diff --git a/main/JSON2SBP.hs b/main/JSON2SBP.hs --- a/main/JSON2SBP.hs +++ b/main/JSON2SBP.hs @@ -30,7 +30,7 @@ -- | Decode a SBPMsg from JSON. decodeSBPMsg :: ByteString -> Maybe SBPMsg -decodeSBPMsg v = decodeStrict v <|> (fmap sbpMsgData $ decodeStrict v) +decodeSBPMsg v = decodeStrict v <|> sbpMsgData <$> decodeStrict v main :: IO () main = runResourceT $ diff --git a/main/SBP2YAML.hs b/main/SBP2YAML.hs new file mode 100644 --- /dev/null +++ b/main/SBP2YAML.hs @@ -0,0 +1,27 @@ +-- | +-- Module: SBP2YAML +-- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- License: LGPL-3 +-- Maintainer: Mark Fine +-- Stability: experimental +-- Portability: portable +-- +-- SBP to YAML tool - reads SBP binary from stdin and sends SBP YAML +-- to stdout. + +import BasicPrelude +import Control.Monad.Trans.Resource +import Data.Conduit +import Data.Conduit.Binary +import qualified Data.Conduit.List as CL +import Data.Conduit.Serialization.Binary +import Data.Yaml +import SwiftNav.SBP +import System.IO + +main :: IO () +main = runResourceT $ + sourceHandle stdin =$= + conduitDecode =$= + CL.map (encode :: SBPMsg -> ByteString) $$ + sinkHandle stdout diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 0.51.2 +version: 0.51.5 synopsis: SwiftNav's SBP Library homepage: https://github.com/swift-nav/libsbp license: LGPL-3 @@ -30,6 +30,7 @@ , SwiftNav.SBP.ExtEvents , SwiftNav.SBP.FileIo , SwiftNav.SBP.Flash + , SwiftNav.SBP.GnssSignal , SwiftNav.SBP.Logging , SwiftNav.SBP.Navigation , SwiftNav.SBP.Observation @@ -37,6 +38,7 @@ , SwiftNav.SBP.Settings , SwiftNav.SBP.System , SwiftNav.SBP.Tracking + , SwiftNav.SBP.User , SwiftNav.SBP.Encoding , SwiftNav.SBP.Types other-modules: SwiftNav.SBP.TH @@ -96,6 +98,23 @@ default-language: Haskell2010 default-extensions: NoImplicitPrelude OverloadedStrings +executable sbp2yaml + hs-source-dirs: main + main-is: SBP2YAML.hs + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + build-depends: base + , basic-prelude + , binary-conduit + , bytestring + , conduit + , conduit-extra + , resourcet + , sbp + , yaml + default-language: Haskell2010 + default-extensions: NoImplicitPrelude + OverloadedStrings + benchmark bench type: exitcode-stdio-1.0 hs-source-dirs: bench diff --git a/src/SwiftNav/SBP.hs b/src/SwiftNav/SBP.hs --- a/src/SwiftNav/SBP.hs +++ b/src/SwiftNav/SBP.hs @@ -16,6 +16,7 @@ , module SwiftNav.SBP.ExtEvents , module SwiftNav.SBP.FileIo , module SwiftNav.SBP.Flash + , module SwiftNav.SBP.GnssSignal , module SwiftNav.SBP.Logging , module SwiftNav.SBP.Navigation , module SwiftNav.SBP.Observation @@ -23,6 +24,7 @@ , module SwiftNav.SBP.Settings , module SwiftNav.SBP.System , module SwiftNav.SBP.Tracking + , module SwiftNav.SBP.User ) where import BasicPrelude hiding (lookup) @@ -40,6 +42,7 @@ import SwiftNav.SBP.ExtEvents import SwiftNav.SBP.FileIo import SwiftNav.SBP.Flash +import SwiftNav.SBP.GnssSignal import SwiftNav.SBP.Logging import SwiftNav.SBP.Navigation import SwiftNav.SBP.Observation @@ -47,6 +50,7 @@ import SwiftNav.SBP.Settings import SwiftNav.SBP.System import SwiftNav.SBP.Tracking +import SwiftNav.SBP.User import SwiftNav.SBP.Types @@ -120,6 +124,7 @@ | SBPMsgTrackingStateDepA MsgTrackingStateDepA Msg | SBPMsgTweet MsgTweet Msg | SBPMsgUartState MsgUartState Msg + | SBPMsgUserData MsgUserData Msg | SBPMsgVelEcef MsgVelEcef Msg | SBPMsgVelNed MsgVelNed Msg | SBPMsgBadCrc Msg @@ -199,6 +204,7 @@ | _msgSBPType == msgTrackingStateDepA = SBPMsgTrackingStateDepA (decode (fromStrict _msgSBPPayload)) sbp | _msgSBPType == msgTweet = SBPMsgTweet (decode (fromStrict _msgSBPPayload)) sbp | _msgSBPType == msgUartState = SBPMsgUartState (decode (fromStrict _msgSBPPayload)) sbp + | _msgSBPType == msgUserData = SBPMsgUserData (decode (fromStrict _msgSBPPayload)) sbp | _msgSBPType == msgVelEcef = SBPMsgVelEcef (decode (fromStrict _msgSBPPayload)) sbp | _msgSBPType == msgVelNed = SBPMsgVelNed (decode (fromStrict _msgSBPPayload)) sbp | otherwise = SBPMsgUnknown sbp @@ -272,6 +278,7 @@ encode' (SBPMsgTrackingStateDepA _ sbp) = sbp encode' (SBPMsgTweet _ sbp) = sbp encode' (SBPMsgUartState _ sbp) = sbp + encode' (SBPMsgUserData _ sbp) = sbp encode' (SBPMsgVelEcef _ sbp) = sbp encode' (SBPMsgVelNed _ sbp) = sbp encode' (SBPMsgUnknown sbp) = sbp @@ -347,6 +354,7 @@ | msgType == msgTrackingStateDepA = SBPMsgTrackingStateDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgTweet = SBPMsgTweet <$> parseJSON obj <*> parseJSON obj | msgType == msgUartState = SBPMsgUartState <$> parseJSON obj <*> parseJSON obj + | msgType == msgUserData = SBPMsgUserData <$> parseJSON obj <*> parseJSON obj | msgType == msgVelEcef = SBPMsgVelEcef <$> parseJSON obj <*> parseJSON obj | msgType == msgVelNed = SBPMsgVelNed <$> parseJSON obj <*> parseJSON obj | otherwise = SBPMsgUnknown <$> parseJSON obj @@ -424,6 +432,7 @@ toJSON (SBPMsgTrackingStateDepA msg sbp) = toJSON msg `merge` toJSON sbp toJSON (SBPMsgTweet msg sbp) = toJSON msg `merge` toJSON sbp toJSON (SBPMsgUartState msg sbp) = toJSON msg `merge` toJSON sbp + toJSON (SBPMsgUserData msg sbp) = toJSON msg `merge` toJSON sbp toJSON (SBPMsgVelEcef msg sbp) = toJSON msg `merge` toJSON sbp toJSON (SBPMsgVelNed msg sbp) = toJSON msg `merge` toJSON sbp toJSON (SBPMsgBadCrc sbp) = toJSON sbp diff --git a/src/SwiftNav/SBP/Acquisition.hs b/src/SwiftNav/SBP/Acquisition.hs --- a/src/SwiftNav/SBP/Acquisition.hs +++ b/src/SwiftNav/SBP/Acquisition.hs @@ -25,6 +25,7 @@ import SwiftNav.SBP.Encoding import SwiftNav.SBP.TH import SwiftNav.SBP.Types +import SwiftNav.SBP.GnssSignal msgAcqResult :: Word16 msgAcqResult = 0x0014 @@ -37,16 +38,14 @@ -- the best signal-to-noise (SNR) ratio. data MsgAcqResult = MsgAcqResult { _msgAcqResult_snr :: Float - -- ^ SNR of best point. Currently dimensonless, but will have units of dB Hz - -- in the revision of this message. + -- ^ SNR of best point. Currently in arbitrary SNR points, but will be in + -- units of dB Hz in a later revision of this message. , _msgAcqResult_cp :: Float -- ^ Code phase of best point , _msgAcqResult_cf :: Float -- ^ Carrier frequency of best point - , _msgAcqResult_sid :: 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. + , _msgAcqResult_sid :: SBPGnssSignal + -- ^ GNSS signal for which acquisition was attempted } deriving ( Show, Read, Eq ) instance Binary MsgAcqResult where @@ -54,14 +53,14 @@ _msgAcqResult_snr <- getFloat32le _msgAcqResult_cp <- getFloat32le _msgAcqResult_cf <- getFloat32le - _msgAcqResult_sid <- getWord32le + _msgAcqResult_sid <- get return MsgAcqResult {..} put MsgAcqResult {..} = do putFloat32le _msgAcqResult_snr putFloat32le _msgAcqResult_cp putFloat32le _msgAcqResult_cf - putWord32le _msgAcqResult_sid + put _msgAcqResult_sid $(deriveSBP 'msgAcqResult ''MsgAcqResult) diff --git a/src/SwiftNav/SBP/Bootload.hs b/src/SwiftNav/SBP/Bootload.hs --- a/src/SwiftNav/SBP/Bootload.hs +++ b/src/SwiftNav/SBP/Bootload.hs @@ -6,10 +6,9 @@ -- 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. +-- Messages for the bootloading configuration on the device. 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 diff --git a/src/SwiftNav/SBP/FileIo.hs b/src/SwiftNav/SBP/FileIo.hs --- a/src/SwiftNav/SBP/FileIo.hs +++ b/src/SwiftNav/SBP/FileIo.hs @@ -10,10 +10,8 @@ -- 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. +-- reading and writing files. 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 diff --git a/src/SwiftNav/SBP/Flash.hs b/src/SwiftNav/SBP/Flash.hs --- a/src/SwiftNav/SBP/Flash.hs +++ b/src/SwiftNav/SBP/Flash.hs @@ -9,8 +9,6 @@ -- 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 diff --git a/src/SwiftNav/SBP/GnssSignal.hs b/src/SwiftNav/SBP/GnssSignal.hs new file mode 100644 --- /dev/null +++ b/src/SwiftNav/SBP/GnssSignal.hs @@ -0,0 +1,54 @@ +-- | +-- Module: SwiftNav.SBP.GnssSignal +-- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- License: LGPL-3 +-- Maintainer: Mark Fine +-- Stability: experimental +-- Portability: portable +-- +-- Struct to represent a signal (constellation, band, satellite identifier) + +module SwiftNav.SBP.GnssSignal where + +import BasicPrelude +import Control.Lens +import Control.Monad.Loops +import Data.Aeson.TH (deriveJSON, defaultOptions, fieldLabelModifier) +import Data.Binary +import Data.Binary.Get +import Data.Binary.IEEE754 +import Data.Binary.Put +import Data.ByteString +import Data.ByteString.Lazy hiding ( ByteString ) +import Data.Int +import Data.Word +import SwiftNav.SBP.Encoding +import SwiftNav.SBP.TH +import SwiftNav.SBP.Types + +-- | SBPGnssSignal. +-- +-- Signal identifier containing constellation, band, and satellite identifier +data SBPGnssSignal = SBPGnssSignal + { _sBPGnssSignal_sat :: Word16 + -- ^ Constellation-specific satellite identifier + , _sBPGnssSignal_band :: Word8 + -- ^ Signal band + , _sBPGnssSignal_constellation :: Word8 + -- ^ Constellation to which the satellite belongs + } deriving ( Show, Read, Eq ) + +instance Binary SBPGnssSignal where + get = do + _sBPGnssSignal_sat <- getWord16le + _sBPGnssSignal_band <- getWord8 + _sBPGnssSignal_constellation <- getWord8 + return SBPGnssSignal {..} + + put SBPGnssSignal {..} = do + putWord16le _sBPGnssSignal_sat + putWord8 _sBPGnssSignal_band + putWord8 _sBPGnssSignal_constellation +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_sBPGnssSignal_" . stripPrefix "_sBPGnssSignal_"} + ''SBPGnssSignal) +$(makeLenses ''SBPGnssSignal) diff --git a/src/SwiftNav/SBP/Logging.hs b/src/SwiftNav/SBP/Logging.hs --- a/src/SwiftNav/SBP/Logging.hs +++ b/src/SwiftNav/SBP/Logging.hs @@ -6,8 +6,7 @@ -- Stability: experimental -- Portability: portable -- --- Logging and debugging messages from the device. These are in the --- implementation-defined range (0x0000-0x00FF). +-- Logging and debugging messages from the device. module SwiftNav.SBP.Logging where diff --git a/src/SwiftNav/SBP/Navigation.hs b/src/SwiftNav/SBP/Navigation.hs --- a/src/SwiftNav/SBP/Navigation.hs +++ b/src/SwiftNav/SBP/Navigation.hs @@ -300,9 +300,9 @@ -- 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). +-- local WGS84 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 { _msgBaselineNed_tow :: Word32 -- ^ GPS Time of Week @@ -407,8 +407,9 @@ -- | 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). +-- coordinates. The NED coordinate system is defined as the local WGS84 tangent +-- plane centered at the current position. The full GPS time is given by the +-- preceding MSG_GPS_TIME with the matching time-of-week (tow). data MsgVelNed = MsgVelNed { _msgVelNed_tow :: Word32 -- ^ GPS Time of Week @@ -462,8 +463,8 @@ -- | SBP class for message MSG_BASELINE_HEADING (0x0207). -- -- This message reports the baseline heading pointing from the base station to --- the rover relative to North. The full GPS time is given by the preceding --- MSG_GPS_TIME with the matching time-of-week (tow). +-- the rover relative to True North. The full GPS time is given by the +-- preceding MSG_GPS_TIME with the matching time-of-week (tow). data MsgBaselineHeading = MsgBaselineHeading { _msgBaselineHeading_tow :: Word32 -- ^ GPS Time of Week diff --git a/src/SwiftNav/SBP/Observation.hs b/src/SwiftNav/SBP/Observation.hs --- a/src/SwiftNav/SBP/Observation.hs +++ b/src/SwiftNav/SBP/Observation.hs @@ -25,6 +25,7 @@ import SwiftNav.SBP.Encoding import SwiftNav.SBP.TH import SwiftNav.SBP.Types +import SwiftNav.SBP.GnssSignal -- | ObsGPSTime. -- @@ -113,10 +114,8 @@ -- ^ Lock indicator. This value changes whenever a satellite signal has lost -- and regained lock, indicating that the carrier phase ambiguity may have -- changed. - , _packedObsContent_sid :: 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. + , _packedObsContent_sid :: SBPGnssSignal + -- ^ GNSS signal identifier } deriving ( Show, Read, Eq ) instance Binary PackedObsContent where @@ -125,7 +124,7 @@ _packedObsContent_L <- get _packedObsContent_cn0 <- getWord8 _packedObsContent_lock <- getWord16le - _packedObsContent_sid <- getWord32le + _packedObsContent_sid <- get return PackedObsContent {..} put PackedObsContent {..} = do @@ -133,7 +132,7 @@ put _packedObsContent_L putWord8 _packedObsContent_cn0 putWord16le _packedObsContent_lock - putWord32le _packedObsContent_sid + put _packedObsContent_sid $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_packedObsContent_" . stripPrefix "_packedObsContent_"} ''PackedObsContent) $(makeLenses ''PackedObsContent) @@ -270,10 +269,8 @@ -- ^ Is valid? , _msgEphemeris_healthy :: Word8 -- ^ Satellite is healthy? - , _msgEphemeris_sid :: 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 + , _msgEphemeris_sid :: SBPGnssSignal + -- ^ GNSS signal identifier , _msgEphemeris_iode :: Word8 -- ^ Issue of ephemeris data , _msgEphemeris_iodc :: Word16 @@ -309,7 +306,7 @@ _msgEphemeris_toc_wn <- getWord16le _msgEphemeris_valid <- getWord8 _msgEphemeris_healthy <- getWord8 - _msgEphemeris_sid <- getWord32le + _msgEphemeris_sid <- get _msgEphemeris_iode <- getWord8 _msgEphemeris_iodc <- getWord16le _msgEphemeris_reserved <- getWord32le @@ -341,7 +338,7 @@ putWord16le _msgEphemeris_toc_wn putWord8 _msgEphemeris_valid putWord8 _msgEphemeris_healthy - putWord32le _msgEphemeris_sid + put _msgEphemeris_sid putWord8 _msgEphemeris_iode putWord16le _msgEphemeris_iodc putWord32le _msgEphemeris_reserved diff --git a/src/SwiftNav/SBP/Piksi.hs b/src/SwiftNav/SBP/Piksi.hs --- a/src/SwiftNav/SBP/Piksi.hs +++ b/src/SwiftNav/SBP/Piksi.hs @@ -8,8 +8,7 @@ -- -- 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. +-- used. module SwiftNav.SBP.Piksi where @@ -28,6 +27,7 @@ import SwiftNav.SBP.Encoding import SwiftNav.SBP.TH import SwiftNav.SBP.Types +import SwiftNav.SBP.GnssSignal msgAlmanac :: Word16 msgAlmanac = 0x0069 @@ -126,7 +126,7 @@ -- | SBP class for message MSG_CW_START (0x00C1). -- --- This is an unused legacy message from those host for starting the CW +-- This is an unused legacy message from the host for starting the CW -- interference channel on the SwiftNAP. This message will be removed in a -- future release. data MsgCwStart = MsgCwStart @@ -203,7 +203,7 @@ -- -- 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. +-- values must be normalized. data MsgThreadState = MsgThreadState { _msgThreadState_name :: ByteString -- ^ Thread name (NULL terminated) @@ -235,7 +235,7 @@ -- | UARTChannel. -- -- Throughput, utilization, and error counts on the RX/TX buffers of this UART --- channel. The reported percentage values require to be normalized. +-- channel. The reported percentage values must be normalized. data UARTChannel = UARTChannel { _uARTChannel_tx_throughput :: Float -- ^ UART transmit throughput @@ -246,7 +246,7 @@ , _uARTChannel_io_error_count :: Word16 -- ^ UART IO error count , _uARTChannel_tx_buffer_level :: Word8 - -- ^ UART transmit buffer percentage utilization (ranges from 0 - 255) + -- ^ UART transmit buffer percentage utilization (ranges from 0 to 255) , _uARTChannel_rx_buffer_level :: Word8 -- ^ UART receive buffer percentage utilization (ranges from 0 to 255) } deriving ( Show, Read, Eq ) @@ -314,8 +314,8 @@ -- 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. +-- hosts, or other interfaces in future. The reported percentage values must be +-- normalized. data MsgUartState = MsgUartState { _msgUartState_uart_a :: UARTChannel -- ^ State of UART A @@ -384,19 +384,19 @@ data MsgMaskSatellite = MsgMaskSatellite { _msgMaskSatellite_mask :: Word8 -- ^ Mask of systems that should ignore this satellite. - , _msgMaskSatellite_sid :: Word32 - -- ^ Signal identifier for which the mask is applied + , _msgMaskSatellite_sid :: SBPGnssSignal + -- ^ GNSS signal for which the mask is applied } deriving ( Show, Read, Eq ) instance Binary MsgMaskSatellite where get = do _msgMaskSatellite_mask <- getWord8 - _msgMaskSatellite_sid <- getWord32le + _msgMaskSatellite_sid <- get return MsgMaskSatellite {..} put MsgMaskSatellite {..} = do putWord8 _msgMaskSatellite_mask - putWord32le _msgMaskSatellite_sid + put _msgMaskSatellite_sid $(deriveSBP 'msgMaskSatellite ''MsgMaskSatellite) diff --git a/src/SwiftNav/SBP/Settings.hs b/src/SwiftNav/SBP/Settings.hs --- a/src/SwiftNav/SBP/Settings.hs +++ b/src/SwiftNav/SBP/Settings.hs @@ -6,12 +6,11 @@ -- 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 +-- Messages for reading and writing the device's device settings. 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 @@ -86,7 +85,7 @@ -- | SBP class for message MSG_SETTINGS_READ_REQ (0x00A4). -- --- The setting message reads the devices configuration. +-- The setting message reads the device configuration. data MsgSettingsReadReq = MsgSettingsReadReq { _msgSettingsReadReq_setting :: ByteString -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING, @@ -113,7 +112,7 @@ -- | SBP class for message MSG_SETTINGS_READ_RESP (0x00A5). -- --- The setting message reads the devices configuration. +-- The setting message reads the device configuration. data MsgSettingsReadResp = MsgSettingsReadResp { _msgSettingsReadResp_setting :: ByteString -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING, diff --git a/src/SwiftNav/SBP/Tracking.hs b/src/SwiftNav/SBP/Tracking.hs --- a/src/SwiftNav/SBP/Tracking.hs +++ b/src/SwiftNav/SBP/Tracking.hs @@ -25,18 +25,17 @@ import SwiftNav.SBP.Encoding import SwiftNav.SBP.TH import SwiftNav.SBP.Types +import SwiftNav.SBP.GnssSignal -- | TrackingChannelState. -- --- Tracking channel state for a specific satellite PRN and measured signal +-- Tracking channel state for a specific satellite signal and measured signal -- power. data TrackingChannelState = TrackingChannelState { _trackingChannelState_state :: Word8 -- ^ Status of tracking channel - , _trackingChannelState_sid :: 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 + , _trackingChannelState_sid :: SBPGnssSignal + -- ^ GNSS signal being tracked , _trackingChannelState_cn0 :: Float -- ^ Carrier-to-noise density } deriving ( Show, Read, Eq ) @@ -44,13 +43,13 @@ instance Binary TrackingChannelState where get = do _trackingChannelState_state <- getWord8 - _trackingChannelState_sid <- getWord32le + _trackingChannelState_sid <- get _trackingChannelState_cn0 <- getFloat32le return TrackingChannelState {..} put TrackingChannelState {..} = do putWord8 _trackingChannelState_state - putWord32le _trackingChannelState_sid + put _trackingChannelState_sid putFloat32le _trackingChannelState_cn0 $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_trackingChannelState_" . stripPrefix "_trackingChannelState_"} ''TrackingChannelState) @@ -62,8 +61,8 @@ -- | 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. +-- states. It reports status and carrier-to-noise density measurements for all +-- tracked satellites. data MsgTrackingState = MsgTrackingState { _msgTrackingState_states :: [TrackingChannelState] -- ^ Satellite tracking channel state @@ -116,10 +115,8 @@ data MsgTrackingIq = MsgTrackingIq { _msgTrackingIq_channel :: Word8 -- ^ Tracking channel of origin - , _msgTrackingIq_sid :: 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 + , _msgTrackingIq_sid :: SBPGnssSignal + -- ^ GNSS signal identifier , _msgTrackingIq_corrs :: [TrackingChannelCorrelation] -- ^ Early, Prompt and Late correlations } deriving ( Show, Read, Eq ) @@ -127,13 +124,13 @@ instance Binary MsgTrackingIq where get = do _msgTrackingIq_channel <- getWord8 - _msgTrackingIq_sid <- getWord32le + _msgTrackingIq_sid <- get _msgTrackingIq_corrs <- replicateM 3 get return MsgTrackingIq {..} put MsgTrackingIq {..} = do putWord8 _msgTrackingIq_channel - putWord32le _msgTrackingIq_sid + put _msgTrackingIq_sid mapM_ put _msgTrackingIq_corrs $(deriveSBP 'msgTrackingIq ''MsgTrackingIq) diff --git a/src/SwiftNav/SBP/User.hs b/src/SwiftNav/SBP/User.hs new file mode 100644 --- /dev/null +++ b/src/SwiftNav/SBP/User.hs @@ -0,0 +1,53 @@ +-- | +-- Module: SwiftNav.SBP.User +-- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- License: LGPL-3 +-- Maintainer: Mark Fine +-- Stability: experimental +-- Portability: portable +-- +-- Messages reserved for use by the user. + +module SwiftNav.SBP.User where + +import BasicPrelude +import Control.Lens +import Control.Monad.Loops +import Data.Aeson.TH (deriveJSON, defaultOptions, fieldLabelModifier) +import Data.Binary +import Data.Binary.Get +import Data.Binary.IEEE754 +import Data.Binary.Put +import Data.ByteString +import Data.ByteString.Lazy hiding ( ByteString ) +import Data.Int +import Data.Word +import SwiftNav.SBP.Encoding +import SwiftNav.SBP.TH +import SwiftNav.SBP.Types + +msgUserData :: Word16 +msgUserData = 0x0800 + +-- | SBP class for message MSG_USER_DATA (0x0800). +-- +-- This message can contain any application specific user data up to a maximum +-- length of 255 bytes per message. +data MsgUserData = MsgUserData + { _msgUserData_contents :: [Word8] + -- ^ User data payload + } deriving ( Show, Read, Eq ) + +instance Binary MsgUserData where + get = do + _msgUserData_contents <- whileM (liftM not isEmpty) getWord8 + return MsgUserData {..} + + put MsgUserData {..} = do + mapM_ putWord8 _msgUserData_contents + +$(deriveSBP 'msgUserData ''MsgUserData) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgUserData_" . stripPrefix "_msgUserData_"} + ''MsgUserData) +$(makeLenses ''MsgUserData)