Updated SDK.

inertialsense · Jan 16, 2019 · 92d86eb · 92d86eb
1 parent 7a6606e
commit 92d86eb
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Showing 4 changed files with 1,185 additions and 1,131 deletions.
diff --git a/src/ISDataMappings.cpp b/src/ISDataMappings.cpp
@@ -136,10 +136,11 @@ static void PopulateSizeMappings(uint32_t sizeMap[DID_COUNT])
 	sizeMap[DID_GPS_BASE_RAW] = sizeof(gps_raw_t);
 	sizeMap[DID_STROBE_IN_TIME] = sizeof(strobe_in_time_t);
 	sizeMap[DID_RTOS_INFO] = sizeof(rtos_info_t);
+	sizeMap[DID_SENSORS_ADC] = sizeof(sys_sensors_adc_t);
 
 #ifdef USE_IS_INTERNAL
 
-	sizeMap[DID_SENSORS_ADC] = sizeof(sys_sensors_adc_t);
+
 	sizeMap[DID_SENSORS_IS1] = sizeof(sensors_w_temp_t);
 	sizeMap[DID_SENSORS_IS2] = sizeof(sensors_w_temp_t);
 	sizeMap[DID_SENSORS_TC_BIAS] = sizeof(sensors_t);

diff --git a/src/com_manager.h b/src/com_manager.h
@@ -375,6 +375,25 @@ void comManagerRegisterASCIIInstance(CMHANDLE cmInstance, asciiMessageMap_t* asc
 
 /**
 Set a com manager pass through handler, handler can be 0 or null to remove the current handler
+
+	// setup pass-through handler for u-blox, rtcm3, etc.  This should be called following comManagerInit().
+	comManagerSetPassThrough(passThroughHandler);
+
+    // Example how to handle incoming ublox, rtcm, etc. data
+    void passThroughHandler(CMHANDLE handle, com_manager_pass_through_t type, int pHandle, const unsigned char* data, int dataLength)
+    {
+        if (type == COM_MANAGER_PASS_THROUGH_UBLOX)
+        {
+            if (g_nvmFlashCfg->RTKCfgBits & RTK_CFG_BITS_RTK_ROVER)
+            {
+                processUbloxRtkPacket(data, dataLength, pHandle);
+            }
+        }
+        else if (type == COM_MANAGER_PASS_THROUGH_RTCM3 && (g_nvmFlashCfg->RTKCfgBits & RTK_CFG_BITS_RTK_ROVER) != 0)
+        {
+            processRtcm3RtkPacket(data, dataLength, pHandle);
+        }
+    }
 */
 void comManagerSetPassThrough(pfnComManagerPassThrough handler);
 void comManagerSetPassThroughInstance(CMHANDLE cmInstance, pfnComManagerPassThrough handler);

diff --git a/src/data_sets.h b/src/data_sets.h
@@ -2586,23 +2586,24 @@ typedef struct
 /**
 * (DID_SYS_FAULT) System Fault Information 
 * NOTE: If you modify these, please update crash_info_special_values in IS-src/python/src/ci_hdw/data_sets.py */
-#define SYS_FAULT_STATUS_HARDWARE_RESET           0x00000000
-#define SYS_FAULT_STATUS_USER_RESET               0x00000001
-#define SYS_FAULT_STATUS_ENABLE_BOOTLOADER        0x00000002
+#define SYS_FAULT_STATUS_HARDWARE_RESET                 0x00000000
+#define SYS_FAULT_STATUS_USER_RESET                     0x00000001
+#define SYS_FAULT_STATUS_ENABLE_BOOTLOADER              0x00000002
 // General:
-#define SYS_FAULT_STATUS_SOFT_RESET               0x00000010
-#define SYS_FAULT_STATUS_FLASH_MIGRATION          0x00000020
-#define SYS_FAULT_STATUS_MASK_GENERAL_ERROR       0xFFFFFFF0
+#define SYS_FAULT_STATUS_SOFT_RESET                     0x00000010
+#define SYS_FAULT_STATUS_FLASH_MIGRATION_EVENT          0x00000020
+#define SYS_FAULT_STATUS_FLASH_MIGRATION_COMPLETED      0x00000040
+#define SYS_FAULT_STATUS_MASK_GENERAL_ERROR             0xFFFFFFF0
 // Critical:
-#define SYS_FAULT_STATUS_HARD_FAULT               0x00010000
-#define SYS_FAULT_STATUS_USAGE_FAULT              0x00020000
-#define SYS_FAULT_STATUS_MEM_MANGE                0x00040000
-#define SYS_FAULT_STATUS_BUS_FAULT                0x00080000
-#define SYS_FAULT_STATUS_MALLOC_FAILED            0x00100000
-#define SYS_FAULT_STATUS_STACK_OVERFLOW           0x00200000
-#define SYS_FAULT_STATUS_INVALID_CODE_OPERATION   0x00400000
-#define SYS_FAULT_STATUS_FLASH_MIGRATION_FAILURE  0x00800000
-#define SYS_FAULT_STATUS_MASK_CRITICAL_ERROR      0xFFFF0000
+#define SYS_FAULT_STATUS_HARD_FAULT                     0x00010000
+#define SYS_FAULT_STATUS_USAGE_FAULT                    0x00020000
+#define SYS_FAULT_STATUS_MEM_MANGE                      0x00040000
+#define SYS_FAULT_STATUS_BUS_FAULT                      0x00080000
+#define SYS_FAULT_STATUS_MALLOC_FAILED                  0x00100000
+#define SYS_FAULT_STATUS_STACK_OVERFLOW                 0x00200000
+#define SYS_FAULT_STATUS_INVALID_CODE_OPERATION         0x00400000
+#define SYS_FAULT_STATUS_FLASH_MIGRATION_MARKER_UPDATED 0x00800000
+#define SYS_FAULT_STATUS_MASK_CRITICAL_ERROR            0xFFFF0000
 
 typedef struct 
 {