Merge branch 'release/v1.3.0'

examples/OpenIMU300RI/IMU/platformio.ini

@@ -15,7 +15,7 @@ platform = aceinna_imu
 lib_archive = false
 board = OpenIMU300
 ;lib_deps = ../../openIMU300-lib/openIMU300-lib
-lib_deps = [email protected].6
+lib_deps = OpenIMU300-base-library@~1.1.8
 build_flags =
 ;	-D CLI
 	-D SAE_J1939

examples/OpenIMU300RI/IMU/src/appVersion.h

@@ -26,7 +26,7 @@ limitations under the License.
 #ifndef _IMU_APP_VERSION_H
 #define _IMU_APP_VERSION_H
 
-#define  APP_VERSION_STRING  "IMU_J1939 1.1.3"
+#define  APP_VERSION_STRING  "IMU_J1939 1.1.4"
 
 
 #endif

examples/OpenIMU300RI/IMU/src/user/UserMessagingCAN.c

@@ -149,14 +149,14 @@ void ProcessRequest(void *dsc)
       }
       // pasket type request 
       else if ((req_ps_val == gEcuConfigPtr->packet_type_ps)) {
-        aceinna_j1939_send_packet_rate(gEcuConfigPtr->packet_type);
+        aceinna_j1939_send_packet_type(gEcuConfigPtr->packet_type);
       }
       // filter settings request 
       else if ((req_ps_val == gEcuConfigPtr->digital_filter_ps)) {
         aceinna_j1939_send_digital_filter(gEcuConfigPtr->accel_cut_off, gEcuConfigPtr->rate_cut_off);
       }
       // orientation settings request 
-      else if ((req_ps_val == gEcuConfigPtr->orien_bits)) {
+      else if ((req_ps_val == gEcuConfigPtr->orientation_ps)) {
         uint8_t bytes[2];
         bytes[0] = (gEcuConfigPtr->orien_bits >> 8) & 0xff;
         bytes[1] = (gEcuConfigPtr->orien_bits) & 0xff;

examples/OpenIMU300RI/INS/platformio.ini

@@ -14,8 +14,8 @@ description = A Kalman filter based algorithm that uses rate-sensors to propagat
 platform = aceinna_imu
 lib_archive = false
 board = OpenIMU300
-;lib_deps = ../../openIMU300-lib\openIMU300-lib
-lib_deps = [email protected].6
+;lib_deps = ../../../../../openIMU300-lib/openIMU300-lib
+lib_deps = OpenIMU300-base-library@~1.1.8
 build_flags =
 	-D GPS
 	-D GPS_OVER_CAN

examples/OpenIMU300RI/INS/src/appVersion.h

@@ -26,7 +26,7 @@ limitations under the License.
 #ifndef _IMU_APP_VERSION_H
 #define _IMU_APP_VERSION_H
 
-#define  APP_VERSION_STRING  "INS_J1939 1.0.3"
+#define  APP_VERSION_STRING  "INS_J1939 1.0.4"
 
 
 #endif

examples/OpenIMU300RI/INS/src/user/UserMessagingCAN.c

@@ -161,7 +161,7 @@ void ProcessRequest(void *dsc)
         aceinna_j1939_send_digital_filter(gEcuConfigPtr->accel_cut_off, gEcuConfigPtr->rate_cut_off);
       }
       // orientation settings request 
-      else if ((req_ps_val == gEcuConfigPtr->orien_bits)) {
+      else if ((req_ps_val == gEcuConfigPtr->orientation_ps)) {
         uint8_t bytes[2];
         bytes[0] = (gEcuConfigPtr->orien_bits >> 8) & 0xff;
         bytes[1] = (gEcuConfigPtr->orien_bits) & 0xff;
@@ -183,11 +183,11 @@ void ProcessRequest(void *dsc)
 void ProcessVehiclePosition(struct sae_j1939_rx_desc   *desc)
 {
 	GPS_DATA *posData = (GPS_DATA*)desc->rx_buffer.Data; 
-	canInputNavParams.latitude  = (double)posData->latitude*0.000001 - 210;	// degrees
-	canInputNavParams.longitude = (double)posData->longitude*0.000001 - 210;	// degrees
+	canInputNavParams.latitude  = (double)posData->latitude*0.0000001 - 210;	// degrees
+	canInputNavParams.longitude = (double)posData->longitude*0.0000001 - 210;	// degrees
 	canInputNavParams.status   |= J1939_GPS_POSITION_DATA_UPDATED;
-    gCanGps.latitude            = (double)posData->latitude*0.000001 - 210;	// degrees
-	gCanGps.longitude           = (double)posData->longitude*0.000001 - 210;	// degrees
+    gCanGps.latitude            = (double)posData->latitude*0.0000001 - 210;	// degrees
+	gCanGps.longitude           = (double)posData->longitude*0.0000001 - 210;	// degrees
 }
 
 void ProcessWheelSpeed(struct sae_j1939_rx_desc   *desc)
@@ -360,6 +360,7 @@ void EnqeuePeriodicDataPackets(int latency, int sendPeriodicPackets)
   }
 
   // ss2 packets supported by 9DOF 
+#ifndef GPS_OVER_CAN
   if (packets_to_send & ACEINNA_SAE_J1939_PACKET_LATLONG) {
       GPS_DATA  gpsData;
 
@@ -375,7 +376,7 @@ void EnqeuePeriodicDataPackets(int latency, int sendPeriodicPackets)
 
        aceinna_j1939_send_GPS(&gpsData);
   }
-
+#endif
 
    // acceleration packets
    if (packets_to_send & ACEINNA_SAE_J1939_PACKET_ACCELERATION) {

examples/OpenIMU300RI/VG_AHRS/platformio.ini

@@ -15,7 +15,7 @@ platform = aceinna_imu
 lib_archive = false
 board = OpenIMU300
 ;lib_deps = ../../openIMU300-lib/openIMU300-lib
-lib_deps = [email protected].6
+lib_deps = OpenIMU300-base-library@~1.1.8
 build_flags =
 ;	-D CLI
 ; Comment next line for VG algorithm

examples/OpenIMU300RI/VG_AHRS/src/user/UserMessagingCAN.c

@@ -149,14 +149,14 @@ void ProcessRequest(void *dsc)
       }
       // pasket type request 
       else if ((req_ps_val == gEcuConfigPtr->packet_type_ps)) {
-        aceinna_j1939_send_packet_rate(gEcuConfigPtr->packet_type);
+        aceinna_j1939_send_packet_type(gEcuConfigPtr->packet_type);
       }
       // filter settings request 
       else if ((req_ps_val == gEcuConfigPtr->digital_filter_ps)) {
         aceinna_j1939_send_digital_filter(gEcuConfigPtr->accel_cut_off, gEcuConfigPtr->rate_cut_off);
       }
       // orientation settings request 
-      else if ((req_ps_val == gEcuConfigPtr->orien_bits)) {
+      else if ((req_ps_val == gEcuConfigPtr->orientation_ps)) {
         uint8_t bytes[2];
         bytes[0] = (gEcuConfigPtr->orien_bits >> 8) & 0xff;
         bytes[1] = (gEcuConfigPtr->orien_bits) & 0xff;

examples/OpenRTK330LI/RAWDATA/include/app_version.h

@@ -26,7 +26,7 @@ limitations under the License.
 #ifndef _APP_VERSION_H
 #define _APP_VERSION_H
 
-#define  APP_VERSION_STRING  "OpenRTK330L RAWDATA App 0.1.1"   
+#define  APP_VERSION_STRING  "OpenRTK330L RAWDATA App 1.1.1"   
 
 #define  PRODUCT_NAME_STRING "OpenRTK330L"
 

examples/OpenRTK330LI/RAWDATA/platformio.ini

@@ -18,7 +18,9 @@ description =
 platform = aceinna_imu
 board = OpenRTK
 lib_archive = false
-lib_deps = [email protected]
+
+lib_deps = [email protected]
+
 build_flags =
 
 	-D STM32F469xx

examples/OpenRTK330LI/RAWDATA/src/gnss_data_acq_task.c

@@ -26,6 +26,7 @@ limitations under the License.
 
 #include "gnss_data_api.h"
 #include "uart.h"
+#include "bt_packet.h"
 #include "ntrip_client.h"
 #include "led.h"
 
@@ -63,8 +64,10 @@ static void _handleGpsMessages(uint8_t *RtcmBuff, int length)
     base_cnt ++;
     if(base_cnt > 200)
     {
-        LED_RTCM_OFF;   //No base station signal, led2 off
+         /* If no base station signal, RED LED is off */
+        LED_RTCM_OFF;  
     }
+
     while (length)
     {
         length--;
@@ -106,10 +109,10 @@ static void _handleGpsMessages(uint8_t *RtcmBuff, int length)
                 uint8_t res = osSemaphoreWait(g_sem_rtk_finish, 0);
                 if (res == osOK && gnss_signal_flag)
                 {
-                        g_ptr_gnss_data->rov = *obs;
-                        g_ptr_gnss_data->ref = *(rtcm->obs + BASE);
-                        g_ptr_gnss_data->nav = rtcm->nav;
-                        osSemaphoreRelease(g_sem_rtk_start);
+                    g_ptr_gnss_data->rov = *obs;
+                    g_ptr_gnss_data->ref = *(rtcm->obs + BASE);
+                    g_ptr_gnss_data->nav = rtcm->nav;
+                    osSemaphoreRelease(g_sem_rtk_start);
                 }
             }
         }
@@ -139,12 +142,11 @@ void GnssDataAcqTask(void const *argument)
         {
             int BtLen = 0;
             BtLen = uart_read_bytes(UART_BT, bt_buff, GPS_BUFF_SIZE, 0);
-
             if (BtLen)
             {
                 if(uart_sem_wait(UART_BT,0) == RTK_SEM_OK)
                 {
-                    //ret = bt_uart_parse(bt_buff);
+                    ret = bt_uart_parse(bt_buff);
                 }
                 if (ret != RTK_JSON)
                 {

examples/OpenRTK330LI/RAWDATA/src/imu_data_acq_task.c

@@ -50,8 +50,6 @@ void TaskDataAcquisition(void const *argument)
     res = InitSensors();
     InitSensorsData();
 
-    configSetPacketRate(100, TRUE);
-
     while (1)
     {
         //UBaseType_t uxHighWaterMark;

examples/OpenRTK330LI/RAWDATA/src/main.c

@@ -123,6 +123,8 @@ int main(void)
     uart_driver_install(UART_GPS,&uart_gps_rx_fifo,&huart_gps,460800);
     uart_driver_install(UART_BT,&uart_bt_rx_fifo,&huart_bt,460800);
 
+    delay_ms(10000);    //Delay, in case the usb driver is not installed on computer
+
     ResetForEnterBootMode();  // normal or iap mode
 
     InitFactoryCalibration();

examples/OpenRTK330LI/RAWDATA/src/rtk_task.c

@@ -28,14 +28,69 @@ limitations under the License.*/
 #include "led.h"
 #include "ntrip_client.h"
 #include "utils.h"
+#include "nav_math.h"
 
 extern gnss_raw_data_t *g_ptr_gnss_data;
 
-
-static void RTKAlgorithm(void);
+gnss_solution_t g_gnss_sol = {0};
 
 char gga_buff[200] = "$GPGGA,,,N,,E,,,,,M,,M,,*\r\n";
 
+
+/** ***************************************************************************
+ * @name copy_pvt_result()
+ * @brief store PVT result to the global PVT struct
+ * @param in: rover PVT [ST internal; RTK algorithm output; INS algorithm output]
+ *        out: gnss solution
+ * @retval N/A
+ ******************************************************************************/
+static void copy_pvt_result(const st_pvt_type999_t* rov, gnss_solution_t* gnss_sol)
+{
+    double blh[3] = {0};
+
+    if (gnss_sol != NULL)
+    {
+        ecef2pos(rov->pos_xyz, blh);
+        gnss_sol->gps_week = rov->ext_gps_week_number;
+        gnss_sol->gps_tow = (uint32_t)(rov->gnss_epoch_time);
+        gnss_sol->latitude = blh[0];
+        gnss_sol->longitude = blh[1];
+        gnss_sol->height = blh[2];
+
+        memcpy(gnss_sol->pos_ecef, rov->pos_xyz, 3*sizeof(double));
+
+        double C_en[3][3] = { {0.0} }, vel[3];
+        blh2C_en(blh, C_en);
+        for (int i = 0; i < 3; ++i) {
+            gnss_sol->vel_ned[i] = 0.0f;
+            for (int j = 0; j < 3; ++j) {
+                gnss_sol->vel_ned[i] += C_en[i][j]*rov->vel_xyz[j];
+            }
+        }
+
+        gnss_sol->sol_age = 0.0;
+
+        gnss_sol->num_sats = rov->num_sat_in_use;
+        gnss_sol->gnss_fix_type = 1;
+        gnss_sol->dops[2] = rov->hdop;
+        gnss_sol->gnss_update = 1;
+    }
+}
+
+/** ***************************************************************************
+ * @name rtk_algorithm()
+ * @brief  GNSS RTK algorithm entry
+ *         Rover and base data are stored in g_ptr_gnss_data
+ *         nav_t *nav = &g_ptr_gnss_data->nav;
+*          obs_t *rov = &g_ptr_gnss_data->rov;
+ * @param  N/A
+ * @retval N/A
+ ******************************************************************************/
+static void rtk_algorithm(void)
+{
+
+}
+
 /** ***************************************************************************
  * @name RTKTask()
  * @brief  RTK Algorithm task
@@ -46,7 +101,6 @@ void RTKTask(void const *argument)
 {
     // UBaseType_t uxHighWaterMark;
     // uxHighWaterMark = uxTaskGetStackHighWaterMark(NULL);
-    obs_t* ptr_rover_obs = &g_ptr_gnss_data->rtcm.obs[0];
 
     uint8_t res = osSemaphoreWait(g_sem_rtk_start, 0);
     while (1)
@@ -61,34 +115,33 @@ void RTKTask(void const *argument)
         }
         LED1_Toggle();
 
-        RTKAlgorithm();
+        rtk_algorithm();
 
-        // use rover obs to make gga and pull base rtcm data
-        print_pos_gga_util(ptr_rover_obs->time, ptr_rover_obs->pos, ptr_rover_obs->n, 1, 1.0, 0.0, gga_buff);
+        /* use ST internal SPP solution as an example for GNSS PVT solution 
+        * For User reference, copy your RTK PVT to g_gnss_sol struct
+        */
+        st_pvt_type999_t* st_pvt = &g_ptr_gnss_data->rtcm.rcv[ROVER].st_pvt;
+        if (st_pvt->flag_gnss_update) {
+            copy_pvt_result(st_pvt, &g_gnss_sol);
 
-        //uart_write_bytes(UART_DEBUG, gga_buff, strlen(gga_buff), 1);
-        //send gga from Bluetooth
-        uart_write_bytes(UART_BT, gga_buff, strlen(gga_buff), 1);
-        //send gga from Internet
-        ntrip_push_tx_data((uint8_t*)gga_buff, strlen(gga_buff));
+            /* use rover position to make NMEA GGA message and pull base rtcm data */
+            gtime_t time = gpst2time(g_gnss_sol.gps_week, g_gnss_sol.gps_tow*0.001);
+            print_pos_gga(time, g_gnss_sol.pos_ecef, g_gnss_sol.num_sats, g_gnss_sol.gnss_fix_type, g_gnss_sol.dops[2], g_gnss_sol.sol_age, gga_buff);
+
+            /* send NMEA GGA position to NTRIP server using Bluetooth */
+            uart_write_bytes(UART_BT, gga_buff, strlen(gga_buff), 1);
+            /* send NMEA GGA position to NTRIP server using Ethernet */
+            ntrip_push_tx_data((uint8_t*)gga_buff, strlen(gga_buff));
+
+            st_pvt->flag_gnss_update = 0;
+        }
+        else {
+            g_gnss_sol.gnss_update = 0;
+        }
 
         osSemaphoreRelease(g_sem_rtk_finish);
 
         // uxHighWaterMark = uxTaskGetStackHighWaterMark(NULL);
         // printf("uxhigh=%d\r\n",TASKRTD_STACK-uxHighWaterMark); 
     }
-}
-
-/** ***************************************************************************
- * @name RTKAlgorithm()
- * @brief  RTK Algorithm
- *         Rover and base data are stored in g_ptr_gnss_data
- *         nav_t *nav = &g_ptr_gnss_data->nav;
-*          obs_t *rov = &g_ptr_gnss_data->rov;
- * @param  N/A
- * @retval N/A
- ******************************************************************************/
-static void RTKAlgorithm(void)
-{
-
 }