diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 1.2.8 +version: 2.0.0 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 @@ -58,12 +58,16 @@ | SBPMsgAcqResultDepA MsgAcqResultDepA Msg | SBPMsgAcqResultDepB MsgAcqResultDepB Msg | SBPMsgAcqSvProfile MsgAcqSvProfile Msg + | SBPMsgAgeCorrections MsgAgeCorrections Msg | SBPMsgAlmanac MsgAlmanac Msg | SBPMsgBasePosEcef MsgBasePosEcef Msg | SBPMsgBasePosLlh MsgBasePosLlh Msg | SBPMsgBaselineEcef MsgBaselineEcef Msg + | SBPMsgBaselineEcefDepA MsgBaselineEcefDepA Msg | SBPMsgBaselineHeading MsgBaselineHeading Msg + | SBPMsgBaselineHeadingDepA MsgBaselineHeadingDepA Msg | SBPMsgBaselineNed MsgBaselineNed Msg + | SBPMsgBaselineNedDepA MsgBaselineNedDepA Msg | SBPMsgBootloaderHandshakeDepA MsgBootloaderHandshakeDepA Msg | SBPMsgBootloaderHandshakeReq MsgBootloaderHandshakeReq Msg | SBPMsgBootloaderHandshakeResp MsgBootloaderHandshakeResp Msg @@ -71,7 +75,9 @@ | SBPMsgCwResults MsgCwResults Msg | SBPMsgCwStart MsgCwStart Msg | SBPMsgDeviceMonitor MsgDeviceMonitor Msg + | SBPMsgDgnssStatus MsgDgnssStatus Msg | SBPMsgDops MsgDops Msg + | SBPMsgDopsDepA MsgDopsDepA Msg | SBPMsgEphemerisDepA MsgEphemerisDepA Msg | SBPMsgEphemerisDepB MsgEphemerisDepB Msg | SBPMsgEphemerisDepC MsgEphemerisDepC Msg @@ -92,7 +98,9 @@ | SBPMsgFlashProgram MsgFlashProgram Msg | SBPMsgFlashReadReq MsgFlashReadReq Msg | SBPMsgFlashReadResp MsgFlashReadResp Msg + | SBPMsgFwd MsgFwd Msg | SBPMsgGpsTime MsgGpsTime Msg + | SBPMsgGpsTimeDepA MsgGpsTimeDepA Msg | SBPMsgGroupDelay MsgGroupDelay Msg | SBPMsgHeartbeat MsgHeartbeat Msg | SBPMsgIarState MsgIarState Msg @@ -106,8 +114,11 @@ | SBPMsgObs MsgObs Msg | SBPMsgObsDepA MsgObsDepA Msg | SBPMsgObsDepB MsgObsDepB Msg + | SBPMsgObsDepC MsgObsDepC Msg | SBPMsgPosEcef MsgPosEcef Msg + | SBPMsgPosEcefDepA MsgPosEcefDepA Msg | SBPMsgPosLlh MsgPosLlh Msg + | SBPMsgPosLlhDepA MsgPosLlhDepA Msg | SBPMsgPrintDep MsgPrintDep Msg | SBPMsgReset MsgReset Msg | SBPMsgResetFilters MsgResetFilters Msg @@ -135,8 +146,11 @@ | SBPMsgUartState MsgUartState Msg | SBPMsgUartStateDepa MsgUartStateDepa Msg | SBPMsgUserData MsgUserData Msg + | SBPMsgUtcTime MsgUtcTime Msg | SBPMsgVelEcef MsgVelEcef Msg + | SBPMsgVelEcefDepA MsgVelEcefDepA Msg | SBPMsgVelNed MsgVelNed Msg + | SBPMsgVelNedDepA MsgVelNedDepA Msg | SBPMsgBadCrc Msg | SBPMsgUnknown Msg deriving ( Show, Read, Eq ) @@ -154,12 +168,16 @@ | _msgSBPType == msgAcqResultDepA = SBPMsgAcqResultDepA (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgAcqResultDepB = SBPMsgAcqResultDepB (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgAcqSvProfile = SBPMsgAcqSvProfile (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgAgeCorrections = SBPMsgAgeCorrections (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 | _msgSBPType == msgBaselineEcef = SBPMsgBaselineEcef (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgBaselineEcefDepA = SBPMsgBaselineEcefDepA (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgBaselineHeading = SBPMsgBaselineHeading (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgBaselineHeadingDepA = SBPMsgBaselineHeadingDepA (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgBaselineNed = SBPMsgBaselineNed (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgBaselineNedDepA = SBPMsgBaselineNedDepA (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgBootloaderHandshakeDepA = SBPMsgBootloaderHandshakeDepA (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgBootloaderHandshakeReq = SBPMsgBootloaderHandshakeReq (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgBootloaderHandshakeResp = SBPMsgBootloaderHandshakeResp (decode (fromStrict _msgSBPPayload)) m @@ -167,7 +185,9 @@ | _msgSBPType == msgCwResults = SBPMsgCwResults (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgCwStart = SBPMsgCwStart (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgDeviceMonitor = SBPMsgDeviceMonitor (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgDgnssStatus = SBPMsgDgnssStatus (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgDops = SBPMsgDops (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgDopsDepA = SBPMsgDopsDepA (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 @@ -188,7 +208,9 @@ | _msgSBPType == msgFlashProgram = SBPMsgFlashProgram (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgFlashReadReq = SBPMsgFlashReadReq (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgFlashReadResp = SBPMsgFlashReadResp (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgFwd = SBPMsgFwd (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgGpsTime = SBPMsgGpsTime (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgGpsTimeDepA = SBPMsgGpsTimeDepA (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 @@ -202,8 +224,11 @@ | _msgSBPType == msgObs = SBPMsgObs (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgObsDepA = SBPMsgObsDepA (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgObsDepB = SBPMsgObsDepB (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgObsDepC = SBPMsgObsDepC (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgPosEcef = SBPMsgPosEcef (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgPosEcefDepA = SBPMsgPosEcefDepA (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgPosLlh = SBPMsgPosLlh (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgPosLlhDepA = SBPMsgPosLlhDepA (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgPrintDep = SBPMsgPrintDep (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgReset = SBPMsgReset (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgResetFilters = SBPMsgResetFilters (decode (fromStrict _msgSBPPayload)) m @@ -231,8 +256,11 @@ | _msgSBPType == msgUartState = SBPMsgUartState (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgUartStateDepa = SBPMsgUartStateDepa (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgUserData = SBPMsgUserData (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgUtcTime = SBPMsgUtcTime (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgVelEcef = SBPMsgVelEcef (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgVelEcefDepA = SBPMsgVelEcefDepA (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgVelNed = SBPMsgVelNed (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgVelNedDepA = SBPMsgVelNedDepA (decode (fromStrict _msgSBPPayload)) m | otherwise = SBPMsgUnknown m put sm = do @@ -242,12 +270,16 @@ encode' (SBPMsgAcqResultDepA _ m) = put m encode' (SBPMsgAcqResultDepB _ m) = put m encode' (SBPMsgAcqSvProfile _ m) = put m + encode' (SBPMsgAgeCorrections _ m) = put m encode' (SBPMsgAlmanac _ m) = put m encode' (SBPMsgBasePosEcef _ m) = put m encode' (SBPMsgBasePosLlh _ m) = put m encode' (SBPMsgBaselineEcef _ m) = put m + encode' (SBPMsgBaselineEcefDepA _ m) = put m encode' (SBPMsgBaselineHeading _ m) = put m + encode' (SBPMsgBaselineHeadingDepA _ m) = put m encode' (SBPMsgBaselineNed _ m) = put m + encode' (SBPMsgBaselineNedDepA _ m) = put m encode' (SBPMsgBootloaderHandshakeDepA _ m) = put m encode' (SBPMsgBootloaderHandshakeReq _ m) = put m encode' (SBPMsgBootloaderHandshakeResp _ m) = put m @@ -255,7 +287,9 @@ encode' (SBPMsgCwResults _ m) = put m encode' (SBPMsgCwStart _ m) = put m encode' (SBPMsgDeviceMonitor _ m) = put m + encode' (SBPMsgDgnssStatus _ m) = put m encode' (SBPMsgDops _ m) = put m + encode' (SBPMsgDopsDepA _ m) = put m encode' (SBPMsgEphemerisDepA _ m) = put m encode' (SBPMsgEphemerisDepB _ m) = put m encode' (SBPMsgEphemerisDepC _ m) = put m @@ -276,7 +310,9 @@ encode' (SBPMsgFlashProgram _ m) = put m encode' (SBPMsgFlashReadReq _ m) = put m encode' (SBPMsgFlashReadResp _ m) = put m + encode' (SBPMsgFwd _ m) = put m encode' (SBPMsgGpsTime _ m) = put m + encode' (SBPMsgGpsTimeDepA _ m) = put m encode' (SBPMsgGroupDelay _ m) = put m encode' (SBPMsgHeartbeat _ m) = put m encode' (SBPMsgIarState _ m) = put m @@ -290,8 +326,11 @@ encode' (SBPMsgObs _ m) = put m encode' (SBPMsgObsDepA _ m) = put m encode' (SBPMsgObsDepB _ m) = put m + encode' (SBPMsgObsDepC _ m) = put m encode' (SBPMsgPosEcef _ m) = put m + encode' (SBPMsgPosEcefDepA _ m) = put m encode' (SBPMsgPosLlh _ m) = put m + encode' (SBPMsgPosLlhDepA _ m) = put m encode' (SBPMsgPrintDep _ m) = put m encode' (SBPMsgReset _ m) = put m encode' (SBPMsgResetFilters _ m) = put m @@ -319,8 +358,11 @@ encode' (SBPMsgUartState _ m) = put m encode' (SBPMsgUartStateDepa _ m) = put m encode' (SBPMsgUserData _ m) = put m + encode' (SBPMsgUtcTime _ m) = put m encode' (SBPMsgVelEcef _ m) = put m + encode' (SBPMsgVelEcefDepA _ m) = put m encode' (SBPMsgVelNed _ m) = put m + encode' (SBPMsgVelNedDepA _ m) = put m encode' (SBPMsgUnknown m) = put m encode' (SBPMsgBadCrc m) = put m @@ -333,12 +375,16 @@ | msgType == msgAcqResultDepA = SBPMsgAcqResultDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgAcqResultDepB = SBPMsgAcqResultDepB <$> parseJSON obj <*> parseJSON obj | msgType == msgAcqSvProfile = SBPMsgAcqSvProfile <$> parseJSON obj <*> parseJSON obj + | msgType == msgAgeCorrections = SBPMsgAgeCorrections <$> parseJSON obj <*> parseJSON obj | msgType == msgAlmanac = SBPMsgAlmanac <$> parseJSON obj <*> parseJSON obj | msgType == msgBasePosEcef = SBPMsgBasePosEcef <$> parseJSON obj <*> parseJSON obj | msgType == msgBasePosLlh = SBPMsgBasePosLlh <$> parseJSON obj <*> parseJSON obj | msgType == msgBaselineEcef = SBPMsgBaselineEcef <$> parseJSON obj <*> parseJSON obj + | msgType == msgBaselineEcefDepA = SBPMsgBaselineEcefDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgBaselineHeading = SBPMsgBaselineHeading <$> parseJSON obj <*> parseJSON obj + | msgType == msgBaselineHeadingDepA = SBPMsgBaselineHeadingDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgBaselineNed = SBPMsgBaselineNed <$> parseJSON obj <*> parseJSON obj + | msgType == msgBaselineNedDepA = SBPMsgBaselineNedDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgBootloaderHandshakeDepA = SBPMsgBootloaderHandshakeDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgBootloaderHandshakeReq = SBPMsgBootloaderHandshakeReq <$> parseJSON obj <*> parseJSON obj | msgType == msgBootloaderHandshakeResp = SBPMsgBootloaderHandshakeResp <$> parseJSON obj <*> parseJSON obj @@ -346,7 +392,9 @@ | msgType == msgCwResults = SBPMsgCwResults <$> parseJSON obj <*> parseJSON obj | msgType == msgCwStart = SBPMsgCwStart <$> parseJSON obj <*> parseJSON obj | msgType == msgDeviceMonitor = SBPMsgDeviceMonitor <$> parseJSON obj <*> parseJSON obj + | msgType == msgDgnssStatus = SBPMsgDgnssStatus <$> parseJSON obj <*> parseJSON obj | msgType == msgDops = SBPMsgDops <$> parseJSON obj <*> parseJSON obj + | msgType == msgDopsDepA = SBPMsgDopsDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisDepA = SBPMsgEphemerisDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisDepB = SBPMsgEphemerisDepB <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisDepC = SBPMsgEphemerisDepC <$> parseJSON obj <*> parseJSON obj @@ -367,7 +415,9 @@ | msgType == msgFlashProgram = SBPMsgFlashProgram <$> parseJSON obj <*> parseJSON obj | msgType == msgFlashReadReq = SBPMsgFlashReadReq <$> parseJSON obj <*> parseJSON obj | msgType == msgFlashReadResp = SBPMsgFlashReadResp <$> parseJSON obj <*> parseJSON obj + | msgType == msgFwd = SBPMsgFwd <$> parseJSON obj <*> parseJSON obj | msgType == msgGpsTime = SBPMsgGpsTime <$> parseJSON obj <*> parseJSON obj + | msgType == msgGpsTimeDepA = SBPMsgGpsTimeDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgGroupDelay = SBPMsgGroupDelay <$> parseJSON obj <*> parseJSON obj | msgType == msgHeartbeat = SBPMsgHeartbeat <$> parseJSON obj <*> parseJSON obj | msgType == msgIarState = SBPMsgIarState <$> parseJSON obj <*> parseJSON obj @@ -381,8 +431,11 @@ | msgType == msgObs = SBPMsgObs <$> parseJSON obj <*> parseJSON obj | msgType == msgObsDepA = SBPMsgObsDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgObsDepB = SBPMsgObsDepB <$> parseJSON obj <*> parseJSON obj + | msgType == msgObsDepC = SBPMsgObsDepC <$> parseJSON obj <*> parseJSON obj | msgType == msgPosEcef = SBPMsgPosEcef <$> parseJSON obj <*> parseJSON obj + | msgType == msgPosEcefDepA = SBPMsgPosEcefDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgPosLlh = SBPMsgPosLlh <$> parseJSON obj <*> parseJSON obj + | msgType == msgPosLlhDepA = SBPMsgPosLlhDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgPrintDep = SBPMsgPrintDep <$> parseJSON obj <*> parseJSON obj | msgType == msgReset = SBPMsgReset <$> parseJSON obj <*> parseJSON obj | msgType == msgResetFilters = SBPMsgResetFilters <$> parseJSON obj <*> parseJSON obj @@ -410,8 +463,11 @@ | msgType == msgUartState = SBPMsgUartState <$> parseJSON obj <*> parseJSON obj | msgType == msgUartStateDepa = SBPMsgUartStateDepa <$> parseJSON obj <*> parseJSON obj | msgType == msgUserData = SBPMsgUserData <$> parseJSON obj <*> parseJSON obj + | msgType == msgUtcTime = SBPMsgUtcTime <$> parseJSON obj <*> parseJSON obj | msgType == msgVelEcef = SBPMsgVelEcef <$> parseJSON obj <*> parseJSON obj + | msgType == msgVelEcefDepA = SBPMsgVelEcefDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgVelNed = SBPMsgVelNed <$> parseJSON obj <*> parseJSON obj + | msgType == msgVelNedDepA = SBPMsgVelNedDepA <$> parseJSON obj <*> parseJSON obj | otherwise = SBPMsgUnknown <$> parseJSON obj parseJSON _ = mzero @@ -426,12 +482,16 @@ toJSON (SBPMsgAcqResultDepA n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgAcqResultDepB n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgAcqSvProfile n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgAgeCorrections 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 toJSON (SBPMsgBaselineEcef n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgBaselineEcefDepA n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgBaselineHeading n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgBaselineHeadingDepA n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgBaselineNed n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgBaselineNedDepA n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgBootloaderHandshakeDepA n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgBootloaderHandshakeReq n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgBootloaderHandshakeResp n m) = toJSON n `mergeValues` toJSON m @@ -439,7 +499,9 @@ 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 (SBPMsgDgnssStatus n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgDops n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgDopsDepA 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 @@ -460,7 +522,9 @@ toJSON (SBPMsgFlashProgram n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgFlashReadReq n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgFlashReadResp n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgFwd n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgGpsTime n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgGpsTimeDepA 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 @@ -474,8 +538,11 @@ 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 (SBPMsgObsDepC n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgPosEcef n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgPosEcefDepA n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgPosLlh n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgPosLlhDepA n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgPrintDep n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgReset n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgResetFilters n m) = toJSON n `mergeValues` toJSON m @@ -503,8 +570,11 @@ 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 (SBPMsgUtcTime n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgVelEcef n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgVelEcefDepA n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgVelNed n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgVelNedDepA n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgBadCrc m) = toJSON m toJSON (SBPMsgUnknown m) = toJSON m @@ -513,12 +583,16 @@ msg f (SBPMsgAcqResultDepA n m) = SBPMsgAcqResultDepA n <$> f m msg f (SBPMsgAcqResultDepB n m) = SBPMsgAcqResultDepB n <$> f m msg f (SBPMsgAcqSvProfile n m) = SBPMsgAcqSvProfile n <$> f m + msg f (SBPMsgAgeCorrections n m) = SBPMsgAgeCorrections n <$> 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 <$> f m msg f (SBPMsgBaselineEcef n m) = SBPMsgBaselineEcef n <$> f m + msg f (SBPMsgBaselineEcefDepA n m) = SBPMsgBaselineEcefDepA n <$> f m msg f (SBPMsgBaselineHeading n m) = SBPMsgBaselineHeading n <$> f m + msg f (SBPMsgBaselineHeadingDepA n m) = SBPMsgBaselineHeadingDepA n <$> f m msg f (SBPMsgBaselineNed n m) = SBPMsgBaselineNed n <$> f m + msg f (SBPMsgBaselineNedDepA n m) = SBPMsgBaselineNedDepA n <$> f m msg f (SBPMsgBootloaderHandshakeDepA n m) = SBPMsgBootloaderHandshakeDepA n <$> f m msg f (SBPMsgBootloaderHandshakeReq n m) = SBPMsgBootloaderHandshakeReq n <$> f m msg f (SBPMsgBootloaderHandshakeResp n m) = SBPMsgBootloaderHandshakeResp n <$> f m @@ -526,7 +600,9 @@ 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 <$> f m + msg f (SBPMsgDgnssStatus n m) = SBPMsgDgnssStatus n <$> f m msg f (SBPMsgDops n m) = SBPMsgDops n <$> f m + msg f (SBPMsgDopsDepA n m) = SBPMsgDopsDepA n <$> 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 <$> f m @@ -547,7 +623,9 @@ msg f (SBPMsgFlashProgram n m) = SBPMsgFlashProgram n <$> f m msg f (SBPMsgFlashReadReq n m) = SBPMsgFlashReadReq n <$> f m msg f (SBPMsgFlashReadResp n m) = SBPMsgFlashReadResp n <$> f m + msg f (SBPMsgFwd n m) = SBPMsgFwd n <$> f m msg f (SBPMsgGpsTime n m) = SBPMsgGpsTime n <$> f m + msg f (SBPMsgGpsTimeDepA n m) = SBPMsgGpsTimeDepA 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 @@ -561,8 +639,11 @@ 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 <$> f m + msg f (SBPMsgObsDepC n m) = SBPMsgObsDepC n <$> f m msg f (SBPMsgPosEcef n m) = SBPMsgPosEcef n <$> f m + msg f (SBPMsgPosEcefDepA n m) = SBPMsgPosEcefDepA n <$> f m msg f (SBPMsgPosLlh n m) = SBPMsgPosLlh n <$> f m + msg f (SBPMsgPosLlhDepA n m) = SBPMsgPosLlhDepA n <$> f m msg f (SBPMsgPrintDep n m) = SBPMsgPrintDep n <$> f m msg f (SBPMsgReset n m) = SBPMsgReset n <$> f m msg f (SBPMsgResetFilters n m) = SBPMsgResetFilters n <$> f m @@ -590,7 +671,10 @@ msg f (SBPMsgUartState n m) = SBPMsgUartState n <$> f m msg f (SBPMsgUartStateDepa n m) = SBPMsgUartStateDepa n <$> f m msg f (SBPMsgUserData n m) = SBPMsgUserData n <$> f m + msg f (SBPMsgUtcTime n m) = SBPMsgUtcTime n <$> f m msg f (SBPMsgVelEcef n m) = SBPMsgVelEcef n <$> f m + msg f (SBPMsgVelEcefDepA n m) = SBPMsgVelEcefDepA n <$> f m msg f (SBPMsgVelNed n m) = SBPMsgVelNed n <$> f m + msg f (SBPMsgVelNedDepA n m) = SBPMsgVelNedDepA n <$> f m msg f (SBPMsgUnknown m) = SBPMsgUnknown <$> f m msg f (SBPMsgBadCrc m) = SBPMsgBadCrc <$> f m 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 @@ -7,9 +7,9 @@ -- Stability: experimental -- Portability: portable -- --- 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. +-- Messages for the bootloading configuration of a Piksi 2.3.1. This message +-- group does not apply to Piksi Multi. 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/Flash.hs b/src/SwiftNav/SBP/Flash.hs --- a/src/SwiftNav/SBP/Flash.hs +++ b/src/SwiftNav/SBP/Flash.hs @@ -9,7 +9,8 @@ -- -- 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. +-- Navigation devices: the STM32 flash and the M25Pxx FPGA configuration flash +-- from Piksi 2.3.1. This module does not apply to Piksi Multi. module SwiftNav.SBP.Flash where diff --git a/src/SwiftNav/SBP/Gnss.hs b/src/SwiftNav/SBP/Gnss.hs --- a/src/SwiftNav/SBP/Gnss.hs +++ b/src/SwiftNav/SBP/Gnss.hs @@ -27,6 +27,31 @@ import SwiftNav.SBP.TH import SwiftNav.SBP.Types +-- | GnssSignal16. +-- +-- Signal identifier containing constellation, band, and satellite identifier +-- - 0 GPS L1CA - 1 GPS L2CM - 2 SBAS L1CA - 3 GLO L1CA +-- - 4 GLO L2CA - 5 GPS L1P - 6 GPS L2P +data GnssSignal16 = GnssSignal16 + { _gnssSignal16_sat :: Word8 + -- ^ Constellation-specific satellite identifier + , _gnssSignal16_code :: Word8 + -- ^ Signal constellation, band and code + } deriving ( Show, Read, Eq ) + +instance Binary GnssSignal16 where + get = do + _gnssSignal16_sat <- getWord8 + _gnssSignal16_code <- getWord8 + return GnssSignal16 {..} + + put GnssSignal16 {..} = do + putWord8 _gnssSignal16_sat + putWord8 _gnssSignal16_code +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_gnssSignal16_" . stripPrefix "_gnssSignal16_"} + ''GnssSignal16) +$(makeLenses ''GnssSignal16) + -- | GnssSignal. -- -- Signal identifier containing constellation, band, and satellite identifier @@ -77,6 +102,38 @@ $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_gpsTime_" . stripPrefix "_gpsTime_"} ''GpsTime) $(makeLenses ''GpsTime) + +-- | GPSTimeNano. +-- +-- A wire-appropriate GPS time, defined as the number of milliseconds since +-- beginning of the week on the Saturday/Sunday A wire-appropriate receiver +-- clock time, defined as the time since the beginning of the week on the +-- Saturday/Sunday transition. In most cases, observations are epoch aligned +-- so ns field will be 0. +data GpsTimeNano = GpsTimeNano + { _gpsTimeNano_tow :: Word32 + -- ^ Milliseconds since start of GPS week + , _gpsTimeNano_ns :: Int32 + -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to + -- 500000) + , _gpsTimeNano_wn :: Word16 + -- ^ GPS week number + } deriving ( Show, Read, Eq ) + +instance Binary GpsTimeNano where + get = do + _gpsTimeNano_tow <- getWord32le + _gpsTimeNano_ns <- fromIntegral <$> getWord32le + _gpsTimeNano_wn <- getWord16le + return GpsTimeNano {..} + + put GpsTimeNano {..} = do + putWord32le _gpsTimeNano_tow + putWord32le $ fromIntegral _gpsTimeNano_ns + putWord16le _gpsTimeNano_wn +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_gpsTimeNano_" . stripPrefix "_gpsTimeNano_"} + ''GpsTimeNano) +$(makeLenses ''GpsTimeNano) -- | CarrierPhase. -- 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 @@ -58,6 +58,45 @@ ''MsgLog) $(makeLenses ''MsgLog) +msgFwd :: Word16 +msgFwd = 0x0402 + +-- | SBP class for message MSG_FWD (0x0402). +-- +-- This message provides the ability to forward messages over SBP. This may +-- take the form of wrapping up SBP messages received by Piksi for logging +-- purposes or wrapping another protocol with SBP. The source identifier +-- indicates from what interface a forwarded stream derived. The protocol +-- identifier identifies what the expected protocol the forwarded msg contains. +-- Protocol 0 represents SBP and the remaining values are implementation +-- defined. +data MsgFwd = MsgFwd + { _msgFwd_source :: Word8 + -- ^ source identifier + , _msgFwd_protocol :: Word8 + -- ^ protocol identifier + , _msgFwd_fwd_payload :: Text + -- ^ variable length wrapped binary message + } deriving ( Show, Read, Eq ) + +instance Binary MsgFwd where + get = do + _msgFwd_source <- getWord8 + _msgFwd_protocol <- getWord8 + _msgFwd_fwd_payload <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + return MsgFwd {..} + + put MsgFwd {..} = do + putWord8 _msgFwd_source + putWord8 _msgFwd_protocol + putByteString $ encodeUtf8 _msgFwd_fwd_payload + +$(deriveSBP 'msgFwd ''MsgFwd) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgFwd_" . stripPrefix "_msgFwd_"} + ''MsgFwd) +$(makeLenses ''MsgFwd) + msgTweet :: Word16 msgTweet = 0x0012 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 @@ -36,9 +36,9 @@ import SwiftNav.SBP.Types msgGpsTime :: Word16 -msgGpsTime = 0x0100 +msgGpsTime = 0x0102 --- | SBP class for message MSG_GPS_TIME (0x0100). +-- | SBP class for message MSG_GPS_TIME (0x0102). -- -- This message reports the GPS time, representing the time since the GPS epoch -- began on midnight January 6, 1980 UTC. GPS time counts the weeks and seconds @@ -81,13 +81,75 @@ ''MsgGpsTime) $(makeLenses ''MsgGpsTime) +msgUtcTime :: Word16 +msgUtcTime = 0x0103 + +-- | SBP class for message MSG_UTC_TIME (0x0103). +-- +-- This message reports the Universal Coordinated Time (UTC). Note the flags +-- which indicate the source of the UTC offset value and source of the time +-- fix. +data MsgUtcTime = MsgUtcTime + { _msgUtcTime_flags :: Word8 + -- ^ Indicates source and time validity + , _msgUtcTime_tow :: Word32 + -- ^ GPS time of week rounded to the nearest millisecond + , _msgUtcTime_year :: Word16 + -- ^ Year + , _msgUtcTime_month :: Word8 + -- ^ Month (range 1 .. 12) + , _msgUtcTime_day :: Word8 + -- ^ days in the month (range 1-31) + , _msgUtcTime_hours :: Word8 + -- ^ hours of day (range 0-23) + , _msgUtcTime_minutes :: Word8 + -- ^ minutes of hour (range 0-59) + , _msgUtcTime_seconds :: Word8 + -- ^ seconds of minute (range 0-60) + , _msgUtcTime_ns :: Int32 + -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to + -- 500000) + } deriving ( Show, Read, Eq ) + +instance Binary MsgUtcTime where + get = do + _msgUtcTime_flags <- getWord8 + _msgUtcTime_tow <- getWord32le + _msgUtcTime_year <- getWord16le + _msgUtcTime_month <- getWord8 + _msgUtcTime_day <- getWord8 + _msgUtcTime_hours <- getWord8 + _msgUtcTime_minutes <- getWord8 + _msgUtcTime_seconds <- getWord8 + _msgUtcTime_ns <- fromIntegral <$> getWord32le + return MsgUtcTime {..} + + put MsgUtcTime {..} = do + putWord8 _msgUtcTime_flags + putWord32le _msgUtcTime_tow + putWord16le _msgUtcTime_year + putWord8 _msgUtcTime_month + putWord8 _msgUtcTime_day + putWord8 _msgUtcTime_hours + putWord8 _msgUtcTime_minutes + putWord8 _msgUtcTime_seconds + putWord32le $ fromIntegral _msgUtcTime_ns + +$(deriveSBP 'msgUtcTime ''MsgUtcTime) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgUtcTime_" . stripPrefix "_msgUtcTime_"} + ''MsgUtcTime) +$(makeLenses ''MsgUtcTime) + msgDops :: Word16 -msgDops = 0x0206 +msgDops = 0x0208 --- | SBP class for message MSG_DOPS (0x0206). +-- | SBP class for message MSG_DOPS (0x0208). -- -- This dilution of precision (DOP) message describes the effect of navigation --- satellite geometry on positional measurement precision. +-- satellite geometry on positional measurement precision. The flags field +-- indicated whether the DOP reported corresponds to differential or SPP +-- solution. data MsgDops = MsgDops { _msgDops_tow :: Word32 -- ^ GPS Time of Week @@ -101,6 +163,8 @@ -- ^ Horizontal Dilution of Precision , _msgDops_vdop :: Word16 -- ^ Vertical Dilution of Precision + , _msgDops_flags :: Word8 + -- ^ Indicates the position solution with which the DOPS message corresponds } deriving ( Show, Read, Eq ) instance Binary MsgDops where @@ -111,6 +175,7 @@ _msgDops_tdop <- getWord16le _msgDops_hdop <- getWord16le _msgDops_vdop <- getWord16le + _msgDops_flags <- getWord8 return MsgDops {..} put MsgDops {..} = do @@ -120,6 +185,7 @@ putWord16le _msgDops_tdop putWord16le _msgDops_hdop putWord16le _msgDops_vdop + putWord8 _msgDops_flags $(deriveSBP 'msgDops ''MsgDops) @@ -128,9 +194,9 @@ $(makeLenses ''MsgDops) msgPosEcef :: Word16 -msgPosEcef = 0x0200 +msgPosEcef = 0x0209 --- | SBP class for message MSG_POS_ECEF (0x0200). +-- | SBP class for message MSG_POS_ECEF (0x0209). -- -- The position solution message reports absolute Earth Centered Earth Fixed -- (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of @@ -149,7 +215,7 @@ , _msgPosEcef_z :: Double -- ^ ECEF Z coordinate , _msgPosEcef_accuracy :: Word16 - -- ^ Position accuracy estimate (not implemented). Defaults to 0. + -- ^ Position accuracy estimate. Defaults to 0. , _msgPosEcef_n_sats :: Word8 -- ^ Number of satellites used in solution , _msgPosEcef_flags :: Word8 @@ -183,9 +249,9 @@ $(makeLenses ''MsgPosEcef) msgPosLlh :: Word16 -msgPosLlh = 0x0201 +msgPosLlh = 0x020A --- | SBP class for message MSG_POS_LLH (0x0201). +-- | SBP class for message MSG_POS_LLH (0x020A). -- -- This position solution message reports the absolute geodetic coordinates and -- the status (single point vs pseudo-absolute RTK) of the position solution. @@ -242,9 +308,9 @@ $(makeLenses ''MsgPosLlh) msgBaselineEcef :: Word16 -msgBaselineEcef = 0x0202 +msgBaselineEcef = 0x020B --- | SBP class for message MSG_BASELINE_ECEF (0x0202). +-- | SBP class for message MSG_BASELINE_ECEF (0x020B). -- -- This message reports the baseline solution in Earth Centered Earth Fixed -- (ECEF) coordinates. This baseline is the relative vector distance from the @@ -294,9 +360,9 @@ $(makeLenses ''MsgBaselineEcef) msgBaselineNed :: Word16 -msgBaselineNed = 0x0203 +msgBaselineNed = 0x020C --- | SBP class for message MSG_BASELINE_NED (0x0203). +-- | SBP class for message MSG_BASELINE_NED (0x020C). -- -- This message reports the baseline solution in North East Down (NED) -- coordinates. This baseline is the relative vector distance from the base @@ -352,9 +418,9 @@ $(makeLenses ''MsgBaselineNed) msgVelEcef :: Word16 -msgVelEcef = 0x0204 +msgVelEcef = 0x020D --- | SBP class for message MSG_VEL_ECEF (0x0204). +-- | SBP class for message MSG_VEL_ECEF (0x020D). -- -- This message reports the velocity in Earth Centered Earth Fixed (ECEF) -- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with @@ -373,7 +439,7 @@ , _msgVelEcef_n_sats :: Word8 -- ^ Number of satellites used in solution , _msgVelEcef_flags :: Word8 - -- ^ Status flags (reserved) + -- ^ Status flags } deriving ( Show, Read, Eq ) instance Binary MsgVelEcef where @@ -403,9 +469,9 @@ $(makeLenses ''MsgVelEcef) msgVelNed :: Word16 -msgVelNed = 0x0205 +msgVelNed = 0x020E --- | SBP class for message MSG_VEL_NED (0x0205). +-- | SBP class for message MSG_VEL_NED (0x020E). -- -- This message reports the velocity in local North East Down (NED) -- coordinates. The NED coordinate system is defined as the local WGS84 tangent @@ -427,7 +493,7 @@ , _msgVelNed_n_sats :: Word8 -- ^ Number of satellites used in solution , _msgVelNed_flags :: Word8 - -- ^ Status flags (reserved) + -- ^ Status flags } deriving ( Show, Read, Eq ) instance Binary MsgVelNed where @@ -459,13 +525,14 @@ $(makeLenses ''MsgVelNed) msgBaselineHeading :: Word16 -msgBaselineHeading = 0x0207 +msgBaselineHeading = 0x020F --- | SBP class for message MSG_BASELINE_HEADING (0x0207). +-- | SBP class for message MSG_BASELINE_HEADING (0x020F). -- -- This message reports the baseline heading pointing from the base station to -- 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). +-- preceding MSG_GPS_TIME with the matching time-of-week (tow). It is intended +-- that time-matched RTK mode is used when the base station is moving. data MsgBaselineHeading = MsgBaselineHeading { _msgBaselineHeading_tow :: Word32 -- ^ GPS Time of Week @@ -496,3 +563,495 @@ $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgBaselineHeading_" . stripPrefix "_msgBaselineHeading_"} ''MsgBaselineHeading) $(makeLenses ''MsgBaselineHeading) + +msgAgeCorrections :: Word16 +msgAgeCorrections = 0x0210 + +-- | SBP class for message MSG_AGE_CORRECTIONS (0x0210). +-- +-- This message reports the Age of the corrections used for the current +-- Differential solution +data MsgAgeCorrections = MsgAgeCorrections + { _msgAgeCorrections_tow :: Word32 + -- ^ GPS Time of Week + , _msgAgeCorrections_age :: Word16 + -- ^ Age of the corrections (0xFFFF indicates invalid) + } deriving ( Show, Read, Eq ) + +instance Binary MsgAgeCorrections where + get = do + _msgAgeCorrections_tow <- getWord32le + _msgAgeCorrections_age <- getWord16le + return MsgAgeCorrections {..} + + put MsgAgeCorrections {..} = do + putWord32le _msgAgeCorrections_tow + putWord16le _msgAgeCorrections_age + +$(deriveSBP 'msgAgeCorrections ''MsgAgeCorrections) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgAgeCorrections_" . stripPrefix "_msgAgeCorrections_"} + ''MsgAgeCorrections) +$(makeLenses ''MsgAgeCorrections) + +msgGpsTimeDepA :: Word16 +msgGpsTimeDepA = 0x0100 + +-- | SBP class for message MSG_GPS_TIME_DEP_A (0x0100). +-- +-- This message reports the GPS time, representing the time since the GPS epoch +-- began on midnight January 6, 1980 UTC. GPS time counts the weeks and seconds +-- of the week. The weeks begin at the Saturday/Sunday transition. GPS week 0 +-- began at the beginning of the GPS time scale. Within each week number, the +-- GPS time of the week is between between 0 and 604800 seconds (=60*60*24*7). +-- Note that GPS time does not accumulate leap seconds, and as of now, has a +-- small offset from UTC. In a message stream, this message precedes a set of +-- other navigation messages referenced to the same time (but lacking the ns +-- field) and indicates a more precise time of these messages. +data MsgGpsTimeDepA = MsgGpsTimeDepA + { _msgGpsTimeDepA_wn :: Word16 + -- ^ GPS week number + , _msgGpsTimeDepA_tow :: Word32 + -- ^ GPS time of week rounded to the nearest millisecond + , _msgGpsTimeDepA_ns :: Int32 + -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to + -- 500000) + , _msgGpsTimeDepA_flags :: Word8 + -- ^ Status flags (reserved) + } deriving ( Show, Read, Eq ) + +instance Binary MsgGpsTimeDepA where + get = do + _msgGpsTimeDepA_wn <- getWord16le + _msgGpsTimeDepA_tow <- getWord32le + _msgGpsTimeDepA_ns <- fromIntegral <$> getWord32le + _msgGpsTimeDepA_flags <- getWord8 + return MsgGpsTimeDepA {..} + + put MsgGpsTimeDepA {..} = do + putWord16le _msgGpsTimeDepA_wn + putWord32le _msgGpsTimeDepA_tow + putWord32le $ fromIntegral _msgGpsTimeDepA_ns + putWord8 _msgGpsTimeDepA_flags + +$(deriveSBP 'msgGpsTimeDepA ''MsgGpsTimeDepA) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgGpsTimeDepA_" . stripPrefix "_msgGpsTimeDepA_"} + ''MsgGpsTimeDepA) +$(makeLenses ''MsgGpsTimeDepA) + +msgDopsDepA :: Word16 +msgDopsDepA = 0x0206 + +-- | SBP class for message MSG_DOPS_DEP_A (0x0206). +-- +-- This dilution of precision (DOP) message describes the effect of navigation +-- satellite geometry on positional measurement precision. +data MsgDopsDepA = MsgDopsDepA + { _msgDopsDepA_tow :: Word32 + -- ^ GPS Time of Week + , _msgDopsDepA_gdop :: Word16 + -- ^ Geometric Dilution of Precision + , _msgDopsDepA_pdop :: Word16 + -- ^ Position Dilution of Precision + , _msgDopsDepA_tdop :: Word16 + -- ^ Time Dilution of Precision + , _msgDopsDepA_hdop :: Word16 + -- ^ Horizontal Dilution of Precision + , _msgDopsDepA_vdop :: Word16 + -- ^ Vertical Dilution of Precision + } deriving ( Show, Read, Eq ) + +instance Binary MsgDopsDepA where + get = do + _msgDopsDepA_tow <- getWord32le + _msgDopsDepA_gdop <- getWord16le + _msgDopsDepA_pdop <- getWord16le + _msgDopsDepA_tdop <- getWord16le + _msgDopsDepA_hdop <- getWord16le + _msgDopsDepA_vdop <- getWord16le + return MsgDopsDepA {..} + + put MsgDopsDepA {..} = do + putWord32le _msgDopsDepA_tow + putWord16le _msgDopsDepA_gdop + putWord16le _msgDopsDepA_pdop + putWord16le _msgDopsDepA_tdop + putWord16le _msgDopsDepA_hdop + putWord16le _msgDopsDepA_vdop + +$(deriveSBP 'msgDopsDepA ''MsgDopsDepA) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgDopsDepA_" . stripPrefix "_msgDopsDepA_"} + ''MsgDopsDepA) +$(makeLenses ''MsgDopsDepA) + +msgPosEcefDepA :: Word16 +msgPosEcefDepA = 0x0200 + +-- | SBP class for message MSG_POS_ECEF_DEP_A (0x0200). +-- +-- The position solution message reports absolute Earth Centered Earth Fixed +-- (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of +-- the position solution. If the rover receiver knows the surveyed position of +-- the base station and has an RTK solution, this reports a pseudo-absolute +-- position solution using the base station position and the rover's RTK +-- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME +-- with the matching time-of-week (tow). +data MsgPosEcefDepA = MsgPosEcefDepA + { _msgPosEcefDepA_tow :: Word32 + -- ^ GPS Time of Week + , _msgPosEcefDepA_x :: Double + -- ^ ECEF X coordinate + , _msgPosEcefDepA_y :: Double + -- ^ ECEF Y coordinate + , _msgPosEcefDepA_z :: Double + -- ^ ECEF Z coordinate + , _msgPosEcefDepA_accuracy :: Word16 + -- ^ Position accuracy estimate (not implemented). Defaults to 0. + , _msgPosEcefDepA_n_sats :: Word8 + -- ^ Number of satellites used in solution + , _msgPosEcefDepA_flags :: Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgPosEcefDepA where + get = do + _msgPosEcefDepA_tow <- getWord32le + _msgPosEcefDepA_x <- getFloat64le + _msgPosEcefDepA_y <- getFloat64le + _msgPosEcefDepA_z <- getFloat64le + _msgPosEcefDepA_accuracy <- getWord16le + _msgPosEcefDepA_n_sats <- getWord8 + _msgPosEcefDepA_flags <- getWord8 + return MsgPosEcefDepA {..} + + put MsgPosEcefDepA {..} = do + putWord32le _msgPosEcefDepA_tow + putFloat64le _msgPosEcefDepA_x + putFloat64le _msgPosEcefDepA_y + putFloat64le _msgPosEcefDepA_z + putWord16le _msgPosEcefDepA_accuracy + putWord8 _msgPosEcefDepA_n_sats + putWord8 _msgPosEcefDepA_flags + +$(deriveSBP 'msgPosEcefDepA ''MsgPosEcefDepA) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgPosEcefDepA_" . stripPrefix "_msgPosEcefDepA_"} + ''MsgPosEcefDepA) +$(makeLenses ''MsgPosEcefDepA) + +msgPosLlhDepA :: Word16 +msgPosLlhDepA = 0x0201 + +-- | SBP class for message MSG_POS_LLH_DEP_A (0x0201). +-- +-- This position solution message reports the absolute geodetic coordinates and +-- the status (single point vs pseudo-absolute RTK) of the position solution. +-- If the rover receiver knows the surveyed position of the base station and +-- has an RTK solution, this reports a pseudo-absolute position solution using +-- the base station position and the rover's RTK baseline vector. The full GPS +-- time is given by the preceding MSG_GPS_TIME with the matching time-of-week +-- (tow). +data MsgPosLlhDepA = MsgPosLlhDepA + { _msgPosLlhDepA_tow :: Word32 + -- ^ GPS Time of Week + , _msgPosLlhDepA_lat :: Double + -- ^ Latitude + , _msgPosLlhDepA_lon :: Double + -- ^ Longitude + , _msgPosLlhDepA_height :: Double + -- ^ Height + , _msgPosLlhDepA_h_accuracy :: Word16 + -- ^ Horizontal position accuracy estimate (not implemented). Defaults to 0. + , _msgPosLlhDepA_v_accuracy :: Word16 + -- ^ Vertical position accuracy estimate (not implemented). Defaults to 0. + , _msgPosLlhDepA_n_sats :: Word8 + -- ^ Number of satellites used in solution. + , _msgPosLlhDepA_flags :: Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgPosLlhDepA where + get = do + _msgPosLlhDepA_tow <- getWord32le + _msgPosLlhDepA_lat <- getFloat64le + _msgPosLlhDepA_lon <- getFloat64le + _msgPosLlhDepA_height <- getFloat64le + _msgPosLlhDepA_h_accuracy <- getWord16le + _msgPosLlhDepA_v_accuracy <- getWord16le + _msgPosLlhDepA_n_sats <- getWord8 + _msgPosLlhDepA_flags <- getWord8 + return MsgPosLlhDepA {..} + + put MsgPosLlhDepA {..} = do + putWord32le _msgPosLlhDepA_tow + putFloat64le _msgPosLlhDepA_lat + putFloat64le _msgPosLlhDepA_lon + putFloat64le _msgPosLlhDepA_height + putWord16le _msgPosLlhDepA_h_accuracy + putWord16le _msgPosLlhDepA_v_accuracy + putWord8 _msgPosLlhDepA_n_sats + putWord8 _msgPosLlhDepA_flags + +$(deriveSBP 'msgPosLlhDepA ''MsgPosLlhDepA) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgPosLlhDepA_" . stripPrefix "_msgPosLlhDepA_"} + ''MsgPosLlhDepA) +$(makeLenses ''MsgPosLlhDepA) + +msgBaselineEcefDepA :: Word16 +msgBaselineEcefDepA = 0x0202 + +-- | SBP class for message MSG_BASELINE_ECEF_DEP_A (0x0202). +-- +-- This message reports the baseline solution in Earth Centered Earth Fixed +-- (ECEF) coordinates. This baseline is the relative vector distance from the +-- base station to the rover receiver. The full GPS time is given by the +-- preceding MSG_GPS_TIME with the matching time-of-week (tow). +data MsgBaselineEcefDepA = MsgBaselineEcefDepA + { _msgBaselineEcefDepA_tow :: Word32 + -- ^ GPS Time of Week + , _msgBaselineEcefDepA_x :: Int32 + -- ^ Baseline ECEF X coordinate + , _msgBaselineEcefDepA_y :: Int32 + -- ^ Baseline ECEF Y coordinate + , _msgBaselineEcefDepA_z :: Int32 + -- ^ Baseline ECEF Z coordinate + , _msgBaselineEcefDepA_accuracy :: Word16 + -- ^ Position accuracy estimate (not implemented). Defaults to 0. + , _msgBaselineEcefDepA_n_sats :: Word8 + -- ^ Number of satellites used in solution + , _msgBaselineEcefDepA_flags :: Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgBaselineEcefDepA where + get = do + _msgBaselineEcefDepA_tow <- getWord32le + _msgBaselineEcefDepA_x <- fromIntegral <$> getWord32le + _msgBaselineEcefDepA_y <- fromIntegral <$> getWord32le + _msgBaselineEcefDepA_z <- fromIntegral <$> getWord32le + _msgBaselineEcefDepA_accuracy <- getWord16le + _msgBaselineEcefDepA_n_sats <- getWord8 + _msgBaselineEcefDepA_flags <- getWord8 + return MsgBaselineEcefDepA {..} + + put MsgBaselineEcefDepA {..} = do + putWord32le _msgBaselineEcefDepA_tow + putWord32le $ fromIntegral _msgBaselineEcefDepA_x + putWord32le $ fromIntegral _msgBaselineEcefDepA_y + putWord32le $ fromIntegral _msgBaselineEcefDepA_z + putWord16le _msgBaselineEcefDepA_accuracy + putWord8 _msgBaselineEcefDepA_n_sats + putWord8 _msgBaselineEcefDepA_flags + +$(deriveSBP 'msgBaselineEcefDepA ''MsgBaselineEcefDepA) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgBaselineEcefDepA_" . stripPrefix "_msgBaselineEcefDepA_"} + ''MsgBaselineEcefDepA) +$(makeLenses ''MsgBaselineEcefDepA) + +msgBaselineNedDepA :: Word16 +msgBaselineNedDepA = 0x0203 + +-- | SBP class for message MSG_BASELINE_NED_DEP_A (0x0203). +-- +-- This message reports the baseline solution in North East Down (NED) +-- coordinates. This baseline is the relative vector distance from the base +-- station to the rover receiver, and NED coordinate system is defined at the +-- local WGS84 tangent plane centered at the base station position. The full +-- GPS time is given by the preceding MSG_GPS_TIME with the matching time-of- +-- week (tow). +data MsgBaselineNedDepA = MsgBaselineNedDepA + { _msgBaselineNedDepA_tow :: Word32 + -- ^ GPS Time of Week + , _msgBaselineNedDepA_n :: Int32 + -- ^ Baseline North coordinate + , _msgBaselineNedDepA_e :: Int32 + -- ^ Baseline East coordinate + , _msgBaselineNedDepA_d :: Int32 + -- ^ Baseline Down coordinate + , _msgBaselineNedDepA_h_accuracy :: Word16 + -- ^ Horizontal position accuracy estimate (not implemented). Defaults to 0. + , _msgBaselineNedDepA_v_accuracy :: Word16 + -- ^ Vertical position accuracy estimate (not implemented). Defaults to 0. + , _msgBaselineNedDepA_n_sats :: Word8 + -- ^ Number of satellites used in solution + , _msgBaselineNedDepA_flags :: Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgBaselineNedDepA where + get = do + _msgBaselineNedDepA_tow <- getWord32le + _msgBaselineNedDepA_n <- fromIntegral <$> getWord32le + _msgBaselineNedDepA_e <- fromIntegral <$> getWord32le + _msgBaselineNedDepA_d <- fromIntegral <$> getWord32le + _msgBaselineNedDepA_h_accuracy <- getWord16le + _msgBaselineNedDepA_v_accuracy <- getWord16le + _msgBaselineNedDepA_n_sats <- getWord8 + _msgBaselineNedDepA_flags <- getWord8 + return MsgBaselineNedDepA {..} + + put MsgBaselineNedDepA {..} = do + putWord32le _msgBaselineNedDepA_tow + putWord32le $ fromIntegral _msgBaselineNedDepA_n + putWord32le $ fromIntegral _msgBaselineNedDepA_e + putWord32le $ fromIntegral _msgBaselineNedDepA_d + putWord16le _msgBaselineNedDepA_h_accuracy + putWord16le _msgBaselineNedDepA_v_accuracy + putWord8 _msgBaselineNedDepA_n_sats + putWord8 _msgBaselineNedDepA_flags + +$(deriveSBP 'msgBaselineNedDepA ''MsgBaselineNedDepA) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgBaselineNedDepA_" . stripPrefix "_msgBaselineNedDepA_"} + ''MsgBaselineNedDepA) +$(makeLenses ''MsgBaselineNedDepA) + +msgVelEcefDepA :: Word16 +msgVelEcefDepA = 0x0204 + +-- | SBP class for message MSG_VEL_ECEF_DEP_A (0x0204). +-- +-- This message reports the velocity in Earth Centered Earth Fixed (ECEF) +-- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with +-- the matching time-of-week (tow). +data MsgVelEcefDepA = MsgVelEcefDepA + { _msgVelEcefDepA_tow :: Word32 + -- ^ GPS Time of Week + , _msgVelEcefDepA_x :: Int32 + -- ^ Velocity ECEF X coordinate + , _msgVelEcefDepA_y :: Int32 + -- ^ Velocity ECEF Y coordinate + , _msgVelEcefDepA_z :: Int32 + -- ^ Velocity ECEF Z coordinate + , _msgVelEcefDepA_accuracy :: Word16 + -- ^ Velocity accuracy estimate (not implemented). Defaults to 0. + , _msgVelEcefDepA_n_sats :: Word8 + -- ^ Number of satellites used in solution + , _msgVelEcefDepA_flags :: Word8 + -- ^ Status flags (reserved) + } deriving ( Show, Read, Eq ) + +instance Binary MsgVelEcefDepA where + get = do + _msgVelEcefDepA_tow <- getWord32le + _msgVelEcefDepA_x <- fromIntegral <$> getWord32le + _msgVelEcefDepA_y <- fromIntegral <$> getWord32le + _msgVelEcefDepA_z <- fromIntegral <$> getWord32le + _msgVelEcefDepA_accuracy <- getWord16le + _msgVelEcefDepA_n_sats <- getWord8 + _msgVelEcefDepA_flags <- getWord8 + return MsgVelEcefDepA {..} + + put MsgVelEcefDepA {..} = do + putWord32le _msgVelEcefDepA_tow + putWord32le $ fromIntegral _msgVelEcefDepA_x + putWord32le $ fromIntegral _msgVelEcefDepA_y + putWord32le $ fromIntegral _msgVelEcefDepA_z + putWord16le _msgVelEcefDepA_accuracy + putWord8 _msgVelEcefDepA_n_sats + putWord8 _msgVelEcefDepA_flags + +$(deriveSBP 'msgVelEcefDepA ''MsgVelEcefDepA) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgVelEcefDepA_" . stripPrefix "_msgVelEcefDepA_"} + ''MsgVelEcefDepA) +$(makeLenses ''MsgVelEcefDepA) + +msgVelNedDepA :: Word16 +msgVelNedDepA = 0x0205 + +-- | SBP class for message MSG_VEL_NED_DEP_A (0x0205). +-- +-- This message reports the velocity in local North East Down (NED) +-- coordinates. The NED coordinate system is defined as the local WGS84 tangent +-- plane centered at the current position. The full GPS time is given by the +-- preceding MSG_GPS_TIME with the matching time-of-week (tow). +data MsgVelNedDepA = MsgVelNedDepA + { _msgVelNedDepA_tow :: Word32 + -- ^ GPS Time of Week + , _msgVelNedDepA_n :: Int32 + -- ^ Velocity North coordinate + , _msgVelNedDepA_e :: Int32 + -- ^ Velocity East coordinate + , _msgVelNedDepA_d :: Int32 + -- ^ Velocity Down coordinate + , _msgVelNedDepA_h_accuracy :: Word16 + -- ^ Horizontal velocity accuracy estimate (not implemented). Defaults to 0. + , _msgVelNedDepA_v_accuracy :: Word16 + -- ^ Vertical velocity accuracy estimate (not implemented). Defaults to 0. + , _msgVelNedDepA_n_sats :: Word8 + -- ^ Number of satellites used in solution + , _msgVelNedDepA_flags :: Word8 + -- ^ Status flags (reserved) + } deriving ( Show, Read, Eq ) + +instance Binary MsgVelNedDepA where + get = do + _msgVelNedDepA_tow <- getWord32le + _msgVelNedDepA_n <- fromIntegral <$> getWord32le + _msgVelNedDepA_e <- fromIntegral <$> getWord32le + _msgVelNedDepA_d <- fromIntegral <$> getWord32le + _msgVelNedDepA_h_accuracy <- getWord16le + _msgVelNedDepA_v_accuracy <- getWord16le + _msgVelNedDepA_n_sats <- getWord8 + _msgVelNedDepA_flags <- getWord8 + return MsgVelNedDepA {..} + + put MsgVelNedDepA {..} = do + putWord32le _msgVelNedDepA_tow + putWord32le $ fromIntegral _msgVelNedDepA_n + putWord32le $ fromIntegral _msgVelNedDepA_e + putWord32le $ fromIntegral _msgVelNedDepA_d + putWord16le _msgVelNedDepA_h_accuracy + putWord16le _msgVelNedDepA_v_accuracy + putWord8 _msgVelNedDepA_n_sats + putWord8 _msgVelNedDepA_flags + +$(deriveSBP 'msgVelNedDepA ''MsgVelNedDepA) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgVelNedDepA_" . stripPrefix "_msgVelNedDepA_"} + ''MsgVelNedDepA) +$(makeLenses ''MsgVelNedDepA) + +msgBaselineHeadingDepA :: Word16 +msgBaselineHeadingDepA = 0x0207 + +-- | SBP class for message MSG_BASELINE_HEADING_DEP_A (0x0207). +-- +-- This message reports the baseline heading pointing from the base station to +-- the rover relative to True North. The full GPS time is given by the +-- preceding MSG_GPS_TIME with the matching time-of-week (tow). +data MsgBaselineHeadingDepA = MsgBaselineHeadingDepA + { _msgBaselineHeadingDepA_tow :: Word32 + -- ^ GPS Time of Week + , _msgBaselineHeadingDepA_heading :: Word32 + -- ^ Heading + , _msgBaselineHeadingDepA_n_sats :: Word8 + -- ^ Number of satellites used in solution + , _msgBaselineHeadingDepA_flags :: Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgBaselineHeadingDepA where + get = do + _msgBaselineHeadingDepA_tow <- getWord32le + _msgBaselineHeadingDepA_heading <- getWord32le + _msgBaselineHeadingDepA_n_sats <- getWord8 + _msgBaselineHeadingDepA_flags <- getWord8 + return MsgBaselineHeadingDepA {..} + + put MsgBaselineHeadingDepA {..} = do + putWord32le _msgBaselineHeadingDepA_tow + putWord32le _msgBaselineHeadingDepA_heading + putWord8 _msgBaselineHeadingDepA_n_sats + putWord8 _msgBaselineHeadingDepA_flags + +$(deriveSBP 'msgBaselineHeadingDepA ''MsgBaselineHeadingDepA) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgBaselineHeadingDepA_" . stripPrefix "_msgBaselineHeadingDepA_"} + ''MsgBaselineHeadingDepA) +$(makeLenses ''MsgBaselineHeadingDepA) 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 @@ -30,10 +30,10 @@ -- | ObservationHeader. -- --- Header of a GPS observation message. +-- Header of a GNSS observation message. data ObservationHeader = ObservationHeader - { _observationHeader_t :: GpsTime - -- ^ GPS time of this observation + { _observationHeader_t :: GpsTimeNano + -- ^ GNSS time of this observation , _observationHeader_n_obs :: Word8 -- ^ Total number of observations. First nibble is the size of the sequence -- (n), second nibble is the zero-indexed counter (ith packet of n) @@ -52,56 +52,102 @@ ''ObservationHeader) $(makeLenses ''ObservationHeader) +-- | Doppler. +-- +-- Doppler measurement in Hz represented as a 24-bit fixed point number with +-- Q16.8 layout, i.e. 16-bits of whole doppler and 8-bits of fractional +-- doppler. This doppler is defined as positive for approaching satellites. +data Doppler = Doppler + { _doppler_i :: Int16 + -- ^ Doppler whole Hz + , _doppler_f :: Word8 + -- ^ Doppler fractional part + } deriving ( Show, Read, Eq ) + +instance Binary Doppler where + get = do + _doppler_i <- fromIntegral <$> getWord16le + _doppler_f <- getWord8 + return Doppler {..} + + put Doppler {..} = do + putWord16le $ fromIntegral _doppler_i + putWord8 _doppler_f +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_doppler_" . stripPrefix "_doppler_"} + ''Doppler) +$(makeLenses ''Doppler) + -- | PackedObsContent. -- -- 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. +-- observations are interoperable with 3rd party receivers and conform with +-- typical RTCMv3 GNSS observations. data PackedObsContent = PackedObsContent - { _packedObsContent_P :: Word32 + { _packedObsContent_P :: Word32 -- ^ Pseudorange observation - , _packedObsContent_L :: CarrierPhase + , _packedObsContent_L :: CarrierPhase -- ^ Carrier phase observation with typical sign convention. + , _packedObsContent_D :: Doppler + -- ^ Doppler observation with typical sign convention. , _packedObsContent_cn0 :: Word8 - -- ^ Carrier-to-Noise density - , _packedObsContent_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. - , _packedObsContent_sid :: GnssSignal - -- ^ GNSS signal identifier + -- ^ Carrier-to-Noise density. Zero implies invalid cn0. + , _packedObsContent_lock :: Word8 + -- ^ Lock timer. This value gives an indication of the time for which a + -- signal has maintained continuous phase lock. Whenever a signal has lost + -- and regained lock, this value is reset to zero. It is encoded according + -- to DF402 from the RTCM 10403.2 Amendment 2 specification. Valid values + -- range from 0 to 15 and the most significant nibble is reserved for + -- future use. + , _packedObsContent_flags :: Word8 + -- ^ Measurement status flags. A bit field of flags providing the status of + -- this observation. If this field is 0 it means only the Cn0 estimate for + -- the signal is valid. + , _packedObsContent_sid :: GnssSignal16 + -- ^ GNSS signal identifier (16 bit) } deriving ( Show, Read, Eq ) instance Binary PackedObsContent where get = do _packedObsContent_P <- getWord32le _packedObsContent_L <- get + _packedObsContent_D <- get _packedObsContent_cn0 <- getWord8 - _packedObsContent_lock <- getWord16le + _packedObsContent_lock <- getWord8 + _packedObsContent_flags <- getWord8 _packedObsContent_sid <- get return PackedObsContent {..} put PackedObsContent {..} = do putWord32le _packedObsContent_P put _packedObsContent_L + put _packedObsContent_D putWord8 _packedObsContent_cn0 - putWord16le _packedObsContent_lock + putWord8 _packedObsContent_lock + putWord8 _packedObsContent_flags put _packedObsContent_sid $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_packedObsContent_" . stripPrefix "_packedObsContent_"} ''PackedObsContent) $(makeLenses ''PackedObsContent) msgObs :: Word16 -msgObs = 0x0049 +msgObs = 0x004A --- | SBP class for message MSG_OBS (0x0049). +-- | SBP class for message MSG_OBS (0x004A). -- -- 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. +-- The observations are be interoperable with 3rd party receivers and conform +-- with typical RTCMv3 GNSS observations. The lock field represents the +-- range of time for which a particular signal has maintained carrier phase +-- lock. The minimum and maximum possible lock times for each value of the +-- field can be described by the following piecewise function. Given the lock +-- value, l, the minimum lock time is given by 2 ^ (l + 4) ms and the maximum +-- lock time is given by 2 ^ (l + 5) ms provided n is not 0. If n is 0 the +-- lower range is given to be 0 ms. Conversely, given a lock time (t) in +-- milliseconds, the field value is given by floor(log_2(t) - 4) when t is +-- greater than 32 ms or 0 if (t) is less than 32 ms. data MsgObs = MsgObs { _msgObs_header :: ObservationHeader -- ^ Header of a GPS observation message @@ -995,6 +1041,30 @@ ''MsgEphemerisDepC) $(makeLenses ''MsgEphemerisDepC) +-- | ObservationHeaderDep. +-- +-- Header of a GPS observation message. +data ObservationHeaderDep = ObservationHeaderDep + { _observationHeaderDep_t :: GpsTime + -- ^ GPS time of this observation + , _observationHeaderDep_n_obs :: Word8 + -- ^ Total number of observations. First nibble is the size of the sequence + -- (n), second nibble is the zero-indexed counter (ith packet of n) + } deriving ( Show, Read, Eq ) + +instance Binary ObservationHeaderDep where + get = do + _observationHeaderDep_t <- get + _observationHeaderDep_n_obs <- getWord8 + return ObservationHeaderDep {..} + + put ObservationHeaderDep {..} = do + put _observationHeaderDep_t + putWord8 _observationHeaderDep_n_obs +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_observationHeaderDep_" . stripPrefix "_observationHeaderDep_"} + ''ObservationHeaderDep) +$(makeLenses ''ObservationHeaderDep) + -- | CarrierPhaseDepA. -- -- Carrier phase measurement in cycles represented as a 40-bit fixed point @@ -1096,6 +1166,45 @@ ''PackedObsContentDepB) $(makeLenses ''PackedObsContentDepB) +-- | PackedObsContentDepC. +-- +-- Pseudorange and carrier phase observation for a satellite being tracked. The +-- observations are be interoperable with 3rd party receivers and conform with +-- typical RTCMv3 GNSS observations. +data PackedObsContentDepC = PackedObsContentDepC + { _packedObsContentDepC_P :: Word32 + -- ^ Pseudorange observation + , _packedObsContentDepC_L :: CarrierPhase + -- ^ Carrier phase observation with typical sign convention. + , _packedObsContentDepC_cn0 :: Word8 + -- ^ Carrier-to-Noise density + , _packedObsContentDepC_lock :: Word16 + -- ^ Lock indicator. This value changes whenever a satellite signal has lost + -- and regained lock, indicating that the carrier phase ambiguity may have + -- changed. + , _packedObsContentDepC_sid :: GnssSignal + -- ^ GNSS signal identifier + } deriving ( Show, Read, Eq ) + +instance Binary PackedObsContentDepC where + get = do + _packedObsContentDepC_P <- getWord32le + _packedObsContentDepC_L <- get + _packedObsContentDepC_cn0 <- getWord8 + _packedObsContentDepC_lock <- getWord16le + _packedObsContentDepC_sid <- get + return PackedObsContentDepC {..} + + put PackedObsContentDepC {..} = do + putWord32le _packedObsContentDepC_P + put _packedObsContentDepC_L + putWord8 _packedObsContentDepC_cn0 + putWord16le _packedObsContentDepC_lock + put _packedObsContentDepC_sid +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_packedObsContentDepC_" . stripPrefix "_packedObsContentDepC_"} + ''PackedObsContentDepC) +$(makeLenses ''PackedObsContentDepC) + msgObsDepA :: Word16 msgObsDepA = 0x0045 @@ -1103,7 +1212,7 @@ -- -- Deprecated. data MsgObsDepA = MsgObsDepA - { _msgObsDepA_header :: ObservationHeader + { _msgObsDepA_header :: ObservationHeaderDep -- ^ Header of a GPS observation message , _msgObsDepA_obs :: [PackedObsContentDepA] -- ^ Pseudorange and carrier phase observation for a satellite being tracked. @@ -1135,7 +1244,7 @@ -- 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 + { _msgObsDepB_header :: ObservationHeaderDep -- ^ Header of a GPS observation message , _msgObsDepB_obs :: [PackedObsContentDepB] -- ^ Pseudorange and carrier phase observation for a satellite being tracked. @@ -1156,6 +1265,40 @@ $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgObsDepB_" . stripPrefix "_msgObsDepB_"} ''MsgObsDepB) $(makeLenses ''MsgObsDepB) + +msgObsDepC :: Word16 +msgObsDepC = 0x0049 + +-- | SBP class for message MSG_OBS_DEP_C (0x0049). +-- +-- The GPS observations message reports all the raw pseudorange and carrier +-- phase observations for the satellites being tracked by the device. Carrier +-- phase observation here is represented as a 40-bit fixed point number with +-- Q32.8 layout (i.e. 32-bits of whole cycles and 8-bits of fractional cycles). +-- The observations are interoperable with 3rd party receivers and conform with +-- typical RTCMv3 GNSS observations. +data MsgObsDepC = MsgObsDepC + { _msgObsDepC_header :: ObservationHeaderDep + -- ^ Header of a GPS observation message + , _msgObsDepC_obs :: [PackedObsContentDepC] + -- ^ Pseudorange and carrier phase observation for a satellite being tracked. + } deriving ( Show, Read, Eq ) + +instance Binary MsgObsDepC where + get = do + _msgObsDepC_header <- get + _msgObsDepC_obs <- whileM (not <$> isEmpty) get + return MsgObsDepC {..} + + put MsgObsDepC {..} = do + put _msgObsDepC_header + mapM_ put _msgObsDepC_obs + +$(deriveSBP 'msgObsDepC ''MsgObsDepC) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgObsDepC_" . stripPrefix "_msgObsDepC_"} + ''MsgObsDepC) +$(makeLenses ''MsgObsDepC) msgIono :: Word16 msgIono = 0x0090 diff --git a/src/SwiftNav/SBP/System.hs b/src/SwiftNav/SBP/System.hs --- a/src/SwiftNav/SBP/System.hs +++ b/src/SwiftNav/SBP/System.hs @@ -36,23 +36,70 @@ -- host or other attached devices that the system has started and is now ready -- to respond to commands or configuration requests. data MsgStartup = MsgStartup - { _msgStartup_reserved :: Word32 + { _msgStartup_cause :: Word8 + -- ^ Cause of startup + , _msgStartup_startup_type :: Word8 + -- ^ Startup type + , _msgStartup_reserved :: Word16 -- ^ Reserved } deriving ( Show, Read, Eq ) instance Binary MsgStartup where get = do - _msgStartup_reserved <- getWord32le + _msgStartup_cause <- getWord8 + _msgStartup_startup_type <- getWord8 + _msgStartup_reserved <- getWord16le return MsgStartup {..} put MsgStartup {..} = do - putWord32le _msgStartup_reserved + putWord8 _msgStartup_cause + putWord8 _msgStartup_startup_type + putWord16le _msgStartup_reserved $(deriveSBP 'msgStartup ''MsgStartup) $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgStartup_" . stripPrefix "_msgStartup_"} ''MsgStartup) $(makeLenses ''MsgStartup) + +msgDgnssStatus :: Word16 +msgDgnssStatus = 0xFF02 + +-- | SBP class for message MSG_DGNSS_STATUS (0xFF02). +-- +-- This message provides information about the receipt of Differential +-- corrections. It is expected to be sent with each receipt of a complete +-- corrections packet. +data MsgDgnssStatus = MsgDgnssStatus + { _msgDgnssStatus_flags :: Word8 + -- ^ Status flags + , _msgDgnssStatus_latency :: Word16 + -- ^ Latency of observation receipt + , _msgDgnssStatus_num_signals :: Word8 + -- ^ Number of signals from base station + , _msgDgnssStatus_source :: Text + -- ^ Corrections source string + } deriving ( Show, Read, Eq ) + +instance Binary MsgDgnssStatus where + get = do + _msgDgnssStatus_flags <- getWord8 + _msgDgnssStatus_latency <- getWord16le + _msgDgnssStatus_num_signals <- getWord8 + _msgDgnssStatus_source <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + return MsgDgnssStatus {..} + + put MsgDgnssStatus {..} = do + putWord8 _msgDgnssStatus_flags + putWord16le _msgDgnssStatus_latency + putWord8 _msgDgnssStatus_num_signals + putByteString $ encodeUtf8 _msgDgnssStatus_source + +$(deriveSBP 'msgDgnssStatus ''MsgDgnssStatus) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgDgnssStatus_" . stripPrefix "_msgDgnssStatus_"} + ''MsgDgnssStatus) +$(makeLenses ''MsgDgnssStatus) msgHeartbeat :: Word16 msgHeartbeat = 0xFFFF