diff --git a/README.md b/README.md --- a/README.md +++ b/README.md @@ -10,6 +10,12 @@ Available on [Hackage as `sbp`](http://hackage.haskell.org/package/sbp). +To install from Hackage using `stack`: + + $ stack install --resolver lts-6.25 sbp + +Note that we explicitly specify the `lts-6.25` resolver, `libsbp` may fail to build with more recent resolvers. + ## Setup To build: diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 2.1.7 +version: 2.2.0 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 @@ -64,6 +64,8 @@ | SBPMsgAcqSvProfile MsgAcqSvProfile Msg | SBPMsgAgeCorrections MsgAgeCorrections Msg | SBPMsgAlmanac MsgAlmanac Msg + | SBPMsgAlmanacGlo MsgAlmanacGlo Msg + | SBPMsgAlmanacGps MsgAlmanacGps Msg | SBPMsgBasePosEcef MsgBasePosEcef Msg | SBPMsgBasePosLlh MsgBasePosLlh Msg | SBPMsgBaselineEcef MsgBaselineEcef Msg @@ -89,9 +91,13 @@ | SBPMsgEphemerisDepC MsgEphemerisDepC Msg | SBPMsgEphemerisDepD MsgEphemerisDepD Msg | SBPMsgEphemerisGlo MsgEphemerisGlo Msg + | SBPMsgEphemerisGloDepA MsgEphemerisGloDepA Msg | SBPMsgEphemerisGps MsgEphemerisGps Msg + | SBPMsgEphemerisGpsDepE MsgEphemerisGpsDepE Msg | SBPMsgEphemerisSbas MsgEphemerisSbas Msg + | SBPMsgEphemerisSbasDepA MsgEphemerisSbasDepA Msg | SBPMsgExtEvent MsgExtEvent Msg + | SBPMsgFcnsGlo MsgFcnsGlo Msg | SBPMsgFileioReadDirReq MsgFileioReadDirReq Msg | SBPMsgFileioReadDirResp MsgFileioReadDirResp Msg | SBPMsgFileioReadReq MsgFileioReadReq Msg @@ -108,6 +114,7 @@ | SBPMsgGpsTime MsgGpsTime Msg | SBPMsgGpsTimeDepA MsgGpsTimeDepA Msg | SBPMsgGroupDelay MsgGroupDelay Msg + | SBPMsgGroupDelayDepA MsgGroupDelayDepA Msg | SBPMsgHeartbeat MsgHeartbeat Msg | SBPMsgIarState MsgIarState Msg | SBPMsgImuAux MsgImuAux Msg @@ -120,6 +127,8 @@ | SBPMsgNapDeviceDnaReq MsgNapDeviceDnaReq Msg | SBPMsgNapDeviceDnaResp MsgNapDeviceDnaResp Msg | SBPMsgNdbEvent MsgNdbEvent Msg + | SBPMsgNetworkStateReq MsgNetworkStateReq Msg + | SBPMsgNetworkStateResp MsgNetworkStateResp Msg | SBPMsgObs MsgObs Msg | SBPMsgObsDepA MsgObsDepA Msg | SBPMsgObsDepB MsgObsDepB Msg @@ -180,6 +189,8 @@ | _msgSBPType == msgAcqSvProfile = SBPMsgAcqSvProfile (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgAgeCorrections = SBPMsgAgeCorrections (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgAlmanac = SBPMsgAlmanac (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgAlmanacGlo = SBPMsgAlmanacGlo (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgAlmanacGps = SBPMsgAlmanacGps (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 @@ -205,9 +216,13 @@ | _msgSBPType == msgEphemerisDepC = SBPMsgEphemerisDepC (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgEphemerisDepD = SBPMsgEphemerisDepD (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgEphemerisGlo = SBPMsgEphemerisGlo (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgEphemerisGloDepA = SBPMsgEphemerisGloDepA (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgEphemerisGps = SBPMsgEphemerisGps (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgEphemerisGpsDepE = SBPMsgEphemerisGpsDepE (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgEphemerisSbas = SBPMsgEphemerisSbas (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgEphemerisSbasDepA = SBPMsgEphemerisSbasDepA (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgExtEvent = SBPMsgExtEvent (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgFcnsGlo = SBPMsgFcnsGlo (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgFileioReadDirReq = SBPMsgFileioReadDirReq (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgFileioReadDirResp = SBPMsgFileioReadDirResp (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgFileioReadReq = SBPMsgFileioReadReq (decode (fromStrict _msgSBPPayload)) m @@ -224,6 +239,7 @@ | _msgSBPType == msgGpsTime = SBPMsgGpsTime (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgGpsTimeDepA = SBPMsgGpsTimeDepA (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgGroupDelay = SBPMsgGroupDelay (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgGroupDelayDepA = SBPMsgGroupDelayDepA (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgHeartbeat = SBPMsgHeartbeat (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgIarState = SBPMsgIarState (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgImuAux = SBPMsgImuAux (decode (fromStrict _msgSBPPayload)) m @@ -236,6 +252,8 @@ | _msgSBPType == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgNdbEvent = SBPMsgNdbEvent (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgNetworkStateReq = SBPMsgNetworkStateReq (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgNetworkStateResp = SBPMsgNetworkStateResp (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgObs = SBPMsgObs (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgObsDepA = SBPMsgObsDepA (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgObsDepB = SBPMsgObsDepB (decode (fromStrict _msgSBPPayload)) m @@ -288,6 +306,8 @@ encode' (SBPMsgAcqSvProfile _ m) = put m encode' (SBPMsgAgeCorrections _ m) = put m encode' (SBPMsgAlmanac _ m) = put m + encode' (SBPMsgAlmanacGlo _ m) = put m + encode' (SBPMsgAlmanacGps _ m) = put m encode' (SBPMsgBasePosEcef _ m) = put m encode' (SBPMsgBasePosLlh _ m) = put m encode' (SBPMsgBaselineEcef _ m) = put m @@ -313,9 +333,13 @@ encode' (SBPMsgEphemerisDepC _ m) = put m encode' (SBPMsgEphemerisDepD _ m) = put m encode' (SBPMsgEphemerisGlo _ m) = put m + encode' (SBPMsgEphemerisGloDepA _ m) = put m encode' (SBPMsgEphemerisGps _ m) = put m + encode' (SBPMsgEphemerisGpsDepE _ m) = put m encode' (SBPMsgEphemerisSbas _ m) = put m + encode' (SBPMsgEphemerisSbasDepA _ m) = put m encode' (SBPMsgExtEvent _ m) = put m + encode' (SBPMsgFcnsGlo _ m) = put m encode' (SBPMsgFileioReadDirReq _ m) = put m encode' (SBPMsgFileioReadDirResp _ m) = put m encode' (SBPMsgFileioReadReq _ m) = put m @@ -332,6 +356,7 @@ encode' (SBPMsgGpsTime _ m) = put m encode' (SBPMsgGpsTimeDepA _ m) = put m encode' (SBPMsgGroupDelay _ m) = put m + encode' (SBPMsgGroupDelayDepA _ m) = put m encode' (SBPMsgHeartbeat _ m) = put m encode' (SBPMsgIarState _ m) = put m encode' (SBPMsgImuAux _ m) = put m @@ -344,6 +369,8 @@ encode' (SBPMsgNapDeviceDnaReq _ m) = put m encode' (SBPMsgNapDeviceDnaResp _ m) = put m encode' (SBPMsgNdbEvent _ m) = put m + encode' (SBPMsgNetworkStateReq _ m) = put m + encode' (SBPMsgNetworkStateResp _ m) = put m encode' (SBPMsgObs _ m) = put m encode' (SBPMsgObsDepA _ m) = put m encode' (SBPMsgObsDepB _ m) = put m @@ -399,6 +426,8 @@ | msgType == msgAcqSvProfile = SBPMsgAcqSvProfile <$> parseJSON obj <*> parseJSON obj | msgType == msgAgeCorrections = SBPMsgAgeCorrections <$> parseJSON obj <*> parseJSON obj | msgType == msgAlmanac = SBPMsgAlmanac <$> parseJSON obj <*> parseJSON obj + | msgType == msgAlmanacGlo = SBPMsgAlmanacGlo <$> parseJSON obj <*> parseJSON obj + | msgType == msgAlmanacGps = SBPMsgAlmanacGps <$> parseJSON obj <*> parseJSON obj | msgType == msgBasePosEcef = SBPMsgBasePosEcef <$> parseJSON obj <*> parseJSON obj | msgType == msgBasePosLlh = SBPMsgBasePosLlh <$> parseJSON obj <*> parseJSON obj | msgType == msgBaselineEcef = SBPMsgBaselineEcef <$> parseJSON obj <*> parseJSON obj @@ -424,9 +453,13 @@ | msgType == msgEphemerisDepC = SBPMsgEphemerisDepC <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisDepD = SBPMsgEphemerisDepD <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisGlo = SBPMsgEphemerisGlo <$> parseJSON obj <*> parseJSON obj + | msgType == msgEphemerisGloDepA = SBPMsgEphemerisGloDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisGps = SBPMsgEphemerisGps <$> parseJSON obj <*> parseJSON obj + | msgType == msgEphemerisGpsDepE = SBPMsgEphemerisGpsDepE <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisSbas = SBPMsgEphemerisSbas <$> parseJSON obj <*> parseJSON obj + | msgType == msgEphemerisSbasDepA = SBPMsgEphemerisSbasDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgExtEvent = SBPMsgExtEvent <$> parseJSON obj <*> parseJSON obj + | msgType == msgFcnsGlo = SBPMsgFcnsGlo <$> parseJSON obj <*> parseJSON obj | msgType == msgFileioReadDirReq = SBPMsgFileioReadDirReq <$> parseJSON obj <*> parseJSON obj | msgType == msgFileioReadDirResp = SBPMsgFileioReadDirResp <$> parseJSON obj <*> parseJSON obj | msgType == msgFileioReadReq = SBPMsgFileioReadReq <$> parseJSON obj <*> parseJSON obj @@ -443,6 +476,7 @@ | msgType == msgGpsTime = SBPMsgGpsTime <$> parseJSON obj <*> parseJSON obj | msgType == msgGpsTimeDepA = SBPMsgGpsTimeDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgGroupDelay = SBPMsgGroupDelay <$> parseJSON obj <*> parseJSON obj + | msgType == msgGroupDelayDepA = SBPMsgGroupDelayDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgHeartbeat = SBPMsgHeartbeat <$> parseJSON obj <*> parseJSON obj | msgType == msgIarState = SBPMsgIarState <$> parseJSON obj <*> parseJSON obj | msgType == msgImuAux = SBPMsgImuAux <$> parseJSON obj <*> parseJSON obj @@ -455,6 +489,8 @@ | msgType == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq <$> parseJSON obj <*> parseJSON obj | msgType == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp <$> parseJSON obj <*> parseJSON obj | msgType == msgNdbEvent = SBPMsgNdbEvent <$> parseJSON obj <*> parseJSON obj + | msgType == msgNetworkStateReq = SBPMsgNetworkStateReq <$> parseJSON obj <*> parseJSON obj + | msgType == msgNetworkStateResp = SBPMsgNetworkStateResp <$> parseJSON obj <*> parseJSON obj | msgType == msgObs = SBPMsgObs <$> parseJSON obj <*> parseJSON obj | msgType == msgObsDepA = SBPMsgObsDepA <$> parseJSON obj <*> parseJSON obj | msgType == msgObsDepB = SBPMsgObsDepB <$> parseJSON obj <*> parseJSON obj @@ -512,6 +548,8 @@ 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 (SBPMsgAlmanacGlo n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgAlmanacGps 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 @@ -537,9 +575,13 @@ 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 (SBPMsgEphemerisGloDepA n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgEphemerisGps n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgEphemerisGpsDepE n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgEphemerisSbas n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgEphemerisSbasDepA n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgExtEvent n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgFcnsGlo 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 toJSON (SBPMsgFileioReadReq n m) = toJSON n `mergeValues` toJSON m @@ -556,6 +598,7 @@ 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 (SBPMsgGroupDelayDepA 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 (SBPMsgImuAux n m) = toJSON n `mergeValues` toJSON m @@ -568,6 +611,8 @@ toJSON (SBPMsgNapDeviceDnaReq n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgNapDeviceDnaResp n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgNdbEvent n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgNetworkStateReq n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgNetworkStateResp n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgObs n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgObsDepA n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgObsDepB n m) = toJSON n `mergeValues` toJSON m @@ -619,6 +664,8 @@ 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 <$> f m + msg f (SBPMsgAlmanacGlo n m) = SBPMsgAlmanacGlo n <$> f m + msg f (SBPMsgAlmanacGps n m) = SBPMsgAlmanacGps 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 @@ -644,9 +691,13 @@ 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 <$> f m + msg f (SBPMsgEphemerisGloDepA n m) = SBPMsgEphemerisGloDepA n <$> f m msg f (SBPMsgEphemerisGps n m) = SBPMsgEphemerisGps n <$> f m + msg f (SBPMsgEphemerisGpsDepE n m) = SBPMsgEphemerisGpsDepE n <$> f m msg f (SBPMsgEphemerisSbas n m) = SBPMsgEphemerisSbas n <$> f m + msg f (SBPMsgEphemerisSbasDepA n m) = SBPMsgEphemerisSbasDepA n <$> f m msg f (SBPMsgExtEvent n m) = SBPMsgExtEvent n <$> f m + msg f (SBPMsgFcnsGlo n m) = SBPMsgFcnsGlo n <$> f m msg f (SBPMsgFileioReadDirReq n m) = SBPMsgFileioReadDirReq n <$> f m msg f (SBPMsgFileioReadDirResp n m) = SBPMsgFileioReadDirResp n <$> f m msg f (SBPMsgFileioReadReq n m) = SBPMsgFileioReadReq n <$> f m @@ -663,6 +714,7 @@ msg f (SBPMsgGpsTime n m) = SBPMsgGpsTime n <$> f m msg f (SBPMsgGpsTimeDepA n m) = SBPMsgGpsTimeDepA n <$> f m msg f (SBPMsgGroupDelay n m) = SBPMsgGroupDelay n <$> f m + msg f (SBPMsgGroupDelayDepA n m) = SBPMsgGroupDelayDepA n <$> f m msg f (SBPMsgHeartbeat n m) = SBPMsgHeartbeat n <$> f m msg f (SBPMsgIarState n m) = SBPMsgIarState n <$> f m msg f (SBPMsgImuAux n m) = SBPMsgImuAux n <$> f m @@ -675,6 +727,8 @@ msg f (SBPMsgNapDeviceDnaReq n m) = SBPMsgNapDeviceDnaReq n <$> f m msg f (SBPMsgNapDeviceDnaResp n m) = SBPMsgNapDeviceDnaResp n <$> f m msg f (SBPMsgNdbEvent n m) = SBPMsgNdbEvent n <$> f m + msg f (SBPMsgNetworkStateReq n m) = SBPMsgNetworkStateReq n <$> f m + msg f (SBPMsgNetworkStateResp n m) = SBPMsgNetworkStateResp n <$> f m msg f (SBPMsgObs n m) = SBPMsgObs n <$> f m msg f (SBPMsgObsDepA n m) = SBPMsgObsDepA n <$> f m msg f (SBPMsgObsDepB n m) = SBPMsgObsDepB n <$> f m diff --git a/src/SwiftNav/SBP/ExtEvents.hs b/src/SwiftNav/SBP/ExtEvents.hs --- a/src/SwiftNav/SBP/ExtEvents.hs +++ b/src/SwiftNav/SBP/ExtEvents.hs @@ -36,16 +36,16 @@ -- Reports detection of an external event, the GPS time it occurred, which pin -- it was and whether it was rising or falling. data MsgExtEvent = MsgExtEvent - { _msgExtEvent_wn :: Word16 + { _msgExtEvent_wn :: Word16 -- ^ GPS week number - , _msgExtEvent_tow :: Word32 + , _msgExtEvent_tow :: Word32 -- ^ GPS time of week rounded to the nearest millisecond - , _msgExtEvent_ns :: Int32 + , _msgExtEvent_ns_residual :: Int32 -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to -- 500000) - , _msgExtEvent_flags :: Word8 + , _msgExtEvent_flags :: Word8 -- ^ Flags - , _msgExtEvent_pin :: Word8 + , _msgExtEvent_pin :: Word8 -- ^ Pin number. 0..9 = DEBUG0..9. } deriving ( Show, Read, Eq ) @@ -53,7 +53,7 @@ get = do _msgExtEvent_wn <- getWord16le _msgExtEvent_tow <- getWord32le - _msgExtEvent_ns <- fromIntegral <$> getWord32le + _msgExtEvent_ns_residual <- fromIntegral <$> getWord32le _msgExtEvent_flags <- getWord8 _msgExtEvent_pin <- getWord8 return MsgExtEvent {..} @@ -61,7 +61,7 @@ put MsgExtEvent {..} = do putWord16le _msgExtEvent_wn putWord32le _msgExtEvent_tow - putWord32le $ fromIntegral _msgExtEvent_ns + putWord32le $ fromIntegral _msgExtEvent_ns_residual putWord8 _msgExtEvent_flags putWord8 _msgExtEvent_pin 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 @@ -109,25 +109,25 @@ -- 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 + { _gpsTimeNano_tow :: Word32 -- ^ Milliseconds since start of GPS week - , _gpsTimeNano_ns :: Int32 + , _gpsTimeNano_ns_residual :: Int32 -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to -- 500000) - , _gpsTimeNano_wn :: Word16 + , _gpsTimeNano_wn :: Word16 -- ^ GPS week number } deriving ( Show, Read, Eq ) instance Binary GpsTimeNano where get = do _gpsTimeNano_tow <- getWord32le - _gpsTimeNano_ns <- fromIntegral <$> getWord32le + _gpsTimeNano_ns_residual <- fromIntegral <$> getWord32le _gpsTimeNano_wn <- getWord16le return GpsTimeNano {..} put GpsTimeNano {..} = do putWord32le _gpsTimeNano_tow - putWord32le $ fromIntegral _gpsTimeNano_ns + putWord32le $ fromIntegral _gpsTimeNano_ns_residual putWord16le _gpsTimeNano_wn $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_gpsTimeNano_" . P.stripPrefix "_gpsTimeNano_"} ''GpsTimeNano) diff --git a/src/SwiftNav/SBP/Navigation.hs b/src/SwiftNav/SBP/Navigation.hs --- a/src/SwiftNav/SBP/Navigation.hs +++ b/src/SwiftNav/SBP/Navigation.hs @@ -50,14 +50,14 @@ -- other navigation messages referenced to the same time (but lacking the ns -- field) and indicates a more precise time of these messages. data MsgGpsTime = MsgGpsTime - { _msgGpsTime_wn :: Word16 + { _msgGpsTime_wn :: Word16 -- ^ GPS week number - , _msgGpsTime_tow :: Word32 + , _msgGpsTime_tow :: Word32 -- ^ GPS time of week rounded to the nearest millisecond - , _msgGpsTime_ns :: Int32 + , _msgGpsTime_ns_residual :: Int32 -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to -- 500000) - , _msgGpsTime_flags :: Word8 + , _msgGpsTime_flags :: Word8 -- ^ Status flags (reserved) } deriving ( Show, Read, Eq ) @@ -65,14 +65,14 @@ get = do _msgGpsTime_wn <- getWord16le _msgGpsTime_tow <- getWord32le - _msgGpsTime_ns <- fromIntegral <$> getWord32le + _msgGpsTime_ns_residual <- fromIntegral <$> getWord32le _msgGpsTime_flags <- getWord8 return MsgGpsTime {..} put MsgGpsTime {..} = do putWord16le _msgGpsTime_wn putWord32le _msgGpsTime_tow - putWord32le $ fromIntegral _msgGpsTime_ns + putWord32le $ fromIntegral _msgGpsTime_ns_residual putWord8 _msgGpsTime_flags $(deriveSBP 'msgGpsTime ''MsgGpsTime) @@ -105,10 +105,9 @@ , _msgUtcTime_minutes :: Word8 -- ^ minutes of hour (range 0-59) , _msgUtcTime_seconds :: Word8 - -- ^ seconds of minute (range 0-60) - , _msgUtcTime_ns :: Int32 - -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to - -- 500000) + -- ^ seconds of minute (range 0-60) rounded down + , _msgUtcTime_ns :: Word32 + -- ^ nanoseconds of second (range 0-999999999) } deriving ( Show, Read, Eq ) instance Binary MsgUtcTime where @@ -121,7 +120,7 @@ _msgUtcTime_hours <- getWord8 _msgUtcTime_minutes <- getWord8 _msgUtcTime_seconds <- getWord8 - _msgUtcTime_ns <- fromIntegral <$> getWord32le + _msgUtcTime_ns <- getWord32le return MsgUtcTime {..} put MsgUtcTime {..} = do @@ -133,7 +132,7 @@ putWord8 _msgUtcTime_hours putWord8 _msgUtcTime_minutes putWord8 _msgUtcTime_seconds - putWord32le $ fromIntegral _msgUtcTime_ns + putWord32le _msgUtcTime_ns $(deriveSBP 'msgUtcTime ''MsgUtcTime) @@ -609,14 +608,14 @@ -- other navigation messages referenced to the same time (but lacking the ns -- field) and indicates a more precise time of these messages. data MsgGpsTimeDepA = MsgGpsTimeDepA - { _msgGpsTimeDepA_wn :: Word16 + { _msgGpsTimeDepA_wn :: Word16 -- ^ GPS week number - , _msgGpsTimeDepA_tow :: Word32 + , _msgGpsTimeDepA_tow :: Word32 -- ^ GPS time of week rounded to the nearest millisecond - , _msgGpsTimeDepA_ns :: Int32 + , _msgGpsTimeDepA_ns_residual :: Int32 -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to -- 500000) - , _msgGpsTimeDepA_flags :: Word8 + , _msgGpsTimeDepA_flags :: Word8 -- ^ Status flags (reserved) } deriving ( Show, Read, Eq ) @@ -624,14 +623,14 @@ get = do _msgGpsTimeDepA_wn <- getWord16le _msgGpsTimeDepA_tow <- getWord32le - _msgGpsTimeDepA_ns <- fromIntegral <$> getWord32le + _msgGpsTimeDepA_ns_residual <- fromIntegral <$> getWord32le _msgGpsTimeDepA_flags <- getWord8 return MsgGpsTimeDepA {..} put MsgGpsTimeDepA {..} = do putWord16le _msgGpsTimeDepA_wn putWord32le _msgGpsTimeDepA_tow - putWord32le $ fromIntegral _msgGpsTimeDepA_ns + putWord32le $ fromIntegral _msgGpsTimeDepA_ns_residual putWord8 _msgGpsTimeDepA_flags $(deriveSBP 'msgGpsTimeDepA ''MsgGpsTimeDepA) 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 @@ -237,8 +237,8 @@ $(makeLenses ''MsgBasePosEcef) data EphemerisCommonContent = EphemerisCommonContent - { _ephemerisCommonContent_sid :: GnssSignal - -- ^ GNSS signal identifier + { _ephemerisCommonContent_sid :: GnssSignal16 + -- ^ GNSS signal identifier (16 bit) , _ephemerisCommonContent_toe :: GpsTime -- ^ Time of Ephemerides , _ephemerisCommonContent_ura :: Double @@ -273,10 +273,167 @@ ''EphemerisCommonContent) $(makeLenses ''EphemerisCommonContent) +data EphemerisCommonContentDepA = EphemerisCommonContentDepA + { _ephemerisCommonContentDepA_sid :: GnssSignal + -- ^ GNSS signal identifier + , _ephemerisCommonContentDepA_toe :: GpsTime + -- ^ Time of Ephemerides + , _ephemerisCommonContentDepA_ura :: Double + -- ^ User Range Accuracy + , _ephemerisCommonContentDepA_fit_interval :: Word32 + -- ^ Curve fit interval + , _ephemerisCommonContentDepA_valid :: Word8 + -- ^ Status of ephemeris, 1 = valid, 0 = invalid + , _ephemerisCommonContentDepA_health_bits :: Word8 + -- ^ Satellite health status. GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 SBAS: 0 + -- = valid, non-zero = invalid GLO: 0 = valid, non-zero = invalid + } deriving ( Show, Read, Eq ) + +instance Binary EphemerisCommonContentDepA where + get = do + _ephemerisCommonContentDepA_sid <- get + _ephemerisCommonContentDepA_toe <- get + _ephemerisCommonContentDepA_ura <- getFloat64le + _ephemerisCommonContentDepA_fit_interval <- getWord32le + _ephemerisCommonContentDepA_valid <- getWord8 + _ephemerisCommonContentDepA_health_bits <- getWord8 + return EphemerisCommonContentDepA {..} + + put EphemerisCommonContentDepA {..} = do + put _ephemerisCommonContentDepA_sid + put _ephemerisCommonContentDepA_toe + putFloat64le _ephemerisCommonContentDepA_ura + putWord32le _ephemerisCommonContentDepA_fit_interval + putWord8 _ephemerisCommonContentDepA_valid + putWord8 _ephemerisCommonContentDepA_health_bits +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_ephemerisCommonContentDepA_" . P.stripPrefix "_ephemerisCommonContentDepA_"} + ''EphemerisCommonContentDepA) +$(makeLenses ''EphemerisCommonContentDepA) + +msgEphemerisGpsDepE :: Word16 +msgEphemerisGpsDepE = 0x0081 + +-- | SBP class for message MSG_EPHEMERIS_GPS_DEP_E (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 MsgEphemerisGpsDepE = MsgEphemerisGpsDepE + { _msgEphemerisGpsDepE_common :: EphemerisCommonContentDepA + -- ^ Values common for all ephemeris types + , _msgEphemerisGpsDepE_tgd :: Double + -- ^ Group delay differential between L1 and L2 + , _msgEphemerisGpsDepE_c_rs :: Double + -- ^ Amplitude of the sine harmonic correction term to the orbit radius + , _msgEphemerisGpsDepE_c_rc :: Double + -- ^ Amplitude of the cosine harmonic correction term to the orbit radius + , _msgEphemerisGpsDepE_c_uc :: Double + -- ^ Amplitude of the cosine harmonic correction term to the argument of + -- latitude + , _msgEphemerisGpsDepE_c_us :: Double + -- ^ Amplitude of the sine harmonic correction term to the argument of + -- latitude + , _msgEphemerisGpsDepE_c_ic :: Double + -- ^ Amplitude of the cosine harmonic correction term to the angle of + -- inclination + , _msgEphemerisGpsDepE_c_is :: Double + -- ^ Amplitude of the sine harmonic correction term to the angle of + -- inclination + , _msgEphemerisGpsDepE_dn :: Double + -- ^ Mean motion difference + , _msgEphemerisGpsDepE_m0 :: Double + -- ^ Mean anomaly at reference time + , _msgEphemerisGpsDepE_ecc :: Double + -- ^ Eccentricity of satellite orbit + , _msgEphemerisGpsDepE_sqrta :: Double + -- ^ Square root of the semi-major axis of orbit + , _msgEphemerisGpsDepE_omega0 :: Double + -- ^ Longitude of ascending node of orbit plane at weekly epoch + , _msgEphemerisGpsDepE_omegadot :: Double + -- ^ Rate of right ascension + , _msgEphemerisGpsDepE_w :: Double + -- ^ Argument of perigee + , _msgEphemerisGpsDepE_inc :: Double + -- ^ Inclination + , _msgEphemerisGpsDepE_inc_dot :: Double + -- ^ Inclination first derivative + , _msgEphemerisGpsDepE_af0 :: Double + -- ^ Polynomial clock correction coefficient (clock bias) + , _msgEphemerisGpsDepE_af1 :: Double + -- ^ Polynomial clock correction coefficient (clock drift) + , _msgEphemerisGpsDepE_af2 :: Double + -- ^ Polynomial clock correction coefficient (rate of clock drift) + , _msgEphemerisGpsDepE_toc :: GpsTime + -- ^ Clock reference + , _msgEphemerisGpsDepE_iode :: Word8 + -- ^ Issue of ephemeris data + , _msgEphemerisGpsDepE_iodc :: Word16 + -- ^ Issue of clock data + } deriving ( Show, Read, Eq ) + +instance Binary MsgEphemerisGpsDepE where + get = do + _msgEphemerisGpsDepE_common <- get + _msgEphemerisGpsDepE_tgd <- getFloat64le + _msgEphemerisGpsDepE_c_rs <- getFloat64le + _msgEphemerisGpsDepE_c_rc <- getFloat64le + _msgEphemerisGpsDepE_c_uc <- getFloat64le + _msgEphemerisGpsDepE_c_us <- getFloat64le + _msgEphemerisGpsDepE_c_ic <- getFloat64le + _msgEphemerisGpsDepE_c_is <- getFloat64le + _msgEphemerisGpsDepE_dn <- getFloat64le + _msgEphemerisGpsDepE_m0 <- getFloat64le + _msgEphemerisGpsDepE_ecc <- getFloat64le + _msgEphemerisGpsDepE_sqrta <- getFloat64le + _msgEphemerisGpsDepE_omega0 <- getFloat64le + _msgEphemerisGpsDepE_omegadot <- getFloat64le + _msgEphemerisGpsDepE_w <- getFloat64le + _msgEphemerisGpsDepE_inc <- getFloat64le + _msgEphemerisGpsDepE_inc_dot <- getFloat64le + _msgEphemerisGpsDepE_af0 <- getFloat64le + _msgEphemerisGpsDepE_af1 <- getFloat64le + _msgEphemerisGpsDepE_af2 <- getFloat64le + _msgEphemerisGpsDepE_toc <- get + _msgEphemerisGpsDepE_iode <- getWord8 + _msgEphemerisGpsDepE_iodc <- getWord16le + return MsgEphemerisGpsDepE {..} + + put MsgEphemerisGpsDepE {..} = do + put _msgEphemerisGpsDepE_common + putFloat64le _msgEphemerisGpsDepE_tgd + putFloat64le _msgEphemerisGpsDepE_c_rs + putFloat64le _msgEphemerisGpsDepE_c_rc + putFloat64le _msgEphemerisGpsDepE_c_uc + putFloat64le _msgEphemerisGpsDepE_c_us + putFloat64le _msgEphemerisGpsDepE_c_ic + putFloat64le _msgEphemerisGpsDepE_c_is + putFloat64le _msgEphemerisGpsDepE_dn + putFloat64le _msgEphemerisGpsDepE_m0 + putFloat64le _msgEphemerisGpsDepE_ecc + putFloat64le _msgEphemerisGpsDepE_sqrta + putFloat64le _msgEphemerisGpsDepE_omega0 + putFloat64le _msgEphemerisGpsDepE_omegadot + putFloat64le _msgEphemerisGpsDepE_w + putFloat64le _msgEphemerisGpsDepE_inc + putFloat64le _msgEphemerisGpsDepE_inc_dot + putFloat64le _msgEphemerisGpsDepE_af0 + putFloat64le _msgEphemerisGpsDepE_af1 + putFloat64le _msgEphemerisGpsDepE_af2 + put _msgEphemerisGpsDepE_toc + putWord8 _msgEphemerisGpsDepE_iode + putWord16le _msgEphemerisGpsDepE_iodc + +$(deriveSBP 'msgEphemerisGpsDepE ''MsgEphemerisGpsDepE) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgEphemerisGpsDepE_" . P.stripPrefix "_msgEphemerisGpsDepE_"} + ''MsgEphemerisGpsDepE) +$(makeLenses ''MsgEphemerisGpsDepE) + msgEphemerisGps :: Word16 -msgEphemerisGps = 0x0081 +msgEphemerisGps = 0x0086 --- | SBP class for message MSG_EPHEMERIS_GPS (0x0081). +-- | SBP class for message MSG_EPHEMERIS_GPS (0x0086). -- -- The ephemeris message returns a set of satellite orbit parameters that is -- used to calculate GPS satellite position, velocity, and clock offset. Please @@ -393,8 +550,98 @@ ''MsgEphemerisGps) $(makeLenses ''MsgEphemerisGps) +msgEphemerisSbasDepA :: Word16 +msgEphemerisSbasDepA = 0x0082 + +data MsgEphemerisSbasDepA = MsgEphemerisSbasDepA + { _msgEphemerisSbasDepA_common :: EphemerisCommonContentDepA + -- ^ Values common for all ephemeris types + , _msgEphemerisSbasDepA_pos :: [Double] + -- ^ Position of the GEO at time toe + , _msgEphemerisSbasDepA_vel :: [Double] + -- ^ Velocity of the GEO at time toe + , _msgEphemerisSbasDepA_acc :: [Double] + -- ^ Acceleration of the GEO at time toe + , _msgEphemerisSbasDepA_a_gf0 :: Double + -- ^ Time offset of the GEO clock w.r.t. SBAS Network Time + , _msgEphemerisSbasDepA_a_gf1 :: Double + -- ^ Drift of the GEO clock w.r.t. SBAS Network Time + } deriving ( Show, Read, Eq ) + +instance Binary MsgEphemerisSbasDepA where + get = do + _msgEphemerisSbasDepA_common <- get + _msgEphemerisSbasDepA_pos <- replicateM 3 getFloat64le + _msgEphemerisSbasDepA_vel <- replicateM 3 getFloat64le + _msgEphemerisSbasDepA_acc <- replicateM 3 getFloat64le + _msgEphemerisSbasDepA_a_gf0 <- getFloat64le + _msgEphemerisSbasDepA_a_gf1 <- getFloat64le + return MsgEphemerisSbasDepA {..} + + put MsgEphemerisSbasDepA {..} = do + put _msgEphemerisSbasDepA_common + mapM_ putFloat64le _msgEphemerisSbasDepA_pos + mapM_ putFloat64le _msgEphemerisSbasDepA_vel + mapM_ putFloat64le _msgEphemerisSbasDepA_acc + putFloat64le _msgEphemerisSbasDepA_a_gf0 + putFloat64le _msgEphemerisSbasDepA_a_gf1 + +$(deriveSBP 'msgEphemerisSbasDepA ''MsgEphemerisSbasDepA) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgEphemerisSbasDepA_" . P.stripPrefix "_msgEphemerisSbasDepA_"} + ''MsgEphemerisSbasDepA) +$(makeLenses ''MsgEphemerisSbasDepA) + +msgEphemerisGloDepA :: Word16 +msgEphemerisGloDepA = 0x0083 + +-- | SBP class for message MSG_EPHEMERIS_GLO_DEP_A (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 MsgEphemerisGloDepA = MsgEphemerisGloDepA + { _msgEphemerisGloDepA_common :: EphemerisCommonContentDepA + -- ^ Values common for all ephemeris types + , _msgEphemerisGloDepA_gamma :: Double + -- ^ Relative deviation of predicted carrier frequency from nominal + , _msgEphemerisGloDepA_tau :: Double + -- ^ Correction to the SV time + , _msgEphemerisGloDepA_pos :: [Double] + -- ^ Position of the SV at tb in PZ-90.02 coordinates system + , _msgEphemerisGloDepA_vel :: [Double] + -- ^ Velocity vector of the SV at tb in PZ-90.02 coordinates system + , _msgEphemerisGloDepA_acc :: [Double] + -- ^ Acceleration vector of the SV at tb in PZ-90.02 coordinates sys + } deriving ( Show, Read, Eq ) + +instance Binary MsgEphemerisGloDepA where + get = do + _msgEphemerisGloDepA_common <- get + _msgEphemerisGloDepA_gamma <- getFloat64le + _msgEphemerisGloDepA_tau <- getFloat64le + _msgEphemerisGloDepA_pos <- replicateM 3 getFloat64le + _msgEphemerisGloDepA_vel <- replicateM 3 getFloat64le + _msgEphemerisGloDepA_acc <- replicateM 3 getFloat64le + return MsgEphemerisGloDepA {..} + + put MsgEphemerisGloDepA {..} = do + put _msgEphemerisGloDepA_common + putFloat64le _msgEphemerisGloDepA_gamma + putFloat64le _msgEphemerisGloDepA_tau + mapM_ putFloat64le _msgEphemerisGloDepA_pos + mapM_ putFloat64le _msgEphemerisGloDepA_vel + mapM_ putFloat64le _msgEphemerisGloDepA_acc + +$(deriveSBP 'msgEphemerisGloDepA ''MsgEphemerisGloDepA) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgEphemerisGloDepA_" . P.stripPrefix "_msgEphemerisGloDepA_"} + ''MsgEphemerisGloDepA) +$(makeLenses ''MsgEphemerisGloDepA) + msgEphemerisSbas :: Word16 -msgEphemerisSbas = 0x0082 +msgEphemerisSbas = 0x0084 data MsgEphemerisSbas = MsgEphemerisSbas { _msgEphemerisSbas_common :: EphemerisCommonContent @@ -436,9 +683,9 @@ $(makeLenses ''MsgEphemerisSbas) msgEphemerisGlo :: Word16 -msgEphemerisGlo = 0x0083 +msgEphemerisGlo = 0x0085 --- | SBP class for message MSG_EPHEMERIS_GLO (0x0083). +-- | SBP class for message MSG_EPHEMERIS_GLO (0x0085). -- -- The ephemeris message returns a set of satellite orbit parameters that is -- used to calculate GLO satellite position, velocity, and clock offset. Please @@ -1372,17 +1619,60 @@ ''MsgSvConfigurationGps) $(makeLenses ''MsgSvConfigurationGps) +msgGroupDelayDepA :: Word16 +msgGroupDelayDepA = 0x0092 + +-- | SBP class for message MSG_GROUP_DELAY_DEP_A (0x0092). +-- +-- Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. +data MsgGroupDelayDepA = MsgGroupDelayDepA + { _msgGroupDelayDepA_t_op :: GpsTime + -- ^ Data Predict Time of Week + , _msgGroupDelayDepA_prn :: Word8 + -- ^ Satellite number + , _msgGroupDelayDepA_valid :: Word8 + -- ^ bit-field indicating validity of the values, LSB indicating tgd validity + -- etc. 1 = value is valid, 0 = value is not valid. + , _msgGroupDelayDepA_tgd :: Int16 + , _msgGroupDelayDepA_isc_l1ca :: Int16 + , _msgGroupDelayDepA_isc_l2c :: Int16 + } deriving ( Show, Read, Eq ) + +instance Binary MsgGroupDelayDepA where + get = do + _msgGroupDelayDepA_t_op <- get + _msgGroupDelayDepA_prn <- getWord8 + _msgGroupDelayDepA_valid <- getWord8 + _msgGroupDelayDepA_tgd <- fromIntegral <$> getWord16le + _msgGroupDelayDepA_isc_l1ca <- fromIntegral <$> getWord16le + _msgGroupDelayDepA_isc_l2c <- fromIntegral <$> getWord16le + return MsgGroupDelayDepA {..} + + put MsgGroupDelayDepA {..} = do + put _msgGroupDelayDepA_t_op + putWord8 _msgGroupDelayDepA_prn + putWord8 _msgGroupDelayDepA_valid + putWord16le $ fromIntegral _msgGroupDelayDepA_tgd + putWord16le $ fromIntegral _msgGroupDelayDepA_isc_l1ca + putWord16le $ fromIntegral _msgGroupDelayDepA_isc_l2c + +$(deriveSBP 'msgGroupDelayDepA ''MsgGroupDelayDepA) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgGroupDelayDepA_" . P.stripPrefix "_msgGroupDelayDepA_"} + ''MsgGroupDelayDepA) +$(makeLenses ''MsgGroupDelayDepA) + msgGroupDelay :: Word16 -msgGroupDelay = 0x0092 +msgGroupDelay = 0x0093 --- | SBP class for message MSG_GROUP_DELAY (0x0092). +-- | SBP class for message MSG_GROUP_DELAY (0x0093). -- -- Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. data MsgGroupDelay = MsgGroupDelay { _msgGroupDelay_t_op :: GpsTime -- ^ Data Predict Time of Week - , _msgGroupDelay_prn :: Word8 - -- ^ Satellite number + , _msgGroupDelay_sid :: GnssSignal + -- ^ GNSS signal identifier , _msgGroupDelay_valid :: Word8 -- ^ bit-field indicating validity of the values, LSB indicating tgd validity -- etc. 1 = value is valid, 0 = value is not valid. @@ -1394,7 +1684,7 @@ instance Binary MsgGroupDelay where get = do _msgGroupDelay_t_op <- get - _msgGroupDelay_prn <- getWord8 + _msgGroupDelay_sid <- get _msgGroupDelay_valid <- getWord8 _msgGroupDelay_tgd <- fromIntegral <$> getWord16le _msgGroupDelay_isc_l1ca <- fromIntegral <$> getWord16le @@ -1403,7 +1693,7 @@ put MsgGroupDelay {..} = do put _msgGroupDelay_t_op - putWord8 _msgGroupDelay_prn + put _msgGroupDelay_sid putWord8 _msgGroupDelay_valid putWord16le $ fromIntegral _msgGroupDelay_tgd putWord16le $ fromIntegral _msgGroupDelay_isc_l1ca @@ -1414,3 +1704,206 @@ $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgGroupDelay_" . P.stripPrefix "_msgGroupDelay_"} ''MsgGroupDelay) $(makeLenses ''MsgGroupDelay) + +data AlmanacCommonContent = AlmanacCommonContent + { _almanacCommonContent_sid :: GnssSignal + -- ^ GNSS signal identifier + , _almanacCommonContent_toa :: GpsTime + -- ^ Reference time of almanac + , _almanacCommonContent_ura :: Double + -- ^ User Range Accuracy + , _almanacCommonContent_fit_interval :: Word32 + -- ^ Curve fit interval + , _almanacCommonContent_valid :: Word8 + -- ^ Status of almanac, 1 = valid, 0 = invalid + , _almanacCommonContent_health_bits :: Word8 + -- ^ Satellite health status for GPS: - bits 5-7: NAV data health status. + -- See IS-GPS-200H Table 20-VII: NAV Data Health Indications. - bits + -- 0-4: Signal health status. See IS-GPS-200H Table 20-VIII. Codes for + -- Health of SV Signal Components. Satellite health status for GLO: + -- See GLO ICD 5.1 table 5.1 for details - bit 0: C(n), "unhealthy" flag + -- that is transmitted within non-immediate data and indicates overall + -- constellation status at the moment of almanac uploading. '0' + -- indicates malfunction of n-satellite. '1' indicates that n-satellite + -- is operational. - bit 1: Bn(ln), '0' indicates the satellite is + -- operational and suitable for navigation. + } deriving ( Show, Read, Eq ) + +instance Binary AlmanacCommonContent where + get = do + _almanacCommonContent_sid <- get + _almanacCommonContent_toa <- get + _almanacCommonContent_ura <- getFloat64le + _almanacCommonContent_fit_interval <- getWord32le + _almanacCommonContent_valid <- getWord8 + _almanacCommonContent_health_bits <- getWord8 + return AlmanacCommonContent {..} + + put AlmanacCommonContent {..} = do + put _almanacCommonContent_sid + put _almanacCommonContent_toa + putFloat64le _almanacCommonContent_ura + putWord32le _almanacCommonContent_fit_interval + putWord8 _almanacCommonContent_valid + putWord8 _almanacCommonContent_health_bits +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_almanacCommonContent_" . P.stripPrefix "_almanacCommonContent_"} + ''AlmanacCommonContent) +$(makeLenses ''AlmanacCommonContent) + +msgAlmanacGps :: Word16 +msgAlmanacGps = 0x0070 + +-- | SBP class for message MSG_ALMANAC_GPS (0x0070). +-- +-- The almanac message returns a set of satellite orbit parameters. Almanac +-- data is not very precise and is considered valid for up to several months. +-- Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD- +-- GPS-200, Chapter 20.3.3.5.1.2 Almanac Data) for more details. +data MsgAlmanacGps = MsgAlmanacGps + { _msgAlmanacGps_common :: AlmanacCommonContent + -- ^ Values common for all almanac types + , _msgAlmanacGps_m0 :: Double + -- ^ Mean anomaly at reference time + , _msgAlmanacGps_ecc :: Double + -- ^ Eccentricity of satellite orbit + , _msgAlmanacGps_sqrta :: Double + -- ^ Square root of the semi-major axis of orbit + , _msgAlmanacGps_omega0 :: Double + -- ^ Longitude of ascending node of orbit plane at weekly epoch + , _msgAlmanacGps_omegadot :: Double + -- ^ Rate of right ascension + , _msgAlmanacGps_w :: Double + -- ^ Argument of perigee + , _msgAlmanacGps_inc :: Double + -- ^ Inclination + , _msgAlmanacGps_af0 :: Double + -- ^ Polynomial clock correction coefficient (clock bias) + , _msgAlmanacGps_af1 :: Double + -- ^ Polynomial clock correction coefficient (clock drift) + } deriving ( Show, Read, Eq ) + +instance Binary MsgAlmanacGps where + get = do + _msgAlmanacGps_common <- get + _msgAlmanacGps_m0 <- getFloat64le + _msgAlmanacGps_ecc <- getFloat64le + _msgAlmanacGps_sqrta <- getFloat64le + _msgAlmanacGps_omega0 <- getFloat64le + _msgAlmanacGps_omegadot <- getFloat64le + _msgAlmanacGps_w <- getFloat64le + _msgAlmanacGps_inc <- getFloat64le + _msgAlmanacGps_af0 <- getFloat64le + _msgAlmanacGps_af1 <- getFloat64le + return MsgAlmanacGps {..} + + put MsgAlmanacGps {..} = do + put _msgAlmanacGps_common + putFloat64le _msgAlmanacGps_m0 + putFloat64le _msgAlmanacGps_ecc + putFloat64le _msgAlmanacGps_sqrta + putFloat64le _msgAlmanacGps_omega0 + putFloat64le _msgAlmanacGps_omegadot + putFloat64le _msgAlmanacGps_w + putFloat64le _msgAlmanacGps_inc + putFloat64le _msgAlmanacGps_af0 + putFloat64le _msgAlmanacGps_af1 + +$(deriveSBP 'msgAlmanacGps ''MsgAlmanacGps) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgAlmanacGps_" . P.stripPrefix "_msgAlmanacGps_"} + ''MsgAlmanacGps) +$(makeLenses ''MsgAlmanacGps) + +msgAlmanacGlo :: Word16 +msgAlmanacGlo = 0x0071 + +-- | SBP class for message MSG_ALMANAC_GLO (0x0071). +-- +-- The almanac message returns a set of satellite orbit parameters. Almanac +-- data is not very precise and is considered valid for up to several months. +-- Please see the GLO ICD 5.1 "Chapter 4.5 Non-immediate information and +-- almanac" for details. +data MsgAlmanacGlo = MsgAlmanacGlo + { _msgAlmanacGlo_common :: AlmanacCommonContent + -- ^ Values common for all almanac types + , _msgAlmanacGlo_lambda_na :: Double + -- ^ Longitude of the first ascending node of the orbit in PZ-90.02 + -- coordinate system + , _msgAlmanacGlo_t_lambda_na :: Double + -- ^ Time of the first ascending node passage + , _msgAlmanacGlo_i :: Double + -- ^ Value of inclination at instant of t_lambda + , _msgAlmanacGlo_t :: Double + -- ^ Value of Draconian period at instant of t_lambda + , _msgAlmanacGlo_t_dot :: Double + -- ^ Rate of change of the Draconian period + , _msgAlmanacGlo_epsilon :: Double + -- ^ Eccentricity at instant of t_lambda + , _msgAlmanacGlo_omega :: Double + -- ^ Argument of perigee at instant of t_lambda + } deriving ( Show, Read, Eq ) + +instance Binary MsgAlmanacGlo where + get = do + _msgAlmanacGlo_common <- get + _msgAlmanacGlo_lambda_na <- getFloat64le + _msgAlmanacGlo_t_lambda_na <- getFloat64le + _msgAlmanacGlo_i <- getFloat64le + _msgAlmanacGlo_t <- getFloat64le + _msgAlmanacGlo_t_dot <- getFloat64le + _msgAlmanacGlo_epsilon <- getFloat64le + _msgAlmanacGlo_omega <- getFloat64le + return MsgAlmanacGlo {..} + + put MsgAlmanacGlo {..} = do + put _msgAlmanacGlo_common + putFloat64le _msgAlmanacGlo_lambda_na + putFloat64le _msgAlmanacGlo_t_lambda_na + putFloat64le _msgAlmanacGlo_i + putFloat64le _msgAlmanacGlo_t + putFloat64le _msgAlmanacGlo_t_dot + putFloat64le _msgAlmanacGlo_epsilon + putFloat64le _msgAlmanacGlo_omega + +$(deriveSBP 'msgAlmanacGlo ''MsgAlmanacGlo) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgAlmanacGlo_" . P.stripPrefix "_msgAlmanacGlo_"} + ''MsgAlmanacGlo) +$(makeLenses ''MsgAlmanacGlo) + +msgFcnsGlo :: Word16 +msgFcnsGlo = 0x0072 + +-- | SBP class for message MSG_FCNS_GLO (0x0072). +-- +-- The message reports mapping information regarding GLONASS SV orbital and +-- frequency slots. Mapped as follow: index (SV orbital slot) fcns[index] 0 +-- 0xFF 1 FCN for SV orbital slot 1 ... +-- ... 28 FCN for SV orbital slot 28 29 +-- 0xFF 30 0xFF 31 0xFF +data MsgFcnsGlo = MsgFcnsGlo + { _msgFcnsGlo_wn :: Word16 + -- ^ GPS Week number + , _msgFcnsGlo_tow_ms :: Word32 + -- ^ GPS Time of week + , _msgFcnsGlo_fcns :: [Word8] + -- ^ GLONASS fequency number per orbital slot + } deriving ( Show, Read, Eq ) + +instance Binary MsgFcnsGlo where + get = do + _msgFcnsGlo_wn <- getWord16le + _msgFcnsGlo_tow_ms <- getWord32le + _msgFcnsGlo_fcns <- replicateM 32 getWord8 + return MsgFcnsGlo {..} + + put MsgFcnsGlo {..} = do + putWord16le _msgFcnsGlo_wn + putWord32le _msgFcnsGlo_tow_ms + mapM_ putWord8 _msgFcnsGlo_fcns + +$(deriveSBP 'msgFcnsGlo ''MsgFcnsGlo) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgFcnsGlo_" . P.stripPrefix "_msgFcnsGlo_"} + ''MsgFcnsGlo) +$(makeLenses ''MsgFcnsGlo) 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 @@ -611,3 +611,80 @@ $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgCommandResp_" . P.stripPrefix "_msgCommandResp_"} ''MsgCommandResp) $(makeLenses ''MsgCommandResp) + +msgNetworkStateReq :: Word16 +msgNetworkStateReq = 0x00BA + +-- | SBP class for message MSG_NETWORK_STATE_REQ (0x00BA). +-- +-- Request state of Piksi network interfaces. Output will be sent in +-- MSG_NETWORK_STATE_RESP messages +data MsgNetworkStateReq = MsgNetworkStateReq + deriving ( Show, Read, Eq ) + +instance Binary MsgNetworkStateReq where + get = + return MsgNetworkStateReq + + put MsgNetworkStateReq = + return () + +$(deriveSBP 'msgNetworkStateReq ''MsgNetworkStateReq) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgNetworkStateReq_" . P.stripPrefix "_msgNetworkStateReq_"} + ''MsgNetworkStateReq) +$(makeLenses ''MsgNetworkStateReq) + +msgNetworkStateResp :: Word16 +msgNetworkStateResp = 0x00BB + +-- | SBP class for message MSG_NETWORK_STATE_RESP (0x00BB). +-- +-- The state of a network interface on the Piksi. Data is made to reflect +-- output of ifaddrs struct returned by getifaddrs in c. +data MsgNetworkStateResp = MsgNetworkStateResp + { _msgNetworkStateResp_ipv4_address :: [Word8] + -- ^ IPv4 address (all zero when unavailable) + , _msgNetworkStateResp_ipv4_mask_size :: Word8 + -- ^ IPv4 netmask CIDR notation + , _msgNetworkStateResp_ipv6_address :: [Word8] + -- ^ IPv6 address (all zero when unavailable) + , _msgNetworkStateResp_ipv6_mask_size :: Word8 + -- ^ IPv6 netmask CIDR notation + , _msgNetworkStateResp_rx_bytes :: Word32 + -- ^ Number of Rx bytes + , _msgNetworkStateResp_tx_bytes :: Word32 + -- ^ Number of Tx bytes + , _msgNetworkStateResp_interface_name :: Text + -- ^ Interface Name + , _msgNetworkStateResp_flags :: Word32 + -- ^ Interface flags from SIOCGIFFLAGS + } deriving ( Show, Read, Eq ) + +instance Binary MsgNetworkStateResp where + get = do + _msgNetworkStateResp_ipv4_address <- replicateM 4 getWord8 + _msgNetworkStateResp_ipv4_mask_size <- getWord8 + _msgNetworkStateResp_ipv6_address <- replicateM 16 getWord8 + _msgNetworkStateResp_ipv6_mask_size <- getWord8 + _msgNetworkStateResp_rx_bytes <- getWord32le + _msgNetworkStateResp_tx_bytes <- getWord32le + _msgNetworkStateResp_interface_name <- decodeUtf8 <$> getByteString 16 + _msgNetworkStateResp_flags <- getWord32le + return MsgNetworkStateResp {..} + + put MsgNetworkStateResp {..} = do + mapM_ putWord8 _msgNetworkStateResp_ipv4_address + putWord8 _msgNetworkStateResp_ipv4_mask_size + mapM_ putWord8 _msgNetworkStateResp_ipv6_address + putWord8 _msgNetworkStateResp_ipv6_mask_size + putWord32le _msgNetworkStateResp_rx_bytes + putWord32le _msgNetworkStateResp_tx_bytes + putByteString $ encodeUtf8 _msgNetworkStateResp_interface_name + putWord32le _msgNetworkStateResp_flags + +$(deriveSBP 'msgNetworkStateResp ''MsgNetworkStateResp) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgNetworkStateResp_" . P.stripPrefix "_msgNetworkStateResp_"} + ''MsgNetworkStateResp) +$(makeLenses ''MsgNetworkStateResp)