Development (#331)

* Update Makefile * Logic to plot refINS alone * Catch missing DID_DEV_INFO exceptions * Add comment for default platform type * SN-2503 add gps time user delay (#311) * Created gpsTimeUserDelay * Change refernece INS label * Change refernece INS label * Fixed residual plots * SN-2503 add gps time user delay (#312) * Created gpsTimeUserDelay * Change refernece INS label * Change refernece INS label * Fixed residual plots * Fixed LogInspector x axis labels * Fixed plot labels. Add residuals to IMU plots * Added comment * Process RMS check based on last two thirds of log * SN-2520 relax rms thresholds for IMX-5 (#313) * Adjust RMS thresholds * Adjust RMS thresholds * Rename DID_DUAL_IMU to DID_IMU * Expand Nav filter to Navigation filter * Bump EVB version * Save and load mounting correction from yaml * Fix IMU and delta time plots * Show delta time for DID_IMU * Fix reference PIMU plotting * More fixes for delta time plot. Should have done this in a PR * Auto update plots following RMS * Bump SDK * SN-2581 fix travis npp test (#314) * Don't extrapoloate before data starts in residual plots * Fix RMS error interpolation calc * Change label * Change RMS accuracy report layout * Check mount_bias size * Fix reinitialization of vars * Adjusted RMS NED thresholds * Revise platform config description * Add separate color for ref INS dead reckoning mode in KML (#315) * SN-2628 serial bridge gps firmware update support (#316) * Create serial port bridge to allow GPS firmware update support * Add sys command inverse value * Removed unnecessary comments * Added USB to serX serial bridge sys commands * Added USB to serX serial bridge sys commands * Renamed serial_bridge to serial_port_bridge * Created chip erase invalid fault code (#317) * Remove unused and unreachable code (#318) * Update Makefile (#320) * SN-2695 bootloader version not read from file (#321) * Always display bootloader version * Reduce wording * Condense print statements * Consolidate bootloader update text * More text simplification * Update ISBootloaderThread.cpp * More simplification * SN-2699 modify strobe input (#323) * Support strobe in both directions * WIP * Indicate rising or falling edge in strobe message * strobe_in_time_t optimized * SN-2699 signal ref point stationary (#324) * Using strobe input to indicate startionary condition * Added strobe to G15 GPS PPS * Change SAMBA to SAM-BA * Change SAMBA to SAM-BA * SN-2708 UART-based SAM-BA firmware update fixes (#326) * Fix SAMBA baudrate, SAMBA UART upload, and reformat output * Fix reboot timing. Allow access to all VCP bootloaders through EVB * Remove rebug code from linux serial port code * Manage libusb devices better (#319) * WIP * Move symlink fix to cltool code * Fix issue where EVB-2 boots up too quickly to detect flash write enable (#327) * Allow migration from 1.8.x to 1.9.x * Extend maximum update time for slow UART connections * Fix uINS-3 updates through EVB-2 * Prevent ROM bootloader attempt when device can't use ROM mode over current port * Added GPS2 series for plots that had GPS1, but not GPS2 * SN-2754 LUNA Symlink bootloader compatibility (#328) * Move symlink fix to cltool code * Allow migration from 1.8.x to 1.9.x * Extend maximum update time for slow UART connections * Fix uINS-3 updates through EVB-2 * Prevent ROM bootloader attempt when device can't use ROM mode over current port Co-authored-by: waltjohnson <[email protected]> * Save allan variance data to csv for loading into IMU specs * Created INS_DYN_MODEL_INDOOR * Commented out unused vars * Fix GPS status display * Rename GPS_STATUS_FLAGS_RTK_POSITION_ENABLED to GPS_STATUS_FLAGS_GPS1_RTK_POSITION_ENABLED * Fixed compiler warnings Co-authored-by: Dave Cutting <[email protected]> Co-authored-by: Andrew Priddis <[email protected]> Co-authored-by: Andrew Priddis <[email protected]> Co-authored-by: Dave Cutting <[email protected]> Co-authored-by: Kyle Mallory <[email protected]> Co-authored-by: Kyle Mallory <[email protected]>
inertialsense · Dec 16, 2022 · 5d89905 · 5d89905
1 parent c3a274c
commit 5d89905
Show file tree

Hide file tree

Showing 40 changed files with 1,328 additions and 1,042 deletions.
diff --git a/EVB-2/IS_EVB-2/IS_EVB-2.cppproj b/EVB-2/IS_EVB-2/IS_EVB-2.cppproj
diff --git a/EVB-2/IS_EVB-2/src/communications.cpp b/EVB-2/IS_EVB-2/src/communications.cpp
@@ -599,7 +599,7 @@ void update_flash_cfg(evb_flash_cfg_t &newCfg)
 
 	// Enable flash write
 	nvr_flash_config_write_needed();
-	nvr_flash_config_write_enable(true);
+	nvr_flash_config_write_enable();
 }
 
 
@@ -624,6 +624,7 @@ void handle_data_from_host(is_comm_instance_t *comm, protocol_type_t ptype, uint
 
 			case SYS_CMD_MANF_UNLOCK:				// Unlock process for chip erase
 				manfUnlock = true;
+				g_status.evbStatus |= EVB_STATUS_MANF_UNLOCKED;
 				break;
 
 			case SYS_CMD_MANF_CHIP_ERASE:			// chip erase and reboot - do NOT reset calibration!

diff --git a/EVB-2/IS_EVB-2/src/globals.c b/EVB-2/IS_EVB-2/src/globals.c
@@ -342,7 +342,7 @@ bool nvr_validate_config_integrity(evb_flash_cfg_t* cfg)
     {   // Reset to defaults
         *cfg = defaults;
         nvr_flash_config_write_needed();
-        nvr_flash_config_write_enable(true);
+        nvr_flash_config_write_enable();
     }   
 
     // Disable cbPresets is necessary
@@ -482,18 +482,10 @@ void nvr_flash_config_write_needed(void)
 
 // Used to enabled flash writes at controlled times.  The system may identify when a flash write is needed. 
 // However, this will not occur until flash is enabled (at time EKF can tolerate stutters in RTOS update).
-void nvr_flash_config_write_enable(bool enable)
+void nvr_flash_config_write_enable(void)
 {
-    if (enable)
-    {
-        g_nvr_manage_config.flash_write_enable_timeMs = time_msec();
-        g_status.evbStatus |= EVB_STATUS_FLASH_WRITE_IN_PROGRESS;
-    }
-    else
-    {
-        g_nvr_manage_config.flash_write_enable_timeMs = 0;
-        g_status.evbStatus &= ~EVB_STATUS_FLASH_WRITE_IN_PROGRESS;
-    }
+    g_nvr_manage_config.flash_write_enable_timeMs = time_msec();
+    g_status.evbStatus |= EVB_STATUS_FLASH_WRITE_IN_PROGRESS;
 }
 
 

diff --git a/EVB-2/IS_EVB-2/src/globals.h b/EVB-2/IS_EVB-2/src/globals.h
@@ -141,7 +141,7 @@ bool nvr_validate_config_integrity(evb_flash_cfg_t* cfg);
 void nvr_init(void);
 bool nvr_slow_maintenance(void);
 void nvr_flash_config_write_needed(void);
-void nvr_flash_config_write_enable(bool enable);
+void nvr_flash_config_write_enable(void);
 
 int error_check_config(evb_flash_cfg_t *cfg);
 

diff --git a/EVB-2/IS_EVB-2/src/misc/init.c b/EVB-2/IS_EVB-2/src/misc/init.c
@@ -653,6 +653,7 @@ void board_init()
 
 	// Real-time timer
 	time_init();
+	time_delay(1);	// Delay to ensure time_msec() returns non-zero.	
 
 	/* Initialize IOPORTs */
 	ioport_init();

diff --git a/EVB-2/IS_EVB-2/src/user_interface.cpp b/EVB-2/IS_EVB-2/src/user_interface.cpp
@@ -64,7 +64,7 @@ static void on_cfg_button_release()
     com_bridge_apply_preset(g_flashCfg);
     board_IO_config();
     nvr_flash_config_write_needed();
-    nvr_flash_config_write_enable(true);
+    nvr_flash_config_write_enable();
 	evbUiRefreshLedCfg();
 }
 

diff --git a/EVB-2/IS_EVB-2/src/version/repositoryInfo.h b/EVB-2/IS_EVB-2/src/version/repositoryInfo.h
@@ -1,5 +1,5 @@
-#define REPO_DESCRIPTION "1.9.0" 
+#define REPO_DESCRIPTION "1.9.1" 
 #define REPO_VERSION_MAJOR 1 
 #define REPO_VERSION_MINOR 9 
-#define REPO_VERSION_REVIS 0 
-#define REPO_HEAD_COUNT 1553 
+#define REPO_VERSION_REVIS 1 
+#define REPO_HEAD_COUNT 1567 
diff --git a/EVB-2/Makefile b/EVB-2/Makefile
@@ -50,7 +50,7 @@ rm = rm -f -r $(1)
 # Detect if a compiler exists.
 COMPILER_DIR := /opt/arm-none-eabi-uins3/bin
 ifeq ("$(wildcard $(COMPILER_DIR)/*)","")
-# Use the old arm-none-eabi from before we split arm-none-eabi-uins3/arm-none-eabi-imx5
+# Use the old arm-none-eabi from before we split arm-none-eabi-uins3/arm-none-eabi-stm32
 COMPILER_DIR = /opt/arm-none-eabi/bin
 endif
 ifeq ("$(wildcard $(COMPILER_DIR)/*)","")

diff --git a/ExampleProjects/Communications/ISCommunicationsExample.c b/ExampleProjects/Communications/ISCommunicationsExample.c
@@ -120,7 +120,7 @@ int enable_message_broadcasting(serial_port_t *serialPort, is_comm_instance_t *c
 
 #if 0
 	// Ask for IMU message at period of 100ms (1ms source period x 100).  This could be as high as 1000 times a second (period multiple of 1)
-	n = is_comm_get_data(comm, _DID_IMU_DUAL, 0, 0, 100);
+	n = is_comm_get_data(comm, _DID_IMU, 0, 0, 100);
 	if (n != serialPortWrite(serialPort, comm->buf.start, n))
 	{
 		printf("Failed to encode and write get IMU message\r\n");

diff --git a/docs/html/search/all_7.js b/docs/html/search/all_7.js
diff --git a/docs/html/search/enumvalues_7.js b/docs/html/search/enumvalues_7.js
diff --git a/python/logInspector/logInspector.py b/python/logInspector/logInspector.py
@@ -271,18 +271,22 @@ def addButton(self, name, function, multithreaded=True, layout=None):
 
     def updatePlot(self):
         self.plot(self.currently_selected, self.plotargs)
+        self.updateWindowTitle()
 
     def updateWindowTitle(self):
-        size = self.log.numDev
-        if  size != 0:
-            info = self.log.data[0,DID_DEV_INFO][0]
-            if size == 1:
-                infoStr = 'SN' + str(info[1]) + ', H:' + verArrayToString(info[2]) + ', F:' + verArrayToString(info[3]) + ' build ' + str(info[4]) + ', ' + dateTimeArrayToString(info[8], info[9]) + ', ' + info[10].decode('UTF-8')
-            else:
-                infoStr = 'Multiple units - '
-                for i in range(size):
-                    infoStr = infoStr + str(self.log.serials[i]) + ' '
-            self.setWindowTitle("LogInspector  -  " + infoStr)
+        try:
+            size = self.log.numDev
+            if  size != 0:
+                info = self.log.data[0,DID_DEV_INFO][0]
+                if size == 1:
+                    infoStr = 'SN' + str(info[1]) + ', H:' + verArrayToString(info[2]) + ', F:' + verArrayToString(info[3]) + ' build ' + str(info[4]) + ', ' + dateTimeArrayToString(info[8], info[9]) + ', ' + info[10].decode('UTF-8')
+                else:
+                    infoStr = 'Devices: [' + " ".join([str(x) for x in self.log.serials]) + "]"
+                if self.log.using_mounting_bias:
+                    infoStr += ', Mounting Corrected'
+                self.setWindowTitle("LogInspector  -  " + infoStr)
+        except:
+            self.setWindowTitle("DID_DEV_INFO missing")
 
     def choose_directory(self):
         log_dir = config['logs_directory']
@@ -315,7 +319,6 @@ def load(self, directory):
         #     str += 'Comp '
         # self.statusLabel.setText(str)
         self.updatePlot()
-        self.updateWindowTitle()
         self.stopLoadingIndicator()
 
     def setupUi(self):

diff --git a/python/logInspector/logInspectorInternal.py b/python/logInspector/logInspectorInternal.py
@@ -140,6 +140,7 @@ def RMS(self):
             self.log.printRMSReport()
             self.log.openRMSReport()
         # self.stopLoadingIndicator()
+            self.updatePlot()
 
     def formatButtonColumn(self):
         super(logInspectorInternal, self).formatButtonColumn()