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Add the ability to prefer the non-composite GPS and Galileo clock biases
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@PaulZC
PaulZC committed Sep 23, 2024
1 parent e817897 commit 6b7b71a
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Showing 8 changed files with 89 additions and 90 deletions.
36 changes: 10 additions & 26 deletions Firmware/RTK_mosaic-T_Firmware/Begin.ino
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Expand Up @@ -515,37 +515,21 @@ void updateTCXO()
// updateTCXOClockBias is only called by STATE_GNSS_FINETIME when gnssPVTUpdated was true
// So we know that gnssClockBias_ms is valid
// Use gnssClockBias_ms as the default
// If we have Fugro from FugroTimeOffset, use that
// If we have Galileo from FugroTimeOffset, use that
// If we have non-composite GPS from FugroTimeOffset, use that - if enabled
// If we have non-composite Galileo from FugroTimeOffset, use that - if enabled
void updateTCXOClockBias()
{
tcxoClockBias_ms = gnssClockBias_ms; // Default to the PVTGeodetic RxClkBias
snprintf(rxClkBiasSource, sizeof(rxClkBiasSource), "PVT");

int ts = getFugroTimeSystemFromName("Fugro");
if (fugroClkBiases[ts].updated) // If we have the Fugro bias, use that
if (settings.preferNonCompositeGPSBias || settings.preferNonCompositeGalileoBias) // These are mutex
{
tcxoClockBias_ms = fugroClkBiases[ts].RxClkBias_ms;
fugroClkBiases[ts].updated = false;
snprintf(rxClkBiasSource, sizeof(rxClkBiasSource), "Fugro");
}

ts = getFugroTimeSystemFromName("Galileo");
if (fugroClkBiases[ts].updated) // If we have the Galileo bias, use that
{
tcxoClockBias_ms = fugroClkBiases[ts].RxClkBias_ms;
fugroClkBiases[ts].updated = false;
snprintf(rxClkBiasSource, sizeof(rxClkBiasSource), "Galileo");
uint8_t index = mosaicTimeSystemIndexFromName(settings.preferNonCompositeGPSBias ? "GPS" : "Galileo");
if (fugroTimeSystems[index].updated) // If we have the preferred non-composite bias, use that
{
tcxoClockBias_ms = fugroTimeSystems[index].RxClkBias_ms;
fugroTimeSystems[index].updated = false;
snprintf(rxClkBiasSource, sizeof(rxClkBiasSource), fugroTimeSystems[index].name);
}
}
}

int getFugroTimeSystemFromName(const char *name)
{
for (int i = 0; i < NUM_FUGRO_CLK_BIASES; i++)
{
if (strcmp(name, fugroClkBiases[i].name) == 0)
return i;
}

return 0; // Should never happen!
}
6 changes: 2 additions & 4 deletions Firmware/RTK_mosaic-T_Firmware/Display.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -219,7 +219,7 @@ void displayGNSSFail(uint16_t displayTime)

void displayBadBias(uint16_t displayTime)
{
displayMessage("Bad RxClkBias Restarting", displayTime);
displayMessage("Bad RxClkBias Restarting...", displayTime);
}

void displayNoRingBuffer(uint16_t displayTime)
Expand Down Expand Up @@ -362,9 +362,7 @@ void displayMessage(const char *message, uint16_t displayTime)
token = strtok(nullptr, " ");
}

uint8_t yPos = (oled->getHeight() / 2) - (fontHeight / 2);
if (wordCount == 2)
yPos -= (fontHeight / 2);
uint8_t yPos = (oled->getHeight() / 2) - ((fontHeight / 2) * wordCount);

oled->erase();

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6 changes: 6 additions & 0 deletions Firmware/RTK_mosaic-T_Firmware/NVM.ino
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Expand Up @@ -96,6 +96,8 @@ void recordSystemSettingsToFile(File *settingsFile)
settingsFile->printf("%s=%d\r\n", "rxClkBiasLimitCount", settings.rxClkBiasLimitCount);
settingsFile->printf("%s=%0.3e\r\n", "Pk", settings.Pk);
settingsFile->printf("%s=%0.3e\r\n", "Ik", settings.Ik);
settingsFile->printf("%s=%d\r\n", "preferNonCompositeGPSBias", settings.preferNonCompositeGPSBias);
settingsFile->printf("%s=%d\r\n", "preferNonCompositeGalileoBias", settings.preferNonCompositeGalileoBias);

//settingsFile->printf("%s=%d\r\n", "", settings.);

Expand Down Expand Up @@ -360,6 +362,10 @@ bool parseLine(char *str, Settings *settings)
settings->Pk = d;
else if (strcmp(settingName, "Ik") == 0)
settings->Ik = d;
else if (strcmp(settingName, "preferNonCompositeGPSBias") == 0)
settings->preferNonCompositeGPSBias = d;
else if (strcmp(settingName, "preferNonCompositeGalileoBias") == 0)
settings->preferNonCompositeGalileoBias = d;

//else if (strcmp(settingName, "") == 0)
// settings-> = d;
Expand Down
20 changes: 0 additions & 20 deletions Firmware/RTK_mosaic-T_Firmware/RTK_mosaic-T_Firmware.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -119,26 +119,6 @@ double gnssClockBias_ms = 0.0;
// IPStatus 4058
IPAddress gnssIP = IPAddress((uint32_t)0);

// FugroTimeOffset 4255
typedef struct {
const uint8_t TimeSystem;
const char name[8];
double RxClkBias_ms;
bool updated;
} fugroClkBias;
fugroClkBias fugroClkBiases[] = {
{ 0, "GPS", 0.0, false },
{ 1, "Galileo", 0.0, false },
{ 3, "GLONASS", 0.0, false },
{ 4, "BeiDou", 0.0, false },
{ 5, "QZSS", 0.0, false },
{ 100, "Fugro", 0.0, false },
};
#define NUM_FUGRO_CLK_BIASES (sizeof(fugroClkBiases) / sizeof(fugroClkBias))

double tcxoClockBias_ms; // Updated by updateTCXOClockBias
char rxClkBiasSource[8]; // PVT or Fugro or Galileo

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

// GPS parse table
Expand Down
8 changes: 5 additions & 3 deletions Firmware/RTK_mosaic-T_Firmware/Tasks.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -668,6 +668,7 @@ void processConsumerMessage(PARSE_STATE *parse, uint8_t type)

for (int b = 0; b < N; b++) // For each block
{
uint8_t SysUsage = parse->buffer[20 + (b * SBLength) + 0];
uint8_t TimeSystem = parse->buffer[20 + (b * SBLength) + 2];

union {
Expand All @@ -679,12 +680,13 @@ void processConsumerMessage(PARSE_STATE *parse, uint8_t type)
for (int i = 0; i < 8; i++)
dblUnsigned64.unsigned64 |= ((uint64_t)parse->buffer[20 + (b * SBLength) + 4 + i]) << (i * 8);

// If this block contains a non-composite clock indicator, store it
for (int TS = 0; TS < NUM_FUGRO_CLK_BIASES; TS++)
{
if (fugroClkBiases[TS].TimeSystem == TimeSystem)
if (fugroTimeSystems[TS].SysUsage == SysUsage)
{
fugroClkBiases[TS].RxClkBias_ms = dblUnsigned64.dbl;
fugroClkBiases[TS].updated = true;
fugroTimeSystems[TS].RxClkBias_ms = dblUnsigned64.dbl;
fugroTimeSystems[TS].updated = true;
break;
}
}
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42 changes: 29 additions & 13 deletions Firmware/RTK_mosaic-T_Firmware/menuSystem.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -373,22 +373,28 @@ void menuOperation()
systemPrint("5) Ik (PI I term): ");
systemPrintf("%.3e\r\n", settings.Ik);

systemPrint("6) Pulse-Per-Second Interval: ");
systemPrint("6) Prefer non-composite GPS bias - if available: ");
systemPrintf("%s\r\n", settings.preferNonCompositeGPSBias ? "Enabled" : "Disabled");

systemPrint("7) Prefer non-composite Galileo bias - if available: ");
systemPrintf("%s\r\n", settings.preferNonCompositeGalileoBias ? "Enabled" : "Disabled");

systemPrint("8) Pulse-Per-Second Interval: ");
systemPrintln(mosaicPPSParametersInterval[settings.ppsInterval]);

systemPrint("7) Pulse-Per-Second Polarity: ");
systemPrint("9) Pulse-Per-Second Polarity: ");
systemPrintln(mosaicPPSParametersPolarity[settings.ppsPolarity]);

systemPrint("8) Pulse-Per-Second Delay (ns): ");
systemPrint("10) Pulse-Per-Second Delay (ns): ");
systemPrintln(settings.ppsDelay_ns);

systemPrint("9) Pulse-Per-Second Time Scale: ");
systemPrint("11) Pulse-Per-Second Time Scale: ");
systemPrintln(mosaicPPSParametersTimeScale[settings.ppsTimeScale]);

systemPrint("10) Pulse-Per-Second Max Sync Age (s): ");
systemPrint("12) Pulse-Per-Second Max Sync Age (s): ");
systemPrintln(settings.ppsMaxSyncAge_s);

systemPrint("11) Pulse-Per-Second Pulse Width (ms): ");
systemPrint("13) Pulse-Per-Second Pulse Width (ms): ");
systemPrintln(settings.ppsPulseWidth_ms);

systemPrintln("\r\nx) Exit");
Expand Down Expand Up @@ -441,7 +447,6 @@ void menuOperation()
else
{
settings.Pk = p; // Recorded to NVM at main menu exit
ppsStarted = false; // Restart PPS afterwards
}
}
else if (incoming == 5)
Expand All @@ -453,24 +458,35 @@ void menuOperation()
else
{
settings.Ik = i; // Recorded to NVM at main menu exit
ppsStarted = false; // Restart PPS afterwards
}
}
else if (incoming == 6)
{
settings.preferNonCompositeGPSBias ^= 1;
if (settings.preferNonCompositeGPSBias)
settings.preferNonCompositeGalileoBias = false;
}
else if (incoming == 7)
{
settings.preferNonCompositeGalileoBias ^= 1;
if (settings.preferNonCompositeGalileoBias)
settings.preferNonCompositeGPSBias = false;
}
else if (incoming == 8)
{
settings.ppsInterval++;
if ((settings.ppsInterval >= mosaicPPSParametersIntervalEntries) || (settings.ppsInterval < 0))
settings.ppsInterval = 0;
ppsStarted = false; // Restart PPS afterwards
}
else if (incoming == 7)
else if (incoming == 9)
{
settings.ppsPolarity++;
if ((settings.ppsPolarity >= mosaicPPSParametersPolarityEntries) || (settings.ppsPolarity < 0))
settings.ppsPolarity = 0;
ppsStarted = false; // Restart PPS afterwards
}
else if (incoming == 8)
else if (incoming == 10)
{
systemPrint("Enter Pulse-Per-Second Delay in nanoseconds: ");
double dly = getDouble();
Expand All @@ -482,14 +498,14 @@ void menuOperation()
ppsStarted = false; // Restart PPS afterwards
}
}
else if (incoming == 9)
else if (incoming == 11)
{
settings.ppsTimeScale++;
if ((settings.ppsTimeScale >= mosaicPPSParametersTimeScaleEntries) || (settings.ppsTimeScale < 0))
settings.ppsPolarity = 0;
ppsStarted = false; // Restart PPS afterwards
}
else if (incoming == 10)
else if (incoming == 12)
{
systemPrint("Enter Max Sync Age in seconds (0 to 3600): ");
int syncAge = getNumber(); // Returns EXIT, TIMEOUT, or long
Expand All @@ -505,7 +521,7 @@ void menuOperation()
}
}
}
else if (incoming == 11)
else if (incoming == 13)
{
systemPrint("Enter Pulse Width in milliseconds: ");
double width = getDouble();
Expand Down
59 changes: 37 additions & 22 deletions Firmware/RTK_mosaic-T_Firmware/settings.h
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Original file line number Diff line number Diff line change
Expand Up @@ -69,42 +69,55 @@ typedef enum
MOSAIC_TIME_SYSTEM_FUGRO = 100,
} mosaicTimeSystemIds;

const uint8_t mosaicTimeSystemIndexTable[] = {
MOSAIC_TIME_SYSTEM_GPS,
MOSAIC_TIME_SYSTEM_GALILEO,
MOSAIC_TIME_SYSTEM_GLONASS,
MOSAIC_TIME_SYSTEM_BEIDOU,
MOSAIC_TIME_SYSTEM_QZSS,
MOSAIC_TIME_SYSTEM_FUGRO,
// FugroTimeOffset 4255
typedef struct {
const uint8_t TimeSystem;
const uint8_t SysUsage;
const char name[8];
double RxClkBias_ms;
bool updated;
} fugroTimeSystem;

fugroTimeSystem fugroTimeSystems[] = {
{ MOSAIC_TIME_SYSTEM_GPS, 0x01, "GPS", 0.0, false },
{ MOSAIC_TIME_SYSTEM_GALILEO, 0x02, "Galileo", 0.0, false },
{ MOSAIC_TIME_SYSTEM_GLONASS, 0x04, "GLONASS", 0.0, false },
{ MOSAIC_TIME_SYSTEM_BEIDOU, 0x08, "BeiDou", 0.0, false },
{ MOSAIC_TIME_SYSTEM_QZSS, 0, "QZSS", 0.0, false },
{ MOSAIC_TIME_SYSTEM_FUGRO, 0, "Fugro", 0.0, false },
};
const int mosaicTimeSystemIndexTableEntries = sizeof(mosaicTimeSystemIndexTable) / sizeof(mosaicTimeSystemIndexTable[0]);

#define NUM_FUGRO_CLK_BIASES (sizeof(fugroTimeSystems) / sizeof(fugroTimeSystem))

uint8_t mosaicTimeSystemIndexFromId(uint8_t id) {
int i = 0;
for (; i < mosaicTimeSystemIndexTableEntries; i++) {
if (mosaicTimeSystemIndexTable[i] == id)
for (; i < NUM_FUGRO_CLK_BIASES; i++) {
if (fugroTimeSystems[i].TimeSystem == id)
break;
}
return (uint8_t)i;
}

const char *const mosaicTimeSystemTable[] = {
"GPS",
"Galileo",
"GLONASS",
"BeiDou",
"QZSS",
"Fugro",
};
const int mosaicTimeSystemTableEntries = sizeof(mosaicTimeSystemTable) / sizeof(mosaicTimeSystemTable[0]);

const char * mosaicTimeSystemNameFromId(uint8_t id) {
uint8_t index = mosaicTimeSystemIndexFromId(id);
static const char unknown[] = "Unknown";
if (index >= mosaicTimeSystemIndexTableEntries)
if (index >= NUM_FUGRO_CLK_BIASES)
return unknown;
return mosaicTimeSystemTable[index];
return fugroTimeSystems[index].name;
}

uint8_t mosaicTimeSystemIndexFromName(const char *name)
{
for (uint8_t i = 0; i < NUM_FUGRO_CLK_BIASES; i++)
{
if (strcmp(name, fugroTimeSystems[i].name) == 0)
return i;
}

return 0; // Should never happen!
}
double tcxoClockBias_ms; // Updated by updateTCXOClockBias
char rxClkBiasSource[8];

const char *const mosaicPVTErrorTable[] = {
"None",
Expand Down Expand Up @@ -251,6 +264,8 @@ typedef struct
int rxClkBiasLimitCount = 3; // Consider the clock locked when the bias is <= rxClkBiasLockLimit_ms for this many successive readings. Default: 3
double Pk = 0.25; // PI P term
double Ik = 0.01; // PI I term
bool preferNonCompositeGPSBias = false; // Prefer non-composite GPS bias - if available. Mutex with preferNonCompositeGalileoBias
bool preferNonCompositeGalileoBias = false; // Prefer non-composite Galileo bias - if available. Mutex with preferNonCompositeGPSBias

// Add new settings above <------------------------------------------------------------>

Expand Down
2 changes: 0 additions & 2 deletions Firmware/RTK_mosaic-T_Firmware/support.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -691,8 +691,6 @@ void verifyTables()
reportFatalError("Fix platformFilePrefixTable to match ProductVariant");
if (platformPrefixTableEntries != (RTK_UNKNOWN + 1))
reportFatalError("Fix platformPrefixTable to match ProductVariant");
if (mosaicTimeSystemIndexTableEntries != mosaicTimeSystemTableEntries)
reportFatalError("Fix mosaicTimeSystemIndexTable to match mosaicTimeSystemTable");

tasksValidateTables();
}
Expand Down

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