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libsbp Release Notes

For a detailed index of changes, please see the CHANGELOG.md.

Contents

v0.39

Bug fixes, minor additions, and stability enhancements since v0.33.

Specifications

  • New external events trigger message.
  • The ephemeris message is now included in the list of messages to be sent over the radio. The ephemeris' field names have been changed to avoid clashing with existing SBP fields (e.g., 'crc' to 'c_rc').

Python Library

  • Easier to actually materialize a message in place using fields and create a new SBP packet to send over the wire. Previously, you could only create message objects by deserializing from an existing SBP message!
  • Robustness improvements for serializing message types to/from JSON.
  • Piksi serial link command line tool (serial_link.py) now lives in piksi_tools.

Datasheet Documentation

  • More stable datasheet generation when adding new messages ("the floats are too dang high!" and automatic versioning from git tags).

v0.33

First standalone release of libsbp, the native binary messaging protocol used by Swift Navigation devices. This is a core messaging dependency for interfacing and integration with the Piksi GPS receiver.

Specifications

  • Centralized and detailed definitions of many, if not all, SBP messages output by the Piksi, including messages used only for internal development. Previously, some messages were either undocumented and created inline by their callers in the firmware or the Piksi console.
  • Definitions are grouped into files by functionality in a machine-readable format, YAML, and include some annotated examples and example test cases for writers of new language bindings.
  • A Python-based generator for our C and Python libraries, as well as the Piksi datasheet. This is still a major work-in-progress.

C Library

  • C header files for SBP message types and library support for parsing such messages. This library is now a dependency of the Piksi firmware project.
  • Updated Doxygen developer documentation. Available here.

Python Library

  • Binary parsing for all message types, as well as serial port handlers and helpers. This is used by the Piksi console. Note that because messages are now grouped by functionality, some messages that were once imported by import sbp_piksi are now located in different Python submodules. If such changes aren't clear, please don't hesitate to ask a question on the forum.
  • The serial port client binary for the Piksi is a part of Piksi's tools.
  • The latest stable version is available on PyPi.
  • Updated Sphinx developer documentation. Available here.

Datasheet Documentation

  • A standalone .pdf datasheet describing SBP and message layouts.