Release 5.2.590-stable

SBG-Systems · Feb 17, 2025 · 05c19cd · 05c19cd
1 parent f957507
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,12 +1,12 @@
 # Change Log
 This change log lists all modifications for each sbgECom library release.
 
-sbgECom C library change log issued on: 2024-12-04  
-Copyright (C) 2007-2024, SBG Systems SAS. All rights reserved.
+sbgECom C library change log issued on: 2025-02-17  
+Copyright (C) 2007-2025, SBG Systems SAS. All rights reserved.
 
 ## Release Summary
 
-The sbgECom 5.1.708-stable is a major release that supports the following products:
+The sbgECom 5.2.590-stable is a major release that supports the following products:
  - **High Performance INS**: Firmware 5.x and above
  - **ELLIPSE v3**: Firmware 3.x and above
  - **ELLIPSE v1/v2**: Firmware 2.6 (legacy support)
@@ -32,6 +32,19 @@ Below are the key improvements and modifications in this release:
  - Completely rewritten sbgECom protocol documentation
  - General code cleanup and improvements for better maintainability
 
+## Release - 5.2.590-stable
+
+### New Features
+ - SBGECOM-451 - Add support for new Septentrio Pro+ and CLAS receivers variants
+ - SBGECOM-455 - Update PTP message with PTP over Ethernet
+ - SBGECOM-457 - Doc: Add Magnetic declination and inclination fields in EKF Euler and Quaternion messages
+ - SBGECOM-458 - Doc: Add missing documentation for output message SBG_ECOM_LOG_RTCM_RAW
+ - SBGECOM-459 - Doc: Add SBG_ECOM_LOG_SESSION_INFO output message with device info and settings
+
+### Bug Fixes
+ - SBGECOM-452 - Doc: Fix several issues with anchors, titles and notes
+ - SBGECOM-454 - Doc: SBG_ECOM_LOG_IMU_SHORT message ID is 22 instead of 44
+
 ## Release - 5.1.708-stable
 
 ### New Features

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.16 FATAL_ERROR)
 
 # Set project metadata
-project(sbgECom VERSION 5.1.708 LANGUAGES C;CXX)
+project(sbgECom VERSION 5.2.590 LANGUAGES C;CXX)
 
 #
 # Compiler configuration
@@ -168,7 +168,7 @@ install(EXPORT sbgEComTargets
 include(CMakePackageConfigHelpers)
 write_basic_package_version_file(
     "${CMAKE_CURRENT_BINARY_DIR}/sbgEComConfigVersion.cmake"
-    VERSION 5.1.708
+    VERSION 5.2.590
     COMPATIBILITY SameMajorVersion
 )
 

diff --git a/LICENSE.md b/LICENSE.md
@@ -1,7 +1,7 @@
 # License {#license}
 The MIT License (MIT)
 
-Copyright (C) 2007-2024, SBG Systems SAS. All rights reserved.
+Copyright (C) 2007-2025, SBG Systems SAS. All rights reserved.
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-# sbgECom Library 5.1.708-stable
+# sbgECom Library 5.2.590-stable
 sbgECom is a C library provided under the MIT License and used to interface easily [SBG Systems](https://www.sbg-systems.com/) IMU, AHRS and INS to your application.
 
 ## Introduction
@@ -16,7 +16,7 @@ The library is written and maintained by SBG Systems SAS. You can contact the su
 
 ## Documentation
 
-You can access the full online sbgECom Doxygen documentation [here](https://developer.sbg-systems.com/sbgECom/5.1).  
+You can access the full online sbgECom Doxygen documentation [here](https://developer.sbg-systems.com/sbgECom/5.2).  
 You should also read the SBG Systems [Support Center](https://support.sbg-systems.com) to quickly start using and integrating your products.  
 Please also have a look at the [sbgInsRestApi](https://developer.sbg-systems.com/sbgInsRestApi/) documentation that is used to configure High Performance INS products.
 

diff --git a/doc/binaryMessages.md b/doc/binaryMessages.md
diff --git a/src/commands/sbgEComCmdFeatures.h b/src/commands/sbgEComCmdFeatures.h
@@ -8,7 +8,7 @@
  *
  * \copyright       Copyright (C) 2007-2024, SBG Systems SAS. All rights reserved.
  * \beginlicense    The MIT license
- * 
+ *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
@@ -26,7 +26,7 @@
  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  * SOFTWARE.
- * 
+ *
  * \endlicense
  */
 
@@ -85,6 +85,7 @@ extern "C" {
 #define SBG_ECOM_GNSS_FEATURE_HIGH_SPEED        (0x00000001 << 6)           /*!< The GNSS receiver has no high speed limitation (> 515m/s) */
 #define SBG_ECOM_GNSS_FEATURE_IM                (0x00000001 << 7)           /*!< The GNSS receiver is able to detect and mitigate RF interferences. */
 #define SBG_ECOM_GNSS_FEATURE_OSNMA             (0x00000001 << 8)           /*!< The GNSS receiver implements Galileo OSNMA spoofing detection. */
+#define SBG_ECOM_GNSS_FEATURE_CLAS              (0x00000001 << 9)           /*!< The GNSS receiver implements Centimeter-Level Augmentation Service. */
 
 //----------------------------------------------------------------------//
 //- Feature commands types definition                                  -//
@@ -128,7 +129,7 @@ typedef struct _SbgEComFeatures
 
 /*!
  * Retrieve the device and embedded GPS receiver features.
- * 
+ *
  * \param[in]   pHandle                     A valid sbgECom handle.
  * \param[in]   pFeatures                   A pointer to a structure to hold features.
  * \return                                  SBG_NO_ERROR if the command has been executed successfully.

diff --git a/src/logs/sbgEComLogGnssPos.h b/src/logs/sbgEComLogGnssPos.h
@@ -69,6 +69,7 @@ extern "C" {
 #define SBG_ECOM_GNSS_POS_QZSS_L1_USED      (0x00000001u << 26)             /*!< Set to 1 if QZSS L1CA is used in solution. */
 #define SBG_ECOM_GNSS_POS_QZSS_L2_USED      (0x00000001u << 27)             /*!< Set to 1 if QZSS L2C is used in solution. */
 #define SBG_ECOM_GNSS_POS_QZSS_L5_USED      (0x00000001u << 28)             /*!< Set to 1 if QZSS L5 is used in solution. */
+#define SBG_ECOM_GNSS_POS_QZSS_L6_USED      (0x00000001u << 29)             /*!< Set to 1 if QZSS L6 is used in solution. */
 
 /*!
  * GNSS position status definitions.
@@ -377,6 +378,7 @@ SbgEComGnssOsnmaStatus sbgEComLogGnssPosGetOsnmaStatus(const SbgEComLogGnssPos *
     #define SBG_ECOM_GPS_POS_QZSS_L1_USED       (0x00000001u << 26)
     #define SBG_ECOM_GPS_POS_QZSS_L2_USED       (0x00000001u << 27)
     #define SBG_ECOM_GPS_POS_QZSS_L5_USED       (0x00000001u << 28)
+    #define SBG_ECOM_GPS_POS_QZSS_L6_USED       (0x00000001u << 29)
 
     #define SBG_ECOM_POS_SOL_COMPUTED           (SBG_ECOM_GNSS_POS_STATUS_SOL_COMPUTED)
     #define SBG_ECOM_POS_INSUFFICIENT_OBS       (SBG_ECOM_GNSS_POS_STATUS_INSUFFICIENT_OBS)

diff --git a/src/logs/sbgEComLogPtp.c b/src/logs/sbgEComLogPtp.c
@@ -6,71 +6,17 @@
 #include "sbgEComLogPtp.h"
 
 //----------------------------------------------------------------------//
-//- Private functions                                                  -//
+//- Private definitions for state field                                -//
 //----------------------------------------------------------------------//
 
-/*!
- * Convert a value into a state.
- *
- * \param[in]   value                       Value.
- * \param[out]  pState                      State.
- * \return                                  SBG_NO_ERROR if successful.
- */
-static SbgErrorCode sbgEComLogPtpConvertState(uint8_t value, SbgEComLogPtpState *pState)
-{
-    SbgErrorCode                         errorCode = SBG_INVALID_PARAMETER;
-
-    assert(pState);
-
-    switch ((SbgEComLogPtpState)value)
-    {
-    case SBG_ECOM_LOG_PTP_STATE_DISABLED:
-    case SBG_ECOM_LOG_PTP_STATE_FAULTY:
-    case SBG_ECOM_LOG_PTP_STATE_MASTER:
-    case SBG_ECOM_LOG_PTP_STATE_PASSIVE:
-        *pState     = (SbgEComLogPtpState)value;
-        errorCode   = SBG_NO_ERROR;
-        break;
-    }
-
-    if (errorCode == SBG_INVALID_PARAMETER)
-    {
-        SBG_LOG_ERROR(errorCode, "unable to convert state: invalid value %" PRIu8, value);
-    }
-
-    return errorCode;
-}
-
-/*!
- * Convert a value into a time scale.
- *
- * \param[in]   value                       Value.
- * \param[out]  pTimeScale                  Time scale.
- * \return                                  SBG_NO_ERROR if successful.
- */
-static SbgErrorCode sbgEComLogPtpConvertTimeScale(uint8_t value, SbgEComLogPtpTimeScale *pTimeScale)
-{
-    SbgErrorCode                         errorCode = SBG_INVALID_PARAMETER;
-
-    assert(pTimeScale);
+#define SBG_ECOM_LOG_PTP_STATE_SHIFT                        (0u)                    /*!< Shift used to extract the PTP state part. */
+#define SBG_ECOM_LOG_PTP_STATE_MASK                         ((uint16_t)0x07u)       /*!< Mask used to keep only the PTP state part. */
 
-    switch ((SbgEComLogPtpTimeScale)value)
-    {
-    case SBG_ECOM_LOG_PTP_TIME_SCALE_TAI:
-    case SBG_ECOM_LOG_PTP_TIME_SCALE_UTC:
-    case SBG_ECOM_LOG_PTP_TIME_SCALE_GPS:
-        *pTimeScale = (SbgEComLogPtpTimeScale)value;
-        errorCode   = SBG_NO_ERROR;
-        break;
-    }
-
-    if (errorCode == SBG_INVALID_PARAMETER)
-    {
-        SBG_LOG_ERROR(errorCode, "unable to convert time scale: invalid value %" PRIu8, value);
-    }
+#define SBG_ECOM_LOG_PTP_TRANSPORT_SHIFT                    (3u)                    /*!< Shift used to extract the PTP transport part. */
+#define SBG_ECOM_LOG_PTP_TRANSPORT_MASK                     ((uint16_t)0x07u)       /*!< Mask used to keep only the PTP transport part. */
 
-    return errorCode;
-}
+#define SBG_ECOM_LOG_PTP_TIMESCALE_SHIFT                    (8u)                    /*!< Shift used to extract the PTP time scale part. */
+#define SBG_ECOM_LOG_PTP_TIMESCALE_MASK                     ((uint16_t)0x07u)       /*!< Mask used to keep only the PTP time scale part. */
 
 //----------------------------------------------------------------------//
 //- Public functions                                                   -//
@@ -82,8 +28,10 @@ void sbgEComLogPtpZeroInit(SbgEComLogPtp *pLogData)
 
     memset(pLogData, 0, sizeof(*pLogData));
 
-    pLogData->state                         = SBG_ECOM_LOG_PTP_STATE_FAULTY;
-    pLogData->timeScale                     = SBG_ECOM_LOG_PTP_TIME_SCALE_TAI;
+    sbgEComLogPtpSetState(pLogData,     SBG_ECOM_LOG_PTP_STATE_FAULTY);
+    sbgEComLogPtpSetTransport(pLogData, SBG_ECOM_LOG_PTP_TRANSPORT_UDP);
+    sbgEComLogPtpSetTimeScale(pLogData, SBG_ECOM_LOG_PTP_TIME_SCALE_TAI);
+
     pLogData->timeScaleOffset               = 0.0;
     pLogData->localClockIdentity            = UINT64_MAX;
     pLogData->masterClockIdentity           = UINT64_MAX;
@@ -94,20 +42,21 @@ void sbgEComLogPtpZeroInit(SbgEComLogPtp *pLogData)
     pLogData->clockOffsetStdDev             = NAN;
     pLogData->clockFreqOffset               = NAN;
     pLogData->clockFreqOffsetStdDev         = NAN;
+
+    memset(pLogData->masterMacAddress, UINT8_MAX, sizeof(pLogData->masterMacAddress));
 }
 
 SbgErrorCode sbgEComLogPtpReadFromStream(SbgEComLogPtp *pLogData, SbgStreamBuffer *pStreamBuffer)
 {
     SbgErrorCode                         errorCode;
-    uint8_t                              state;
-    uint8_t                              timeScale;
+    uint16_t                             status;
 
-    assert(pStreamBuffer);
     assert(pLogData);
+    assert(pStreamBuffer);
 
     pLogData->timeStamp                 = sbgStreamBufferReadUint32LE(pStreamBuffer);
-    state                               = sbgStreamBufferReadUint8(pStreamBuffer);
-    timeScale                           = sbgStreamBufferReadUint8(pStreamBuffer);
+    status                              = sbgStreamBufferReadUint16LE(pStreamBuffer);
+
     pLogData->timeScaleOffset           = sbgStreamBufferReadDoubleLE(pStreamBuffer);
 
     pLogData->localClockIdentity        = sbgStreamBufferReadUint64LE(pStreamBuffer);
@@ -134,29 +83,39 @@ SbgErrorCode sbgEComLogPtpReadFromStream(SbgEComLogPtp *pLogData, SbgStreamBuffe
     pLogData->clockFreqOffset           = sbgStreamBufferReadFloatLE(pStreamBuffer);
     pLogData->clockFreqOffsetStdDev     = sbgStreamBufferReadFloatLE(pStreamBuffer);
 
-    errorCode = sbgStreamBufferGetLastError(pStreamBuffer);
-
-    if (errorCode == SBG_NO_ERROR)
+    //
+    // Added in sbgECom 5.2
+    //
+    if (sbgStreamBufferGetSpace(pStreamBuffer) >= sizeof(pLogData->masterMacAddress))
     {
-        errorCode = sbgEComLogPtpConvertState(state, &pLogData->state);
+        for (size_t i = 0; i < SBG_ARRAY_SIZE(pLogData->masterMacAddress); i++)
+        {
+            pLogData->masterMacAddress[i] = sbgStreamBufferReadUint8(pStreamBuffer);
+        }
+    }
+    else
+    {
+        memset(pLogData->masterMacAddress, UINT8_MAX, sizeof(pLogData->masterMacAddress));
     }
 
+    errorCode = sbgStreamBufferGetLastError(pStreamBuffer);
+
     if (errorCode == SBG_NO_ERROR)
     {
-        errorCode = sbgEComLogPtpConvertTimeScale(timeScale, &pLogData->timeScale);
+        pLogData->status = status;
     }
 
     return errorCode;
 }
 
 SbgErrorCode sbgEComLogPtpWriteToStream(const SbgEComLogPtp *pLogData, SbgStreamBuffer *pStreamBuffer)
 {
-    assert(pStreamBuffer);
     assert(pLogData);
+    assert(pStreamBuffer);
 
     sbgStreamBufferWriteUint32LE(pStreamBuffer, pLogData->timeStamp);
-    sbgStreamBufferWriteUint8(pStreamBuffer,    pLogData->state);
-    sbgStreamBufferWriteUint8(pStreamBuffer,    pLogData->timeScale);
+    sbgStreamBufferWriteUint16LE(pStreamBuffer, pLogData->status);
+
     sbgStreamBufferWriteDoubleLE(pStreamBuffer, pLogData->timeScaleOffset);
 
     sbgStreamBufferWriteUint64LE(pStreamBuffer, pLogData->localClockIdentity);
@@ -183,5 +142,65 @@ SbgErrorCode sbgEComLogPtpWriteToStream(const SbgEComLogPtp *pLogData, SbgStream
     sbgStreamBufferWriteFloatLE(pStreamBuffer,  pLogData->clockFreqOffset);
     sbgStreamBufferWriteFloatLE(pStreamBuffer,  pLogData->clockFreqOffsetStdDev);
 
+    //
+    // Added in sbgECom 5.2
+    //
+    for (size_t i = 0; i < SBG_ARRAY_SIZE(pLogData->masterMacAddress); i++)
+    {
+        sbgStreamBufferWriteUint8(pStreamBuffer, pLogData->masterMacAddress[i]);
+    }
+
     return sbgStreamBufferGetLastError(pStreamBuffer);
 }
+
+//----------------------------------------------------------------------//
+//- Public setters/getters                                             -//
+//----------------------------------------------------------------------//
+
+void sbgEComLogPtpSetState(SbgEComLogPtp *pLogData, SbgEComLogPtpState state)
+{
+    assert(pLogData);
+    assert(state <= SBG_ECOM_LOG_PTP_STATE_MASK);
+
+    pLogData->status &= ~(SBG_ECOM_LOG_PTP_STATE_MASK << SBG_ECOM_LOG_PTP_STATE_SHIFT);
+    pLogData->status |= ((uint16_t)state & SBG_ECOM_LOG_PTP_STATE_MASK) << SBG_ECOM_LOG_PTP_STATE_SHIFT;
+}
+
+SbgEComLogPtpState sbgEComLogPtpGetState(const SbgEComLogPtp *pLogData)
+{
+    assert(pLogData);
+
+    return (SbgEComLogPtpState)((pLogData->status >> SBG_ECOM_LOG_PTP_STATE_SHIFT) & SBG_ECOM_LOG_PTP_STATE_MASK);
+}
+
+void sbgEComLogPtpSetTransport(SbgEComLogPtp *pLogData, SbgEComLogPtpTransport transport)
+{
+    assert(pLogData);
+    assert(transport <= SBG_ECOM_LOG_PTP_TRANSPORT_MASK);
+
+    pLogData->status &= ~(SBG_ECOM_LOG_PTP_TRANSPORT_MASK << SBG_ECOM_LOG_PTP_TRANSPORT_SHIFT);
+    pLogData->status |= ((uint16_t)transport & SBG_ECOM_LOG_PTP_TRANSPORT_MASK) << SBG_ECOM_LOG_PTP_TRANSPORT_SHIFT;
+}
+
+SbgEComLogPtpTransport sbgEComLogPtpGetTransport(const SbgEComLogPtp *pLogData)
+{
+    assert(pLogData);
+
+    return (SbgEComLogPtpTransport)((pLogData->status >> SBG_ECOM_LOG_PTP_TRANSPORT_SHIFT) & SBG_ECOM_LOG_PTP_TRANSPORT_MASK);
+}
+
+void sbgEComLogPtpSetTimeScale(SbgEComLogPtp *pLogData, SbgEComLogPtpTimeScale timescale)
+{
+    assert(pLogData);
+    assert(timescale <= SBG_ECOM_LOG_PTP_TIMESCALE_MASK);
+
+    pLogData->status &= ~(SBG_ECOM_LOG_PTP_TIMESCALE_MASK << SBG_ECOM_LOG_PTP_TIMESCALE_SHIFT);
+    pLogData->status |= ((uint16_t)timescale & SBG_ECOM_LOG_PTP_TIMESCALE_MASK) << SBG_ECOM_LOG_PTP_TIMESCALE_SHIFT;
+}
+
+SbgEComLogPtpTimeScale sbgEComLogPtpGetTimeScale(const SbgEComLogPtp *pLogData)
+{
+    assert(pLogData);
+
+    return (SbgEComLogPtpTimeScale)((pLogData->status >> SBG_ECOM_LOG_PTP_TIMESCALE_SHIFT) & SBG_ECOM_LOG_PTP_TIMESCALE_MASK);
+}