gnss-converters 0.3.25 → 0.3.28

raw patch · 4 files changed

+242/−139 lines, 4 filesdep ~aesondep ~aeson-prettydep ~basePVP: major bump suggested

API removals or changes: PVP suggests a major version bump

Dependency ranges changed: aeson, aeson-pretty, base, basic-prelude, binary-conduit, bytestring, conduit, conduit-extra, exceptions, extra, lens, monad-control, mtl, resourcet, rtcm, sbp, tasty, tasty-golden, tasty-hunit, time, transformers-base, vector

API changes (from Hackage documentation)

Files

• gnss-converters.cabal +92/−100
• src/Data/RTCM3/SBP.hs +2/−1
• src/Data/RTCM3/SBP/Ephemerides.hs +137/−38
• src/Data/RTCM3/SBP/Time.hs +11/−0

@@ -1,112 +1,104 @@-name: gnss-converters-version: 0.3.25-cabal-version: >=1.22-build-type: Simple-license: BSD3-copyright: Copyright (C) 2016, 2017 Swift Navigation, Inc.-maintainer: Swift Navigation <dev@swiftnav.com>-homepage: http://github.com/swift-nav/gnss-converters-synopsis: GNSS Converters.-description:-    Haskell bindings for GNSS converters.-category: Network-author: Mark Fine <mark@swiftnav.com>, Joshua Gross <josh@swiftnav.com>+name:                  gnss-converters+version:               0.3.28+synopsis:              GNSS Converters.+description:           Haskell bindings for GNSS converters.+homepage:              http://github.com/swift-nav/gnss-converters+license:               BSD3+author:                Mark Fine <mark@swiftnav.com>, Joshua Gross <josh@swiftnav.com>+maintainer:            Swift Navigation <dev@swiftnav.com>+copyright:             Copyright (C) 2016, 2017 Swift Navigation, Inc.+category:              Network+build-type:            Simple+cabal-version:         >= 1.22  source-repository head-    type: git-    location: https://github.com/swift-nav/gnss-converters+  type:                git+  location:            https://github.com/swift-nav/gnss-converters  library-    exposed-modules:-        Data.RTCM3.Replay-        Data.RTCM3.SBP-        Data.RTCM3.SBP.Biases-        Data.RTCM3.SBP.Ephemerides-        Data.RTCM3.SBP.Observations-        Data.RTCM3.SBP.Positions-        Data.RTCM3.SBP.Time-        Data.RTCM3.SBP.Types-        SwiftNav.SBP.RTCM3-    build-depends:-        base >=4.8 && <5,-        basic-prelude >=0.5.2,-        conduit >=1.2.10,-        exceptions >=0.8.3,-        extra >=1.4.10,-        lens >=4.13,-        monad-control >=1.0.1.0,-        mtl >=2.2.1,-        resourcet >=1.1.9,-        rtcm >=0.2.11,-        sbp >=2.3.2,-        time >=1.5.0.1,-        transformers-base >=0.4.4,-        vector >=0.11.0.0-    default-language: Haskell2010-    hs-source-dirs: src-    ghc-options: -Wall+  hs-source-dirs:      src+  exposed-modules:     Data.RTCM3.Replay+                     , Data.RTCM3.SBP+                     , Data.RTCM3.SBP.Biases+                     , Data.RTCM3.SBP.Ephemerides+                     , Data.RTCM3.SBP.Observations+                     , Data.RTCM3.SBP.Positions+                     , Data.RTCM3.SBP.Time+                     , Data.RTCM3.SBP.Types+                     , SwiftNav.SBP.RTCM3+  ghc-options:         -Wall+  build-depends:       base >= 4.8 && < 5+                     , basic-prelude+                     , conduit+                     , exceptions+                     , extra+                     , lens+                     , monad-control+                     , mtl+                     , resourcet+                     , rtcm+                     , sbp+                     , time+                     , transformers-base+                     , vector+  default-language:    Haskell2010  executable sbp2rtcm3-    main-is: SBP2RTCM3.hs-    build-depends:-        base >=4.8.2.0,-        basic-prelude >=0.5.2,-        binary-conduit >=1.2.4.1,-        conduit >=1.2.10,-        conduit-extra >=1.1.16,-        gnss-converters-    default-language: Haskell2010-    hs-source-dirs: main-    ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall+  hs-source-dirs:      main+  main-is:             SBP2RTCM3.hs+  ghc-options:         -threaded -rtsopts -with-rtsopts=-N -Wall+  build-depends:       base+                     , basic-prelude+                     , binary-conduit+                     , conduit+                     , conduit-extra+                     , gnss-converters+  default-language:    Haskell2010  executable rtcm32sbp-    main-is: RTCM32SBP.hs-    build-depends:-        base >=4.8.2.0,-        basic-prelude >=0.5.2,-        binary-conduit >=1.2.4.1,-        conduit >=1.2.10,-        conduit-extra >=1.1.16,-        gnss-converters-    default-language: Haskell2010-    hs-source-dirs: main-    ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall+  hs-source-dirs:      main+  main-is:             RTCM32SBP.hs+  ghc-options:         -threaded -rtsopts -with-rtsopts=-N -Wall+  build-depends:       base+                     , basic-prelude+                     , binary-conduit+                     , conduit+                     , conduit-extra+                     , gnss-converters+  default-language:    Haskell2010  executable rtcm32rtcm3-    main-is: RTCM32RTCM3.hs-    build-depends:-        base >=4.8.2.0,-        basic-prelude >=0.5.2,-        binary-conduit >=1.2.4.1,-        conduit >=1.2.10,-        conduit-extra >=1.1.16,-        gnss-converters-    default-language: Haskell2010-    hs-source-dirs: main-    ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall+  hs-source-dirs:      main+  main-is:             RTCM32RTCM3.hs+  ghc-options:         -threaded -rtsopts -with-rtsopts=-N -Wall+  build-depends:       base+                     , basic-prelude+                     , binary-conduit+                     , conduit+                     , conduit-extra+                     , gnss-converters+  default-language:    Haskell2010  test-suite test-    type: exitcode-stdio-1.0-    main-is: Test.hs-    build-depends:-        aeson >=0.11.3.0,-        aeson-pretty >=0.7.2,-        base >=4.8.2.0,-        basic-prelude >=0.5.2,-        binary-conduit >=1.2.4.1,-        bytestring >=0.10.6.0,-        conduit >=1.2.10,-        conduit-extra >=1.1.16,-        gnss-converters,-        lens >=4.13,-        sbp >=2.3.2,-        tasty >=0.11.2.1,-        tasty-golden >=2.3.1.1,-        tasty-hunit >=0.9.2,-        time >=1.5.0.1-    default-language: Haskell2010-    hs-source-dirs: test-    other-modules:-        Test.Data.RTCM3.SBP-        Test.Data.RTCM3.SBP.Time-    ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall+  type:                exitcode-stdio-1.0+  hs-source-dirs:      test+  main-is:             Test.hs+  other-modules:       Test.Data.RTCM3.SBP+                     , Test.Data.RTCM3.SBP.Time+  build-depends:       aeson+                     , aeson-pretty+                     , base+                     , basic-prelude+                     , binary-conduit+                     , bytestring+                     , conduit+                     , conduit-extra+                     , gnss-converters+                     , lens+                     , sbp+                     , tasty+                     , tasty-golden+                     , tasty-hunit+                     , time+  ghc-options:         -threaded -rtsopts -with-rtsopts=-N -Wall+  default-language:    Haskell2010

@@ -41,7 +41,8 @@   (RTCM3Msg1012 m _rtcm3) -> Observations.converter m   (RTCM3Msg1005 m _rtcm3) -> Positions.converter m   (RTCM3Msg1006 m _rtcm3) -> Positions.converter m-  (RTCM3Msg1019 m _rtcm3) -> Ephemerides.converter m+  (RTCM3Msg1019 m _rtcm3) -> Ephemerides.gpsConverter m+  (RTCM3Msg1020 m _rtcm3) -> Ephemerides.glonassConverter m   (RTCM3Msg1230 m _rtcm3) -> Biases.converter m   _rtcm3Msg               -> mempty 

@@ -11,7 +11,8 @@ -- RTCMv3 to SBP Ephemerides Conversions.  module Data.RTCM3.SBP.Ephemerides-  ( converter+  ( gpsConverter+  , glonassConverter   ) where  import BasicPrelude@@ -19,6 +20,7 @@ import Data.Bits import Data.Conduit import Data.RTCM3+import Data.RTCM3.SBP.Time import Data.RTCM3.SBP.Types import Data.Word import SwiftNav.SBP@@ -38,6 +40,22 @@     , _gpsTimeSec_wn  = wn' `shiftR` 10 `shiftL` 10 + wn     } +-- | Produce GPS time from GLONASS RTCM time.+--+toGlonassTimeSec :: MonadStore e m => Word8 -> m GpsTimeSec+toGlonassTimeSec epoch = do+  time <- view storeCurrentGpsTime+  t    <- liftIO time+  let epoch' = fromIntegral epoch * 15 * minuteMillis - 3 * hourMillis + gpsLeapMillis+      epoch''+        | epoch' < 0 = epoch' + dayMillis+        | otherwise = epoch'+      dow = fromIntegral (t ^. gpsTime_tow) `div` dayMillis+  pure GpsTimeSec+    { _gpsTimeSec_tow = fromIntegral $ (dow * dayMillis + epoch'') `div` 1000+    , _gpsTimeSec_wn  = t ^. gpsTime_wn+    }+ -- | Validate IODE/IODC flags. The IODC and IODE flags (least significant bits) should be -- equal. IODC is Word16 while IODE is Word8, so we shift IODC to drop the most significant bits. -- We return a 1 if valid, 0 if invalid.@@ -51,21 +69,41 @@ -- See section 2.5.3, "User Range Accuracy", in the GPS signal specification. -- Indices 1, 3, and 5 are hard-coded according to spec, and 15 is hard-coded according -- to SBP/Piksi convention.-uriToUra :: Double -> Double+uriToUra :: Word8 -> Double uriToUra uri-  | uri < 0 = -1   | uri == 1 = 2.8   | uri == 3 = 5.7   | uri == 5 = 11.3   | uri == 15 = 6144-  | uri <= 6 = 2 ** (1 + (uri / 2))-  | uri > 6 && uri < 15 = 2 ** (uri - 2)+  | uri <= 6 = 2 ** (1 + (fromIntegral uri / 2))+  | uri > 6 && uri < 15 = 2 ** (fromIntegral uri - 2)   | otherwise = -1 +-- | Lookup Table 4.4 from GLONASS ICD: convert F_T word to accuracy in meters+--+ftToUra :: Word8 -> Double+ftToUra ft+  | ft == 0 = 1+  | ft == 1 = 2+  | ft == 2 = 2.5+  | ft == 3 = 4+  | ft == 4 = 5+  | ft == 5 = 7+  | ft == 6 = 10+  | ft == 7 = 12+  | ft == 8 = 14+  | ft == 9 = 16+  | ft == 10 = 32+  | ft == 11 = 64+  | ft == 12 = 128+  | ft == 13 = 256+  | ft == 14 = 512+  | otherwise = -1+ -- | Decode SBP 'fitInterval' from RTCM/GPS 'fitIntervalFlag' and IODC. -- Implementation adapted from libswiftnav/ephemeris.c.-fitInterval :: Bool -> Word16 -> Word32-fitInterval fitInt iodc+gpsFitInterval :: Bool -> Word16 -> Word32+gpsFitInterval fitInt iodc   | not fitInt = 4 * 60 * 60   | iodc >= 240 && iodc <= 247 = 8 * 60 * 60   | (iodc >= 248 && iodc <= 255) || iodc == 496 = 14 * 60 * 60@@ -75,7 +113,18 @@   | iodc == 757 = 98 * 60 * 60   | otherwise = 6 * 60 * 60 +-- | Convert GLONASS fit interval - Table 4.3 from GLONASS ICD.+--+glonassFitInterval :: Word8 -> Word32+glonassFitInterval fi+  | fi == 0 = (60 + 10) * 60+  | fi == 1 = (30 + 10) * 60+  | fi == 2 = (45 + 10) * 60+  | fi == 3 = (60 + 10) * 60+  | otherwise = (60 + 10) * 60+ -- | Construct an EphemerisCommonContent from an RTCM 1019 message.+-- toGpsEphemerisCommonContent :: MonadStore e m => Msg1019 -> m EphemerisCommonContent toGpsEphemerisCommonContent m = do   toe <- toGpsTimeSec (m ^. msg1019_ephemeris ^. gpsEphemeris_wn) (m ^. msg1019_ephemeris ^. gpsEphemeris_toe)@@ -85,46 +134,96 @@       , _gnssSignal_code = 0 -- there is an L2P status flag in msg 1019, but I don't think that applies       }     , _ephemerisCommonContent_toe          = toe-    , _ephemerisCommonContent_ura          = uriToUra (fromIntegral $ m ^. msg1019_ephemeris ^. gpsEphemeris_svHealth)-    , _ephemerisCommonContent_fit_interval = fitInterval (m ^. msg1019_ephemeris ^. gpsEphemeris_fitInterval) (m ^. msg1019_ephemeris ^. gpsEphemeris_iodc)+    , _ephemerisCommonContent_ura          = uriToUra (m ^. msg1019_ephemeris ^. gpsEphemeris_svHealth)+    , _ephemerisCommonContent_fit_interval = gpsFitInterval (m ^. msg1019_ephemeris ^. gpsEphemeris_fitInterval) (m ^. msg1019_ephemeris ^. gpsEphemeris_iodc)     , _ephemerisCommonContent_valid        = validateIodcIode (m ^. msg1019_ephemeris ^. gpsEphemeris_iodc) (m ^. msg1019_ephemeris ^. gpsEphemeris_iode)     , _ephemerisCommonContent_health_bits  = m ^. msg1019_ephemeris ^. gpsEphemeris_svHealth     } +-- | Construct an EphemerisCommonContent from an RTCM 1020 message.+--+toGlonassEphemerisCommonContent :: MonadStore e m => Msg1020 -> m EphemerisCommonContent+toGlonassEphemerisCommonContent m = do+  toe <- toGlonassTimeSec (m ^. msg1020_ephemeris ^. glonassEphemeris_tb)+  pure EphemerisCommonContent+    { _ephemerisCommonContent_sid = GnssSignal+      { _gnssSignal_sat  = m ^. msg1020_header ^. glonassEphemerisHeader_sat+      , _gnssSignal_code = 3+      }+    , _ephemerisCommonContent_toe          = toe+    , _ephemerisCommonContent_ura          = ftToUra (m ^. msg1020_ephemeris ^. glonassEphemeris_mft)+    , _ephemerisCommonContent_fit_interval = glonassFitInterval (m ^. msg1020_ephemeris ^. glonassEphemeris_p1)+    , _ephemerisCommonContent_valid        = 1+    , _ephemerisCommonContent_health_bits  = bool 0 1 $ (m ^. msg1020_ephemeris ^. glonassEphemeris_mln5) || (m ^. msg1020_ephemeris ^. glonassEphemeris_mi3)+    }++(##) :: (Floating a1, Integral a2) => a1 -> a2 -> a1+(##) p x = (2 ** p) * fromIntegral x+ -------------------------------------------------------------------------------- -- RTCM to SBP conversion utilities: RTCM Msgs. 1002 (L1 RTK), 1004 (L1+L2 RTK), -- 1005 (antenna position), 1006 (antenna position).  -- | Convert an RTCM 1019 GPS ephemeris message into an SBP MsgEphemerisGps.-converter :: MonadStore e m => Msg1019 -> Conduit i m [SBPMsg]-converter m = do+--+gpsConverter :: MonadStore e m => Msg1019 -> Conduit i m [SBPMsg]+gpsConverter m = do   common <- toGpsEphemerisCommonContent m   toc    <- toGpsTimeSec (m ^. msg1019_ephemeris ^. gpsEphemeris_wn) (m ^. msg1019_ephemeris ^. gpsEphemeris_toc)-  let pi'    = 3.1415926535898-      p ## x = (2 ** p) * fromIntegral x-      m'     = MsgEphemerisGps-                 { _msgEphemerisGps_common   = common-                 , _msgEphemerisGps_tgd      =       (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_tgd)-                 , _msgEphemerisGps_c_rs     =        (-5) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_rs)-                 , _msgEphemerisGps_c_rc     =        (-5) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_rc)-                 , _msgEphemerisGps_c_uc     =       (-29) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_uc)-                 , _msgEphemerisGps_c_us     =       (-29) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_us)-                 , _msgEphemerisGps_c_ic     =       (-29) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_ic)-                 , _msgEphemerisGps_c_is     =       (-29) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_is)-                 , _msgEphemerisGps_dn       = pi' * (-43) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_dn)-                 , _msgEphemerisGps_m0       = pi' * (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_m0)-                 , _msgEphemerisGps_ecc      =       (-33) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_ecc)-                 , _msgEphemerisGps_sqrta    =       (-19) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_sqrta)-                 , _msgEphemerisGps_omega0   = pi' * (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_omega0)-                 , _msgEphemerisGps_omegadot = pi' * (-43) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_omegadot)-                 , _msgEphemerisGps_w        = pi' * (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_w)-                 , _msgEphemerisGps_inc      = pi' * (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_i0)-                 , _msgEphemerisGps_inc_dot  = pi' * (-43) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_idot)-                 , _msgEphemerisGps_af0      =       (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_af0)-                 , _msgEphemerisGps_af1      =       (-43) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_af1)-                 , _msgEphemerisGps_af2      =       (-55) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_af2)-                 , _msgEphemerisGps_iodc     =                 m ^. msg1019_ephemeris ^. gpsEphemeris_iodc-                 , _msgEphemerisGps_iode     =                 m ^. msg1019_ephemeris ^. gpsEphemeris_iode-                 , _msgEphemerisGps_toc      = toc-                 }+  let pi' = 3.1415926535898+      m'  = MsgEphemerisGps+              { _msgEphemerisGps_common   = common+              , _msgEphemerisGps_tgd      =       (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_tgd)+              , _msgEphemerisGps_c_rs     =        (-5) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_rs)+              , _msgEphemerisGps_c_rc     =        (-5) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_rc)+              , _msgEphemerisGps_c_uc     =       (-29) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_uc)+              , _msgEphemerisGps_c_us     =       (-29) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_us)+              , _msgEphemerisGps_c_ic     =       (-29) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_ic)+              , _msgEphemerisGps_c_is     =       (-29) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_is)+              , _msgEphemerisGps_dn       = pi' * (-43) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_dn)+              , _msgEphemerisGps_m0       = pi' * (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_m0)+              , _msgEphemerisGps_ecc      =       (-33) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_ecc)+              , _msgEphemerisGps_sqrta    =       (-19) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_sqrta)+              , _msgEphemerisGps_omega0   = pi' * (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_omega0)+              , _msgEphemerisGps_omegadot = pi' * (-43) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_omegadot)+              , _msgEphemerisGps_w        = pi' * (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_w)+              , _msgEphemerisGps_inc      = pi' * (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_i0)+              , _msgEphemerisGps_inc_dot  = pi' * (-43) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_idot)+              , _msgEphemerisGps_af0      =       (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_af0)+              , _msgEphemerisGps_af1      =       (-43) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_af1)+              , _msgEphemerisGps_af2      =       (-55) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_af2)+              , _msgEphemerisGps_iodc     =                 m ^. msg1019_ephemeris ^. gpsEphemeris_iodc+              , _msgEphemerisGps_iode     =                 m ^. msg1019_ephemeris ^. gpsEphemeris_iode+              , _msgEphemerisGps_toc      = toc+              }   yield [SBPMsgEphemerisGps m' $ toSBP m' 61440]++-- | Convert an RTCM 1020 GLONASS ephemeris message into an SBP MsgEphemerisGlo.+--+glonassConverter :: MonadStore e m => Msg1020 -> Conduit i m [SBPMsg]+glonassConverter m = do+  common <- toGlonassEphemerisCommonContent m+  let m' = MsgEphemerisGlo+             { _msgEphemerisGlo_common = common+             , _msgEphemerisGlo_gamma  = (-40) ## (m ^. msg1020_ephemeris ^. glonassEphemeris_gammaN)+             , _msgEphemerisGlo_tau    = (-30) ## (m ^. msg1020_ephemeris ^. glonassEphemeris_tauN)+             , _msgEphemerisGlo_d_tau  = (-30) ## (m ^. msg1020_ephemeris ^. glonassEphemeris_mdeltatau)+             , _msgEphemerisGlo_pos    = (* 1000) . ((-11) ##) <$>+                 [ m ^. msg1020_ephemeris ^. glonassEphemeris_xn+                 , m ^. msg1020_ephemeris ^. glonassEphemeris_yn+                 , m ^. msg1020_ephemeris ^. glonassEphemeris_zn+                 ]+             , _msgEphemerisGlo_vel    = (* 1000) . ((-20) ##) <$>+                 [ m ^. msg1020_ephemeris ^. glonassEphemeris_xndot+                 , m ^. msg1020_ephemeris ^. glonassEphemeris_yndot+                 , m ^. msg1020_ephemeris ^. glonassEphemeris_zndot+                 ]+             , _msgEphemerisGlo_acc    = (* 1000) . ((-30) ##) <$>+                 [ m ^. msg1020_ephemeris ^. glonassEphemeris_xndotdot+                 , m ^. msg1020_ephemeris ^. glonassEphemeris_yndotdot+                 , m ^. msg1020_ephemeris ^. glonassEphemeris_zndotdot+                 ]+             , _msgEphemerisGlo_fcn    = (m ^. msg1020_header ^. glonassEphemerisHeader_channel) + 1+             , _msgEphemerisGlo_iod    = ((m ^. msg1020_ephemeris ^. glonassEphemeris_tb) * 15 * 60) .&. 127+             }+  yield [SBPMsgEphemerisGlo m' $ toSBP m' 61440]

@@ -13,6 +13,7 @@  module Data.RTCM3.SBP.Time   ( gpsLeapMillis+  , minuteMillis   , hourMillis   , dayMillis   , weekMillis@@ -45,6 +46,16 @@ -- gpsLeapMillis :: Integer gpsLeapMillis = 1000 * gpsLeapSeconds++-- | Minute seconds+--+minuteSeconds :: Integer+minuteSeconds = 60++-- | Minute milliseconds+--+minuteMillis :: Integer+minuteMillis = 1000 * minuteSeconds  -- | Hour seconds --