Merge Develop To Master (#16)

* update UserDecoderLib.dll, mainly canfd related codes: add odo csv, modify  Diagnostic_Device_Status_Bit() in diagnostic message

* update UserDecoderLib.dll: change timeofweek/1000 to timeofweek

* update UserDecoderLib.dll from wang

* log mtk pvt

* update UserDecoderLib.dll to parse pvt

* base valid data set to 63

* fix: remove ins402 decode library print error information

* split canfd base data

* fix: A print message is added when the firmware version is inconsistent with the command.

* fix:By default, the firmware of two components(rtk and ins) or three components(rtk, ins and sdk) can be upgraded.

* fix:update decoder lib

* log mtk debug message

* support RTK350LA

* update ping_tool

* update RTK350LA.json

* fix issue: beidou device can not receive base data when log data

* decode rtk350 file

* S2 parameter

* add RTK350 message_parser

* add iS port set

* add rtk350l_message_parser.py

* update rtk350la gB and uB cmd

* add test_rtk350la_command.py

* rtk350la add uB cmd

* upgrade rtk350la config file

* update rtk350la configuration

* update RTK350LA configuration

* Redmine 2843 (#15)

* fix: configure algorithm in cli mode

* fix: spell check

* fix: update json and recevice packet of INS402

* fix: test with latest firmware

* fix: test with firmware

* fix: resolve testing issue

* fix: update release notes

* update RTK350LA config  file

* fix: update decoder

* fix: remove not implemented commands

* fix: support to decode rtk350la log data

* slave_user.bin

* fix: support INS502

* fix: update version number

* fix: wrong decode format when update uint8/int8 value for INS502

* fix: resolve wrong format while updating uint16 and int16 for INS502

* fix: update configuration for INS502

* fix: update configuration file because of typing error

* fix: update the export file name and format

* fix: resolve duplicate info in RTK350LA user.bin

* fix: update default parameter value in configuration for RTK350LA

* fix: resolve duplicate rtcm data in slave

* fix: update the rtcm rover file name, keep naming format as INS402, INS502

* fix: resolve ping packet parse error for INS502

* fix: update INS502 decoder

* fix: add ins integeity packet for ins502

* fix: optimize the startup parameters

* fix: optimize the startup parameters

---------

Co-authored-by: 805660485 <[email protected]>
Co-authored-by: daichenghe <[email protected]>
Co-authored-by: daichenghe <[email protected]>
Co-authored-by: lihaiyong <[email protected]>
Co-authored-by: daichenghe <[email protected]>

HISTORY.md

@@ -1,6 +1,21 @@
 # CHANGELOG
 
 ---
+## 2.6.12， 02/02/2024
+- [INS502] Resolve ping packet(0xcc01) parse issue.
+
+## 2.6.11， 12/06/2023
+- [RTK350LA] Optimized the RTK350LA rtcm log naming.
+
+## 2.6.10， 11/13/2023
+- [INS502] Support INS502 data logging.
+
+## 2.6.9， 10/04/2023
+- [RTK350LA] Support to decode RTK350LA output data.
+
+## 2.6.8， 09/28/2023
+- [INS402] Support algorithm parameters configuration in cli mode.
+
 ## 2.6.7， 02/15/2023
 - [INS402] Add ins402 parse command
 - [INS401] Add parameter configuration type to be filtered to resolve timeout issue

README.md

@@ -25,56 +25,56 @@ Run the CLI software and connect with the INS401 system for the first time, ther
 
 ## Commands
 
-#### Log data
+### 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 the unit (e.g. on Ubuntu)
 
-## INS401
+#### INS401
 ```shell
 ./acenav -i 100base-t1
 ```
 
-## INS402
+#### 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
+### Parse Data
 
 Run the following command to parse the logged data into text or csv files, 
 
-## ins401
+#### INS401
 
 ```shell
 ./acenav parse -t ins401 -p <path to data folder/session data subfolder>
 ```
 
-## ins402
+#### INS402
 
 ```shell
 ./acenav parse -t ins402 -p <path to data folder/session data subfolder>
 ```
 
-#### Save Settings
+### Save Settings
 
 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
+#### INS401
 
 ```shell
 ./acenav -i 100base-t1 -s
 ```
 
-## ins402
+#### INS402
 
 ```shell
 ./acenav -i 100base-t1 --device-type INS402 -s
 ```
-## Firmware Upgrade
+### Firmware Upgrade
 
-# INS401 Firmware Upgrade
+#### INS401
 
 INS401 supports In-Application Programming (IAP) firmware upgrade through the Ethernet interface, run the executable with the CLI option, and prompt for user input 
 
@@ -96,7 +96,7 @@ eg:
 
 After successful FW upgrade, the INS401 system restarts and starts logging data automatically. 
 
-# INS402 Firmware Upgrade
+#### INS402
 
 INS402 supports In-Application Programming (IAP) firmware upgrade through the Ethernet interface, run the executable with the CLI option, and prompt for user input 
 
@@ -117,20 +117,28 @@ eg:
 
 After successful FW upgrade, the INS402 system restarts and starts logging data automatically. 
 
-## Set the Unit Serial Number
-# ins401
+### Set the Unit Serial Number
+#### INS401
 ```shell
 ./acenav -i 100base-t1 -sn <Ins401 serial number>
 ```
 
-# ins402
+#### INS402
 ```shell
 ./acenav -i 100base-t1 --device-type INS402 -sn <Ins402 serial number>
 ```
 
-# canfd app  
+### Configure Algorithm Parameters(Only support INS402 now)
+```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
+>>configure <INS402 algorithm parameters file path>
+```
+
+## CAN-FD app  
 
-### run  
+### Run  
 please run $Env:PYTHONPATH="./src/aceinna/devices/widgets;"+$Env:PYTHONPATH in powershell  
 to set env:PYTHONPATH then  
 ```shell cmd
@@ -142,5 +150,5 @@ set "canfd_type": "canfd",
 + run with can  
 set "canfd_type": "can"  
 
-#### Parse  
+### Parse Data
 ./acenav parse -t ins401c -p <path to data folder>

src/aceinna/__init__.py

@@ -1,3 +1,3 @@
 # Package Version
-VERSION = '2.6.7'
+VERSION = '2.6.12'
 PACKAGE_NAME = 'acenav'

src/aceinna/bootstrap/canfd_driver.py

@@ -642,14 +642,14 @@ def send_base_data(self, data):
                 data_len = len_base_data - index
                 data_len_l = data_len & 0xff
                 data_len_h = (data_len >> 8) & 0xff
-                data_to_send[0:2] = [data_len_h, data_len_l]
-                data_to_send[2:] = base_data[index:]
+                data_to_send[0] = data_len_l
+                data_to_send[1:] = base_data[index:]
             else:
                 data_len = self.valid_base_len
                 data_len_l = data_len & 0xff
                 data_len_h = (data_len >> 8) & 0xff
-                data_to_send[0:2] = [data_len_h, data_len_l]
-                data_to_send[2:] = base_data[index:index+self.valid_base_len]
+                data_to_send[0] = data_len_l
+                data_to_send[1:] = base_data[index:index+self.valid_base_len]
             try:
                 if self.can_type == 'canfd':
                     self.canfd_handle.write(self.base_id, data_to_send, False, False, True)
@@ -661,6 +661,7 @@ def send_base_data(self, data):
             all_data_len-= self.valid_base_len
             index+= self.valid_base_len
             self.all_base_len+= len_base_data
+            time.sleep(0.01)
             sys.stdout.write("\rsend base data len {0}".format(self.all_base_len))
 
     def receive_parse_all(self):