Merge starling output changes to master

c/include/libsbp/cpp/message_traits.h

@@ -672,6 +672,18 @@ struct MessageTraits<msg_utc_time_t> {
 };
 
 
+template<>
+struct MessageTraits<msg_gps_time_gnss_t> {
+  static constexpr u16 id = 260;
+};
+
+
+template<>
+struct MessageTraits<msg_utc_time_gnss_t> {
+  static constexpr u16 id = 261;
+};
+
+
 template<>
 struct MessageTraits<msg_settings_register_resp_t> {
   static constexpr u16 id = 431;

c/include/libsbp/navigation.h

@@ -72,6 +72,33 @@ from -500000 to 500000)
 } msg_gps_time_t;
 
 
+/** GPS Time
+ *
+ * This message reports the GPS time, representing the time since
+ * the GPS epoch began on midnight January 6, 1980 UTC. GPS time
+ * counts the weeks and seconds of the week. The weeks begin at the
+ * Saturday/Sunday transition. GPS week 0 began at the beginning of
+ * the GPS time scale.
+ * 
+ * Within each week number, the GPS time of the week is between
+ * between 0 and 604800 seconds (=60*60*24*7). Note that GPS time
+ * does not accumulate leap seconds, and as of now, has a small
+ * offset from UTC. In a message stream, this message precedes a
+ * set of other navigation messages referenced to the same time
+ * (but lacking the ns field) and indicates a more precise time of
+ * these messages.
+ */
+#define SBP_MSG_GPS_TIME_GNSS          0x0104
+typedef struct SBP_ATTR_PACKED {
+  u16 wn;             /**< GPS week number [weeks] */
+  u32 tow;            /**< GPS time of week rounded to the nearest millisecond [ms] */
+  s32 ns_residual;    /**< Nanosecond residual of millisecond-rounded TOW (ranges
+from -500000 to 500000)
+ [ns] */
+  u8 flags;          /**< Status flags (reserved) */
+} msg_gps_time_gnss_t;
+
+
 /** UTC Time
  *
  * This message reports the Universal Coordinated Time (UTC).  Note the flags
@@ -91,6 +118,25 @@ typedef struct SBP_ATTR_PACKED {
 } msg_utc_time_t;
 
 
+/** UTC Time
+ *
+ * This message reports the Universal Coordinated Time (UTC).  Note the flags
+ * which indicate the source of the UTC offset value and source of the time fix.
+ */
+#define SBP_MSG_UTC_TIME_GNSS          0x0105
+typedef struct SBP_ATTR_PACKED {
+  u8 flags;      /**< Indicates source and time validity */
+  u32 tow;        /**< GPS time of week rounded to the nearest millisecond [ms] */
+  u16 year;       /**< Year [year] */
+  u8 month;      /**< Month (range 1 .. 12) [months] */
+  u8 day;        /**< days in the month (range 1-31) [day] */
+  u8 hours;      /**< hours of day (range 0-23) [hours] */
+  u8 minutes;    /**< minutes of hour (range 0-59) [minutes] */
+  u8 seconds;    /**< seconds of minute (range 0-60) rounded down [seconds] */
+  u32 ns;         /**< nanoseconds of second (range 0-999999999) [nanoseconds] */
+} msg_utc_time_gnss_t;
+
+
 /** Dilution of Precision
  *
  * This dilution of precision (DOP) message describes the effect of

c/include/libsbp/system.h

@@ -154,16 +154,10 @@ typedef struct SBP_ATTR_PACKED {
 #define SBP_MSG_GROUP_META            0xFF0A
 typedef struct SBP_ATTR_PACKED {
   u8 group_id;        /**< Id of the Msgs Group, 0 is Unknown, 1 is Bestpos, 2 is Gnss */
-  u16 wn;              /**< GPS Week Number or zero if Reference epoch is not GPS [weeks] */
-  u32 tom;             /**< Time of Measurement in Milliseconds since reference epoch [ms] */
-  s32 ns_residual;     /**< Nanosecond residual of millisecond-rounded TOM (ranges
-from -500000 to 500000)
- [ns] */
   u8 flags;           /**< Status flags (reserved) */
   u8 n_group_msgs;    /**< Size of list group_msgs */
   u16 group_msgs[0];   /**< An inorder list of message types included in the Solution Group,
-including GROUP_META itself
- */
+including GROUP_META itself */
 } msg_group_meta_t;
 
 

c/test/auto_check_sbp_system_36.c

@@ -99,7 +99,7 @@ START_TEST( test_auto_check_sbp_system_36 )
 
     sbp_register_callback(&sbp_state, 0xFF0A, &logging_callback, &DUMMY_MEMORY_FOR_CALLBACKS, &n);
 
-    u8 test_data[] = {85,10,255,238,238,19,1,192,7,64,226,1,0,0,0,0,0,3,3,10,255,10,2,2,255,253,141, };
+    u8 test_data[] = {85,10,255,238,238,9,1,2,3,10,255,10,2,2,255,2,14, };
 
     dummy_reset();
     sbp_send_message(&sbp_state, 0xFF0A, 61166, sizeof(test_data), test_data, &dummy_write);
@@ -125,15 +125,12 @@ START_TEST( test_auto_check_sbp_system_36 )
     msg_group_meta_t* msg = ( msg_group_meta_t *)((void *)last_msg + 6);
     // Run tests against fields
     fail_unless(msg != 0, "stub to prevent warnings if msg isn't used");
-    fail_unless(msg->flags == 3, "incorrect value for flags, expected 3, is %d", msg->flags);
+    fail_unless(msg->flags == 2, "incorrect value for flags, expected 2, is %d", msg->flags);
     fail_unless(msg->group_id == 1, "incorrect value for group_id, expected 1, is %d", msg->group_id);
     fail_unless(msg->group_msgs[0] == 65290, "incorrect value for group_msgs[0], expected 65290, is %d", msg->group_msgs[0]);
     fail_unless(msg->group_msgs[1] == 522, "incorrect value for group_msgs[1], expected 522, is %d", msg->group_msgs[1]);
     fail_unless(msg->group_msgs[2] == 65282, "incorrect value for group_msgs[2], expected 65282, is %d", msg->group_msgs[2]);
     fail_unless(msg->n_group_msgs == 3, "incorrect value for n_group_msgs, expected 3, is %d", msg->n_group_msgs);
-    fail_unless(msg->ns_residual == 0, "incorrect value for ns_residual, expected 0, is %d", msg->ns_residual);
-    fail_unless(msg->tom == 123456, "incorrect value for tom, expected 123456, is %d", msg->tom);
-    fail_unless(msg->wn == 1984, "incorrect value for wn, expected 1984, is %d", msg->wn);
   }
 }
 END_TEST

haskell/src/SwiftNav/SBP/Msg.hs

@@ -135,6 +135,7 @@ data SBPMsg =
    | SBPMsgGnssTimeOffset MsgGnssTimeOffset Msg
    | SBPMsgGpsTime MsgGpsTime Msg
    | SBPMsgGpsTimeDepA MsgGpsTimeDepA Msg
+   | SBPMsgGpsTimeGnss MsgGpsTimeGnss Msg
    | SBPMsgGroupDelay MsgGroupDelay Msg
    | SBPMsgGroupDelayDepA MsgGroupDelayDepA Msg
    | SBPMsgGroupDelayDepB MsgGroupDelayDepB Msg
@@ -236,6 +237,7 @@ data SBPMsg =
    | SBPMsgUartStateDepa MsgUartStateDepa Msg
    | SBPMsgUserData MsgUserData Msg
    | SBPMsgUtcTime MsgUtcTime Msg
+   | SBPMsgUtcTimeGnss MsgUtcTimeGnss Msg
    | SBPMsgVelBody MsgVelBody Msg
    | SBPMsgVelEcef MsgVelEcef Msg
    | SBPMsgVelEcefCov MsgVelEcefCov Msg
@@ -342,6 +344,7 @@ instance Binary SBPMsg where
           | _msgSBPType == msgGnssTimeOffset = SBPMsgGnssTimeOffset (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgGpsTime = SBPMsgGpsTime (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgGpsTimeDepA = SBPMsgGpsTimeDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgGpsTimeGnss = SBPMsgGpsTimeGnss (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgGroupDelay = SBPMsgGroupDelay (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgGroupDelayDepA = SBPMsgGroupDelayDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgGroupDelayDepB = SBPMsgGroupDelayDepB (decode (fromStrict (unBytes _msgSBPPayload))) m
@@ -443,6 +446,7 @@ instance Binary SBPMsg where
           | _msgSBPType == msgUartStateDepa = SBPMsgUartStateDepa (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgUserData = SBPMsgUserData (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgUtcTime = SBPMsgUtcTime (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgUtcTimeGnss = SBPMsgUtcTimeGnss (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgVelBody = SBPMsgVelBody (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgVelEcef = SBPMsgVelEcef (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgVelEcefCov = SBPMsgVelEcefCov (decode (fromStrict (unBytes _msgSBPPayload))) m
@@ -541,6 +545,7 @@ instance Binary SBPMsg where
       encoder (SBPMsgGnssTimeOffset _ m) = put m
       encoder (SBPMsgGpsTime _ m) = put m
       encoder (SBPMsgGpsTimeDepA _ m) = put m
+      encoder (SBPMsgGpsTimeGnss _ m) = put m
       encoder (SBPMsgGroupDelay _ m) = put m
       encoder (SBPMsgGroupDelayDepA _ m) = put m
       encoder (SBPMsgGroupDelayDepB _ m) = put m
@@ -642,6 +647,7 @@ instance Binary SBPMsg where
       encoder (SBPMsgUartStateDepa _ m) = put m
       encoder (SBPMsgUserData _ m) = put m
       encoder (SBPMsgUtcTime _ m) = put m
+      encoder (SBPMsgUtcTimeGnss _ m) = put m
       encoder (SBPMsgVelBody _ m) = put m
       encoder (SBPMsgVelEcef _ m) = put m
       encoder (SBPMsgVelEcefCov _ m) = put m
@@ -744,6 +750,7 @@ instance FromJSON SBPMsg where
         | msgType == msgGnssTimeOffset = SBPMsgGnssTimeOffset <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgGpsTime = SBPMsgGpsTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgGpsTimeDepA = SBPMsgGpsTimeDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgGpsTimeGnss = SBPMsgGpsTimeGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgGroupDelay = SBPMsgGroupDelay <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgGroupDelayDepA = SBPMsgGroupDelayDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgGroupDelayDepB = SBPMsgGroupDelayDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
@@ -845,6 +852,7 @@ instance FromJSON SBPMsg where
         | msgType == msgUartStateDepa = SBPMsgUartStateDepa <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgUserData = SBPMsgUserData <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgUtcTime = SBPMsgUtcTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgUtcTimeGnss = SBPMsgUtcTimeGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgVelBody = SBPMsgVelBody <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgVelEcef = SBPMsgVelEcef <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgVelEcefCov = SBPMsgVelEcefCov <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
@@ -948,6 +956,7 @@ instance ToJSON SBPMsg where
   toJSON (SBPMsgGnssTimeOffset n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgGpsTime n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgGpsTimeDepA n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgGpsTimeGnss n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgGroupDelay n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgGroupDelayDepA n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgGroupDelayDepB n m) = toJSON n <<>> toJSON m
@@ -1049,6 +1058,7 @@ instance ToJSON SBPMsg where
   toJSON (SBPMsgUartStateDepa n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgUserData n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgUtcTime n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgUtcTimeGnss n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgVelBody n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgVelEcef n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgVelEcefCov n m) = toJSON n <<>> toJSON m
@@ -1146,6 +1156,7 @@ instance HasMsg SBPMsg where
   msg f (SBPMsgGnssTimeOffset n m) = SBPMsgGnssTimeOffset n <$> f m
   msg f (SBPMsgGpsTime n m) = SBPMsgGpsTime n <$> f m
   msg f (SBPMsgGpsTimeDepA n m) = SBPMsgGpsTimeDepA n <$> f m
+  msg f (SBPMsgGpsTimeGnss n m) = SBPMsgGpsTimeGnss n <$> f m
   msg f (SBPMsgGroupDelay n m) = SBPMsgGroupDelay n <$> f m
   msg f (SBPMsgGroupDelayDepA n m) = SBPMsgGroupDelayDepA n <$> f m
   msg f (SBPMsgGroupDelayDepB n m) = SBPMsgGroupDelayDepB n <$> f m
@@ -1247,6 +1258,7 @@ instance HasMsg SBPMsg where
   msg f (SBPMsgUartStateDepa n m) = SBPMsgUartStateDepa n <$> f m
   msg f (SBPMsgUserData n m) = SBPMsgUserData n <$> f m
   msg f (SBPMsgUtcTime n m) = SBPMsgUtcTime n <$> f m
+  msg f (SBPMsgUtcTimeGnss n m) = SBPMsgUtcTimeGnss n <$> f m
   msg f (SBPMsgVelBody n m) = SBPMsgVelBody n <$> f m
   msg f (SBPMsgVelEcef n m) = SBPMsgVelEcef n <$> f m
   msg f (SBPMsgVelEcefCov n m) = SBPMsgVelEcefCov n <$> f m

haskell/src/SwiftNav/SBP/Navigation.hs

@@ -93,6 +93,50 @@ $(makeSBP 'msgGpsTime ''MsgGpsTime)
 $(makeJSON "_msgGpsTime_" ''MsgGpsTime)
 $(makeLenses ''MsgGpsTime)
 
+msgGpsTimeGnss :: Word16
+msgGpsTimeGnss = 0x0104
+
+-- | SBP class for message MSG_GPS_TIME_GNSS (0x0104).
+--
+-- This message reports the GPS time, representing the time since the GPS epoch
+-- began on midnight January 6, 1980 UTC. GPS time counts the weeks and seconds
+-- of the week. The weeks begin at the Saturday/Sunday transition. GPS week 0
+-- began at the beginning of the GPS time scale.  Within each week number, the
+-- GPS time of the week is between between 0 and 604800 seconds (=60*60*24*7).
+-- Note that GPS time does not accumulate leap seconds, and as of now, has a
+-- small offset from UTC. In a message stream, this message precedes a set of
+-- other navigation messages referenced to the same time (but lacking the ns
+-- field) and indicates a more precise time of these messages.
+data MsgGpsTimeGnss = MsgGpsTimeGnss
+  { _msgGpsTimeGnss_wn        :: !Word16
+    -- ^ GPS week number
+  , _msgGpsTimeGnss_tow       :: !Word32
+    -- ^ GPS time of week rounded to the nearest millisecond
+  , _msgGpsTimeGnss_ns_residual :: !Int32
+    -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to
+    -- 500000)
+  , _msgGpsTimeGnss_flags     :: !Word8
+    -- ^ Status flags (reserved)
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgGpsTimeGnss where
+  get = do
+    _msgGpsTimeGnss_wn <- getWord16le
+    _msgGpsTimeGnss_tow <- getWord32le
+    _msgGpsTimeGnss_ns_residual <- (fromIntegral <$> getWord32le)
+    _msgGpsTimeGnss_flags <- getWord8
+    pure MsgGpsTimeGnss {..}
+
+  put MsgGpsTimeGnss {..} = do
+    putWord16le _msgGpsTimeGnss_wn
+    putWord32le _msgGpsTimeGnss_tow
+    (putWord32le . fromIntegral) _msgGpsTimeGnss_ns_residual
+    putWord8 _msgGpsTimeGnss_flags
+
+$(makeSBP 'msgGpsTimeGnss ''MsgGpsTimeGnss)
+$(makeJSON "_msgGpsTimeGnss_" ''MsgGpsTimeGnss)
+$(makeLenses ''MsgGpsTimeGnss)
+
 msgUtcTime :: Word16
 msgUtcTime = 0x0103
 
@@ -150,6 +194,63 @@ $(makeSBP 'msgUtcTime ''MsgUtcTime)
 $(makeJSON "_msgUtcTime_" ''MsgUtcTime)
 $(makeLenses ''MsgUtcTime)
 
+msgUtcTimeGnss :: Word16
+msgUtcTimeGnss = 0x0105
+
+-- | SBP class for message MSG_UTC_TIME_GNSS (0x0105).
+--
+-- This message reports the Universal Coordinated Time (UTC).  Note the flags
+-- which indicate the source of the UTC offset value and source of the time
+-- fix.
+data MsgUtcTimeGnss = MsgUtcTimeGnss
+  { _msgUtcTimeGnss_flags :: !Word8
+    -- ^ Indicates source and time validity
+  , _msgUtcTimeGnss_tow   :: !Word32
+    -- ^ GPS time of week rounded to the nearest millisecond
+  , _msgUtcTimeGnss_year  :: !Word16
+    -- ^ Year
+  , _msgUtcTimeGnss_month :: !Word8
+    -- ^ Month (range 1 .. 12)
+  , _msgUtcTimeGnss_day   :: !Word8
+    -- ^ days in the month (range 1-31)
+  , _msgUtcTimeGnss_hours :: !Word8
+    -- ^ hours of day (range 0-23)
+  , _msgUtcTimeGnss_minutes :: !Word8
+    -- ^ minutes of hour (range 0-59)
+  , _msgUtcTimeGnss_seconds :: !Word8
+    -- ^ seconds of minute (range 0-60) rounded down
+  , _msgUtcTimeGnss_ns    :: !Word32
+    -- ^ nanoseconds of second (range 0-999999999)
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgUtcTimeGnss where
+  get = do
+    _msgUtcTimeGnss_flags <- getWord8
+    _msgUtcTimeGnss_tow <- getWord32le
+    _msgUtcTimeGnss_year <- getWord16le
+    _msgUtcTimeGnss_month <- getWord8
+    _msgUtcTimeGnss_day <- getWord8
+    _msgUtcTimeGnss_hours <- getWord8
+    _msgUtcTimeGnss_minutes <- getWord8
+    _msgUtcTimeGnss_seconds <- getWord8
+    _msgUtcTimeGnss_ns <- getWord32le
+    pure MsgUtcTimeGnss {..}
+
+  put MsgUtcTimeGnss {..} = do
+    putWord8 _msgUtcTimeGnss_flags
+    putWord32le _msgUtcTimeGnss_tow
+    putWord16le _msgUtcTimeGnss_year
+    putWord8 _msgUtcTimeGnss_month
+    putWord8 _msgUtcTimeGnss_day
+    putWord8 _msgUtcTimeGnss_hours
+    putWord8 _msgUtcTimeGnss_minutes
+    putWord8 _msgUtcTimeGnss_seconds
+    putWord32le _msgUtcTimeGnss_ns
+
+$(makeSBP 'msgUtcTimeGnss ''MsgUtcTimeGnss)
+$(makeJSON "_msgUtcTimeGnss_" ''MsgUtcTimeGnss)
+$(makeLenses ''MsgUtcTimeGnss)
+
 msgDops :: Word16
 msgDops = 0x0208
 

haskell/src/SwiftNav/SBP/System.hs

@@ -315,13 +315,6 @@ msgGroupMeta = 0xFF0A
 data MsgGroupMeta = MsgGroupMeta
   { _msgGroupMeta_group_id   :: !Word8
     -- ^ Id of the Msgs Group, 0 is Unknown, 1 is Bestpos, 2 is Gnss
-  , _msgGroupMeta_wn         :: !Word16
-    -- ^ GPS Week Number or zero if Reference epoch is not GPS
-  , _msgGroupMeta_tom        :: !Word32
-    -- ^ Time of Measurement in Milliseconds since reference epoch
-  , _msgGroupMeta_ns_residual :: !Int32
-    -- ^ Nanosecond residual of millisecond-rounded TOM (ranges from -500000 to
-    -- 500000)
   , _msgGroupMeta_flags      :: !Word8
     -- ^ Status flags (reserved)
   , _msgGroupMeta_n_group_msgs :: !Word8
@@ -334,19 +327,13 @@ data MsgGroupMeta = MsgGroupMeta
 instance Binary MsgGroupMeta where
   get = do
     _msgGroupMeta_group_id <- getWord8
-    _msgGroupMeta_wn <- getWord16le
-    _msgGroupMeta_tom <- getWord32le
-    _msgGroupMeta_ns_residual <- (fromIntegral <$> getWord32le)
     _msgGroupMeta_flags <- getWord8
     _msgGroupMeta_n_group_msgs <- getWord8
     _msgGroupMeta_group_msgs <- whileM (not <$> isEmpty) getWord16le
     pure MsgGroupMeta {..}
 
   put MsgGroupMeta {..} = do
     putWord8 _msgGroupMeta_group_id
-    putWord16le _msgGroupMeta_wn
-    putWord32le _msgGroupMeta_tom
-    (putWord32le . fromIntegral) _msgGroupMeta_ns_residual
     putWord8 _msgGroupMeta_flags
     putWord8 _msgGroupMeta_n_group_msgs
     mapM_ putWord16le _msgGroupMeta_group_msgs

java/src/com/swiftnav/sbp/client/MessageTable.java

@@ -62,7 +62,9 @@
 import com.swiftnav.sbp.logging.MsgPrintDep;
 import com.swiftnav.sbp.mag.MsgMagRaw;
 import com.swiftnav.sbp.navigation.MsgGPSTime;
+import com.swiftnav.sbp.navigation.MsgGPSTimeGnss;
 import com.swiftnav.sbp.navigation.MsgUtcTime;
+import com.swiftnav.sbp.navigation.MsgUtcTimeGnss;
 import com.swiftnav.sbp.navigation.MsgDops;
 import com.swiftnav.sbp.navigation.MsgPosECEF;
 import com.swiftnav.sbp.navigation.MsgPosECEFCov;
@@ -307,8 +309,12 @@ static SBPMessage dispatch(SBPMessage msg) throws SBPBinaryException {
                 return new MsgMagRaw(msg);
             case MsgGPSTime.TYPE:
                 return new MsgGPSTime(msg);
+            case MsgGPSTimeGnss.TYPE:
+                return new MsgGPSTimeGnss(msg);
             case MsgUtcTime.TYPE:
                 return new MsgUtcTime(msg);
+            case MsgUtcTimeGnss.TYPE:
+                return new MsgUtcTimeGnss(msg);
             case MsgDops.TYPE:
                 return new MsgDops(msg);
             case MsgPosECEF.TYPE: