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sbp 0.50.2 → 0.50.3

raw patch · 14 files changed

+860/−11 lines, 14 files

Files

sbp.cabal view
@@ -1,5 +1,5 @@ name:                  sbp-version:               0.50.2+version:               0.50.3 synopsis:              SwiftNav's SBP Library homepage:              https://github.com/swift-nav/libsbp license:               LGPL-3
src/SwiftNav/SBP.hs view
@@ -89,6 +89,7 @@    | SBPMsgHeartbeat MsgHeartbeat    | SBPMsgIarState MsgIarState    | SBPMsgInitBase MsgInitBase+   | SBPMsgLog MsgLog    | SBPMsgM25FlashWriteStatus MsgM25FlashWriteStatus    | SBPMsgMaskSatellite MsgMaskSatellite    | SBPMsgNapDeviceDnaReq MsgNapDeviceDnaReq@@ -97,7 +98,7 @@    | SBPMsgObsDepA MsgObsDepA    | SBPMsgPosEcef MsgPosEcef    | SBPMsgPosLlh MsgPosLlh-   | SBPMsgPrint MsgPrint+   | SBPMsgPrintDep MsgPrintDep    | SBPMsgReset MsgReset    | SBPMsgResetFilters MsgResetFilters    | SBPMsgSetTime MsgSetTime
src/SwiftNav/SBP/Acquisition.hs view
@@ -1,3 +1,13 @@+-- |+-- Module:      SwiftNav.SBP.Acquisition+-- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.+-- License:     LGPL-3+-- Maintainer:  Mark Fine <dev@swiftnav.com>+-- Stability:   experimental+-- Portability: portable+--+-- Satellite acquisition messages from the device.+ module SwiftNav.SBP.Acquisition where  import Control.Monad@@ -14,11 +24,24 @@ msgAcqResult :: Word16 msgAcqResult = 0x0014 +-- | SBP class for message MSG_ACQ_RESULT (0x0014).+--+-- This message describes the results from an attempted GPS signal acquisition+-- search for a satellite PRN over a code phase/carrier frequency range. It+-- contains the parameters of the point in the acquisition search space with+-- the best signal-to-noise (SNR) ratio. data MsgAcqResult = MsgAcqResult   { msgAcqResultSnr :: Float+    -- ^ SNR of best point. Currently dimensonless, but will have units of dB Hz+    -- in the revision of this message.   , msgAcqResultCp  :: Float+    -- ^ Code phase of best point   , msgAcqResultCf  :: Float+    -- ^ Carrier frequency of best point   , msgAcqResultSid :: Word32+    -- ^ Signal identifier of the satellite signal for which acquisition was+    -- attempted - values 0x00 through 0x1F represent GPS PRNs 1 through 32+    -- respectively (PRN-1 notation); other values reserved for future use.   } deriving ( Show, Read, Eq )  instance Binary MsgAcqResult where@@ -38,11 +61,20 @@ msgAcqResultDepA :: Word16 msgAcqResultDepA = 0x0015 +-- | SBP class for message MSG_ACQ_RESULT_DEP_A (0x0015).+--+-- Deprecated. data MsgAcqResultDepA = MsgAcqResultDepA   { msgAcqResultDepASnr :: Float+    -- ^ SNR of best point. Currently dimensonless, but will have units of dB Hz+    -- in the revision of this message.   , msgAcqResultDepACp  :: Float+    -- ^ Code phase of best point   , msgAcqResultDepACf  :: Float+    -- ^ Carrier frequency of best point   , msgAcqResultDepAPrn :: Word8+    -- ^ PRN-1 identifier of the satellite signal for which acquisition was+    -- attempted   } deriving ( Show, Read, Eq )  instance Binary MsgAcqResultDepA where
src/SwiftNav/SBP/Bootload.hs view
@@ -1,3 +1,16 @@+-- |+-- Module:      SwiftNav.SBP.Bootload+-- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.+-- License:     LGPL-3+-- Maintainer:  Mark Fine <dev@swiftnav.com>+-- Stability:   experimental+-- Portability: portable+--+-- Messages for the bootloading configuration on the device.  These are in the+-- implementation-defined range (0x0000-0x00FF), and are intended for internal+-- use only. Note that some of these messages share the same message type ID+-- for both the host request and the device response.+ module SwiftNav.SBP.Bootload where  import Control.Monad@@ -14,6 +27,11 @@ msgBootloaderHandshakeReq :: Word16 msgBootloaderHandshakeReq = 0x00B3 +-- | SBP class for message MSG_BOOTLOADER_HANDSHAKE_REQ (0x00B3).+--+-- The handshake message request from the host establishes a handshake between+-- the device bootloader and the host. The response from the device is+-- MSG_BOOTLOADER_HANDSHAKE_RESP. data MsgBootloaderHandshakeReq = MsgBootloaderHandshakeReq   deriving ( Show, Read, Eq ) @@ -27,9 +45,17 @@ msgBootloaderHandshakeResp :: Word16 msgBootloaderHandshakeResp = 0x00B4 +-- | SBP class for message MSG_BOOTLOADER_HANDSHAKE_RESP (0x00B4).+--+-- The handshake message response from the device establishes a handshake+-- between the device bootloader and the host. The request from the host is+-- MSG_BOOTLOADER_HANDSHAKE_REQ.  The payload contains the bootloader version+-- number and the SBP protocol version number. data MsgBootloaderHandshakeResp = MsgBootloaderHandshakeResp   { msgBootloaderHandshakeRespFlags   :: Word32+    -- ^ Bootloader flags   , msgBootloaderHandshakeRespVersion :: ByteString+    -- ^ Bootloader version number   } deriving ( Show, Read, Eq )  instance Binary MsgBootloaderHandshakeResp where@@ -45,8 +71,12 @@ msgBootloaderJumpToApp :: Word16 msgBootloaderJumpToApp = 0x00B1 +-- | SBP class for message MSG_BOOTLOADER_JUMP_TO_APP (0x00B1).+--+-- The host initiates the bootloader to jump to the application. data MsgBootloaderJumpToApp = MsgBootloaderJumpToApp   { msgBootloaderJumpToAppJump :: Word8+    -- ^ Ignored by the device   } deriving ( Show, Read, Eq )  instance Binary MsgBootloaderJumpToApp where@@ -60,6 +90,13 @@ msgNapDeviceDnaReq :: Word16 msgNapDeviceDnaReq = 0x00DE +-- | SBP class for message MSG_NAP_DEVICE_DNA_REQ (0x00DE).+--+-- The device message from the host reads a unique device identifier from the+-- SwiftNAP, an FPGA. The host requests the ID by sending a+-- MSG_NAP_DEVICE_DNA_REQ message. The device responds with a+-- MSG_NAP_DEVICE_DNA_RESP message with the device ID in the payload. Note that+-- this ID is tied to the FPGA, and not related to the Piksi's serial number. data MsgNapDeviceDnaReq = MsgNapDeviceDnaReq   deriving ( Show, Read, Eq ) @@ -73,8 +110,17 @@ msgNapDeviceDnaResp :: Word16 msgNapDeviceDnaResp = 0x00DD +-- | SBP class for message MSG_NAP_DEVICE_DNA_RESP (0x00DD).+--+-- The device message from the host reads a unique device identifier from the+-- SwiftNAP, an FPGA. The host requests the ID by sending a+-- MSG_NAP_DEVICE_DNA_REQ message. The device responds with a+-- MSG_NAP_DEVICE_DNA_RESP messagage with the device ID in the payload. Note+-- that this ID is tied to the FPGA, and not related to the Piksi's serial+-- number. data MsgNapDeviceDnaResp = MsgNapDeviceDnaResp   { msgNapDeviceDnaRespDna :: [Word8]+    -- ^ 57-bit SwiftNAP FPGA Device ID. Remaining bits are padded on the right.   } deriving ( Show, Read, Eq )  instance Binary MsgNapDeviceDnaResp where@@ -88,8 +134,12 @@ msgBootloaderHandshakeDepA :: Word16 msgBootloaderHandshakeDepA = 0x00B0 +-- | SBP class for message MSG_BOOTLOADER_HANDSHAKE_DEP_A (0x00B0).+--+-- Deprecated. data MsgBootloaderHandshakeDepA = MsgBootloaderHandshakeDepA   { msgBootloaderHandshakeDepAHandshake :: [Word8]+    -- ^ Version number string (not NULL terminated)   } deriving ( Show, Read, Eq )  instance Binary MsgBootloaderHandshakeDepA where
src/SwiftNav/SBP/ExtEvents.hs view
@@ -1,3 +1,14 @@+-- |+-- Module:      SwiftNav.SBP.ExtEvents+-- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.+-- License:     LGPL-3+-- Maintainer:  Mark Fine <dev@swiftnav.com>+-- Stability:   experimental+-- Portability: portable+--+-- Messages reporting accurately-timestamped external events, e.g. camera+-- shutter time.+ module SwiftNav.SBP.ExtEvents where  import Control.Monad@@ -14,12 +25,22 @@ msgExtEvent :: Word16 msgExtEvent = 0x0101 +-- | SBP class for message MSG_EXT_EVENT (0x0101).+--+-- Reports detection of an external event, the GPS time it occurred, which pin+-- it was and whether it was rising or falling. data MsgExtEvent = MsgExtEvent   { msgExtEventWn    :: Word16+    -- ^ GPS week number   , msgExtEventTow   :: Word32+    -- ^ GPS time of week rounded to the nearest millisecond   , msgExtEventNs    :: Int32+    -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to+    -- 500000)   , msgExtEventFlags :: Word8+    -- ^ Flags   , msgExtEventPin   :: Word8+    -- ^ Pin number.  0..9 = DEBUG0..9.   } deriving ( Show, Read, Eq )  instance Binary MsgExtEvent where
src/SwiftNav/SBP/FileIo.hs view
@@ -1,3 +1,20 @@+-- |+-- Module:      SwiftNav.SBP.FileIo+-- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.+-- License:     LGPL-3+-- Maintainer:  Mark Fine <dev@swiftnav.com>+-- Stability:   experimental+-- Portability: portable+--+-- Messages for using device's onboard flash filesystem functionality. This+-- allows data to be stored persistently in the device's program flash with+-- wear-levelling using a simple filesystem interface. The file system+-- interface (CFS) defines an abstract API for reading directories and for+-- reading and writing files.  These are in the implementation-defined range+-- (0x0000-0x00FF), and intended for internal-use only. Note that some of these+-- messages share the same message type ID for both the host request and the+-- device response.+ module SwiftNav.SBP.FileIo where  import Control.Monad@@ -14,11 +31,21 @@ msgFileioReadReq :: Word16 msgFileioReadReq = 0x00A8 +-- | SBP class for message MSG_FILEIO_READ_REQ (0x00A8).+--+-- The file read message reads a certain length (up to 255 bytes) from a given+-- offset into a file, and returns the data in a MSG_FILEIO_READ_RESP message+-- where the message length field indicates how many bytes were succesfully+-- read.The sequence number in the request will be returned in the response. data MsgFileioReadReq = MsgFileioReadReq   { msgFileioReadReqSequence   :: Word32+    -- ^ Read sequence number   , msgFileioReadReqOffset     :: Word32+    -- ^ File offset   , msgFileioReadReqChunkSize  :: Word8+    -- ^ Chunk size to read   , msgFileioReadReqFilename   :: ByteString+    -- ^ Name of the file to read from   } deriving ( Show, Read, Eq )  instance Binary MsgFileioReadReq where@@ -38,9 +65,17 @@ msgFileioReadResp :: Word16 msgFileioReadResp = 0x00A3 +-- | SBP class for message MSG_FILEIO_READ_RESP (0x00A3).+--+-- The file read message reads a certain length (up to 255 bytes) from a given+-- offset into a file, and returns the data in a message where the message+-- length field indicates how many bytes were succesfully read. The sequence+-- number in the response is preserved from the request. data MsgFileioReadResp = MsgFileioReadResp   { msgFileioReadRespSequence :: Word32+    -- ^ Read sequence number   , msgFileioReadRespContents :: [Word8]+    -- ^ Contents of read file   } deriving ( Show, Read, Eq )  instance Binary MsgFileioReadResp where@@ -56,10 +91,21 @@ msgFileioReadDirReq :: Word16 msgFileioReadDirReq = 0x00A9 +-- | SBP class for message MSG_FILEIO_READ_DIR_REQ (0x00A9).+--+-- The read directory message lists the files in a directory on the device's+-- onboard flash file system.  The offset parameter can be used to skip the+-- first n elements of the file list. Returns a MSG_FILEIO_READ_DIR_RESP+-- message containing the directory listings as a NULL delimited list. The+-- listing is chunked over multiple SBP packets. The sequence number in the+-- request will be returned in the response. data MsgFileioReadDirReq = MsgFileioReadDirReq   { msgFileioReadDirReqSequence :: Word32+    -- ^ Read sequence number   , msgFileioReadDirReqOffset   :: Word32+    -- ^ The offset to skip the first n elements of the file list   , msgFileioReadDirReqDirname  :: ByteString+    -- ^ Name of the directory to list   } deriving ( Show, Read, Eq )  instance Binary MsgFileioReadDirReq where@@ -77,9 +123,18 @@ msgFileioReadDirResp :: Word16 msgFileioReadDirResp = 0x00AA +-- | SBP class for message MSG_FILEIO_READ_DIR_RESP (0x00AA).+--+-- The read directory message lists the files in a directory on the device's+-- onboard flash file system. Message contains the directory listings as a NULL+-- delimited list. The listing is chunked over multiple SBP packets and the end+-- of the list is identified by an entry containing just the character 0xFF.+-- The sequence number in the response is preserved from the request. data MsgFileioReadDirResp = MsgFileioReadDirResp   { msgFileioReadDirRespSequence :: Word32+    -- ^ Read sequence number   , msgFileioReadDirRespContents :: [Word8]+    -- ^ Contents of read directory   } deriving ( Show, Read, Eq )  instance Binary MsgFileioReadDirResp where@@ -95,8 +150,12 @@ msgFileioRemove :: Word16 msgFileioRemove = 0x00AC +-- | SBP class for message MSG_FILEIO_REMOVE (0x00AC).+--+-- The file remove message deletes a file from the file system. data MsgFileioRemove = MsgFileioRemove   { msgFileioRemoveFilename :: ByteString+    -- ^ Name of the file to delete   } deriving ( Show, Read, Eq )  instance Binary MsgFileioRemove where@@ -110,11 +169,21 @@ msgFileioWriteReq :: Word16 msgFileioWriteReq = 0x00AD +-- | SBP class for message MSG_FILEIO_WRITE_REQ (0x00AD).+--+-- The file write message writes a certain length (up to 255 bytes) of data to+-- a file at a given offset. Returns a copy of the original+-- MSG_FILEIO_WRITE_RESP message to check integrity of the write. The sequence+-- number in the request will be returned in the response. data MsgFileioWriteReq = MsgFileioWriteReq   { msgFileioWriteReqSequence :: Word32+    -- ^ Write sequence number   , msgFileioWriteReqOffset   :: Word32+    -- ^ Offset into the file at which to start writing in bytes   , msgFileioWriteReqFilename :: ByteString+    -- ^ Name of the file to write to   , msgFileioWriteReqData     :: [Word8]+    -- ^ Variable-length array of data to write   } deriving ( Show, Read, Eq )  instance Binary MsgFileioWriteReq where@@ -134,8 +203,15 @@ msgFileioWriteResp :: Word16 msgFileioWriteResp = 0x00AB +-- | SBP class for message MSG_FILEIO_WRITE_RESP (0x00AB).+--+-- The file write message writes a certain length (up to 255 bytes) of data to+-- a file at a given offset. The message is a copy of the original+-- MSG_FILEIO_WRITE_REQ message to check integrity of the write. The sequence+-- number in the response is preserved from the request. data MsgFileioWriteResp = MsgFileioWriteResp   { msgFileioWriteRespSequence :: Word32+    -- ^ Write sequence number   } deriving ( Show, Read, Eq )  instance Binary MsgFileioWriteResp where
src/SwiftNav/SBP/Flash.hs view
@@ -1,3 +1,17 @@+-- |+-- Module:      SwiftNav.SBP.Flash+-- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.+-- License:     LGPL-3+-- Maintainer:  Mark Fine <dev@swiftnav.com>+-- Stability:   experimental+-- Portability: portable+--+-- Messages for reading/writing the device's onboard flash memory. Many of+-- these messages target specific flash memory peripherals used in Swift+-- Navigation devices: the STM32 flash and the M25Pxx FPGA configuration flash.+-- These are in the implementation-defined range (0x0000-0x00FF), and are+-- intended for internal-use only.+ module SwiftNav.SBP.Flash where  import Control.Monad@@ -14,11 +28,22 @@ msgFlashProgram :: Word16 msgFlashProgram = 0x00E6 +-- | SBP class for message MSG_FLASH_PROGRAM (0x00E6).+--+-- The flash program message programs a set of addresses of either the STM or+-- M25 flash. The device replies with either a MSG_FLASH_DONE message+-- containing the return code FLASH_OK (0) on success, or FLASH_INVALID_LEN (2)+-- if the maximum write size is exceeded. Note that the sector-containing+-- addresses must be erased before addresses can be programmed. data MsgFlashProgram = MsgFlashProgram   { msgFlashProgramTarget     :: Word8+    -- ^ Target flags   , msgFlashProgramAddrStart  :: [Word8]+    -- ^ Starting address offset to program   , msgFlashProgramAddrLen    :: Word8+    -- ^ Length of set of addresses to program, counting up from starting address   , msgFlashProgramData       :: [Word8]+    -- ^ Data to program addresses with, with length N=addr_len   } deriving ( Show, Read, Eq )  instance Binary MsgFlashProgram where@@ -38,8 +63,15 @@ msgFlashDone :: Word16 msgFlashDone = 0x00E0 +-- | SBP class for message MSG_FLASH_DONE (0x00E0).+--+-- This message defines success or failure codes for a variety of flash memory+-- requests from the host to the device. Flash read and write messages, such as+-- MSG_FLASH_READ_REQ, or MSG_FLASH_PROGRAM, may return this message on+-- failure. data MsgFlashDone = MsgFlashDone   { msgFlashDoneResponse :: Word8+    -- ^ Response flags   } deriving ( Show, Read, Eq )  instance Binary MsgFlashDone where@@ -53,10 +85,21 @@ msgFlashReadReq :: Word16 msgFlashReadReq = 0x00E7 +-- | SBP class for message MSG_FLASH_READ_REQ (0x00E7).+--+-- The flash read message reads a set of addresses of either the STM or M25+-- onboard flash. The device replies with a MSG_FLASH_READ_RESP message+-- containing either the read data on success or a MSG_FLASH_DONE message+-- containing the return code FLASH_INVALID_LEN (2) if the maximum read size is+-- exceeded or FLASH_INVALID_ADDR (3) if the address is outside of the allowed+-- range. data MsgFlashReadReq = MsgFlashReadReq   { msgFlashReadReqTarget     :: Word8+    -- ^ Target flags   , msgFlashReadReqAddrStart  :: [Word8]+    -- ^ Starting address offset to read from   , msgFlashReadReqAddrLen    :: Word8+    -- ^ Length of set of addresses to read, counting up from starting address   } deriving ( Show, Read, Eq )  instance Binary MsgFlashReadReq where@@ -74,10 +117,21 @@ msgFlashReadResp :: Word16 msgFlashReadResp = 0x00E1 +-- | SBP class for message MSG_FLASH_READ_RESP (0x00E1).+--+-- The flash read message reads a set of addresses of either the STM or M25+-- onboard flash. The device replies with a MSG_FLASH_READ_RESP message+-- containing either the read data on success or a MSG_FLASH_DONE message+-- containing the return code FLASH_INVALID_LEN (2) if the maximum read size is+-- exceeded or FLASH_INVALID_ADDR (3) if the address is outside of the allowed+-- range. data MsgFlashReadResp = MsgFlashReadResp   { msgFlashReadRespTarget     :: Word8+    -- ^ Target flags   , msgFlashReadRespAddrStart  :: [Word8]+    -- ^ Starting address offset to read from   , msgFlashReadRespAddrLen    :: Word8+    -- ^ Length of set of addresses to read, counting up from starting address   } deriving ( Show, Read, Eq )  instance Binary MsgFlashReadResp where@@ -95,9 +149,17 @@ msgFlashErase :: Word16 msgFlashErase = 0x00E2 +-- | SBP class for message MSG_FLASH_ERASE (0x00E2).+--+-- The flash erase message from the host erases a sector of either the STM or+-- M25 onboard flash memory. The device will reply with a MSG_FLASH_DONE+-- message containing the return code - FLASH_OK (0) on success or+-- FLASH_INVALID_FLASH (1) if the flash specified is invalid. data MsgFlashErase = MsgFlashErase   { msgFlashEraseTarget     :: Word8+    -- ^ Target flags   , msgFlashEraseSectorNum  :: Word32+    -- ^ Flash sector number to erase (0-11 for the STM, 0-15 for the M25)   } deriving ( Show, Read, Eq )  instance Binary MsgFlashErase where@@ -113,8 +175,13 @@ msgStmFlashLockSector :: Word16 msgStmFlashLockSector = 0x00E3 +-- | SBP class for message MSG_STM_FLASH_LOCK_SECTOR (0x00E3).+--+-- The flash lock message locks a sector of the STM flash memory. The device+-- replies with a MSG_FLASH_DONE message. data MsgStmFlashLockSector = MsgStmFlashLockSector   { msgStmFlashLockSectorSector :: Word32+    -- ^ Flash sector number to lock   } deriving ( Show, Read, Eq )  instance Binary MsgStmFlashLockSector where@@ -128,8 +195,13 @@ msgStmFlashUnlockSector :: Word16 msgStmFlashUnlockSector = 0x00E4 +-- | SBP class for message MSG_STM_FLASH_UNLOCK_SECTOR (0x00E4).+--+-- The flash unlock message unlocks a sector of the STM flash memory. The+-- device replies with a MSG_FLASH_DONE message. data MsgStmFlashUnlockSector = MsgStmFlashUnlockSector   { msgStmFlashUnlockSectorSector :: Word32+    -- ^ Flash sector number to unlock   } deriving ( Show, Read, Eq )  instance Binary MsgStmFlashUnlockSector where@@ -143,6 +215,11 @@ msgStmUniqueIdReq :: Word16 msgStmUniqueIdReq = 0x00E8 +-- | SBP class for message MSG_STM_UNIQUE_ID_REQ (0x00E8).+--+-- This message reads the device's hardcoded unique ID. The host requests the+-- ID by sending a MSG_STM_UNIQUE_ID_REQ. The device responds with a+-- MSG_STM_UNIQUE_ID_RESP with the 12-byte unique ID in the payload. data MsgStmUniqueIdReq = MsgStmUniqueIdReq   deriving ( Show, Read, Eq ) @@ -156,8 +233,14 @@ msgStmUniqueIdResp :: Word16 msgStmUniqueIdResp = 0x00E5 +-- | SBP class for message MSG_STM_UNIQUE_ID_RESP (0x00E5).+--+-- This message reads the device's hardcoded unique ID. The host requests the+-- ID by sending a MSG_STM_UNIQUE_ID_REQ. The device responds with a+-- MSG_STM_UNIQUE_ID_RESP with the 12-byte unique ID in the payload.. data MsgStmUniqueIdResp = MsgStmUniqueIdResp   { msgStmUniqueIdRespStmId  :: [Word8]+    -- ^ Device unique ID   } deriving ( Show, Read, Eq )  instance Binary MsgStmUniqueIdResp where@@ -171,8 +254,13 @@ msgM25FlashWriteStatus :: Word16 msgM25FlashWriteStatus = 0x00F3 +-- | SBP class for message MSG_M25_FLASH_WRITE_STATUS (0x00F3).+--+-- The flash status message writes to the 8-bit M25 flash status register. The+-- device replies with a MSG_FLASH_DONE message. data MsgM25FlashWriteStatus = MsgM25FlashWriteStatus   { msgM25FlashWriteStatusStatus :: [Word8]+    -- ^ Byte to write to the M25 flash status register   } deriving ( Show, Read, Eq )  instance Binary MsgM25FlashWriteStatus where
src/SwiftNav/SBP/Logging.hs view
@@ -1,3 +1,14 @@+-- |+-- Module:      SwiftNav.SBP.Logging+-- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.+-- License:     LGPL-3+-- Maintainer:  Mark Fine <dev@swiftnav.com>+-- Stability:   experimental+-- Portability: portable+--+-- Logging and debugging messages from the device. These are in the+-- implementation-defined range (0x0000-0x00FF).+ module SwiftNav.SBP.Logging where  import Control.Monad@@ -11,26 +22,40 @@ import Data.Int import Data.Word -msgPrint :: Word16-msgPrint = 0x0010+msgLog :: Word16+msgLog = 0x0401 -data MsgPrint = MsgPrint-  { msgPrintText :: ByteString+-- | SBP class for message MSG_LOG (0x0401).+--+-- This message contains a human-readable payload string from the device+-- containing errors, warnings and informational messages at ERROR, WARNING,+-- DEBUG, INFO logging levels.+data MsgLog = MsgLog+  { msgLogLevel :: Word8+    -- ^ Logging level+  , msgLogText  :: ByteString+    -- ^ Human-readable string   } deriving ( Show, Read, Eq ) -instance Binary MsgPrint where+instance Binary MsgLog where   get = do-    msgPrintText <- liftM toStrict getRemainingLazyByteString-    return MsgPrint {..}+    msgLogLevel <- getWord8+    msgLogText <- liftM toStrict getRemainingLazyByteString+    return MsgLog {..} -  put MsgPrint {..} = do-    putByteString msgPrintText+  put MsgLog {..} = do+    putWord8 msgLogLevel+    putByteString msgLogText  msgTweet :: Word16 msgTweet = 0x0012 +-- | SBP class for message MSG_TWEET (0x0012).+--+-- All the news fit to tweet. data MsgTweet = MsgTweet   { msgTweetTweet :: ByteString+    -- ^ Human-readable string   } deriving ( Show, Read, Eq )  instance Binary MsgTweet where@@ -40,3 +65,22 @@    put MsgTweet {..} = do     putByteString msgTweetTweet++msgPrintDep :: Word16+msgPrintDep = 0x0010++-- | SBP class for message MSG_PRINT_DEP (0x0010).+--+-- Deprecated.+data MsgPrintDep = MsgPrintDep+  { msgPrintDepText :: ByteString+    -- ^ Human-readable string+  } deriving ( Show, Read, Eq )++instance Binary MsgPrintDep where+  get = do+    msgPrintDepText <- liftM toStrict getRemainingLazyByteString+    return MsgPrintDep {..}++  put MsgPrintDep {..} = do+    putByteString msgPrintDepText
src/SwiftNav/SBP/Navigation.hs view
@@ -1,3 +1,21 @@+-- |+-- Module:      SwiftNav.SBP.Navigation+-- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.+-- License:     LGPL-3+-- Maintainer:  Mark Fine <dev@swiftnav.com>+-- Stability:   experimental+-- Portability: portable+--+-- Geodetic navigation messages reporting GPS time, position, velocity, and+-- baseline position solutions. For position solutions, these messages define+-- several different position solutions: single-point (SPP), RTK, and pseudo-+-- absolute position solutions.  The SPP is the standalone, absolute GPS+-- position solution using only a single receiver. The RTK solution is the+-- differential GPS solution, which can use either a fixed/integer or floating+-- carrier phase ambiguity. The pseudo-absolute position solution uses a user-+-- provided, well-surveyed base station position (if available) and the RTK+-- solution in tandem.+ module SwiftNav.SBP.Navigation where  import Control.Monad@@ -14,11 +32,27 @@ msgGpsTime :: Word16 msgGpsTime = 0x0100 +-- | SBP class for message MSG_GPS_TIME (0x0100).+--+-- 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 MsgGpsTime = MsgGpsTime   { msgGpsTimeWn    :: Word16+    -- ^ GPS week number   , msgGpsTimeTow   :: Word32+    -- ^ GPS time of week rounded to the nearest millisecond   , msgGpsTimeNs    :: Int32+    -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to+    -- 500000)   , msgGpsTimeFlags :: Word8+    -- ^ Status flags (reserved)   } deriving ( Show, Read, Eq )  instance Binary MsgGpsTime where@@ -38,13 +72,23 @@ msgDops :: Word16 msgDops = 0x0206 +-- | SBP class for message MSG_DOPS (0x0206).+--+-- This dilution of precision (DOP) message describes the effect of navigation+-- satellite geometry on positional measurement precision. data MsgDops = MsgDops   { msgDopsTow  :: Word32+    -- ^ GPS Time of Week   , msgDopsGdop :: Word16+    -- ^ Geometric Dilution of Precision   , msgDopsPdop :: Word16+    -- ^ Position Dilution of Precision   , msgDopsTdop :: Word16+    -- ^ Time Dilution of Precision   , msgDopsHdop :: Word16+    -- ^ Horizontal Dilution of Precision   , msgDopsVdop :: Word16+    -- ^ Vertical Dilution of Precision   } deriving ( Show, Read, Eq )  instance Binary MsgDops where@@ -68,14 +112,30 @@ msgPosEcef :: Word16 msgPosEcef = 0x0200 +-- | SBP class for message MSG_POS_ECEF (0x0200).+--+-- The position solution message reports absolute Earth Centered Earth Fixed+-- (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of+-- the position solution. If the rover receiver knows the surveyed position of+-- the base station and has an RTK solution, this reports a pseudo-absolute+-- position solution using the base station position and the rover's RTK+-- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME+-- with the matching time-of-week (tow). data MsgPosEcef = MsgPosEcef   { msgPosEcefTow      :: Word32+    -- ^ GPS Time of Week   , msgPosEcefX        :: Double+    -- ^ ECEF X coordinate   , msgPosEcefY        :: Double+    -- ^ ECEF Y coordinate   , msgPosEcefZ        :: Double+    -- ^ ECEF Z coordinate   , msgPosEcefAccuracy :: Word16+    -- ^ Position accuracy estimate (not implemented). Defaults to 0.   , msgPosEcefNSats    :: Word8+    -- ^ Number of satellites used in solution   , msgPosEcefFlags    :: Word8+    -- ^ Status flags   } deriving ( Show, Read, Eq )  instance Binary MsgPosEcef where@@ -101,15 +161,32 @@ msgPosLlh :: Word16 msgPosLlh = 0x0201 +-- | SBP class for message MSG_POS_LLH (0x0201).+--+-- This position solution message reports the absolute geodetic coordinates and+-- the status (single point vs pseudo-absolute RTK) of the position solution.+-- If the rover receiver knows the surveyed position of the base station and+-- has an RTK solution, this reports a pseudo-absolute position solution using+-- the base station position and the rover's RTK baseline vector. The full GPS+-- time is given by the preceding MSG_GPS_TIME with the matching time-of-week+-- (tow). data MsgPosLlh = MsgPosLlh   { msgPosLlhTow        :: Word32+    -- ^ GPS Time of Week   , msgPosLlhLat        :: Double+    -- ^ Latitude   , msgPosLlhLon        :: Double+    -- ^ Longitude   , msgPosLlhHeight     :: Double+    -- ^ Height   , msgPosLlhHAccuracy  :: Word16+    -- ^ Horizontal position accuracy estimate (not implemented). Defaults to 0.   , msgPosLlhVAccuracy  :: Word16+    -- ^ Vertical position accuracy estimate (not implemented). Defaults to 0.   , msgPosLlhNSats      :: Word8+    -- ^ Number of satellites used in solution.   , msgPosLlhFlags      :: Word8+    -- ^ Status flags   } deriving ( Show, Read, Eq )  instance Binary MsgPosLlh where@@ -137,14 +214,27 @@ msgBaselineEcef :: Word16 msgBaselineEcef = 0x0202 +-- | SBP class for message MSG_BASELINE_ECEF (0x0202).+--+-- This message reports the baseline solution in Earth Centered Earth Fixed+-- (ECEF) coordinates. This baseline is the relative vector distance from the+-- base station to the rover receiver. The full GPS time is given by the+-- preceding MSG_GPS_TIME with the matching time-of-week (tow). data MsgBaselineEcef = MsgBaselineEcef   { msgBaselineEcefTow      :: Word32+    -- ^ GPS Time of Week   , msgBaselineEcefX        :: Int32+    -- ^ Baseline ECEF X coordinate   , msgBaselineEcefY        :: Int32+    -- ^ Baseline ECEF Y coordinate   , msgBaselineEcefZ        :: Int32+    -- ^ Baseline ECEF Z coordinate   , msgBaselineEcefAccuracy :: Word16+    -- ^ Position accuracy estimate (not implemented). Defaults to 0.   , msgBaselineEcefNSats    :: Word8+    -- ^ Number of satellites used in solution   , msgBaselineEcefFlags    :: Word8+    -- ^ Status flags   } deriving ( Show, Read, Eq )  instance Binary MsgBaselineEcef where@@ -170,15 +260,31 @@ msgBaselineNed :: Word16 msgBaselineNed = 0x0203 +-- | SBP class for message MSG_BASELINE_NED (0x0203).+--+-- This message reports the baseline solution in North East Down (NED)+-- coordinates. This baseline is the relative vector distance from the base+-- station to the rover receiver, and NED coordinate system is defined at the+-- local tangent plane centered at the base station position.  The full GPS+-- time is given by the preceding MSG_GPS_TIME with the matching time-of-week+-- (tow). data MsgBaselineNed = MsgBaselineNed   { msgBaselineNedTow        :: Word32+    -- ^ GPS Time of Week   , msgBaselineNedN          :: Int32+    -- ^ Baseline North coordinate   , msgBaselineNedE          :: Int32+    -- ^ Baseline East coordinate   , msgBaselineNedD          :: Int32+    -- ^ Baseline Down coordinate   , msgBaselineNedHAccuracy  :: Word16+    -- ^ Horizontal position accuracy estimate (not implemented). Defaults to 0.   , msgBaselineNedVAccuracy  :: Word16+    -- ^ Vertical position accuracy estimate (not implemented). Defaults to 0.   , msgBaselineNedNSats      :: Word8+    -- ^ Number of satellites used in solution   , msgBaselineNedFlags      :: Word8+    -- ^ Status flags   } deriving ( Show, Read, Eq )  instance Binary MsgBaselineNed where@@ -206,14 +312,26 @@ msgVelEcef :: Word16 msgVelEcef = 0x0204 +-- | SBP class for message MSG_VEL_ECEF (0x0204).+--+-- This message reports the velocity in Earth Centered Earth Fixed (ECEF)+-- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with+-- the matching time-of-week (tow). data MsgVelEcef = MsgVelEcef   { msgVelEcefTow      :: Word32+    -- ^ GPS Time of Week   , msgVelEcefX        :: Int32+    -- ^ Velocity ECEF X coordinate   , msgVelEcefY        :: Int32+    -- ^ Velocity ECEF Y coordinate   , msgVelEcefZ        :: Int32+    -- ^ Velocity ECEF Z coordinate   , msgVelEcefAccuracy :: Word16+    -- ^ Velocity accuracy estimate (not implemented). Defaults to 0.   , msgVelEcefNSats    :: Word8+    -- ^ Number of satellites used in solution   , msgVelEcefFlags    :: Word8+    -- ^ Status flags (reserved)   } deriving ( Show, Read, Eq )  instance Binary MsgVelEcef where@@ -239,15 +357,28 @@ msgVelNed :: Word16 msgVelNed = 0x0205 +-- | SBP class for message MSG_VEL_NED (0x0205).+--+-- This message reports the velocity in local North East Down (NED)+-- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with+-- the matching time-of-week (tow). data MsgVelNed = MsgVelNed   { msgVelNedTow        :: Word32+    -- ^ GPS Time of Week   , msgVelNedN          :: Int32+    -- ^ Velocity North coordinate   , msgVelNedE          :: Int32+    -- ^ Velocity East coordinate   , msgVelNedD          :: Int32+    -- ^ Velocity Down coordinate   , msgVelNedHAccuracy  :: Word16+    -- ^ Horizontal velocity accuracy estimate (not implemented). Defaults to 0.   , msgVelNedVAccuracy  :: Word16+    -- ^ Vertical velocity accuracy estimate (not implemented). Defaults to 0.   , msgVelNedNSats      :: Word8+    -- ^ Number of satellites used in solution   , msgVelNedFlags      :: Word8+    -- ^ Status flags (reserved)   } deriving ( Show, Read, Eq )  instance Binary MsgVelNed where
src/SwiftNav/SBP/Observation.hs view
@@ -1,3 +1,13 @@+-- |+-- Module:      SwiftNav.SBP.Observation+-- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.+-- License:     LGPL-3+-- Maintainer:  Mark Fine <dev@swiftnav.com>+-- Stability:   experimental+-- Portability: portable+--+-- Satellite observation messages from the device.+ module SwiftNav.SBP.Observation where  import Control.Monad@@ -11,9 +21,15 @@ import Data.Int import Data.Word +-- | ObsGPSTime.+--+-- A wire-appropriate GPS time, defined as the number of milliseconds since+-- beginning of the week on the Saturday/Sunday transition. data ObsGPSTime = ObsGPSTime   { obsGPSTimeTow :: Word32+    -- ^ Milliseconds since start of GPS week   , obsGPSTimeWn  :: Word16+    -- ^ GPS week number   } deriving ( Show, Read, Eq )  instance Binary ObsGPSTime where@@ -26,9 +42,16 @@     putWord32le obsGPSTimeTow     putWord16le obsGPSTimeWn +-- | CarrierPhase.+--+-- Carrier phase measurement in cycles represented as a 40-bit fixed point+-- number with Q32.8 layout, i.e. 32-bits of whole cycles and 8-bits of+-- fractional cycles. data CarrierPhase = CarrierPhase   { carrierPhaseI :: Int32+    -- ^ Carrier phase whole cycles   , carrierPhaseF :: Word8+    -- ^ Carrier phase fractional part   } deriving ( Show, Read, Eq )  instance Binary CarrierPhase where@@ -41,9 +64,15 @@     putWord32le $ fromIntegral carrierPhaseI     putWord8 carrierPhaseF +-- | ObservationHeader.+--+-- Header of a GPS observation message. data ObservationHeader = ObservationHeader   { observationHeaderT     :: ObsGPSTime+    -- ^ GPS time of this observation   , observationHeaderNObs  :: Word8+    -- ^ Total number of observations. First nibble is the size of the sequence+    -- (n), second nibble is the zero-indexed counter (ith packet of n)   } deriving ( Show, Read, Eq )  instance Binary ObservationHeader where@@ -56,12 +85,24 @@     put observationHeaderT     putWord8 observationHeaderNObs +-- | PackedObsContent.+--+-- Pseudorange and carrier phase observation for a satellite being tracked. data PackedObsContent = PackedObsContent   { packedObsContentP    :: Word32+    -- ^ Pseudorange observation   , packedObsContentL    :: CarrierPhase+    -- ^ Carrier phase observation   , packedObsContentCn0  :: Word8+    -- ^ Carrier-to-Noise density   , packedObsContentLock :: Word16+    -- ^ Lock indicator. This value changes whenever a satellite signal has lost+    -- and regained lock, indicating that the carrier phase ambiguity may have+    -- changed.   , packedObsContentSid  :: Word32+    -- ^ Signal identifier of the satellite signal - values 0x00 through 0x1F+    -- represent GPS PRNs 1 through 32 respectively (PRN-1 notation); other+    -- values reserved for future use.   } deriving ( Show, Read, Eq )  instance Binary PackedObsContent where@@ -83,9 +124,17 @@ msgObs :: Word16 msgObs = 0x0043 +-- | SBP class for message MSG_OBS (0x0043).+--+-- The GPS observations message reports all the raw pseudorange and carrier+-- phase observations for the satellites being tracked by the device. Carrier+-- phase observation here is represented as a 40-bit fixed point number with+-- Q32.8 layout (i.e. 32-bits of whole cycles and 8-bits of fractional cycles). data MsgObs = MsgObs   { msgObsHeader :: ObservationHeader+    -- ^ Header of a GPS observation message   , msgObsObs    :: [PackedObsContent]+    -- ^ Pseudorange and carrier phase observation for a satellite being tracked.   } deriving ( Show, Read, Eq )  instance Binary MsgObs where@@ -101,10 +150,19 @@ msgBasePos :: Word16 msgBasePos = 0x0044 +-- | SBP class for message MSG_BASE_POS (0x0044).+--+-- The base station position message is the position reported by the base+-- station itself. It is used for pseudo-absolute RTK positioning, and is+-- required to be a high-accuracy surveyed location of the base station. Any+-- error here will result in an error in the pseudo-absolute position output. data MsgBasePos = MsgBasePos   { msgBasePosLat    :: Double+    -- ^ Latitude   , msgBasePosLon    :: Double+    -- ^ Longitude   , msgBasePosHeight :: Double+    -- ^ Height   } deriving ( Show, Read, Eq )  instance Binary MsgBasePos where@@ -122,36 +180,77 @@ msgEphemeris :: Word16 msgEphemeris = 0x0047 +-- | SBP class for message MSG_EPHEMERIS (0x0047).+--+-- The ephemeris message returns a set of satellite orbit parameters that is+-- used to calculate GPS satellite position, velocity, and clock offset. Please+-- see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200,+-- Table 20-III) for more details. data MsgEphemeris = MsgEphemeris   { msgEphemerisTgd      :: Double+    -- ^ Group delay differential between L1 and L2   , msgEphemerisCRs      :: Double+    -- ^ Amplitude of the sine harmonic correction term to the orbit radius   , msgEphemerisCRc      :: Double+    -- ^ Amplitude of the cosine harmonic correction term to the orbit radius   , msgEphemerisCUc      :: Double+    -- ^ Amplitude of the cosine harmonic correction term to the argument of+    -- latitude   , msgEphemerisCUs      :: Double+    -- ^ Amplitude of the sine harmonic correction term to the argument of+    -- latitude   , msgEphemerisCIc      :: Double+    -- ^ Amplitude of the cosine harmonic correction term to the angle of+    -- inclination   , msgEphemerisCIs      :: Double+    -- ^ Amplitude of the sine harmonic correction term to the angle of+    -- inclination   , msgEphemerisDn       :: Double+    -- ^ Mean motion difference   , msgEphemerisM0       :: Double+    -- ^ Mean anomaly at reference time   , msgEphemerisEcc      :: Double+    -- ^ Eccentricity of satellite orbit   , msgEphemerisSqrta    :: Double+    -- ^ Square root of the semi-major axis of orbit   , msgEphemerisOmega0   :: Double+    -- ^ Longitude of ascending node of orbit plane at weekly epoch   , msgEphemerisOmegadot :: Double+    -- ^ Rate of right ascension   , msgEphemerisW        :: Double+    -- ^ Argument of perigee   , msgEphemerisInc      :: Double+    -- ^ Inclination   , msgEphemerisIncDot   :: Double+    -- ^ Inclination first derivative   , msgEphemerisAf0      :: Double+    -- ^ Polynomial clock correction coefficient (clock bias)   , msgEphemerisAf1      :: Double+    -- ^ Polynomial clock correction coefficient (clock drift)   , msgEphemerisAf2      :: Double+    -- ^ Polynomial clock correction coefficient (rate of clock drift)   , msgEphemerisToeTow   :: Double+    -- ^ Time of week   , msgEphemerisToeWn    :: Word16+    -- ^ Week number   , msgEphemerisTocTow   :: Double+    -- ^ Clock reference time of week   , msgEphemerisTocWn    :: Word16+    -- ^ Clock reference week number   , msgEphemerisValid    :: Word8+    -- ^ Is valid?   , msgEphemerisHealthy  :: Word8+    -- ^ Satellite is healthy?   , msgEphemerisSid      :: Word32+    -- ^ Signal identifier being tracked - values 0x00 through 0x1F represent GPS+    -- PRNs 1 through 32 respectively (PRN-1 notation); other values reserved+    -- for future use   , msgEphemerisIode     :: Word8+    -- ^ Issue of ephemeris data   , msgEphemerisIodc     :: Word16+    -- ^ Issue of clock data   , msgEphemerisReserved :: Word32+    -- ^ Reserved field   } deriving ( Show, Read, Eq )  instance Binary MsgEphemeris where@@ -221,33 +320,66 @@ msgEphemerisDepA :: Word16 msgEphemerisDepA = 0x001A +-- | SBP class for message MSG_EPHEMERIS_DEP_A (0x001A).+--+-- Deprecated. data MsgEphemerisDepA = MsgEphemerisDepA   { msgEphemerisDepATgd      :: Double+    -- ^ Group delay differential between L1 and L2   , msgEphemerisDepACRs      :: Double+    -- ^ Amplitude of the sine harmonic correction term to the orbit radius   , msgEphemerisDepACRc      :: Double+    -- ^ Amplitude of the cosine harmonic correction term to the orbit radius   , msgEphemerisDepACUc      :: Double+    -- ^ Amplitude of the cosine harmonic correction term to the argument of+    -- latitude   , msgEphemerisDepACUs      :: Double+    -- ^ Amplitude of the sine harmonic correction term to the argument of+    -- latitude   , msgEphemerisDepACIc      :: Double+    -- ^ Amplitude of the cosine harmonic correction term to the angle of+    -- inclination   , msgEphemerisDepACIs      :: Double+    -- ^ Amplitude of the sine harmonic correction term to the angle of+    -- inclination   , msgEphemerisDepADn       :: Double+    -- ^ Mean motion difference   , msgEphemerisDepAM0       :: Double+    -- ^ Mean anomaly at reference time   , msgEphemerisDepAEcc      :: Double+    -- ^ Eccentricity of satellite orbit   , msgEphemerisDepASqrta    :: Double+    -- ^ Square root of the semi-major axis of orbit   , msgEphemerisDepAOmega0   :: Double+    -- ^ Longitude of ascending node of orbit plane at weekly epoch   , msgEphemerisDepAOmegadot :: Double+    -- ^ Rate of right ascension   , msgEphemerisDepAW        :: Double+    -- ^ Argument of perigee   , msgEphemerisDepAInc      :: Double+    -- ^ Inclination   , msgEphemerisDepAIncDot   :: Double+    -- ^ Inclination first derivative   , msgEphemerisDepAAf0      :: Double+    -- ^ Polynomial clock correction coefficient (clock bias)   , msgEphemerisDepAAf1      :: Double+    -- ^ Polynomial clock correction coefficient (clock drift)   , msgEphemerisDepAAf2      :: Double+    -- ^ Polynomial clock correction coefficient (rate of clock drift)   , msgEphemerisDepAToeTow   :: Double+    -- ^ Time of week   , msgEphemerisDepAToeWn    :: Word16+    -- ^ Week number   , msgEphemerisDepATocTow   :: Double+    -- ^ Clock reference time of week   , msgEphemerisDepATocWn    :: Word16+    -- ^ Clock reference week number   , msgEphemerisDepAValid    :: Word8+    -- ^ Is valid?   , msgEphemerisDepAHealthy  :: Word8+    -- ^ Satellite is healthy?   , msgEphemerisDepAPrn      :: Word8+    -- ^ PRN being tracked   } deriving ( Show, Read, Eq )  instance Binary MsgEphemerisDepA where@@ -311,34 +443,68 @@ msgEphemerisDepB :: Word16 msgEphemerisDepB = 0x0046 +-- | SBP class for message MSG_EPHEMERIS_DEP_B (0x0046).+--+-- Deprecated. data MsgEphemerisDepB = MsgEphemerisDepB   { msgEphemerisDepBTgd      :: Double+    -- ^ Group delay differential between L1 and L2   , msgEphemerisDepBCRs      :: Double+    -- ^ Amplitude of the sine harmonic correction term to the orbit radius   , msgEphemerisDepBCRc      :: Double+    -- ^ Amplitude of the cosine harmonic correction term to the orbit radius   , msgEphemerisDepBCUc      :: Double+    -- ^ Amplitude of the cosine harmonic correction term to the argument of+    -- latitude   , msgEphemerisDepBCUs      :: Double+    -- ^ Amplitude of the sine harmonic correction term to the argument of+    -- latitude   , msgEphemerisDepBCIc      :: Double+    -- ^ Amplitude of the cosine harmonic correction term to the angle of+    -- inclination   , msgEphemerisDepBCIs      :: Double+    -- ^ Amplitude of the sine harmonic correction term to the angle of+    -- inclination   , msgEphemerisDepBDn       :: Double+    -- ^ Mean motion difference   , msgEphemerisDepBM0       :: Double+    -- ^ Mean anomaly at reference time   , msgEphemerisDepBEcc      :: Double+    -- ^ Eccentricity of satellite orbit   , msgEphemerisDepBSqrta    :: Double+    -- ^ Square root of the semi-major axis of orbit   , msgEphemerisDepBOmega0   :: Double+    -- ^ Longitude of ascending node of orbit plane at weekly epoch   , msgEphemerisDepBOmegadot :: Double+    -- ^ Rate of right ascension   , msgEphemerisDepBW        :: Double+    -- ^ Argument of perigee   , msgEphemerisDepBInc      :: Double+    -- ^ Inclination   , msgEphemerisDepBIncDot   :: Double+    -- ^ Inclination first derivative   , msgEphemerisDepBAf0      :: Double+    -- ^ Polynomial clock correction coefficient (clock bias)   , msgEphemerisDepBAf1      :: Double+    -- ^ Polynomial clock correction coefficient (clock drift)   , msgEphemerisDepBAf2      :: Double+    -- ^ Polynomial clock correction coefficient (rate of clock drift)   , msgEphemerisDepBToeTow   :: Double+    -- ^ Time of week   , msgEphemerisDepBToeWn    :: Word16+    -- ^ Week number   , msgEphemerisDepBTocTow   :: Double+    -- ^ Clock reference time of week   , msgEphemerisDepBTocWn    :: Word16+    -- ^ Clock reference week number   , msgEphemerisDepBValid    :: Word8+    -- ^ Is valid?   , msgEphemerisDepBHealthy  :: Word8+    -- ^ Satellite is healthy?   , msgEphemerisDepBPrn      :: Word8+    -- ^ PRN being tracked   , msgEphemerisDepBIode     :: Word8+    -- ^ Issue of ephemeris data   } deriving ( Show, Read, Eq )  instance Binary MsgEphemerisDepB where@@ -401,12 +567,22 @@     putWord8 msgEphemerisDepBPrn     putWord8 msgEphemerisDepBIode +-- | PackedObsContentDepA.+--+-- Deprecated. data PackedObsContentDepA = PackedObsContentDepA   { packedObsContentDepAP    :: Word32+    -- ^ Pseudorange observation   , packedObsContentDepAL    :: CarrierPhase+    -- ^ Carrier phase observation   , packedObsContentDepACn0  :: Word8+    -- ^ Carrier-to-Noise density   , packedObsContentDepALock :: Word16+    -- ^ Lock indicator. This value changes whenever a satellite signal has lost+    -- and regained lock, indicating that the carrier phase ambiguity may have+    -- changed.   , packedObsContentDepAPrn  :: Word8+    -- ^ PRN-1 identifier of the satellite signal   } deriving ( Show, Read, Eq )  instance Binary PackedObsContentDepA where@@ -428,9 +604,14 @@ msgObsDepA :: Word16 msgObsDepA = 0x0045 +-- | SBP class for message MSG_OBS_DEP_A (0x0045).+--+-- Deprecated. data MsgObsDepA = MsgObsDepA   { msgObsDepAHeader :: ObservationHeader+    -- ^ Header of a GPS observation message   , msgObsDepAObs    :: [PackedObsContentDepA]+    -- ^ Pseudorange and carrier phase observation for a satellite being tracked.   } deriving ( Show, Read, Eq )  instance Binary MsgObsDepA where
src/SwiftNav/SBP/Piksi.hs view
@@ -1,3 +1,16 @@+-- |+-- Module:      SwiftNav.SBP.Piksi+-- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.+-- License:     LGPL-3+-- Maintainer:  Mark Fine <dev@swiftnav.com>+-- Stability:   experimental+-- Portability: portable+--+-- System health, configuration, and diagnostic messages specific to the Piksi+-- L1 receiver, including a variety of legacy messages that may no longer be+-- used.  These messages are in the implementation-defined range+-- (0x0000-0x00FF), and largely intended for internal-use only.+ module SwiftNav.SBP.Piksi where  import Control.Monad@@ -14,6 +27,10 @@ msgAlmanac :: Word16 msgAlmanac = 0x0069 +-- | SBP class for message MSG_ALMANAC (0x0069).+--+-- This is a legacy message for sending and loading a satellite alamanac onto+-- the Piksi's flash memory from the host. data MsgAlmanac = MsgAlmanac   deriving ( Show, Read, Eq ) @@ -27,6 +44,10 @@ msgSetTime :: Word16 msgSetTime = 0x0068 +-- | SBP class for message MSG_SET_TIME (0x0068).+--+-- This message sets up timing functionality using a coarse GPS time estimate+-- sent by the host. data MsgSetTime = MsgSetTime   deriving ( Show, Read, Eq ) @@ -40,6 +61,9 @@ msgReset :: Word16 msgReset = 0x00B2 +-- | SBP class for message MSG_RESET (0x00B2).+--+-- This message from the host resets the Piksi back into the bootloader. data MsgReset = MsgReset   deriving ( Show, Read, Eq ) @@ -53,6 +77,11 @@ msgCwResults :: Word16 msgCwResults = 0x00C0 +-- | SBP class for message MSG_CW_RESULTS (0x00C0).+--+-- This is an unused legacy message for result reporting from the CW+-- interference channel on the SwiftNAP. This message will be removed in a+-- future release. data MsgCwResults = MsgCwResults   deriving ( Show, Read, Eq ) @@ -66,6 +95,11 @@ msgCwStart :: Word16 msgCwStart = 0x00C1 +-- | SBP class for message MSG_CW_START (0x00C1).+--+-- This is an unused legacy message from those host for starting the CW+-- interference channel on the SwiftNAP. This message will be removed in a+-- future release. data MsgCwStart = MsgCwStart   deriving ( Show, Read, Eq ) @@ -79,8 +113,13 @@ msgResetFilters :: Word16 msgResetFilters = 0x0022 +-- | SBP class for message MSG_RESET_FILTERS (0x0022).+--+-- This message resets either the DGNSS Kalman filters or Integer Ambiguity+-- Resolution (IAR) process. data MsgResetFilters = MsgResetFilters   { msgResetFiltersFilter :: Word8+    -- ^ Filter flags   } deriving ( Show, Read, Eq )  instance Binary MsgResetFilters where@@ -94,6 +133,12 @@ msgInitBase :: Word16 msgInitBase = 0x0023 +-- | SBP class for message MSG_INIT_BASE (0x0023).+--+-- This message initializes the integer ambiguity resolution (IAR) process on+-- the Piksi to use an assumed baseline position between the base station and+-- rover receivers. Warns via MSG_PRINT if there aren't a shared minimum number+-- (4) of satellite observations between the two. data MsgInitBase = MsgInitBase   deriving ( Show, Read, Eq ) @@ -107,10 +152,19 @@ msgThreadState :: Word16 msgThreadState = 0x0017 +-- | SBP class for message MSG_THREAD_STATE (0x0017).+--+-- The thread usage message from the device reports real-time operating system+-- (RTOS) thread usage statistics for the named thread. The reported percentage+-- values require to be normalized. data MsgThreadState = MsgThreadState   { msgThreadStateName       :: ByteString+    -- ^ Thread name (NULL terminated)   , msgThreadStateCpu        :: Word16+    -- ^ Percentage cpu use for this thread. Values range from 0 - 1000 and needs+    -- to be renormalized to 100   , msgThreadStateStackFree  :: Word32+    -- ^ Free stack space for this thread   } deriving ( Show, Read, Eq )  instance Binary MsgThreadState where@@ -125,13 +179,23 @@     putWord16le msgThreadStateCpu     putWord32le msgThreadStateStackFree +-- | UARTChannel.+--+-- Throughput, utilization, and error counts on the RX/TX buffers of this UART+-- channel. The reported percentage values require to be normalized. data UARTChannel = UARTChannel   { uARTChannelTxThroughput    :: Float+    -- ^ UART transmit throughput   , uARTChannelRxThroughput    :: Float+    -- ^ UART receive throughput   , uARTChannelCrcErrorCount   :: Word16+    -- ^ UART CRC error count   , uARTChannelIoErrorCount    :: Word16+    -- ^ UART IO error count   , uARTChannelTxBufferLevel   :: Word8+    -- ^ UART transmit buffer percentage utilization (ranges from 0 - 255)   , uARTChannelRxBufferLevel   :: Word8+    -- ^ UART receive buffer percentage utilization (ranges from 0 to 255)   } deriving ( Show, Read, Eq )  instance Binary UARTChannel where@@ -152,11 +216,21 @@     putWord8 uARTChannelTxBufferLevel     putWord8 uARTChannelRxBufferLevel +-- | Latency.+--+-- Statistics on the latency of observations received from the base station. As+-- observation packets are received their GPS time is compared to the current+-- GPS time calculated locally by the receiver to give a precise measurement of+-- the end-to-end communication latency in the system. data Latency = Latency   { latencyAvg     :: Int32+    -- ^ Average latency   , latencyLmin    :: Int32+    -- ^ Minimum latency   , latencyLmax    :: Int32+    -- ^ Maximum latency   , latencyCurrent :: Int32+    -- ^ Smoothed estimate of the current latency   } deriving ( Show, Read, Eq )  instance Binary Latency where@@ -176,11 +250,22 @@ msgUartState :: Word16 msgUartState = 0x0018 +-- | SBP class for message MSG_UART_STATE (0x0018).+--+-- The UART message reports data latency and throughput of the UART channels+-- providing SBP I/O. On the default Piksi configuration, UARTs A and B are+-- used for telemetry radios, but can also be host access ports for embedded+-- hosts, or other interfaces in future. The reported percentage values require+-- to be normalized. data MsgUartState = MsgUartState   { msgUartStateUartA     :: UARTChannel+    -- ^ State of UART A   , msgUartStateUartB     :: UARTChannel+    -- ^ State of UART B   , msgUartStateUartFtdi  :: UARTChannel+    -- ^ State of UART FTDI (USB logger)   , msgUartStateLatency   :: Latency+    -- ^ UART communication latency   } deriving ( Show, Read, Eq )  instance Binary MsgUartState where@@ -200,8 +285,14 @@ msgIarState :: Word16 msgIarState = 0x0019 +-- | SBP class for message MSG_IAR_STATE (0x0019).+--+-- This message reports the state of the Integer Ambiguity Resolution (IAR)+-- process, which resolves unknown integer ambiguities from double-differenced+-- carrier-phase measurements from satellite observations. data MsgIarState = MsgIarState   { msgIarStateNumHyps  :: Word32+    -- ^ Number of integer ambiguity hypotheses remaining   } deriving ( Show, Read, Eq )  instance Binary MsgIarState where@@ -215,9 +306,15 @@ msgMaskSatellite :: Word16 msgMaskSatellite = 0x001B +-- | SBP class for message MSG_MASK_SATELLITE (0x001B).+--+-- This message allows setting a mask to prevent a particular satellite from+-- being used in various Piksi subsystems. data MsgMaskSatellite = MsgMaskSatellite   { msgMaskSatelliteMask :: Word8+    -- ^ Mask of systems that should ignore this satellite.   , msgMaskSatelliteSid  :: Word32+    -- ^ Signal identifier for which the mask is applied   } deriving ( Show, Read, Eq )  instance Binary MsgMaskSatellite where
src/SwiftNav/SBP/Settings.hs view
@@ -1,3 +1,18 @@+-- |+-- Module:      SwiftNav.SBP.Settings+-- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.+-- License:     LGPL-3+-- Maintainer:  Mark Fine <dev@swiftnav.com>+-- Stability:   experimental+-- Portability: portable+--+-- Messages for reading and writing the device's device settings.  These are in+-- the implementation-defined range (0x0000-0x00FF). Note that some of these+-- messages share the same message type ID for both the host request and the+-- device response. See the accompanying document for descriptions of settings+-- configurations and examples: https://github.com/swift-+-- nav/piksi\_firmware/blob/master/docs/settings.pdf+ module SwiftNav.SBP.Settings where  import Control.Monad@@ -14,6 +29,10 @@ msgSettingsSave :: Word16 msgSettingsSave = 0x00A1 +-- | SBP class for message MSG_SETTINGS_SAVE (0x00A1).+--+-- The save settings message persists the device's current settings+-- configuration to its onboard flash memory file system. data MsgSettingsSave = MsgSettingsSave   deriving ( Show, Read, Eq ) @@ -27,8 +46,13 @@ msgSettingsWrite :: Word16 msgSettingsWrite = 0x00A0 +-- | SBP class for message MSG_SETTINGS_WRITE (0x00A0).+--+-- The setting message writes the device's configuration. data MsgSettingsWrite = MsgSettingsWrite   { msgSettingsWriteSetting :: ByteString+    -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING,+    -- SETTING, VALUE].   } deriving ( Show, Read, Eq )  instance Binary MsgSettingsWrite where@@ -42,8 +66,13 @@ msgSettingsReadReq :: Word16 msgSettingsReadReq = 0x00A4 +-- | SBP class for message MSG_SETTINGS_READ_REQ (0x00A4).+--+-- The setting message reads the device's configuration. data MsgSettingsReadReq = MsgSettingsReadReq   { msgSettingsReadReqSetting :: ByteString+    -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING,+    -- SETTING].   } deriving ( Show, Read, Eq )  instance Binary MsgSettingsReadReq where@@ -57,8 +86,13 @@ msgSettingsReadResp :: Word16 msgSettingsReadResp = 0x00A5 +-- | SBP class for message MSG_SETTINGS_READ_RESP (0x00A5).+--+-- The setting message reads the device's configuration. data MsgSettingsReadResp = MsgSettingsReadResp   { msgSettingsReadRespSetting :: ByteString+    -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING,+    -- SETTING, VALUE].   } deriving ( Show, Read, Eq )  instance Binary MsgSettingsReadResp where@@ -72,8 +106,15 @@ msgSettingsReadByIndexReq :: Word16 msgSettingsReadByIndexReq = 0x00A2 +-- | SBP class for message MSG_SETTINGS_READ_BY_INDEX_REQ (0x00A2).+--+-- The settings message for iterating through the settings values. It will read+-- the setting at an index, returning a NULL-terminated and delimited string+-- with contents [SECTION_SETTING, SETTING, VALUE]. data MsgSettingsReadByIndexReq = MsgSettingsReadByIndexReq   { msgSettingsReadByIndexReqIndex :: Word16+    -- ^ An index into the device settings, with values ranging from 0 to+    -- length(settings)   } deriving ( Show, Read, Eq )  instance Binary MsgSettingsReadByIndexReq where@@ -87,9 +128,18 @@ msgSettingsReadByIndexResp :: Word16 msgSettingsReadByIndexResp = 0x00A7 +-- | SBP class for message MSG_SETTINGS_READ_BY_INDEX_RESP (0x00A7).+--+-- The settings message for iterating through the settings values. It will read+-- the setting at an index, returning a NULL-terminated and delimited string+-- with contents [SECTION_SETTING, SETTING, VALUE]. data MsgSettingsReadByIndexResp = MsgSettingsReadByIndexResp   { msgSettingsReadByIndexRespIndex   :: Word16+    -- ^ An index into the device settings, with values ranging from 0 to+    -- length(settings)   , msgSettingsReadByIndexRespSetting :: ByteString+    -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING,+    -- SETTING, VALUE].   } deriving ( Show, Read, Eq )  instance Binary MsgSettingsReadByIndexResp where@@ -105,6 +155,9 @@ msgSettingsReadByIndexDone :: Word16 msgSettingsReadByIndexDone = 0x00A6 +-- | SBP class for message MSG_SETTINGS_READ_BY_INDEX_DONE (0x00A6).+--+-- The settings message for indicating end of the settings values. data MsgSettingsReadByIndexDone = MsgSettingsReadByIndexDone   deriving ( Show, Read, Eq )
src/SwiftNav/SBP/System.hs view
@@ -1,3 +1,13 @@+-- |+-- Module:      SwiftNav.SBP.System+-- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.+-- License:     LGPL-3+-- Maintainer:  Mark Fine <dev@swiftnav.com>+-- Stability:   experimental+-- Portability: portable+--+-- Standardized system messages from Swift Navigation devices.+ module SwiftNav.SBP.System where  import Control.Monad@@ -14,8 +24,14 @@ msgStartup :: Word16 msgStartup = 0xFF00 +-- | SBP class for message MSG_STARTUP (0xFF00).+--+-- The system start-up message is sent once on system start-up. It notifies the+-- host or other attached devices that the system has started and is now ready+-- to respond to commands or configuration requests. data MsgStartup = MsgStartup   { msgStartupReserved :: Word32+    -- ^ Reserved   } deriving ( Show, Read, Eq )  instance Binary MsgStartup where@@ -29,8 +45,18 @@ msgHeartbeat :: Word16 msgHeartbeat = 0xFFFF +-- | SBP class for message MSG_HEARTBEAT (0xFFFF).+--+-- The heartbeat message is sent periodically to inform the host or other+-- attached devices that the system is running. It is used to monitor system+-- malfunctions. It also contains status flags that indicate to the host the+-- status of the system and whether it is operating correctly. Currently, the+-- expected heartbeat interval is 1 sec.  The system error flag is used to+-- indicate that an error has occurred in the system. To determine the source+-- of the error, the remaining error flags should be inspected. data MsgHeartbeat = MsgHeartbeat   { msgHeartbeatFlags :: Word32+    -- ^ Status flags   } deriving ( Show, Read, Eq )  instance Binary MsgHeartbeat where
src/SwiftNav/SBP/Tracking.hs view
@@ -1,3 +1,13 @@+-- |+-- Module:      SwiftNav.SBP.Tracking+-- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.+-- License:     LGPL-3+-- Maintainer:  Mark Fine <dev@swiftnav.com>+-- Stability:   experimental+-- Portability: portable+--+-- Satellite code and carrier-phase tracking messages from the device.+ module SwiftNav.SBP.Tracking where  import Control.Monad@@ -11,10 +21,19 @@ import Data.Int import Data.Word +-- | TrackingChannelState.+--+-- Tracking channel state for a specific satellite PRN and measured signal+-- power. data TrackingChannelState = TrackingChannelState   { trackingChannelStateState :: Word8+    -- ^ Status of tracking channel   , trackingChannelStateSid   :: Word32+    -- ^ Signal identifier being tracked - values 0x00 through 0x1F represent GPS+    -- PRNs 1 through 32 respectively (PRN-1 notation); other values reserved+    -- for future use   , trackingChannelStateCn0   :: Float+    -- ^ Carrier-to-noise density   } deriving ( Show, Read, Eq )  instance Binary TrackingChannelState where@@ -32,8 +51,14 @@ msgTrackingState :: Word16 msgTrackingState = 0x0013 +-- | SBP class for message MSG_TRACKING_STATE (0x0013).+--+-- The tracking message returns a variable-length array of tracking channel+-- states. It reports status and snr power measurements for all tracked+-- satellites. data MsgTrackingState = MsgTrackingState   { msgTrackingStateStates :: [TrackingChannelState]+    -- ^ Satellite tracking channel state   } deriving ( Show, Read, Eq )  instance Binary MsgTrackingState where@@ -44,9 +69,14 @@   put MsgTrackingState {..} = do     mapM_ put msgTrackingStateStates +-- | TrackingChannelCorrelation.+--+-- Structure containing in-phase and quadrature correlation components. data TrackingChannelCorrelation = TrackingChannelCorrelation   { trackingChannelCorrelationI :: Int32+    -- ^ In-phase correlation   , trackingChannelCorrelationQ :: Int32+    -- ^ Quadrature correlation   } deriving ( Show, Read, Eq )  instance Binary TrackingChannelCorrelation where@@ -62,10 +92,19 @@ msgTrackingIq :: Word16 msgTrackingIq = 0x001C +-- | SBP class for message MSG_TRACKING_IQ (0x001C).+--+-- When enabled, a tracking channel can output the correlations at each update+-- interval. data MsgTrackingIq = MsgTrackingIq   { msgTrackingIqChannel :: Word8+    -- ^ Tracking channel of origin   , msgTrackingIqSid     :: Word32+    -- ^ Signal identifier being tracked - values 0x00 through 0x1F represent GPS+    -- PRNs 1 through 32 respectively (PRN-1 notation); other values reserved+    -- for future use   , msgTrackingIqCorrs   :: [TrackingChannelCorrelation]+    -- ^ Early, Prompt and Late correlations   } deriving ( Show, Read, Eq )  instance Binary MsgTrackingIq where@@ -80,10 +119,16 @@     putWord32le msgTrackingIqSid     mapM_ put msgTrackingIqCorrs +-- | TrackingChannelStateDepA.+--+-- Deprecated. data TrackingChannelStateDepA = TrackingChannelStateDepA   { trackingChannelStateDepAState :: Word8+    -- ^ Status of tracking channel   , trackingChannelStateDepAPrn   :: Word8+    -- ^ PRN-1 being tracked   , trackingChannelStateDepACn0   :: Float+    -- ^ Carrier-to-noise density   } deriving ( Show, Read, Eq )  instance Binary TrackingChannelStateDepA where@@ -101,8 +146,12 @@ msgTrackingStateDepA :: Word16 msgTrackingStateDepA = 0x0016 +-- | SBP class for message MSG_TRACKING_STATE_DEP_A (0x0016).+--+-- Deprecated. data MsgTrackingStateDepA = MsgTrackingStateDepA   { msgTrackingStateDepAStates :: [TrackingChannelStateDepA]+    -- ^ Satellite tracking channel state   } deriving ( Show, Read, Eq )  instance Binary MsgTrackingStateDepA where