Merge pull request #14 from Aceinna/develop

Develop

HISTORY.md

@@ -1,7 +1,25 @@
 # CHANGELOG
 
 ---
-## 2.6.6， 08/25/2022
+## 2.6.7， 02/15/2023
+- [INS402] Add ins402 parse command
+- [INS401] Add parameter configuration type to be filtered to resolve timeout issue
+- [INS401C] modify canfd setings, add can_id 0x181 0x282
+- [INS401C] set lever format issue
+- [INS401] log corrimu data
+- [INS401] Add FreeRTOS of ins firmware, after upgrade sta9100 SDK firmware, GPGGA fixed type is RTK_FLOAT
+- [INS401C] print ins401c serial number
+- [INS401] print ins and gnss lib version
+- [INS401] modify ins401c gyro unit
+- [INS402] add antenna switch enable(default value: 0) for INS402 8100 double antenna version
+- [INS402] add dual ant cali config
+- [INS402C] update canfd protocol
+- [INS402C] enable log id: 0x181, 0x282
+- [INS402C] modify .json file: modify canfd and can factor and unit of sigal GYRO_X GYRO_Y GYRO_Z, 0.0076293 to 0.00762951, unit s to deg/s
+- [INS401/INS402]Add set ins401 and ins402 unit serial number command, ".\acenav.exe -i 100base-t1 -sn XXXXXX" or ".\acenav.exe -i 100base-t1 --device-type INS402 -sn XXXXXX"
+- [INS402C] Update User DecoderLib
+
+## 2.6.6， 09/23/2022
 
 - [INS401] The reply message 0xcc01 can't be received after the "JS" command is executed.
 - [INS401] GPZDA messages are saved to log, compatible with Sta9100 and Mosaic.
@@ -15,6 +33,24 @@
 - [INS401] After imu boot upgradation, the IMU fails to switch to boot because the baud rate of the IMU serial port 
 is changed.
 - [INS401] The default firmware upgrades include RTK, INS, and STA9100 SDK.
+- [INS401] The sta9100 upgrade improve
+- [INS401] optimized the problem which is getting ins401 configuration parameters messages timeout
+- [INS401] update the delay for jumping to the bootloader during the upgraded firmware
+- [INS401C] canfd python env issue and canfd set lever issue
+- [BEIDOU] modify beidou config file, add binary commands
+- [BEIDOU] log unico raw data and update beidou.json
+- [INS401] Ethernet cache queue increases
+- [INS401] Updated the function of obtaining the botloader version number
+- [INS401] optimized the problem which is getting ins401 configuration parameters messages timeout
+- [INS401] update the delay for jumping to the bootloader during the upgraded firmware
+- [INS401] After Failed to send the IMU "JI" command occasionally, add system reset, Ethernet reconnection, and IMU "JI" command resend functions
+- [INS401] Supports multiple Spaces and TAB keys to separate firmware upgrade commands
+- [INS401] modify ins401.json file: change offset of INS_PitchAngle  INS_RollAngle INS_HeadingAngle to -360 from -250
+- [INS402] support ins402 firmware fully upgrade, contains a default list  of the modules which are  rtk, ins, sdk and sdk_2.
+- [INS402] support the firmware upgrade of a single optional module
+- [INS402] Add ins402 NHC switch parameter configuration
+- [INS402] Optimized the sta9100 firmware upgrade
+- [INS401] fix other bugs
 
 ## 2.6.5， 04/11/2022
 

README.md

@@ -27,55 +27,108 @@ Run the CLI software and connect with the INS401 system for the first time, ther
 
 #### Log data
 
-Run the following command to log all data output from Ethernet port to binary files, and streaming GNSS RTK correction data through Ethernet port to INS401 (e.g. on Ubuntu)
+Run the following command to log all data output from Ethernet port to binary files, and streaming GNSS RTK correction data through Ethernet port to the unit (e.g. on Ubuntu)
 
+## INS401
 ```shell
 ./acenav -i 100base-t1
 ```
 
+## INS402
+```shell
+./acenav -i 100base-t1 --device-type INS402 
+```
+
 A “data” subfolder will be created for the first time, and every session of data logging will be stored in a subfolder inside the “data” folder.
 
 #### Parse Data
 
 Run the following command to parse the logged data into text or csv files, 
 
+## ins401
+
 ```shell
 ./acenav parse -t ins401 -p <path to data folder/session data subfolder>
 ```
 
+## ins402
+
+```shell
+./acenav parse -t ins402 -p <path to data folder/session data subfolder>
+```
+
 #### Save Settings
 
-If user changed the GNSS/INS user settings in the "ins401.json" file, and wants to make it effective, run the data logging command with "-s" option like below, and the changed user settings will be saved into flash
+If user changed the GNSS/INS user settings in the "ins401.json" or "ins402.json" file, and wants to make it effective, run the data logging command with "-s" option like below, and the changed user settings will be saved into flash
+
+## ins401
 
 ```shell
 ./acenav -i 100base-t1 -s
 ```
 
+## ins402
+
+```shell
+./acenav -i 100base-t1 --device-type INS402 -s
+```
 ## Firmware Upgrade
 
+# INS401 Firmware Upgrade
+
 INS401 supports In-Application Programming (IAP) firmware upgrade through the Ethernet interface, run the executable with the CLI option, and prompt for user input 
 
 ```shell
 ./acenav -i 100base-t1 --cli
 # console display with connection information
 # prompt for user input, type in command and file path after the arrow symbol
-# firmware is fully upgraded by default
+# firmware is fully upgraded by default, contains a list of the components which are 
+# rtk, ins and sdk
 >>upgrade <INS401 FW file path>
 
-# one or more firmware parts(rtk, ins, sdk, imu_boot(if firmware is merged), imu(if firmware is merged)) 
+# one or more firmware components (rtk, ins, sdk, imu_boot(if firmware is merged), imu(if firmware is merged)) 
 # are optionally upgraded
->>upgrade <INS401 FW file path> rtk ins
-or
->>upgrade <INS401 FW file path> sdk
-or
->>upgrade <INS401 FW file path> imu
-or
->>upgrade <INS401 FW file path> imu_boot
+>>upgrade <INS401 FW file path> <one or more components are optional, the names of adjacent components are separated by a space bar>
+
+eg:
+>>upgrade <INS401 FW file path> rtk ins sdk imu_boot imu
 ```
 
 After successful FW upgrade, the INS401 system restarts and starts logging data automatically. 
 
-## canfd app  
+# INS402 Firmware Upgrade
+
+INS402 supports In-Application Programming (IAP) firmware upgrade through the Ethernet interface, run the executable with the CLI option, and prompt for user input 
+
+```shell
+./acenav -i 100base-t1 --device-type INS402 --cli
+# console display with connection information
+# prompt for user input, type in command and file path after the arrow symbol
+# firmware is fully upgraded by default, contains a list of the components which are 
+# rtk, ins, sdk and sdk_2
+>>upgrade <INS402 FW file path>
+
+# one or more firmware components(rtk, ins, sdk, sdk_2, imu_boot(if firmware is merged), imu(if firmware is merged)) are optionally upgraded
+>>upgrade <INS402 FW file path> <one or more components are optional, the names of adjacent components are separated by a space bar>
+
+eg:
+>>upgrade <INS402 FW file path> rtk ins sdk sdk_2 imu_boot imu
+```
+
+After successful FW upgrade, the INS402 system restarts and starts logging data automatically. 
+
+## Set the Unit Serial Number
+# ins401
+```shell
+./acenav -i 100base-t1 -sn <Ins401 serial number>
+```
+
+# ins402
+```shell
+./acenav -i 100base-t1 --device-type INS402 -sn <Ins402 serial number>
+```
+
+# canfd app  
 
 ### run  
 please run $Env:PYTHONPATH="./src/aceinna/devices/widgets;"+$Env:PYTHONPATH in powershell  
@@ -90,4 +143,4 @@ set "canfd_type": "canfd",
 set "canfd_type": "can"  
 
 #### Parse  
-***python main.py parse -t ins401c -p <path to data folder>***  
+./acenav parse -t ins401c -p <path to data folder>

run_with_bat.bat

@@ -1,5 +1,6 @@
 set PYTHONPATH=.;./src/aceinna/devices/widgets;%PYTHONPATH%
+set PATH=./src/aceinna/devices/widgets/can/interfaces/bmcan;%PATH%
 
-python main.py -i canfd %1
+python main.py -i canfd %2
 
 @echo kill python driver...

src/aceinna/__init__.py

@@ -1,3 +1,3 @@
 # Package Version
-VERSION = '2.6.6'
+VERSION = '2.6.7'
 PACKAGE_NAME = 'acenav'

src/aceinna/bootstrap/canfd_driver.py

@@ -109,6 +109,9 @@ def __init__(self, **kwargs) -> None:
         self.imu_version_id = 0
         self.get_lever_arm_id = 0
         self.set_lever_arm_id = 0
+        self.set_lever_config = None
+        self.lever_arm_get_config = None
+        self.lever_arm_valid_len = 0
         self.prepare_can_setting()
         self.prepare_log_config()
         args=[r"powershell",r"$Env:PYTHONPATH=\"./src/aceinna/devices/widgets;\"+$Env:PYTHONPATH"]
@@ -128,6 +131,8 @@ def prepare_can_setting(self):
             self.can_id_list = self.canfd_setting["canfd_id"]
             output = next((x for x in self.canfd_setting['canfd_messages'] if x['id'] == 640), None)
             self.set_lever_arm_id = next((x['id'] for x in self.canfd_setting['canfd_messages'] if x['name'] == 'LEVER_ARM_SET'), None)
+            self.set_lever_config = next((x['signals'] for x in self.canfd_setting['canfd_messages'] if x['name'] == 'LEVER_ARM_SET'), None)
+            self.lever_arm_get_config = next((x['signals'] for x in self.canfd_setting['canfd_remote_messages'] if x['name'] == 'LEVER_ARM_GET'), None)
         else:
             self.can_id_list = self.canfd_setting["can_id"]
             output = next((x for x in self.canfd_setting['can_messages'] if x['id'] == 640), None)
@@ -192,7 +197,11 @@ def prepare_can_setting(self):
             for inode in self.canfd_setting['canfd_remote_messages']:
                 if(inode['valid_len'] > 0):
                     length = 0
-                    pack_fmt = '<'
+                    if inode['name'] == 'LEVER_ARM_GET':
+                        pack_fmt = '>'
+                        self.lever_arm_valid_len = inode['valid_len']
+                    else:
+                        pack_fmt = '<'
                     self.id_name[inode["id"]] = inode["name"]
                     for value in inode['signals']:
                         if value['type'] == 'float':
@@ -288,13 +297,13 @@ def prepare_can_setting(self):
 
     def load_properties(self):
         local_config_file_path = os.path.join(
-            os.getcwd(), 'setting/INS401/RTK_INS/ins401.json')
-        setting_folder_path = 'setting/INS401/RTK_INS'
+            os.getcwd(), 'setting/INS402/RTK_INS/ins402c.json')
+        setting_folder_path = 'setting/INS402/RTK_INS'
         if not os.path.isdir(setting_folder_path):
             os.makedirs(setting_folder_path)
         if not os.path.isfile(local_config_file_path):
             app_config_content = resource.get_content_from_bundle(
-                'setting','INS401\\RTK_INS\\ins401.json')
+                'setting','INS402\\RTK_INS\\ins402c.json')
             with open(local_config_file_path, "wb") as code:
                 code.write(app_config_content)
         if os.path.isfile(local_config_file_path):
@@ -356,27 +365,47 @@ def _build_device_info(self, ins_text, sta_text, imu_text):
             'firmware_version': firmware_version,
             'sn': sn
         }
-        version = 'RTK_INS App {0} Bootloader {1} IMU330ZA FW {2} STA9100 FW {3}'.format(
-            firmware_version, boot, imu, sta
+        version = 'RTK_INS App {0} Bootloader {1} IMU330ZA FW {2} STA9100 FW {3} SN {4}'.format(
+            firmware_version, boot, imu, sta, sn
         )
         self.app_info = {
             'app_name': 'INS401c',
             "version": version
         }
     def get_lever_arm_dict(self, lever_arm_packet):
         parameters_configuration = dict()
-        parameters_configuration['gnss lever arm x'] = lever_arm_packet[0]
-        parameters_configuration['gnss lever arm y'] = lever_arm_packet[1]
-        parameters_configuration['gnss lever arm z'] = lever_arm_packet[2]
-        parameters_configuration['vrp lever arm x']  = lever_arm_packet[3]
-        parameters_configuration['vrp lever arm y']  = lever_arm_packet[4]
-        parameters_configuration['vrp lever arm z']  = lever_arm_packet[5]
-        parameters_configuration['user lever arm x'] = lever_arm_packet[6]
-        parameters_configuration['user lever arm y'] = lever_arm_packet[7]
-        parameters_configuration['user lever arm z'] = lever_arm_packet[8]
-        parameters_configuration['rotation rbvx']    = lever_arm_packet[9]
-        parameters_configuration['rotation rbvy']    = lever_arm_packet[10]
-        parameters_configuration['rotation rbvz']    = lever_arm_packet[11]
+        data_value = list()
+        for i in range(len(lever_arm_packet)):
+
+            try:
+                if self.lever_arm_get_config[i]['is_float'] == True:
+                    offset = float(self.lever_arm_get_config[i]['offset'])
+                    factor = float(self.lever_arm_get_config[i]['factor'])
+                else:
+                    offset = float(self.lever_arm_get_config[i]['offset'])
+                    factor = float(self.lever_arm_get_config[i]['factor'])
+            except Exception as e:
+                print(e, self.lever_arm_get_config[i]['is_float'], type(self.lever_arm_get_config[i]['is_float']))
+            data_value.append(lever_arm_packet[i]*factor + offset)
+
+        parameters_configuration['gnss lever arm x'] = data_value[0]
+        parameters_configuration['gnss lever arm y'] = data_value[1]
+        parameters_configuration['gnss lever arm z'] = data_value[2]
+        parameters_configuration['vrp lever arm x']  = data_value[3]
+        parameters_configuration['vrp lever arm y']  = data_value[4]
+        parameters_configuration['vrp lever arm z']  = data_value[5]
+        parameters_configuration['user lever arm x'] = data_value[6]
+        parameters_configuration['user lever arm y'] = data_value[7]
+        parameters_configuration['user lever arm z'] = data_value[8]
+        parameters_configuration['rotation rbvx']    = data_value[9]
+        parameters_configuration['rotation rbvy']    = data_value[10]
+        parameters_configuration['rotation rbvz']    = data_value[11]
+        parameters_configuration['sec lever arm x']    = data_value[12]
+        parameters_configuration['sec lever arm y']    = data_value[13]
+        parameters_configuration['sec lever arm z']    = data_value[14]
+        parameters_configuration['dual ant switch']    = data_value[15]
+        parameters_configuration['dual ant baseline length']    = data_value[16]
+        parameters_configuration['dual ant heading cali']    = data_value[17]
         return parameters_configuration
 
     def save_device_info(self):
@@ -387,7 +416,10 @@ def save_device_info(self):
         imu_result = self.get_imu_message()
         time.sleep(0.1)
         lever_arm_result = self.get_lever_arm_message()
-        data = struct.pack(self.remote_pkfmt['LEVER_ARM_GET']['len_b'], *lever_arm_result['data'])
+        try:
+            data = struct.pack(self.remote_pkfmt['LEVER_ARM_GET']['len_b'], *lever_arm_result['data'][0:self.lever_arm_valid_len])
+        except Exception as e:
+            print(e)
         lever_arm_packet = struct.unpack(self.remote_pkfmt['LEVER_ARM_GET']['pack'], data)
         device_configuration = None
         fname_time = self.fname_time + '_configuration.json'
@@ -506,10 +538,18 @@ def get_lever_arm_message(self):
 
     def set_ins401c_lever_arm(self, data):
         data_list = []
-        for item in data:
-            data_list.append(item["value"])
-        para_len = self.pkfmt['LEVER_ARM_SET']['len'] / 4
-        data_bytes = struct.pack('{0}f'.format(int(para_len)), *data_list)
+        for i in range(len(data)):
+            data_ori = data[i]["value"]
+            test = 0
+            offset = float(self.set_lever_config[i]['offset'])
+            factor = float(self.set_lever_config[i]['factor'])
+            try:
+                data_list.append( int((data_ori - offset) / factor) )
+            except Exception as e:
+                print(e)
+
+        para_len = self.pkfmt['LEVER_ARM_SET']['len'] / 2
+        data_bytes = struct.pack('>{0}H'.format(int(para_len)), *data_list)
         self.canfd_handle.write(self.set_lever_arm_id, list(data_bytes), False, False, True)
 
     def check_predefined_result(self):
@@ -518,7 +558,7 @@ def check_predefined_result(self):
         file_path = os.path.join(self.path, fname_time)
         # save parameters to data log folder after predefined parameters setup
         lever_arm_result = self.get_lever_arm_message()
-        data = struct.pack(self.remote_pkfmt['LEVER_ARM_GET']['len_b'], *lever_arm_result['data'])
+        data = struct.pack(self.remote_pkfmt['LEVER_ARM_GET']['len_b'], *lever_arm_result['data'][0:self.lever_arm_valid_len])
         lever_arm_packet = struct.unpack(self.remote_pkfmt['LEVER_ARM_GET']['pack'], data)
         parameters_configuration = self.get_lever_arm_dict(lever_arm_packet)
         with open(file_path, 'w') as outfile:
@@ -532,7 +572,7 @@ def check_predefined_result(self):
         for key in hashed_predefined_parameters:
             # if parameters_configuration[key] == \
             #         hashed_predefined_parameters[key]['value']:
-            if abs(parameters_configuration[key] - hashed_predefined_parameters[key]['value'] < 0.1e5):
+            if abs(parameters_configuration[key] - hashed_predefined_parameters[key]['value'] < 0.1e4):
                 success_count += 1
             else:
                 fail_count += 1

src/aceinna/bootstrap/cli.py

@@ -7,6 +7,7 @@
 import threading
 from os import getpid
 import psutil
+import re
 # from .web import Webserver
 from ..models import WebserverArgs
 
@@ -149,9 +150,8 @@ def setup_command_handler(self):
                 token = input(">>")
             else:
                 token = input("")
-
-            self.input_string = token.split(" ")
-
+
+            self.input_string = re.split(r'\s+', token)
             if token.strip() == 'exit':
                 break
 

src/aceinna/bootstrap/log_parser.py

@@ -50,7 +50,7 @@ def do_parse(log_type, folder_path, kml_rate, dr_parse):
                     lib.decode_openrtk_inceptio(bytes(file_path, encoding='utf8'))
                 elif log_type == 'beidou':
                     lib.decode_beidou(bytes(file_path, encoding='utf8'), kml_rate)
-                elif log_type == 'ins401':
+                elif log_type == 'ins401' or log_type == 'ins402':
                     lib.decode_ins401(bytes(file_path, encoding='utf8'), bytes(dr_parse, encoding='utf8'), kml_rate)
                 elif log_type == 'ins401c':
                     lib.decode_ins401c(bytes(file_path, encoding='utf8'))                   

src/aceinna/devices/configs/ins401_predefine.py

@@ -26,4 +26,4 @@ def get_ins402_configuratin_file_mapping():
         'INS402':'ins402.json'
     }
 
-APP_STR = ['RAWDATA', 'RTK', 'RTK_INS']
+APP_STR = ['RAWDATA', 'RTK', 'RTK_INS', 'RTK_INS_CANFD']