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  • uINS-3 firmware v1.8.5 b1464_2021-06-17_131222
  • EVB-2 firmware v1.8.5 b33_2021-06-17_131249
  • EvalTool v1.8.5 b136_2021-06-17_131310

NEW FEATURES:

  • (CLTool) Option "-edit [DID#]" allows editing of any DID on the uINS or EVB.
  • (CLTool) Added NTRIP support.
  • (SDK) New ISNtripRoverExample project demonstrates how to use the Inertial Sense SDK to connect to an NTRIP base station and provide RTK corrections.
  • (uINS) Improved accuracy of attitude and position tracking in the EKF when using with an external RTK-GPS w/ NMEA protocol.

Breaking Changes:

  • (CLTool) Option "-did [DID# DID#]" allows user to specify a list of DID numbers or names to be streamed. This option replaces the -msg... options (i.e. -msgINS1, -msgINS2, -msgGPS, etc.).
  • (cltool) Changed directory name to all lowercase.
  • (cltool) Changed RTK correction options -svr= to -rover= and -host= to -base=.
  • (cltool) Changed -flashConfig option to -flashCfg.
  • (SDK) OpenServerConnection() renamed to OpenConnectionToServer() and connectionString changed to new format (e.g. -rover=TCP:RTCM3:192.168.1.100:7777:mountpoint:username:password).
  • (SDK) Configuration bits in DID_FLASH_CONFIG.ioConfig and eIoConfig were remapped to remove ambiguity. This moved the GPS I/O configuration bits and added disable option for communications port ser2.
  • (SDK) Incremented protocol version second digit to reflect remapping of DID_FLASH_CONFIG.ioConfig.

CHANGES:

  • (uINS) Use high precision position (<1cm resolution) for ublox F9P receivers.
  • (uINS) Error checking added to DID_FLASH_CONFIG.ioConfig and gps settings.
  • (EvalTool) Prevent using of incorrect EvalTool w/ uINS firmware. On protocol mismatch show warning dialog and disable settings dialogs.

BUG FIXES:

  • (EvalTool) Improved how RTK base connection status is displayed in the status bar to indicate when connection is lost.
  • (SDK) Fixed issue preventing bootloader from updating firmware for baudrates other than 921600, 230400, 115200, and 2000000.
  • (uINS) Fixed BIT failure caused by CAN transceiver local echo on serial port 2.
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  • uINS-3 firmware v1.8.4 b1194_2021-03-30_172439
  • EVB-2 firmware v1.8.4 b30_2021-03-30_172506
  • EvalTool v1.8.4 b101_2021-03-30_172532

NEW FEATURES:

  • (uINS) Added third external serial port (serial 2) to support general communications and external GNSS receivers. This expands the number of serial ports to support two external ZED-F9P receivers and general communications w/ RTK base corrections.
  • (uINS) Added sensor frame rotation allowing users to rotate the calibrated IMU and magnetometer output in multiples of 90 degrees. See DID_FLASH_CONFIG.sensorConfig.

Breaking Changes:

  • (uINS) Enable CAN bus by setting bit IO_CONFIG_CAN_BUS_ENABLE of g_nvmFlashCfg->ioConfig. CAN bus is only avaiable on uINS-3.2 hardware and later.

CHANGES:

  • (uINS) Use high precision position (<1cm resolution) for ublox F9P receivers.
  • (EvalTool) Display EVB-2 radio PID and NID in hexadecimal rather than decimal.
  • (uINS) Adjusted manufacturing calibration check thresholds for the uINS-3.2.
  • (uINS & EvalTool) Prevent simultaneous base survey and correction output. You can only do one at a time.
  • (EVB-2) Fixed issue where stop all communications command was interfering with uINS persistent messages not changing data stream on log button press.
  • (uINS & EvalTool) Added I/O configurability including CAN, Ser2, and strobe.
  • (SDK) Added "ix" prefix to common variable type names to prevent conflicts when the inertial-sense-sdk is used.
  • (uINS CAN) Added baudrate validation and default value of 100 kbps.

BUG FIXES:

  • (uINS) Fixed issue where accelerometer sampled at 500Hz and provided redundant samples at 1KHz.
  • (uINS) Fixed I/O issue for input strobe support on uINS-3.2.
  • (SDK) Fixed csv logging of DID_GPS1_RTK_POS_REL and DID_GPS2_RTK_CMP_REL messages.
  • (SDK) Fixed ASCII NMEA message broadcast.
  • (uINS CAN) Fixed CAN config initial values loaded from flash (persistent feature).
  • (uINS) Fixed uncalibrated magnetometer heading hold feature.
  • (SDK) Fixed csv log issue when logging or copying data from more than one device.
  • (uINS, ASCII, SDK) Fixed enable streaming of PIMU and PPIMU ascii messages when using ASCB.
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  • uINS-3 firmware v1.8.3 b57_2020-12-15_134003
  • EVB-2 firmware v1.8.3 b13_2020-12-15_134029
  • EvalTool v1.8.3 b25_2020-12-15_134051

NEW FEATURES:

  • (EVB) Added ability to CLTool to read and write flash config parameters (EVB-2 DID_EVB_FLASH_CFG).
  • (EVB) Change IP address interface from hex to four uint8 digits.

CHANGES:

  • (EvalTool) Fixed incorrect label for DID_FLASH_CONFIG.startupNavDtMs, which now supports up to 1KHz EKF output.
  • (uINS) Adjusted EKF trust factor of RTK compassing heading based on AR ratio to improve heading tracking during weaker RTK fix.
  • (EVB-2) Added push button debouncing to prevent improper mode jumping.
  • (SDK) Changes to isolate internal autonomous Luna development from publicly released SDK.
  • (uINS) Added magnetometer bias_cal to DID_INL2_MAG_OBS_INFO so users can apply calibration externally to the uINS.
  • (docs) User manual updates.
  • (EvalTool) Changed UI layout for port and RTK configuration in GPS settings.

BUG FIXES:

  • (SDK) Fixed the LogInspector python plotting tool.
  • (SDK) Fixed Linux support for SDK firmware update in EvalTool and SDK.
  • (SDK) Fixed CLTool firmware update support.
  • (uINS) Resolved GPS driver communication support for uINS-3.2 hardware version.
  • (uINS) Fixed magnetometer recalibration issue that uses uninitialized value.
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  • uINS-3 firmware v1.8.2 b39_2020-11-06_112617
  • EVB-2 firmware v1.8.2 b10_2020-11-06_112646
  • EvalTool v1.8.2 b20_2020-11-06_112710

NEW FEATURES:

  • (uINS) Dual u-blox ZED-F9P support for simultaneous RTK positioning and compassing operation.
  • (uINS) General support for uINS-3.2 hardware.

CHANGES:

  • (RTK) Improved consistency of RTK fix.
  • (RTK) Disable GLONASS in RTK when RTK rover and base are identical option is set (RTKCfgBits & RTK_CFG_BITS_RTK_BASE_IS_IDENTICAL_TO_ROVER). Renamed EvalTool RTK-GPS option "Base is uINS" to "Base Identical". This feature can improve fix time if the GNSS receiver types of the base and rover are the same (e.g. both are uINS / ublox M8 receivers).
  • (uINS) Added IS communication support to ports configured for external GNSS so that system can be recovered via that same port, eliminating the need to switch to an alternate port to reconfigure the uINS.
  • (uINS) Ability to swap onboard GPS1 and GPS2.
  • (RTK) Consolidated GPS_STATUS_FIX_RTK_FIX and GPS_STATUS_FIX_RTK_FIX_AND_HOLD to only GPS_STATUS_FIX_RTK_FIX to simplify reporting of RTK fix status.
  • (uINS) Restored access to second magnetometer by renaming DID_MAGNETOMETER to DID_MAGNETOMETER_1 and restored DID_MAGNETOMETER_2.
  • (uINS) Hotfix: Reverted unnecessary poor GPS signal check that was introduced in r1.8.0.

BUG FIXES:

  • (EVB-2) Addressed packet collision issue that occurs in data routing when data from multiple ports is forwarded to single port (e.g. using RTK radio corrections and host USB with uINS ser0).
  • (EVB-2) Fixed data drop when logging to onboard SD memory card.
  • (SDK) Fixed Arduino communications example project.
  • (SDK) Restored legacy baudrate to ensure firmware update ability for older bootloaders.
  • (EKF) Fixed issue where GPS updates were incorrectly invalidated and not fused into the EKF and the EKF runs at a slower update rate. Consequentially the EKF will remain in AHRS mode. This was caused by a 32 bit single floating point precision rounding error of an IMU timestamp. This can only occur after 14 hours of runtime and depends on timing of GPS updates. This issue was introduced in release 1.8.1.
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  • uINS-3 firmware v1.8.1 b414_2020-05-08_132324
  • EVB-2 firmware v1.8.1 b12_2020-05-12_162601
  • EvalTool v1.8.1 b462_2020-05-12_172805

NEW FEATURES:

  • (uINS) General support for uINS-3.2 hardware.
  • (uINS) CAN interface support on the uINS-3.2 hardware.
  • (uINS) External GPS receiver support, including u-blox ZED-F9P and any GNSS that outputs standard NMEA 3 messages.
  • (uINS) ZED-F9P support.
  • (EVB-2) Ability to configure EVB-2 external serial port baud rates.
  • (LogInspector) Data plotting tool for analyzing InertialSense binary PPD files.
  • (EvalTool) Linux deb installer now available.
  • (Dual GNSS) Stationary mode added which improves heading accuracy for non-moving applications.
  • (Dual GNSS) RTK heading accuracy figure added to DID_GPS1_RTK_CMP_REL message.
  • (uINS) Max INS output data rate increased from 500Hz to 1KHz.

CHANGES:

  • (EvalTool) Auto find and open devices on startup is moved to setting.json and disabled by default. This is to prevent EvalTool hang under certain circumstances.
  • (EVB-2) Watchdog timer added to ensure continuous operation.

Breaking Changes:

  • (SDK) is_comm_parse() in ISComm.c return type is now protocol_type_t and the InertialSense binary data ID (DID) is available in the comm instance dataHdr. For example usage, see comManagerStepRxInstance() in com_manager.c.

BUG FIXES:

  • (uINS) Fix for EKF numerical stability for partial bias updates caused by non-positive definite square-root factorization. This can occur with low signal strength GPS and weak signal conditions. This issue was introduced in software release 1.7.6.
  • (RTK, Dual GNSS) Fix for INS status indicator INS_STATUS_RTK_RAW_GPS_DATA_ERROR (RTK[RAW] in EvalTool) false triggers after 7 days of operation.
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  • uINS-3 firmware v1.8.0 b307_2020-01-31_155910
  • EVB-2 firmware v1.8.0 b61_2020-01-31_155936
  • EvalTool v1.8.0 b350_2020-01-31_160237

NEW FEATURES:

  • (uINS) Support for uINS-3.2 hardware version.
  • (uINS) Zero Motion Command user initiated method to aid IMU bias estimation.
  • (SDK) Improved bootloader version management. Added version info protocol and consolidated bootloader and application firmware update into single process.
  • (uINS) Improved support for degraded GPS environments.

CHANGES:

  • (uINS) Improved IMU bias convergence.
  • (uINS) Improved Zero Velocity Updates (ZUPT) and Zero Angular Rate (ZARU) detection.
  • (uINS) Removed support for second magnetometer for uINS-3.2 hardware.

BUG FIXES:

  • (uINS) Fix for automatic save of magnetometer calibration following the mag recalibration process.
  • (uINS) Fix for mag recalibration cancel feature.
  • (EVB-2) Fix for SPI mode interface with uINS.

KNOWN ISSUES:

  • (RTK, Dual GNSS) INS status indicator INS_STATUS_RTK_RAW_GPS_DATA_ERROR (RTK[RAW] in EvalTool) false triggers after 7 days of operation. This indicator should be ignored and will be fixed in the future.
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Overview

The bootloader is embedded firmware stored on the uINS and is used to update the uINS application firmware. Updating the bootloader firmware is occasionally required when new functionality is needed.

Bootloader Update

The bootloader is now checked and updated at the same time as loading new firmware. The following steps outline how to update the uINS bootloader and firmware.

  1. Ensure uINS Firmware is Running - (This step is not necessary if the uINS firmware is running and the EvalTool is communicating with the uINS). If the bootloader is running but the firmware is not, version information will not appear in the EvalTool. The LED will also be a fading cyan.
  2. Update the Bootloader and Firmware - Use the EvalTool "Update Firmware" button in the Settings tab to upload the latest bootloader and the latest firmware. The bootloader can only be updated using serial0 or the native USB ports.

Version History

SAMx70-Bootloader (uINS & EVB)

v4b (3/4/20)

  • (EVB only) Disable using serial ports for EVB-2 bootloader to prevent loading issues when data is being streamed from uINS.
  • Firmware update port selection, used to prevent external GPS or other serial devices on alternate ports from interfering with firmware update.

v4a (1/31/20)

  • Support for uINS-3.2.
  • Baud rate accuracy improved (CPU speed increased to 300MHz). Baud rates now match those of the uINS firmware.
    • 230400: 232020 (before), 229360 (after)
    • 921600: 892860 (before), 938090 (after)
  • Added ability to read out bootloader version information.
  • Added lockout to prevent entering SAM-BA mode from a non SAM-BA capable port.

v3d (2/26/19)

  • (EVB only) Disable serial ports on EVB at bootload start and using USB to prevent interruption from serial ports.
  • Fixed 23400 bps support.

v3c (2/18/19)

  • Universal bootloader for uINS and EVB-2 (SAMS70 and SAME70).
  • Fixed 921600 bps and removed 2M bps support.

v3b (1/24/19) (not shipped)

v3a (1/12/19) (not shipped)

  • Support for USB CDC interface.

SAMS70-Bootloader (uINS)

v2c r1.5 (4/6/18)

  • Support for bootloading larger application firmware (>491520 bytes).

v2b r1.1.4 (2/23/18)

v2a r1.1.4 (11/7/17)

v1 r1.1.3

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  • uINS-3 firmware v1.7.6 b239_2019-10-11_145107
  • EVB-2 firmware v1.7.6 b33_2019-10-11_145131
  • EvalTool v1.7.6 b267_2019-10-11_145414

NEW FEATURES:

  • (GNSS Compassing) Official Dual GNSS aided INS for accurate heading measurements without need of vehicle dynamics or magnetic sensors. Addresses beta version issues related to stability and performance.
  • (EVB) Ability to update uINS firmware through EVB-2 processor (SAME70) using EVB-USB connection.
  • (EVB) Open source project for EVB-2 now available. This project provides an embedded development platform as well as example serial and SPI interface with the uINS.
  • (RTK/Compassing) Ability to toggle between RTK precision positioning mode and Dual GNSS compassing mode without reset.

CHANGES:

  • (SDK) Cleaned up several compiler warnings.

BREAKING CHANGES:

  • (SDK) Added leap seconds (GPS-UTC) offset to binary messages using gps_pos_t and ASCII PGPSP message. Used to convert GPS time to UTC time.
  • (Strobe) Strobe functionality must be enabled for each strobe pin using DID_FLASH_CONFIG.ioConfig.
  • (Strobe) Strobe input is now interrupt based instead of timer based and now only requires a rising or falling edge with no minimum pulse length.

BUG FIXES:

  • (PATCH) Fix for critical fault caused by libc-nano snprintf malloc used with ASCII protocol output.
  • (PATCH) Fix RTK stability issue effecting time to fix and generally maintaining lock.
  • (PATCH) Corrected INS output timestamp drift, offset, and noise.
  • (Dual GNSS) GPS compassing patch: addressed stability and performance issues.
  • (USB) Addressed 512 byte buffer limitation on the uINS and EVB USB CDC interface. This issue occurred when sending RTK base observations (RTCM3 or uBlox) over USB.
  • (Logger) Issue resolved that prevented .csv logs from being written.
  • (uINS) Issue resolved where disabling magnetometer fusion prevents EKF from initializing and states from being updated.
  • (uINS) Fixed EKF attitude drift during initialization caused by unaccelerated condition detection.
  • (uINS) EKF altitude tracking of GPS issue resolved.
  • (uINS) EKF position tracking of RTK GPS position in RTK float.
  • (RTK) improved fix hold under accelerated conditions.
  • (uINS) Over temperature status indicator fixed.
  • (uINS) Fixed EKF discontinuities in roll and pitch estimates.

KNOWN ISSUES:

  • (RTK) uINS RTK RTCM base station occasionally results in rover RTK lose of fix.
  • (Dual GNSS) Stationary systems with uncalibrated magnetometer may result in heading deviation of several degrees during a GPS compassing outage.
  • (uINS) Strobe input configured to trigger on falling edge on pin 5 (G2) does not work and will be fixed in the next release.

BOOTLOADER:

  • It is recommended to update to the latest bootloader.
  1. Ensure uINS Firmware is Running - (This step is not necessary if the uINS firmware is running and the EvalTool is communicating with the uINS). If the bootloader is running but the firmware is not, version information will not appear in the EvalTool. The LED will also be a fading cyan. The following bootloader update step will not work unless the EvalTool is communicating with the uINS firmware. In this case the firmware must be updated first.
  2. Update the Bootloader - Use the EvalTool "Update Bootloader" button in the Settings tab to upload the latest bootloader firmware. If it has a fading cyan LED, the bootloader is running and ready for new firmware to be loaded. The bootloader can only be updated using serial0 or the native USB ports.
  3. Update the Firmware - Use the EvalTool "Update Firmware" button to upload the latest uINS firmware.
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  • uINS-3 firmware v1.7.5 b27_2019-02-25_121747
  • EVB-2 firmware v1.7.5 b28_2019-02-25_122655
  • EvalTool v1.7.5 b92_2019-02-25_122718

NEW FEATURES:

  • (uINS) SPI interface. EVB-2 supports uINS SPI evaluation using the host SAME70 ARM 32bit processor.

BUG FIXES:

  • (USB) Addressed issue that prevents SAM-BA over USB from completing the first time.
  • (EvalTool) Reduce serial port delay and potential freezing.
  • (uINS) Toggling from NAV to AHRS mode due to GPS outliers.
  • (ASCII) Hot fix for ASCII issue that prevented negative values from being displayed properly.
  • (bootloader) Fixed 921600 baud rate support in SAMx70-Bootloader_v3c.bin.

KNOWN ISSUES

  • (Dual GPS) System occasionally falls out of fix.

NOTES

  • (EvalTool) 32bit version and version without maps (web services) provided for machines with limited resources.
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  • uINS-3 firmware v1.7.4 b290_2019-01-24_163630
  • EVB-2 firmware v1.7.4 b85_2019-01-24_163726
  • EvalTool v1.7.4 b16_2019-01-24_163241

NEW FEATURES:

  • (uINS) USB CDC interface. Existing systems require bootloader update (SAMx70-Bootloader_v3.bin). EVB-2 supports native USB evaluation.

CHANGES:

  • (USB) SAM-BA support added to allow update of the bootloader image over USB.
  • (uINS) Flash writes no longer happen automatically with mag calibration or for GPS position history. Instead, they happen for user changes to DID_FLASH_CONFIG, software resets, or save flash command (CFG_SYS_CMD_SAVE_FLASH).

BUG FIXES:

  • (Dual GNSS) Time to fix and general fix issues addressed.
  • (Dual GNSS) Incorrect distance to base following GPS outage.
  • (uINS) Fixed issue with EKF state run away when in RTK following GPS outage.
  • (EVB-2) Addressed XBee radio 9600 baud configuration, communication bridge, and WiFi issues.

KNOWN ISSUES

  • (Dual GPS) System occasionally falls out of fix.