From b640f321d1d40e91d86b10246c0c913be8100685 Mon Sep 17 00:00:00 2001 From: Andrew Priddis Date: Wed, 25 Oct 2023 11:13:15 -0600 Subject: [PATCH 1/5] Embedded demo video compassing --- docs/getting-started/getting-started.md | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/docs/getting-started/getting-started.md b/docs/getting-started/getting-started.md index 40868df..ede0497 100644 --- a/docs/getting-started/getting-started.md +++ b/docs/getting-started/getting-started.md @@ -58,5 +58,14 @@ Once a connection to the unit has been established, please follow one of the fol - [CLTool](../user-manual/software/cltool.md) - [SDK Example Projects](../user-manual/software/SDK.md) + +## Demonstration Videos +### Rugged-3-G2 GPS Compassing Configuration Demo + +
+ + +
+ ## Troubleshooting If at any time issues are encountered, please check the troubleshooting sections of this manual. \ No newline at end of file From 337c9285a050495f7b193423787437a6b257ad72 Mon Sep 17 00:00:00 2001 From: Andrew Priddis Date: Mon, 30 Oct 2023 16:35:03 -0600 Subject: [PATCH 2/5] Added length tolerance --- ...IS-IMX-5.0_Dimensions_and_Pinout_IMX-5.pdf | Bin 354912 -> 377241 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/docs/dimensions/IS-IMX-5.0_Dimensions_and_Pinout_IMX-5.pdf b/docs/dimensions/IS-IMX-5.0_Dimensions_and_Pinout_IMX-5.pdf index aedd2b6ea58076859a5da1dac17f23b661da3189..5a25d08a46ddf541146510004c6809481885ff28 100644 GIT binary patch delta 108087 zcmXte1ymeO(>3l+7IzEo7A&~COK^90nFWHoySqCChXe@j?jg9l1;S6B_xsP;IW;|7 zQ&oNIcI{N}Y|n!-f^p+1VcA&OKJlc1-yp?-@$R+C>h?w&55sLwJQmiUi%(7`8>Rh5 z^8Bbh+)epYgyXIASdQ}!B`DbrGgh>{=0-R2Bw6~3MR+{y)B zu1Md8na=9gwcdRGs;n(;0cl%I2Oa^gL@!LvJ%7{c-hQJ`UY`KZZO^|yzlMG8`Mb9T 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z7^DFJz(6F!HH4W|fB_%?3xq+$l49c#73{=~387dx*)jkI_}@DTO-8U0Kq$mwQm|kE zphQxL6HgFAVF;dzv8G}O#F)&ZqX>v1cnoI3xY&t0bPSX9$Ot+DfXQOAaG5{|L7A+{ znE(_MiR%`_Kn6O6hrqa4Isn2G6(_F$DMeTyMSusH5HOj@U@{?)J{iNLGVrqK3>E{$ z^FRPZaQQ%p$%4KK5&Y{r9mK|l^A4K@6Yo35V=-_E=^zNC+ From 475324c1ca9e1ccffcc95e2b8c7d6389e0ee4eba Mon Sep 17 00:00:00 2001 From: Andrew Priddis Date: Mon, 30 Oct 2023 17:27:51 -0600 Subject: [PATCH 3/5] Instructions to check firmware version --- docs/user-manual/gnss/ublox_pointperfect.md | 20 ++++++++++++++------ 1 file changed, 14 insertions(+), 6 deletions(-) diff --git a/docs/user-manual/gnss/ublox_pointperfect.md b/docs/user-manual/gnss/ublox_pointperfect.md index 5a5f323..53d9547 100644 --- a/docs/user-manual/gnss/ublox_pointperfect.md +++ b/docs/user-manual/gnss/ublox_pointperfect.md @@ -4,14 +4,22 @@ The IMX-5 can receive corrections from the uBlox D9S device, which provides L-ba ## Firmware update -L-band corrections requires a later version of F9P firmware. Use FW version HPG 1.32 from the F9P downloads page on the uBlox site. To update the firmware on the F9P, follow these steps: +L-band corrections requires a later version of F9P firmware. Use FW version HPG 1.32 from the F9P downloads page on the uBlox site. +To check your firmware version, follow these steps. 1. Open the Inertial Sense EvalTool -1. Navigate to the Data Sets tab. Open `DID_SYS_CMD` from the sidebar (see the image below) -1. Set `command` to `11` and `invCommand` to `-12` to enable passthrough to GNSS1 (set `12` and `-13` for GNSS2) -1. Close the serial port (Settings tab) -1. Open the device in uBlox u-center (we currently use u-center 22.07) -1. Update the firmware in u-center per u-blox instructions. Baudrate should be set to 921600. +2. Navigate to the Data Sets tab. +3. Select `DID_GPSx_VERSION` +4. The firmware version is displayed in extension[1] For Example, FWVER=HPG 1.12 + +To update the firmware on the F9P, follow these steps: + +1. Open the Inertial Sense EvalTool +2. Navigate to the Data Sets tab. Select `DID_SYS_CMD` from the sidebar (see the image below) +3. Set `command` to `11` and `invCommand` to `-12` to enable passthrough to GNSS1 (set `12` and `-13` for GNSS2) +4. Close the serial port (Settings tab) +5. Open the device in uBlox u-center (we currently use u-center 22.07) +6. Update the firmware in u-center per u-blox instructions. Baudrate should be set to 921600. ![](images/evalPass.png) From 551537f0487d78036fbe166afc11555064fbaa4b Mon Sep 17 00:00:00 2001 From: Andrew Priddis Date: Mon, 30 Oct 2023 17:31:51 -0600 Subject: [PATCH 4/5] Typos --- docs/user-manual/gnss/ublox_pointperfect.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/docs/user-manual/gnss/ublox_pointperfect.md b/docs/user-manual/gnss/ublox_pointperfect.md index 53d9547..bd3e31f 100644 --- a/docs/user-manual/gnss/ublox_pointperfect.md +++ b/docs/user-manual/gnss/ublox_pointperfect.md @@ -5,12 +5,13 @@ The IMX-5 can receive corrections from the uBlox D9S device, which provides L-ba ## Firmware update L-band corrections requires a later version of F9P firmware. Use FW version HPG 1.32 from the F9P downloads page on the uBlox site. -To check your firmware version, follow these steps. + +To check your firmware version, follow these steps: 1. Open the Inertial Sense EvalTool 2. Navigate to the Data Sets tab. 3. Select `DID_GPSx_VERSION` -4. The firmware version is displayed in extension[1] For Example, FWVER=HPG 1.12 +4. The firmware version is displayed in extension[1]. For Example, FWVER=HPG 1.12 To update the firmware on the F9P, follow these steps: From 61d74430e29ca04b6ae7650a3193ca21e98ca8a5 Mon Sep 17 00:00:00 2001 From: Walt Johnson Date: Mon, 30 Oct 2023 18:04:34 -0600 Subject: [PATCH 5/5] Development (#51) * Rename some symbols * WIP * Revert is_comm_set_data_ack() * Change CAN location in SDK * SN-3319 Added NMEA GSV message (#28) * Rename some symbols * WIP * Revert is_comm_set_data_ack() * Change CAN location in SDK * WIP nmea * Tweak docs * Added * Revised example * Update ascii.md * Rename ASCII to NMEA * WIP * WIP * WIP --------- Co-authored-by: Dave Cutting * Update module_gpx1.md (#27) * Rename ASCII messages to NMEA messages * Renamed ASCII to NMEA * Tweak description * Update nmea.md * Update nmea.md * Update DID info * Update DID descriptions * Fix RUG-3 io preset 5 RS485 serial port label (#36) * Renamed insDynModel to dynamicModel * Add CAN bus availability note * SN-3868 pre enable gnvtg gnrmc (#41) * Creating nmea VTG * Merge from dev_v2 * Add NMEA VTG to docs * Better description for VTG * Fix NMEA ZDA field name * SN-4098 nmea vtg not streaming (#43) * Added hardware and reserved info to NMEA message * Fix typo * Add software reset NMEA description * Added buildType to --------- Co-authored-by: Dave Cutting --- .../IMX-5_IMU_AHRS_GNSS-INS_Datasheet.pdf | Bin 348995 -> 349296 bytes docs/getting-started/getting-started.md | 2 +- docs/index.md | 2 +- docs/user-manual/SDK/CommunicationsArduino.md | 4 +- docs/user-manual/SDK/CommunicationsAscii.md | 6 +- docs/user-manual/SDK/CommunicationsBinary.md | 16 +- .../imu_ins_gnss_configuration.md | 4 +- .../application-config/zero_motion_command.md | 2 +- docs/user-manual/com-protocol/CAN.md | 2 +- .../com-protocol/DID-descriptions.md | 250 +++++++----- docs/user-manual/com-protocol/binary.md | 42 +- .../com-protocol/{ascii.md => nmea.md} | 365 +++++++++++++----- docs/user-manual/com-protocol/overview.md | 12 +- .../dead-reckoning/dead_reckoning.md | 2 +- docs/user-manual/gnss/multi_band_gnss.md | 2 +- docs/user-manual/gnss/rtk_compassing.md | 2 +- docs/user-manual/hardware/module_gpx1.md | 4 +- docs/user-manual/software/SDK.md | 2 +- docs/user-manual/troubleshooting/firmware.md | 2 +- mkdocs.yml | 4 +- 20 files changed, 477 insertions(+), 248 deletions(-) rename docs/user-manual/com-protocol/{ascii.md => nmea.md} (59%) diff --git a/docs/datasheets/IMX-5_IMU_AHRS_GNSS-INS_Datasheet.pdf b/docs/datasheets/IMX-5_IMU_AHRS_GNSS-INS_Datasheet.pdf index 630dd21b71052f8e5f7a632c4a3e29fff7e35591..cbe4e9ccc58c146d7faa01c05505a720faaf45b2 100644 GIT binary patch delta 122711 zcmV)RK(oKYrWNq06_7oVKs^CAk$xEgH?f#!0)II$H#0sy4GME~a%Ev{4GMUi-Cf&q z95<4ESA_ndAK6~3Sh!Zf;czS^jb*JZ*`v#NH|%+!DC!a;k+MXM?D;Cc?Eh_M0#&H4 zLN;4nSv?VJM^I#Ub)Q5ckvAj~$0zTvUcWd!yIOty_3_Eo)#=%*^XIEyj-On<`}^^e zKY!kxAOCdv^7X~()$7ZP+ z9^Jcn&mw^id;je)-!pqo~vZ&YP; ziSEe2Ep*2RGTp5S+H9kH!e05f8D(CmnSY=VNxYDnf3m=}%94}UxbFfti-$HyY$ 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z&L|m8O&)&<@X|W*a}4MzMk4c&jLtKVcWqn3C_KcY7#aM6q0{%VpB8$7zTFp-ajS`apE}P>=xg3^_y~k(L=DkjM~`tz?B=%ST}+ zE@G7I|La-pzn|tDH+((EG5!3%KHDIa1}cGFWQA4x*G%aDiy8bLKi9wwU$uWZnOgb# Wpw*?Acs+nA6p$b;qM~AC!T29~_4mjC diff --git a/docs/getting-started/getting-started.md b/docs/getting-started/getting-started.md index ede0497..ebb4bc6 100644 --- a/docs/getting-started/getting-started.md +++ b/docs/getting-started/getting-started.md @@ -44,7 +44,7 @@ The configuration settings found in DID_FLASH_CONFIG need to be set to appropria 2. gps2AntOffset[X-Z] - Position offset of sensor frame with respect to GPS2 antenna. -3. insDynModel - Dynamic model that most closely represents sensor application.* +3. dynamicModel - Dynamic model that most closely represents sensor application.* *Note - This feature is experimental. For most applications setting 8 will yield the best results. The user is encouraged to try different settings. diff --git a/docs/index.md b/docs/index.md index c5b9d1f..2736e23 100644 --- a/docs/index.md +++ b/docs/index.md @@ -41,7 +41,7 @@ The [**Inertial Sense SDK**](https://github.com/inertialsense/inertial-sense-sdk * Attitude (Roll, Pitch, Yaw, Quaternions), Velocity, and Position UTC Time Synchronized * Triple Redundant IMUs Calibrated for Bias, Scale Factor, Cross-axis Alignment, and G-sensitivity * -40°C to 85°C Sensor Temperature Calibration -* Binary and NMEA ASCII Protocol +* Binary and NMEA Protocol * Barometric Pressure and Humidity * Strobe In/Out Data Sync (Camera Shutter Event) * Fast Integration with SDK and Example Software diff --git a/docs/user-manual/SDK/CommunicationsArduino.md b/docs/user-manual/SDK/CommunicationsArduino.md index 5caa30d..482a685 100644 --- a/docs/user-manual/SDK/CommunicationsArduino.md +++ b/docs/user-manual/SDK/CommunicationsArduino.md @@ -10,10 +10,10 @@ This example shows how to communicate with the IMX using the Inertial Sense [Bin This example demonstrates how to use the Inertial Sense EVB with an Arduino Due. The Due was selected because it has two serial ports. This way the Arduino can communicate with the IMX using one of the ports, and write the output over the Serial Monitor to the computer using the other. !!! warning - The InertialSense SDK requires 64-bit double support. 32-bit processors (Arduino Due, Zero, and M0) are supported. 8-bit processors (i.e. Arduino Mega and Uno) are NOT supported. The [ASCII protocol](../com-protocol/ascii.md) (not covered in this example) may be used on an 8-bit Arduino. + The InertialSense SDK requires 64-bit double support. 32-bit processors (Arduino Due, Zero, and M0) are supported. 8-bit processors (i.e. Arduino Mega and Uno) are NOT supported. The [ASCII protocol](../com-protocol/nmea.md) (not covered in this example) may be used on an 8-bit Arduino. !!! note - A [Raspberry PI](https://www.raspberrypi.org/products/) (similar in price to the Arduino) is a good alternative to the Arduino. Either the [Binary Communications](../com-protocol/binary.md) and [ASCII Communications](../com-protocol/ascii.md) example projects can be run on a Raspberry PI. + A [Raspberry PI](https://www.raspberrypi.org/products/) (similar in price to the Arduino) is a good alternative to the Arduino. Either the [Binary Communications](../com-protocol/binary.md) and [ASCII Communications](../com-protocol/nmea.md) example projects can be run on a Raspberry PI. ## Wiring Guide diff --git a/docs/user-manual/SDK/CommunicationsAscii.md b/docs/user-manual/SDK/CommunicationsAscii.md index 221dc23..aea4121 100644 --- a/docs/user-manual/SDK/CommunicationsAscii.md +++ b/docs/user-manual/SDK/CommunicationsAscii.md @@ -2,7 +2,7 @@ This [IS Communications Example](https://github.com/inertialsense/InertialSenseSDK/tree/release/ExampleProjects/Ascii) project demonstrates binary communications with the
    Inertial Sense Products (IMX, uAHRS, and uIMU) using the Inertial Sense SDK. See the
    -[ASCII protocol](../com-protocol/ascii.md) section for details on the ASCII packet structures. +[ASCII protocol](../com-protocol/nmea.md) section for details on the ASCII packet structures. ## Files @@ -76,9 +76,9 @@ if (!serialPortWriteAscii(&serialPort, "STPB", 4)) const char* asciiMessage = "ASCB,512,,,1000,,,,,,,,,"; // Get PINS1 @ 50Hz and PGPSP @ 5Hz on the connected serial port, leave all other broadcasts the same - // const char* asciiMessage = "ASCB,,,,20,,200,,,,,,,"; + // const char* asciiMessage = "ASCB,,,,20,,1,,,,,,,"; - // Get PIMU @ 50Hz, GPGGA @ 5Hz, both serial ports, set all other periods to 0 + // Get PIMU @ 50Hz, GGA @ 5Hz, both serial ports, set all other periods to 0 // const char* asciiMessage = "ASCB,3,20,0,0,0,0,0,100,0,0,0,0,0"; if (!serialPortWriteAscii(&serialPort, asciiMessage, (int)strnlen(asciiMessage, 128))) diff --git a/docs/user-manual/SDK/CommunicationsBinary.md b/docs/user-manual/SDK/CommunicationsBinary.md index 0afbcf3..f776f48 100644 --- a/docs/user-manual/SDK/CommunicationsBinary.md +++ b/docs/user-manual/SDK/CommunicationsBinary.md @@ -77,7 +77,7 @@ This [IS Communications Example](https://github.com/inertialsense/InertialSenseS ```C++ // Set INS output Euler rotation in radians to 90 degrees roll for mounting float rotation[3] = { 90.0f*C_DEG2RAD_F, 0.0f, 0.0f }; - int messageSize = is_comm_set_data(comm, _DID_FLASH_CONFIG, offsetof(nvm_flash_cfg_t, insRotation), sizeof(float) * 3, rotation); + int messageSize = is_comm_set_data(comm, DID_FLASH_CONFIG, offsetof(nvm_flash_cfg_t, insRotation), sizeof(float) * 3, rotation); if (messageSize != serialPortWrite(serialPort, comm->buf.start, messageSize)) { printf("Failed to encode and write set INS rotation\r\n"); @@ -88,21 +88,21 @@ This [IS Communications Example](https://github.com/inertialsense/InertialSenseS ```C++ // Ask for INS message w/ update 40ms period (4ms source period x 10). Set data rate to zero to disable broadcast and pull a single packet. - int messageSize = is_comm_get_data(comm, _DID_INS_LLA_EULER_NED, 0, 0, 10); + int messageSize = is_comm_get_data(comm, DID_INS_1, 0, 0, 10); if (messageSize != serialPortWrite(serialPort, comm->buf.start, messageSize)) { printf("Failed to encode and write get INS message\r\n"); } // Ask for GPS message at period of 200ms (200ms source period x 1). Offset and size can be left at 0 unless you want to just pull a specific field from a data set. - messageSize = is_comm_get_data(comm, _DID_GPS1_POS, 0, 0, 1); + messageSize = is_comm_get_data(comm, DID_GPS1_POS, 0, 0, 1); if (messageSize != serialPortWrite(serialPort, comm->buf.start, messageSize)) { printf("Failed to encode and write get GPS message\r\n"); } // Ask for IMU message at period of 96ms (DID_FLASH_CONFIG.startupNavDtMs (16ms default) source period x 6). This could be as high as 1000 times a second (period multiple of 1) - messageSize = is_comm_get_data(comm, _DID_IMU, 0, 0, 6); + messageSize = is_comm_get_data(comm, DID_IMU, 0, 0, 6); if (messageSize != serialPortWrite(serialPort, comm->buf.start, messageSize)) { printf("Failed to encode and write get IMU message\r\n"); @@ -142,19 +142,19 @@ This [IS Communications Example](https://github.com/inertialsense/InertialSenseS case _PTYPE_INERTIAL_SENSE_DATA: switch (comm.dataHdr.id) { - case _DID_INS_LLA_EULER_NED: + case DID_INS_1: handleIns1Message((ins_1_t*)comm.dataPtr); break; - case DID_INS_2: + case _DID_INS_LLA_QN2B: handleIns2Message((ins_2_t*)comm.dataPtr); break; - case _DID_GPS1_POS: + case DID_GPS1_POS: handleGpsMessage((gps_pos_t*)comm.dataPtr); break; - case _DID_IMU_DUAL: + case _DID_PIMU: handleImuMessage((dual_imu_t*)comm.dataPtr); break; diff --git a/docs/user-manual/application-config/imu_ins_gnss_configuration.md b/docs/user-manual/application-config/imu_ins_gnss_configuration.md index 8ca24f3..60c8656 100644 --- a/docs/user-manual/application-config/imu_ins_gnss_configuration.md +++ b/docs/user-manual/application-config/imu_ins_gnss_configuration.md @@ -64,10 +64,10 @@ The IMU sample period is configured by setting `DID_FLASH_CONFIG.startupImuDtMs` The INS and AHRS kalman filter update period is configured using `DID_FLASH_CONFIG.startupNavDtMs`. This parameter sets the integration period for the preintegrated IMU (PIMU) a.k.a. Coning and Sculling (delta theta, delta velocity) integrals, which serve as an anti-aliased moving average of the IMU value. The `DID_IMU` is the derivative of the `DID_PIMU` value over a single integration period. ## INS-GNSS Dynamic Model -The `DID_FLASH_CONFIG.insDynModel` setting allows the user to adjust how the EKF behaves in different dynamic environments. All values except for 2 (STATIONARY) and 8 (AIR <4g) are experimental. The user is encouraged to attempt to use different settings to improve performance, however in most applications +The `DID_FLASH_CONFIG.dynamicModel` setting allows the user to adjust how the EKF behaves in different dynamic environments. All values except for 2 (STATIONARY) and 8 (AIR <4g) are experimental. The user is encouraged to attempt to use different settings to improve performance, however in most applications the default setting, 8: airborne <4g, will yield best performance. -The STATIONARY configuration (insDynModel = 2) can be used to configure the EKF for static applications. It is a permanent implementation of the [Zero Motion Command](../application-config/zero_motion_command.md) which will reduce EKF drift under stationary conditions. +The STATIONARY configuration (dynamicModel = 2) can be used to configure the EKF for static applications. It is a permanent implementation of the [Zero Motion Command](../application-config/zero_motion_command.md) which will reduce EKF drift under stationary conditions. ## Disable Magnetometer and Barometer Updates diff --git a/docs/user-manual/application-config/zero_motion_command.md b/docs/user-manual/application-config/zero_motion_command.md index 9f90f55..3cc3c0f 100644 --- a/docs/user-manual/application-config/zero_motion_command.md +++ b/docs/user-manual/application-config/zero_motion_command.md @@ -5,7 +5,7 @@ The *Zero Motion Command* is user initiated and informs the EKF that the system - Overriding incorrect GPS motion caused by weak GPS signal. - Speeding up gyro biases convergence time when there is no GPS signal. -In normal AHRS mode (stationary with or without GPS), only the IMU gyro biases are estimated by the EKF. Setting `DID_FLASH_CONFIG.insDynModel = INS_DYN_MODEL_STATIONARY (2)` is equivalent to continually issuing the zero motion command. +In normal AHRS mode (stationary with or without GPS), only the IMU gyro biases are estimated by the EKF. Setting `DID_FLASH_CONFIG.dynamicModel = DYNAMIC_MODEL_STATIONARY (2)` is equivalent to continually issuing the zero motion command. To use the *Zero Motion Command*: diff --git a/docs/user-manual/com-protocol/CAN.md b/docs/user-manual/com-protocol/CAN.md index 4a1f0db..5319e4e 100644 --- a/docs/user-manual/com-protocol/CAN.md +++ b/docs/user-manual/com-protocol/CAN.md @@ -46,7 +46,7 @@ The Inertial Sense evaluation boards and Rugged unit have a built in transceiver ## CAN Data Sets (CIDs) -The CAN Data Sets, in the form of C structures, define the format of the output data. The data sets are defined in SDK\hw-libs\communications\CAN_comm.h of the InertialSense SDK. The CID data is selected data from the standard Inertial Sense DIDs. The data types generally have been changed and scaled to fit the CAN2.0 8 byte payload restrictions. +The CAN Data Sets, in the form of C structures, define the format of the output data. The data sets are defined in SDK\src\data_sets_canbus.h of the InertialSense SDK. The CID data is selected data from the standard Inertial Sense DIDs. The data types generally have been changed and scaled to fit the CAN2.0 8 byte payload restrictions. #### CID_INS_TIME diff --git a/docs/user-manual/com-protocol/DID-descriptions.md b/docs/user-manual/com-protocol/DID-descriptions.md index b09dee6..15ff7a0 100644 --- a/docs/user-manual/com-protocol/DID-descriptions.md +++ b/docs/user-manual/com-protocol/DID-descriptions.md @@ -188,7 +188,32 @@ System sensor information #### DID_GPS1_POS -GPS 1 position data. This comes from DID_GPS1_UBX_POS or DID_GPS1_RTK_POS, depending on whichever is more accurate. +GPS 1 position data. This comes from DID_GPS1_RCVR_POS or DID_GPS1_RTK_POS, depending on whichever is more accurate. + +`gps_pos_t` + +| Field | Type | Description | +|-------|------|-------------| +| week | uint32_t | GPS number of weeks since January 6th, 1980 | +| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds | +| status | uint32_t | (see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag | +| ecef | double[3] | Position in ECEF {x,y,z} (m) | +| lla | double[3] | Position - WGS84 latitude, longitude, height above ellipsoid (not MSL) (degrees, m) | +| hMSL | float | Height above mean sea level (MSL) in meters | +| hAcc | float | Horizontal accuracy in meters | +| vAcc | float | Vertical accuracy in meters | +| pDop | float | Position dilution of precision (unitless) | +| cnoMean | float | Average of all non-zero satellite carrier to noise ratios (signal strengths) in dBHz | +| towOffset | double | Time sync offset between local time since boot up to GPS time of week in seconds. Add this to IMU and sensor time to get GPS time of week in seconds. | +| leapS | uint8_t | GPS leap second (GPS-UTC) offset. Receiver's best knowledge of the leap seconds offset from UTC to GPS time. Subtract from GPS time of week to get UTC time of week. (18 seconds as of December 31, 2016) | +| satsUsed | uint8_t | Number of satellites used | +| cnoMeanSigma | uint8_t | Standard deviation of cnoMean over past 5 seconds (dBHz x10) | +| reserved | uint8_t | Reserved for future use | + + +#### DID_GPS1_RCVR_POS + +GPS 1 position data from GNSS receiver. `gps_pos_t` @@ -301,7 +326,7 @@ RTK precision position base to rover relative info. #### DID_GPS1_SAT -GPS 1 GNSS and sat identifiers, carrier to noise ratio (signal strength), elevation and azimuth angles, pseudo range residual. +GPS 1 GNSS satellite information: sat identifiers, carrier to noise ratio, elevation and azimuth angles, pseudo range residual. `gps_sat_t` @@ -312,31 +337,6 @@ GPS 1 GNSS and sat identifiers, carrier to noise ratio (signal strength), elevat | sat | gps_sat_sv_t[50] | Satellite information list | -#### DID_GPS1_UBX_POS - -GPS 1 position data from ublox receiver. - -`gps_pos_t` - -| Field | Type | Description | -|-------|------|-------------| -| week | uint32_t | GPS number of weeks since January 6th, 1980 | -| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds | -| status | uint32_t | (see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags, NMEA input flag | -| ecef | double[3] | Position in ECEF {x,y,z} (m) | -| lla | double[3] | Position - WGS84 latitude, longitude, height above ellipsoid (not MSL) (degrees, m) | -| hMSL | float | Height above mean sea level (MSL) in meters | -| hAcc | float | Horizontal accuracy in meters | -| vAcc | float | Vertical accuracy in meters | -| pDop | float | Position dilution of precision (unitless) | -| cnoMean | float | Average of all non-zero satellite carrier to noise ratios (signal strengths) in dBHz | -| towOffset | double | Time sync offset between local time since boot up to GPS time of week in seconds. Add this to IMU and sensor time to get GPS time of week in seconds. | -| leapS | uint8_t | GPS leap second (GPS-UTC) offset. Receiver's best knowledge of the leap seconds offset from UTC to GPS time. Subtract from GPS time of week to get UTC time of week. (18 seconds as of December 31, 2016) | -| satsUsed | uint8_t | Number of satellites used | -| cnoMeanSigma | uint8_t | Standard deviation of cnoMean over past 5 seconds (dBHz x10) | -| reserved | uint8_t | Reserved for future use | - - #### DID_GPS1_VEL GPS 1 velocity data @@ -361,8 +361,7 @@ GPS 1 version info |-------|------|-------------| | swVersion | uint8_t[30] | Software version | | hwVersion | uint8_t[10] | Hardware version | -| extension | uint8_t[30] | Extension | -| reserved | uint8_t[2] | ensure 32 bit aligned in memory | +| extension | gps_extension_ver_t[6] | Extension 30 bytes array description | #### DID_GPS2_POS @@ -455,7 +454,7 @@ Dual GNSS RTK compassing / moving base to rover (GPS 1 to GPS 2) relative info. #### DID_GPS2_SAT -GPS 2 GNSS and sat identifiers, carrier to noise ratio (signal strength), elevation and azimuth angles, pseudo range residual. +GPS 2 GNSS satellite information: sat identifiers, carrier to noise ratio, elevation and azimuth angles, pseudo range residual. `gps_sat_t` @@ -490,8 +489,7 @@ GPS 2 version info |-------|------|-------------| | swVersion | uint8_t[30] | Software version | | hwVersion | uint8_t[10] | Hardware version | -| extension | uint8_t[30] | Extension | -| reserved | uint8_t[2] | ensure 32 bit aligned in memory | +| extension | gps_extension_ver_t[6] | Extension 30 bytes array description | #### DID_GPS_RTK_OPT @@ -742,13 +740,12 @@ GPS raw data for base station (observation, ephemeris, etc.) - requires little e | Field | Type | Description | |-------|------|-------------| -| gnssId | uint8_t | GNSS identifier: 0 GPS, 1 SBAS, 2 Galileo, 3 BeiDou, 5 QZSS, 6 GLONASS | +| gnssId | uint8_t | GNSS identifier (see eSatSvGnssId) | | svId | uint8_t | Satellite identifier | -| cno | uint8_t | (dBHz) Carrier to noise ratio (signal strength) | | elev | int8_t | (deg) Elevation (range: +/-90) | | azim | int16_t | (deg) Azimuth (range: +/-180) | -| prRes | int16_t | (m) Pseudo range residual | -| flags | uint32_t | (see eSatSvFlags) | +| cno | uint8_t | (dBHz) Carrier to noise ratio (signal strength) | +| status | uint16_t | (see eSatSvStatus) | #### Inertial Measurement Unit (IMU) @@ -763,29 +760,6 @@ GPS raw data for base station (observation, ephemeris, etc.) - requires little e ### Configuration -#### DID_ASCII_BCAST_PERIOD - -Broadcast period for ASCII messages - -`ascii_msgs_t` - -| Field | Type | Description | -|-------|------|-------------| -| options | uint32_t | Options: Port selection[0x0=current, 0xFF=all, 0x1=ser0, 0x2=ser1, 0x4=ser2, 0x8=USB] (see RMC_OPTIONS_...) | -| pimu | uint16_t | Broadcast period multiple - ASCII IMU data. 0 to disable. | -| ppimu | uint16_t | Broadcast period multiple - ASCII preintegrated IMU: delta theta (rad) and delta velocity (m/s). 0 to disable. | -| pins1 | uint16_t | Broadcast period multiple - ASCII INS output: euler rotation w/ respect to NED, NED position from reference LLA. 0 to disable. | -| pins2 | uint16_t | Broadcast period multiple - ASCII INS output: quaternion rotation w/ respect to NED, ellipsoid altitude. 0 to disable. | -| pgpsp | uint16_t | Broadcast period multiple - ASCII GPS position data. 0 to disable. | -| primu | uint16_t | Broadcast period multiple - ASCII Raw IMU data (up to 1KHz). Use this IMU data for output data rates faster than DID_FLASH_CONFIG.startupNavDtMs. Otherwise we recommend use of pimu or ppimu as they are oversampled and contain less noise. 0 to disable. | -| gpgga | uint16_t | Broadcast period multiple - ASCII NMEA GPGGA GPS 3D location, fix, and accuracy. 0 to disable. | -| gpgll | uint16_t | Broadcast period multiple - ASCII NMEA GPGLL GPS 2D location and time. 0 to disable. | -| gpgsa | uint16_t | Broadcast period multiple - ASCII NMEA GSA GPS DOP and active satellites. 0 to disable. | -| gprmc | uint16_t | Broadcast period multiple - ASCII NMEA recommended minimum specific GPS/Transit data. 0 to disable. | -| gpzda | uint16_t | Broadcast period multiple - ASCII NMEA Data and Time. 0 to disable. | -| pashr | uint16_t | Broadcast period multiple - ASCII NMEA Inertial Attitude Data. 0 to disable. | - - #### DID_FLASH_CONFIG Flash memory configuration @@ -804,7 +778,7 @@ Flash memory configuration | insRotation | float[3] | Rotation in radians about the X,Y,Z axes from Sensor Frame to Intermediate Output Frame. Order applied: Z,Y,X. | | insOffset | float[3] | X,Y,Z offset in meters from Intermediate Output Frame to INS Output Frame. | | gps1AntOffset | float[3] | X,Y,Z offset in meters in Sensor Frame to GPS 1 antenna. | -| insDynModel | uint8_t | INS dynamic platform model (see eInsDynModel). Options are: 0=PORTABLE, 2=STATIONARY, 3=PEDESTRIAN, 4=GROUND VEHICLE, 5=SEA, 6=AIRBORNE_1G, 7=AIRBORNE_2G, 8=AIRBORNE_4G, 9=WRIST. Used to balance noise and performance characteristics of the system. The dynamics selected here must be at least as fast as your system or you experience accuracy error. This is tied to the GPS position estimation model and intend in the future to be incorporated into the INS position model. | +| dynamicModel | uint8_t | INS dynamic platform model (see eInsDynModel). Options are: 0=PORTABLE, 2=STATIONARY, 3=PEDESTRIAN, 4=GROUND VEHICLE, 5=SEA, 6=AIRBORNE_1G, 7=AIRBORNE_2G, 8=AIRBORNE_4G, 9=WRIST. Used to balance noise and performance characteristics of the system. The dynamics selected here must be at least as fast as your system or you experience accuracy error. This is tied to the GPS position estimation model and intend in the future to be incorporated into the INS position model. | | debug | uint8_t | Debug | | gnssSatSigConst | uint16_t | Satellite system constellation used in GNSS solution. (see eGnssSatSigConst) 0x0003=GPS, 0x000C=QZSS, 0x0030=Galileo, 0x00C0=Beidou, 0x0300=GLONASS, 0x1000=SBAS | | sysCfgBits | uint32_t | System configuration bits (see eSysConfigBits). | @@ -829,6 +803,31 @@ Flash memory configuration | wheelConfig | wheel_config_t | Wheel encoder: euler angles describing the rotation from imu to left wheel | +#### DID_NMEA_BCAST_PERIOD + +Set broadcast periods for NMEA messages + +`nmea_msgs_t` + +| Field | Type | Description | +|-------|------|-------------| +| options | uint32_t | Options: Port selection[0x0=current, 0xFF=all, 0x1=ser0, 0x2=ser1, 0x4=ser2, 0x8=USB] (see RMC_OPTIONS_...) | +| pimu | uint16_t | Broadcast period multiple - NMEA IMU data. 0 to disable. | +| ppimu | uint16_t | Broadcast period multiple - NMEA preintegrated IMU: delta theta (rad) and delta velocity (m/s). 0 to disable. | +| pins1 | uint16_t | Broadcast period multiple - NMEA INS output: euler rotation w/ respect to NED, NED position from reference LLA. 0 to disable. | +| pins2 | uint16_t | Broadcast period multiple - NMEA INS output: quaternion rotation w/ respect to NED, ellipsoid altitude. 0 to disable. | +| pgpsp | uint16_t | Broadcast period multiple - NMEA GPS position data. 0 to disable. | +| primu | uint16_t | Broadcast period multiple - NMEA Raw IMU data (up to 1KHz). Use this IMU data for output data rates faster than DID_FLASH_CONFIG.startupNavDtMs. Otherwise we recommend use of pimu or ppimu as they are oversampled and contain less noise. 0 to disable. | +| gga | uint16_t | Broadcast period multiple - NMEA standard GGA GNSS 3D location, fix, and accuracy. 0 to disable. | +| gll | uint16_t | Broadcast period multiple - NMEA standard GLL GNSS 2D location and time. 0 to disable. | +| gsa | uint16_t | Broadcast period multiple - NMEA standard GSA GNSS DOP and active satellites. 0 to disable. | +| rmc | uint16_t | Broadcast period multiple - NMEA standard recommended minimum specific GPS/Transit data. 0 to disable. | +| zda | uint16_t | Broadcast period multiple - NMEA standard Data and Time. 0 to disable. | +| pashr | uint16_t | Broadcast period multiple - NMEA standard Inertial Attitude Data. 0 to disable. | +| gsv | uint16_t | Broadcast period multiple - NMEA standard satelliate information. | +| reserved | uint16_t | Reserved | + + #### DID_RMC Realtime Message Controller (RMC). The data sets available through RMC are driven by the availability of the data. The RMC provides updates from various data sources (i.e. sensors) as soon as possible with minimal latency. Several of the data sources (sensors) output data at different data rates that do not all correspond. The RMC is provided so that broadcast of sensor data is done as soon as it becomes available. All RMC messages can be enabled using the standard Get Data packet format. @@ -1025,6 +1024,19 @@ EVB-2 RTOS information. | task | rtos_task_t[] | Tasks | +#### DID_GPS1_SIG + +GPS 1 GNSS signal information. + +`gps_sig_t` + +| Field | Type | Description | +|-------|------|-------------| +| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds | +| numSigs | uint32_t | Number of satellite signals in the following satelliate signal list | +| sig | gps_sig_sv_t[100] | Satellite signal list | + + #### DID_GPS1_TIMEPULSE @@ -1035,6 +1047,89 @@ EVB-2 RTOS information. |-------|------|-------------| +#### DID_GPS2_SIG + +GPS 2 GNSS signal information. + +`gps_sig_t` + +| Field | Type | Description | +|-------|------|-------------| +| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds | +| numSigs | uint32_t | Number of satellite signals in the following satelliate signal list | +| sig | gps_sig_sv_t[100] | Satellite signal list | + + +#### DID_GPX_DEBUG_ARRAY + +GPX debug + +`debug_array_t` + +| Field | Type | Description | +|-------|------|-------------| + + +#### DID_GPX_DEV_INFO + +GPX device information + +`dev_info_t` + +| Field | Type | Description | +|-------|------|-------------| +| reserved | uint32_t | Reserved bits | +| serialNumber | uint32_t | Serial number | +| hardwareVer | uint8_t[4] | Hardware version | +| firmwareVer | uint8_t[4] | Firmware (software) version | +| buildNumber | uint32_t | Build number | +| protocolVer | uint8_t[4] | Communications protocol version | +| repoRevision | uint32_t | Repository revision number | +| manufacturer | char[24] | Manufacturer name | +| buildDate | uint8_t[4] | Build date, little endian order: [0] = status ('r'=release, 'd'=debug), [1] = year-2000, [2] = month, [3] = day. Reversed byte order for big endian systems | +| buildTime | uint8_t[4] | Build date, little endian order: [0] = hour, [1] = minute, [2] = second, [3] = millisecond. Reversed byte order for big endian systems | +| addInfo | char[24] | Additional info | + + +#### DID_GPX_FLASH_CFG + +GPX flash configuration + +`gpx_flash_cfg_t` + +| Field | Type | Description | +|-------|------|-------------| +| size | uint32_t | Size of this struct | +| checksum | uint32_t | Checksum, excluding size and checksum | +| key | uint32_t | Manufacturer method for restoring flash defaults | + + +#### DID_GPX_RTOS_INFO + +GPX RTOs info + +`rtos_info_t` + +| Field | Type | Description | +|-------|------|-------------| +| freeHeapSize | uint32_t | Heap high water mark bytes | +| mallocSize | uint32_t | Total memory allocated using RTOS pvPortMalloc() | +| freeSize | uint32_t | Total memory freed using RTOS vPortFree() | +| task | rtos_task_t[] | Tasks | + + +#### DID_GPX_STATUS + +GPX status + +`gpx_status_t` + +| Field | Type | Description | +|-------|------|-------------| +| timeOfWeekMs | uint32_t | GPS time of week (since Sunday morning) in milliseconds | +| gpxStatus | uint32_t | Status (eGpxStatus) | + + #### DID_GROUND_VEHICLE Static configuration for wheel transform measurements. @@ -1474,8 +1569,8 @@ System parameters / info | sysStatus | uint32_t | System status flags (eSysStatusFlags) | | imuPeriodMs | uint32_t | IMU sample period in milliseconds. Zero disables sampling. | | navPeriodMs | uint32_t | Preintegrated IMU (PIMU) integration period and navigation filter update period (ms). | -| sensorTruePeriod | double | Actual sample period relative to GPS PPS | -| reserved2 | float | Reserved | +| sensorTruePeriod | double | Actual sample period relative to GPS PPS (sec) | +| flashCfgChecksum | uint32_t | Reserved | | reserved3 | float | Reserved | | genFaultCode | uint32_t | General fault code descriptor (eGenFaultCodes). Set to zero to reset fault code. | @@ -1634,6 +1729,7 @@ System status and configuration is made available through various enumeration an | Field | Value | |-------|------| +| SYS_CMD_NONE | 0 | | SYS_CMD_SAVE_PERSISTENT_MESSAGES | 1 | | SYS_CMD_ENABLE_BOOTLOADER_AND_RESET | 2 | | SYS_CMD_ENABLE_SENSOR_STATS | 3 | @@ -1647,6 +1743,11 @@ System status and configuration is made available through various enumeration an | SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_TO_SER0 | 13 | | SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_TO_SER1 | 14 | | SYS_CMD_ENABLE_SERIAL_PORT_BRIDGE_USB_TO_SER2 | 15 | +| SYS_CMD_DISABLE_SERIAL_PORT_BRIDGE | 16 | +| SYS_CMD_GPX_ENABLE_BOOTLOADER_MODE | 30 | +| SYS_CMD_GPX_ENABLE_GNSS1_CHIPSET_BOOTLOADER | 31 | +| SYS_CMD_GPX_ENABLE_GNSS2_CHIPSET_BOOTLOADER | 32 | +| SYS_CMD_TEST_GPIO | 64 | | SYS_CMD_SAVE_FLASH | 97 | | SYS_CMD_SAVE_GPS_ASSIST_TO_FLASH_RESET | 98 | | SYS_CMD_SOFTWARE_RESET | 99 | @@ -1684,31 +1785,6 @@ System status and configuration is made available through various enumeration an | GFC_CHIP_ERASE_INVALID | 0x01000000 | -#### GNSS Satellite Flags - -(eSatSvFlags) - -| Field | Value | -|-------|------| -| SAT_SV_FLAGS_QUALITYIND_MASK | 0x00000007 | -| SAT_SV_FLAGS_SV_USED | 0x00000008 | -| SAT_SV_FLAGS_HEALTH_MASK | 0x00000030 | -| NAV_SAT_FLAGS_HEALTH_OFFSET | 4 | -| SAT_SV_FLAGS_DIFFCORR | 0x00000040 | -| SAT_SV_FLAGS_SMOOTHED | 0x00000080 | -| SAT_SV_FLAGS_ORBITSOURCE_MASK | 0x00000700 | -| SAT_SV_FLAGS_ORBITSOURCE_OFFSET | 8 | -| SAT_SV_FLAGS_EPHAVAIL | 0x00000800 | -| SAT_SV_FLAGS_ALMAVAIL | 0x00001000 | -| SAT_SV_FLAGS_ANOAVAIL | 0x00002000 | -| SAT_SV_FLAGS_AOPAVAIL | 0x00004000 | -| SAT_SV_FLAGS_RTK_SOL_FIX_STATUS_MASK | 0x03000000 | -| SAT_SV_FLAGS_RTK_SOL_FIX_STATUS_OFFSET | 24 | -| SAT_SV_FLAGS_RTK_SOL_FIX_STATUS_FLOAT | 1 | -| SAT_SV_FLAGS_RTK_SOL_FIX_STATUS_FIX | 2 | -| SAT_SV_FLAGS_RTK_SOL_FIX_STATUS_HOLD | 3 | - - #### GPS Navigation Fix Type (eGpsNavFixStatus) diff --git a/docs/user-manual/com-protocol/binary.md b/docs/user-manual/com-protocol/binary.md index 6014146..b7d7b94 100644 --- a/docs/user-manual/com-protocol/binary.md +++ b/docs/user-manual/com-protocol/binary.md @@ -1,6 +1,6 @@ # Inertial Sense Binary Protocol -The Inertial Sense binary protocol provides the most efficient way to communicate with the µINS, µAHRS, and µIMU because it preserved the native floating point and integer binary format used in computers. Binary protocol is not human readable like [ASCII Protocol](../com-protocol/ascii.md). Binary protocol uses [Data Set (DID)](../com-protocol/DID-descriptions.md) C structures defined in SDK/src/data_sets.h of the InertialSense SDK. +The Inertial Sense binary protocol provides the most efficient way to communicate with the µINS, µAHRS, and µIMU because it preserved the native floating point and integer binary format used in computers. Binary protocol is not human readable like [NMEA Protocol](../com-protocol/nmea.md). Binary protocol uses [Data Set (DID)](../com-protocol/DID-descriptions.md) C structures defined in SDK/src/data_sets.h of the InertialSense SDK. ## Communication @@ -13,7 +13,7 @@ The `is_comm_set_data()` function will encode a message used to set data or conf ```c++ // Set INS output Euler rotation in radians to 90 degrees roll for mounting float rotation[3] = { 90.0f*C_DEG2RAD_F, 0.0f, 0.0f }; -int messageSize = is_comm_set_data(comm, _DID_FLASH_CONFIG, offsetof(nvm_flash_cfg_t, insRotation), sizeof(float) * 3, rotation); +int messageSize = is_comm_set_data(comm, DID_FLASH_CONFIG, offsetof(nvm_flash_cfg_t, insRotation), sizeof(float) * 3, rotation); if (messageSize != serialPortWrite(serialPort, comm->buffer, messageSize)) { printf("Failed to encode and write set INS rotation\r\n"); @@ -30,7 +30,7 @@ The `is_comm_get_data()` function will encode a PID_GET_DATA message that enable ```c++ // Ask for INS message w/ update 40ms period (4ms source period x 10). Set data rate to zero to disable broadcast and pull a single packet. -int messageSize = is_comm_get_data(comm, _DID_INS_LLA_EULER_NED, 0, 0, 10); +int messageSize = is_comm_get_data(comm, DID_INS_1, 0, 0, 10); if (messageSize != serialPortWrite(serialPort, comm->buffer, messageSize)) { printf("Failed to encode and write get INS message\r\n"); @@ -76,7 +76,7 @@ The following is an example of how to use the RMC. The `rmc.options` field cont // INS output data rate at 20Hz rmc.insPeriodMs = 50; - int messageSize = is_comm_set_data(comm, _DID_RMC, 0, sizeof(rmc_t), &rmc); + int messageSize = is_comm_set_data(comm, DID_RMC, 0, sizeof(rmc_t), &rmc); if (messageSize != serialPortWrite(serialPort, comm->buffer, messageSize)) { printf("Failed to encode and write RMC message\r\n"); @@ -89,7 +89,7 @@ The *persistent messages* option saves the current data stream configuration to - **To save persistent messages** - (to flash memory), bitwise OR `RMC_OPTIONS_PERSISTENT (0x200)` with the RMC option field or set DID_CONFIG.system = 0x00000001 and DID_CONFIG.system = 0xFFFFFFFE. See the [save persistent messages example](../../SDK/CommunicationsBinary/#step-7-save-persistent-messages) in the Binary Communications example project. - **To disable persistent messages** - a [stop all broadcasts packet](../../SDK/CommunicationsBinary/#step-4-stop-any-message-broadcasting) followed by a *save persistent messages* command. -[ASCII persistent messages](../ascii/#persistent-messages) are also available. +[NMEA persistent messages](../nmea/#persistent-messages) are also available. ##### Enabling Persistent Messages - EvalTool @@ -109,7 +109,7 @@ cltool -c /dev/ttyS3 -persistent -msgINS2 -msgGPS #### Example Projects -Examples on how to use the Inertial Sense SDK for binary communications are found in the [Binary Communications Example Project](../SDK/CommunicationsBinary.md) and [cltool project](../SDK/InertialSenseClassCLTool.md). [ASCII communications](../com-protocol/ascii.md) examples are found in the [ASCII Example Project](../SDK/CommunicationsAscii.md). +Examples on how to use the Inertial Sense SDK for binary communications are found in the [Binary Communications Example Project](../SDK/CommunicationsBinary.md) and [cltool project](../SDK/InertialSenseClassCLTool.md). [NMEA communications](../com-protocol/nmea.md) examples are found in the [NMEA Example Project](../SDK/CommunicationsAscii.md). ### Parsing Data @@ -130,13 +130,13 @@ The following parser code is simpler to implement. This method uses the `is_com switch (ptype) { case _PTYPE_INERTIAL_SENSE_DATA: - case _PTYPE_INERTIAL_SENSE_CMD: + case _PTYPE_IS_V1_CMD: break; case _PTYPE_UBLOX: break; case _PTYPE_RTCM3: break; - case _PTYPE_ASCII_NMEA: + case _PTYPE_NMEA: break; } } @@ -166,13 +166,13 @@ The following parser code uses less processor time to parse data by copying mult switch (ptype) { case _PTYPE_INERTIAL_SENSE_DATA: - case _PTYPE_INERTIAL_SENSE_CMD: + case _PTYPE_IS_V1_CMD: break; case _PTYPE_UBLOX: break; case _PTYPE_RTCM3: break; - case _PTYPE_ASCII_NMEA: + case _PTYPE_NMEA: break; } } @@ -196,25 +196,7 @@ Figure 1 – Packet Structure 1 byte – packet start byte (`0xFF`)
    1 byte – packet identifier, determines the format of packet data
    1 byte – packet counter (for retries)
    -1 byte – flags, ePktHdrFlags enum
    - -``` C++ -#include "SDK/src/com_manager.h" -enum ePktHdrFlags -{ -// bit set for little endian, bit cleared for big endian -CM_PKT_FLAGS_LITTLE_ENDIAN = 0x01, -// has any valid packet been received -CM_PKT_FLAGS_RX_VALID_DATA = 0x02, -// multi-packet data set -CM_PKT_FLAGS_MORE_DATA_AVAILABLE = 0x04, -// Allow for arbitrary length in bytes of data, not necessarily multiple of 4. Don't -auto-swap bytes for endianness -CM_PKT_FLAGS_RAW_DATA_NO_SWAP = 0x08, -// Checksum is the new 24 bit algorithm instead of the old 16 bit algorithm -CM_PKT_FLAGS_CHECKSUM_24_BIT = 0x10 -}; -``` +1 byte – flags
    **Packet data may be 0 bytes, depending on packet identifier (PID)** @@ -274,7 +256,7 @@ For a full example of encoding and decoding binary packets, please reference the ## Stop Broadcasts Packets -Two *stop all broadcasts* packets are special packet types that will disable all binary and ASCII data streams. The following functions calls are provided in the SDK to generate and send the stop all broadcasts packet. +Two *stop all broadcasts* packets are special packet types that will disable all binary and NMEA data streams. The following functions calls are provided in the SDK to generate and send the stop all broadcasts packet. ### All Ports diff --git a/docs/user-manual/com-protocol/ascii.md b/docs/user-manual/com-protocol/nmea.md similarity index 59% rename from docs/user-manual/com-protocol/ascii.md rename to docs/user-manual/com-protocol/nmea.md index 1191e25..ffbb068 100644 --- a/docs/user-manual/com-protocol/ascii.md +++ b/docs/user-manual/com-protocol/nmea.md @@ -1,81 +1,129 @@ -# ASCII (NMEA) Protocol + -For simple use, the Inertial Sense device supports ASCII based communications protocol, including several common GPS [NMEA](http://www.gpsinformation.org/dale/nmea.htm) messages. The ASCII protocol is human readable from in a command line terminal but is less optimal than the [binary protocol](binary.md). +# NMEA 0183 (ASCII) Protocol + +For simple use, the Inertial Sense device supports a human-readable NMEA communications protocol based on NMEA 0183. The NMEA protocol is human readable from in a command line terminal but is less optimal than the [binary protocol](binary.md) in terms of message length for the same amount of data. ## Communications Examples -The [ASCII Communications Example Project](../SDK/CommunicationsAscii.md) demonstrates how to implement the ASCII (NMEA) protocol. +The [NMEA Communications Example Project](../SDK/CommunicationsAscii.md) demonstrates how to implement the protocol. ## Packet Structure -The Inertial Sense ASCII protocol follows the standard [NMEA 0183](https://en.wikipedia.org/wiki/NMEA_0183) message structure: +The Inertial Sense NMEA protocol follows the standard [NMEA 0183](https://en.wikipedia.org/wiki/NMEA_0183) message structure: - * 1 byte – Start packet, always the $ byte (`0x24`) - * n bytes (usually 4 or 5) – packet identifier - * 1 byte – a comma (`0x2C`) - * n bytes – comma separated list of data, i.e. 1,2,3,4,5,6 - * 1 byte – checksum marker, always the * byte (`0x2A`) - * 2 bytes – checksum in hex format (i.e. `f5` or `0a`), 0 padded if necessary and lowercase - * 2 bytes – End packet, always carriage return and line feed (`\r\n` or `0x0D`, `0x0A`) +* 1 byte – Start packet, `$` (`0x24`) +* n bytes – packet identifier +* 1 byte – comma (`0x2C`) +* n bytes – comma separated list of data, can include decimals and text +* 1 byte – checksum marker, `*` (`0x2A`) +* 2 bytes – checksum in hex format (i.e. `f5` or `0a`), 0 padded and lowercase +* 2 bytes – End packet, `\r\n` (`0x0D`, `0x0A`) -The packet checksum is an 8 bit integer and is calculated by calculating the exclusive OR of all bytes in between and not including the $ and * bytes. The packet checksum byte is converted to a 2 byte ASCII hex code, and left padded with 0 if necessary to ensure that it is always 2 bytes. The checksum is always lowercase hexadecimal characters. See [NMEA 0183](https://en.wikipedia.org/wiki/NMEA_0183) message structure for more details. The NMEA string checksum is automatically computed and appended to string when using the InertialSense SDK [serialPortWriteAscii function](https://github.com/inertialsense/InertialSenseSDK/blob/master/src/serialPort.c#L219-L268) or can be generated using an online checksum calculator. For example: [MTK NMEA checksum calculator](http://www.hhhh.org/wiml/proj/nmeaxor.html) +The packet checksum is an 8 bit integer and is calculated by calculating the exclusive OR of all bytes in between and not including the $ and * bytes. The packet checksum byte is converted to a 2 byte NMEA hex code, and left padded with 0 if necessary to ensure that it is always 2 bytes. The checksum is always lowercase hexadecimal characters. See [NMEA 0183](https://en.wikipedia.org/wiki/NMEA_0183) message structure for more details. The NMEA string checksum is automatically computed and appended to string when using the InertialSense SDK [serialPortWriteAscii function](https://github.com/inertialsense/InertialSenseSDK/blob/master/src/serialPort.c#L219-L268) or can be generated using an online checksum calculator. For example: [MTK NMEA checksum calculator](http://www.hhhh.org/wiml/proj/nmeaxor.html) ## Persistent Messages The *persistent messages* option saves the current data stream configuration to flash memory for use following reboot, eliminating the need to re-enable messages following a reset or power cycle. -- **To save current ASCII persistent messages** - send the [save persistent messages](#pers) command. -- **To disable persistent messages** - send the [stop all broadcasts](#stpb) followed by [save persistent messages](#pers). +- **To save current NMEA persistent messages** - send the [$PERS](#pers) command. +- **To disable persistent messages** - send the [$STPB](#stpb) followed by [$PERS](#pers). [Binary persistent messages](../binary/#persistent-messages) are also available. ### Enabling Persistent Messages - EvalTool -To enable persistent ASCII messages using the EvalTool: +To enable persistent NMEA messages using the EvalTool: -- Enable the desired ASCII messages in the EvalTool "Data Sets" tab. Select DID_ASCII_BCAST_PERIOD in the DID menu and set the desired ASCII messages period to a non-zero value. +- Enable the desired NMEA messages in the EvalTool "Data Sets" tab. Select DID_NMEA_BCAST_PERIOD in the DID menu and set the desired NMEA messages period to a non-zero value. - Press the "Save Persistent" button in the EvalTool "Data Logs" tab to store the current message configuration to flash memory. -- Reset the IMX and verify the messages are automatically streaming. You can use a generic serial port program like putty or the EvalTool->Data Logs->Data Log->Messages dialog to view the ASCII messages. +- Reset the IMX and verify the messages are automatically streaming. You can use a generic serial port program like putty or the EvalTool->Data Logs->Data Log->Messages dialog to view the NMEA messages. **To disable all persistent messages using the EvalTool**, click the "Stop Streaming" button and then "Save Persistent" button. -## ASCII Input Messages +## NMEA Input Messages -The following ASCII messages can be received by the IMX. +The following NMEA messages can be received by the IMX. -| Message | Description | -| --------------------------- | ------------------------------------------------------------ | -| ```$ASCB*13\r\n``` | Query the broadcast rate of ASCII output messages. | -| [ASCB](#ascb) | Set the broadcast rate of ASCII output messages. | -| ```$INFO*0E\r\n``` | Query device information. | -| [```$PERS*13\r\n```](#pers) | Save persistent message to flash. | -| [```$STPB*15\r\n```](#stpb) | Stop broadcast of all messages (ASCII and binary) on all ports. | -| [```$STPC*14\r\n```](#stpc) | Stop broadcast of all messages (ASCII and binary) on current port. | +| Message | Description | +| --------------------------- | ------------------------------------------------------------------| +| ```$ASCB*13\r\n``` | Query the broadcast rate of NMEA output messages. | +| [ASCB](#ascb) | Set the broadcast period of NMEA output messages. | +| [ASCE](#asce) | Set the broadcast period of selected NMEA output messages. | +| ```$INFO*0E\r\n``` | Query device information. | +| ```$SRST*06\r\n``` | Software reset. | +| [```$PERS*14\r\n```](#pers) | Save persistent messages to flash. | +| [```$STPB*15\r\n```](#stpb) | Stop broadcast of all messages (NMEA and binary) on all ports. | +| [```$STPC*14\r\n```](#stpc) | Stop broadcast of all messages (NMEA and binary) on current port. | ### ASCB -Enable ASCII message and set broadcast periods. The period is in milliseconds with no thousands separator character. “xx” is the two-character checksum. Each field can be left blank in which case the existing broadcast period for that field is not modified, or 0 to disable streaming. Actual broadcast period for each message is configurable as a period multiple of the [*Data Source Update Rates*](../binary/#data-source-update-rates) +Enable NMEA message and set broadcast periods. The period is in milliseconds with no thousands separator character. “xx” is the two-character checksum. Each field can be left blank in which case the existing broadcast period for that field is not modified, or 0 to disable streaming. Actual broadcast period for each message is configurable as a period multiple of the [*Data Source Update Rates*](../binary/#data-source-update-rates) ``` - $ASCB,d,d,d,d,d,d,d,d,d,d,d,d,d*xx\r\n - 1 2 3 4 5 6 7 8 9 0 1 2 3 +$ASCB,options,d,d,d,d,d,d,d,d,d,d,d,d,d,d,d*xx\r\n ``` | Index | Field | Description | | ----- | --------------- | ------------------------------------------------------------ | | 1 | options | Port selection. Combine by adding options together:
    0=current, 1=ser0, 2=ser1, 4=ser2, 8=USB,
    512=persistent (remember after reset) | -| 2 | [PIMU](#pimu) | Broadcast period multiple for PIMU IMU message. | +| 2 | [PIMU](#pimu) | Broadcast period multiple for PIMU IMU message. | | 3 | [PPIMU](#ppimu) | Broadcast period multiple for PPIMU preintegrated IMU message. | | 4 | [PINS1](#pins1) | Broadcast period multiple for PINS1 INS output (euler, NED) message. | -| 5 | [PINS2](#pins2) | Broadcast period multiple for PINS2 INS outpout (quaterion, LLA) message. | +| 5 | [PINS2](#pins2) | Broadcast period multiple for PINS2 INS output (quaternion, LLA) message. | | 6 | [PGPSP](#pgpsp) | Broadcast period multiple for PGPSP GPS position message. | -| 7 | [PRIMU](#primu) | Broadcast period multiple for PRIMU Raw IMU message. | -| 8 | [GPGGA](#gpgga) | Broadcast period multiple for NMEA GPGGA (fix, 3D location, and accuracy) message. | -| 9 | [GPGLL](#gpgll) | Broadcast period multiple for NMEA GPGLL (2D location and time) message. | -| 10 | [GPGSA](#gpgsa) | Broadcast period multiple for NMEA GPGSA (DOP and active satellites) message. | -| 11 | [GPRMC](#gprmc) | Broadcast period multiple for NMEA GPRMC (minimum specific GPS/Transit) message. | -| 12 | [GPZDA](#gpzda) | Broadcast period multiple for NMEA GPZDA (UTC Time/Date) message. | -| 13 | [PASHR](#pashr) | Broadcast period multiple for NMEA PASHR (euler) message. | +| 7 | [PRIMU](#primu) | Broadcast period multiple for PRIMU Raw IMU message. | +| 8 | [GGA](#gga) | Broadcast period multiple for NMEA standard GGA (fix, 3D location, and accuracy) message. | +| 9 | [GLL](#gll) | Broadcast period multiple for NMEA standard GLL (2D location and time) message. | +| 10 | [GSA](#gsa) | Broadcast period multiple for NMEA standard GSA (DOP and active satellites) message. | +| 11 | [RMC](#rmc) | Broadcast period multiple for NMEA standard RMC (minimum specific GPS/Transit) message. | +| 12 | [ZDA](#zda) | Broadcast period multiple for NMEA standard ZDA (UTC Time/Date) message. | +| 13 | [PASHR](#pashr) | Broadcast period multiple for NMEA standard PASHR (euler) message. | +| 14 | [GxGSV](#gsv) | Broadcast period multiple for NMEA standard GSV satellite info (all active constellations sent with corresponding talker IDs). | +| 15 | [VTG](#vtg) | Broadcast period multiple for NMEA standard VTG track made good and speed over ground. | + +### ASCE + +Enable NMEA messages and set broadcast periods. The period is the a multiple of the [*data source period*](binary/#data-source-update-rates) (i.e. a GNSS message with period multiple of 2 and data source period of 200 ms (5 Hz) will broadcast every 400 ms). “xx” is the two-character checksum. A period of 0 will disable message streaming. The broadcast period for each message is configurable as a period multiple of the [*Data Source Update Rates*](binary/#data-source-update-rates). + +``` +$ASCE,options,(id,period)*xx\r\n +``` + +| Index | Field | Description | +| ----- | ------- | ------------------------------------------------------------ | +| 1 | options | Port selection. Combine by adding options together:
    0=current, 1=ser0, 2=ser1, 4=ser2, 8=USB,
    512=persistent (remember after reset) | +| | | *Start of repeated group (1...20 times)* | +| 2+n*2 | ID | NMEA message ID to be broadcast. See the ID in the [NMEA output messages](#nmea-output-messages) table. | +| 3+n*2 | period | Broadcast period multiple for specified message. Zero disables streaming. | +| | | *End of repeated group (1...20 times)* | + +#### Example Messages + +The following examples NMEA messages enable IMX data streaming output. The data period is 1, full [data source rates](binary/#data-source-update-rates), for those that do not specify the output rate. + +| Message | Data (Output Rate)** | +| ------------------- | ------- | +| $ASCE,0,6,1,7,1,8,1,10,1,14,1*04\r\n | GGA, GLL, GSA, ZDA, GSV (all at 5Hz) | +| $ASCE,0,5,2,2,1,7,1*0A\r\n | PINS2 (31.25 Hz), PPIMU (62.5Hz), GGA (5Hz) | +| $ASCE,0,0,1*09\r\n | PIMU | +| $ASCE,0,1,1*08\r\n | PPIMU | +| $ASCE,0,2,1*0B\r\n | PRIMU | +| $ASCE,0,3,1*0A\r\n | PINS1 | +| $ASCE,0,4,1*0D\r\n | PINS2 | +| $ASCE,0,5,1*0C\r\n | PGPSP | +| $ASCE,0,6,1*0F\r\n | GGA | +| $ASCE,0,7,1*0E\r\n | GLL | +| $ASCE,0,8,1*01\r\n | GSA | +| $ASCE,0,9,1*00\r\n | RMC | +| $ASCE,0,10,1*38\r\n | ZDA | +| $ASCE,0,11,1*39\r\n | PASHR | +| $ASCE,0,12,1*3A\r\n | PSTRB | +| $ASCE,0,13,1*3B\r\n | INFO | +| $ASCE,0,14,1*3C\r\n | GSV | +| $ASCE,0,15,1*3D\r\n | VTG | + +** These rates assume the default settings for [data source rates](binary/#data-source-update-rates). ### PERS @@ -87,7 +135,7 @@ $PERS*14\r\n ### STPB -Stop all broadcasts (both binary and ASCII) on all ports by sending the following packet: +Stop all broadcasts (both binary and NMEA) on all ports by sending the following packet: ``` $STPB*15\r\n @@ -101,7 +149,7 @@ The hexadecimal equivalent is: ### STPC -Stop all broadcasts (both binary and ASCII) on the current port by sending the following packet: +Stop all broadcasts (both binary and NMEA) on the current port by sending the following packet: ``` $STPC*14\r\n @@ -113,27 +161,29 @@ The hexadecimal equivalent is: 24 53 54 50 43 2A 31 34 0D 0A ``` -## ASCII Output Messages - -The following ASCII messages can be sent by the IMX. - -| Message | Description | -| --------------- | ------------------------------------------------------------ | -| [ASCB](#ascb) | Broadcast rate of ASCII output messages. | -| [PIMU](#pimu) | IMU data (3-axis gyros and accelerometers) in the body frame. | -| [PPIMU](#ppimu) | Preintegrated IMU: delta theta (rad) and delta velocity (m/s). | -| [PRIMU](#primu) | Raw IMU data (3-axis gyros and accelerometers) in the body frame. | -| [PINS1](#pins1) | INS output: euler rotation w/ respect to NED, NED position from reference LLA. | -| [PINS2](#pins2) | INS output: quaternion rotation w/ respect to NED, ellipsoid altitude. | -| [PGPSP](#pgpsp) | GPS position data. | -| [GPGGA](#gpgga) | NMEA GPGGA GPS 3D location, fix, and accuracy. | -| [GPGLL](#gpgll) | NMEA GPGLL GPS 2D location and time. | -| [GPGSA](#gpgsa) | NMEA GSA GPS DOP and active satellites. | -| [GPRMC](#gprmc) | NMEA Recommended minimum specific GPS/Transit data. | -| [GPZDA](#gpzda) | NMEA UTC Time/Date message. | -| [PASHR](#pashr) | NMEA PASHR (euler) message. | -| [PSTRB](#pstrb) | Strobe event input time. | -| [INFO](#info) | Device information. | +## NMEA Output Messages + +The following NMEA messages can be sent by the IMX. The message ID is used with the `$ASCE` message to enable message streaming. + +| Message | ID | Description | +| --------------- | -- | ------------------------------------------------------------ | +| [ASCB](#ascb) | | Broadcast period of NMEA output messages. | +| [PIMU](#pimu) | 0 | IMU data (3-axis gyros and accelerometers) in the body frame. | +| [PPIMU](#ppimu) | 1 | Preintegrated IMU: delta theta (rad) and delta velocity (m/s). | +| [PRIMU](#primu) | 2 | Raw IMU data (3-axis gyros and accelerometers) in the body frame. | +| [PINS1](#pins1) | 3 | INS output: euler rotation w/ respect to NED, NED position from reference LLA. | +| [PINS2](#pins2) | 4 | INS output: quaternion rotation w/ respect to NED, ellipsoid altitude. | +| [PGPSP](#pgpsp) | 5 | GPS position data. | +| [GGA](#gga) | 6 | Standard NMEA GGA GPS 3D location, fix, and accuracy. | +| [GLL](#gll) | 7 | Standard NMEA GLL GPS 2D location and time. | +| [GSA](#gsa) | 8 | Standard NMEA GSA GPS DOP and active satellites. | +| [RMC](#rmc) | 9 | Standard NMEA RMC Recommended minimum specific GPS/Transit data. | +| [ZDA](#zda) | 10 | Standard NMEA ZDA UTC Time/Date message. | +| [PASHR](#pashr) | 11 | Standard NMEA PASHR (euler) message. | +| [PSTRB](#pstrb) | 12 | Strobe event input time. | +| [INFO](#info) | 13 | Device information. | +| [GSV](#gsv) | 14 | Standard NMEA GSV satellite info (all active constellations sent with corresponding talker IDs). | +| [VTG](#VTG) | 15 | Standard NMEA VTG track made good and speed over ground. | The field codes used in the message descriptions are: lf = double, f = float, d = int. @@ -254,7 +304,7 @@ GPS navigation data. $PGPSP,d,d,d,lf,lf,lf,f,f,f,f,f,f,f,f,f,f*xx\r\n 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 -$PGPSP,337272200,2031,1075643160,40.33057800,-111.72581630,1406.39,1425.18,0.95,0.37,0.55,-0.02,0.02,-0.03,0.17,39.5,337182.4521*4d +$PGPSP,337272200,2031,1075643160,40.33057800,-111.72581630,1406.39,1425.18,0.95,0.37,0.55,-0.02,0.02,-0.03,0.17,39.5,337182.4521*4d\r\n ``` | Index | Field | Units | Description | @@ -277,7 +327,7 @@ $PGPSP,337272200,2031,1075643160,40.33057800,-111.72581630,1406.39,1425.18,0.95, | 16 | towOffset | s | Time sync offset between local time since boot up to GPS time of week in seconds. Add this to IMU and sensor time to get GPS time of week in seconds. | | 17 | leapS | s | GPS leap second (GPS-UTC) offset. Receiver's best knowledge of the leap seconds offset from UTC to GPS time. Subtract from GPS time of week to get UTC time of week. | -### GPGGA +### GGA NMEA GPS fix, 3D location and accuracy data. ``` @@ -298,7 +348,7 @@ $GPGGA,204153.200,4003.34331,N,11139.51872,W,1,25,0.93,1433.997,M,18.82,M,,*6d\r | 13 | empty | s | Time since last DGPS update | | | 14 | empty | | DGPS station ID number | | -### GPGLL +### GLL NMEA geographic position, latitude / longitude and time. ``` @@ -313,7 +363,7 @@ $GPGLL,4916.45123,N,12311.12324,W,225444.800,A*33\r\n | 5 | HHMMSS.sss | | UTC time (fix taken at 22:54:44.8 UTC) | 225444.800 | | 6 | Valid | | Data valid (A=active, V=void) | A | -### GPGSA +### GSA NMEA GPS DOP and active satellites. @@ -331,13 +381,13 @@ $GPGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39\r\n | 16 | hDop | m | Horizontal dilution of precision | 1.3 | | 17 | vDop | m | Vertical dilution of precision | 2.1 | -### GPRMC +### RMC NMEA GPS recommended minimum specific GPS/Transit data. ``` -eg1. $GPRMC,081836,A,3751.65,S,14507.36,E,000.0,360.0,130998,011.3,E*62 -eg2. $GPRMC,225446,A,4916.45,N,12311.12,W,000.5,054.7,191194,020.3,E*68 +eg1. $GPRMC,081836,A,3751.65,S,14507.36,E,000.0,360.0,130998,011.3,E*62\r\n +eg2. $GPRMC,225446,A,4916.45,N,12311.12,W,000.5,054.7,191194,020.3,E*68\r\n 225446 Time of fix 22:54:46 UTC A Navigation receiver warning A = OK, V = warning @@ -349,7 +399,7 @@ eg2. $GPRMC,225446,A,4916.45,N,12311.12,W,000.5,054.7,191194,020.3,E*68 020.3,E Magnetic variation 20.3 deg East *68 mandatory checksum -eg3. $GPRMC,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W*70 +eg3. $GPRMC,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W*70\r\n 1 2 3 4 5 6 7 8 9 10 11 12 1 220516 Time Stamp @@ -365,7 +415,7 @@ eg3. $GPRMC,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W*70 11 W East/West 12 *70 checksum -eg4. $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh +eg4. $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh\r\n 1 = UTC of position fix 2 = Data status (V=navigation receiver warning) 3 = Latitude of fix @@ -380,23 +430,141 @@ eg4. $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh 12 = Checksum ``` -### GPZDA - -NMEA GPS UTC Time and Date specification). - -``` -$GPZDA,001924,06,01,1980,00,00*41\r\n - 1 2 3 4 5 6 -``` - -| Index | Field | Units | Description | Example | -| ----- | -------- | ----- | ----------------------- | ------- | -| 1 | HrMinSec | | UTC Time | 001924 | -| 2 | Day | | Day | 06 | -| 3 | Month | | Month | 01 | -| 4 | Year | | Year | 2020 | -| 16 | localHrs | | Local time zone hours | 00 | -| 17 | localMin | | Local time zone minutes | 00 | +### VTG + +NMEA GPS track made good and speed over ground. + +``` +eg1. $GPVTG,140.88,T,,M,8.04,N,14.89,K,D*05\r\n + +0 Message ID $GPVTG +1 Track made good (degrees true) +2 T: track made good is relative to true north +3 Track made good (degrees magnetic) +4 M: track made good is relative to magnetic north +5 Speed, in knots +6 N: speed is measured in knots +7 Speed over ground in kilometers/hour (kph) +8 K: speed over ground is measured in kph +9 Mode indicator: + A: Autonomous mode + D: Differential mode + E: Estimated (dead reckoning) mode + M: Manual Input mode + S: Simulator mode + N: Data not valid +10 The checksum data, always begins with * +``` + +### ZDA + +NMEA GPS UTC Time and Date specification. + +``` +$GPZDA,213301.200,31,08,2023,00,00*41\r\n + 1 2 3 4 5 6 +``` + +| Index | Field | Units | Description | Example | +|-------|-------------|-------|-------------------------|------------| +| 1 | HHMMSS.sss | | UTC Time | 213301.200 | +| 2 | Day | | Day | 31 | +| 3 | Month | | Month | 08 | +| 4 | Year | | Year | 2023 | +| 5 | localHrs | | Local time zone hours | 00 | +| 6 | localMin | | Local time zone minutes | 00 | + +### GSV + +NMEA GNSS satellites in view. `xx` corresponds to a constellation talker ID, shown in the table below. + +Contains the number of sats in view, PRN numbers, elevation, azimuth and SNR value. Each message includes up to four satellites. When there are more than 4 sats for a constellation, multiple messages are sent. The total number of messages and the message number are included in each message. + +Example: +``` +$GPGSV,6,1,23,02,40,310,43,08,07,324,31,10,48,267,45,15,37,053,45*7C\r\n +$GPGSV,6,2,23,16,12,268,35,18,69,078,41,23,74,336,40,24,15,111,37*79\r\n +$GPGSV,6,3,23,26,02,239,31,27,35,307,38,29,12,162,37,32,14,199,39*7B\r\n +$GPGSV,6,4,23,44,43,188,43,46,40,206,43,522,48,267,45,527,37,053,26*73\r\n +$GPGSV,6,5,23,530,69,078,34,535,74,336,34,536,15,111,25,538,02,239,18*74\r\n +$GPGSV,6,6,23,539,35,307,27,541,12,162,21,544,14,199,25*73\r\n +$GAGSV,2,1,08,05,65,144,41,09,39,052,43,34,71,341,42,36,46,105,39*6A\r\n +$GAGSV,2,2,08,517,65,144,30,521,39,052,30,546,71,341,27,548,46,105,30*64\r\n +$GBGSV,3,1,10,11,09,141,34,14,52,047,44,27,32,313,43,28,80,263,44*64\r\n +$GBGSV,3,2,10,33,81,039,43,41,43,230,42,43,33,148,42,58,,,44*5B\r\n +$GBGSV,3,3,10,11,09,141,16,14,52,047,32*60\r\n +$GQGSV,1,1,01,02,45,101,30*49\r\n +$GLGSV,2,1,07,65,85,260,33,66,28,217,30,72,36,034,35,81,20,324,33*69\r\n +$GLGSV,2,2,07,87,47,127,35,88,73,350,34,87,47,127,20*53\r\n +``` + +Example NMEA version 4.11: +``` +$GPGSV,4,1,14,02,40,310,43,08,07,324,31,10,48,267,45,15,37,053,45,1*67\r\n +$GPGSV,4,2,14,16,12,268,35,18,69,078,41,23,74,336,40,24,15,111,37,1*62\r\n +$GPGSV,4,3,14,26,02,239,31,27,35,307,38,29,12,162,37,32,14,199,39,1*60\r\n +$GPGSV,4,4,14,44,43,188,43,46,40,206,43,1*65\r\n +$GPGSV,3,1,09,10,48,267,45,15,37,053,26,18,69,078,34,23,74,336,34,6*68\r\n +$GPGSV,3,2,09,24,15,111,25,26,02,239,18,27,35,307,27,29,12,162,21,6*64\r\n +$GPGSV,3,3,09,32,14,199,25,6*58\r\n +$GAGSV,1,1,04,05,65,144,41,09,39,052,43,34,71,341,42,36,46,105,39,7*7E\r\n +$GAGSV,1,1,04,05,65,144,30,09,39,052,30,34,71,341,27,36,46,105,30,2*73\r\n +$GBGSV,2,1,08,11,09,141,34,14,52,047,44,27,32,313,43,28,80,263,44,1*71\r\n +$GBGSV,2,2,08,33,81,039,43,41,43,230,42,43,33,148,42,58,,,44,1*4E\r\n +$GBGSV,1,1,02,11,09,141,16,14,52,047,32,B*0D\r\n +$GQGSV,1,1,01,02,45,101,30,1*54\r\n +$GLGSV,2,1,06,65,85,260,33,66,28,217,30,72,36,034,35,81,20,324,33,1*75\r\n +$GLGSV,2,2,06,87,47,127,35,88,73,350,34,1*75\r\n +$GLGSV,1,1,01,87,47,127,20,3*41\r\n +``` + +| Talker ID | Constellation | +|-----------|--------------------------------------| +| GP | GPS | +| GQ | QZSS | +| GA | Galileo | +| GL | Glonass | +| GB | BeiDou | +| GN | Combination of active constellations | + +| Index | Field | Units | Description | +|---------|---------|-------|-----------------------------------------------------------| +| 1 | numMsgs | | Total number of messages for this constellation and epoch | +| 2 | msgNum | | Message number | +| 3 | numSats | | Total number of known satellites for the talker ID and signal ID | +| 4+(n*5) | prn | | Satellite PRN number | +| 5+(n*5) | elev | deg | Elevation (0-90) | +| 6+(n*5) | azim | deg | Azimuth (000 to 359) | +| 7+(n*5) | snr | dB | SNR (00-99, empty when not tracking) | +| variable | system ID | | GNSS system ID (distinguishes frequency band). This field is only output if the NMEA version is 4.11. | + +Where n is 0-3, for the four satellites supported by this message. + +### VTG + +NMEA GPS track made good and speed over ground. + +``` +$GPVTG,140.88,T,,M,8.04,N,14.89,K,D*05\r\n + 1 2 3 4 5 6 7 8 9 +``` +| Index | Field | Units | Description | Example | +|-------|--------|-------|----------------------------------------------------|---------| +| 1 | track true | deg | Ground track heading (true north) | 140.88 | +| 2 | T | | Ground track heading is relative to true north | T | +| 3 | track mag | deg | Ground track heading (magnetic north) | | +| 4 | M | | Ground track heading is relative to magnetic north (track mag = track true + magVarCorrection) | M | +| 5 | speed Kn | knots | Speed | 8.04 | +| 6 | N | | Speed is measured in knots | N | +| 7 | speed Km | kph | Speed over ground in kilometers/hour | 14.89 | +| 8 | K | | Speed over ground is measured in kph | K | +| 9 | mode ind | | Mode indicator: | D | +| | | | A: Autonomous mode | | +| | | | D: Differential mode | | +| | | | E: Estimated (dead reckoning) mode | | +| | | | M: Manual Input mode | | +| | | | S: Simulator mode | | +| | | | N: Data not valid | | ### PASHR @@ -455,18 +623,21 @@ $INFO,d,d.d.d.d,d.d.d.d,d,d.d.d.d,d,s,YYYY-MM-DD,hh:mm:ss.ms,s*xx\r\n | 5 | Protocol version | | Communications protocol version | | 6 | Repo revision | | Repository revision number | | 7 | Manufacturer | | Manufacturer name | -| 8 | Build date | | Build date:
    [1] = year, [2] = month, [3] = day | +| 8 | Build date | | Build date:
    [1] = year, [2] = month, [3] = day | | 9 | Build time | | Build date: [0] = hour, [1] = minute,
    [2] = second, [3] = millisecond | | 10 | Add Info | | Additional information | +| 11 | Hardware | | Hardware: 1=uINS, 2=EVB, 3=IMX, 4=GPX | +| 12 | Reserved | | Reserved for internal purpose. | +| 13 | Build type | | Build type: 'a'=ALPHA, 'b'=BETA, 'c'=RELEASE CANDIDATE, 'r'=PRODUCTION RELEASE, 'd'=debug | -## ASCII Examples +## NMEA Examples -This section illustrates common ASCII message strings for configuration. +This section illustrates common NMEA message strings for configuration. !!! note If the command strings below are altered, their checksum must be recalculated. !!! note - All ASCII command strings must be followed with a carriage return and new line character (`\r\n` or `0x0D`, `0x0A`). + All NMEA command strings must be followed with a carriage return and new line character (`\r\n` or `0x0D`, `0x0A`). The NMEA string checksum is automatically computed and appended to string when using the InertialSense SDK [serialPortWriteAscii function](https://github.com/inertialsense/InertialSenseSDK/blob/master/src/serialPort.c#L219-L268) or can be generated using an online NMEA checksum calculator. For example: [MTK NMEA checksum calculator](http://www.hhhh.org/wiml/proj/nmeaxor.html) @@ -528,7 +699,7 @@ $PINS1,256270.647,2021,427888998,1073741912,0.1153,-0.1473,-0.1632,0.001,0.001,0 $PINS1,256270.667,2021,427888998,1073741912,0.1153,-0.1473,-0.1631,0.001,0.001,0.003,40.05569486,-111.65864500,1416.220,-7.738,-7.570,12.534*38 ``` -**Stream PIMU @50Hz and GPGGA @5Hz on current port** +**Stream PIMU @50Hz and GGA @5Hz on current port** ``` $ASCB,0,20,0,0,0,0,0,200,0,0,0,0,0*3F @@ -556,7 +727,7 @@ $PIMU,3218.763,0.0019,-0.0062,-0.0086,-1.426,-1.114,-9.509,0.0054,0.0029,-0.0070 ### Using Tera Term App -The example ASCII command strings can be sent using standard serial port terminal that supports sending the line ending characters (carriage return and new line). The Windows desktop app [Tera Term](https://osdn.net/projects/ttssh2/releases/) can be used for this. +The example NMEA command strings can be sent using standard serial port terminal that supports sending the line ending characters (carriage return and new line). The Windows desktop app [Tera Term](https://osdn.net/projects/ttssh2/releases/) can be used for this. **Setup:** @@ -564,7 +735,7 @@ The example ASCII command strings can be sent using standard serial port termina 2. Setup > Terminal... - Receive: CR - - Transmit: CR+LF **(IMPORTANT - Ensures each ASCII string ends with `\r\n` or `0x0D`, `0x0A`)** + - Transmit: CR+LF **(IMPORTANT - Ensures each NMEA string ends with `\r\n` or `0x0D`, `0x0A`)** - Local echo: Yes This shows what was sent. 3. Setup > Serial port... @@ -580,8 +751,8 @@ The example ASCII command strings can be sent using standard serial port termina 1. File > log - Be sure to save as a .txt so it can be viewed in notepad. Controls for the log are in the Logger popup window after starting a log. -**Sending an ASCII command:** +**Sending an NMEA command:** 1. Copy one of the command messages above to the clipboard. -2. Use the Tera Term > Edit > `Paste` option to send the copied command. This method in conjunction with the above "CR+LF" terminal transmit setting ensures that a carriage return and line feed character terminate the sent string. Only one ASCII string command can be sent at a time. +2. Use the Tera Term > Edit > `Paste` option to send the copied command. This method in conjunction with the above "CR+LF" terminal transmit setting ensures that a carriage return and line feed character terminate the sent string. Only one NMEA string command can be sent at a time. diff --git a/docs/user-manual/com-protocol/overview.md b/docs/user-manual/com-protocol/overview.md index 2c84d9d..9fb385a 100644 --- a/docs/user-manual/com-protocol/overview.md +++ b/docs/user-manual/com-protocol/overview.md @@ -1,14 +1,14 @@ # Protocol Overview -The Inertial Sense products support binary and ASCII protocol for communication. +The Inertial Sense products support binary and NMEA protocol for communication. -## Binary vs. ASCII +## Binary vs. NMEA -The following table compares the differences and advantages between the binary and ASCII protocols. +The following table compares the differences and advantages between the binary and NMEA protocols. - + -| | **ASCII (NMEA) Protocol** | **Binary Protocol** | +| | **NMEA Protocol** | **Binary Protocol** | | --------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | | **Data Efficient** | No. Numbers must be converted to IEEE float and integers for application. Data occupies more memory. | Numbers are in floating point and integer binary format used in computers. Data occupies less memory. | | **Human Readable** | Yes | No | @@ -16,4 +16,4 @@ The following table compares the differences and advantages between the binary a | **SDK Support** | Yes, less | Yes, more | | **Data Access** | Limited to sensor and INS output. | Comprehensive access to all data and configuration settings. | | **Recommended Use** | Rapid prototypes and simple projects. Devices supporting NMEA. | Moderate to advanced applications. | -| **Apps and Examples** | [ASCII Communications Example](../SDK/CommunicationsAscii.md) | EvalTool, CLTool, [Binary Communications Example](../SDK/CommunicationsBinary.md), [Fimrware Update Example](../SDK/FirmwareUpdate.md), [Data Logger Example](../SDK/DataLogger.md) | +| **Apps and Examples** | [NMEA Communications Example](../SDK/CommunicationsAscii.md) | EvalTool, CLTool, [Binary Communications Example](../SDK/CommunicationsBinary.md), [Fimrware Update Example](../SDK/FirmwareUpdate.md), [Data Logger Example](../SDK/DataLogger.md) | diff --git a/docs/user-manual/dead-reckoning/dead_reckoning.md b/docs/user-manual/dead-reckoning/dead_reckoning.md index f1d939f..4db0a1d 100644 --- a/docs/user-manual/dead-reckoning/dead_reckoning.md +++ b/docs/user-manual/dead-reckoning/dead_reckoning.md @@ -19,7 +19,7 @@ Knowledge about the vehicle's kinematic constraints is applied to reduce drift a ### Enabling -Dead reckoning is enabled by setting the `DID_FLASH_CONFIG.insDynModel` to 4 for ground vehicles. This is done automatically during Learning Mode and stored to flash memory. +Dead reckoning is enabled by setting the `DID_FLASH_CONFIG.dynamicModel` to 4 for ground vehicles. This is done automatically during Learning Mode and stored to flash memory. ### Learning Mode diff --git a/docs/user-manual/gnss/multi_band_gnss.md b/docs/user-manual/gnss/multi_band_gnss.md index 0921c7a..bd76df9 100644 --- a/docs/user-manual/gnss/multi_band_gnss.md +++ b/docs/user-manual/gnss/multi_band_gnss.md @@ -14,7 +14,7 @@ The advent of multi-band GNSS (multiple frequency global navigation satellite sy ## Overview -The IMX (GPS-INS) can be interfaced with external multi-band (multi-frequency) GNSS receiver(s) connected via serial port(s) to improve precision the EKF solution. The supported message protocols are uBlox binary and NMEA ASCII. The following are the GPS settings (accessible in the EvalTool GPS Settings tab and IMX `DID_FLASH_CONFIG.ioConfig` and `DID_FLASH_CONFIG.RTKCfgBits`): +The IMX (GPS-INS) can be interfaced with external multi-band (multi-frequency) GNSS receiver(s) connected via serial port(s) to improve precision the EKF solution. The supported message protocols are uBlox binary and NMEA. The following are the GPS settings (accessible in the EvalTool GPS Settings tab and IMX `DID_FLASH_CONFIG.ioConfig` and `DID_FLASH_CONFIG.RTKCfgBits`): | Setting | Value | | -------------- | ------------------------------------------------------------ | diff --git a/docs/user-manual/gnss/rtk_compassing.md b/docs/user-manual/gnss/rtk_compassing.md index e915816..21a6fb5 100644 --- a/docs/user-manual/gnss/rtk_compassing.md +++ b/docs/user-manual/gnss/rtk_compassing.md @@ -174,4 +174,4 @@ The DID_GPS1_RTK_CMP_REL status can be monitored in the EvalTool GPS tab. ## Stationary Application -For RTK compassing stationary application, enabling the STATIONARY INS dynamic model (DID_FLASH_CONFIG.insDynModel = 2) is recommended to reduce heading noise and drift. This will reduce heading error during RTK compassing fix or loss of fix. See [INS-GNSS Dynamic Model](../../application-config/imu_ins_gnss_configuration/#ins-gnss-dynamic-model) and [Zero Motion Command](../../application-config/zero_motion_command) for details. \ No newline at end of file +For RTK compassing stationary application, enabling the STATIONARY INS dynamic model (DID_FLASH_CONFIG.dynamicModel = 2) is recommended to reduce heading noise and drift. This will reduce heading error during RTK compassing fix or loss of fix. See [INS-GNSS Dynamic Model](../../application-config/imu_ins_gnss_configuration/#ins-gnss-dynamic-model) and [Zero Motion Command](../../application-config/zero_motion_command) for details. \ No newline at end of file diff --git a/docs/user-manual/hardware/module_gpx1.md b/docs/user-manual/hardware/module_gpx1.md index 973f486..199ad76 100644 --- a/docs/user-manual/hardware/module_gpx1.md +++ b/docs/user-manual/hardware/module_gpx1.md @@ -21,7 +21,7 @@ The GPX-1 module footprint and pinout similar that of the IMX-5 such that the co | 0 | GND | Power | Supply ground on center pads. | | 1 | USB_P | I/O | USB full-speed Positive Line. USB will be supported in future firmware updates. | | 2 | USB_N | I/O | USB full-speed Negative Line. USB will be supported in future firmware updates. | -| 3 | VBKUP | Power | Backup supply voltage input (1.65V to 3.6V). Future firmware updates will use voltage applied on this pin to backup GNSS ephemeris, almanac, and other operating parameters for a faster startup when VCC is applied again. If not used connect to VCC or leave floating. | +| 3 | VBKUP | Power | Backup supply voltage input (1.75V to 3.6V). Future firmware updates will use voltage applied on this pin to backup GNSS ephemeris, almanac, and other operating parameters for a faster startup when VCC is applied again. This pin MUST be connected to a backup battery or VCC. | | 4 | G1/Rx2/RxCAN/SCL | I/O | GPIO1
    Serial 2 input (TTL)
    Serial input pin from CAN transceiver\*
    I2C SCL line | | 5 | G2/Tx2/TxCAN/SDA/STROBE | I/O | GPIO2
    Serial 2 output (TTL)
    Serial output pin to CAN transceiver\*
    I2C SDA line
    Strobe time sync input | | 6 | G6/Rx1/MOSI | I/O | GPIO6
    Serial 1 input (TTL)
    SPI MOSI | @@ -47,7 +47,7 @@ The GPX-1 module footprint and pinout similar that of the IMX-5 such that the co | 32 | VCC | Power | 1.8V to 3.3V supply input. | | 38 | G16/QDEC0.A | I/O | GPIO16 | | 39 | G17/QDEC0.B | I/O | GPIO17 | -| 40 | VAUX | Power | Input supplies for the USB and VCC_RF. Connect to +3.3V. Must be less than 0.3V + VCC while VCC is below 1V. | +| 40 | VAUX | Power | Input supplies for the USB and VCC_RF (GNSS antenna supply). Connect to +3.3V (3.0V to 3.6V) to supply USB and VCC_RF. Can be left floating if USB or VCC_RF are not needed. | | 41 | G18/QDEC1.A | I/O | GPIO18 | | 42 | G19/QDEC1.B | I/O | GPIO19 | diff --git a/docs/user-manual/software/SDK.md b/docs/user-manual/software/SDK.md index 803cfbb..f468381 100644 --- a/docs/user-manual/software/SDK.md +++ b/docs/user-manual/software/SDK.md @@ -51,7 +51,7 @@ When compiling an Inertial Sense SDK example project in Visual Studio, the curre | Example Project | Language | Description | | ------------------------------------------------------- | -------- | ------------------------------------------------------------ | -| [ASCII Communications](../SDK/CommunicationsAscii.md) | C | How to use SDK for ASCII NMEA communications. | +| [NMEA Communications](../SDK/CommunicationsAscii.md) | C | How to use SDK for NMEA NMEA communications. | | [Binary Communications](../SDK/CommunicationsBinary.md) | C | How to use SDK for binary communications. | | [Fimrware Update](../SDK/FirmwareUpdate.md) | C | How to use bootloader for embedded firmware update. | | [Data Logger](../SDK/DataLogger.md) | C++ | How to use SDK data logging. | diff --git a/docs/user-manual/troubleshooting/firmware.md b/docs/user-manual/troubleshooting/firmware.md index 6e7dd04..a06eb89 100644 --- a/docs/user-manual/troubleshooting/firmware.md +++ b/docs/user-manual/troubleshooting/firmware.md @@ -109,7 +109,7 @@ The following steps can be used to downgrade the uINS firmware to version 1.8.x ``` -3. Verify the uINS has reboot into bootloader update mode. The host serial port will disappear and reappear. The uINS will NOT support normal DID binary or ASCII communications in this mode, but will be ready to update the bootloader. +3. Verify the uINS has reboot into bootloader update mode. The host serial port will disappear and reappear. The uINS will NOT support normal DID binary or NMEA communications in this mode, but will be ready to update the bootloader. 4. Update the bootloader and firmware using the 1.8.x EvalTool, cltool, or SDK. Be sure to use the bootloader v5d (or older) with the 1.8.x firmware. diff --git a/mkdocs.yml b/mkdocs.yml index 5ed6270..8a0f55b 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -109,8 +109,8 @@ nav: - Communication Protocols: - Overview: user-manual/com-protocol/overview.md - Data Sets (DIDs): user-manual/com-protocol/DID-descriptions.md - - ASCII (NMEA): user-manual/com-protocol/ascii.md - Binary: user-manual/com-protocol/binary.md + - NMEA: user-manual/com-protocol/nmea.md - SPI: user-manual/com-protocol/SPI.md - CAN: user-manual/com-protocol/CAN.md - GNSS - RTK: @@ -143,7 +143,7 @@ nav: - Overview: user-manual/SDK/README.md - Example Projects: - Comm-Binary (C): user-manual/SDK/CommunicationsBinary.md - - Comm-ASCII (C): user-manual/SDK/CommunicationsAscii.md + - Comm-NMEA (C): user-manual/SDK/CommunicationsAscii.md - Comm-Arduino (C): user-manual/SDK/CommunicationsArduino.md - Firmware Update (C): user-manual/SDK/FirmwareUpdate.md - InertialSense Class CLTool (C++): user-manual/SDK/InertialSenseClassCLTool.md