Move on to libsbp.

.gitmodules

@@ -7,3 +7,6 @@
 [submodule "ChibiOS-RT"]
 	path = ChibiOS-RT
 	url = https://github.com/mabl/ChibiOS.git
+[submodule "libsbp"]
+	path = libsbp
+        url = https://github.com/swift-nav/libsbp.git

Makefile

@@ -22,7 +22,7 @@ endif
 
 all: firmware # tests
 
-firmware: libopencm3/lib/libopencm3_stm32f4.a libswiftnav/build/src/libswiftnav-static.a
+firmware: libopencm3/lib/libopencm3_stm32f4.a libsbp/c/build/src/libsbp-static.a libswiftnav/build/src/libswiftnav-static.a
 	@printf "BUILD   src\n"; \
 	$(MAKE) -r -C src $(MAKEFLAGS)
 
@@ -38,6 +38,12 @@ libopencm3/lib/libopencm3_stm32f4.a:
 	@printf "BUILD   libopencm3\n"; \
 	$(MAKE) -C libopencm3 $(MAKEFLAGS) lib/stm32/f4
 
+libsbp/c/build/src/libsbp-static.a:
+	@printf "BUILD   libsbp\n"; \
+	mkdir -p libsbp/c/build; cd libsbp/c/build; \
+	cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-gcc-arm-embedded.cmake $(CMAKEFLAGS) ../
+	$(MAKE) -C libsbp/c/build $(MAKEFLAGS)
+
 libswiftnav/build/src/libswiftnav-static.a: .FORCE
 	@printf "BUILD   libswiftnav\n"; \
 	mkdir -p libswiftnav/build; cd libswiftnav/build; \
@@ -49,6 +55,8 @@ clean:
 	$(MAKE) -C src $(MAKEFLAGS) clean
 	@printf "CLEAN   libopencm3\n"; \
 	$(MAKE) -C libopencm3 $(MAKEFLAGS) clean
+	@printf "CLEAN   libsbp\n"; \
+	$(RM) -rf libsbp/c/build
 	@printf "CLEAN   libswiftnav\n"; \
 	$(RM) -rf libswiftnav/build
 	$(Q)for i in tests/*; do \
@@ -63,4 +71,3 @@ docs:
 	doxygen docs/Doxyfile
 
 .FORCE:
-

README.md

@@ -8,7 +8,7 @@ Documentation available online at http://docs.swift-nav.com/piksi_firmware
 Checking Out Submodules
 =========================
 
-ChibiOS, libopencm3 and libswiftnav are submodules of this git repository.
+ChibiOS, libopencm3, libsbp and libswiftnav are submodules of this git repository.
 Check them out using:
 
 	git submodule init

setup.sh

@@ -44,7 +44,7 @@ function build () {
     # Pulls down git submodules and builds the project, assuming that
     # all other system, ARM GCC, and python dependencies have been
     # installed.
-    log_info "Initializing Git submodules for ChibiOS, libopencm3, and libswiftnav..."
+    log_info "Initializing Git submodules for ChibiOS, libopencm3, libsbp and libswiftnav..."
     git submodule init
     git submodule update
     log_info "Building piksi_firmware..."

src/Makefile

@@ -110,8 +110,8 @@ CSRC := $(PORTSRC) \
         $(SWIFTNAV_ROOT)/src/minIni/minGlue.o \
         $(SWIFTNAV_ROOT)/src/init.o \
         $(SWIFTNAV_ROOT)/src/sbp.o \
-        $(SWIFTNAV_ROOT)/src/sbp_piksi.o \
         $(SWIFTNAV_ROOT)/src/sbp_fileio.o \
+        $(SWIFTNAV_ROOT)/src/sbp_utils.o \
         $(SWIFTNAV_ROOT)/src/error.o \
         $(SWIFTNAV_ROOT)/src/cw.o \
         $(SWIFTNAV_ROOT)/src/track.o \
@@ -157,6 +157,7 @@ TCPPSRC =
 ASMSRC = $(PORTASM)
 
 INCDIR = $(PORTINC) $(KERNINC) $(CHIBIOS)/os/various \
+         $(SWIFTNAV_ROOT)/libsbp/c/include \
          $(SWIFTNAV_ROOT)/libswiftnav/include \
          $(SWIFTNAV_ROOT)/src \
          $(SWIFTNAV_ROOT)/libopencm3/include
@@ -217,6 +218,8 @@ DINCDIR =
 
 # List the default directory to look for the libraries here
 DLIBDIR = $(SWIFTNAV_ROOT)/libopencm3/lib \
+          $(SWIFTNAV_ROOT)/libsbp/c/build/src \
+          $(SWIFTNAV_ROOT)/libswiftnav/build/src \
           $(SWIFTNAV_ROOT)/libswiftnav/build/lapacke \
           $(SWIFTNAV_ROOT)/libswiftnav/build/CBLAS/src \
           $(SWIFTNAV_ROOT)/libswiftnav/build/clapack-3.2.1-CMAKE/BLAS/SRC \
@@ -225,7 +228,7 @@ DLIBDIR = $(SWIFTNAV_ROOT)/libopencm3/lib \
           $(SWIFTNAV_ROOT)/libswiftnav/build/src
 
 # List all default libraries here
-DLIBS = -lopencm3_stm32f4 -lswiftnav-static \
+DLIBS = -lopencm3_stm32f4 -lsbp-static -lswiftnav-static \
         -llapacke -llapack -lcblas -lblas \
         -lf2c -lm -lc -lnosys
 

src/acq.c

@@ -19,7 +19,6 @@
 
 #include "board/nap/acq_channel.h"
 #include "acq.h"
-#include "sbp_piksi.h"
 #include "sbp.h"
 
 /** \defgroup acq Acquisition
@@ -47,15 +46,15 @@ void acq_set_prn(u8 prn)
  */
 void acq_send_result(u8 prn, float snr, float cp, float cf)
 {
-  acq_result_msg_t acq_result_msg;
+  msg_acq_result_t acq_result_msg;
 
   acq_result_msg.prn = prn;
   acq_result_msg.snr = snr;
   acq_result_msg.cp = cp;
   acq_result_msg.cf = cf;
 
-  sbp_send_msg(MSG_ACQ_RESULT,
-               sizeof(acq_result_msg_t),
+  sbp_send_msg(SBP_MSG_ACQ_RESULT,
+               sizeof(msg_acq_result_t),
                (u8 *)&acq_result_msg);
 }
 

src/base_obs.c

@@ -15,7 +15,6 @@
 #include <math.h>
 
 #include <libswiftnav/logging.h>
-#include <libswiftnav/sbp_utils.h>
 #include <libswiftnav/pvt.h>
 #include <libswiftnav/constants.h>
 #include <libswiftnav/ephemeris.h>
@@ -26,6 +25,7 @@
 #include "position.h"
 #include "nmea.h"
 #include "sbp.h"
+#include "sbp_utils.h"
 #include "solution.h"
 #include "manage.h"
 #include "simulator.h"
@@ -77,15 +77,6 @@ static void base_pos_callback(u16 sender_id, u8 len, u8 msg[], void* context)
   chMtxUnlock();
 }
 
-/** SBP callback for the old style observation messages.
- * Just prints a deprecation warning. */
-static void obs_old_callback(u16 sender_id, u8 len, u8 msg[], void* context)
-{
-  (void) context; (void) len; (void) msg; (void) sender_id;
-  log_warn("Receiving an old deprecated observation message.\n");
-  log_warn("Please update your base station firmware.\n");
-}
-
 /** Update the #base_obss state given a new set of obss.
  * First sorts by PRN and computes the TDCP Doppler for the observation set. If
  * #base_pos_known is false then a single point position solution is also
@@ -220,7 +211,7 @@ static void obs_callback(u16 sender_id, u8 len, u8 msg[], void* context)
     return;
 
   /* Relay observations using sender_id = 0. */
-  sbp_send_msg_(MSG_PACKED_OBS, len, msg, 0);
+  sbp_send_msg_(SBP_MSG_OBS, len, msg, 0);
 
   /* GPS time of observation. */
   gps_time_t t;
@@ -231,7 +222,7 @@ static void obs_callback(u16 sender_id, u8 len, u8 msg[], void* context)
 
   /* Decode the message header to get the time and how far through the sequence
    * we are. */
-  unpack_obs_header((msg_obs_header_t*)msg, &t, &total, &count);
+  unpack_obs_header((observation_header_t*)msg, &t, &total, &count);
 
   /* Check to see if the observation is aligned with our internal observations,
    * i.e. is it going to time match one of our local obs. */
@@ -264,7 +255,7 @@ static void obs_callback(u16 sender_id, u8 len, u8 msg[], void* context)
 
   /* Calculate the number of observations in this message by looking at the SBP
    * `len` field. */
-  u8 obs_in_msg = (len - sizeof(msg_obs_header_t)) / sizeof(msg_obs_content_t);
+  u8 obs_in_msg = (len - sizeof(observation_header_t)) / sizeof(packed_obs_content_t);
 
   /* If this is the first packet in the sequence then reset the base_obss_rx
    * state. */
@@ -274,7 +265,7 @@ static void obs_callback(u16 sender_id, u8 len, u8 msg[], void* context)
   }
 
   /* Pull out the contents of the message. */
-  msg_obs_content_t *obs = (msg_obs_content_t *)(msg + sizeof(msg_obs_header_t));
+  packed_obs_content_t *obs = (packed_obs_content_t *)(msg + sizeof(observation_header_t));
   for (u8 i=0; i<obs_in_msg; i++) {
     /* Check if we have an ephemeris for this satellite, we will need this to
      * fill in satellite position etc. parameters. */
@@ -325,25 +316,17 @@ void base_obs_setup()
 
   static sbp_msg_callbacks_node_t base_pos_node;
   sbp_register_cbk(
-    MSG_BASE_POS,
+    SBP_MSG_BASE_POS,
     &base_pos_callback,
     &base_pos_node
   );
 
-  static sbp_msg_callbacks_node_t obs_old_node;
-  sbp_register_cbk(
-    MSG_OLD_OBS,
-    &obs_old_callback,
-    &obs_old_node
-  );
-
   static sbp_msg_callbacks_node_t obs_packed_node;
   sbp_register_cbk(
-    MSG_PACKED_OBS,
+    SBP_MSG_OBS,
     &obs_callback,
     &obs_packed_node
   );
 }
 
 /* \} */
-

src/board/nap/nap_common.c

@@ -13,7 +13,7 @@
 
 #include <libopencm3/stm32/f4/gpio.h>
 #include <libopencm3/stm32/f4/rcc.h>
-#include <libswiftnav/sbp.h>
+#include <libsbp/sbp.h>
 
 #include "../../error.h"
 #include "../../peripherals/spi.h"
@@ -171,15 +171,15 @@ void nap_rd_dna_callback(u16 sender_id, u8 len, u8 msg[], void* context)
   (void)sender_id; (void)len; (void)msg; (void) context;
   u8 dna[8];
   nap_rd_dna(dna);
-  sbp_send_msg(MSG_NAP_DEVICE_DNA, 8, dna);
+  sbp_send_msg(SBP_MSG_NAP_DEVICE_DNA, 8, dna);
 }
 
 /** Setup NAP callbacks. */
 void nap_callbacks_setup(void)
 {
   static sbp_msg_callbacks_node_t nap_dna_node;
 
-  sbp_register_cbk(MSG_NAP_DEVICE_DNA, &nap_rd_dna_callback,
+  sbp_register_cbk(SBP_MSG_NAP_DEVICE_DNA, &nap_rd_dna_callback,
                    &nap_dna_node);
 }
 

src/cw.c

@@ -12,7 +12,7 @@
 
 #include <math.h>
 #include <stdio.h>
-#include <libswiftnav/sbp.h>
+#include <libsbp/sbp.h>
 
 #include "board/nap/cw_channel.h"
 #include "sbp.h"
@@ -42,7 +42,7 @@ void cw_start_callback(u16 sender_id, u8 len, u8 msg[], void* context)
 void cw_setup()
 {
   static sbp_msg_callbacks_node_t cw_start_callback_node;
-  sbp_register_cbk(MSG_CW_START, &cw_start_callback, &cw_start_callback_node);
+  sbp_register_cbk(SBP_MSG_CW_START, &cw_start_callback, &cw_start_callback_node);
 }
 
 /** Schedule a load of samples into the CW channel's sample ram.
@@ -184,7 +184,7 @@ void cw_send_result(float freq, u64 power)
   msg.freq = freq;
   msg.power = power;
 
-  sbp_send_msg(MSG_CW_RESULTS, sizeof(msg), (u8*)&msg);
+  sbp_send_msg(SBP_MSG_CW_RESULTS, sizeof(msg), (u8*)&msg);
 }
 
 /** Get a point from the CW correlations array

src/error.c

@@ -15,8 +15,7 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include <libswiftnav/edc.h>
-#include <libswiftnav/sbp.h>
+#include <libsbp/sbp.h>
 
 #include "board/leds.h"
 #include "peripherals/usart.h"
@@ -72,7 +71,7 @@ void _screaming_death(const char *pos, const char *msg)
   /* Continuously send error message */
   #define APPROX_ONE_SEC 33000000
   while (1) {
-    sbp_send_message(&sbp_state, MSG_PRINT, 0, len, (u8*)err_msg, &fallback_write);
+    sbp_send_message(&sbp_state, SBP_MSG_PRINT, 0, len, (u8*)err_msg, &fallback_write);
     led_toggle(LED_RED);
     for (u32 d = 0; d < 5*APPROX_ONE_SEC; d++) {
       __asm__("nop");
@@ -83,4 +82,3 @@ void _screaming_death(const char *pos, const char *msg)
 /** \} */
 
 /** \} */
-