[IOTE-2][IOTE-326] Add local timestamp week rollover flag

swift-nav · Mar 15, 2024 · 7242917 · 7242917
1 parent 0a3878f
commit 7242917
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Showing 9 changed files with 57 additions and 8 deletions.
diff --git a/c/include/libsbp/legacy/system.h b/c/include/libsbp/legacy/system.h
@@ -210,7 +210,7 @@ typedef struct SBP_ATTR_PACKED SBP_DEPRECATED {
   s32 milliseconds; /**< Milliseconds portion of the time offset [ms] */
   s16 microseconds; /**< Microseconds portion of the time offset [microseconds]
                      */
-  u8 flags;         /**< Status flags (reserved) */
+  u8 flags;         /**< Status flags */
 } msg_gnss_time_offset_t;
 
 /** Local time at detection of PPS pulse

diff --git a/c/include/libsbp/system/MSG_GNSS_TIME_OFFSET.h b/c/include/libsbp/system/MSG_GNSS_TIME_OFFSET.h
@@ -61,7 +61,7 @@ typedef struct {
   s16 microseconds;
 
   /**
-   * Status flags (reserved)
+   * Status flags
    */
   u8 flags;
 } sbp_msg_gnss_time_offset_t;

diff --git a/c/include/libsbp/system_macros.h b/c/include/libsbp/system_macros.h
@@ -856,6 +856,47 @@
 #define SBP_MSG_INS_UPDATES_ENCODED_LEN 10u
 
 #define SBP_MSG_GNSS_TIME_OFFSET 0xFF07
+#define SBP_GNSS_TIME_OFFSET_RESERVED_SET_TO_ZERO_MASK (0x7fu)
+#define SBP_GNSS_TIME_OFFSET_RESERVED_SET_TO_ZERO_SHIFT (1u)
+#define SBP_GNSS_TIME_OFFSET_RESERVED_SET_TO_ZERO_GET(flags)               \
+  ((u8)((u8)((flags) >> SBP_GNSS_TIME_OFFSET_RESERVED_SET_TO_ZERO_SHIFT) & \
+        SBP_GNSS_TIME_OFFSET_RESERVED_SET_TO_ZERO_MASK))
+#define SBP_GNSS_TIME_OFFSET_RESERVED_SET_TO_ZERO_SET(flags, val)           \
+  do {                                                                      \
+    (flags) = (u8)(                                                         \
+        (flags & (~(SBP_GNSS_TIME_OFFSET_RESERVED_SET_TO_ZERO_MASK          \
+                    << SBP_GNSS_TIME_OFFSET_RESERVED_SET_TO_ZERO_SHIFT))) | \
+        (((val) & (SBP_GNSS_TIME_OFFSET_RESERVED_SET_TO_ZERO_MASK))         \
+         << (SBP_GNSS_TIME_OFFSET_RESERVED_SET_TO_ZERO_SHIFT)));            \
+  } while (0)
+
+#define SBP_GNSS_TIME_OFFSET_ALIGNED_WITH_LOCAL_TIMESTAMP_WEEK_ROLLOVER_MASK \
+  (0x1u)
+#define SBP_GNSS_TIME_OFFSET_ALIGNED_WITH_LOCAL_TIMESTAMP_WEEK_ROLLOVER_SHIFT \
+  (0u)
+#define SBP_GNSS_TIME_OFFSET_ALIGNED_WITH_LOCAL_TIMESTAMP_WEEK_ROLLOVER_GET(       \
+    flags)                                                                         \
+  ((u8)(                                                                           \
+      (u8)(                                                                        \
+          (flags) >>                                                               \
+          SBP_GNSS_TIME_OFFSET_ALIGNED_WITH_LOCAL_TIMESTAMP_WEEK_ROLLOVER_SHIFT) & \
+      SBP_GNSS_TIME_OFFSET_ALIGNED_WITH_LOCAL_TIMESTAMP_WEEK_ROLLOVER_MASK))
+#define SBP_GNSS_TIME_OFFSET_ALIGNED_WITH_LOCAL_TIMESTAMP_WEEK_ROLLOVER_SET(              \
+    flags, val)                                                                           \
+  do {                                                                                    \
+    (flags) = (u8)(                                                                       \
+        (flags &                                                                          \
+         (~(SBP_GNSS_TIME_OFFSET_ALIGNED_WITH_LOCAL_TIMESTAMP_WEEK_ROLLOVER_MASK          \
+            << SBP_GNSS_TIME_OFFSET_ALIGNED_WITH_LOCAL_TIMESTAMP_WEEK_ROLLOVER_SHIFT))) | \
+        (((val) &                                                                         \
+          (SBP_GNSS_TIME_OFFSET_ALIGNED_WITH_LOCAL_TIMESTAMP_WEEK_ROLLOVER_MASK))         \
+         << (SBP_GNSS_TIME_OFFSET_ALIGNED_WITH_LOCAL_TIMESTAMP_WEEK_ROLLOVER_SHIFT)));    \
+  } while (0)
+
+#define SBP_GNSS_TIME_OFFSET_ALIGNED_WITH_LOCAL_TIMESTAMP_WEEK_ROLLOVER_NOT_AFFECTED_BY_LOCAL_TIMESTAMP_WEEK_ROLLOVER \
+  (0)
+#define SBP_GNSS_TIME_OFFSET_ALIGNED_WITH_LOCAL_TIMESTAMP_WEEK_ROLLOVER_WEEK_NUMBER_INCREMENTED_ON_LOCAL_TIMESTAMP_WEEK_ROLLOVER \
+  (1)
 /**
  * Encoded length of sbp_msg_gnss_time_offset_t (V4 API) and
  * msg_gnss_time_offset_t (legacy API)

diff --git a/c/include/libsbp/version.h b/c/include/libsbp/version.h
@@ -28,7 +28,7 @@
 #define SBP_PATCH_VERSION 6
 
 /** Full SBP version string. */
-#define SBP_VERSION "5.0.6"
+#define SBP_VERSION "5.0.7-alpha"
 
 /** Is this a staging branch? */
 #define SBP_STAGING 0

diff --git a/haskell/sbp.cabal b/haskell/sbp.cabal
@@ -1,5 +1,5 @@
 name:                  sbp
-version:               5.0.6
+version:               5.0.7-alpha
 synopsis:              SwiftNav's SBP Library
 homepage:              https://github.com/swift-nav/libsbp
 license:               MIT

diff --git a/haskell/src/SwiftNav/SBP/System.hs b/haskell/src/SwiftNav/SBP/System.hs
@@ -426,7 +426,7 @@ data MsgGnssTimeOffset = MsgGnssTimeOffset
   , _msgGnssTimeOffset_microseconds :: !Int16
     -- ^ Microseconds portion of the time offset
   , _msgGnssTimeOffset_flags      :: !Word8
-    -- ^ Status flags (reserved)
+    -- ^ Status flags
   } deriving ( Show, Read, Eq )
 
 instance Binary MsgGnssTimeOffset where

diff --git a/python/sbp/RELEASE-VERSION b/python/sbp/RELEASE-VERSION
@@ -1 +1 @@
-5.0.6
+5.0.7-alpha
diff --git a/python/sbp/system.py b/python/sbp/system.py
@@ -1120,7 +1120,7 @@ class MsgGnssTimeOffset(SBP):
   microseconds : int
     Microseconds portion of the time offset
   flags : int
-    Status flags (reserved)
+    Status flags
   sender : int
     Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).
 

diff --git a/spec/yaml/swiftnav/sbp/system.yaml b/spec/yaml/swiftnav/sbp/system.yaml
@@ -443,7 +443,15 @@ definitions:
             desc: Microseconds portion of the time offset
         - flags:
             type: u8
-            desc: Status flags (reserved)
+            desc: Status flags
+            fields:
+              - 1-7:
+                  desc: Reserved, set to zero
+              - 0:
+                  desc: Aligned with local timestamp week rollover
+                  values:
+                    - 0: Not affected by local timestamp week rollover
+                    - 1: Week number incremented on local timestamp week rollover
 
  - MSG_PPS_TIME:
     id: 0xFF08