Restructure ntripServer

Firmware/Dockerfile

@@ -75,7 +75,7 @@ RUN arduino-cli lib install "SparkFun MAX1704x Fuel Gauge Arduino Library"@1.0.4
 RUN arduino-cli lib install "SparkFun u-blox GNSS v3"@3.1.10
 RUN arduino-cli lib install "SparkFun Qwiic OLED Arduino Library"@1.0.13
 RUN arduino-cli lib install [email protected]
-RUN arduino-cli lib install "SparkFun Extensible Message Parser"@1.0.4
+RUN arduino-cli lib install "SparkFun Extensible Message Parser"@1.0.6
 RUN arduino-cli lib install "SparkFun BQ40Z50 Battery Manager Arduino Library"@1.0.0
 RUN arduino-cli lib install "ArduinoMqttClient"@0.1.8
 RUN arduino-cli lib install "SparkFun u-blox PointPerfect Library"@1.11.4

Firmware/RTK_Everywhere/Base.ino

@@ -2,21 +2,97 @@
 Base.ino
 =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=*/
 
-// This function gets called when an RTCM packet passes parser check in processUart1Message() task
-// Pass data along to NTRIP Server, or ESP-NOW radio
-void processRTCM(uint8_t *rtcmData, uint16_t dataLength)
+// Enough storage for two rounds of RTCM 1074,1084,1094,1124,1005
+// To help prevent the "no increase in file size" and "due to lack of RTCM" glitch:
+// RTCM is stored in PSRAM by the processUart1Message task and written by sendRTCMToConsumers
+const uint8_t rtcmConsumerBufferEntries = 16;
+const uint16_t rtcmConsumerBufferEntrySize = 1032; // RTCM can be up to 1024 + 6 bytes
+uint16_t rtcmConsumerBufferLengths[rtcmConsumerBufferEntries];
+uint8_t rtcmConsumerBufferHead;
+uint8_t rtcmConsumerBufferTail;
+uint8_t *rtcmConsumerBufferPtr = nullptr;
+
+// Allocate and initialize the rtcmConsumerBuffer
+bool rtcmConsumerBufferAllocated()
 {
-    // Give this byte to the various possible transmission methods
-    for (int x = 0; x < dataLength; x++)
+    if (rtcmConsumerBufferPtr == nullptr)
     {
-        for (int serverIndex = 0; serverIndex < NTRIP_SERVER_MAX; serverIndex++)
-            ntripServerProcessRTCM(serverIndex, rtcmData[x]);
+        rtcmConsumerBufferPtr = (uint8_t *)rtkMalloc(
+            (size_t)rtcmConsumerBufferEntrySize * (size_t)rtcmConsumerBufferEntries,
+            "ntripBuffer");
+        for (uint8_t i = 0; i < rtcmConsumerBufferEntries; i++)
+            rtcmConsumerBufferLengths[i] = 0;
+        rtcmConsumerBufferHead = 0;
+        rtcmConsumerBufferTail = 0;
+    }
+    if (rtcmConsumerBufferPtr == nullptr)
+    {
+        systemPrintln("rtcmConsumerBuffer malloc failed!");
+        return false;
+    }
+
+    return true;
+}
+
+// Store each RTCM message in a PSRAM buffer
+// The messages are written to the servers by sendRTCMToConsumers
+void storeRTCMForConsumers(uint8_t *rtcmData, uint16_t dataLength)
+{
+    if (!rtcmConsumerBufferAllocated())
+        return;
+
+    // Check if a buffer is available
+    uint8_t buffersInUse = rtcmConsumerBufferHead - rtcmConsumerBufferTail;
+    if (buffersInUse >= rtcmConsumerBufferEntries) // Wrap if Tail is > Head
+        buffersInUse += rtcmConsumerBufferEntries;
+    if (buffersInUse < (rtcmConsumerBufferEntries - 1))
+    {
+        uint8_t *dest = rtcmConsumerBufferPtr;
+        dest += (size_t)rtcmConsumerBufferEntrySize * (size_t)rtcmConsumerBufferHead;
+        memcpy(dest, rtcmData, dataLength); // Store the RTCM
+        rtcmConsumerBufferLengths[rtcmConsumerBufferHead] = dataLength; // Store the length
+        rtcmConsumerBufferHead++; // Increment the Head
+        rtcmConsumerBufferHead %= rtcmConsumerBufferEntries; // Wrap
+    }
+    else
+    {
+        if (settings.debugNtripServerRtcm && (!inMainMenu))
+            systemPrintln("rtcmConsumerBuffer full. RTCM lost");
     }
+}
+
+// Send the stored RTCM to consumers: ntripServer, LoRa and ESP-NOW
+void sendRTCMToConsumers()
+{
+    if (!rtcmConsumerBufferAllocated())
+        return;
+
+    while (rtcmConsumerBufferHead != rtcmConsumerBufferTail)
+    {
+        uint8_t *dest = rtcmConsumerBufferPtr;
+        dest += (size_t)rtcmConsumerBufferEntrySize * (size_t)rtcmConsumerBufferTail;
+
+        // NTRIP Server
+        for (int serverIndex = 0; serverIndex < NTRIP_SERVER_MAX; serverIndex++)
+            ntripServerSendRTCM(serverIndex, dest, rtcmConsumerBufferLengths[rtcmConsumerBufferTail]);
 
-    for (int x = 0; x < dataLength; x++)
-        espNowProcessRTCM(rtcmData[x]);
+        // LoRa
+        loraProcessRTCM(dest, rtcmConsumerBufferLengths[rtcmConsumerBufferTail]);
 
-    loraProcessRTCM(rtcmData, dataLength);
+        // ESP-NOW
+        for (uint16_t x = 0; x < rtcmConsumerBufferLengths[rtcmConsumerBufferTail]; x++)
+            espNowProcessRTCM(dest[x]);
+
+        rtcmConsumerBufferTail++; // Increment the Tail
+        rtcmConsumerBufferTail %= rtcmConsumerBufferEntries; // Wrap
+    }
+}
+
+// This function gets called when an RTCM packet passes parser check in processUart1Message() task
+// Store data ready to be passed along to NTRIP Server, or ESP-NOW radio
+void processRTCM(uint8_t *rtcmData, uint16_t dataLength)
+{
+    storeRTCMForConsumers(rtcmData, dataLength);
 
     rtcmLastPacketSent = millis();
     rtcmPacketsSent++;

Firmware/RTK_Everywhere/Begin.ino

@@ -357,6 +357,7 @@ void beginBoard()
         pin_modeButton = 0;
         // 24, D2  : Status LED
         pin_baseStatusLED = 2;
+        //pin_debug = 2; // On EVK we can use the Status LED for debug
         // 29, D5  : GNSS TP via 74LVC4066 switch
         pin_GNSS_TimePulse = 5;
         // 14, D12 : I2C1 SDA via 74LVC4066 switch
@@ -421,6 +422,10 @@ void beginBoard()
         pinMode(pin_baseStatusLED, OUTPUT);
         baseStatusLedOff();
 
+        DMW_if systemPrintf("pin_debug: %d\r\n", pin_debug);
+        pinMode(pin_debug, OUTPUT);
+        pinDebugOff();
+
         DMW_if systemPrintf("pin_Cellular_Network_Indicator: %d\r\n", pin_Cellular_Network_Indicator);
         pinMode(pin_Cellular_Network_Indicator, INPUT);
 

Firmware/RTK_Everywhere/Developer.ino

@@ -238,7 +238,8 @@ void ntripClientSettingsChanged() {}
 #ifndef COMPILE_NTRIP_SERVER
 bool ntripServerIsCasting(int serverIndex) {return false;}
 void ntripServerPrintStatus(int serverIndex) {systemPrintf("**NTRIP Server %d not compiled**\r\n", serverIndex);}
-void ntripServerProcessRTCM(int serverIndex, uint8_t incoming) {}
+void ntripServerProcessRTCM(uint8_t *rtcmData, uint16_t dataLength) {}
+void ntripServerSendRTCM(int serverIndex, uint8_t *rtcmData, uint16_t dataLength) {}
 void ntripServerStop(int serverIndex, bool shutdown) {online.ntripServer[serverIndex] = false;}
 void ntripServerUpdate() {}
 void ntripServerValidateTables() {}

Firmware/RTK_Everywhere/LED.ino

@@ -50,6 +50,18 @@ void baseStatusLedOff()
         digitalWrite(pin_baseStatusLED, LOW);
 }
 
+void pinDebugOn()
+{
+    if (pin_debug != PIN_UNDEFINED)
+        digitalWrite(pin_debug, HIGH);
+}
+
+void pinDebugOff()
+{
+    if (pin_debug != PIN_UNDEFINED)
+        digitalWrite(pin_debug, LOW);
+}
+
 void baseStatusLedBlink()
 {
     if (pin_baseStatusLED != PIN_UNDEFINED)