reelase 1.3.4

examples/OpenIMU300RI/IMU/lib/Core/GPS/include/driverGPS.h

@@ -218,8 +218,8 @@ typedef struct  {
 	int    lon_deg;
 	int    lon_min;
 	double lon_min_fraction;
-    char latSign;
-    char lonSign;
+    int8_t latSign;
+    int8_t lonSign;
 } NmeaLatLonSTRUCT;
 
 // delta struct

examples/OpenIMU300RI/IMU/platformio.ini

@@ -15,7 +15,7 @@ platform = aceinna_imu
 lib_archive = false
 board = OpenIMU300
 ;lib_deps = ../../../openIMU300-lib
-lib_deps = OpenIMU300-base-library@~1.1.11
+lib_deps = [email protected].13
 build_flags =
 ;	-D CLI
 	-D IMU_ONLY

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 03.01.09"
+#define  APP_VERSION_STRING  "OpenIMU300RI IMU_J1939 03.01.10"
 
 
 #endif

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

@@ -50,6 +50,7 @@ BOOL  UpdateSystemParameter(uint32_t number, uint64_t data, BOOL fApply)
 {
      BOOL result = TRUE;
      uint64_t *ptr = (uint64_t *)pUserUartConfig;
+     uint16_t  orientOut;
 
      if(number < USER_UART_CRC || number >= USER_UART_MAX_PARAM ){
          return FALSE;
@@ -89,9 +90,9 @@ BOOL  UpdateSystemParameter(uint32_t number, uint64_t data, BOOL fApply)
             case  USER_UART_ORIENTATION:
                 {
                     uint64_t tmp = data;
-                    result = platformSetOrientation((uint16_t*)&data, fApply);
+                    result = platformSetOrientation((uint16_t*)&data, &orientOut, fApply);
                     if(fApply && result == TRUE){
-                        UpdateEcuOrientationSettings((uint16_t)data);
+                        UpdateEcuOrientationSettings(orientOut);
                         data = tmp;
                     }
                 }

examples/OpenIMU300RI/INS/platformio.ini

@@ -15,7 +15,7 @@ platform = aceinna_imu
 lib_archive = false
 board = OpenIMU300
 ;lib_deps = ../../../openIMU300-lib
-lib_deps = OpenIMU300-base-library@~1.1.11
+lib_deps = [email protected].13
 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 03.01.09"
+#define  APP_VERSION_STRING  "OpenIMU300RI INS_J1939 03.01.10"
 
 
 #endif

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

@@ -50,7 +50,7 @@ BOOL  UpdateSystemParameter(uint32_t number, uint64_t data, BOOL fApply)
 {
      BOOL result = TRUE;
      uint64_t *ptr = (uint64_t *)pUserUartConfig;
-
+     uint16_t orientOut;
      if(number < USER_UART_CRC || number >= USER_UART_MAX_PARAM ){
          return FALSE;
      }
@@ -89,9 +89,9 @@ BOOL  UpdateSystemParameter(uint32_t number, uint64_t data, BOOL fApply)
             case  USER_UART_ORIENTATION:
                 {
                     uint64_t tmp = data;
-                    result = platformSetOrientation((uint16_t*)&data, fApply);
+                    result = platformSetOrientation((uint16_t*)&data, &orientOut, fApply);
                     if(fApply && result == TRUE){
-                        UpdateEcuOrientationSettings((uint16_t)data);
+                        UpdateEcuOrientationSettings(orientOut);
                         data = tmp;
                     }
                 }

examples/OpenIMU300RI/VG_AHRS/platformio.ini

@@ -15,7 +15,7 @@ platform = aceinna_imu
 lib_archive = false
 board = OpenIMU300
 ;lib_deps = ../../../openIMU300-lib
-lib_deps = OpenIMU300-base-library@~1.1.11
+lib_deps = [email protected].13
 build_flags =
 ;	-D CLI
 ; Comment next line for VG algorithm

examples/OpenIMU300RI/VG_AHRS/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  "VG_AHRS_J1939 03.01.09"
+#define  APP_VERSION_STRING  "OpenIMU300RI VG_AHRS_J1939 03.01.10"
 
 
 #endif

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

@@ -89,9 +89,10 @@ BOOL  UpdateSystemParameter(uint32_t number, uint64_t data, BOOL fApply)
             case  USER_UART_ORIENTATION:
                 {
                     uint64_t tmp = data;
-                    result = platformSetOrientation((uint16_t*)&data, fApply);
+                    uint16_t orientOut;
+                    result = platformSetOrientation((uint16_t*)&data, &orientOut, fApply);
                     if(fApply && result == TRUE){
-                        UpdateEcuOrientationSettings((uint16_t)data);
+                        UpdateEcuOrientationSettings(orientOut);
                         data = tmp;
                     }
                 }

examples/OpenIMU300ZI/IMU/lib/Core/Algorithm/algorithmAPI.h

@@ -36,7 +36,7 @@ limitations under the License.
  *
  * @retval N/A
  *****************************************************************************/
-void InitializeAlgorithmStruct(uint8_t callingFreq);
+void InitializeAlgorithmStruct(uint8_t callingFreq, const enumIMUType imuType);
 
 /******************************************************************************
  * @brief Get algorithm status.
@@ -68,6 +68,22 @@ void enableGpsInAlgorithm(BOOL enable);
 
 BOOL gpsUsedInAlgorithm();
 
+void enableOdoInAlgorithm(BOOL enable);
+
+BOOL odoUsedInAlgorithm();
+
+void enableFreeIntegration(BOOL enable);
+
+BOOL freeIntegrationEnabled();
+
+void enableStationaryLockYaw(BOOL enable);
+
+BOOL stationaryLockYawEnabled();
+
+void enableImuStaticDetect(BOOL enable);
+
+BOOL imuStaticDetectEnabled();
+
 void   SetAlgorithmUseDgps(BOOL d);
 
 void updateAlgorithmTimings(int corr, uint32_t tmrVal );
@@ -77,6 +93,11 @@ uint32_t getAlgorithmTimer();
 uint16_t getAlgorithmCounter();
 uint16_t getAlgorithmFrequency();
 uint32_t getAlgorithmITOW();
+BOOL     getAlgorithmLinAccelDetectMode();
+BOOL     getAlgorithmAccelPredictMode();
+float    getAlgorithmCoefOfReduceQ();
+float    getAlgorithmAccelSwitchDelay();
+float    getAlgorithmRateIntegrationTime();    
 
 
 /******************************************************************************

examples/OpenIMU300ZI/IMU/lib/Core/Algorithm/include/EKF_Algorithm.h

@@ -14,6 +14,7 @@
 #include "StateIndices.h"
 
 #include "gpsAPI.h"   // For gpsDataStruct_t in EKF setter
+#include "odoAPI.h"
 
 #include "Indices.h"
 
@@ -64,10 +65,23 @@ typedef struct {
     real R[9];
     real K[NUMBER_OF_EKF_STATES][3];
     real stateUpdate[NUMBER_OF_EKF_STATES];
+    real deltaP_tmp[NUMBER_OF_EKF_STATES][NUMBER_OF_EKF_STATES];
 
     // The following two are used in more than one functions, so they are pre-computed.
     real wTrueTimesDtOverTwo[NUM_AXIS];
     real turnSwitchMultiplier;
+
+    // saved states when pps comes in
+    real ppsP[NUMBER_OF_EKF_STATES][NUMBER_OF_EKF_STATES];
+    real phi[NUMBER_OF_EKF_STATES][NUMBER_OF_EKF_STATES];
+    real dQ[NUMBER_OF_EKF_STATES][NUMBER_OF_EKF_STATES];
+    real ppsPosition_N[NUM_AXIS];
+    real ppsVelocity_N[NUM_AXIS];
+    //real ppsQuaternion[4];
+    real ppsEulerAngles[NUM_AXIS];
+    //real ppsRateBias_B[NUM_AXIS];
+    //real ppsAccelBias_B[NUM_AXIS];
+    uint32_t ppsITow;
 } KalmanFilterStruct;
 
 extern KalmanFilterStruct gKalmanFilter;
@@ -96,6 +110,13 @@ typedef struct {
                                      * This is valid only when there is gps udpate.
                                      */
     BOOL gpsUpdate;                 // Indicate if GNSS measurement is updated.
+
+    // odometer
+    BOOL odoUpdate;                 // indicate if odo measurement is updated
+    real odoVelocity;               // velocity from odo, [m/s]
+
+    // 1PPS from GNSS receiver
+    BOOL ppsDetected;
 } EKF_InputDataStruct;
 
 extern EKF_InputDataStruct gEKFInput;
@@ -148,7 +169,10 @@ void EKF_GetOperationalMode(uint8_t *EKF_OperMode);
 void EKF_GetOperationalSwitches(uint8_t *EKF_LinAccelSwitch, uint8_t *EKF_TurnSwitch);
 
 // Setter functions
-void EKF_SetInputStruct(double *accels, double *rates, double *mags, gpsDataStruct_t *gps);
+void EKF_SetInputStruct(double *accels, double *rates, double *mags,
+                        gpsDataStruct_t *gps, odoDataStruct_t *odo,
+                        BOOL ppsDetected);
+void EKF_SetSteeringAngle(real angle, uint16_t states);
 void EKF_SetOutputStruct(void);
 
 #endif /* _EKF_ALGORITHM_H_ */

examples/OpenIMU300ZI/IMU/lib/Core/Algorithm/include/MotionStatus.h

@@ -50,10 +50,11 @@ void MotionStatusImu(real *gyro, real *accel, ImuStatsStruct *imuStats, BOOL res
  * @param [in] staticDelay      A Counter. When static period detected, delay [staticDelay] samples before
  *                              lowering accel error. [staticDelay] is also used to reset initial accel that
  *                              is propagated using gyro to estimate future accel.
+ * @param [in] rateBias         Input angular rate bias, rad/s.
  * @param [out] gAccelStats     A struct for results storage.
  * @retval None.
 ******************************************************************************/
-void EstimateAccelError(real *accel, real *w, real dt, uint32_t staticDelay, ImuStatsStruct *gAccelStats);
+void EstimateAccelError(real *accel, real *w, real dt, uint32_t staticDelay, real *rateBias, ImuStatsStruct *imuStats);
 
 /******************************************************************************
  * @brief Detect motion according to the difference between measured accel magnitude and 1g.

examples/OpenIMU300ZI/IMU/lib/Core/Algorithm/include/TimingVars.h

@@ -33,6 +33,7 @@ float TimingVars_GetTime(void);
 
 void  TimingVars_SetTMin(float tMin);
 float TimingVars_GetTMin(void);
+void TimingVars_dacqFrequency(int freq);
 
 void TimingVars_DisplayTimerVars(signed long timeStep);
 

examples/OpenIMU300ZI/IMU/lib/Core/Algorithm/include/algorithm.h

@@ -77,24 +77,24 @@ typedef struct {
 	int32_t Declination_Expiration_Time;   // [msec]
 
 	uint16_t Free_Integration_Cntr;   // [count]
-//#define LIMIT_MAX_REST_TIME_BEFORE_DROP_TO_AHRS     60000 // 60000 [ msec ] = 60 [ sec ]
-//#define LIMIT_DECL_EXPIRATION_TIME                  60000  // 60,000 [ counts ] = 10 [ min ]
 
 	real accelSwitch;
 	uint32_t linAccelSwitchDelay;
-
+	uint32_t rateIntegrationTime;
 	InnovationStruct       Innov;
 } LimitStruct;
 
 /// specifying how the user sets up the device algorithm
-struct algoBehavior_BITS {        /// bits   description
-	uint16_t freeIntegrate : 1; /// 0
-	uint16_t useMag : 1; /// 1
-	uint16_t useGPS : 1; /// 2 - Not used yet
-	uint16_t stationaryLockYaw : 1; /// 3 - Not used yet
-	uint16_t restartOnOverRange : 1; /// 4
-	uint16_t dynamicMotion : 1; /// 5 - Not used
-	uint16_t rsvd : 10; /// 6:15
+struct algoBehavior_BITS {                  // bits   description
+    uint16_t freeIntegrate : 1;             // 0
+    uint16_t useMag : 1;                    // 1
+    uint16_t useGPS : 1;                    // 2
+    uint16_t useOdo : 1;                    // 3
+    uint16_t enableStationaryLockYaw : 1;   // 4
+    uint16_t restartOnOverRange : 1;        // 5
+    uint16_t dynamicMotion : 1;             // 6
+    uint16_t enableImuStaticDetect : 1;     // 7
+    uint16_t rsvd : 8;                      // 8:15
 };
 
 union AlgoBehavior
@@ -110,11 +110,21 @@ struct ALGO_STATUS_BITS
 	uint16_t highGain : 1; // 1  high gain mode
 	uint16_t attitudeOnlyAlgorithm : 1; // 2  attitude only algorithm
 	uint16_t turnSwitch : 1; // 3  turn switch
-	uint16_t noAirdataAiding : 1; // 4  airdata aiding
-	uint16_t noMagnetometerheading : 1; // 5  magnetometer heading
-	uint16_t noGPSTrackReference : 1; // 6  GPS track
-	uint16_t gpsUpdate : 1; // 7  GPS measurement update
-	uint16_t rsvd : 8; // 8:15
+    uint16_t linearAccel : 1;           // 4  Linear acceleration detected by difference from gravity
+	uint16_t staticImu : 1;             // 5  zero velocity detected by IMU
+	uint16_t gpsHeadingValid : 1;       /* 6  When GPS velocity is above a certain threshold,
+                                         * this is set to TRUE, and GPS heading measurement
+                                         * is used, otherwise, this is set to FALSE and magnetic
+                                         * heading (if available) is used.
+                                         */
+	uint16_t stationaryYawLock : 1;     // 7  Yaw is locked when unit is static
+    uint16_t ppsAvailable : 1;          /* 8.
+                                         * This will be initialized as FALSE.
+                                         * This will become TRUE when PPS is detected for the first time.
+                                         * This will become FALSE when PPS has not been detected for more than 2sec.
+                                         * This will become FALSE when GNSS measurement is refrshed and used.
+                                         */
+	uint16_t rsvd : 7;                  // 9:15
 };
 
 typedef union ALGO_STATUS
@@ -182,6 +192,8 @@ typedef struct {
 
     uint8_t linAccelLPFType;
     uint8_t useRawAccToDetectLinAccel;
+    uint8_t useRawRateToPredAccel;
+    real coefOfReduceQ;
 
     uint8_t callingFreq;
     real    dt;
@@ -205,8 +217,14 @@ typedef struct {
 
     DurationStruct    Duration;
     LimitStruct       Limit;
+    enumIMUType       imuType;
+
 } AlgorithmStruct;
 
 extern AlgorithmStruct gAlgorithm;
 
+// Update IMU specs.
+void UpdateImuSpec(real rwOdr, real arw, real biw, real maxBiasW,
+                   real vrw, real bia, real maxBiasA);
+
 #endif