diff --git a/main/JSON2SBP.hs b/main/JSON2SBP.hs --- a/main/JSON2SBP.hs +++ b/main/JSON2SBP.hs @@ -16,6 +16,7 @@ import Data.Conduit.Binary import qualified Data.Conduit.List as CL import Data.Conduit.Serialization.Binary +import Debug.Trace import SwiftNav.SBP import System.IO @@ -29,7 +30,11 @@ -- | Decode a SBPMsg from JSON. decodeSBPMsg :: ByteString -> Maybe SBPMsg -decodeSBPMsg v = decodeStrict v <|> sbpMsgData <$> decodeStrict v +decodeSBPMsg v = result + where parsed = eitherDecodeStrict v <|> sbpMsgData <$> eitherDecodeStrict v + result = case parsed of + Left s -> trace s Nothing + Right x -> Just x main :: IO () main = diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 1.1.0 +version: 1.2.2 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 @@ -56,6 +56,7 @@ data SBPMsg = SBPMsgAcqResult MsgAcqResult Msg | SBPMsgAcqResultDepA MsgAcqResultDepA Msg + | SBPMsgAcqSvProfile MsgAcqSvProfile Msg | SBPMsgAlmanac MsgAlmanac Msg | SBPMsgBasePosEcef MsgBasePosEcef Msg | SBPMsgBasePosLlh MsgBasePosLlh Msg @@ -68,11 +69,15 @@ | SBPMsgBootloaderJumpToApp MsgBootloaderJumpToApp Msg | SBPMsgCwResults MsgCwResults Msg | SBPMsgCwStart MsgCwStart Msg + | SBPMsgDeviceMonitor MsgDeviceMonitor Msg | SBPMsgDops MsgDops Msg - | SBPMsgEphemeris MsgEphemeris Msg | SBPMsgEphemerisDepA MsgEphemerisDepA Msg | SBPMsgEphemerisDepB MsgEphemerisDepB Msg | SBPMsgEphemerisDepC MsgEphemerisDepC Msg + | SBPMsgEphemerisDepD MsgEphemerisDepD Msg + | SBPMsgEphemerisGlo MsgEphemerisGlo Msg + | SBPMsgEphemerisGps MsgEphemerisGps Msg + | SBPMsgEphemerisSbas MsgEphemerisSbas Msg | SBPMsgExtEvent MsgExtEvent Msg | SBPMsgFileioReadDirReq MsgFileioReadDirReq Msg | SBPMsgFileioReadDirResp MsgFileioReadDirResp Msg @@ -87,9 +92,11 @@ | SBPMsgFlashReadReq MsgFlashReadReq Msg | SBPMsgFlashReadResp MsgFlashReadResp Msg | SBPMsgGpsTime MsgGpsTime Msg + | SBPMsgGroupDelay MsgGroupDelay Msg | SBPMsgHeartbeat MsgHeartbeat Msg | SBPMsgIarState MsgIarState Msg | SBPMsgInitBase MsgInitBase Msg + | SBPMsgIono MsgIono Msg | SBPMsgLog MsgLog Msg | SBPMsgM25FlashWriteStatus MsgM25FlashWriteStatus Msg | SBPMsgMaskSatellite MsgMaskSatellite Msg @@ -117,6 +124,7 @@ | SBPMsgStmFlashUnlockSector MsgStmFlashUnlockSector Msg | SBPMsgStmUniqueIdReq MsgStmUniqueIdReq Msg | SBPMsgStmUniqueIdResp MsgStmUniqueIdResp Msg + | SBPMsgSvConfigurationGps MsgSvConfigurationGps Msg | SBPMsgThreadState MsgThreadState Msg | SBPMsgTrackingIq MsgTrackingIq Msg | SBPMsgTrackingState MsgTrackingState Msg @@ -142,6 +150,7 @@ | checkCrc m /= _msgSBPCrc = SBPMsgBadCrc m | _msgSBPType == msgAcqResult = SBPMsgAcqResult (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgAcqResultDepA = SBPMsgAcqResultDepA (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgAcqSvProfile = SBPMsgAcqSvProfile (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgAlmanac = SBPMsgAlmanac (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgBasePosEcef = SBPMsgBasePosEcef (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgBasePosLlh = SBPMsgBasePosLlh (decode (fromStrict _msgSBPPayload)) m @@ -154,11 +163,15 @@ | _msgSBPType == msgBootloaderJumpToApp = SBPMsgBootloaderJumpToApp (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgCwResults = SBPMsgCwResults (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgCwStart = SBPMsgCwStart (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgDeviceMonitor = SBPMsgDeviceMonitor (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgDops = SBPMsgDops (decode (fromStrict _msgSBPPayload)) m - | _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 == msgEphemerisDepD = SBPMsgEphemerisDepD (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgEphemerisGlo = SBPMsgEphemerisGlo (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgEphemerisGps = SBPMsgEphemerisGps (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgEphemerisSbas = SBPMsgEphemerisSbas (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 @@ -173,9 +186,11 @@ | _msgSBPType == msgFlashReadReq = SBPMsgFlashReadReq (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgFlashReadResp = SBPMsgFlashReadResp (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgGpsTime = SBPMsgGpsTime (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgGroupDelay = SBPMsgGroupDelay (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgHeartbeat = SBPMsgHeartbeat (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgIarState = SBPMsgIarState (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgInitBase = SBPMsgInitBase (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgIono = SBPMsgIono (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgLog = SBPMsgLog (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgMaskSatellite = SBPMsgMaskSatellite (decode (fromStrict _msgSBPPayload)) m @@ -203,6 +218,7 @@ | _msgSBPType == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgStmUniqueIdReq = SBPMsgStmUniqueIdReq (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgStmUniqueIdResp = SBPMsgStmUniqueIdResp (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgSvConfigurationGps = SBPMsgSvConfigurationGps (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgThreadState = SBPMsgThreadState (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgTrackingIq = SBPMsgTrackingIq (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgTrackingState = SBPMsgTrackingState (decode (fromStrict _msgSBPPayload)) m @@ -220,6 +236,7 @@ encode' sm where encode' (SBPMsgAcqResult _ m) = put m encode' (SBPMsgAcqResultDepA _ m) = put m + encode' (SBPMsgAcqSvProfile _ m) = put m encode' (SBPMsgAlmanac _ m) = put m encode' (SBPMsgBasePosEcef _ m) = put m encode' (SBPMsgBasePosLlh _ m) = put m @@ -232,11 +249,15 @@ encode' (SBPMsgBootloaderJumpToApp _ m) = put m encode' (SBPMsgCwResults _ m) = put m encode' (SBPMsgCwStart _ m) = put m + encode' (SBPMsgDeviceMonitor _ m) = put m encode' (SBPMsgDops _ m) = put m - encode' (SBPMsgEphemeris _ m) = put m encode' (SBPMsgEphemerisDepA _ m) = put m encode' (SBPMsgEphemerisDepB _ m) = put m encode' (SBPMsgEphemerisDepC _ m) = put m + encode' (SBPMsgEphemerisDepD _ m) = put m + encode' (SBPMsgEphemerisGlo _ m) = put m + encode' (SBPMsgEphemerisGps _ m) = put m + encode' (SBPMsgEphemerisSbas _ m) = put m encode' (SBPMsgExtEvent _ m) = put m encode' (SBPMsgFileioReadDirReq _ m) = put m encode' (SBPMsgFileioReadDirResp _ m) = put m @@ -251,9 +272,11 @@ encode' (SBPMsgFlashReadReq _ m) = put m encode' (SBPMsgFlashReadResp _ m) = put m encode' (SBPMsgGpsTime _ m) = put m + encode' (SBPMsgGroupDelay _ m) = put m encode' (SBPMsgHeartbeat _ m) = put m encode' (SBPMsgIarState _ m) = put m encode' (SBPMsgInitBase _ m) = put m + encode' (SBPMsgIono _ m) = put m encode' (SBPMsgLog _ m) = put m encode' (SBPMsgM25FlashWriteStatus _ m) = put m encode' (SBPMsgMaskSatellite _ m) = put m @@ -281,6 +304,7 @@ encode' (SBPMsgStmFlashUnlockSector _ m) = put m encode' (SBPMsgStmUniqueIdReq _ m) = put m encode' (SBPMsgStmUniqueIdResp _ m) = put m + encode' (SBPMsgSvConfigurationGps _ m) = put m encode' (SBPMsgThreadState _ m) = put m encode' (SBPMsgTrackingIq _ m) = put m encode' (SBPMsgTrackingState _ m) = put m @@ -301,6 +325,7 @@ decode' msgType | msgType == msgAcqResult = SBPMsgAcqResult <$> parseJSON obj <*> parseJSON obj | msgType == msgAcqResultDepA = SBPMsgAcqResultDepA <$> parseJSON obj <*> parseJSON obj + | msgType == msgAcqSvProfile = SBPMsgAcqSvProfile <$> parseJSON obj <*> parseJSON obj | msgType == msgAlmanac = SBPMsgAlmanac <$> parseJSON obj <*> parseJSON obj | msgType == msgBasePosEcef = SBPMsgBasePosEcef <$> parseJSON obj <*> parseJSON obj | msgType == msgBasePosLlh = SBPMsgBasePosLlh <$> parseJSON obj <*> parseJSON obj @@ -313,11 +338,15 @@ | msgType == msgBootloaderJumpToApp = SBPMsgBootloaderJumpToApp <$> parseJSON obj <*> parseJSON obj | msgType == msgCwResults = SBPMsgCwResults <$> parseJSON obj <*> parseJSON obj | msgType == msgCwStart = SBPMsgCwStart <$> parseJSON obj <*> parseJSON obj + | msgType == msgDeviceMonitor = SBPMsgDeviceMonitor <$> parseJSON obj <*> parseJSON obj | msgType == msgDops = SBPMsgDops <$> parseJSON obj <*> parseJSON obj - | msgType == msgEphemeris = SBPMsgEphemeris <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisDepA = SBPMsgEphemerisDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisDepB = SBPMsgEphemerisDepB <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisDepC = SBPMsgEphemerisDepC <$> parseJSON obj <*> parseJSON obj + | msgType == msgEphemerisDepD = SBPMsgEphemerisDepD <$> parseJSON obj <*> parseJSON obj + | msgType == msgEphemerisGlo = SBPMsgEphemerisGlo <$> parseJSON obj <*> parseJSON obj + | msgType == msgEphemerisGps = SBPMsgEphemerisGps <$> parseJSON obj <*> parseJSON obj + | msgType == msgEphemerisSbas = SBPMsgEphemerisSbas <$> parseJSON obj <*> parseJSON obj | msgType == msgExtEvent = SBPMsgExtEvent <$> parseJSON obj <*> parseJSON obj | msgType == msgFileioReadDirReq = SBPMsgFileioReadDirReq <$> parseJSON obj <*> parseJSON obj | msgType == msgFileioReadDirResp = SBPMsgFileioReadDirResp <$> parseJSON obj <*> parseJSON obj @@ -332,9 +361,11 @@ | msgType == msgFlashReadReq = SBPMsgFlashReadReq <$> parseJSON obj <*> parseJSON obj | msgType == msgFlashReadResp = SBPMsgFlashReadResp <$> parseJSON obj <*> parseJSON obj | msgType == msgGpsTime = SBPMsgGpsTime <$> parseJSON obj <*> parseJSON obj + | msgType == msgGroupDelay = SBPMsgGroupDelay <$> parseJSON obj <*> parseJSON obj | msgType == msgHeartbeat = SBPMsgHeartbeat <$> parseJSON obj <*> parseJSON obj | msgType == msgIarState = SBPMsgIarState <$> parseJSON obj <*> parseJSON obj | msgType == msgInitBase = SBPMsgInitBase <$> parseJSON obj <*> parseJSON obj + | msgType == msgIono = SBPMsgIono <$> parseJSON obj <*> parseJSON obj | msgType == msgLog = SBPMsgLog <$> parseJSON obj <*> parseJSON obj | msgType == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus <$> parseJSON obj <*> parseJSON obj | msgType == msgMaskSatellite = SBPMsgMaskSatellite <$> parseJSON obj <*> parseJSON obj @@ -362,6 +393,7 @@ | msgType == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector <$> parseJSON obj <*> parseJSON obj | msgType == msgStmUniqueIdReq = SBPMsgStmUniqueIdReq <$> parseJSON obj <*> parseJSON obj | msgType == msgStmUniqueIdResp = SBPMsgStmUniqueIdResp <$> parseJSON obj <*> parseJSON obj + | msgType == msgSvConfigurationGps = SBPMsgSvConfigurationGps <$> parseJSON obj <*> parseJSON obj | msgType == msgThreadState = SBPMsgThreadState <$> parseJSON obj <*> parseJSON obj | msgType == msgTrackingIq = SBPMsgTrackingIq <$> parseJSON obj <*> parseJSON obj | msgType == msgTrackingState = SBPMsgTrackingState <$> parseJSON obj <*> parseJSON obj @@ -384,6 +416,7 @@ instance ToJSON SBPMsg where toJSON (SBPMsgAcqResult n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgAcqResultDepA n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgAcqSvProfile n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgAlmanac n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgBasePosEcef n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgBasePosLlh n m) = toJSON n `mergeValues` toJSON m @@ -396,11 +429,15 @@ toJSON (SBPMsgBootloaderJumpToApp n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgCwResults n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgCwStart n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgDeviceMonitor n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgDops n m) = toJSON n `mergeValues` toJSON m - 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 (SBPMsgEphemerisDepD n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgEphemerisGlo n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgEphemerisGps n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgEphemerisSbas 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 @@ -415,9 +452,11 @@ toJSON (SBPMsgFlashReadReq n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgFlashReadResp n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgGpsTime n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgGroupDelay n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgHeartbeat n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgIarState n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgInitBase n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgIono n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgLog n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgM25FlashWriteStatus n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgMaskSatellite n m) = toJSON n `mergeValues` toJSON m @@ -445,6 +484,7 @@ toJSON (SBPMsgStmFlashUnlockSector n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgStmUniqueIdReq n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgStmUniqueIdResp n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgSvConfigurationGps n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgThreadState n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgTrackingIq n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgTrackingState n m) = toJSON n `mergeValues` toJSON m @@ -461,6 +501,7 @@ instance HasMsg SBPMsg where msg f (SBPMsgAcqResult n m) = SBPMsgAcqResult n <$> f m msg f (SBPMsgAcqResultDepA n m) = SBPMsgAcqResultDepA n <$> f m + msg f (SBPMsgAcqSvProfile n m) = SBPMsgAcqSvProfile n <$> f m msg f (SBPMsgAlmanac n m) = SBPMsgAlmanac n <$> f m msg f (SBPMsgBasePosEcef n m) = SBPMsgBasePosEcef n <$> f m msg f (SBPMsgBasePosLlh n m) = SBPMsgBasePosLlh n <$> f m @@ -473,11 +514,15 @@ msg f (SBPMsgBootloaderJumpToApp n m) = SBPMsgBootloaderJumpToApp n <$> f m msg f (SBPMsgCwResults n m) = SBPMsgCwResults n <$> f m msg f (SBPMsgCwStart n m) = SBPMsgCwStart n <$> f m + msg f (SBPMsgDeviceMonitor n m) = SBPMsgDeviceMonitor n <$> f m msg f (SBPMsgDops n m) = SBPMsgDops n <$> f m - msg f (SBPMsgEphemeris n m) = SBPMsgEphemeris n <$> 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 <$> f m + msg f (SBPMsgEphemerisDepD n m) = SBPMsgEphemerisDepD n <$> f m + msg f (SBPMsgEphemerisGlo n m) = SBPMsgEphemerisGlo n <$> f m + msg f (SBPMsgEphemerisGps n m) = SBPMsgEphemerisGps n <$> f m + msg f (SBPMsgEphemerisSbas n m) = SBPMsgEphemerisSbas 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 @@ -492,9 +537,11 @@ msg f (SBPMsgFlashReadReq n m) = SBPMsgFlashReadReq n <$> f m msg f (SBPMsgFlashReadResp n m) = SBPMsgFlashReadResp n <$> f m msg f (SBPMsgGpsTime n m) = SBPMsgGpsTime n <$> f m + msg f (SBPMsgGroupDelay n m) = SBPMsgGroupDelay n <$> f m msg f (SBPMsgHeartbeat n m) = SBPMsgHeartbeat n <$> f m msg f (SBPMsgIarState n m) = SBPMsgIarState n <$> f m msg f (SBPMsgInitBase n m) = SBPMsgInitBase n <$> f m + msg f (SBPMsgIono n m) = SBPMsgIono n <$> f m msg f (SBPMsgLog n m) = SBPMsgLog n <$> f m msg f (SBPMsgM25FlashWriteStatus n m) = SBPMsgM25FlashWriteStatus n <$> f m msg f (SBPMsgMaskSatellite n m) = SBPMsgMaskSatellite n <$> f m @@ -522,6 +569,7 @@ msg f (SBPMsgStmFlashUnlockSector n m) = SBPMsgStmFlashUnlockSector n <$> f m msg f (SBPMsgStmUniqueIdReq n m) = SBPMsgStmUniqueIdReq n <$> f m msg f (SBPMsgStmUniqueIdResp n m) = SBPMsgStmUniqueIdResp n <$> f m + msg f (SBPMsgSvConfigurationGps n m) = SBPMsgSvConfigurationGps n <$> f m msg f (SBPMsgThreadState n m) = SBPMsgThreadState n <$> f m msg f (SBPMsgTrackingIq n m) = SBPMsgTrackingIq n <$> f m msg f (SBPMsgTrackingState n m) = SBPMsgTrackingState n <$> f m 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 @@ -107,3 +107,94 @@ $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgAcqResultDepA_" . stripPrefix "_msgAcqResultDepA_"} ''MsgAcqResultDepA) $(makeLenses ''MsgAcqResultDepA) + +-- | AcqSvProfile. +-- +-- Profile for a specific SV for debugging purposes The message describes SV +-- profile during acquisition time. The message is used to debug and measure +-- the performance. +data AcqSvProfile = AcqSvProfile + { _acqSvProfile_job_type :: Word8 + -- ^ SV search job type (deep, fallback, etc) + , _acqSvProfile_status :: Word8 + -- ^ Acquisition status 1 is Success, 0 is Failure + , _acqSvProfile_cn0 :: Word16 + -- ^ CN0 value. Only valid if status is '1' + , _acqSvProfile_int_time :: Word8 + -- ^ Acquisition integration time + , _acqSvProfile_sid :: GnssSignal + -- ^ GNSS signal for which acquisition was attempted + , _acqSvProfile_bin_width :: Word16 + -- ^ Acq frequency bin width + , _acqSvProfile_timestamp :: Word32 + -- ^ Timestamp of the job complete event + , _acqSvProfile_time_spent :: Word32 + -- ^ Time spent to search for sid.code + , _acqSvProfile_cf_min :: Word32 + -- ^ Doppler range lowest frequency + , _acqSvProfile_cf_max :: Word32 + -- ^ Doppler range highest frequency + , _acqSvProfile_cf :: Word32 + -- ^ Doppler value of detected peak. Only valid if status is '1' + , _acqSvProfile_cp :: Word32 + -- ^ Codephase of detected peak. Only valid if status is '1' + } deriving ( Show, Read, Eq ) + +instance Binary AcqSvProfile where + get = do + _acqSvProfile_job_type <- getWord8 + _acqSvProfile_status <- getWord8 + _acqSvProfile_cn0 <- getWord16le + _acqSvProfile_int_time <- getWord8 + _acqSvProfile_sid <- get + _acqSvProfile_bin_width <- getWord16le + _acqSvProfile_timestamp <- getWord32le + _acqSvProfile_time_spent <- getWord32le + _acqSvProfile_cf_min <- getWord32le + _acqSvProfile_cf_max <- getWord32le + _acqSvProfile_cf <- getWord32le + _acqSvProfile_cp <- getWord32le + return AcqSvProfile {..} + + put AcqSvProfile {..} = do + putWord8 _acqSvProfile_job_type + putWord8 _acqSvProfile_status + putWord16le _acqSvProfile_cn0 + putWord8 _acqSvProfile_int_time + put _acqSvProfile_sid + putWord16le _acqSvProfile_bin_width + putWord32le _acqSvProfile_timestamp + putWord32le _acqSvProfile_time_spent + putWord32le _acqSvProfile_cf_min + putWord32le _acqSvProfile_cf_max + putWord32le _acqSvProfile_cf + putWord32le _acqSvProfile_cp +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_acqSvProfile_" . stripPrefix "_acqSvProfile_"} + ''AcqSvProfile) +$(makeLenses ''AcqSvProfile) + +msgAcqSvProfile :: Word16 +msgAcqSvProfile = 0x001E + +-- | SBP class for message MSG_ACQ_SV_PROFILE (0x001E). +-- +-- The message describes all SV profiles during acquisition time. The message +-- is used to debug and measure the performance. +data MsgAcqSvProfile = MsgAcqSvProfile + { _msgAcqSvProfile_acq_sv_profile :: [AcqSvProfile] + -- ^ SV profiles during acquisition time + } deriving ( Show, Read, Eq ) + +instance Binary MsgAcqSvProfile where + get = do + _msgAcqSvProfile_acq_sv_profile <- whileM (liftM not isEmpty) get + return MsgAcqSvProfile {..} + + put MsgAcqSvProfile {..} = do + mapM_ put _msgAcqSvProfile_acq_sv_profile + +$(deriveSBP 'msgAcqSvProfile ''MsgAcqSvProfile) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgAcqSvProfile_" . stripPrefix "_msgAcqSvProfile_"} + ''MsgAcqSvProfile) +$(makeLenses ''MsgAcqSvProfile) 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 @@ -247,149 +247,396 @@ ''MsgBasePosEcef) $(makeLenses ''MsgBasePosEcef) -msgEphemeris :: Word16 -msgEphemeris = 0x0080 +data EphemerisCommonContent = EphemerisCommonContent + { _ephemerisCommonContent_sid :: GnssSignal + -- ^ GNSS signal identifier + , _ephemerisCommonContent_toe :: ObsGPSTime + -- ^ Time of Ephemerides + , _ephemerisCommonContent_ura :: Double + -- ^ User Range Accuracy + , _ephemerisCommonContent_fit_interval :: Word32 + -- ^ Curve fit interval + , _ephemerisCommonContent_valid :: Word8 + -- ^ Status of ephemeris, 1 = valid, 0 = invalid + , _ephemerisCommonContent_health_bits :: Word8 + -- ^ Satellite health status. GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 SBAS: 0 + -- = valid, non-zero = invalid GLO: 0 = valid, non-zero = invalid + } deriving ( Show, Read, Eq ) --- | SBP class for message MSG_EPHEMERIS (0x0080). +instance Binary EphemerisCommonContent where + get = do + _ephemerisCommonContent_sid <- get + _ephemerisCommonContent_toe <- get + _ephemerisCommonContent_ura <- getFloat64le + _ephemerisCommonContent_fit_interval <- getWord32le + _ephemerisCommonContent_valid <- getWord8 + _ephemerisCommonContent_health_bits <- getWord8 + return EphemerisCommonContent {..} + + put EphemerisCommonContent {..} = do + put _ephemerisCommonContent_sid + put _ephemerisCommonContent_toe + putFloat64le _ephemerisCommonContent_ura + putWord32le _ephemerisCommonContent_fit_interval + putWord8 _ephemerisCommonContent_valid + putWord8 _ephemerisCommonContent_health_bits +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_ephemerisCommonContent_" . stripPrefix "_ephemerisCommonContent_"} + ''EphemerisCommonContent) +$(makeLenses ''EphemerisCommonContent) + +msgEphemerisGps :: Word16 +msgEphemerisGps = 0x0081 + +-- | SBP class for message MSG_EPHEMERIS_GPS (0x0081). -- -- 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 - { _msgEphemeris_tgd :: Double +data MsgEphemerisGps = MsgEphemerisGps + { _msgEphemerisGps_common :: EphemerisCommonContent + -- ^ Values common for all ephemeris types + , _msgEphemerisGps_tgd :: Double -- ^ Group delay differential between L1 and L2 - , _msgEphemeris_c_rs :: Double + , _msgEphemerisGps_c_rs :: Double -- ^ Amplitude of the sine harmonic correction term to the orbit radius - , _msgEphemeris_c_rc :: Double + , _msgEphemerisGps_c_rc :: Double -- ^ Amplitude of the cosine harmonic correction term to the orbit radius - , _msgEphemeris_c_uc :: Double + , _msgEphemerisGps_c_uc :: Double -- ^ Amplitude of the cosine harmonic correction term to the argument of -- latitude - , _msgEphemeris_c_us :: Double + , _msgEphemerisGps_c_us :: Double -- ^ Amplitude of the sine harmonic correction term to the argument of -- latitude - , _msgEphemeris_c_ic :: Double + , _msgEphemerisGps_c_ic :: Double -- ^ Amplitude of the cosine harmonic correction term to the angle of -- inclination - , _msgEphemeris_c_is :: Double + , _msgEphemerisGps_c_is :: Double -- ^ Amplitude of the sine harmonic correction term to the angle of -- inclination - , _msgEphemeris_dn :: Double + , _msgEphemerisGps_dn :: Double -- ^ Mean motion difference - , _msgEphemeris_m0 :: Double + , _msgEphemerisGps_m0 :: Double -- ^ Mean anomaly at reference time - , _msgEphemeris_ecc :: Double + , _msgEphemerisGps_ecc :: Double -- ^ Eccentricity of satellite orbit - , _msgEphemeris_sqrta :: Double + , _msgEphemerisGps_sqrta :: Double -- ^ Square root of the semi-major axis of orbit - , _msgEphemeris_omega0 :: Double + , _msgEphemerisGps_omega0 :: Double -- ^ Longitude of ascending node of orbit plane at weekly epoch - , _msgEphemeris_omegadot :: Double + , _msgEphemerisGps_omegadot :: Double -- ^ Rate of right ascension - , _msgEphemeris_w :: Double + , _msgEphemerisGps_w :: Double -- ^ Argument of perigee - , _msgEphemeris_inc :: Double + , _msgEphemerisGps_inc :: Double -- ^ Inclination - , _msgEphemeris_inc_dot :: Double + , _msgEphemerisGps_inc_dot :: Double -- ^ Inclination first derivative - , _msgEphemeris_af0 :: Double + , _msgEphemerisGps_af0 :: Double -- ^ Polynomial clock correction coefficient (clock bias) - , _msgEphemeris_af1 :: Double + , _msgEphemerisGps_af1 :: Double -- ^ Polynomial clock correction coefficient (clock drift) - , _msgEphemeris_af2 :: Double + , _msgEphemerisGps_af2 :: Double -- ^ Polynomial clock correction coefficient (rate of clock drift) - , _msgEphemeris_toe_tow :: Double + , _msgEphemerisGps_toc :: ObsGPSTime + -- ^ Clock reference + , _msgEphemerisGps_iode :: Word8 + -- ^ Issue of ephemeris data + , _msgEphemerisGps_iodc :: Word16 + -- ^ Issue of clock data + } deriving ( Show, Read, Eq ) + +instance Binary MsgEphemerisGps where + get = do + _msgEphemerisGps_common <- get + _msgEphemerisGps_tgd <- getFloat64le + _msgEphemerisGps_c_rs <- getFloat64le + _msgEphemerisGps_c_rc <- getFloat64le + _msgEphemerisGps_c_uc <- getFloat64le + _msgEphemerisGps_c_us <- getFloat64le + _msgEphemerisGps_c_ic <- getFloat64le + _msgEphemerisGps_c_is <- getFloat64le + _msgEphemerisGps_dn <- getFloat64le + _msgEphemerisGps_m0 <- getFloat64le + _msgEphemerisGps_ecc <- getFloat64le + _msgEphemerisGps_sqrta <- getFloat64le + _msgEphemerisGps_omega0 <- getFloat64le + _msgEphemerisGps_omegadot <- getFloat64le + _msgEphemerisGps_w <- getFloat64le + _msgEphemerisGps_inc <- getFloat64le + _msgEphemerisGps_inc_dot <- getFloat64le + _msgEphemerisGps_af0 <- getFloat64le + _msgEphemerisGps_af1 <- getFloat64le + _msgEphemerisGps_af2 <- getFloat64le + _msgEphemerisGps_toc <- get + _msgEphemerisGps_iode <- getWord8 + _msgEphemerisGps_iodc <- getWord16le + return MsgEphemerisGps {..} + + put MsgEphemerisGps {..} = do + put _msgEphemerisGps_common + putFloat64le _msgEphemerisGps_tgd + putFloat64le _msgEphemerisGps_c_rs + putFloat64le _msgEphemerisGps_c_rc + putFloat64le _msgEphemerisGps_c_uc + putFloat64le _msgEphemerisGps_c_us + putFloat64le _msgEphemerisGps_c_ic + putFloat64le _msgEphemerisGps_c_is + putFloat64le _msgEphemerisGps_dn + putFloat64le _msgEphemerisGps_m0 + putFloat64le _msgEphemerisGps_ecc + putFloat64le _msgEphemerisGps_sqrta + putFloat64le _msgEphemerisGps_omega0 + putFloat64le _msgEphemerisGps_omegadot + putFloat64le _msgEphemerisGps_w + putFloat64le _msgEphemerisGps_inc + putFloat64le _msgEphemerisGps_inc_dot + putFloat64le _msgEphemerisGps_af0 + putFloat64le _msgEphemerisGps_af1 + putFloat64le _msgEphemerisGps_af2 + put _msgEphemerisGps_toc + putWord8 _msgEphemerisGps_iode + putWord16le _msgEphemerisGps_iodc + +$(deriveSBP 'msgEphemerisGps ''MsgEphemerisGps) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgEphemerisGps_" . stripPrefix "_msgEphemerisGps_"} + ''MsgEphemerisGps) +$(makeLenses ''MsgEphemerisGps) + +msgEphemerisSbas :: Word16 +msgEphemerisSbas = 0x0082 + +data MsgEphemerisSbas = MsgEphemerisSbas + { _msgEphemerisSbas_common :: EphemerisCommonContent + -- ^ Values common for all ephemeris types + , _msgEphemerisSbas_pos :: [Double] + -- ^ Position of the GEO at time toe + , _msgEphemerisSbas_vel :: [Double] + -- ^ Velocity of the GEO at time toe + , _msgEphemerisSbas_acc :: [Double] + -- ^ Acceleration of the GEO at time toe + , _msgEphemerisSbas_a_gf0 :: Double + -- ^ Time offset of the GEO clock w.r.t. SBAS Network Time + , _msgEphemerisSbas_a_gf1 :: Double + -- ^ Drift of the GEO clock w.r.t. SBAS Network Time + } deriving ( Show, Read, Eq ) + +instance Binary MsgEphemerisSbas where + get = do + _msgEphemerisSbas_common <- get + _msgEphemerisSbas_pos <- replicateM 3 getFloat64le + _msgEphemerisSbas_vel <- replicateM 3 getFloat64le + _msgEphemerisSbas_acc <- replicateM 3 getFloat64le + _msgEphemerisSbas_a_gf0 <- getFloat64le + _msgEphemerisSbas_a_gf1 <- getFloat64le + return MsgEphemerisSbas {..} + + put MsgEphemerisSbas {..} = do + put _msgEphemerisSbas_common + mapM_ putFloat64le _msgEphemerisSbas_pos + mapM_ putFloat64le _msgEphemerisSbas_vel + mapM_ putFloat64le _msgEphemerisSbas_acc + putFloat64le _msgEphemerisSbas_a_gf0 + putFloat64le _msgEphemerisSbas_a_gf1 + +$(deriveSBP 'msgEphemerisSbas ''MsgEphemerisSbas) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgEphemerisSbas_" . stripPrefix "_msgEphemerisSbas_"} + ''MsgEphemerisSbas) +$(makeLenses ''MsgEphemerisSbas) + +msgEphemerisGlo :: Word16 +msgEphemerisGlo = 0x0083 + +-- | SBP class for message MSG_EPHEMERIS_GLO (0x0083). +-- +-- The ephemeris message returns a set of satellite orbit parameters that is +-- used to calculate GLO satellite position, velocity, and clock offset. Please +-- see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate +-- information (ephemeris parameters)" for more details. +data MsgEphemerisGlo = MsgEphemerisGlo + { _msgEphemerisGlo_common :: EphemerisCommonContent + -- ^ Values common for all ephemeris types + , _msgEphemerisGlo_gamma :: Double + -- ^ Relative deviation of predicted carrier frequency from nominal + , _msgEphemerisGlo_tau :: Double + -- ^ Correction to the SV time + , _msgEphemerisGlo_pos :: [Double] + -- ^ Position of the SV at tb in PZ-90.02 coordinates system + , _msgEphemerisGlo_vel :: [Double] + -- ^ Velocity vector of the SV at tb in PZ-90.02 coordinates system + , _msgEphemerisGlo_acc :: [Double] + -- ^ Acceleration vector of the SV at tb in PZ-90.02 coordinates sys + } deriving ( Show, Read, Eq ) + +instance Binary MsgEphemerisGlo where + get = do + _msgEphemerisGlo_common <- get + _msgEphemerisGlo_gamma <- getFloat64le + _msgEphemerisGlo_tau <- getFloat64le + _msgEphemerisGlo_pos <- replicateM 3 getFloat64le + _msgEphemerisGlo_vel <- replicateM 3 getFloat64le + _msgEphemerisGlo_acc <- replicateM 3 getFloat64le + return MsgEphemerisGlo {..} + + put MsgEphemerisGlo {..} = do + put _msgEphemerisGlo_common + putFloat64le _msgEphemerisGlo_gamma + putFloat64le _msgEphemerisGlo_tau + mapM_ putFloat64le _msgEphemerisGlo_pos + mapM_ putFloat64le _msgEphemerisGlo_vel + mapM_ putFloat64le _msgEphemerisGlo_acc + +$(deriveSBP 'msgEphemerisGlo ''MsgEphemerisGlo) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgEphemerisGlo_" . stripPrefix "_msgEphemerisGlo_"} + ''MsgEphemerisGlo) +$(makeLenses ''MsgEphemerisGlo) + +msgEphemerisDepD :: Word16 +msgEphemerisDepD = 0x0080 + +-- | SBP class for message MSG_EPHEMERIS_DEP_D (0x0080). +-- +-- 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 MsgEphemerisDepD = MsgEphemerisDepD + { _msgEphemerisDepD_tgd :: Double + -- ^ Group delay differential between L1 and L2 + , _msgEphemerisDepD_c_rs :: Double + -- ^ Amplitude of the sine harmonic correction term to the orbit radius + , _msgEphemerisDepD_c_rc :: Double + -- ^ Amplitude of the cosine harmonic correction term to the orbit radius + , _msgEphemerisDepD_c_uc :: Double + -- ^ Amplitude of the cosine harmonic correction term to the argument of + -- latitude + , _msgEphemerisDepD_c_us :: Double + -- ^ Amplitude of the sine harmonic correction term to the argument of + -- latitude + , _msgEphemerisDepD_c_ic :: Double + -- ^ Amplitude of the cosine harmonic correction term to the angle of + -- inclination + , _msgEphemerisDepD_c_is :: Double + -- ^ Amplitude of the sine harmonic correction term to the angle of + -- inclination + , _msgEphemerisDepD_dn :: Double + -- ^ Mean motion difference + , _msgEphemerisDepD_m0 :: Double + -- ^ Mean anomaly at reference time + , _msgEphemerisDepD_ecc :: Double + -- ^ Eccentricity of satellite orbit + , _msgEphemerisDepD_sqrta :: Double + -- ^ Square root of the semi-major axis of orbit + , _msgEphemerisDepD_omega0 :: Double + -- ^ Longitude of ascending node of orbit plane at weekly epoch + , _msgEphemerisDepD_omegadot :: Double + -- ^ Rate of right ascension + , _msgEphemerisDepD_w :: Double + -- ^ Argument of perigee + , _msgEphemerisDepD_inc :: Double + -- ^ Inclination + , _msgEphemerisDepD_inc_dot :: Double + -- ^ Inclination first derivative + , _msgEphemerisDepD_af0 :: Double + -- ^ Polynomial clock correction coefficient (clock bias) + , _msgEphemerisDepD_af1 :: Double + -- ^ Polynomial clock correction coefficient (clock drift) + , _msgEphemerisDepD_af2 :: Double + -- ^ Polynomial clock correction coefficient (rate of clock drift) + , _msgEphemerisDepD_toe_tow :: Double -- ^ Time of week - , _msgEphemeris_toe_wn :: Word16 + , _msgEphemerisDepD_toe_wn :: Word16 -- ^ Week number - , _msgEphemeris_toc_tow :: Double + , _msgEphemerisDepD_toc_tow :: Double -- ^ Clock reference time of week - , _msgEphemeris_toc_wn :: Word16 + , _msgEphemerisDepD_toc_wn :: Word16 -- ^ Clock reference week number - , _msgEphemeris_valid :: Word8 + , _msgEphemerisDepD_valid :: Word8 -- ^ Is valid? - , _msgEphemeris_healthy :: Word8 + , _msgEphemerisDepD_healthy :: Word8 -- ^ Satellite is healthy? - , _msgEphemeris_sid :: GnssSignal + , _msgEphemerisDepD_sid :: GnssSignal -- ^ GNSS signal identifier - , _msgEphemeris_iode :: Word8 + , _msgEphemerisDepD_iode :: Word8 -- ^ Issue of ephemeris data - , _msgEphemeris_iodc :: Word16 + , _msgEphemerisDepD_iodc :: Word16 -- ^ Issue of clock data - , _msgEphemeris_reserved :: Word32 + , _msgEphemerisDepD_reserved :: Word32 -- ^ Reserved field } deriving ( Show, Read, Eq ) -instance Binary MsgEphemeris where +instance Binary MsgEphemerisDepD where get = do - _msgEphemeris_tgd <- getFloat64le - _msgEphemeris_c_rs <- getFloat64le - _msgEphemeris_c_rc <- getFloat64le - _msgEphemeris_c_uc <- getFloat64le - _msgEphemeris_c_us <- getFloat64le - _msgEphemeris_c_ic <- getFloat64le - _msgEphemeris_c_is <- getFloat64le - _msgEphemeris_dn <- getFloat64le - _msgEphemeris_m0 <- getFloat64le - _msgEphemeris_ecc <- getFloat64le - _msgEphemeris_sqrta <- getFloat64le - _msgEphemeris_omega0 <- getFloat64le - _msgEphemeris_omegadot <- getFloat64le - _msgEphemeris_w <- getFloat64le - _msgEphemeris_inc <- getFloat64le - _msgEphemeris_inc_dot <- getFloat64le - _msgEphemeris_af0 <- getFloat64le - _msgEphemeris_af1 <- getFloat64le - _msgEphemeris_af2 <- getFloat64le - _msgEphemeris_toe_tow <- getFloat64le - _msgEphemeris_toe_wn <- getWord16le - _msgEphemeris_toc_tow <- getFloat64le - _msgEphemeris_toc_wn <- getWord16le - _msgEphemeris_valid <- getWord8 - _msgEphemeris_healthy <- getWord8 - _msgEphemeris_sid <- get - _msgEphemeris_iode <- getWord8 - _msgEphemeris_iodc <- getWord16le - _msgEphemeris_reserved <- getWord32le - return MsgEphemeris {..} + _msgEphemerisDepD_tgd <- getFloat64le + _msgEphemerisDepD_c_rs <- getFloat64le + _msgEphemerisDepD_c_rc <- getFloat64le + _msgEphemerisDepD_c_uc <- getFloat64le + _msgEphemerisDepD_c_us <- getFloat64le + _msgEphemerisDepD_c_ic <- getFloat64le + _msgEphemerisDepD_c_is <- getFloat64le + _msgEphemerisDepD_dn <- getFloat64le + _msgEphemerisDepD_m0 <- getFloat64le + _msgEphemerisDepD_ecc <- getFloat64le + _msgEphemerisDepD_sqrta <- getFloat64le + _msgEphemerisDepD_omega0 <- getFloat64le + _msgEphemerisDepD_omegadot <- getFloat64le + _msgEphemerisDepD_w <- getFloat64le + _msgEphemerisDepD_inc <- getFloat64le + _msgEphemerisDepD_inc_dot <- getFloat64le + _msgEphemerisDepD_af0 <- getFloat64le + _msgEphemerisDepD_af1 <- getFloat64le + _msgEphemerisDepD_af2 <- getFloat64le + _msgEphemerisDepD_toe_tow <- getFloat64le + _msgEphemerisDepD_toe_wn <- getWord16le + _msgEphemerisDepD_toc_tow <- getFloat64le + _msgEphemerisDepD_toc_wn <- getWord16le + _msgEphemerisDepD_valid <- getWord8 + _msgEphemerisDepD_healthy <- getWord8 + _msgEphemerisDepD_sid <- get + _msgEphemerisDepD_iode <- getWord8 + _msgEphemerisDepD_iodc <- getWord16le + _msgEphemerisDepD_reserved <- getWord32le + return MsgEphemerisDepD {..} - put MsgEphemeris {..} = do - putFloat64le _msgEphemeris_tgd - putFloat64le _msgEphemeris_c_rs - putFloat64le _msgEphemeris_c_rc - putFloat64le _msgEphemeris_c_uc - putFloat64le _msgEphemeris_c_us - putFloat64le _msgEphemeris_c_ic - putFloat64le _msgEphemeris_c_is - putFloat64le _msgEphemeris_dn - putFloat64le _msgEphemeris_m0 - putFloat64le _msgEphemeris_ecc - putFloat64le _msgEphemeris_sqrta - putFloat64le _msgEphemeris_omega0 - putFloat64le _msgEphemeris_omegadot - putFloat64le _msgEphemeris_w - putFloat64le _msgEphemeris_inc - putFloat64le _msgEphemeris_inc_dot - putFloat64le _msgEphemeris_af0 - putFloat64le _msgEphemeris_af1 - putFloat64le _msgEphemeris_af2 - putFloat64le _msgEphemeris_toe_tow - putWord16le _msgEphemeris_toe_wn - putFloat64le _msgEphemeris_toc_tow - putWord16le _msgEphemeris_toc_wn - putWord8 _msgEphemeris_valid - putWord8 _msgEphemeris_healthy - put _msgEphemeris_sid - putWord8 _msgEphemeris_iode - putWord16le _msgEphemeris_iodc - putWord32le _msgEphemeris_reserved + put MsgEphemerisDepD {..} = do + putFloat64le _msgEphemerisDepD_tgd + putFloat64le _msgEphemerisDepD_c_rs + putFloat64le _msgEphemerisDepD_c_rc + putFloat64le _msgEphemerisDepD_c_uc + putFloat64le _msgEphemerisDepD_c_us + putFloat64le _msgEphemerisDepD_c_ic + putFloat64le _msgEphemerisDepD_c_is + putFloat64le _msgEphemerisDepD_dn + putFloat64le _msgEphemerisDepD_m0 + putFloat64le _msgEphemerisDepD_ecc + putFloat64le _msgEphemerisDepD_sqrta + putFloat64le _msgEphemerisDepD_omega0 + putFloat64le _msgEphemerisDepD_omegadot + putFloat64le _msgEphemerisDepD_w + putFloat64le _msgEphemerisDepD_inc + putFloat64le _msgEphemerisDepD_inc_dot + putFloat64le _msgEphemerisDepD_af0 + putFloat64le _msgEphemerisDepD_af1 + putFloat64le _msgEphemerisDepD_af2 + putFloat64le _msgEphemerisDepD_toe_tow + putWord16le _msgEphemerisDepD_toe_wn + putFloat64le _msgEphemerisDepD_toc_tow + putWord16le _msgEphemerisDepD_toc_wn + putWord8 _msgEphemerisDepD_valid + putWord8 _msgEphemerisDepD_healthy + put _msgEphemerisDepD_sid + putWord8 _msgEphemerisDepD_iode + putWord16le _msgEphemerisDepD_iodc + putWord32le _msgEphemerisDepD_reserved -$(deriveSBP 'msgEphemeris ''MsgEphemeris) +$(deriveSBP 'msgEphemerisDepD ''MsgEphemerisDepD) -$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgEphemeris_" . stripPrefix "_msgEphemeris_"} - ''MsgEphemeris) -$(makeLenses ''MsgEphemeris) +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgEphemerisDepD_" . stripPrefix "_msgEphemerisDepD_"} + ''MsgEphemerisDepD) +$(makeLenses ''MsgEphemerisDepD) msgEphemerisDepA :: Word16 msgEphemerisDepA = 0x001A @@ -958,3 +1205,126 @@ $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgObsDepB_" . stripPrefix "_msgObsDepB_"} ''MsgObsDepB) $(makeLenses ''MsgObsDepB) + +msgIono :: Word16 +msgIono = 0x0090 + +-- | SBP class for message MSG_IONO (0x0090). +-- +-- The ionospheric parameters which allow the "L1 only" or "L2 only" user to +-- utilize the ionospheric model for computation of the ionospheric delay. +-- Please see ICD-GPS-200 (Chapter 20.3.3.5.1.7) for more details. +data MsgIono = MsgIono + { _msgIono_t_nmct :: ObsGPSTime + -- ^ Navigation Message Correction Table Valitidy Time + , _msgIono_a0 :: Double + , _msgIono_a1 :: Double + , _msgIono_a2 :: Double + , _msgIono_a3 :: Double + , _msgIono_b0 :: Double + , _msgIono_b1 :: Double + , _msgIono_b2 :: Double + , _msgIono_b3 :: Double + } deriving ( Show, Read, Eq ) + +instance Binary MsgIono where + get = do + _msgIono_t_nmct <- get + _msgIono_a0 <- getFloat64le + _msgIono_a1 <- getFloat64le + _msgIono_a2 <- getFloat64le + _msgIono_a3 <- getFloat64le + _msgIono_b0 <- getFloat64le + _msgIono_b1 <- getFloat64le + _msgIono_b2 <- getFloat64le + _msgIono_b3 <- getFloat64le + return MsgIono {..} + + put MsgIono {..} = do + put _msgIono_t_nmct + putFloat64le _msgIono_a0 + putFloat64le _msgIono_a1 + putFloat64le _msgIono_a2 + putFloat64le _msgIono_a3 + putFloat64le _msgIono_b0 + putFloat64le _msgIono_b1 + putFloat64le _msgIono_b2 + putFloat64le _msgIono_b3 + +$(deriveSBP 'msgIono ''MsgIono) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgIono_" . stripPrefix "_msgIono_"} + ''MsgIono) +$(makeLenses ''MsgIono) + +msgSvConfigurationGps :: Word16 +msgSvConfigurationGps = 0x0091 + +-- | SBP class for message MSG_SV_CONFIGURATION_GPS (0x0091). +-- +-- Please see ICD-GPS-200 (Chapter 20.3.3.5.1.4) for more details. +data MsgSvConfigurationGps = MsgSvConfigurationGps + { _msgSvConfigurationGps_t_nmct :: ObsGPSTime + -- ^ Navigation Message Correction Table Valitidy Time + , _msgSvConfigurationGps_l2c_mask :: Word32 + -- ^ L2C capability mask, SV32 bit being MSB, SV1 bit being LSB + } deriving ( Show, Read, Eq ) + +instance Binary MsgSvConfigurationGps where + get = do + _msgSvConfigurationGps_t_nmct <- get + _msgSvConfigurationGps_l2c_mask <- getWord32le + return MsgSvConfigurationGps {..} + + put MsgSvConfigurationGps {..} = do + put _msgSvConfigurationGps_t_nmct + putWord32le _msgSvConfigurationGps_l2c_mask + +$(deriveSBP 'msgSvConfigurationGps ''MsgSvConfigurationGps) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgSvConfigurationGps_" . stripPrefix "_msgSvConfigurationGps_"} + ''MsgSvConfigurationGps) +$(makeLenses ''MsgSvConfigurationGps) + +msgGroupDelay :: Word16 +msgGroupDelay = 0x0092 + +-- | SBP class for message MSG_GROUP_DELAY (0x0092). +-- +-- Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. +data MsgGroupDelay = MsgGroupDelay + { _msgGroupDelay_t_op :: ObsGPSTime + -- ^ Data Predict Time of Week + , _msgGroupDelay_prn :: Word8 + -- ^ Satellite number + , _msgGroupDelay_valid :: Word8 + -- ^ bit-field indicating validity of the values, LSB indicating tgd validity + -- etc. 1 = value is valid, 0 = value is not valid. + , _msgGroupDelay_tgd :: Int16 + , _msgGroupDelay_isc_l1ca :: Int16 + , _msgGroupDelay_isc_l2c :: Int16 + } deriving ( Show, Read, Eq ) + +instance Binary MsgGroupDelay where + get = do + _msgGroupDelay_t_op <- get + _msgGroupDelay_prn <- getWord8 + _msgGroupDelay_valid <- getWord8 + _msgGroupDelay_tgd <- liftM fromIntegral getWord16le + _msgGroupDelay_isc_l1ca <- liftM fromIntegral getWord16le + _msgGroupDelay_isc_l2c <- liftM fromIntegral getWord16le + return MsgGroupDelay {..} + + put MsgGroupDelay {..} = do + put _msgGroupDelay_t_op + putWord8 _msgGroupDelay_prn + putWord8 _msgGroupDelay_valid + putWord16le $ fromIntegral _msgGroupDelay_tgd + putWord16le $ fromIntegral _msgGroupDelay_isc_l1ca + putWord16le $ fromIntegral _msgGroupDelay_isc_l2c + +$(deriveSBP 'msgGroupDelay ''MsgGroupDelay) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgGroupDelay_" . stripPrefix "_msgGroupDelay_"} + ''MsgGroupDelay) +$(makeLenses ''MsgGroupDelay) 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 @@ -351,10 +351,10 @@ -- 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. 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. +-- 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 -- ^ State of UART A @@ -483,3 +483,46 @@ $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgMaskSatellite_" . stripPrefix "_msgMaskSatellite_"} ''MsgMaskSatellite) $(makeLenses ''MsgMaskSatellite) + +msgDeviceMonitor :: Word16 +msgDeviceMonitor = 0x00B5 + +-- | SBP class for message MSG_DEVICE_MONITOR (0x00B5). +-- +-- This message contains temperature and voltage level measurements from the +-- processor's monitoring system and the RF frontend die temperature if +-- available. +data MsgDeviceMonitor = MsgDeviceMonitor + { _msgDeviceMonitor_dev_vin :: Int16 + -- ^ Device V_in + , _msgDeviceMonitor_cpu_vint :: Int16 + -- ^ Processor V_int + , _msgDeviceMonitor_cpu_vaux :: Int16 + -- ^ Processor V_aux + , _msgDeviceMonitor_cpu_temperature :: Int16 + -- ^ Processor temperature + , _msgDeviceMonitor_fe_temperature :: Int16 + -- ^ Frontend temperature (if available) + } deriving ( Show, Read, Eq ) + +instance Binary MsgDeviceMonitor where + get = do + _msgDeviceMonitor_dev_vin <- liftM fromIntegral getWord16le + _msgDeviceMonitor_cpu_vint <- liftM fromIntegral getWord16le + _msgDeviceMonitor_cpu_vaux <- liftM fromIntegral getWord16le + _msgDeviceMonitor_cpu_temperature <- liftM fromIntegral getWord16le + _msgDeviceMonitor_fe_temperature <- liftM fromIntegral getWord16le + return MsgDeviceMonitor {..} + + put MsgDeviceMonitor {..} = do + putWord16le $ fromIntegral _msgDeviceMonitor_dev_vin + putWord16le $ fromIntegral _msgDeviceMonitor_cpu_vint + putWord16le $ fromIntegral _msgDeviceMonitor_cpu_vaux + putWord16le $ fromIntegral _msgDeviceMonitor_cpu_temperature + putWord16le $ fromIntegral _msgDeviceMonitor_fe_temperature + +$(deriveSBP 'msgDeviceMonitor ''MsgDeviceMonitor) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgDeviceMonitor_" . stripPrefix "_msgDeviceMonitor_"} + ''MsgDeviceMonitor) +$(makeLenses ''MsgDeviceMonitor)