sbp 0.50.6 → 0.50.7

raw patch · 6 files changed

+288/−74 lines, 6 filesdep +scientificdep +unordered-containersPVP: major bump suggested

API removals or changes: PVP suggests a major version bump

Dependencies added: scientific, unordered-containers

API changes (from Hackage documentation)

Files

• sbp.cabal +4/−1
• src/SwiftNav/SBP.hs +251/−73
• src/SwiftNav/SBP/Bootload.hs +6/−0
• src/SwiftNav/SBP/Flash.hs +3/−0
• src/SwiftNav/SBP/Piksi.hs +18/−0
• src/SwiftNav/SBP/Settings.hs +6/−0

@@ -1,5 +1,5 @@ name:                  sbp-version:               0.50.6+version:               0.50.7 synopsis:              SwiftNav's SBP Library homepage:              https://github.com/swift-nav/libsbp license:               LGPL-3@@ -50,10 +50,13 @@                      , bytestring                      , data-binary-ieee754                      , monad-loops+                     , scientific                      , text+                     , unordered-containers   default-extensions:  RecordWildCards                        TemplateHaskell                        NoImplicitPrelude+                       OverloadedStrings  test-suite test   type:                exitcode-stdio-1.0

@@ -5,16 +5,21 @@ -- Maintainer:  Mark Fine <dev@swiftnav.com> -- Stability:   experimental -- Portability: portable+--+-- SBP message containers and serialization utilities.  module SwiftNav.SBP where -import BasicPrelude+import BasicPrelude hiding (lookup)+import Data.Aeson hiding (decode) import Data.Binary import Data.Binary.Get import Data.Binary.Put import Data.ByteString import Data.ByteString.Lazy hiding (ByteString) import Data.ByteString.Builder+import Data.HashMap.Strict+import Data.Scientific import Data.Word import SwiftNav.CRC16 import SwiftNav.SBP.Acquisition@@ -30,9 +35,14 @@ import SwiftNav.SBP.System import SwiftNav.SBP.Tracking -msgSBPPreamble :: Word8-msgSBPPreamble = 0x55+msgPreamble :: Word8+msgPreamble = 0x55 +-- | Default sender ID. Intended for messages sent from the host to+-- the device.+defaultSenderID :: Word16+defaultSenderID = 0x42+ data Msg = Msg   { msgSBPType    :: Word16   , msgSBPSender  :: Word16@@ -65,7 +75,24 @@     word8 msgSBPLen       <>     byteString msgSBPPayload +instance FromJSON Msg where+  parseJSON (Object v) = do+    Msg <$> v .: "msg_type"+        <*> v .: "sender"+        <*> v .: "length"+        <*> v .: "payload"+        <*> v .: "crc"+  parseJSON _ = mzero +instance ToJSON Msg where+  toJSON Msg {..} = object [ "preamble" .= msgPreamble+                           , "msg_type" .= msgSBPType+                           , "sender" .= msgSBPSender+                           , "length" .= msgSBPLen+                           , "payload" .= msgSBPPayload+                           , "crc" .= msgSBPCrc+                           ]+ data SBPMsg =      SBPMsgAcqResult MsgAcqResult Msg    | SBPMsgAcqResultDepA MsgAcqResultDepA Msg@@ -140,81 +167,81 @@ instance Binary SBPMsg where   get = do     preamble <- getWord8-    if preamble /= msgSBPPreamble then get else do+    if preamble /= msgPreamble then get else do       sbp <- get       return $ decode' sbp where-        decode' sbp-          | checkCrc sbp /= msgSBPCrc sbp = SBPMsgBadCrc sbp-          | msgSBPType sbp == msgAcqResult = SBPMsgAcqResult (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgAcqResultDepA = SBPMsgAcqResultDepA (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgAlmanac = SBPMsgAlmanac (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgBasePos = SBPMsgBasePos (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgBaselineEcef = SBPMsgBaselineEcef (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgBaselineNed = SBPMsgBaselineNed (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgBootloaderHandshakeDepA = SBPMsgBootloaderHandshakeDepA (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgBootloaderHandshakeReq = SBPMsgBootloaderHandshakeReq (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgBootloaderHandshakeResp = SBPMsgBootloaderHandshakeResp (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgBootloaderJumpToApp = SBPMsgBootloaderJumpToApp (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgCwResults = SBPMsgCwResults (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgCwStart = SBPMsgCwStart (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgDops = SBPMsgDops (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgEphemeris = SBPMsgEphemeris (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgEphemerisDepA = SBPMsgEphemerisDepA (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgEphemerisDepB = SBPMsgEphemerisDepB (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgExtEvent = SBPMsgExtEvent (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgFileioReadDirReq = SBPMsgFileioReadDirReq (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgFileioReadDirResp = SBPMsgFileioReadDirResp (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgFileioReadReq = SBPMsgFileioReadReq (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgFileioReadResp = SBPMsgFileioReadResp (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgFileioRemove = SBPMsgFileioRemove (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgFileioWriteReq = SBPMsgFileioWriteReq (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgFileioWriteResp = SBPMsgFileioWriteResp (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgFlashDone = SBPMsgFlashDone (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgFlashErase = SBPMsgFlashErase (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgFlashProgram = SBPMsgFlashProgram (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgFlashReadReq = SBPMsgFlashReadReq (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgFlashReadResp = SBPMsgFlashReadResp (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgGpsTime = SBPMsgGpsTime (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgHeartbeat = SBPMsgHeartbeat (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgIarState = SBPMsgIarState (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgInitBase = SBPMsgInitBase (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgLog = SBPMsgLog (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgMaskSatellite = SBPMsgMaskSatellite (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgObs = SBPMsgObs (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgObsDepA = SBPMsgObsDepA (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgPosEcef = SBPMsgPosEcef (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgPosLlh = SBPMsgPosLlh (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgPrintDep = SBPMsgPrintDep (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgReset = SBPMsgReset (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgResetFilters = SBPMsgResetFilters (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgSetTime = SBPMsgSetTime (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgSettingsReadByIndexDone = SBPMsgSettingsReadByIndexDone (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgSettingsReadByIndexReq = SBPMsgSettingsReadByIndexReq (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgSettingsReadByIndexResp = SBPMsgSettingsReadByIndexResp (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgSettingsReadReq = SBPMsgSettingsReadReq (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgSettingsReadResp = SBPMsgSettingsReadResp (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgSettingsSave = SBPMsgSettingsSave (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgSettingsWrite = SBPMsgSettingsWrite (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgStartup = SBPMsgStartup (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgStmFlashLockSector = SBPMsgStmFlashLockSector (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgStmUniqueIdReq = SBPMsgStmUniqueIdReq (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgStmUniqueIdResp = SBPMsgStmUniqueIdResp (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgThreadState = SBPMsgThreadState (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgTrackingIq = SBPMsgTrackingIq (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgTrackingState = SBPMsgTrackingState (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgTrackingStateDepA = SBPMsgTrackingStateDepA (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgTweet = SBPMsgTweet (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgUartState = SBPMsgUartState (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgVelEcef = SBPMsgVelEcef (decode (fromStrict (msgSBPPayload sbp))) sbp-          | msgSBPType sbp == msgVelNed = SBPMsgVelNed (decode (fromStrict (msgSBPPayload sbp))) sbp+        decode' sbp@Msg {..}+          | checkCrc sbp /= msgSBPCrc = SBPMsgBadCrc sbp+          | msgSBPType == msgAcqResult = SBPMsgAcqResult (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgAcqResultDepA = SBPMsgAcqResultDepA (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgAlmanac = SBPMsgAlmanac (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgBasePos = SBPMsgBasePos (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgBaselineEcef = SBPMsgBaselineEcef (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgBaselineNed = SBPMsgBaselineNed (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgBootloaderHandshakeDepA = SBPMsgBootloaderHandshakeDepA (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgBootloaderHandshakeReq = SBPMsgBootloaderHandshakeReq (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgBootloaderHandshakeResp = SBPMsgBootloaderHandshakeResp (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgBootloaderJumpToApp = SBPMsgBootloaderJumpToApp (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgCwResults = SBPMsgCwResults (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgCwStart = SBPMsgCwStart (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgDops = SBPMsgDops (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgEphemeris = SBPMsgEphemeris (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgEphemerisDepA = SBPMsgEphemerisDepA (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgEphemerisDepB = SBPMsgEphemerisDepB (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgExtEvent = SBPMsgExtEvent (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgFileioReadDirReq = SBPMsgFileioReadDirReq (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgFileioReadDirResp = SBPMsgFileioReadDirResp (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgFileioReadReq = SBPMsgFileioReadReq (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgFileioReadResp = SBPMsgFileioReadResp (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgFileioRemove = SBPMsgFileioRemove (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgFileioWriteReq = SBPMsgFileioWriteReq (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgFileioWriteResp = SBPMsgFileioWriteResp (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgFlashDone = SBPMsgFlashDone (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgFlashErase = SBPMsgFlashErase (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgFlashProgram = SBPMsgFlashProgram (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgFlashReadReq = SBPMsgFlashReadReq (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgFlashReadResp = SBPMsgFlashReadResp (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgGpsTime = SBPMsgGpsTime (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgHeartbeat = SBPMsgHeartbeat (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgIarState = SBPMsgIarState (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgInitBase = SBPMsgInitBase (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgLog = SBPMsgLog (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgMaskSatellite = SBPMsgMaskSatellite (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgObs = SBPMsgObs (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgObsDepA = SBPMsgObsDepA (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgPosEcef = SBPMsgPosEcef (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgPosLlh = SBPMsgPosLlh (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgPrintDep = SBPMsgPrintDep (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgReset = SBPMsgReset (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgResetFilters = SBPMsgResetFilters (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgSetTime = SBPMsgSetTime (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgSettingsReadByIndexDone = SBPMsgSettingsReadByIndexDone (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgSettingsReadByIndexReq = SBPMsgSettingsReadByIndexReq (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgSettingsReadByIndexResp = SBPMsgSettingsReadByIndexResp (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgSettingsReadReq = SBPMsgSettingsReadReq (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgSettingsReadResp = SBPMsgSettingsReadResp (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgSettingsSave = SBPMsgSettingsSave (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgSettingsWrite = SBPMsgSettingsWrite (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgStartup = SBPMsgStartup (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgStmFlashLockSector = SBPMsgStmFlashLockSector (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgStmUniqueIdReq = SBPMsgStmUniqueIdReq (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgStmUniqueIdResp = SBPMsgStmUniqueIdResp (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgThreadState = SBPMsgThreadState (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgTrackingIq = SBPMsgTrackingIq (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgTrackingState = SBPMsgTrackingState (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgTrackingStateDepA = SBPMsgTrackingStateDepA (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgTweet = SBPMsgTweet (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgUartState = SBPMsgUartState (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgVelEcef = SBPMsgVelEcef (decode (fromStrict msgSBPPayload)) sbp+          | msgSBPType == msgVelNed = SBPMsgVelNed (decode (fromStrict msgSBPPayload)) sbp           | otherwise = SBPMsgUnknown sbp    put msg = do-    putWord8 msgSBPPreamble+    putWord8 msgPreamble     put $ encode' msg     where       encode' (SBPMsgAcqResult _ sbp) = sbp@@ -284,3 +311,154 @@       encode' (SBPMsgVelEcef _ sbp) = sbp       encode' (SBPMsgVelNed _ sbp) = sbp       encode' (SBPMsgUnknown sbp) = sbp+      encode' (SBPMsgBadCrc  sbp) = sbp++instance FromJSON SBPMsg where+  parseJSON (Object o) = case lookup "msg_type" o of+    Nothing         -> mzero+    Just (Number msgType) -> decode' (toBoundedInteger msgType) where+                               decode' Nothing = mzero+                               decode' (Just t)+                                 | t == msgAcqResult = SBPMsgAcqResult <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgAcqResultDepA = SBPMsgAcqResultDepA <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgAlmanac = SBPMsgAlmanac <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgBasePos = SBPMsgBasePos <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgBaselineEcef = SBPMsgBaselineEcef <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgBaselineNed = SBPMsgBaselineNed <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgBootloaderHandshakeDepA = SBPMsgBootloaderHandshakeDepA <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgBootloaderHandshakeReq = SBPMsgBootloaderHandshakeReq <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgBootloaderHandshakeResp = SBPMsgBootloaderHandshakeResp <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgBootloaderJumpToApp = SBPMsgBootloaderJumpToApp <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgCwResults = SBPMsgCwResults <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgCwStart = SBPMsgCwStart <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgDops = SBPMsgDops <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgEphemeris = SBPMsgEphemeris <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgEphemerisDepA = SBPMsgEphemerisDepA <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgEphemerisDepB = SBPMsgEphemerisDepB <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgExtEvent = SBPMsgExtEvent <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgFileioReadDirReq = SBPMsgFileioReadDirReq <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgFileioReadDirResp = SBPMsgFileioReadDirResp <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgFileioReadReq = SBPMsgFileioReadReq <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgFileioReadResp = SBPMsgFileioReadResp <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgFileioRemove = SBPMsgFileioRemove <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgFileioWriteReq = SBPMsgFileioWriteReq <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgFileioWriteResp = SBPMsgFileioWriteResp <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgFlashDone = SBPMsgFlashDone <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgFlashErase = SBPMsgFlashErase <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgFlashProgram = SBPMsgFlashProgram <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgFlashReadReq = SBPMsgFlashReadReq <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgFlashReadResp = SBPMsgFlashReadResp <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgGpsTime = SBPMsgGpsTime <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgHeartbeat = SBPMsgHeartbeat <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgIarState = SBPMsgIarState <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgInitBase = SBPMsgInitBase <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgLog = SBPMsgLog <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgMaskSatellite = SBPMsgMaskSatellite <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgObs = SBPMsgObs <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgObsDepA = SBPMsgObsDepA <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgPosEcef = SBPMsgPosEcef <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgPosLlh = SBPMsgPosLlh <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgPrintDep = SBPMsgPrintDep <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgReset = SBPMsgReset <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgResetFilters = SBPMsgResetFilters <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgSetTime = SBPMsgSetTime <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgSettingsReadByIndexDone = SBPMsgSettingsReadByIndexDone <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgSettingsReadByIndexReq = SBPMsgSettingsReadByIndexReq <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgSettingsReadByIndexResp = SBPMsgSettingsReadByIndexResp <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgSettingsReadReq = SBPMsgSettingsReadReq <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgSettingsReadResp = SBPMsgSettingsReadResp <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgSettingsSave = SBPMsgSettingsSave <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgSettingsWrite = SBPMsgSettingsWrite <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgStartup = SBPMsgStartup <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgStmFlashLockSector = SBPMsgStmFlashLockSector <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgStmUniqueIdReq = SBPMsgStmUniqueIdReq <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgStmUniqueIdResp = SBPMsgStmUniqueIdResp <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgThreadState = SBPMsgThreadState <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgTrackingIq = SBPMsgTrackingIq <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgTrackingState = SBPMsgTrackingState <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgTrackingStateDepA = SBPMsgTrackingStateDepA <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgTweet = SBPMsgTweet <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgUartState = SBPMsgUartState <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgVelEcef = SBPMsgVelEcef <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | t == msgVelNed = SBPMsgVelNed <$> parseJSON (Object o) <*> parseJSON (Object o)+                                 | otherwise = SBPMsgUnknown <$> parseJSON (Object o)+    Just _ -> mzero+  parseJSON (_) = mzero++merge :: Value -> Value -> Value+merge (Object one) (Object two) = Object $ one <> two+merge _ _ = undefined++instance ToJSON SBPMsg where+   toJSON (SBPMsgAcqResult msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgAcqResultDepA msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgAlmanac msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgBasePos msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgBaselineEcef msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgBaselineNed msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgBootloaderHandshakeDepA msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgBootloaderHandshakeReq msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgBootloaderHandshakeResp msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgBootloaderJumpToApp msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgCwResults msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgCwStart msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgDops msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgEphemeris msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgEphemerisDepA msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgEphemerisDepB msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgExtEvent msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgFileioReadDirReq msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgFileioReadDirResp msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgFileioReadReq msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgFileioReadResp msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgFileioRemove msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgFileioWriteReq msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgFileioWriteResp msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgFlashDone msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgFlashErase msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgFlashProgram msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgFlashReadReq msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgFlashReadResp msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgGpsTime msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgHeartbeat msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgIarState msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgInitBase msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgLog msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgM25FlashWriteStatus msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgMaskSatellite msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgNapDeviceDnaReq msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgNapDeviceDnaResp msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgObs msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgObsDepA msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgPosEcef msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgPosLlh msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgPrintDep msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgReset msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgResetFilters msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgSetTime msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgSettingsReadByIndexDone msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgSettingsReadByIndexReq msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgSettingsReadByIndexResp msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgSettingsReadReq msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgSettingsReadResp msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgSettingsSave msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgSettingsWrite msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgStartup msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgStmFlashLockSector msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgStmFlashUnlockSector msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgStmUniqueIdReq msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgStmUniqueIdResp msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgThreadState msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgTrackingIq msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgTrackingState msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgTrackingStateDepA msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgTweet msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgUartState msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgVelEcef msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgVelNed msg sbp) = merge (toJSON msg) (toJSON sbp)+   toJSON (SBPMsgBadCrc sbp) = toJSON sbp+   toJSON (SBPMsgUnknown sbp) = toJSON sbp

@@ -45,6 +45,9 @@   put MsgBootloaderHandshakeReq =     return () +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgBootloaderHandshakeReq_" . stripPrefix "msgBootloaderHandshakeReq_"}+             ''MsgBootloaderHandshakeReq)+ msgBootloaderHandshakeResp :: Word16 msgBootloaderHandshakeResp = 0x00B4 @@ -115,6 +118,9 @@    put MsgNapDeviceDnaReq =     return ()++$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgNapDeviceDnaReq_" . stripPrefix "msgNapDeviceDnaReq_"}+             ''MsgNapDeviceDnaReq)  msgNapDeviceDnaResp :: Word16 msgNapDeviceDnaResp = 0x00DD

@@ -254,6 +254,9 @@   put MsgStmUniqueIdReq =     return () +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgStmUniqueIdReq_" . stripPrefix "msgStmUniqueIdReq_"}+             ''MsgStmUniqueIdReq)+ msgStmUniqueIdResp :: Word16 msgStmUniqueIdResp = 0x00E5 

@@ -44,6 +44,9 @@   put MsgAlmanac =     return () +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgAlmanac_" . stripPrefix "msgAlmanac_"}+             ''MsgAlmanac)+ msgSetTime :: Word16 msgSetTime = 0x0068 @@ -61,6 +64,9 @@   put MsgSetTime =     return () +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgSetTime_" . stripPrefix "msgSetTime_"}+             ''MsgSetTime)+ msgReset :: Word16 msgReset = 0x00B2 @@ -77,6 +83,9 @@   put MsgReset =     return () +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgReset_" . stripPrefix "msgReset_"}+             ''MsgReset)+ msgCwResults :: Word16 msgCwResults = 0x00C0 @@ -95,6 +104,9 @@   put MsgCwResults =     return () +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgCwResults_" . stripPrefix "msgCwResults_"}+             ''MsgCwResults)+ msgCwStart :: Word16 msgCwStart = 0x00C1 @@ -113,6 +125,9 @@   put MsgCwStart =     return () +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgCwStart_" . stripPrefix "msgCwStart_"}+             ''MsgCwStart)+ msgResetFilters :: Word16 msgResetFilters = 0x0022 @@ -154,6 +169,9 @@    put MsgInitBase =     return ()++$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgInitBase_" . stripPrefix "msgInitBase_"}+             ''MsgInitBase)  msgThreadState :: Word16 msgThreadState = 0x0017

@@ -46,6 +46,9 @@   put MsgSettingsSave =     return () +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgSettingsSave_" . stripPrefix "msgSettingsSave_"}+             ''MsgSettingsSave)+ msgSettingsWrite :: Word16 msgSettingsWrite = 0x00A0 @@ -185,3 +188,6 @@    put MsgSettingsReadByIndexDone =     return ()++$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgSettingsReadByIndexDone_" . stripPrefix "msgSettingsReadByIndexDone_"}+             ''MsgSettingsReadByIndexDone)