diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 0.52.2 +version: 1.0.0 synopsis: SwiftNav's SBP Library homepage: https://github.com/swift-nav/libsbp license: LGPL-3 diff --git a/src/SwiftNav/SBP.hs b/src/SwiftNav/SBP.hs --- a/src/SwiftNav/SBP.hs +++ b/src/SwiftNav/SBP.hs @@ -72,6 +72,7 @@ | SBPMsgEphemeris MsgEphemeris Msg | SBPMsgEphemerisDepA MsgEphemerisDepA Msg | SBPMsgEphemerisDepB MsgEphemerisDepB Msg + | SBPMsgEphemerisDepC MsgEphemerisDepC Msg | SBPMsgExtEvent MsgExtEvent Msg | SBPMsgFileioReadDirReq MsgFileioReadDirReq Msg | SBPMsgFileioReadDirResp MsgFileioReadDirResp Msg @@ -96,6 +97,7 @@ | SBPMsgNapDeviceDnaResp MsgNapDeviceDnaResp Msg | SBPMsgObs MsgObs Msg | SBPMsgObsDepA MsgObsDepA Msg + | SBPMsgObsDepB MsgObsDepB Msg | SBPMsgPosEcef MsgPosEcef Msg | SBPMsgPosLlh MsgPosLlh Msg | SBPMsgPrintDep MsgPrintDep Msg @@ -120,6 +122,7 @@ | SBPMsgTrackingStateDepA MsgTrackingStateDepA Msg | SBPMsgTweet MsgTweet Msg | SBPMsgUartState MsgUartState Msg + | SBPMsgUartStateDepa MsgUartStateDepa Msg | SBPMsgUserData MsgUserData Msg | SBPMsgVelEcef MsgVelEcef Msg | SBPMsgVelNed MsgVelNed Msg @@ -154,6 +157,7 @@ | _msgSBPType == msgEphemeris = SBPMsgEphemeris (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgEphemerisDepA = SBPMsgEphemerisDepA (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgEphemerisDepB = SBPMsgEphemerisDepB (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgEphemerisDepC = SBPMsgEphemerisDepC (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgExtEvent = SBPMsgExtEvent (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgFileioReadDirReq = SBPMsgFileioReadDirReq (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgFileioReadDirResp = SBPMsgFileioReadDirResp (decode (fromStrict _msgSBPPayload)) m @@ -178,6 +182,7 @@ | _msgSBPType == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgObs = SBPMsgObs (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgObsDepA = SBPMsgObsDepA (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgObsDepB = SBPMsgObsDepB (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgPosEcef = SBPMsgPosEcef (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgPosLlh = SBPMsgPosLlh (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgPrintDep = SBPMsgPrintDep (decode (fromStrict _msgSBPPayload)) m @@ -202,6 +207,7 @@ | _msgSBPType == msgTrackingStateDepA = SBPMsgTrackingStateDepA (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgTweet = SBPMsgTweet (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgUartState = SBPMsgUartState (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgUartStateDepa = SBPMsgUartStateDepa (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgUserData = SBPMsgUserData (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgVelEcef = SBPMsgVelEcef (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgVelNed = SBPMsgVelNed (decode (fromStrict _msgSBPPayload)) m @@ -228,6 +234,7 @@ encode' (SBPMsgEphemeris _ m) = put m encode' (SBPMsgEphemerisDepA _ m) = put m encode' (SBPMsgEphemerisDepB _ m) = put m + encode' (SBPMsgEphemerisDepC _ m) = put m encode' (SBPMsgExtEvent _ m) = put m encode' (SBPMsgFileioReadDirReq _ m) = put m encode' (SBPMsgFileioReadDirResp _ m) = put m @@ -252,6 +259,7 @@ encode' (SBPMsgNapDeviceDnaResp _ m) = put m encode' (SBPMsgObs _ m) = put m encode' (SBPMsgObsDepA _ m) = put m + encode' (SBPMsgObsDepB _ m) = put m encode' (SBPMsgPosEcef _ m) = put m encode' (SBPMsgPosLlh _ m) = put m encode' (SBPMsgPrintDep _ m) = put m @@ -276,6 +284,7 @@ encode' (SBPMsgTrackingStateDepA _ m) = put m encode' (SBPMsgTweet _ m) = put m encode' (SBPMsgUartState _ m) = put m + encode' (SBPMsgUartStateDepa _ m) = put m encode' (SBPMsgUserData _ m) = put m encode' (SBPMsgVelEcef _ m) = put m encode' (SBPMsgVelNed _ m) = put m @@ -305,6 +314,7 @@ | msgType == msgEphemeris = SBPMsgEphemeris <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisDepA = SBPMsgEphemerisDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisDepB = SBPMsgEphemerisDepB <$> parseJSON obj <*> parseJSON obj + | msgType == msgEphemerisDepC = SBPMsgEphemerisDepC <$> parseJSON obj <*> parseJSON obj | msgType == msgExtEvent = SBPMsgExtEvent <$> parseJSON obj <*> parseJSON obj | msgType == msgFileioReadDirReq = SBPMsgFileioReadDirReq <$> parseJSON obj <*> parseJSON obj | msgType == msgFileioReadDirResp = SBPMsgFileioReadDirResp <$> parseJSON obj <*> parseJSON obj @@ -329,6 +339,7 @@ | msgType == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp <$> parseJSON obj <*> parseJSON obj | msgType == msgObs = SBPMsgObs <$> parseJSON obj <*> parseJSON obj | msgType == msgObsDepA = SBPMsgObsDepA <$> parseJSON obj <*> parseJSON obj + | msgType == msgObsDepB = SBPMsgObsDepB <$> parseJSON obj <*> parseJSON obj | msgType == msgPosEcef = SBPMsgPosEcef <$> parseJSON obj <*> parseJSON obj | msgType == msgPosLlh = SBPMsgPosLlh <$> parseJSON obj <*> parseJSON obj | msgType == msgPrintDep = SBPMsgPrintDep <$> parseJSON obj <*> parseJSON obj @@ -353,6 +364,7 @@ | msgType == msgTrackingStateDepA = SBPMsgTrackingStateDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgTweet = SBPMsgTweet <$> parseJSON obj <*> parseJSON obj | msgType == msgUartState = SBPMsgUartState <$> parseJSON obj <*> parseJSON obj + | msgType == msgUartStateDepa = SBPMsgUartStateDepa <$> parseJSON obj <*> parseJSON obj | msgType == msgUserData = SBPMsgUserData <$> parseJSON obj <*> parseJSON obj | msgType == msgVelEcef = SBPMsgVelEcef <$> parseJSON obj <*> parseJSON obj | msgType == msgVelNed = SBPMsgVelNed <$> parseJSON obj <*> parseJSON obj @@ -384,6 +396,7 @@ toJSON (SBPMsgEphemeris n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgEphemerisDepA n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgEphemerisDepB n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgEphemerisDepC n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgExtEvent n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgFileioReadDirReq n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgFileioReadDirResp n m) = toJSON n `mergeValues` toJSON m @@ -408,6 +421,7 @@ toJSON (SBPMsgNapDeviceDnaResp n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgObs n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgObsDepA n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgObsDepB n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgPosEcef n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgPosLlh n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgPrintDep n m) = toJSON n `mergeValues` toJSON m @@ -432,6 +446,7 @@ toJSON (SBPMsgTrackingStateDepA n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgTweet n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgUartState n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgUartStateDepa n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgUserData n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgVelEcef n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgVelNed n m) = toJSON n `mergeValues` toJSON m @@ -457,6 +472,7 @@ msg f (SBPMsgEphemeris n m) = SBPMsgEphemeris n <$> f m msg f (SBPMsgEphemerisDepA n m) = SBPMsgEphemerisDepA n <$> f m msg f (SBPMsgEphemerisDepB n m) = SBPMsgEphemerisDepB n <$> f m + msg f (SBPMsgEphemerisDepC n m) = SBPMsgEphemerisDepC n <$> f m msg f (SBPMsgExtEvent n m) = SBPMsgExtEvent n <$> f m msg f (SBPMsgFileioReadDirReq n m) = SBPMsgFileioReadDirReq n <$> f m msg f (SBPMsgFileioReadDirResp n m) = SBPMsgFileioReadDirResp n <$> f m @@ -481,6 +497,7 @@ msg f (SBPMsgNapDeviceDnaResp n m) = SBPMsgNapDeviceDnaResp n <$> f m msg f (SBPMsgObs n m) = SBPMsgObs n <$> f m msg f (SBPMsgObsDepA n m) = SBPMsgObsDepA n <$> f m + msg f (SBPMsgObsDepB n m) = SBPMsgObsDepB n <$> f m msg f (SBPMsgPosEcef n m) = SBPMsgPosEcef n <$> f m msg f (SBPMsgPosLlh n m) = SBPMsgPosLlh n <$> f m msg f (SBPMsgPrintDep n m) = SBPMsgPrintDep n <$> f m @@ -505,6 +522,7 @@ msg f (SBPMsgTrackingStateDepA n m) = SBPMsgTrackingStateDepA n <$> f m msg f (SBPMsgTweet n m) = SBPMsgTweet n <$> f m msg f (SBPMsgUartState n m) = SBPMsgUartState n <$> f m + msg f (SBPMsgUartStateDepa n m) = SBPMsgUartStateDepa n <$> f m msg f (SBPMsgUserData n m) = SBPMsgUserData n <$> f m msg f (SBPMsgVelEcef n m) = SBPMsgVelEcef n <$> f m msg f (SBPMsgVelNed n m) = SBPMsgVelNed n <$> f m 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 @@ -56,7 +56,7 @@ -- -- 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. +-- fractional cycles. This phase has the same sign as the pseudorange. data CarrierPhase = CarrierPhase { _carrierPhase_i :: Int32 -- ^ Carrier phase whole cycles @@ -103,12 +103,14 @@ -- | PackedObsContent. -- --- Pseudorange and carrier phase observation for a satellite being tracked. +-- Pseudorange and carrier phase observation for a satellite being tracked. The +-- observations should be interoperable with 3rd party receivers and conform +-- with typical RTCMv3 GNSS observations. data PackedObsContent = PackedObsContent { _packedObsContent_P :: Word32 -- ^ Pseudorange observation , _packedObsContent_L :: CarrierPhase - -- ^ Carrier phase observation + -- ^ Carrier phase observation with typical sign convention. , _packedObsContent_cn0 :: Word8 -- ^ Carrier-to-Noise density , _packedObsContent_lock :: Word16 @@ -139,14 +141,16 @@ $(makeLenses ''PackedObsContent) msgObs :: Word16 -msgObs = 0x0043 +msgObs = 0x0049 --- | SBP class for message MSG_OBS (0x0043). +-- | SBP class for message MSG_OBS (0x0049). -- -- 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). +-- The observations should be interoperable with 3rd party receivers and +-- conform with typical RTCMv3 GNSS observations. data MsgObs = MsgObs { _msgObs_header :: ObservationHeader -- ^ Header of a GPS observation message @@ -244,9 +248,9 @@ $(makeLenses ''MsgBasePosEcef) msgEphemeris :: Word16 -msgEphemeris = 0x0047 +msgEphemeris = 0x0080 --- | SBP class for message MSG_EPHEMERIS (0x0047). +-- | SBP class for message MSG_EPHEMERIS (0x0080). -- -- The ephemeris message returns a set of satellite orbit parameters that is -- used to calculate GPS satellite position, velocity, and clock offset. Please @@ -649,14 +653,184 @@ ''MsgEphemerisDepB) $(makeLenses ''MsgEphemerisDepB) +msgEphemerisDepC :: Word16 +msgEphemerisDepC = 0x0047 + +-- | SBP class for message MSG_EPHEMERIS_DEP_C (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 MsgEphemerisDepC = MsgEphemerisDepC + { _msgEphemerisDepC_tgd :: Double + -- ^ Group delay differential between L1 and L2 + , _msgEphemerisDepC_c_rs :: Double + -- ^ Amplitude of the sine harmonic correction term to the orbit radius + , _msgEphemerisDepC_c_rc :: Double + -- ^ Amplitude of the cosine harmonic correction term to the orbit radius + , _msgEphemerisDepC_c_uc :: Double + -- ^ Amplitude of the cosine harmonic correction term to the argument of + -- latitude + , _msgEphemerisDepC_c_us :: Double + -- ^ Amplitude of the sine harmonic correction term to the argument of + -- latitude + , _msgEphemerisDepC_c_ic :: Double + -- ^ Amplitude of the cosine harmonic correction term to the angle of + -- inclination + , _msgEphemerisDepC_c_is :: Double + -- ^ Amplitude of the sine harmonic correction term to the angle of + -- inclination + , _msgEphemerisDepC_dn :: Double + -- ^ Mean motion difference + , _msgEphemerisDepC_m0 :: Double + -- ^ Mean anomaly at reference time + , _msgEphemerisDepC_ecc :: Double + -- ^ Eccentricity of satellite orbit + , _msgEphemerisDepC_sqrta :: Double + -- ^ Square root of the semi-major axis of orbit + , _msgEphemerisDepC_omega0 :: Double + -- ^ Longitude of ascending node of orbit plane at weekly epoch + , _msgEphemerisDepC_omegadot :: Double + -- ^ Rate of right ascension + , _msgEphemerisDepC_w :: Double + -- ^ Argument of perigee + , _msgEphemerisDepC_inc :: Double + -- ^ Inclination + , _msgEphemerisDepC_inc_dot :: Double + -- ^ Inclination first derivative + , _msgEphemerisDepC_af0 :: Double + -- ^ Polynomial clock correction coefficient (clock bias) + , _msgEphemerisDepC_af1 :: Double + -- ^ Polynomial clock correction coefficient (clock drift) + , _msgEphemerisDepC_af2 :: Double + -- ^ Polynomial clock correction coefficient (rate of clock drift) + , _msgEphemerisDepC_toe_tow :: Double + -- ^ Time of week + , _msgEphemerisDepC_toe_wn :: Word16 + -- ^ Week number + , _msgEphemerisDepC_toc_tow :: Double + -- ^ Clock reference time of week + , _msgEphemerisDepC_toc_wn :: Word16 + -- ^ Clock reference week number + , _msgEphemerisDepC_valid :: Word8 + -- ^ Is valid? + , _msgEphemerisDepC_healthy :: Word8 + -- ^ Satellite is healthy? + , _msgEphemerisDepC_sid :: GnssSignal + -- ^ GNSS signal identifier + , _msgEphemerisDepC_iode :: Word8 + -- ^ Issue of ephemeris data + , _msgEphemerisDepC_iodc :: Word16 + -- ^ Issue of clock data + , _msgEphemerisDepC_reserved :: Word32 + -- ^ Reserved field + } deriving ( Show, Read, Eq ) + +instance Binary MsgEphemerisDepC where + get = do + _msgEphemerisDepC_tgd <- getFloat64le + _msgEphemerisDepC_c_rs <- getFloat64le + _msgEphemerisDepC_c_rc <- getFloat64le + _msgEphemerisDepC_c_uc <- getFloat64le + _msgEphemerisDepC_c_us <- getFloat64le + _msgEphemerisDepC_c_ic <- getFloat64le + _msgEphemerisDepC_c_is <- getFloat64le + _msgEphemerisDepC_dn <- getFloat64le + _msgEphemerisDepC_m0 <- getFloat64le + _msgEphemerisDepC_ecc <- getFloat64le + _msgEphemerisDepC_sqrta <- getFloat64le + _msgEphemerisDepC_omega0 <- getFloat64le + _msgEphemerisDepC_omegadot <- getFloat64le + _msgEphemerisDepC_w <- getFloat64le + _msgEphemerisDepC_inc <- getFloat64le + _msgEphemerisDepC_inc_dot <- getFloat64le + _msgEphemerisDepC_af0 <- getFloat64le + _msgEphemerisDepC_af1 <- getFloat64le + _msgEphemerisDepC_af2 <- getFloat64le + _msgEphemerisDepC_toe_tow <- getFloat64le + _msgEphemerisDepC_toe_wn <- getWord16le + _msgEphemerisDepC_toc_tow <- getFloat64le + _msgEphemerisDepC_toc_wn <- getWord16le + _msgEphemerisDepC_valid <- getWord8 + _msgEphemerisDepC_healthy <- getWord8 + _msgEphemerisDepC_sid <- get + _msgEphemerisDepC_iode <- getWord8 + _msgEphemerisDepC_iodc <- getWord16le + _msgEphemerisDepC_reserved <- getWord32le + return MsgEphemerisDepC {..} + + put MsgEphemerisDepC {..} = do + putFloat64le _msgEphemerisDepC_tgd + putFloat64le _msgEphemerisDepC_c_rs + putFloat64le _msgEphemerisDepC_c_rc + putFloat64le _msgEphemerisDepC_c_uc + putFloat64le _msgEphemerisDepC_c_us + putFloat64le _msgEphemerisDepC_c_ic + putFloat64le _msgEphemerisDepC_c_is + putFloat64le _msgEphemerisDepC_dn + putFloat64le _msgEphemerisDepC_m0 + putFloat64le _msgEphemerisDepC_ecc + putFloat64le _msgEphemerisDepC_sqrta + putFloat64le _msgEphemerisDepC_omega0 + putFloat64le _msgEphemerisDepC_omegadot + putFloat64le _msgEphemerisDepC_w + putFloat64le _msgEphemerisDepC_inc + putFloat64le _msgEphemerisDepC_inc_dot + putFloat64le _msgEphemerisDepC_af0 + putFloat64le _msgEphemerisDepC_af1 + putFloat64le _msgEphemerisDepC_af2 + putFloat64le _msgEphemerisDepC_toe_tow + putWord16le _msgEphemerisDepC_toe_wn + putFloat64le _msgEphemerisDepC_toc_tow + putWord16le _msgEphemerisDepC_toc_wn + putWord8 _msgEphemerisDepC_valid + putWord8 _msgEphemerisDepC_healthy + put _msgEphemerisDepC_sid + putWord8 _msgEphemerisDepC_iode + putWord16le _msgEphemerisDepC_iodc + putWord32le _msgEphemerisDepC_reserved + +$(deriveSBP 'msgEphemerisDepC ''MsgEphemerisDepC) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgEphemerisDepC_" . stripPrefix "_msgEphemerisDepC_"} + ''MsgEphemerisDepC) +$(makeLenses ''MsgEphemerisDepC) + +-- | CarrierPhaseDepA. +-- +-- 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. This has the opposite sign convention than a typical GPS +-- receiver and the phase has the opposite sign as the pseudorange. +data CarrierPhaseDepA = CarrierPhaseDepA + { _carrierPhaseDepA_i :: Int32 + -- ^ Carrier phase whole cycles + , _carrierPhaseDepA_f :: Word8 + -- ^ Carrier phase fractional part + } deriving ( Show, Read, Eq ) + +instance Binary CarrierPhaseDepA where + get = do + _carrierPhaseDepA_i <- liftM fromIntegral getWord32le + _carrierPhaseDepA_f <- getWord8 + return CarrierPhaseDepA {..} + + put CarrierPhaseDepA {..} = do + putWord32le $ fromIntegral _carrierPhaseDepA_i + putWord8 _carrierPhaseDepA_f +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_carrierPhaseDepA_" . stripPrefix "_carrierPhaseDepA_"} + ''CarrierPhaseDepA) +$(makeLenses ''CarrierPhaseDepA) + -- | PackedObsContentDepA. -- -- Deprecated. data PackedObsContentDepA = PackedObsContentDepA { _packedObsContentDepA_P :: Word32 -- ^ Pseudorange observation - , _packedObsContentDepA_L :: CarrierPhase - -- ^ Carrier phase observation + , _packedObsContentDepA_L :: CarrierPhaseDepA + -- ^ Carrier phase observation with opposite sign from typical convention , _packedObsContentDepA_cn0 :: Word8 -- ^ Carrier-to-Noise density , _packedObsContentDepA_lock :: Word16 @@ -686,6 +860,44 @@ ''PackedObsContentDepA) $(makeLenses ''PackedObsContentDepA) +-- | PackedObsContentDepB. +-- +-- Pseudorange and carrier phase observation for a satellite being tracked. +-- Pseudoranges are referenced to a nominal pseudorange. +data PackedObsContentDepB = PackedObsContentDepB + { _packedObsContentDepB_P :: Word32 + -- ^ Pseudorange observation + , _packedObsContentDepB_L :: CarrierPhaseDepA + -- ^ Carrier phase observation with opposite sign from typical convention. + , _packedObsContentDepB_cn0 :: Word8 + -- ^ Carrier-to-Noise density + , _packedObsContentDepB_lock :: Word16 + -- ^ Lock indicator. This value changes whenever a satellite signal has lost + -- and regained lock, indicating that the carrier phase ambiguity may have + -- changed. + , _packedObsContentDepB_sid :: GnssSignal + -- ^ GNSS signal identifier + } deriving ( Show, Read, Eq ) + +instance Binary PackedObsContentDepB where + get = do + _packedObsContentDepB_P <- getWord32le + _packedObsContentDepB_L <- get + _packedObsContentDepB_cn0 <- getWord8 + _packedObsContentDepB_lock <- getWord16le + _packedObsContentDepB_sid <- get + return PackedObsContentDepB {..} + + put PackedObsContentDepB {..} = do + putWord32le _packedObsContentDepB_P + put _packedObsContentDepB_L + putWord8 _packedObsContentDepB_cn0 + putWord16le _packedObsContentDepB_lock + put _packedObsContentDepB_sid +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_packedObsContentDepB_" . stripPrefix "_packedObsContentDepB_"} + ''PackedObsContentDepB) +$(makeLenses ''PackedObsContentDepB) + msgObsDepA :: Word16 msgObsDepA = 0x0045 @@ -714,3 +926,35 @@ $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgObsDepA_" . stripPrefix "_msgObsDepA_"} ''MsgObsDepA) $(makeLenses ''MsgObsDepA) + +msgObsDepB :: Word16 +msgObsDepB = 0x0043 + +-- | SBP class for message MSG_OBS_DEP_B (0x0043). +-- +-- This observation message has been deprecated in favor of observations that +-- are more interoperable. This message should be used for observations +-- referenced to a nominal pseudorange which are not interoperable with most +-- 3rd party GNSS receievers or typical RTCMv3 observations. +data MsgObsDepB = MsgObsDepB + { _msgObsDepB_header :: ObservationHeader + -- ^ Header of a GPS observation message + , _msgObsDepB_obs :: [PackedObsContentDepB] + -- ^ Pseudorange and carrier phase observation for a satellite being tracked. + } deriving ( Show, Read, Eq ) + +instance Binary MsgObsDepB where + get = do + _msgObsDepB_header <- get + _msgObsDepB_obs <- whileM (liftM not isEmpty) get + return MsgObsDepB {..} + + put MsgObsDepB {..} = do + put _msgObsDepB_header + mapM_ put _msgObsDepB_obs + +$(deriveSBP 'msgObsDepB ''MsgObsDepB) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgObsDepB_" . stripPrefix "_msgObsDepB_"} + ''MsgObsDepB) +$(makeLenses ''MsgObsDepB) 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 @@ -273,6 +273,41 @@ ''UARTChannel) $(makeLenses ''UARTChannel) +-- | Period. +-- +-- Statistics on the period of observations received from the base station. As +-- complete observation sets are received, their time of reception is compared +-- with the prior set''s time of reception. This measurement provides a proxy +-- for link quality as incomplete or missing sets will increase the period. +-- Long periods can cause momentary RTK solution outages. +data Period = Period + { _period_avg :: Int32 + -- ^ Average period + , _period_pmin :: Int32 + -- ^ Minimum period + , _period_pmax :: Int32 + -- ^ Maximum period + , _period_current :: Int32 + -- ^ Smoothed estimate of the current period + } deriving ( Show, Read, Eq ) + +instance Binary Period where + get = do + _period_avg <- liftM fromIntegral getWord32le + _period_pmin <- liftM fromIntegral getWord32le + _period_pmax <- liftM fromIntegral getWord32le + _period_current <- liftM fromIntegral getWord32le + return Period {..} + + put Period {..} = do + putWord32le $ fromIntegral _period_avg + putWord32le $ fromIntegral _period_pmin + putWord32le $ fromIntegral _period_pmax + putWord32le $ fromIntegral _period_current +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_period_" . stripPrefix "_period_"} + ''Period) +$(makeLenses ''Period) + -- | Latency. -- -- Statistics on the latency of observations received from the base station. As @@ -308,24 +343,29 @@ $(makeLenses ''Latency) msgUartState :: Word16 -msgUartState = 0x0018 +msgUartState = 0x001D --- | SBP class for message MSG_UART_STATE (0x0018). +-- | SBP class for message MSG_UART_STATE (0x001D). -- -- 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 must be --- normalized. +-- normalized. Observations latency and period can be used to assess the +-- health of the differential corrections link. Latency provides the timeliness +-- of received base observations while the period indicates their likelihood +-- of transmission. data MsgUartState = MsgUartState - { _msgUartState_uart_a :: UARTChannel + { _msgUartState_uart_a :: UARTChannel -- ^ State of UART A - , _msgUartState_uart_b :: UARTChannel + , _msgUartState_uart_b :: UARTChannel -- ^ State of UART B , _msgUartState_uart_ftdi :: UARTChannel -- ^ State of UART FTDI (USB logger) - , _msgUartState_latency :: Latency + , _msgUartState_latency :: Latency -- ^ UART communication latency + , _msgUartState_obs_period :: Period + -- ^ Observation receipt period } deriving ( Show, Read, Eq ) instance Binary MsgUartState where @@ -334,6 +374,7 @@ _msgUartState_uart_b <- get _msgUartState_uart_ftdi <- get _msgUartState_latency <- get + _msgUartState_obs_period <- get return MsgUartState {..} put MsgUartState {..} = do @@ -341,12 +382,50 @@ put _msgUartState_uart_b put _msgUartState_uart_ftdi put _msgUartState_latency + put _msgUartState_obs_period $(deriveSBP 'msgUartState ''MsgUartState) $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgUartState_" . stripPrefix "_msgUartState_"} ''MsgUartState) $(makeLenses ''MsgUartState) + +msgUartStateDepa :: Word16 +msgUartStateDepa = 0x0018 + +-- | SBP class for message MSG_UART_STATE_DEPA (0x0018). +-- +-- Deprecated +data MsgUartStateDepa = MsgUartStateDepa + { _msgUartStateDepa_uart_a :: UARTChannel + -- ^ State of UART A + , _msgUartStateDepa_uart_b :: UARTChannel + -- ^ State of UART B + , _msgUartStateDepa_uart_ftdi :: UARTChannel + -- ^ State of UART FTDI (USB logger) + , _msgUartStateDepa_latency :: Latency + -- ^ UART communication latency + } deriving ( Show, Read, Eq ) + +instance Binary MsgUartStateDepa where + get = do + _msgUartStateDepa_uart_a <- get + _msgUartStateDepa_uart_b <- get + _msgUartStateDepa_uart_ftdi <- get + _msgUartStateDepa_latency <- get + return MsgUartStateDepa {..} + + put MsgUartStateDepa {..} = do + put _msgUartStateDepa_uart_a + put _msgUartStateDepa_uart_b + put _msgUartStateDepa_uart_ftdi + put _msgUartStateDepa_latency + +$(deriveSBP 'msgUartStateDepa ''MsgUartStateDepa) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgUartStateDepa_" . stripPrefix "_msgUartStateDepa_"} + ''MsgUartStateDepa) +$(makeLenses ''MsgUartStateDepa) msgIarState :: Word16 msgIarState = 0x0019