-_NMEA.jpg │ │ ├── SparkFun_RTK_Express_-_Ports_Menu.jpg │ │ ├── SparkFun_RTK_Express_-_Ports_Menu_Mux.jpg │ │ ├── SparkFun_RTK_Firmware_Update-ProgressBar.jpg │ │ ├── SparkFun_RTK_LBand_ManualKeysA.jpg │ │ ├── SparkFun_RTK_Surveyor_-_Data_Output.jpg │ │ └── TCP_Client.gif │ ├── VerifyAccuracy │ │ ├── SparkFun Verify RTK - 1 Boulder Sites.jpg │ │ ├── SparkFun Verify RTK - 10 Dots on Map.jpg │ │ ├── SparkFun Verify RTK - 11 LLA to ECEF.jpg │ │ ├── SparkFun Verify RTK - 12 Marker on Map.jpg │ │ ├── SparkFun Verify RTK - 13 Compare Points.jpg │ │ ├── SparkFun Verify RTK - 13 Datasheet for Monument.jpg │ │ ├── SparkFun Verify RTK - 14 Image Pixel Comparison.jpg │ │ ├── SparkFun Verify RTK - 15 Spreadsheet Results.jpg │ │ ├── SparkFun Verify RTK - 16 Facet in the Field.jpg │ │ ├── SparkFun Verify RTK - 17 Surveyor Monument - Big.jpg │ │ ├── SparkFun Verify RTK - 17 Surveyor Monument.jpg │ │ ├── SparkFun Verify RTK - 2 Boulder GPS Sites.jpg │ │ ├── SparkFun Verify RTK - 3 SparkFun HQ.jpg │ │ ├── SparkFun Verify RTK - 4 Conversion to Decimal.jpg │ │ ├── SparkFun Verify RTK - 5 Conversion to WGS84.jpg │ │ ├── SparkFun Verify RTK - 6 Plate Movements.jpg │ │ ├── SparkFun Verify RTK - 7 HTDP Conversion Page.jpg │ │ ├── SparkFun Verify RTK - 8 Facet above Monument.jpg │ │ └── SparkFun Verify RTK - 9 SW Maps Point.jpg │ ├── Vespucci │ │ ├── SparkFun RTK Vespucci - Advanced Preferences.png │ │ ├── SparkFun RTK Vespucci - GPS Source.png │ │ ├── SparkFun RTK Vespucci - Location Settings.png │ │ ├── SparkFun RTK Vespucci - Main Gear.png │ │ ├── SparkFun RTK Vespucci - NMEA Network Source.png │ │ ├── SparkFun RTK Vespucci - Point on Map.png │ │ └── SparkFun RTK Vespucci - Preferences.png │ ├── WiFi Config │ │ ├── RTK-Firmware-Update-OTA.gif │ │ ├── RTK_Surveyor_-_WiFi_Config_-_Base_Config1.jpg │ │ ├── RTK_Surveyor_-_WiFi_Config_-_Base_Config2.jpg │ │ ├── RTK_Surveyor_-_WiFi_Config_-_Express_Ports_Config.jpg │ │ ├── RTK_Surveyor_-_WiFi_Config_-_GNSS_Config_Messages.jpg │ │ ├── RTK_Surveyor_-_WiFi_Config_-_Networks.jpg │ │ ├── RTK_Surveyor_-_WiFi_Config_-_System_Save_Exit.jpg │ │ ├── SparkFun RTK - Alternate Coordinate Types for Fixed Base.png │ │ ├── SparkFun RTK - Base RTCM Rates Menu.png │ │ ├── SparkFun RTK - GNSS Menu.png │ │ ├── SparkFun RTK AP Main Page over Local WiFi.png │ │ ├── SparkFun RTK AP WiFi Menu.png │ │ ├── SparkFun RTK Base Configure - Commonly Used Points Menu.png │ │ ├── SparkFun RTK Base Survey In.png │ │ ├── SparkFun RTK Change Bluetooth to BLE.png │ │ ├── SparkFun RTK Config - Configure Mode.png │ │ ├── SparkFun RTK Config - TCP Port.png │ │ ├── SparkFun RTK Header Information.png │ │ ├── SparkFun RTK OTA Firmware Update.gif │ │ ├── SparkFun RTK PointPerfect Config.png │ │ ├── SparkFun RTK Ports Menu Mux Config.png │ │ ├── SparkFun RTK Ports PPS Config.png │ │ ├── SparkFun RTK Profiles Menu.png │ │ ├── SparkFun RTK Radio Config.png │ │ ├── SparkFun RTK Sensor Menu WiFi Config.png │ │ ├── SparkFun RTK System Config AP Menu.png │ │ ├── SparkFun RTK System Config Upload BIN.png │ │ ├── SparkFun RTK System and Data Logging Configuration.png │ │ ├── SparkFun RTK WiFi Config File Manager.png │ │ ├── SparkFun RTK WiFi Config Screen Version Number.png │ │ ├── SparkFun RTK WiFi Config System.png │ │ ├── SparkFun RTK WiFi Factory Defaults.png │ │ ├── SparkFun RTK WiFi MDNS.png │ │ ├── SparkFun_RTK_Facet_-_Desktop_vs_Phone_Config.jpg │ │ ├── SparkFun_RTK_Facet_-_WiFi_Config_Main_Page.jpg │ │ └── SparkFun_RTK_Facet_-_WiFi_Config_Main_Page_-_Firmware.jpg │ └── iOS │ │ ├── Screenshot1.PNG │ │ ├── Screenshot10.PNG │ │ ├── Screenshot11.PNG │ │ ├── Screenshot2.PNG │ │ ├── Screenshot3.PNG │ │ ├── Screenshot4.PNG │ │ ├── Screenshot5.PNG │ │ ├── Screenshot6.PNG │ │ ├── Screenshot7.PNG │ │ ├── Screenshot8.PNG │ │ ├── Screenshot9.PNG │ │ ├── SparkFun RTK iOS - Hotspot Settings.png │ │ └── SparkFun RTK iOS Bluetooth Devices.png ├── index.md ├── intro.md ├── menu_base.md ├── menu_data_logging.md ├── menu_debug.md ├── menu_ethernet.md ├── menu_gnss.md ├── menu_messages.md ├── menu_ntp.md ├── menu_pointperfect.md ├── menu_ports.md ├── menu_profiles.md ├── menu_radios.md ├── menu_sensor.md ├── menu_system.md ├── menu_tcp_udp.md ├── menu_wifi.md ├── overrides │ └── main.html ├── permanent_base.md ├── readme.md └── repair.md └── mkdocs.yml /.gitattributes: -------------------------------------------------------------------------------- 1 | # Auto detect text files and perform LF normalization 2 | * text=auto 3 | -------------------------------------------------------------------------------- /.github/workflows/mkdocs.yml: -------------------------------------------------------------------------------- 1 | name: Run mkdocs 2 | on: 3 | push: 4 | branches: 5 | - main 6 | jobs: 7 | deploy: 8 | runs-on: ubuntu-latest 9 | steps: 10 | - uses: actions/checkout@v3 11 | - uses: actions/setup-python@v4 12 | with: 13 | python-version: 3.12.0 14 | - run: pip install mkdocs-material mkdocs-monorepo-plugin setuptools 15 | - run: pip install mkdocs-with-pdf 16 | - run: mkdocs gh-deploy --force 17 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | partitions.csv 2 | 3 | tokens.h 4 | .vscode/* 5 | 6 | # Windows image file caches 7 | Thumbs.db 8 | ehthumbs.db 9 | 10 | #Eagle Backup files 11 | *.s#? 12 | *.b#? 13 | *.l#? 14 | *.lck 15 | 16 | # Folder config file 17 | Desktop.ini 18 | 19 | # Recycle Bin used on file shares 20 | $RECYCLE.BIN/ 21 | 22 | # Windows Installer files 23 | *.cab 24 | *.msi 25 | *.msm 26 | *.msp 27 | 28 | # ========================= 29 | # Operating System Files 30 | # ========================= 31 | 32 | # OSX 33 | # ========================= 34 | 35 | .DS_Store 36 | .AppleDouble 37 | .LSOverride 38 | 39 | # Icon must ends with two \r. 40 | Icon 41 | 42 | 43 | # Thumbnails 44 | ._* 45 | 46 | # Files that might appear on external disk 47 | .Spotlight-V100 48 | .Trashes 49 | 50 | # ========================= 51 | # Linux Files 52 | # ========================= 53 | 54 | Compare 55 | NMEA_Client 56 | Read_Map_File 57 | RTK_Reset 58 | Split_Messages 59 | X.509_crt_bundle_bin_to_c 60 | -------------------------------------------------------------------------------- /Firmware/RTKFirmware.csv: -------------------------------------------------------------------------------- 1 | # Name, Type, SubType, Offset, Size, Flags 2 | nvs, data, nvs, 0x9000, 0x5000, 3 | otadata, data, ota, 0xe000, 0x2000, 4 | app0, app, ota_0, 0x10000, 0x640000, 5 | app1, app, ota_1, 0x650000,0x640000, 6 | spiffs, data, spiffs, 0xc90000,0x370000, 7 | -------------------------------------------------------------------------------- /Firmware/RTK_Surveyor/AP-Config/favicon.ico: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sparkfun/SparkFun_RTK_Firmware/1b542ac7f3113dd78a4e4811d7d3a30f7211ce26/Firmware/RTK_Surveyor/AP-Config/favicon.ico -------------------------------------------------------------------------------- /Firmware/RTK_Surveyor/AP-Config/src/Battery0.png: 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url('fonts/icomoon.eot?81wxq3#iefix') format('embedded-opentype'), 5 | url('fonts/icomoon.ttf?81wxq3') format('truetype'), 6 | url('fonts/icomoon.woff?81wxq3') format('woff'), 7 | url('fonts/icomoon.svg?81wxq3#icomoon') format('svg'); 8 | font-weight: normal; 9 | font-style: normal; 10 | font-display: block; 11 | } 12 | 13 | [class^="icon-"], [class*=" icon-"] { 14 | /* use !important to prevent issues with browser extensions that change fonts */ 15 | font-family: 'icomoon' !important; 16 | speak: never; 17 | font-style: normal; 18 | font-weight: normal; 19 | font-variant: normal; 20 | text-transform: none; 21 | line-height: 1; 22 | 23 | /* Better Font Rendering =========== */ 24 | -webkit-font-smoothing: antialiased; 25 | -moz-osx-font-smoothing: grayscale; 26 | } 27 | 28 | input[type="file"] { 29 | display: none; 30 | } 31 | 32 | .icon-close:before { 33 | content: "\f00d"; 34 | } 35 | .icon-remove:before { 36 | content: "\f00d"; 37 | } 38 | .icon-times:before { 39 | content: "\f00d"; 40 | } 41 | .icon-info-circle:before { 42 | content: "\f05a"; 43 | } 44 | .icon-floppy-o:before { 45 | content: "\f0c7"; 46 | } 47 | .icon-save:before { 48 | content: "\f0c7"; 49 | } 50 | .icon-caret-down:before { 51 | content: "\f0d7"; 52 | } 53 | .icon-caret-up:before { 54 | content: "\f0d8"; 55 | } 56 | 57 | .left { 58 | width: 85%; 59 | } 60 | 61 | .right { 62 | width: 7%; 63 | } -------------------------------------------------------------------------------- /Firmware/RTK_Surveyor/Buttons.ino: -------------------------------------------------------------------------------- 1 | // User has pressed the power button to turn on the system 2 | // Was it an accidental bump or do they really want to turn on? 3 | // Let's make sure they continue to press for 500ms 4 | void powerOnCheck() 5 | { 6 | powerPressedStartTime = millis(); 7 | if (pin_powerSenseAndControl >= 0) 8 | if (digitalRead(pin_powerSenseAndControl) == LOW) 9 | delay(500); 10 | 11 | if (FIRMWARE_VERSION_MAJOR == 99) 12 | { 13 | // Do not check button if this is a locally compiled developer firmware 14 | } 15 | else 16 | { 17 | if (pin_powerSenseAndControl >= 0) 18 | if (digitalRead(pin_powerSenseAndControl) != LOW) 19 | powerDown(false); // Power button tap. Returning to off state. 20 | } 21 | 22 | powerPressedStartTime = 0; // Reset var to return to normal 'on' state 23 | } 24 | 25 | // If we have a power button tap, or if the display is not yet started (no I2C!) 26 | // then don't display a shutdown screen 27 | void powerDown(bool displayInfo) 28 | { 29 | // Disable SD card use 30 | endSD(false, false); 31 | 32 | // Prevent other tasks from logging, even if access to the microSD card was denied 33 | online.logging = false; 34 | 35 | // If we are in configureViaEthernet mode, we need to shut down the async web server 36 | // otherwise it causes a core panic and badness at the restart 37 | if (configureViaEthernet) 38 | ethernetWebServerStopESP32W5500(); 39 | 40 | if (displayInfo == true) 41 | { 42 | displayShutdown(); 43 | delay(2000); 44 | } 45 | 46 | beginLEDs(); // Turn LEDs off 47 | 48 | if (pin_powerSenseAndControl >= 0) 49 | { 50 | pinMode(pin_powerSenseAndControl, OUTPUT); 51 | digitalWrite(pin_powerSenseAndControl, LOW); 52 | } 53 | 54 | if (pin_powerFastOff >= 0) 55 | { 56 | pinMode(pin_powerFastOff, OUTPUT); 57 | digitalWrite(pin_powerFastOff, LOW); 58 | } 59 | 60 | if ((productVariant == RTK_FACET) || (productVariant == RTK_FACET_LBAND) || 61 | (productVariant == RTK_FACET_LBAND_DIRECT) || (productVariant == REFERENCE_STATION)) 62 | digitalWrite(pin_peripheralPowerControl, LOW); 63 | 64 | while (1) 65 | delay(1); 66 | } 67 | -------------------------------------------------------------------------------- /Firmware/RTK_Surveyor/GpsMessageParser.ino: -------------------------------------------------------------------------------- 1 | /*------------------------------------------------------------------------------ 2 | GpsMessageParser.ino 3 | 4 | Parse messages from GPS radios 5 | ------------------------------------------------------------------------------*/ 6 | 7 | // Wait for the first byte in the GPS message 8 | uint8_t gpsMessageParserFirstByte(PARSE_STATE *parse, uint8_t data) 9 | { 10 | int index; 11 | PARSE_ROUTINE parseRoutine; 12 | uint8_t sentenceType; 13 | 14 | // Walk through the parse table 15 | for (index = 0; index < gpsParseTableEntries; index++) 16 | { 17 | parseRoutine = gpsParseTable[index]; 18 | sentenceType = parseRoutine(parse, data); 19 | if (sentenceType) 20 | return sentenceType; 21 | } 22 | 23 | // preamble byte not found 24 | parse->length = 0; 25 | parse->state = gpsMessageParserFirstByte; 26 | return SENTENCE_TYPE_NONE; 27 | } 28 | -------------------------------------------------------------------------------- /Firmware/RTK_Surveyor/Patch/Server.h: -------------------------------------------------------------------------------- 1 | /* 2 | Server.h - Base class that provides Server 3 | Copyright (c) 2011 Adrian McEwen. All right reserved. 4 | 5 | This library is free software; you can redistribute it and/or 6 | modify it under the terms of the GNU Lesser General Public 7 | License as published by the Free Software Foundation; either 8 | version 2.1 of the License, or (at your option) any later version. 9 | 10 | This library is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 13 | Lesser General Public License for more details. 14 | 15 | You should have received a copy of the GNU Lesser General Public 16 | License along with this library; if not, write to the Free Software 17 | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 18 | */ 19 | 20 | #ifndef server_h 21 | #define server_h 22 | 23 | #include "Print.h" 24 | 25 | class Server: public Print 26 | { 27 | public: 28 | //virtual void begin(uint16_t port=0) =0; 29 | void begin() {}; 30 | }; 31 | 32 | #endif 33 | -------------------------------------------------------------------------------- /Firmware/RTK_Surveyor/src/BluetoothSerial/BTAddress.h: -------------------------------------------------------------------------------- 1 | /* 2 | * BTAddress.h 3 | * 4 | * Created on: Jul 2, 2017 5 | * Author: kolban 6 | * Ported on: Feb 5, 2021 7 | * Author: Thomas M. (ArcticSnowSky) 8 | */ 9 | 10 | #ifndef COMPONENTS_CPP_UTILS_BTADDRESS_H_ 11 | #define COMPONENTS_CPP_UTILS_BTADDRESS_H_ 12 | #include "sdkconfig.h" 13 | #if defined(CONFIG_BT_ENABLED) && defined(CONFIG_BLUEDROID_ENABLED) 14 | #include // ESP32 BT 15 | #include 16 | 17 | 18 | /** 19 | * @brief A %BT device address. 20 | * 21 | * Every %BT device has a unique address which can be used to identify it and form connections. 22 | */ 23 | class BTAddress { 24 | public: 25 | BTAddress(esp_bd_addr_t address); 26 | BTAddress(std::string stringAddress); 27 | bool equals(BTAddress otherAddress); 28 | esp_bd_addr_t* getNative(); 29 | std::string toString(); 30 | 31 | private: 32 | esp_bd_addr_t m_address; 33 | }; 34 | 35 | #endif /* CONFIG_BT_ENABLED */ 36 | #endif /* COMPONENTS_CPP_UTILS_BTADDRESS_H_ */ 37 | -------------------------------------------------------------------------------- /Firmware/RTK_Surveyor/src/BluetoothSerial/BTAdvertisedDevice.h: -------------------------------------------------------------------------------- 1 | /* 2 | * BTAdvertisedDevice.h 3 | * 4 | * Created on: Feb 5, 2021 5 | * Author: Thomas M. (ArcticSnowSky) 6 | */ 7 | 8 | #ifndef __BTADVERTISEDDEVICE_H__ 9 | #define __BTADVERTISEDDEVICE_H__ 10 | 11 | #include "BTAddress.h" 12 | 13 | 14 | class BTAdvertisedDevice { 15 | public: 16 | virtual ~BTAdvertisedDevice() = default; 17 | 18 | virtual BTAddress getAddress(); 19 | virtual uint32_t getCOD(); 20 | virtual std::string getName(); 21 | virtual int8_t getRSSI(); 22 | 23 | 24 | virtual bool haveCOD(); 25 | virtual bool haveName(); 26 | virtual bool haveRSSI(); 27 | 28 | virtual std::string toString(); 29 | }; 30 | 31 | class BTAdvertisedDeviceSet : public virtual BTAdvertisedDevice { 32 | public: 33 | BTAdvertisedDeviceSet(); 34 | //~BTAdvertisedDeviceSet() = default; 35 | 36 | 37 | BTAddress getAddress(); 38 | uint32_t getCOD(); 39 | std::string getName(); 40 | int8_t getRSSI(); 41 | 42 | 43 | bool haveCOD(); 44 | bool haveName(); 45 | bool haveRSSI(); 46 | 47 | std::string toString(); 48 | 49 | void setAddress(BTAddress address); 50 | void setCOD(uint32_t cod); 51 | void setName(std::string name); 52 | void setRSSI(int8_t rssi); 53 | 54 | bool m_haveCOD; 55 | bool m_haveName; 56 | bool m_haveRSSI; 57 | 58 | 59 | BTAddress m_address = BTAddress((uint8_t*)"\0\0\0\0\0\0"); 60 | uint32_t m_cod; 61 | std::string m_name; 62 | int8_t m_rssi; 63 | }; 64 | 65 | #endif -------------------------------------------------------------------------------- /Firmware/RTK_Surveyor/src/BluetoothSerial/BTAdvertisedDeviceSet.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * BTAdvertisedDeviceSet.cpp 3 | * 4 | * Created on: Feb 5, 2021 5 | * Author: Thomas M. (ArcticSnowSky) 6 | */ 7 | 8 | #include "sdkconfig.h" 9 | #if defined(CONFIG_BT_ENABLED) && defined(CONFIG_BLUEDROID_ENABLED) 10 | 11 | //#include 12 | 13 | #include "BTAdvertisedDevice.h" 14 | //#include "BTScan.h" 15 | 16 | 17 | BTAdvertisedDeviceSet::BTAdvertisedDeviceSet() { 18 | m_cod = 0; 19 | m_name = ""; 20 | m_rssi = 0; 21 | 22 | m_haveCOD = false; 23 | m_haveName = false; 24 | m_haveRSSI = false; 25 | } // BTAdvertisedDeviceSet 26 | 27 | BTAddress BTAdvertisedDeviceSet::getAddress() { return m_address; } 28 | uint32_t BTAdvertisedDeviceSet::getCOD() { return m_cod; } 29 | std::string BTAdvertisedDeviceSet::getName() { return m_name; } 30 | int8_t BTAdvertisedDeviceSet::getRSSI() { return m_rssi; } 31 | 32 | 33 | bool BTAdvertisedDeviceSet::haveCOD() { return m_haveCOD; } 34 | bool BTAdvertisedDeviceSet::haveName() { return m_haveName; } 35 | bool BTAdvertisedDeviceSet::haveRSSI() { return m_haveRSSI; } 36 | 37 | /** 38 | * @brief Create a string representation of this device. 39 | * @return A string representation of this device. 40 | */ 41 | std::string BTAdvertisedDeviceSet::toString() { 42 | std::string res = "Name: " + getName() + ", Address: " + getAddress().toString(); 43 | if (haveCOD()) { 44 | char val[6]; 45 | snprintf(val, sizeof(val), "%d", getCOD()); 46 | res += ", cod: "; 47 | res += val; 48 | } 49 | if (haveRSSI()) { 50 | char val[6]; 51 | snprintf(val, sizeof(val), "%d", (int8_t)getRSSI()); 52 | res += ", rssi: "; 53 | res += val; 54 | } 55 | return res; 56 | } // toString 57 | 58 | 59 | void BTAdvertisedDeviceSet::setAddress(BTAddress address) { 60 | m_address = address; 61 | } 62 | 63 | void BTAdvertisedDeviceSet::setCOD(uint32_t cod) { 64 | m_cod = cod; 65 | m_haveCOD = true; 66 | } 67 | 68 | void BTAdvertisedDeviceSet::setName(std::string name) { 69 | m_name = name; 70 | m_haveName = true; 71 | } 72 | 73 | void BTAdvertisedDeviceSet::setRSSI(int8_t rssi) { 74 | m_rssi = rssi; 75 | m_haveRSSI = true; 76 | } 77 | 78 | #endif /* CONFIG_BT_ENABLED */ 79 | -------------------------------------------------------------------------------- /Firmware/RTK_Surveyor/src/BluetoothSerial/BTScan.h: -------------------------------------------------------------------------------- 1 | /* 2 | * BTScan.h 3 | * 4 | * Created on: Feb 5, 2021 5 | * Author: Thomas M. (ArcticSnowSky) 6 | */ 7 | 8 | #ifndef __BTSCAN_H__ 9 | #define __BTSCAN_H__ 10 | 11 | #include 12 | #include 13 | #include 14 | #include "BTAddress.h" 15 | #include "BTAdvertisedDevice.h" 16 | 17 | class BTAdvertisedDevice; 18 | class BTAdvertisedDeviceSet; 19 | 20 | 21 | class BTScanResults { 22 | public: 23 | virtual ~BTScanResults() = default; 24 | 25 | virtual void dump(Print *print = nullptr); 26 | virtual int getCount(); 27 | virtual BTAdvertisedDevice* getDevice(uint32_t i); 28 | }; 29 | 30 | class BTScanResultsSet : public BTScanResults { 31 | public: 32 | void dump(Print *print = nullptr); 33 | int getCount(); 34 | BTAdvertisedDevice* getDevice(uint32_t i); 35 | 36 | bool add(BTAdvertisedDeviceSet advertisedDevice, bool unique = true); 37 | void clear(); 38 | 39 | std::map m_vectorAdvertisedDevices; 40 | }; 41 | 42 | #endif -------------------------------------------------------------------------------- /Firmware/Test Sketches/Battery_Check/Battery_Check.ino: -------------------------------------------------------------------------------- 1 | /* 2 | Basic demonstration of the MAX17048 fuel gauge IC used in the RTK line. 3 | 4 | On the RTK Surveyor, one LED is used to indicate status. Battery level LED goes 5 | from Green (50-100%) to Yellow (10-50%) to Red (<10%) 6 | */ 7 | 8 | //Battery fuel gauge and PWM LEDs 9 | //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= 10 | #include // Click here to get the library: http://librarymanager/All#SparkFun_MAX1704x_Fuel_Gauge_Arduino_Library 11 | SFE_MAX1704X lipo(MAX1704X_MAX17048); 12 | 13 | // setting PWM properties 14 | const int pwmFreq = 5000; 15 | const int ledRedChannel = 0; 16 | const int ledGreenChannel = 1; 17 | const int ledBTChannel = 2; 18 | const int pwmResolution = 8; 19 | 20 | int pwmFadeAmount = 10; 21 | int btFadeLevel = 0; 22 | 23 | int battLevel = 0; //SOC measured from fuel gauge, in %. Used in multiple places (display, serial debug, log) 24 | float battVoltage = 0.0; 25 | float battChangeRate = 0.0; 26 | //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= 27 | 28 | uint32_t lastBattUpdate = 0; 29 | 30 | void setup() 31 | { 32 | Serial.begin(115200); 33 | delay(500); 34 | Serial.println("Battery example"); 35 | 36 | Wire.begin(); 37 | 38 | beginLEDs(); //LED and PWM setup 39 | 40 | beginFuelGauge(); //Configure battery fuel guage monitor 41 | checkBatteryLevels(); //Force check so you see battery level immediately at power on 42 | } 43 | 44 | void loop() 45 | { 46 | updateBattLEDs(); 47 | Serial.println("."); 48 | delay(1000); 49 | } 50 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/Battery_Check/Begin.ino: -------------------------------------------------------------------------------- 1 | //Configure the on board MAX17048 fuel gauge 2 | void beginFuelGauge() 3 | { 4 | // Set up the MAX17048 LiPo fuel gauge 5 | if (lipo.begin() == false) 6 | { 7 | Serial.println(F("MAX17048 not detected. Continuing.")); 8 | return; 9 | } 10 | 11 | //Always use hibernate mode 12 | if (lipo.getHIBRTActThr() < 0xFF) lipo.setHIBRTActThr((uint8_t)0xFF); 13 | if (lipo.getHIBRTHibThr() < 0xFF) lipo.setHIBRTHibThr((uint8_t)0xFF); 14 | 15 | Serial.println(F("MAX17048 configuration complete")); 16 | 17 | //online.battery = true; 18 | } 19 | 20 | //Set LEDs for output and configure PWM 21 | void beginLEDs() 22 | { 23 | // if (productVariant == RTK_SURVEYOR) 24 | // { 25 | // pinMode(pin_positionAccuracyLED_1cm, OUTPUT); 26 | // pinMode(pin_positionAccuracyLED_10cm, OUTPUT); 27 | // pinMode(pin_positionAccuracyLED_100cm, OUTPUT); 28 | // pinMode(pin_baseStatusLED, OUTPUT); 29 | // pinMode(pin_bluetoothStatusLED, OUTPUT); 30 | // pinMode(pin_setupButton, INPUT_PULLUP); //HIGH = rover, LOW = base 31 | // 32 | // digitalWrite(pin_positionAccuracyLED_1cm, LOW); 33 | // digitalWrite(pin_positionAccuracyLED_10cm, LOW); 34 | // digitalWrite(pin_positionAccuracyLED_100cm, LOW); 35 | // digitalWrite(pin_baseStatusLED, LOW); 36 | // digitalWrite(pin_bluetoothStatusLED, LOW); 37 | // 38 | // ledcSetup(ledRedChannel, pwmFreq, pwmResolution); 39 | // ledcSetup(ledGreenChannel, pwmFreq, pwmResolution); 40 | // ledcSetup(ledBTChannel, pwmFreq, pwmResolution); 41 | // 42 | // ledcAttachPin(pin_batteryLevelLED_Red, ledRedChannel); 43 | // ledcAttachPin(pin_batteryLevelLED_Green, ledGreenChannel); 44 | // ledcAttachPin(pin_bluetoothStatusLED, ledBTChannel); 45 | // 46 | // ledcWrite(ledRedChannel, 0); 47 | // ledcWrite(ledGreenChannel, 0); 48 | // ledcWrite(ledBTChannel, 0); 49 | // } 50 | } 51 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/Battery_Check/system.ino: -------------------------------------------------------------------------------- 1 | //Update Battery level LEDs every 5s 2 | void updateBattLEDs() 3 | { 4 | if (millis() - lastBattUpdate > 5000) 5 | { 6 | lastBattUpdate = millis(); 7 | 8 | checkBatteryLevels(); 9 | } 10 | } 11 | 12 | //When called, checks level of battery and updates the LED brightnesses 13 | //And outputs a serial message to USB 14 | void checkBatteryLevels() 15 | { 16 | battLevel = lipo.getSOC(); 17 | battVoltage = lipo.getVoltage(); 18 | battChangeRate = lipo.getChangeRate(); 19 | 20 | Serial.printf("Batt (%d%%): Voltage: %0.02fV", battLevel, battVoltage); 21 | 22 | char tempStr[25]; 23 | if (battChangeRate > 0) 24 | sprintf(tempStr, "C"); 25 | else 26 | sprintf(tempStr, "Disc"); 27 | Serial.printf(" %sharging: %0.02f%%/hr ", tempStr, battChangeRate); 28 | 29 | if (battLevel < 10) 30 | sprintf(tempStr, "Red"); 31 | else if (battLevel < 50) 32 | sprintf(tempStr, "Yellow"); 33 | else if (battLevel >= 50) 34 | sprintf(tempStr, "Green"); 35 | else 36 | sprintf(tempStr, "No batt"); 37 | 38 | Serial.printf("%s\n\r", tempStr); 39 | 40 | // if (productVariant == RTK_SURVEYOR) 41 | // { 42 | // if (battLevel < 10) 43 | // { 44 | // ledcWrite(ledRedChannel, 255); 45 | // ledcWrite(ledGreenChannel, 0); 46 | // } 47 | // else if (battLevel < 50) 48 | // { 49 | // ledcWrite(ledRedChannel, 128); 50 | // ledcWrite(ledGreenChannel, 128); 51 | // } 52 | // else if (battLevel >= 50) 53 | // { 54 | // ledcWrite(ledRedChannel, 0); 55 | // ledcWrite(ledGreenChannel, 255); 56 | // } 57 | // else 58 | // { 59 | // ledcWrite(ledRedChannel, 10); 60 | // ledcWrite(ledGreenChannel, 0); 61 | // } 62 | // } 63 | } 64 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/Button_Read/System.ino: -------------------------------------------------------------------------------- 1 | //Ping an I2C device and see if it responds 2 | bool isConnected(uint8_t deviceAddress) 3 | { 4 | Wire.beginTransmission(deviceAddress); 5 | if (Wire.endTransmission() == 0) 6 | return true; 7 | return false; 8 | } 9 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/Button_Read/Tasks.ino: -------------------------------------------------------------------------------- 1 | 2 | //Monitor momentary buttons or rocker switches, depending on platform 3 | void ButtonCheckTask(void *e) 4 | { 5 | if (setupBtn != NULL) setupBtn->begin(); 6 | if (powerBtn != NULL) powerBtn->begin(); 7 | 8 | while (true) 9 | { 10 | if (productVariant == RTK_SURVEYOR) 11 | { 12 | setupBtn->read(); 13 | 14 | //When switch is set to '1' = BASE, pin will be shorted to ground 15 | if (setupBtn->isPressed()) //Switch is set to base mode 16 | { 17 | Serial.println("Rocker: Base"); 18 | delay(100); 19 | } 20 | else if (setupBtn->wasReleased()) //Switch is set to Rover 21 | { 22 | Serial.println("Rocker: Rover"); 23 | } 24 | } 25 | else if (productVariant == RTK_EXPRESS || productVariant == RTK_EXPRESS_PLUS) //Express: Check both of the momentary switches 26 | { 27 | setupBtn->read(); 28 | powerBtn->read(); 29 | 30 | if (setupBtn->isPressed()) 31 | { 32 | Serial.println("Setup button pressed"); 33 | delay(100); 34 | } 35 | else if (setupBtn->wasReleased()) 36 | { 37 | Serial.println("Setup button released"); 38 | } 39 | if (powerBtn->isPressed()) 40 | { 41 | Serial.println("Power button pressed"); 42 | delay(100); 43 | } 44 | else if (powerBtn->wasReleased()) 45 | { 46 | Serial.println("Power button released"); 47 | } 48 | } //End Platform = RTK Express 49 | 50 | else if (productVariant == RTK_FACET) //Check one momentary button 51 | { 52 | powerBtn->read(); 53 | 54 | if (powerBtn->isPressed()) 55 | { 56 | Serial.println("Power button pressed"); 57 | delay(100); 58 | } 59 | else if (powerBtn->wasReleased()) 60 | { 61 | Serial.println("Power button released"); 62 | } 63 | } //End Platform = RTK Facet 64 | 65 | delay(1); //Poor man's way of feeding WDT. Required to prevent Priority 1 tasks from causing WDT reset 66 | taskYIELD(); 67 | } 68 | } 69 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/Core_Load/Core_Load.ino: -------------------------------------------------------------------------------- 1 | /* 2 | https://esp32.com/viewtopic.php?t=9820 3 | https://esp32.com/viewtopic.php?t=7086 4 | https://github.com/pglen/esp32_cpu_load/blob/master/main/cpu_load.c 5 | https://esp32.com/viewtopic.php?t=11371 6 | https://forums.freertos.org/t/how-can-a-task-with-lower-priority-to-recover-from-starvation/11705/2 7 | 8 | The lowest priority should not block. 9 | */ 10 | 11 | #define MAX_CPU_CORES 2 12 | 13 | TaskHandle_t idleTaskHandle0 = nullptr; 14 | uint32_t maxIdleCount0 = 0; 15 | uint32_t idleCount0 = 0; 16 | 17 | TaskHandle_t idleTaskHandle1 = nullptr; 18 | uint32_t maxIdleCount1 = 0; 19 | uint32_t idleCount1 = 0; 20 | 21 | unsigned long lastLoadTest = 0; 22 | 23 | void setup() 24 | { 25 | Serial.begin(115200); 26 | delay(250); 27 | Serial.println("ESP32 Core Loads"); 28 | 29 | beginIdleTasks(); 30 | 31 | //Calculate the 100% idle amount 32 | idleCount0 = 0; 33 | idleCount1 = 0; 34 | delay(10); //Allow the idle tasks to freely run up counter 35 | maxIdleCount0 = idleCount0 * 100; 36 | maxIdleCount1 = idleCount1 * 100; 37 | 38 | Serial.printf("idleCount0: %d\r\n", idleCount0); 39 | Serial.printf("maxIdleCount0: %d\r\n", maxIdleCount0); 40 | Serial.printf("idleCount1: %d\r\n", idleCount1); 41 | Serial.printf("maxIdleCount1: %d\r\n", maxIdleCount1); 42 | } 43 | 44 | void loop() 45 | { 46 | // Every 5 seconds, we put the processor to work. 47 | if (millis() - lastLoadTest > 5000) 48 | { 49 | lastLoadTest = millis(); 50 | Serial.print("Loading core - "); 51 | 52 | //delayMicroseconds(100000); //Blocks the 0 priority task for 10% 53 | 54 | //Do a million floating point calcs to tie up the processor for ~20% 55 | double counter = 1.0; 56 | for (uint32_t x = 0 ; x < 1000000; x++) 57 | counter *= 3.14159; 58 | // counter *= 1.000001; 59 | 60 | //We have to actually use/print the variable otherwise compiler will dispose of unused chars/code 61 | //and there will be no load on the processor 62 | Serial.printf("counter: %0.2f\r\n", counter); 63 | } 64 | 65 | lowerTaskYield(); //Allows lower priority (0) tasks to run - block the active task so the idle task can run and feed the watchdog 66 | taskYIELD(); //Yields to tasks with the same priority or higher 67 | } 68 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/Display/DisplayHelper.ino: -------------------------------------------------------------------------------- 1 | 2 | bool isConnected(uint8_t deviceAddress) 3 | { 4 | Wire.beginTransmission(deviceAddress); 5 | if (Wire.endTransmission() == 0) 6 | return true; 7 | return false; 8 | } 9 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/Display/settings.h: -------------------------------------------------------------------------------- 1 | //Monitor which devices on the device are on or offline. 2 | struct struct_online { 3 | bool microSD = false; 4 | bool display = false; 5 | bool gnss = false; 6 | bool logging = false; 7 | bool serialOutput = false; 8 | bool fs = false; 9 | bool rtc = false; 10 | bool battery = false; 11 | bool accelerometer = false; 12 | bool ntripClient = false; 13 | bool lband = false; 14 | } online; 15 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/Idle_Loop/Idle_Loop.ino: -------------------------------------------------------------------------------- 1 | /* 2 | Idle loop 3 | By: Lee Leahy 4 | SparkFun Electronics 5 | Date: July 9th, 2022 6 | License: MIT. See license file for more information but you can 7 | basically do whatever you want with this code. 8 | 9 | This example determines the count for the idle loop 10 | */ 11 | 12 | #define testTimeSecs (3 * 60) 13 | 14 | uint32_t startTime; 15 | uint32_t idleCount; 16 | 17 | void setup() 18 | { 19 | Serial.begin(115200); 20 | idleCount = 0; 21 | startTime = millis(); 22 | } 23 | 24 | void loop() 25 | { 26 | //Query module only every second. 27 | //The module only responds when a new position is available. 28 | while ((millis() - startTime) < (testTimeSecs * 1000)) 29 | { 30 | idleCount++; 31 | yield(); 32 | } 33 | 34 | //Display the idle count 35 | Serial.printf("Count / Second = %d\r\n", idleCount / testTimeSecs); 36 | 37 | //Done 38 | while(1) 39 | delay(1000); 40 | } 41 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/NTRIP_Server/secrets.h: -------------------------------------------------------------------------------- 1 | //const char* ssid = "Rover1"; 2 | //const char* password = "notHere1"; 3 | 4 | const char* ssid = "TRex"; 5 | const char* password = "parachutes"; 6 | 7 | //const char* ssid = "Sparky"; 8 | //const char* password = "sparkfun"; 9 | 10 | const char* mntpnt_pw = "WR5wRo4H"; 11 | const char* mntpnt = "bldr_dwntwn2"; 12 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/NTRIP_Server/support.ino: -------------------------------------------------------------------------------- 1 | //Get single byte from user 2 | //Waits for and returns the character that the user provides 3 | //Returns STATUS_GETNUMBER_TIMEOUT if input times out 4 | //Returns 'x' if user presses 'x' 5 | uint8_t getByteChoice(int numberOfSeconds) 6 | { 7 | Serial.flush(); 8 | delay(50);//Wait for any incoming chars to hit buffer 9 | while (Serial.available() > 0) Serial.read(); //Clear buffer 10 | 11 | long startTime = millis(); 12 | byte incoming; 13 | while (1) 14 | { 15 | delay(10); //Yield to processor 16 | 17 | if (Serial.available() > 0) 18 | { 19 | incoming = Serial.read(); 20 | // Serial.print(F("byte: 0x")); 21 | // Serial.println(incoming, HEX); 22 | if (incoming >= 'a' && incoming <= 'z') break; 23 | if (incoming >= 'A' && incoming <= 'Z') break; 24 | if (incoming >= '0' && incoming <= '9') break; 25 | } 26 | 27 | if ( (millis() - startTime) / 1000 >= numberOfSeconds) 28 | { 29 | Serial.println(F("No user input received.")); 30 | return (-1); //Timeout. No user input. 31 | } 32 | } 33 | 34 | return (incoming); 35 | } 36 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/SD_FileListing/System.ino: -------------------------------------------------------------------------------- 1 | //Create a test file in file structure to make sure we can 2 | bool createTestFile() 3 | { 4 | SdFile testFile; 5 | char testFileName[40] = "testfile.txt"; 6 | 7 | if (xFATSemaphore == NULL) 8 | { 9 | log_d("xFATSemaphore is Null"); 10 | return (false); 11 | } 12 | 13 | //Attempt to write to file system. This avoids collisions with file writing from other functions like recordSystemSettingsToFile() and F9PSerialReadTask() 14 | if (xSemaphoreTake(xFATSemaphore, fatSemaphore_shortWait_ms) == pdPASS) 15 | { 16 | if (testFile.open(testFileName, O_CREAT | O_APPEND | O_WRITE) == true) 17 | { 18 | testFile.close(); 19 | 20 | if (sd.exists(testFileName)) 21 | sd.remove(testFileName); 22 | xSemaphoreGive(xFATSemaphore); 23 | return (true); 24 | } 25 | xSemaphoreGive(xFATSemaphore); 26 | } 27 | 28 | return (false); 29 | } 30 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/SD_UART_Tasks/settings.h: -------------------------------------------------------------------------------- 1 | //Monitor which devices on the device are on or offline. 2 | struct struct_online { 3 | bool microSD = false; 4 | bool display = false; 5 | bool gnss = false; 6 | bool logging = false; 7 | bool serialOutput = false; 8 | bool fs = false; 9 | bool rtc = false; 10 | bool battery = false; 11 | bool accelerometer = false; 12 | bool ntripClient = false; 13 | bool ntripServer = false; 14 | bool lband = false; 15 | bool lbandCorrections = false; 16 | bool i2c = false; 17 | bool nmeaClient = false; 18 | bool nmeaServer = false; 19 | } online; 20 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/StayOn/StayOn.bin: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sparkfun/SparkFun_RTK_Firmware/1b542ac7f3113dd78a4e4811d7d3a30f7211ce26/Firmware/Test Sketches/StayOn/StayOn.bin -------------------------------------------------------------------------------- /Firmware/Test Sketches/StayOn/StayOn.ino: -------------------------------------------------------------------------------- 1 | /* 2 | Keeps ESP32 running in infinite loop 3 | */ 4 | 5 | void setup() 6 | { 7 | Serial.begin(115200); 8 | Serial.println("Power on"); 9 | } 10 | 11 | void loop() 12 | { 13 | delay(100); 14 | Serial.print("."); 15 | } 16 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/StayOn/Successful Loading of StayOn.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sparkfun/SparkFun_RTK_Firmware/1b542ac7f3113dd78a4e4811d7d3a30f7211ce26/Firmware/Test Sketches/StayOn/Successful Loading of StayOn.jpg -------------------------------------------------------------------------------- /Firmware/Test Sketches/StayOn/batch_program.bat: -------------------------------------------------------------------------------- 1 | @echo off 2 | 3 | if [%1]==[] goto usage 4 | 5 | @echo Programming for SparkFun RTK Surveyor 6 | @pause 7 | :loop 8 | 9 | @echo - 10 | @echo Programming binary on %1 11 | 12 | rem @esptool.exe --chip esp32 --port COM6 --baud 921600 --before default_reset --after hard_reset write_flash -z --flash_mode dio --flash_freq 80m --flash_size detect 0 RTK_Surveyor_Firmware_v13_combined.bin 13 | @esptool.exe --chip esp32 --port %1 --baud 921600 --before default_reset --after hard_reset write_flash -z --flash_mode dio --flash_freq 80m --flash_size detect 0 StayOn.bin 14 | 15 | @echo Done programming! Ready for next board. 16 | @pause 17 | 18 | goto loop 19 | 20 | :usage 21 | @echo Missing the binary file and com port arguments. Ex: batch_program.bat COM4 -------------------------------------------------------------------------------- /Firmware/Test Sketches/StayOn/esptool.exe: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sparkfun/SparkFun_RTK_Firmware/1b542ac7f3113dd78a4e4811d7d3a30f7211ce26/Firmware/Test Sketches/StayOn/esptool.exe -------------------------------------------------------------------------------- /Firmware/Test Sketches/StayOn/readme.md: -------------------------------------------------------------------------------- 1 | This folder contains a 'StayOn' firmware that forces the ESP32 into standby mode regardless of the rest of the system. This is useful on units that require troubleshooting or alternate firmware to be loaded. A USB cable must be connected between the RTK unit and the 'CONFIG ESP32' port. Run 'batch_program.bat COM4' where *COM4* is replaced with the COM port that RTK unit enumerated at. Once the batch file is running, press return to attempt to load the firmware. You will need to press and hold the power button on the unit then press enter to send new firmware while the ESP32 is awake. Once the firmware is loaded, you will no longer need to hold the power button. 2 | 3 | Once the firmware is loaded, the unit will not have a display, or respond to Bluetooth or do anything useful, other than stay available for a new firmware to be loaded. 4 | 5 | For those who want to run the CLI directly, use the following command: 6 | 7 | esptool.exe --chip esp32 --port COM4 --baud 921600 --before default_reset --after hard_reset write_flash -z --flash_mode dio --flash_freq 80m --flash_size detect 0x00 StayOn.bin 8 | 9 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/System_Check/Buttons.ino: -------------------------------------------------------------------------------- 1 | //If we have a power button tap, or if the display is not yet started (no I2C!) 2 | //then don't display a shutdown screen 3 | void powerDown(bool displayInfo) 4 | { 5 | //Disable SD card use 6 | //endSD(false, false); 7 | 8 | //Prevent other tasks from logging, even if access to the microSD card was denied 9 | online.logging = false; 10 | 11 | if (displayInfo == true) 12 | { 13 | //displayShutdown(); 14 | //delay(2000); 15 | } 16 | 17 | pinMode(pin_powerSenseAndControl, OUTPUT); 18 | digitalWrite(pin_powerSenseAndControl, LOW); 19 | 20 | pinMode(pin_powerFastOff, OUTPUT); 21 | digitalWrite(pin_powerFastOff, LOW); 22 | 23 | while (1) 24 | delay(1); 25 | } 26 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/System_Check/System.ino: -------------------------------------------------------------------------------- 1 | //Ping an I2C device and see if it responds 2 | bool isConnected(uint8_t deviceAddress) 3 | { 4 | Wire.beginTransmission(deviceAddress); 5 | if (Wire.endTransmission() == 0) 6 | return true; 7 | return false; 8 | } 9 | 10 | //boolean SFE_UBLOX_GNSS_ADD::getModuleInfo(uint16_t maxWait) 11 | //{ 12 | // theGNSS.minfo.hwVersion[0] = 0; 13 | // theGNSS.minfo.swVersion[0] = 0; 14 | // for (int i = 0; i < 10; i++) 15 | // theGNSS.minfo.extension[i][0] = 0; 16 | // theGNSS.minfo.extensionNo = 0; 17 | // 18 | // // Let's create our custom packet 19 | // uint8_t customPayload[MAX_PAYLOAD_SIZE]; // This array holds the payload data bytes 20 | // 21 | // // The next line creates and initialises the packet information which wraps around the payload 22 | // ubxPacket customCfg = {0, 0, 0, 0, 0, customPayload, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED}; 23 | // 24 | // customCfg.cls = UBX_CLASS_MON; // This is the message Class 25 | // customCfg.id = UBX_MON_VER; // This is the message ID 26 | // customCfg.len = 0; // Setting the len (length) to zero let's us poll the current settings 27 | // customCfg.startingSpot = 0; // Always set the startingSpot to zero (unless you really know what you are doing) 28 | // 29 | // // Now let's send the command. The module info is returned in customPayload 30 | // 31 | // if (sendCommand(&customCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) 32 | // return (false); //If command send fails then bail 33 | // 34 | // // Now let's extract the module info from customPayload 35 | // 36 | // uint16_t position = 0; 37 | // for (int i = 0; i < 30; i++) 38 | // { 39 | // minfo.swVersion[i] = customPayload[position]; 40 | // position++; 41 | // } 42 | // for (int i = 0; i < 10; i++) 43 | // { 44 | // minfo.hwVersion[i] = customPayload[position]; 45 | // position++; 46 | // } 47 | // 48 | // while (customCfg.len >= position + 30) 49 | // { 50 | // for (int i = 0; i < 30; i++) 51 | // { 52 | // minfo.extension[minfo.extensionNo][i] = customPayload[position]; 53 | // position++; 54 | // } 55 | // minfo.extensionNo++; 56 | // if (minfo.extensionNo > 9) 57 | // break; 58 | // } 59 | // 60 | // return (true); //Success! 61 | //} 62 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/System_Check/System_Check.ino.esp32.bin: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sparkfun/SparkFun_RTK_Firmware/1b542ac7f3113dd78a4e4811d7d3a30f7211ce26/Firmware/Test Sketches/System_Check/System_Check.ino.esp32.bin -------------------------------------------------------------------------------- /Firmware/Test Sketches/System_Check/batch_program.bat: -------------------------------------------------------------------------------- 1 | @echo off 2 | 3 | if [%1]==[] goto usage 4 | 5 | @echo Programming for SparkFun RTK Surveyor 6 | @pause 7 | :loop 8 | 9 | @echo - 10 | @echo Programming binary: %1 on %2 11 | 12 | esptool.exe --chip esp32 --port %2 --baud 921600 --before default_reset --after hard_reset write_flash -z --flash_mode dio --flash_freq 80m --flash_size detect ^ 13 | 0x1000 ./bin/RTK_Surveyor.ino.bootloader.bin ^ 14 | 0x8000 ./bin/RTK_Surveyor.ino.partitions.bin ^ 15 | 0xe000 ./bin/boot_app0.bin ^ 16 | 0x10000 ./%1 17 | 18 | @echo Done programming! Ready for next board. 19 | @pause 20 | 21 | goto loop 22 | 23 | :usage 24 | @echo Missing the binary file and com port arguments. Ex: batch_program.bat RTK_Surveyor_Firmware_v1_10.bin COM6 -------------------------------------------------------------------------------- /Firmware/Test Sketches/System_Check/bin/RTK_Surveyor.ino.bootloader.bin: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sparkfun/SparkFun_RTK_Firmware/1b542ac7f3113dd78a4e4811d7d3a30f7211ce26/Firmware/Test Sketches/System_Check/bin/RTK_Surveyor.ino.bootloader.bin -------------------------------------------------------------------------------- /Firmware/Test Sketches/System_Check/bin/RTK_Surveyor.ino.partitions.bin: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sparkfun/SparkFun_RTK_Firmware/1b542ac7f3113dd78a4e4811d7d3a30f7211ce26/Firmware/Test Sketches/System_Check/bin/RTK_Surveyor.ino.partitions.bin -------------------------------------------------------------------------------- /Firmware/Test Sketches/System_Check/bin/boot_app0.bin: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sparkfun/SparkFun_RTK_Firmware/1b542ac7f3113dd78a4e4811d7d3a30f7211ce26/Firmware/Test Sketches/System_Check/bin/boot_app0.bin -------------------------------------------------------------------------------- /Firmware/Test Sketches/System_Check/esptool.exe: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sparkfun/SparkFun_RTK_Firmware/1b542ac7f3113dd78a4e4811d7d3a30f7211ce26/Firmware/Test Sketches/System_Check/esptool.exe -------------------------------------------------------------------------------- /Firmware/Test Sketches/System_Check/menuFirmware.ino: -------------------------------------------------------------------------------- 1 | // Format the firmware version 2 | void formatFirmwareVersion(uint8_t major, uint8_t minor, char *buffer, int bufferLength, bool includeDate) 3 | { 4 | char prefix; 5 | 6 | // Construct the full or release candidate version number 7 | prefix = 'd'; 8 | // if (enableRCFirmware && (bufferLength >= 21)) 9 | // // 123456789012345678901 10 | // // pxxx.yyy-dd-mmm-yyyy0 11 | // snprintf(buffer, bufferLength, "%c%d.%d-%s", prefix, major, minor, __DATE__); 12 | 13 | // Construct a truncated version number 14 | if (bufferLength >= 9) 15 | // 123456789 16 | // pxxx.yyy0 17 | snprintf(buffer, bufferLength, "%c%d.%d", prefix, major, minor); 18 | 19 | // The buffer is too small for the version number 20 | else 21 | { 22 | Serial.printf("ERROR: Buffer too small for version number!\r\n"); 23 | if (bufferLength > 0) 24 | *buffer = 0; 25 | } 26 | } 27 | 28 | // Get the current firmware version 29 | void getFirmwareVersion(char *buffer, int bufferLength, bool includeDate) 30 | { 31 | formatFirmwareVersion(FIRMWARE_VERSION_MAJOR, FIRMWARE_VERSION_MINOR, buffer, bufferLength, includeDate); 32 | } 33 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/System_Check/menuGNSS.ino: -------------------------------------------------------------------------------- 1 | //Print the module type and firmware version 2 | void printZEDInfo() 3 | { 4 | if (zedModuleType == PLATFORM_F9P) 5 | Serial.printf("ZED-F9P firmware: %s\n\r", zedFirmwareVersion); 6 | else if (zedModuleType == PLATFORM_F9R) 7 | Serial.printf("ZED-F9R firmware: %s\n\r", zedFirmwareVersion); 8 | else 9 | Serial.printf("Unknown module with firmware: %s\n\r", zedFirmwareVersion); 10 | } 11 | 12 | 13 | //Print the NEO firmware version 14 | void printNEOInfo() 15 | { 16 | if (productVariant == RTK_FACET_LBAND) 17 | Serial.printf("NEO-D9S firmware: %s\n\r", neoFirmwareVersion); 18 | } 19 | -------------------------------------------------------------------------------- /Firmware/Test Sketches/WebServer/Print.ino: -------------------------------------------------------------------------------- 1 | void printIpAddress(IPAddress ip) { 2 | 3 | // Display the IP address 4 | Serial.println(ip); 5 | } 6 | 7 | //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- 8 | void printWiFiGatewayIp() { 9 | 10 | // Display the subnet mask 11 | Serial.print ("Gateway: "); 12 | IPAddress ip = WiFi.gatewayIP(); 13 | printIpAddress(ip); 14 | } 15 | 16 | //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- 17 | void printWiFiIpAddress() { 18 | 19 | // Display the IP address 20 | Serial.print ("IP Address: "); 21 | IPAddress ip = WiFi.localIP(); 22 | printIpAddress(ip); 23 | } 24 | 25 | //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- 26 | void printWiFiMacAddress() { 27 | // Display the MAC address 28 | byte mac[6]; 29 | WiFi.macAddress(mac); 30 | Serial.print("MAC address: "); 31 | Serial.print(mac[5], HEX); 32 | Serial.print(":"); 33 | Serial.print(mac[4], HEX); 34 | Serial.print(":"); 35 | Serial.print(mac[3], HEX); 36 | Serial.print(":"); 37 | Serial.print(mac[2], HEX); 38 | Serial.print(":"); 39 | Serial.print(mac[1], HEX); 40 | Serial.print(":"); 41 | Serial.println(mac[0], HEX); 42 | } 43 | 44 | //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- 45 | void printWiFiNetwork() { 46 | 47 | // Display the SSID 48 | Serial.print("SSID: "); 49 | Serial.println(WiFi.SSID()); 50 | 51 | // Display the receive signal strength 52 | long rssi = WiFi.RSSI(); 53 | Serial.print("Signal strength (RSSI):"); 54 | Serial.println(rssi); 55 | } 56 | 57 | //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- 58 | void printWiFiSubnetMask() { 59 | 60 | // Display the subnet mask 61 | Serial.print ("Subnet Mask: "); 62 | IPAddress ip = WiFi.subnetMask(); 63 | printIpAddress(ip); 64 | } 65 | -------------------------------------------------------------------------------- /Firmware/Tools/PVT_Server.py: -------------------------------------------------------------------------------- 1 | # TCP Server: 2 | # https://realpython.com/python-sockets/#echo-server 3 | # https://stackoverflow.com/a/61539628 4 | 5 | import socket 6 | 7 | HOST = "0.0.0.0" # Connect to all network adapters on the system 8 | PORT = 2948 9 | 10 | print("Listening on {}:{}".format(HOST,PORT)) 11 | 12 | s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 13 | s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) 14 | s.bind((HOST, PORT)) 15 | s.listen() 16 | s.settimeout(2) 17 | 18 | try: 19 | while True: 20 | try: 21 | conn, addr = s.accept() 22 | with conn: 23 | print("Connection from {}:".format(addr[0])) 24 | try: 25 | while True: 26 | data = conn.recv(1024) 27 | if data: 28 | print("{}".format(data.decode())) 29 | except KeyboardInterrupt: 30 | break 31 | except KeyboardInterrupt: 32 | break 33 | except socket.timeout: 34 | pass 35 | 36 | except KeyboardInterrupt: 37 | pass 38 | 39 | finally: 40 | s.close() 41 | -------------------------------------------------------------------------------- /Firmware/Tools/crc24q.h: -------------------------------------------------------------------------------- 1 | /* Interface for CRC-24Q cyclic redundancy chercksum code 2 | * 3 | * This file is Copyright 2010 by the GPSD project 4 | * SPDX-License-Identifier: BSD-2-clause 5 | */ 6 | 7 | //This file is originally from: https://gitlab.com/gpsd/gpsd/-/blob/master/include/crc24q.h 8 | 9 | #include 10 | 11 | #ifndef _CRC24Q_H_ 12 | #define _CRC24Q_H_ 13 | 14 | extern void crc24q_sign(unsigned char *data, int len); 15 | 16 | extern bool crc24q_check(unsigned char *data, int len); 17 | 18 | extern unsigned crc24q_hash(unsigned char *data, int len); 19 | #endif /* _CRC24Q_H_ */ 20 | // vim: set expandtab shiftwidth=4 21 | -------------------------------------------------------------------------------- /Firmware/app3M_fat9M_16MB - Future.csv: -------------------------------------------------------------------------------- 1 | # Name, Type, SubType, Offset, Size, Flags 2 | nvs, data, nvs, 0x9000, 0x5000, 3 | otadata, data, ota, 0xe000, 0x2000, 4 | app0, app, ota_0, 0x10000, 0x640000, 5 | app1, app, ota_1, 0x650000,0x640000, 6 | spiffs, data, spiffs, 0xc90000,0x360000, 7 | coredump, data, coredump,0xFF0000,0x10000, 8 | -------------------------------------------------------------------------------- /Firmware/app3M_fat9M_16MB.csv: -------------------------------------------------------------------------------- 1 | # Name, Type, SubType, Offset, Size, Flags 2 | nvs, data, nvs, 0x9000, 0x5000, 3 | otadata, data, ota, 0xe000, 0x2000, 4 | app0, app, ota_0, 0x10000, 0x640000, 5 | app1, app, ota_1, 0x650000,0x640000, 6 | spiffs, data, spiffs, 0xc90000,0x370000, 7 | -------------------------------------------------------------------------------- /Firmware/readme.md: -------------------------------------------------------------------------------- 1 | # Firmware 2 | 3 | This folder contains the Arduino sketches that make up the firmware that runs on the ESP32. Go [here](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#updating-u-blox-firmware) for more information about the firmware that runs the ZED-F9x Receiver. 4 | 5 | * **RTK_Surveyor** - The main firmware for the RTK Surveyor 6 | * **Test Sketches** - Various sketches used in the making of the main firmware. Used internally to verify different features. Reader beware. 7 | 8 | ## Compilation Instructions 9 | 10 | See [Compiling Source](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#compiling-source) for detailed steps. 11 | -------------------------------------------------------------------------------- /Graphics/Base-Fixed.bmp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sparkfun/SparkFun_RTK_Firmware/1b542ac7f3113dd78a4e4811d7d3a30f7211ce26/Graphics/Base-Fixed.bmp -------------------------------------------------------------------------------- /Graphics/Base-Temporary.bmp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sparkfun/SparkFun_RTK_Firmware/1b542ac7f3113dd78a4e4811d7d3a30f7211ce26/Graphics/Base-Temporary.bmp -------------------------------------------------------------------------------- /Graphics/Battery-0.bmp: 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EXECUTABLES = Fonts 12 | EXECUTABLES += Icons 13 | 14 | ########## 15 | # Buid tools and rules 16 | ########## 17 | 18 | GCC = gcc 19 | CFLAGS = -flto -O3 -Wpedantic -pedantic-errors -Wall -Wextra -Werror -Wno-unused-variable -Wno-unused-parameter 20 | CC = $(GCC) $(CFLAGS) 21 | 22 | %.o: %.c $(INCLUDES) 23 | $(CC) -c -o $@ $< 24 | 25 | %: %.c $(INCLUDES) 26 | $(CC) $(CFLAGS) -o $@ $< 27 | 28 | ########## 29 | # Buid all the sources - must be first 30 | ########## 31 | 32 | .PHONY: all 33 | 34 | all: $(EXECUTABLES) 35 | 36 | ######## 37 | # Clean the build directory 38 | ########## 39 | 40 | .PHONY: clean 41 | 42 | clean: 43 | rm -f *.o *.a $(EXECUTABLES) 44 | -------------------------------------------------------------------------------- /Graphics/CrossHair-Dual.bmp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sparkfun/SparkFun_RTK_Firmware/1b542ac7f3113dd78a4e4811d7d3a30f7211ce26/Graphics/CrossHair-Dual.bmp 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//------------------------------------------------------------------------------ 5 | 6 | const unsigned char WiFi Symbol-0 [] = { 7 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 8 | 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 9 | }; 10 | -------------------------------------------------------------------------------- /Issue_Template.md: -------------------------------------------------------------------------------- 1 | ### Subject of the issue 2 | Describe your issue here. Additionally, screenshots are easy to paste into github. 3 | 4 | ### Your workbench 5 | * What version of RTK firmware are you running? This can be found when the serial menu is opened (also in the settings.txt file, and in the serial output at power up). 6 | * What radios are you using: Bluetooth, WiFi, and/or ESP-Now? What app are you using to connect over Bluetooth? Are you transmitting NTRIP back to the device? 7 | * Are there any additional details that may help us help you? 8 | 9 | ### Steps to reproduce 10 | Tell us how to reproduce this issue. Please post any log files from serial output that may have been generated. 11 | 12 | ### Expected behavior 13 | Tell us what should happen 14 | 15 | ### Actual behavior 16 | Tell us what happens instead -------------------------------------------------------------------------------- /docs/configure_with_ucenter.md: -------------------------------------------------------------------------------- 1 | # Configure with u-center 2 | 3 | Surveyor: ![Feature Partially Supported](img/Icons/YellowDot.png) / Express: ![Feature Partially Supported](img/Icons/YellowDot.png) / Express Plus: ![Feature Partially Supported](img/Icons/YellowDot.png) / Facet: ![Feature Partially Supported](img/Icons/YellowDot.png) / Facet L-Band: ![Feature Partially Supported](img/Icons/YellowDot.png) / Reference Station: ![Feature Partially Supported](img/Icons/YellowDot.png) 4 | 5 | The ZED-F9P module can be configured independently using the u-center software from u-blox by connecting a USB cable to the *Config u-blox* USB connector. Settings can be saved to the module between power cycles. For more information please see SparkFun’s [Getting Started with u-center by u-blox](https://learn.sparkfun.com/tutorials/getting-started-with-u-center-for-u-blox/all). 6 | 7 | However, because the ESP32 does considerable configuration of the ZED-F9P at power on it is not recommended to modify the settings of the ZED-F9P using u-center. Nothing will break but your changes will likely be overwritten at the next power cycle. 8 | -------------------------------------------------------------------------------- /docs/contribute.md: -------------------------------------------------------------------------------- 1 | # Fix That Typo! 2 | 3 | All of this documentation can be modified by you! Please help us make it better. 4 | 5 | ![Edit button on page]() 6 | 7 | *The edit button at the top of every page* 8 | 9 | Does something not make sense? Find a typo? Hit the edit button and make it better. If a section is confusing please [open an issue](https://github.com/sparkfun/SparkFun_RTK_Firmware/issues) and let us know. 10 | 11 | These pages are contained in the [docs folder](https://github.com/sparkfun/SparkFun_RTK_Firmware/tree/main/docs) of the [SparkFun RTK Firmware](https://github.com/sparkfun/SparkFun_RTK_Firmware) repository. 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Supported](img/Icons/GreenDot.png) / Express: ![Feature Supported](img/Icons/GreenDot.png) / Express Plus: ![Feature Supported](img/Icons/GreenDot.png) / Facet: ![Feature Supported](img/Icons/GreenDot.png) / Facet L-Band: ![Feature Supported](img/Icons/GreenDot.png) / Reference Station: ![Feature Supported](img/Icons/GreenDot.png) 4 | 5 | 6 | ![System Debug Menu](img/Terminal/SparkFun%20RTK%20Debug%20Menu.png) 7 | 8 | *Showing the debug menu* 9 | 10 | The Debug menu enables the user to enable and disable various debug features. None of these options are needed for normal users or daily use. These are provided for faster software development and troubleshooting. 11 | 12 | 1. **I2C Debugging Output** - Enable additional ZED-F9P interface debug messages 13 | 2. **Heap Reporting** - Display currently available bytes, lowest value and the largest block 14 | 3. **Task Highwater Reporting** - Shows stack usage of select tasks 15 | 4. **Set the SPI / microSD card frequency** - SD card interface speed. Default is 16MHz. 16 | 5. **Set SPP RX buffer size** - Default 128 bytes 17 | 6. **Set SPP TX buffer size** - Controls how large the buffer used to communicate over Bluetooth 18 | 7. **Throttle Bluetooth transmissions during SPP congestion** - Reduce bytes transmitted if Bluetooth link becomes busy 19 | 8. **Display reset counter** - Enable to display a small number indicating non-power on reset count 20 | 9. **Set GNSS serial timeout in seconds** - Sets the number of milliseconds before reporting serial available 21 | 10. Periodically display WiFi IP Address 22 | 11. Periodically display system states 23 | 12. Periodically display WiFi states 24 | 13. Periodically display NTRIP Client states 25 | 14. Periodically display NTRIP Server states 26 | 27 | * **t** - Display the test screen 28 | * **e** - Erase LittleFS: Clear settings and profiles saved internally (not on microSD card) 29 | * **r** - Reset the system 30 | * **x** - Exit the debug menu 31 | -------------------------------------------------------------------------------- /docs/menu_ethernet.md: -------------------------------------------------------------------------------- 1 | # Ethernet Menu 2 | 3 | Surveyor: ![Feature Not Supported](img/Icons/RedDot.png) / Express: ![Feature Not Supported](img/Icons/RedDot.png) / Express Plus: ![Feature Not Supported](img/Icons/RedDot.png) / Facet: ![Feature Not Supported](img/Icons/RedDot.png) / Facet L-Band: ![Feature Not Supported](img/Icons/RedDot.png) / Reference Station: ![Feature Supported](img/Icons/GreenDot.png) 4 | 5 | The Reference Station sends and receives NTRIP correction data via Ethernet. It can also send NMEA and RTCM navigation messages to an external TCP Server via Ethernet. 6 | It also has a dedicated Configure-Via-Ethernet (*Cfg Eth*) mode which is accessed via the MODE button and OLED display. 7 | 8 | By default, the Reference Station will use DHCP to request an IP Address from the network Gateway. But you can optionally configure it with a fixed IP Address. 9 | 10 | ![Reference Station in DHCP mode](img/Terminal/Ethernet_DHCP.png) 11 | 12 | *The Reference Station Ethernet menu - with DHCP selected* 13 | 14 | ![Reference Station in fixed IP address mode](img/Terminal/Ethernet_Fixed_IP.png) 15 | 16 | *The Reference Station Ethernet menu - with a fixed IP address selected* 17 | 18 | ### Ethernet TCP Client 19 | 20 | The Reference Station can act as an Ethernet TCP Client, sending NMEA and / or UBX data to a remote TCP Server. 21 | 22 | This is similar to the WiFi TCP Client mode on our other RTK products, but the data can be sent to any server based on its IP Address or URL. 23 | 24 | E.g. to connect to a local machine via its IP Address, select option "c" and then enter the IP Address using option "h" 25 | 26 | ![Ethernet TCP Client configuration](img/Terminal/Ethernet_TCP_Client_1.png) 27 | 28 | ![Ethernet TCP Client connection](img/Terminal/TCP_Client.gif) 29 | 30 | The above animation was generated using [TCP_Server.py](https://github.com/sparkfun/SparkFun_RTK_Firmware/blob/main/Firmware/Tools/TCP_Server.py). -------------------------------------------------------------------------------- /docs/menu_profiles.md: -------------------------------------------------------------------------------- 1 | # Profiles Menu 2 | 3 | Surveyor: ![Feature Not Supported](img/Icons/RedDot.png) / Express: ![Feature Supported](img/Icons/GreenDot.png) / Express Plus: ![Feature Supported](img/Icons/GreenDot.png) / Facet: ![Feature Supported](img/Icons/GreenDot.png) / Facet L-Band: ![Feature Supported](img/Icons/GreenDot.png) / Reference Station: ![Feature Supported](img/Icons/GreenDot.png) 4 | 5 | ![List of system profiles](img/WiFi Config/SparkFun%20RTK%20Profiles%20Menu.png) 6 | 7 | *Profiles Menu on the WiFi config page* 8 | 9 | ![Profiles Menu](img/Terminal/SparkFun_RTK_ExpressPlus_Profiles.jpg) 10 | 11 | *User Profiles Menu* 12 | 13 | Profiles are a very powerful feature. A profile is a complete copy of all the settings on the RTK product. Switching profiles changes all the settings in one step. This is handy for creating a complex setup for surveying, and a different setup for an NTRIP-enabled base station. Rather than changing the variety of parameters, a user can simply switch profiles. 14 | 15 | ![Multiple Profiles on Menu](img/SparkFun_RTK_Facet_Profile.jpg) 16 | 17 | *Multiple Profiles on Menu* 18 | 19 | If more than one profile is defined, the profiles will be displayed and selectable by using the **Power/Setup** on the Facet or **Setup** on the Express and Express Plus. Profiles can be named up to 50 characters; only the first 7 characters will be shown on the menu. 20 | 21 | ## Surveyor Profiles 22 | 23 | Because the Surveyor does not have a display, profiles are not available. The Base/Rover switch allows simple pre-set configurations to be toggled. -------------------------------------------------------------------------------- /docs/menu_sensor.md: -------------------------------------------------------------------------------- 1 | # Sensor Menu 2 | 3 | Surveyor: ![Feature Not Supported](img/Icons/RedDot.png) / Express: ![Feature Not Supported](img/Icons/RedDot.png) / Express Plus: ![Feature Supported](img/Icons/GreenDot.png) / Facet: ![Feature Not Supported](img/Icons/RedDot.png) / Facet L-Band: ![Feature Not Supported](img/Icons/RedDot.png) / Reference Station: ![Feature Not Supported](img/Icons/RedDot.png) 4 | 5 | ![Sensor menu is shown in WiFi config](img/WiFi Config/SparkFun%20RTK%20Sensor%20Menu%20WiFi%20Config.png) 6 | 7 | ![Sensor menu from serial prompt](img/Terminal/SparkFun%20RTK%20-%20Sensor%20Menu.png) 8 | 9 | *Setting the Sensor options over WiFi config and serial connections* 10 | 11 | The [RTK Express Plus](https://www.sparkfun.com/products/18589) utilizes the ZED-F9R GNSS receiver with built-in IMU. This allows the RTK device to continue to output high-precision location information even if GNSS reception goes down or becomes unavailable. This was designed for and is especially helpful in automotive environments, such as tunnels or parking garages, where GNSS reception because sparse. 12 | 13 | Enable 'Sensor Fusion' to begin using the onboard IMU when GNSS is avaialble. Sensor Fusion will only aid position information when used with an automobile and may lead to degraded position fixes when used in other situations (ie, surveying, pedestrian, etc). 14 | 15 | 'Automatic IMU-Mount Alignment' will allow the device to automatically determine how the product is mounted within the vehicle's frame of reference. 16 | 17 | Additionally, wheel ticks should be provided to the unit to enhance the positional fixes. Please see [Mux Channel](menu_ports.md#mux-channel) of the Ports Menu for more information. 18 | 19 | 20 | -------------------------------------------------------------------------------- /docs/overrides/main.html: -------------------------------------------------------------------------------- 1 | {% extends "base.html" %} 2 | 3 | {% block content %} 4 | {% if true %} 5 | 6 | {% include ".icons/material/file-pdf-box.svg" %} 7 | 8 | {% endif %} 9 | 10 | {{ super() }} 11 | {% endblock content %} -------------------------------------------------------------------------------- /docs/readme.md: -------------------------------------------------------------------------------- 1 | This folder contains the markdown files for the [RTK Product Manual](https://docs.sparkfun.com/SparkFun_RTK_Firmware/) that are rendered by [mkdocs](https://www.mkdocs.org/). --------------------------------------------------------------------------------