Sn 6067 add rtk dgb to rmc bits (#799)

* SN-6073_GRMCSerialPortRefactor initial work

* fix magic numbers

* pr updates

* make things work again

* renmae

* code readabilty

* Add RTK_dbg ToRMC bits

* remove GPX specific defines in SDK

* fix bug

* Update protocol_nmea.cpp

fix debug code bug

* Remove g_GpxRtkDebugReq

* remove wanning

* add to gitnore

* does this fix dev build

* white space

.gitignore

@@ -46,3 +46,5 @@ CMakeFiles/
 /ros/ros2/log
 /scripts/.venv
 /src/version
+ExampleProjects/InertialSense_log_reader_RegCmp/Log/
+ExampleProjects/InertialSense_log_reader_RegCmp/CMakeSettings.json

ExampleProjects/InertialSense_log_reader_RegCmp/LogReader_RegCmp.cpp

@@ -205,33 +205,33 @@ typedef void(*dma_callback_function)(void*);
 
 typedef struct
 {
-    uint32_t                parent;				// Pointer to parent peripheral management struct
-    uint8_t 				mode;				// DMA_MODE_...
-    uint32_t 	            tc_handler;			// If non-null, this function pointer is called from within transfer complete interrupt handler when all data including queued data has been transferred.
-    uint8_t				    interrupt;
-    uint8_t 				interrupt_priority;
-    uint8_t 				priority;			// DMA priority (DMA_PRIO_...)
-    uint8_t					request_num;		// DMA request ID, links channel to peripheral (DMA_IDX_... for index)
-    uint32_t				periph_reg;			// target 8-bit peripheral register (DMA_IDX_... for index)
+    uint32_t                parent;                // Pointer to parent peripheral management struct
+    uint8_t                 mode;                // DMA_MODE_...
+    uint32_t                tc_handler;            // If non-null, this function pointer is called from within transfer complete interrupt handler when all data including queued data has been transferred.
+    uint8_t                 interrupt;
+    uint8_t                 interrupt_priority;
+    uint8_t                 priority;            // DMA priority (DMA_PRIO_...)
+    uint8_t                 request_num;        // DMA request ID, links channel to peripheral (DMA_IDX_... for index)
+    uint32_t                periph_reg;            // target 8-bit peripheral register (DMA_IDX_... for index)
     uint32_t                buf;
-    uint16_t				buf_len;			// Actual usable buffer length is one less (buf_len - 1)
+    uint16_t                buf_len;            // Actual usable buffer length is one less (buf_len - 1)
 } dma_config_t_GPX;
 
 typedef struct
 {
-	bool					dir;							// DMA_RX or DMA_TX
-	bool					circular;						// DMA_CIRC_ON or DMA_CIRC_OFF
-	uint8_t 				priority;						// DMA_PRIO_LOW, DMA_PRIO_MEDIUM, DMA_PRIO_HIGH, DMA_PRIO_VERY_HIGH
-	uint8_t 				interrupt;
-	uint8_t 				interrupt_priority;				// 0 to 15, 15 is low
-	uint8_t 				dma_channel_select;				// 0 to 7. See RM0394 11.6.7
-	uint8_t 				parent_type;					// DMA_PARENT_USART, ...
-	uint32_t 				parent;						    // Pointer to parent init base
-	uint32_t				periph_reg;					    // Pointer to peripheral register
-	uint32_t				buf;
-	uint16_t				buf_len;						// This doesn't correspond to the length register, it is just however big the buffer is
-	bool 					linear_buf;			 			// If true, the buffer is user-specified and we treat it like a non-circular buffer.
-	uint32_t 	            tcie_handler;					// If non-null on init, transfer complete irq will be enabled, and this fn called by the IRQ
+    bool                    dir;                            // DMA_RX or DMA_TX
+    bool                    circular;                        // DMA_CIRC_ON or DMA_CIRC_OFF
+    uint8_t                 priority;                        // DMA_PRIO_LOW, DMA_PRIO_MEDIUM, DMA_PRIO_HIGH, DMA_PRIO_VERY_HIGH
+    uint8_t                 interrupt;
+    uint8_t                 interrupt_priority;                // 0 to 15, 15 is low
+    uint8_t                 dma_channel_select;                // 0 to 7. See RM0394 11.6.7
+    uint8_t                 parent_type;                    // DMA_PARENT_USART, ...
+    uint32_t                parent;                            // Pointer to parent init base
+    uint32_t                periph_reg;                        // Pointer to peripheral register
+    uint32_t                buf;
+    uint16_t                buf_len;                        // This doesn't correspond to the length register, it is just however big the buffer is
+    bool                    linear_buf;                         // If true, the buffer is user-specified and we treat it like a non-circular buffer.
+    uint32_t                tcie_handler;                    // If non-null on init, transfer complete irq will be enabled, and this fn called by the IRQ
 } dma_config_t_IMX;
 
 typedef struct
@@ -256,22 +256,22 @@ typedef union
 
 typedef struct
 {
-    volatile uint16_t 		active_tx_len;
-    uint32_t                lli_head;		// Linked list output to dma
-    uint32_t                lli_tail;		// Linked list input from dma_buffer_write() 
-    volatile bool			dma_running;
+    volatile uint16_t       active_tx_len;
+    uint32_t                lli_head;       // Linked list output to dma
+    uint32_t                lli_tail;       // Linked list input from dma_buffer_write() 
+    volatile bool            dma_running;
 } dma_tx_state_t;
 
 typedef struct dma_channel_
 {
     uint32_t                instance;
     volatile uint32_t       ptr_start;
     volatile uint32_t       ptr_end;
-    dma_config_t_GPX		cfg;
-    dma_lli_u				lli;				// Linked list memory.  DMA_MODE_TX_LLI uses 6, DMA_MODE_RX_CIRC uses 1.
-    dma_tx_state_t			txState;
-    int 					lastDmaUsed;
-    uint8_t					overflow;			// Buffer overflow
+    dma_config_t_GPX        cfg;
+    dma_lli_u               lli;            // Linked list memory.  DMA_MODE_TX_LLI uses 6, DMA_MODE_RX_CIRC uses 1.
+    dma_tx_state_t          txState;
+    int                     lastDmaUsed;
+    uint8_t                 overflow;       // Buffer overflow
 } dma_ch_t_GPX;
 
 typedef struct
@@ -318,11 +318,11 @@ typedef struct
     uint32_t                instance;
     uint32_t                ptr_start;
     uint32_t                ptr_end;
-    uint16_t 		        active_tx_len;
-    bool 			        done;							// Currently only used in TX
-    dma_config_t_IMX		cfg;
-    int 					lastDmaUsed;					// Number of bytes in the buffer minus bytes last read.  This is used to identify buffer overflow.
-    uint8_t					overflow;						// Buffer overflow
+    uint16_t                active_tx_len;
+    bool                    done;                            // Currently only used in TX
+    dma_config_t_IMX        cfg;
+    int                     lastDmaUsed;                    // Number of bytes in the buffer minus bytes last read.  This is used to identify buffer overflow.
+    uint8_t                 overflow;                        // Buffer overflow
 } dma_ch_t_IMX;
 
 typedef struct
@@ -347,32 +347,32 @@ typedef struct
 PUSH_PACK_1
 
 typedef struct{
-    uint32_t                inst_CCR;         /*!< DMA channel x configuration register        */
-    uint32_t                inst_CNDTR;       /*!< DMA channel x number of data register       */
-    uint32_t                inst_CPAR;        /*!< DMA channel x peripheral address register   */
-    uint32_t                inst_CMAR;        /*!< DMA channel x memory address register       */
-
-	uint32_t 		        ptr_start;
-	uint32_t 		        ptr_end;
-	uint16_t 		        active_tx_len;
-	uint8_t 			    done;							// Currently only used in TX
-
-	uint8_t					cfg_dir;						// DMA_RX or DMA_TX
-	uint8_t					cfg_circular;					// DMA_CIRC_ON or DMA_CIRC_OFF
-	uint8_t 				cfg_priority;					// DMA_PRIO_LOW, DMA_PRIO_MEDIUM, DMA_PRIO_HIGH, DMA_PRIO_VERY_HIGH
-	uint8_t				    cfg_interrupt;
-	uint8_t 				cfg_interrupt_priority;			// 0 to 15, 15 is low
-	uint8_t 				cfg_dma_channel_select;			// 0 to 7. See RM0394 11.6.7
-	uint8_t 				cfg_parent_type;				// DMA_PARENT_USART, ...
-	uint32_t				cfg_parent;					    // Pointer to parent init base
-	uint32_t				cfg_periph_reg;				    // Pointer to peripheral register
-	uint32_t				cfg_buf;
-	uint16_t				cfg_buf_len;					// This doesn't correspond to the length register, it is just however big the buffer is
-	uint8_t 				cfg_linear_buf;			 		// If true, the buffer is user-specified and we treat it like a non-circular buffer.
-	uint32_t                cfg_tcie_handler;	            // If n
-	
-    int 					lastDmaUsed;					// Number of bytes in the buffer minus bytes last read.  This is used to identify buffer overflow.
-	uint8_t					overflow;						// Buffer overflow
+    uint32_t    inst_CCR;                   /*!< DMA channel x configuration register        */
+    uint32_t    inst_CNDTR;                 /*!< DMA channel x number of data register       */
+    uint32_t    inst_CPAR;                  /*!< DMA channel x peripheral address register   */
+    uint32_t    inst_CMAR;                  /*!< DMA channel x memory address register       */
+
+    uint32_t    ptr_start;
+    uint32_t    ptr_end;
+    uint16_t    active_tx_len;
+    uint8_t     done;                       // Currently only used in TX
+
+    uint8_t     cfg_dir;                    // DMA_RX or DMA_TX
+    uint8_t     cfg_circular;               // DMA_CIRC_ON or DMA_CIRC_OFF
+    uint8_t     cfg_priority;               // DMA_PRIO_LOW, DMA_PRIO_MEDIUM, DMA_PRIO_HIGH, DMA_PRIO_VERY_HIGH
+    uint8_t     cfg_interrupt;
+    uint8_t     cfg_interrupt_priority;     // 0 to 15, 15 is low
+    uint8_t     cfg_dma_channel_select;     // 0 to 7. See RM0394 11.6.7
+    uint8_t     cfg_parent_type;            // DMA_PARENT_USART, ...
+    uint32_t    cfg_parent;                 // Pointer to parent init base
+    uint32_t    cfg_periph_reg;             // Pointer to peripheral register
+    uint32_t    cfg_buf;
+    uint16_t    cfg_buf_len;                // This doesn't correspond to the length register, it is just however big the buffer is
+    uint8_t     cfg_linear_buf;             // If true, the buffer is user-specified and we treat it like a non-circular buffer.
+    uint32_t    cfg_tcie_handler;           // If n
+    
+    int         lastDmaUsed;                // Number of bytes in the buffer minus bytes last read.  This is used to identify buffer overflow.
+    uint8_t     overflow;                   // Buffer overflow
 } eventImxDmaTxInst_local_t;
 
 POP_PACK

src/com_manager.cpp

@@ -591,13 +591,6 @@ int ISComManager::processBinaryRxPacket(protocol_type_t ptype, packet_t *pkt, po
                 (((gdata->id >= DID_GPX_FIRST) && (gdata->id <= DID_GPX_LAST)) || (gdata->id == DID_RTK_DEBUG))) 
             {
                 comManagerGetData(COM0_PORT, gdata->id, gdata->size, gdata->offset, gdata->period);
-
-                if (gdata->id == DID_RTK_DEBUG) {
-                    if (gdata->period != 0)
-                        g_GpxRtkDebugReq |= 0x01 << portId(port);
-                    else
-                        g_GpxRtkDebugReq |= 0x01 << (portId(port) + 4);
-                }
             }
         }
 #endif
@@ -615,9 +608,6 @@ int ISComManager::processBinaryRxPacket(protocol_type_t ptype, packet_t *pkt, po
             disableBcastFnc(NULL);  // all ports
 
         sendAck(port, pkt, PKT_TYPE_ACK);
-#ifdef IMX_5
-        g_GpxRtkDebugReq = 0;
-#endif
         break;
 
     case PKT_TYPE_STOP_BROADCASTS_CURRENT_PORT:
@@ -628,18 +618,10 @@ int ISComManager::processBinaryRxPacket(protocol_type_t ptype, packet_t *pkt, po
             disableBcastFnc(port);
 
         sendAck(port, pkt, PKT_TYPE_ACK);
-
-#ifdef IMX_5
-        g_GpxRtkDebugReq &= ~(0x01 << portId(port));
-#endif
         break;
 
     case PKT_TYPE_STOP_DID_BROADCAST:
         disableDidBroadcast(port, pkt->hdr.id);
-#ifdef IMX_5
-        if (DID_RTK_DEBUG)
-            g_GpxRtkDebugReq &= ~(0x01 << portId(port));
-#endif
         break;
 
     case PKT_TYPE_NACK:

src/com_manager.h

@@ -307,7 +307,7 @@ int comManagerSendData(port_handle_t port, const void* data, uint16_t did, uint1
 * @param pFlags Additional packet flags if needed.
 * @return 0 if success, anything else if failure
 */
-int comManagerSendDataNoAck(port_handle_t port, const void *data, uint16_t did, uint16_t size, uint16_t offset = 0);
+extern "C" int comManagerSendDataNoAck(port_handle_t port, const void *data, uint16_t did, uint16_t size, uint16_t offset = 0);
 
 /**
 * Write bare data directly to the serial port.

src/data_sets.c

@@ -685,6 +685,7 @@ const uint64_t g_didToRmcBit[DID_COUNT] =
     [DID_GPX_RMC]               = RMC_BITS_GPX_RMC,
     [DID_GPX_BIT]               = RMC_BITS_GPX_BIT,
     [DID_GPX_PORT_MONITOR]      = RMC_BITS_GPX_PORT_MON,
+    [DID_RTK_DEBUG]             = RMC_BITS_GPX_RTK_DBG,
 };
 
 uint64_t didToRmcBit(uint32_t dataId, uint64_t defaultRmcBits, uint64_t devInfoRmcBits)

src/data_sets.h

@@ -1775,12 +1775,14 @@ typedef struct PACKED
 #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_MISC      0x0000002000000000      // "
-#define RMC_BITS_REFERENCE_IMU          0x0000004000000000        // DID_FLASH_CONFIG.startupNavDtMs
-#define RMC_BITS_REFERENCE_PIMU         0x0000008000000000        // "
+#define RMC_BITS_REFERENCE_IMU          0x0000004000000000      // DID_FLASH_CONFIG.startupNavDtMs
+#define RMC_BITS_REFERENCE_PIMU         0x0000008000000000      // "
 #define RMC_BITS_IMU3_RAW               0x0000010000000000
 #define RMC_BITS_IMU_RAW                0x0000020000000000
 #define RMC_BITS_GPS1_SIG               0x0000040000000000      // 1s
 #define RMC_BITS_GPS2_SIG               0x0000080000000000
+
+// GPX messages could go into a local grmc if imx memory we expanded. (TM)
 #define RMC_BITS_GPX_RTOS_INFO          0x0000100000000000
 #define RMC_BITS_GPX_DEBUG              0x0000200000000000
 #define RMC_BITS_GPX_STATUS             0x0000400000000000
@@ -1789,6 +1791,7 @@ typedef struct PACKED
 #define RMC_BITS_GPX_FLASH_CFG          0x0002000000000000
 #define RMC_BITS_GPX_BIT                0x0004000000000000
 #define RMC_BITS_GPX_PORT_MON           0x0008000000000000
+#define RMC_BITS_GPX_RTK_DBG            0x0010000000000000
 
 #define RMC_BITS_EVENT                  0x0800000000000000
 
@@ -1832,7 +1835,8 @@ typedef struct PACKED
                                             | RMC_BITS_GPS1_SAT \
                                             | RMC_BITS_GPS2_SAT \
                                             | RMC_BITS_EVENT \
-                                            | RMC_BITS_GPX_STATUS)
+                                            | RMC_BITS_GPX_STATUS \
+                                            | RMC_BITS_GPX_RTK_DBG)
 #define RMC_PRESET_IMX_PPD_GROUND_VEHICLE   (RMC_PRESET_IMX_PPD \
                                             | RMC_BITS_WHEEL_ENCODER \
                                             | RMC_BITS_GROUND_VEHICLE)

src/protocol_nmea.cpp

@@ -1099,9 +1099,9 @@ int nmea_zda(char a[], const int aSize, gps_pos_t &pos)
 
     int n = nmea_talker(a, aSize);
     nmea_sprint(a, aSize, n, "ZDA");
-    nmea_GPSTimeToUTCTimeMsPrecision_ZDA_debug(a, aSize, n, pos);								// 1
-    nmea_GPSDateOfLastFixCSV(a, aSize, n, pos);										// 2,3,4
-    nmea_sprint(a, aSize, n, ",00,00");												// 5,6
+    nmea_GPSTimeToUTCTimeMsPrecision_ZDA_debug(a, aSize, n, pos);                                // 1
+    nmea_GPSDateOfLastFixCSV(a, aSize, n, pos);                                        // 2,3,4
+    nmea_sprint(a, aSize, n, ",00,00");                                                // 5,6
 
     return nmea_sprint_footer(a, aSize, n);
 }
@@ -2876,8 +2876,8 @@ int nmea_parse_zda(const char a[], int aSize, uint32_t &gpsTowMs, uint32_t &gpsW
     ptr = ASCII_to_i32((int32_t*)&(date.month), ptr);
     ptr = ASCII_to_i32((int32_t*)&(date.year), ptr);
 
-    // Convert UTC date and time to GPS time of week and number of weeks		
-    int datetime[7] = { date.year, date.month, date.day, time.hour, time.minute, time.second, time.millisecond };		// year,month,day,hour,min,sec,msec
+    // Convert UTC date and time to GPS time of week and number of weeks        
+    int datetime[7] = { date.year, date.month, date.day, time.hour, time.minute, time.second, time.millisecond };        // year,month,day,hour,min,sec,msec
     UtcDateTimeToGpsTime(datetime, leapS, gpsTowMs, gpsWeek);
     date.weekday = gpsTowMsToUtcWeekday(gpsTowMs, leapS);
 

src/time_conversion.cpp

@@ -196,11 +196,11 @@ static const gtime_t gpsRefT0 = { 315964800, 0 };    // (gtime) gps reference ti
 *-----------------------------------------------------------------------------*/
 double timeToGpst(gtime_t t, int *week)
 {
-	time_t sec = t.time - gpsRefT0.time;
-	time_t w = (time_t)(sec / C_SECONDS_PER_WEEK);
-	
-	if (week){ *week = (int)w; }
-	return (double)(sec - (double)w * C_SECONDS_PER_WEEK) + t.sec;
+    time_t sec = t.time - gpsRefT0.time;
+    time_t w = (time_t)(sec / C_SECONDS_PER_WEEK);
+    
+    if (week){ *week = (int)w; }
+    return (double)(sec - (double)w * C_SECONDS_PER_WEEK) + t.sec;
 }
 
 void UtcDateTimeToGpsTime(const int dateTime[6], int leapSeconds, uint32_t &gpsTowMs, uint32_t &gpsWeek, double *debugGtm)

tests/test_time_conversion.cpp

@@ -31,7 +31,7 @@ TEST(time_conversion, UTC_to_GPS_to_UTC_time)
         ASSERT_EQ(gpsTowMs, gpsTowMs2);
         ASSERT_EQ(gpsWeek,  gpsWeek2);
 
-	    int datetime[7] = { 
+        int datetime[7] = { 
             utcTime.tm_year + 1900, 
             utcTime.tm_mon + 1, 
             utcTime.tm_mday, 
@@ -81,8 +81,8 @@ TEST(time_conversion, GPS_to_UTC_to_GPS_time)
             gpsWeekTowMsToUtcDateTime(gpsWeek, gpsTowMs, leapS, &d, &t, &milliseconds);
             gpsTowMsToUtcTime(gpsTowMs, leapS, &t);
 
-            // Convert UTC date and time to GPS time and week 		
-            int datetime[7] = { d.year, d.month, d.day, t.hour, t.minute, t.second, (int)milliseconds };	// year,month,day,hour,min,sec,msec
+            // Convert UTC date and time to GPS time and week         
+            int datetime[7] = { d.year, d.month, d.day, t.hour, t.minute, t.second, (int)milliseconds };    // year,month,day,hour,min,sec,msec
             uint32_t gpsTowMs2, gpsWeek2;
             UtcDateTimeToGpsTime(datetime, leapS, gpsTowMs2, gpsWeek2);