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MIP SDK Change Log

The version number scheme for the MIP SDK is MAJOR.MINOR.PATCH.

  • The MAJOR number is incremented when breaking changes are made which are not backwards compatible. This includes public API changes and especially behavioral changes. It is likely that existing code will not work properly and/or may not compile without changes.
  • The MINOR number is incremented when a new feature is added or a current feature is improved. Minor revisions may incorporate bug fixes and other patches.
  • The PATCH number is incremented when a bug is fixed or a small, non-breaking change is made. Patches will not significantly affect the behavior of existing code, except where such behavior is unintentional or erroneous.

Major revisions will specify what caused the non-backwards compatible change. These will be specified like so: CHANGED - A non-backwards compatible change was made to an existing function/class. RENAMED - A function/class has been renamed. REMOVED - A function/class has been removed.

Forthcoming

New Features

Interface Changes

Bug Fixes

v3.0.0

New Features

  • Metadata for C++ template programming (beta)
  • Pretty-printing example (beta)
  • Packet processing examples
  • microstrain::Span implementation of std::span (interchangeable, see readme/documentation)
  • Improved serialization system in c++

Interface Changes

  • Reorganized directory structure and libraries
    • Separated base ‘microstrain’ library from ‘mip’ library
    • Separated C and C++ code
    • Migration:
      • #include .h files for C and .hpp files for C++.
      • Add these include paths to your project:
        • src/c
        • src/cpp
      • Include files as #include <mip/mip_*.h> or #include <microstrain/*.h>, or .hpp for c++.
      • Most files have just been moved, but a few things have been broken out into new files
  • Introduced microstrain namespace
    • Used for common code that’s not mip-specific
    • Which namespace to use depends on the location of the corresponding #include file
  • Renamed some CMake variables (see readme)

Bug Fixes

  • Revamped C++ serialization system to avoid huge error messages due to large number of insert/extract overloads.
  • Improved CMake scripts
  • Cleaned up warnings

v2.0.0

New features

  • CV7-INS support
  • GV7-INS support
  • Logging capability (mip_logging.h)
  • Diagnostic counters in mip parser and mip interface for debugging (define MIP_ENABLE_DIAGNOSTICS)
  • User-defined values in CmdResult
  • Additional metadata in C++ command structs
  • mip::PacketBuf - implements mip::PacketRef and includes a data buffer
  • Extra helper utilities
    • CompositeResult - stores a std::vector of CmdResults and associated command descriptors
    • Index - Helps prevent off-by-one errors when using 1-based MIP and 0-based arrays
    • RecordingConnection - Intermediate connection which logs sent/received data to files

Interface Changes

Renamed

  • CMake:
    • WITH_SERIAL → MIP_USE_SERIAL
    • WITH_TCP → MIP_USE_TCP
  • C++
    • mip::Packet → mip::PacketRef
    • CMD_GPS_TIME_BROADCAST_NEW → CMD_GPS_TIME_UPDATE
  • C
    • timestamp_type → mip_timestamp
    • timeout_type → mip_timeout
    • renaming_count → int (typedef removed)
    • packet_length → uint_least16_t (typedef removed)
    • MIP_CMD_DESC_BASE_GPS_TIME_BROADCAST_NEW → MIP_CMD_DESC_BASE_GPS_TIME_UPDATE

Changed

  • The following 2 extern functions have been changed to callbacks to better support shared libraries. Supply your callbacks to mip_interface_init.
    • mip_interface_user_send_to_device
    • mip_interface_user_recv_from_device
  • The interface for certain commands from files in mip/definitions have been modified:
    • Vectors and Quaternions are now explicitly-defined types.
      • In C, these are typedef'd to arrays.
      • In C++, these are simple structs offering conversion to/from plain arrays and some other helpful features such as fill.
    • Command/response structs (e.g. mip::commands_base::DeviceDescriptors::Response) now have arrays embedded rather than pointers. This change simplifies user code and reduces bugs due to dangling pointers.
  • The C standard in CMake has been switched to C11 from C99 to reflect actual usage and fix some warnings.
  • serial_port_init must now be called before any of the other serial port functions.

Bug Fixes

  • Use NULL payload for mip_field_from_header_ptr if input field isn't long enough
  • Properly de-queue pending commands in mip_interface_wait_for_reply if mip_interface_update fails.
  • mip_packet_cancel_last_field now computes the new header length correctly
  • Serial Ports
    • Serial ports now close themselves properly if an error occurs while reading from the port. This happens when the device is connected via USB and is unplugged.
    • The port is now opened exclusively in Posix (Linux, Mac) systems
    • The port is now closed properly if setup fails during serial_port_open.
    • Removed handle->is_open member to avoid it becoming out of date.
  • TCP connections are now supported on Windows.

v1.0.0

  • Initial release of the MIP SDK