Merge branch 'develop' into SN-6067_addRTKDgbToRmcBits

ExampleProjects/CMakeLists.txt

@@ -24,6 +24,8 @@ add_subdirectory(Ascii)
 add_subdirectory(Bootloader)
 add_subdirectory(Communications)
 add_subdirectory(IS_firmwareUpdate_v2)
+# add_subdirectory(InertialSense_log_reader)
+add_subdirectory(InertialSense_log_reader_RegCmp)
 add_subdirectory(ISLogger_read)
 add_subdirectory(ISLogger_write)
 add_subdirectory(InertialSense_logger)

ExampleProjects/InertialSense_log_reader_RegCmp/setup_debug.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+
+pushd "$(dirname "$(realpath $0)")" > /dev/null
+
+mkdir -p build
+rm -rf build/*
+cd build
+cmake -DCMAKE_BUILD_TYPE=Debug ..
+make -j 7
+
+popd > /dev/null

python/inertialsense/logInspector/logInspector.py

@@ -451,6 +451,9 @@ def createListGps(self):
         self.addListItem('GPS LLA', 'gpsLLA')
         self.addListItem('GPS 1 Stats', 'gpsStats')
         self.addListItem('GPS 2 Stats', 'gps2Stats')
+        self.addListItem('GPS Time', 'gpsTime')
+        self.addListItem('GPX Status', 'gpxStatus')
+        self.addListItem('GPX HDW Status', 'gpxHdwStatus')
         self.addListItem('RTK Pos Stats', 'rtkPosStats')
         self.addListItem('RTK Cmp Stats', 'rtkCmpStats')
         self.addListItem('RTK Cmp BaseVector', 'rtkBaselineVector')

python/inertialsense/logInspector/logPlotter.py

@@ -2923,27 +2923,31 @@ def deltatime(self, fig=None, axs=None):
             if np.any(timeRef):
                 refImuPresent = True
 
-        N = 4
+        N = 5
         if refImuPresent:
             N = N + 2
         ax = fig.subplots(N, 1, sharex=True)
 
         fig.suptitle('Timestamps - ' + os.path.basename(os.path.normpath(self.log.directory)))
         self.configureSubplot(ax[0], 'INS dt', 's')
-        self.configureSubplot(ax[1], 'GPS dt', 's')
-        self.configureSubplot(ax[2], 'IMU Integration Period', 's')
-        self.configureSubplot(ax[3], 'IMU Delta Timestamp', 's')
+        self.configureSubplot(ax[1], 'GPS1 dt', 's')
+        self.configureSubplot(ax[2], 'GPS2 dt', 's')
+        self.configureSubplot(ax[3], 'IMU Integration Period', 's')
+        self.configureSubplot(ax[4], 'IMU Delta Timestamp', 's', xlabel = 'Message Index' if self.xAxisSample else 'Time of Week' )
 
         for d in self.active_devs_no_ref:
             dtIns = self.getData(d, DID_INS_2, 'timeOfWeek')[1:] - self.getData(d, DID_INS_2, 'timeOfWeek')[0:-1]
             dtIns = dtIns / self.d
             timeIns = getTimeFromGpsTow(self.getData(d, DID_INS_2, 'timeOfWeek')[1:], True)
 
-            towMsGps = self.getData(d, DID_GPS1_POS, 'timeOfWeekMs')[1:]
-            weekGps = self.getData(d, DID_GPS1_POS, 'week')[1:]
-            dtGps = 0.001*(towMsGps - self.getData(d, DID_GPS1_POS, 'timeOfWeekMs')[0:-1])
-            dtGps = dtGps / self.d
-            timeGps = getTimeFromGpsTowMs(towMsGps)
+            towMsGps1 = self.getData(d, DID_GPS1_POS, 'timeOfWeekMs')[1:]
+            towMsGps2 = self.getData(d, DID_GPS2_POS, 'timeOfWeekMs')[1:]
+            dtGps1 = 0.001*(towMsGps1 - self.getData(d, DID_GPS1_POS, 'timeOfWeekMs')[0:-1])
+            dtGps2 = 0.001*(towMsGps2 - self.getData(d, DID_GPS2_POS, 'timeOfWeekMs')[0:-1])
+            dtGps1 = dtGps1 / self.d
+            dtGps2 = dtGps2 / self.d
+            timeGps1 = getTimeFromGpsTowMs(towMsGps1)
+            timeGps2 = getTimeFromGpsTowMs(towMsGps2)
 
             dtPimu = self.getData(d, DID_PIMU, 'dt')
             if dtPimu.size:
@@ -2975,20 +2979,39 @@ def deltatime(self, fig=None, axs=None):
                 deltaTimestamp = deltaTimestamp / self.d
                 timeImu = getTimeFromGpsTow(timeImu3[1:] + towOffset)
 
+<<<<<<< HEAD:python/inertialsense/logInspector/logPlotter.py
             ax[0].plot(timeIns, dtIns, label=self.log.serials[d])
             ax[1].plot(timeGps, dtGps)
             if integrationPeriod.size:
                 ax[2].plot(timeImu, integrationPeriod)
             ax[3].plot(timeImu, deltaTimestamp)
+=======
+            if self.xAxisSample:
+                xIns = np.arange(0, np.shape(dtIns)[0])
+                xGps1 = np.arange(0, np.shape(dtGps1)[0])
+                xGps2 = np.arange(0, np.shape(dtGps2)[0])
+                xImu = np.arange(0, np.shape(deltaTimestamp)[0])
+            else:
+                xIns = timeIns
+                xGps1 = timeGps1
+                xGps2 = timeGps2
+                xImu = timeImu
+
+            ax[0].plot(xIns, dtIns, label=self.log.serials[d])
+            ax[1].plot(xGps1, dtGps1)
+            ax[2].plot(xGps2, dtGps2)
+            if integrationPeriod.size:
+                ax[3].plot(xImu, integrationPeriod)
+            ax[4].plot(xImu, deltaTimestamp)
+>>>>>>> origin/2.2.2-rc:python/logInspector/logPlotter.py
 
-        self.setPlotYSpanMin(ax[0], 0.005)
-        self.setPlotYSpanMin(ax[1], 0.005)
-        self.setPlotYSpanMin(ax[2], 0.005)
-        self.setPlotYSpanMin(ax[3], 0.005)
+        # Don't zoom in closer than 0.005s so we can easily see that the delta time is clean
+        for i in range(len(ax)):
+            self.setPlotYSpanMin(ax[i], 0.005)
 
         if refImuPresent:
-            self.configureSubplot(ax[4], 'Reference IMU Integration Period', 's')
-            self.configureSubplot(ax[5], 'Reference IMU Delta Timestamp', 's')
+            self.configureSubplot(ax[5], 'Reference IMU Integration Period', 's')
+            self.configureSubplot(ax[6], 'Reference IMU Delta Timestamp', 's')
             for d in self.active_devs:
                 deltaTimestampRef = 0
                 timeImuRef = 0
@@ -2998,10 +3021,63 @@ def deltatime(self, fig=None, axs=None):
                     deltaTimestampRef = timeRef[1:] - timeRef[0:-1]
                     deltaTimestampRef = deltaTimestampRef / self.d
                     timeImuRef = getTimeFromGpsTow(timeRef[1:] + towOffset)
-                    ax[4].plot(timeImuRef, integrationPeriodRef)
-                    ax[5].plot(timeImuRef, deltaTimestampRef)
-            self.setPlotYSpanMin(ax[4], 0.005)
-            self.setPlotYSpanMin(ax[5], 0.005)
+                    ax[5].plot(timeImuRef, integrationPeriodRef)
+                    ax[6].plot(timeImuRef, deltaTimestampRef)
+
+        self.legends_add(ax[0].legend(ncol=2))
+        for a in ax:
+            a.grid(True)
+
+        self.setup_and_wire_legend()
+        return self.saveFigJoinAxes(ax, axs, fig, 'deltatime')
+
+    def gpsTime(self, fig=None, axs=None):
+        if fig is None:
+            fig = plt.figure()
+
+        refImuPresent = False
+        for d in self.active_devs:
+            timeRef = self.getData(d, DID_REFERENCE_PIMU, 'time')
+            if np.any(timeRef):
+                refImuPresent = True
+
+        N = 4
+        ax = fig.subplots(N, 1, sharex=(self.xAxisSample==0))
+
+        fig.suptitle('Timestamps - ' + os.path.basename(os.path.normpath(self.log.directory)))
+        self.configureSubplot(ax[0], 'GPS1 dt', 's')
+        self.configureSubplot(ax[1], 'GPS2 dt', 's')
+        self.configureSubplot(ax[2], 'GPS1 TOW Offset', 's')
+        self.configureSubplot(ax[3], 'GPS2 TOW Offset', 's')
+
+        for d in self.active_devs_no_ref:
+            towMsGps1 = self.getData(d, DID_GPS1_POS, 'timeOfWeekMs')[1:]
+            towMsGps2 = self.getData(d, DID_GPS2_POS, 'timeOfWeekMs')[1:]
+            dtGps1 = 0.001*(towMsGps1 - self.getData(d, DID_GPS1_POS, 'timeOfWeekMs')[0:-1])
+            dtGps2 = 0.001*(towMsGps2 - self.getData(d, DID_GPS2_POS, 'timeOfWeekMs')[0:-1])
+            dtGps1 = dtGps1 / self.d
+            dtGps2 = dtGps2 / self.d
+            timeGps1 = getTimeFromGpsTowMs(towMsGps1)
+            timeGps2 = getTimeFromGpsTowMs(towMsGps2)
+
+            towOffsetGps1 = self.getData(d, DID_GPS1_POS, 'towOffset')[1:]
+            towOffsetGps2 = self.getData(d, DID_GPS2_POS, 'towOffset')[1:]
+
+            if self.xAxisSample:
+                xGps1 = np.arange(0, np.shape(dtGps1)[0])
+                xGps2 = np.arange(0, np.shape(dtGps2)[0])
+            else:
+                xGps1 = timeGps1
+                xGps2 = timeGps2
+
+            ax[0].plot(xGps1, dtGps1)
+            ax[1].plot(xGps2, dtGps2)
+            ax[2].plot(xGps1, towOffsetGps1)
+            ax[3].plot(xGps2, towOffsetGps2)
+
+        # Don't zoom in closer than 0.005s so we can easily see that the delta time is clean
+        for i in range(len(ax)):
+            self.setPlotYSpanMin(ax[i], 0.005)
 
         self.legends_add(ax[0].legend(ncol=2))
         for a in ax:

scripts/build_manager.py

@@ -138,18 +138,19 @@ def test_footer(self, exit_code):
         print("")
 
     def print_summary(self):
-        if self.run_clean:
-            action = "CLEAN"
-        else:
-            action = "BUILD"
-        self.print_blu(f"==========================================")
-        self.print_blu(f" {action} SUMMARY:")
-        self.print_blu(f"==========================================")
-        if self.build_success:
-            self.print_grn(f"[PASSED]: " + ", ".join(self.build_success))
-        if self.build_failure:
-            self.print_red(f"[FAILED]: " + ", ".join(self.build_failure))
-        print("")
+        if self.run_build:
+            if self.run_clean:
+                action = "CLEAN"
+            else:
+                action = "BUILD"
+            self.print_blu(f"==========================================")
+            self.print_blu(f" {action} SUMMARY:")
+            self.print_blu(f"==========================================")
+            if self.build_success:
+                self.print_grn(f"[PASSED]: " + ", ".join(self.build_success))
+            if self.build_failure:
+                self.print_red(f"[FAILED]: " + ", ".join(self.build_failure))
+            print("")
         if self.run_test:
             self.print_cyn(f"==========================================")
             self.print_cyn(f" TEST SUMMARY:")
@@ -162,6 +163,8 @@ def print_summary(self):
         self.print_release_info()
 
     def build_callback(self, project_name, callback):
+        if not self.run_build:
+            return
         result = 0
         self.build_header(project_name)
         result = callback(self.args)
@@ -181,6 +184,8 @@ def test_callback(self, project_name, callback):
         return result
 
     def build_script(self, project_name, script_path, args=[]):
+        if not self.run_build:
+            return
         if self.is_windows:
             command = ["cmd", "/c", str(script_path)]
         else:
@@ -205,6 +210,8 @@ def build_script(self, project_name, script_path, args=[]):
         return result
 
     def build_cmake(self, project_name, project_dir):
+        if not self.run_build:
+            return
         project_dir = Path(project_dir)
 
         self.build_header(project_name)

src/ISConstants.h

@@ -313,8 +313,12 @@ extern "C" {
 #define _LIMIT2(x, xmin, xmax) { if ((x) < (xmin)) { (x) = (xmin); } else { if ((x) > (xmax)) { (x) = (xmax); } } }
 #endif
 
+#ifndef _ROUND_NEAREST
+#define _ROUND_NEAREST(number, multiple) ((((number) + ((multiple)/2)) / (multiple)) * (multiple))
+#endif
+
 #ifndef _ROUND_CLOSEST
-#define _ROUND_CLOSEST(dividend, divisor) (((dividend) + ((divisor)/2)) / (divisor))
+#define _ROUND_CLOSEST(number, multiple) (((number) + ((multiple)/2)) / (multiple))
 #endif
 
 #ifndef _ROUNDUP

src/data_sets.h

@@ -1473,8 +1473,13 @@ enum eGenFaultCodes
     GFC_INIT_I2C                            = 0x00800000,
     /*! Fault: Chip erase line toggled but did not meet required hold time.  This is caused by noise/transient on chip erase pin.  */
     GFC_CHIP_ERASE_INVALID                  = 0x01000000,
-    /*! Fault: GPS time fault */
-    GFC_GNSS_TIME_FAULT                     = 0x02000000,
+    /*! Fault: EKF GPS time fault */
+    GFC_EKF_GNSS_TIME_FAULT                 = 0x02000000,
+    /*! Fault: GPS receiver time fault */
+    GFC_GNSS_RECEIVER_TIME                  = 0x04000000,
+
+    /*! IMX GFC flags that relate to GPX status flags */
+    GFC_GPX_STATUS_COMMON_MASK = GFC_GNSS1_INIT | GFC_GNSS2_INIT | GFC_GNSS_TX_LIMITED | GFC_GNSS_RX_OVERRUN | GFC_GNSS_SYS_FAULT | GFC_GNSS_RECEIVER_TIME,
 };
 
 
@@ -1603,7 +1608,7 @@ typedef struct PACKED
     nmeaBroadcastMsgPair_t  nmeaBroadcastMsgs[MAX_nmeaBroadcastMsgPairs];   
 
     /*  Example usage:
-     *  If you are setting message GGA (6) at 1Hz and GGL (7) at 5Hz with the default DID_FLASH_CONFIG.startupGpsDtMs = 200 (5Hz) 
+     *  If you are setting message GGA (6) at 1Hz and GGL (7) at 5Hz with the default DID_FLASH_CONFIG.startupGPSDtMs = 200 (5Hz) 
      *  nmeaBroadcastMsgs[0].msgID = 6, nmeaBroadcastMsgs[0].msgPeriod = 5  
      *  nmeaBroadcastMsgs[1].msgID = 7, nmeaBroadcastMsgs[1].msgPeriod = 1 */           
 
@@ -1743,7 +1748,7 @@ typedef struct PACKED
 #define RMC_BITS_MAGNETOMETER           0x0000000000000080      // ~10ms
 // #define RMC_BITS_UNUSED              0x0000000000000100
 // #define RMC_BITS_UNUSED              0x0000000000000200 
-#define RMC_BITS_GPS1_POS               0x0000000000000400      // DID_FLASH_CONFIG.startupGpsDtMs (200ms default)
+#define RMC_BITS_GPS1_POS               0x0000000000000400      // DID_FLASH_CONFIG.startupGPSDtMs (200ms default)
 #define RMC_BITS_GPS2_POS               0x0000000000000800      // "
 #define RMC_BITS_GPS1_RAW               0x0000000000001000      // "
 #define RMC_BITS_GPS2_RAW               0x0000000000002000      // "
@@ -1753,7 +1758,7 @@ typedef struct PACKED
 #define RMC_BITS_STROBE_IN_TIME         0x0000000000020000      // On strobe input event
 #define RMC_BITS_DIAGNOSTIC_MESSAGE     0x0000000000040000
 #define RMC_BITS_IMU3_UNCAL             0x0000000000080000      // DID_FLASH_CONFIG.startupImuDtMs (1ms default)
-#define RMC_BITS_GPS1_VEL               0x0000000000100000      // DID_FLASH_CONFIG.startupGpsDtMs (200ms default)
+#define RMC_BITS_GPS1_VEL               0x0000000000100000      // DID_FLASH_CONFIG.startupGPSDtMs (200ms default)
 #define RMC_BITS_GPS2_VEL               0x0000000000200000      // "
 #define RMC_BITS_GPS1_UBX_POS           0x0000000000400000      // "
 #define RMC_BITS_GPS1_RTK_POS           0x0000000000800000      // "
@@ -1768,7 +1773,7 @@ typedef struct PACKED
 // #define RMC_BITS_UNUSED              0x0000000200000000
 #define RMC_BITS_IMU_MAG                0x0000000400000000
 #define RMC_BITS_PIMU_MAG               0x0000000800000000
-#define RMC_BITS_GPS1_RTK_HDG_REL       0x0000001000000000      // DID_FLASH_CONFIG.startupGpsDtMs (200ms default)
+#define RMC_BITS_GPS1_RTK_HDG_REL       0x0000001000000000      // DID_FLASH_CONFIG.startupGPSDtMs (200ms default)
 #define RMC_BITS_GPS1_RTK_HDG_MISC      0x0000002000000000      // "
 #define RMC_BITS_REFERENCE_IMU          0x0000004000000000      // DID_FLASH_CONFIG.startupNavDtMs
 #define RMC_BITS_REFERENCE_PIMU         0x0000008000000000      // "
@@ -1815,11 +1820,13 @@ typedef struct PACKED
 #define RMC_PRESET_IMX_PPD                  (RMC_PRESET_IMX_PPD_NO_IMU \
                                             | RMC_BITS_PIMU \
                                             | RMC_BITS_REFERENCE_PIMU)
+#define RMC_PRESET_IMX_PPD_IMU3_RAW         (RMC_PRESET_IMX_PPD_NO_IMU \
+                                            | RMC_BITS_IMU3_RAW)                                            
+#define RMC_PRESET_IMX_PPD_IMU3_UNCAL       (RMC_PRESET_IMX_PPD_NO_IMU \
+                                            | RMC_BITS_IMU3_UNCAL)
 #define RMC_PRESET_INS                      (RMC_BITS_INS2 \
                                             | RMC_BITS_GPS1_POS \
                                             | RMC_BITS_PRESET)
-#define RMC_PRESET_IMX_PPD_IMU3             (RMC_PRESET_IMX_PPD_NO_IMU \
-                                            | RMC_BITS_IMU3_UNCAL)
 #define RMC_PRESET_IMX_PPD_RTK_DBG          (RMC_PRESET_IMX_PPD \
                                             | RMC_BITS_RTK_STATE \
                                             | RMC_BITS_RTK_CODE_RESIDUAL \
@@ -4475,6 +4482,9 @@ enum eGpxStatus
     /** Reserved */
     GPX_STATUS_RESERVED_1                               = (int)0x00010000,
 
+    /** GNSS receiver time fault **/
+    GPX_STATUS_GNSS_RCVR_TIME_FAULT                     = (int)0x00100000,
+
     /** DMA Fault detected **/
     GPX_STATUS_DMA_FAULT                                = (int)0x00800000,
 
@@ -5040,11 +5050,11 @@ enum eEventMsgTypeID
     EVENT_MSG_TYPE_ID_IMX_DMA_TX_0_CHAN = 25,
     EVENT_MSG_TYPE_ID_IMX_GPIO_TX_0_REG = 26,
 
-    EVENT_MSG_TYPE_ID_DMA_RX_0_INST     = 27,
-    EVENT_MSG_TYPE_ID_SER0_REG          = 28,
-    EVENT_MSG_TYPE_ID_SER0_CFG          = 29,
-    EVENT_MSG_TYPE_ID_DMA_RX_0_CHAN     = 30,
-    EVENT_MSG_TYPE_ID_GPIO_RX_0_REG     = 31,
+    EVENT_MSG_TYPE_ID_GPX_DMA_RX_0_INST = 27,
+    EVENT_MSG_TYPE_ID_GPX_SER0_REG      = 28,
+    EVENT_MSG_TYPE_ID_GPX_SER0_CFG      = 29,
+    EVENT_MSG_TYPE_ID_GPX_DMA_RX_0_CHAN = 30,
+    EVENT_MSG_TYPE_ID_GPX_GPIO_RX_0_REG = 31,
 
     EVENT_MSG_TYPE_ID_FILTER_RESPONSE   = (uint16_t)-4,
     EVENT_MSG_TYPE_ID_ENA_GNSS1_FILTER  = (uint16_t)-3,