public release of MSCL 62.0.0

LORD-MicroStrain · May 19, 2021 · 87ae9cf · 87ae9cf
1 parent 6ca90d9
commit 87ae9cf
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Showing 22 changed files with 345 additions and 27 deletions.
diff --git a/CHANGELOG.txt b/CHANGELOG.txt
@@ -14,6 +14,27 @@ RENAMED - A function/class has been renamed.
 REMOVED - A function/class has been removed.
 ======================================================================================================
 
+62.0.0 - 2021-05-19
+- update inertial time of week channel names from _lastValidTow to _tow for accuracy:
+    - GNSS Position Aiding Status (0x82,0x43)
+    - GNSS Attitude Aiding Status (0x82,0x44)
+    - Aiding Measurement Summary (0x82,0x46)
+
+61.2.3 - 2021-05-18
+- Fix InertialTypes::GnssAidingStatus enum values, add NO_FIX and CONFIG_ERROR entries - definition for status value of fields: GNSS Position Aiding Status (0x82,0x43), GNSS Attitude Aiding Status (0x82,0x44)
+
+61.2.2 - 2021-04-20
+- Add ability to set lastDeviceState on MipNode objects (MipNode::setLastDeviceState())
+
+61.2.1 - 2021-04-16
+- Fix available options for Estimation Control Flags (0x0D,0x14) config command for CV5-25 (MipNodeFeatures::supportedEstimationControlOptions()) - hard, soft iron auto calibration now available
+
+61.2.0 - 2021-03-23
+- Add support for Torque-Link-200-3ch
+
+61.1.7 - 2021-03-22
+- Remove assert(false) from MipTypes::channelName() and MipChannelIdentifier::name() on undefined channel field/qualifier or identifier type
+
 61.1.6 - 2021-03-04
 - Add support for inertial command Input Speed Measurement (0x0D,0x60)
 

diff --git a/MSCL/MSCL.vcxproj b/MSCL/MSCL.vcxproj
@@ -907,6 +907,7 @@
     <ClInclude Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_tclink6ch.h" />
     <ClInclude Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_torqueLink.h" />
     <ClInclude Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_torqueLink200.h" />
+    <ClInclude Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_torqueLink200_3ch.h" />
     <ClInclude Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_vlink.h" />
     <ClInclude Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_vlink200.h" />
     <ClInclude Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_vlink_legacy.h" />
@@ -1231,6 +1232,7 @@
     <ClCompile Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_tclink6ch.cpp" />
     <ClCompile Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_torqueLink.cpp" />
     <ClCompile Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_torqueLink200.cpp" />
+    <ClCompile Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_torqueLink200_3ch.cpp" />
     <ClCompile Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_vlink.cpp" />
     <ClCompile Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_vlink200.cpp" />
     <ClCompile Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_vlink_legacy.cpp" />

diff --git a/MSCL/MSCL.vcxproj.filters b/MSCL/MSCL.vcxproj.filters
@@ -1010,6 +1010,9 @@
     <ClInclude Include="source\mscl\MicroStrain\RTK\Commands\ActivationCode.h">
       <Filter>MicroStrain\RTK\Commands</Filter>
     </ClInclude>
+    <ClInclude Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_torqueLink200_3ch.h">
+      <Filter>MicroStrain\Wireless\Features\Nodes</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="source\mscl\MicroStrain\ByteStream.cpp">
@@ -1911,6 +1914,9 @@
     <ClCompile Include="source\mscl\MicroStrain\RTK\Commands\ActivationCode.cpp">
       <Filter>MicroStrain\RTK\Commands</Filter>
     </ClCompile>
+    <ClCompile Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_torqueLink200_3ch.cpp">
+      <Filter>MicroStrain\Wireless\Features\Nodes</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <None Include="source\mscl\Wrapper\MSCL_Exceptions.i">

diff --git a/MSCL/source/mscl/LibVersion.h b/MSCL/source/mscl/LibVersion.h
@@ -10,9 +10,9 @@ MIT Licensed. See the included LICENSE.txt for a copy of the full MIT License.
 
 #ifndef SWIG
 //update with each release
-#define MSCL_MAJOR 61
-#define MSCL_MINOR 1
-#define MSCL_PATCH 6
+#define MSCL_MAJOR 62
+#define MSCL_MINOR 0
+#define MSCL_PATCH 0
 #endif
 
 namespace mscl

diff --git a/MSCL/source/mscl/MicroStrain/Inertial/ExposedInertialTypes.h b/MSCL/source/mscl/MicroStrain/Inertial/ExposedInertialTypes.h
@@ -568,19 +568,23 @@ namespace mscl
         //    GNSS_AIDING_TIGHT_COUPLING  - 0x0001  - 0000 0000 0000 0001
         //    GNSS_AIDING_DIFFERENTIAL    - 0x0002  - 0000 0000 0000 0010
         //    GNSS_AIDING_INTEGER_FIX     - 0x0004  - 0000 0000 0000 0100
-        //    GNSS_AIDING_GPS             - 0x0018  - 0000 0000 0001 1000
-        //    GNSS_AIDING_GLONASS         - 0x0060  - 0000 0000 0110 0000
-        //    GNSS_AIDING_GALILEO         - 0x0180  - 0000 0001 1000 0000
-        //    GNSS_AIDING_BEIDOU          - 0x0600  - 0000 0110 0000 0000
+        //    GNSS_AIDING_GPS             - 0x0038  - 0000 0000 0011 1000
+        //    GNSS_AIDING_GLONASS         - 0x00C0  - 0000 0000 1100 0000
+        //    GNSS_AIDING_GALILEO         - 0x0700  - 0000 0111 0000 0000
+        //    GNSS_AIDING_BEIDOU          - 0x3800  - 0011 1000 0000 0000
+        //    GNSS_AIDING_NO_FIX          - 0x4000  - 0100 0000 0000 0000
+        //    GNSS_AIDING_CONFIG_ERROR    - 0x8000  - 1000 0000 0000 0000
         enum GnssAidingStatus
         {
-            GNSS_AIDING_TIGHT_COUPLING = 0x0001, // 0000 0000 0000 0001
-            GNSS_AIDING_DIFFERENTIAL = 0x0002, // 0000 0000 0000 0010
-            GNSS_AIDING_INTEGER_FIX = 0x0004, // 0000 0000 0000 0100
-            GNSS_AIDING_GPS = 0x0018, // 0000 0000 0001 1000
-            GNSS_AIDING_GLONASS = 0x0060, // 0000 0000 0110 0000
-            GNSS_AIDING_GALILEO = 0x0180, // 0000 0001 1000 0000
-            GNSS_AIDING_BEIDOU = 0x0600, // 0000 0110 0000 0000
+            GNSS_AIDING_TIGHT_COUPLING  = 0x0001, // 0000 0000 0000 0001
+            GNSS_AIDING_DIFFERENTIAL    = 0x0002, // 0000 0000 0000 0010
+            GNSS_AIDING_INTEGER_FIX     = 0x0004, // 0000 0000 0000 0100
+            GNSS_AIDING_GPS             = 0x0038, // 0000 0000 0011 1000
+            GNSS_AIDING_GLONASS         = 0x00C0, // 0000 0000 1100 0000
+            GNSS_AIDING_GALILEO         = 0x0700, // 0000 0111 0000 0000
+            GNSS_AIDING_BEIDOU          = 0x3800, // 0011 1000 0000 0000
+            GNSS_AIDING_NO_FIX          = 0x4000, // 0100 0000 0000 0000
+            GNSS_AIDING_CONFIG_ERROR    = 0x8000  // 1000 0000 0000 0000
         };
 
         //API Enum: AidingMeasurementStatus

diff --git a/MSCL/source/mscl/MicroStrain/MIP/MipNode.cpp b/MSCL/source/mscl/MicroStrain/MIP/MipNode.cpp
@@ -80,6 +80,11 @@ namespace mscl
         return m_impl->lastDeviceState();
     }
 
+    void MipNode::setLastDeviceState(DeviceState state)
+    {
+        m_impl->setLastDeviceState(state);
+    }
+
     Version MipNode::firmwareVersion() const
     {
         return m_impl->firmwareVersion();

diff --git a/MSCL/source/mscl/MicroStrain/MIP/MipNode.h b/MSCL/source/mscl/MicroStrain/MIP/MipNode.h
@@ -162,6 +162,15 @@ namespace mscl
         //  The last known <DeviceState>.
         DeviceState lastDeviceState() const;
 
+        //API Function: setLastDeviceState
+        //  Most users will not need this functionality.
+        //  The device state defaults to unknown on connection but then automatically updates to streaming upon receiving data packets or idle when the set to idle command is sent.
+        //  Setting this will not stop auto-detection - the manually set value will be overwritten when the value would otherwise be set.
+        //
+        //Parameters:
+        //  state - the <DeviceState> to set
+        void setLastDeviceState(DeviceState state);
+
         //API Function: firmwareVersion
         //    Gets the firmware <Version> of the MipNode.
         //

diff --git a/MSCL/source/mscl/MicroStrain/MIP/MipNodeFeatures.cpp b/MSCL/source/mscl/MicroStrain/MIP/MipNodeFeatures.cpp
@@ -345,9 +345,7 @@ namespace mscl
         case MipModels::node_3dm_gx4_25:
         case MipModels::node_3dm_gx4_15:
         case MipModels::node_3dm_gx3_45:
-        case MipModels::node_3dm_cv5_25:
         case MipModels::node_3dm_cv5_15:
-        case MipModels::node_3dm_cl5_25:
         case MipModels::node_3dm_cl5_15:
             return EstimationControlOptions(
                 InertialTypes::EstimationControlOption::ENABLE_GYRO_BIAS_ESTIMATION
@@ -366,6 +364,8 @@ namespace mscl
             );
 
         case MipModels::node_3dm_gx5_25:
+        case MipModels::node_3dm_cv5_25:
+        case MipModels::node_3dm_cl5_25:
             return EstimationControlOptions(
                 InertialTypes::EstimationControlOption::ENABLE_GYRO_BIAS_ESTIMATION |
                 InertialTypes::EstimationControlOption::ENABLE_HARD_IRON_AUTO_CALIBRATION |

diff --git a/MSCL/source/mscl/MicroStrain/MIP/MipNode_Impl.cpp b/MSCL/source/mscl/MicroStrain/MIP/MipNode_Impl.cpp
@@ -109,6 +109,11 @@ namespace mscl
         return m_lastDeviceState;
     }
 
+    void MipNode_Impl::setLastDeviceState(DeviceState state)
+    {
+        m_lastDeviceState = state;
+    }
+
     void MipNode_Impl::resetNodeInfo()
     {
         m_nodeInfo.reset();

diff --git a/MSCL/source/mscl/MicroStrain/MIP/MipNode_Impl.h b/MSCL/source/mscl/MicroStrain/MIP/MipNode_Impl.h
@@ -184,6 +184,16 @@ namespace mscl
         //  Gets the last known <DeviceState> for the Node.
         DeviceState lastDeviceState() const;
 
+        //Function: setLastDeviceState
+        //  Most users will not need this functionality.
+        //  The device state defaults to unknown on connection but then automatically updates to streaming upon receiving data packets
+        //  or idle when the set to idle command is sent.
+        //  Setting this will not stop auto-detection - the manually set value will be overwritten when the value would otherwise be set.
+        //
+        //Parameters:
+        //  state - the <DeviceState> to set
+        void setLastDeviceState(DeviceState state);
+
         //Function: resetNodeInfo
         //  Clears cached info read from device (ie fw version, receiver info, etc.)
         void resetNodeInfo();

diff --git a/MSCL/source/mscl/MicroStrain/MIP/MipTypes.cpp b/MSCL/source/mscl/MicroStrain/MIP/MipTypes.cpp
@@ -36,7 +36,6 @@ namespace mscl
         //if we failed to find the channel
         if(result == CHANNEL_NAMES.end())
         {
-            assert(false);
             return "unknown_" + Utils::toStr(field) + "-" + Utils::toStr(qualifier);
         }
 
@@ -425,13 +424,13 @@ namespace mscl
         { ChannelId(CH_FIELD_ESTFILTER_NED_RELATIVE_POS, CH_Y), "estNedRelPos_y" },
         { ChannelId(CH_FIELD_ESTFILTER_NED_RELATIVE_POS, CH_Z), "estNedRelPos_z" },
 
-        { ChannelId(CH_FIELD_ESTFILTER_POSITION_AIDING_STATUS, CH_TIME_OF_WEEK), "gnssAiding_pos_lastValidTow" },
+        { ChannelId(CH_FIELD_ESTFILTER_POSITION_AIDING_STATUS, CH_TIME_OF_WEEK), "gnssAiding_pos_tow" },
         { ChannelId(CH_FIELD_ESTFILTER_POSITION_AIDING_STATUS, CH_STATUS), "gnssAiding_pos_status" },
 
-        { ChannelId(CH_FIELD_ESTFILTER_ATTITUDE_AIDING_STATUS, CH_TIME_OF_WEEK), "gnssAiding_att_lastValidTow" },
+        { ChannelId(CH_FIELD_ESTFILTER_ATTITUDE_AIDING_STATUS, CH_TIME_OF_WEEK), "gnssAiding_att_tow" },
         { ChannelId(CH_FIELD_ESTFILTER_ATTITUDE_AIDING_STATUS, CH_STATUS), "gnssAiding_att_status" },
 
-        { ChannelId(CH_FIELD_ESTFILTER_AIDING_MEASURE_SUMMARY, CH_TIME_OF_WEEK), "aidingSummary_lastValidTow" },
+        { ChannelId(CH_FIELD_ESTFILTER_AIDING_MEASURE_SUMMARY, CH_TIME_OF_WEEK), "aidingSummary_tow" },
         { ChannelId(CH_FIELD_ESTFILTER_AIDING_MEASURE_SUMMARY, CH_STATUS), "aidingSummary_status" },
 
         { ChannelId(CH_FIELD_ESTFILTER_ODOMETER_SCALE_FACTOR_ERROR, CH_ERROR), "odometer_scaleFactorError" },
@@ -749,7 +748,6 @@ namespace mscl
         //if we failed to find the channel
         if (typeName == TYPE_NAMES.end())
         {
-            assert(false);
             return "unknownId_" + Utils::toStr(m_id);
         }
 

diff --git a/MSCL/source/mscl/MicroStrain/Wireless/Configuration/InputRange.cpp b/MSCL/source/mscl/MicroStrain/Wireless/Configuration/InputRange.cpp
@@ -261,6 +261,7 @@ namespace mscl
             case WirelessModels::node_sgLink200_oem_qbridge_120_ufl:
             case WirelessModels::node_sgLink200_oem_qbridge_350:
             case WirelessModels::node_sgLink200_oem_qbridge_350_ufl:
+            case WirelessModels::node_torqueLink200_3ch:
             case WirelessModels::node_torqueLink200:
             {
                 if(channelType == WirelessTypes::chType_fullDifferential)

diff --git a/MSCL/source/mscl/MicroStrain/Wireless/Features/NodeFeatures.cpp b/MSCL/source/mscl/MicroStrain/Wireless/Features/NodeFeatures.cpp
@@ -46,6 +46,7 @@ MIT Licensed. See the included LICENSE.txt for a copy of the full MIT License.
 #include "NodeFeatures_tclink6ch.h"
 #include "NodeFeatures_torqueLink.h"
 #include "NodeFeatures_torqueLink200.h"
+#include "NodeFeatures_torqueLink200_3ch.h"
 #include "NodeFeatures_vlink200.h"
 #include "NodeFeatures_vlink.h"
 #include "NodeFeatures_vlink_legacy.h"
@@ -241,6 +242,9 @@ namespace mscl
         case WirelessModels::node_torqueLink:
             return std::unique_ptr<NodeFeatures>(new NodeFeatures_torqueLink(info));
 
+        case WirelessModels::node_torqueLink200_3ch:
+            return std::unique_ptr<NodeFeatures>(new NodeFeatures_torqueLink200_3ch(info));
+
         case WirelessModels::node_torqueLink200:
             return std::unique_ptr<NodeFeatures>(new NodeFeatures_torqueLink200(info));