Public release MSCL 57.2.2

LORD-MicroStrain · Jul 29, 2020 · 396a3c9 · 396a3c9
1 parent d0f0b9d
commit 396a3c9
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diff --git a/CHANGELOG.txt b/CHANGELOG.txt
@@ -14,6 +14,99 @@ RENAMED - A function/class has been renamed.
 REMOVED - A function/class has been removed.
 ======================================================================================================
 
+57.2.2 - 2020-07-28
+- Add additional options to following enums for new product support:
+    - InertialTypes::GnssFixType
+    - InertialTypes::FilterState
+    - InertialTypes::FilterStatus_Running
+
+57.2.1 - 2020-07-27
+- Add support for MIP Commands:
+    - Commanded Zero-Velocity Update (0x0D, 0x22)
+    - Commanded Zero-Angular Rate Update (0x0D, 0x23)
+
+57.2.0 - 2020-07-21
+- Update GQ7 and RTK model numbers:
+    - 3DM-GQ7: 6284
+    - RTK: 6285
+- Add support for MIP Commands:
+    - Receiver Info (0x0E, 0x01)
+    - Generic Poll Data (0x0C,0x0D)
+    - Sensor to Vehicle Frame Transformation Euler (0x0C,0x31)
+    - Sensor to Vehicle Frame Transformation Quaternion (0x0C,0x32)
+    - Sensor to Vehicle Frame Transformation DCM (0x0C,0x33)
+- Get config command bytes for Multi-Antenna Offset (0x0D,0x54) based on reported receivers
+- Update enum definitions:
+    - AidingMeasurementSource
+    - HeadingAlignmentOption (add HeadingAlignmentMethod view)
+    - PpsInputOutput
+
+57.1.4 - 2020-07-17
+- MipCommand: allow function selector to be included for undefined commands despite being reported as 'not supported'
+
+57.1.3 - 2020-07-15
+- Fixed data response parsing for inertial commands:
+    - Accel Bias (0x0C,0x37)
+    - Gyro Bias (0x0C,0x38)
+    - Capture Gyro Bias (0x0C,0x39)
+    - Magnetometer Hard Iron Offset (0x0C,0x3A)
+- updated inertial command Advanced Low-Pass Filter Settings (0x0C,0x50) to send 0 for cutoff frequency when automatic specified
+
+57.1.2 - 2020-07-14
+- Added response descriptor parameter to GenericMipCommand::Response constructor  
+
+57.1.1 - 2020-07-10
+- Added support for MIP Commands:
+    - Factory Streaming (0x0C,0x10): InertialNode::setFactoryStreamingChannels()
+    - PPS Source (0x0C,0x28): InertialNode::get/setPpsSource()
+    - PPS Output (0x0C,0x29): InertialNode::get/setPpsOutput()
+
+57.1.0 - 2020-06-30
+- Added support for existing GNSS MIP data fields for new GNSS data sets (0x91-95)
+- Fixed bug that prevented function selector byte being included in MIP packet when using MipCommand class for undefined command IDs
+
+57.0.0 - 2020-06-29
+- CHANGED constructor MipNodeInfo(MipDeviceInfo, vector<uint16>, mscl::SampleRates, mscl::SampleRates, mscl::SampleRates) to MipNodeInfo(MipDeviceInfo, vector<uint16>, map<mscl::MipTypes::DataClass, mscl::SampleRates>) to better support more possible supported data classes
+- Added data set descriptors for MIP data sets GNSS 1-5 (0x91-95) to MipTypes::DataClass and DescriptorSet
+- Add MipNodeFeatures::useLegacyIdsForEnableDataStream() to support parameter definition changes in the Data Stream Control command (0x0C, 0x11)
+
+56.1.2 - 2020-06-19
+- Add support for new generic Message Format (0x0C, 0x0F) and Get Base Rate (0x0C, 0x0E) MIP commands
+- Add function SampleRate::FromInertialRateDecimationInfo() to build a SampleRate object from base rate and rate decimation values
+
+56.1.1 - 2020-06-19
+- Added FilterInitializationValues::autoInitialize to support command definition change
+
+56.0.1 - 2020-06-17
+- Added support for RTK device type
+- Added support for Get RTK Device Status Flags (0x0F,0x01)
+
+56.0.0 - 2020-05-28
+- RENAMED InertialNode::get/setSensorToVehicleTransformation() to get/setSensorToVehicleRotation_eulerAngles() for accuracy
+- RENAMED MipTypes::Command::CMD_EF_SENS_VEHIC_FRAME_TRANS to CMD_EF_SENS_VEHIC_FRAME_ROTATION_EULER
+- Added support for commands:
+    - Sensor to Vehicle Frame Rotation DCM (0x0D,0x4E)
+    - Sensor to Vehicle Frame Rotation Quaternion (0x0D,0x4F)
+- Added class Quaternion (extends Matrix)
+
+55.0.4 - 2020-05-21
+- Added InertialNode::saveSettingsAsStartup that accepts a list of commmand IDs and saves only those specified
+
+55.0.3 - 2020-05-21
+- Added support for fields:
+    - GNSS RTK Corrections Status (0x81,0x31)
+    - GPS Ionospheric Correction (0x81,0x71)
+    - GNSS Ionospheric Correction (0x81,0x73)
+    - GNSS Clock Info 2 (0x81,0x10)
+    - GNSS GPS Leap Seconds (0x81,0x11)
+
+55.0.2 - 2020-05-14
+- Added support for fields:
+    - AHRS Data: Raw Pressure (0x80, 0x16)
+    - AHRS Data: Temperature Abs (0x80, 0x14)
+    - Filter Data: Mag Bias (0x82, 0x1A)
+    - Filter Data: Mag Bias Uncertainty (0x82, 0x1B)
+
 55.0.1 - 2020-04-3
 - Added asMap function for DeviceStatusData returned by the DeviceStatus command
     - returns a map of DeviceStatusValues and string values representing the device status

diff --git a/MSCL/Jamfile b/MSCL/Jamfile
@@ -116,6 +116,8 @@ alias msclSrcs
 	[ glob source/mscl/MicroStrain/Inertial/Packets/*.cpp ]
 	[ glob source/mscl/MicroStrain/Displacement/*.cpp ]
 	[ glob source/mscl/MicroStrain/Displacement/Commands/*.cpp ]
+	[ glob source/mscl/MicroStrain/RTK/*.cpp ]
+	[ glob source/mscl/MicroStrain/RTK/Commands/*.cpp ]
 	[ glob source/mscl/MicroStrain/MIP/*.cpp ]
 	[ glob source/mscl/MicroStrain/MIP/Commands/*.cpp ]
 	[ glob source/mscl/MicroStrain/MIP/Packets/*.cpp ]

diff --git a/MSCL/MSCL.vcxproj b/MSCL/MSCL.vcxproj
@@ -781,6 +781,9 @@
     <ClInclude Include="source\mscl\MicroStrain\MIP\Packets\MipPacket.h" />
     <ClInclude Include="source\mscl\MicroStrain\MIP\Packets\MipPacketBuilder.h" />
     <ClInclude Include="source\mscl\MicroStrain\MIP\Packets\MipPacketCollector.h" />
+    <ClInclude Include="source\mscl\MicroStrain\RTK\Commands\DeviceStatusFlags.h" />
+    <ClInclude Include="source\mscl\MicroStrain\RTK\RTKModels.h" />
+    <ClInclude Include="source\mscl\MicroStrain\RTK\RTKNode.h" />
     <ClInclude Include="source\mscl\MicroStrain\Wireless\ArmedDataloggingNetwork.h" />
     <ClInclude Include="source\mscl\MicroStrain\Wireless\BaseStationAnalogPair.h" />
     <ClInclude Include="source\mscl\MicroStrain\Wireless\BaseStationButton.h" />
@@ -1099,6 +1102,9 @@
     <ClCompile Include="source\mscl\MicroStrain\MIP\Packets\MipPacket.cpp" />
     <ClCompile Include="source\mscl\MicroStrain\MIP\Packets\MipPacketBuilder.cpp" />
     <ClCompile Include="source\mscl\MicroStrain\MIP\Packets\MipPacketCollector.cpp" />
+    <ClCompile Include="source\mscl\MicroStrain\RTK\Commands\DeviceStatusFlags.cpp" />
+    <ClCompile Include="source\mscl\MicroStrain\RTK\RTKModels.cpp" />
+    <ClCompile Include="source\mscl\MicroStrain\RTK\RTKNode.cpp" />
     <ClCompile Include="source\mscl\MicroStrain\Wireless\ArmedDataloggingNetwork.cpp" />
     <ClCompile Include="source\mscl\MicroStrain\Wireless\BaseStationAnalogPair.cpp" />
     <ClCompile Include="source\mscl\MicroStrain\Wireless\BaseStationButton.cpp" />
@@ -1357,6 +1363,7 @@
     <ClCompile Include="source\mscl\Utils.cpp" />
   </ItemGroup>
   <ItemGroup>
+    <None Include="ClassDiagram.cd" />
     <None Include="source\mscl\Wrapper\MSCL_Exceptions.i" />
     <None Include="source\mscl\Wrapper\MSCL_Main_Interface.i" />
   </ItemGroup>

diff --git a/MSCL/MSCL.vcxproj.filters b/MSCL/MSCL.vcxproj.filters
@@ -64,6 +64,12 @@
     <Filter Include="MicroStrain\Displacement\Commands">
       <UniqueIdentifier>{2d816ebe-dc87-4cd4-b97f-9e952ba15164}</UniqueIdentifier>
     </Filter>
+    <Filter Include="MicroStrain\RTK">
+      <UniqueIdentifier>{4160275e-7fa9-4c22-8578-607d82e2b2bf}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="MicroStrain\RTK\Commands">
+      <UniqueIdentifier>{a49d32a6-b691-45ec-b639-26ffa719c426}</UniqueIdentifier>
+    </Filter>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="source\mscl\Exceptions.h" />
@@ -980,6 +986,15 @@
     <ClInclude Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_ptlink200.h">
       <Filter>MicroStrain\Wireless\Features\Nodes</Filter>
     </ClInclude>
+    <ClInclude Include="source\mscl\MicroStrain\RTK\RTKNode.h">
+      <Filter>MicroStrain\RTK</Filter>
+    </ClInclude>
+    <ClInclude Include="source\mscl\MicroStrain\RTK\RTKModels.h">
+      <Filter>MicroStrain\RTK</Filter>
+    </ClInclude>
+    <ClInclude Include="source\mscl\MicroStrain\RTK\Commands\DeviceStatusFlags.h">
+      <Filter>MicroStrain\RTK\Commands</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="source\mscl\MicroStrain\ByteStream.cpp">
@@ -1857,6 +1872,15 @@
     <ClCompile Include="source\mscl\MicroStrain\Wireless\Features\NodeFeatures_ptlink200.cpp">
       <Filter>MicroStrain\Wireless\Features\Nodes</Filter>
     </ClCompile>
+    <ClCompile Include="source\mscl\MicroStrain\RTK\RTKNode.cpp">
+      <Filter>MicroStrain\RTK</Filter>
+    </ClCompile>
+    <ClCompile Include="source\mscl\MicroStrain\RTK\RTKModels.cpp">
+      <Filter>MicroStrain\RTK</Filter>
+    </ClCompile>
+    <ClCompile Include="source\mscl\MicroStrain\RTK\Commands\DeviceStatusFlags.cpp">
+      <Filter>MicroStrain\RTK\Commands</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <None Include="source\mscl\Wrapper\MSCL_Exceptions.i">
@@ -1865,5 +1889,6 @@
     <None Include="source\mscl\Wrapper\MSCL_Main_Interface.i">
       <Filter>_Wrapper</Filter>
     </None>
+    <None Include="ClassDiagram.cd" />
   </ItemGroup>
 </Project>
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 55
-#define MSCL_MINOR 0
-#define MSCL_PATCH 1
+#define MSCL_MAJOR 57
+#define MSCL_MINOR 2
+#define MSCL_PATCH 2
 #endif
 
 namespace mscl

diff --git a/MSCL/source/mscl/MicroStrain/Inertial/Commands/AccelBias.cpp b/MSCL/source/mscl/MicroStrain/Inertial/Commands/AccelBias.cpp
@@ -37,7 +37,10 @@ namespace mscl
     GeometricVector AccelBias::getResponseData(const GenericMipCmdResponse& response)
     {
         DataBuffer dataBuffer(response.data());
-        GeometricVector returnData { dataBuffer.read_float(), dataBuffer.read_float(), dataBuffer.read_float() };
+        GeometricVector returnData;
+        returnData.x(dataBuffer.read_float());
+        returnData.y(dataBuffer.read_float());
+        returnData.z(dataBuffer.read_float());
         return returnData;
     }
 

diff --git a/MSCL/source/mscl/MicroStrain/Inertial/Commands/AdvancedLowPassFilterSettings.cpp b/MSCL/source/mscl/MicroStrain/Inertial/Commands/AdvancedLowPassFilterSettings.cpp
@@ -57,9 +57,12 @@ namespace mscl
         if (m_functionSelector == MipTypes::USE_NEW_SETTINGS)
         {
             MipTypes::EnableSetting applyLowPassFilter = m_data.applyLowPassFilter ? MipTypes::ENABLED : MipTypes::DISABLED;
+            uint16 freq = m_data.manualFilterBandwidthConfig == AdvancedLowPassFilterData::USER_SPECIFIED_CUTOFF_FREQ ? m_data.cutoffFrequency : 0x0000;
+
             byteCommand.append_uint8(static_cast<uint8>(applyLowPassFilter));
             byteCommand.append_uint8(static_cast<uint8>(m_data.manualFilterBandwidthConfig));
-            byteCommand.append_uint16(static_cast<uint16>(m_data.cutoffFrequency));
+            byteCommand.append_uint16(freq);
+            byteCommand.append_uint8(0x00);
         }
         return GenericMipCommand::buildCommand(commandType(), byteCommand.data()); ;
     }

diff --git a/MSCL/source/mscl/MicroStrain/Inertial/Commands/CaptureGyroBias.cpp b/MSCL/source/mscl/MicroStrain/Inertial/Commands/CaptureGyroBias.cpp
@@ -24,7 +24,10 @@ namespace mscl
     GeometricVector CaptureGyroBias::getResponseData(const GenericMipCmdResponse& response)
     {
         DataBuffer dataBuffer(response.data());
-        GeometricVector returnData{ dataBuffer.read_float(), dataBuffer.read_float(), dataBuffer.read_float() };
+        GeometricVector returnData;
+        returnData.x(dataBuffer.read_float());
+        returnData.y(dataBuffer.read_float());
+        returnData.z(dataBuffer.read_float());
         return returnData;
     }
 

diff --git a/MSCL/source/mscl/MicroStrain/Inertial/Commands/EstFilter_Commands.cpp b/MSCL/source/mscl/MicroStrain/Inertial/Commands/EstFilter_Commands.cpp
@@ -392,6 +392,46 @@ namespace mscl
     }
     //==========================================================================================
 
+    //==========================================================================================
+    //Commanded Velocity Zupt
+    ByteStream CmdedVelZupt::buildCommand_get()
+    {
+        //container to hold the command's field data
+        ByteStream fieldData;
+
+        //add the command selector byte
+        fieldData.append_uint8(static_cast<uint8>(MipTypes::READ_BACK_CURRENT_SETTINGS));
+
+        //build and return the command bytes
+        return GenericMipCommand::buildCommand(CMD_ID, fieldData.data());
+    }
+
+    CmdedVelZupt::Response::Response(std::weak_ptr<ResponseCollector> collector, bool dataResponse):
+        GenericMipCommand::Response(MipTypes::CMD_EF_CMDED_ZERO_VEL_UPDATE, collector, true, false, "Commanded Zero Velocity Update")
+    {
+    }
+    //==========================================================================================
+
+    //==========================================================================================
+    //Commanded Angular Zupt
+    ByteStream CmdedAngularZupt::buildCommand_get()
+    {
+        //container to hold the command's field data
+        ByteStream fieldData;
+
+        //add the command selector byte
+        fieldData.append_uint8(static_cast<uint8>(MipTypes::READ_BACK_CURRENT_SETTINGS));
+
+        //build and return the command bytes
+        return GenericMipCommand::buildCommand(CMD_ID, fieldData.data());
+    }
+
+    CmdedAngularZupt::Response::Response(std::weak_ptr<ResponseCollector> collector, bool dataResponse) :
+        GenericMipCommand::Response(MipTypes::CMD_EF_CMDED_ZERO_ANG_RATE_UPDATE, collector, true, false, "Commanded Zero Angular Rate Update")
+    {
+    }
+    //==========================================================================================
+
     //==========================================================================================
     //Sensor to Vehicle Frame Transformation
     ByteStream SensorToVehicFrameTrans::buildCommand_get()
@@ -424,7 +464,7 @@ namespace mscl
     }
 
     SensorToVehicFrameTrans::Response::Response(std::weak_ptr<ResponseCollector> collector, bool dataResponse):
-        GenericMipCommand::Response(MipTypes::CMD_EF_SENS_VEHIC_FRAME_TRANS, collector, true, dataResponse, "Sensor to Vehicle Frame Transformation")
+        GenericMipCommand::Response(MipTypes::CMD_EF_SENS_VEHIC_FRAME_ROTATION_EULER, collector, true, dataResponse, "Sensor to Vehicle Frame Transformation")
     {
     }
 

diff --git a/MSCL/source/mscl/MicroStrain/Inertial/Commands/EstFilter_Commands.h b/MSCL/source/mscl/MicroStrain/Inertial/Commands/EstFilter_Commands.h
@@ -441,15 +441,76 @@ namespace mscl
         };
     };
 
+    //Class: CmdedVelZupt
+    //    Contains the logic for the "Commanded Zero Velocity Update" command
+    class CmdedVelZupt
+    {
+    public:
+        //Constants: Packet Bytes
+        //  CMD_ID              - CMD_EF_CMDED_ZERO_VEL_UPDATE    - The <MipTypes::Command> for this command
+        //  FIELD_DATA_BYTE     - 0xF1                                      - The Data Field Descriptor byte
+        static const MipTypes::Command CMD_ID = MipTypes::CMD_EF_CMDED_ZERO_VEL_UPDATE;
+        static const uint8 FIELD_DATA_BYTE = 0xF1;
+
+    private:
+        CmdedVelZupt() = delete;
+
+    public:
+        //Function: buildCommand_get
+        //    Builds the bytes for the "get" command.
+        static ByteStream buildCommand_get();
+
+        class Response : public GenericMipCommand::Response
+        {
+        protected:
+            virtual MipTypes::Command commandId() const { return CMD_ID; }
+            virtual uint8 fieldDataByte() const { return FIELD_DATA_BYTE; }
+
+        public:
+            Response(std::weak_ptr<ResponseCollector> collector, bool dataResponse);
+        };
+    };
+
+
+    //Class: CmdedAngularZupt
+    //    Contains the logic for the "Commanded Zero Angular Rate Update" command
+    class CmdedAngularZupt
+    {
+    public:
+        //Constants: Packet Bytes
+        //  CMD_ID              - CMD_EF_CMDED_ZERO_ANG_RATE_UPDATE    - The <MipTypes::Command> for this command
+        //  FIELD_DATA_BYTE     - 0xF1                                      - The Data Field Descriptor byte
+        static const MipTypes::Command CMD_ID = MipTypes::CMD_EF_CMDED_ZERO_ANG_RATE_UPDATE;
+        static const uint8 FIELD_DATA_BYTE = 0xF1;
+
+    private:
+        CmdedAngularZupt() = delete;
+
+    public:
+        //Function: buildCommand_get
+        //    Builds the bytes for the "get" command.
+        static ByteStream buildCommand_get();
+
+        class Response : public GenericMipCommand::Response
+        {
+        protected:
+            virtual MipTypes::Command commandId() const { return CMD_ID; }
+            virtual uint8 fieldDataByte() const { return FIELD_DATA_BYTE; }
+
+        public:
+            Response(std::weak_ptr<ResponseCollector> collector, bool dataResponse);
+        };
+    };
+
     //Class: SensorToVehicFrameTrans
     //    Contains the logic for the "Sensor to Vehicle Frame Transformation" command
     class SensorToVehicFrameTrans
     {
     public:
         //Constants: Packet Bytes
-        //  CMD_ID              - CMD_EF_SENS_VEHIC_FRAME_TRANS     - The <MipTypes::Command> for this command
-        //  FIELD_DATA_BYTE     - 0x81                              - The Data Field Descriptor byte
-        static const MipTypes::Command CMD_ID = MipTypes::CMD_EF_SENS_VEHIC_FRAME_TRANS;
+        //  CMD_ID              - CMD_EF_SENS_VEHIC_FRAME_ROTATION_EULER    - The <MipTypes::Command> for this command
+        //  FIELD_DATA_BYTE     - 0x81                                      - The Data Field Descriptor byte
+        static const MipTypes::Command CMD_ID = MipTypes::CMD_EF_SENS_VEHIC_FRAME_ROTATION_EULER;
         static const uint8 FIELD_DATA_BYTE = 0x81;
 
     private:

diff --git a/MSCL/source/mscl/MicroStrain/Inertial/Commands/FilterInitializationConfig.cpp b/MSCL/source/mscl/MicroStrain/Inertial/Commands/FilterInitializationConfig.cpp
@@ -44,8 +44,9 @@ namespace mscl
         DataBuffer buffer(response.data());
         FilterInitializationValues data;
 
+		data.autoInitialize = !(buffer.read_uint8() > 0);
         data.initialValuesSource = static_cast<FilterInitialValuesSource>(buffer.read_uint8());
-        data.autoHeadingAlignmentMethod = static_cast<HeadingAlignmentMethod>(buffer.read_uint8());
+        data.autoHeadingAlignmentMethod = HeadingAlignmentMethod(buffer.read_uint8());
 
         float heading = buffer.read_float();
         float pitch = buffer.read_float();
@@ -74,8 +75,9 @@ namespace mscl
 
         if (m_functionSelector == MipTypes::USE_NEW_SETTINGS)
         {
+			byteCommand.append_uint8(!m_data.autoInitialize);
             byteCommand.append_uint8(static_cast<uint8>(m_data.initialValuesSource));
-            byteCommand.append_uint8(static_cast<uint8>(m_data.autoHeadingAlignmentMethod));
+            byteCommand.append_uint8(m_data.autoHeadingAlignmentMethod.value);
             byteCommand.append_float(m_data.initialAttitude.heading());
             byteCommand.append_float(m_data.initialAttitude.pitch());
             byteCommand.append_float(m_data.initialAttitude.roll());