diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 2.2.1 +version: 2.2.2 synopsis: SwiftNav's SBP Library homepage: https://github.com/swift-nav/libsbp license: LGPL-3 diff --git a/src/SwiftNav/SBP.hs b/src/SwiftNav/SBP.hs --- a/src/SwiftNav/SBP.hs +++ b/src/SwiftNav/SBP.hs @@ -9,7 +9,7 @@ -- SBP message containers. module SwiftNav.SBP - ( SBPMsg (..) + ( module SwiftNav.SBP , module SwiftNav.SBP.Types , module SwiftNav.SBP.Acquisition , module SwiftNav.SBP.Bootload @@ -150,6 +150,7 @@ | SBPMsgSettingsRegister MsgSettingsRegister Msg | SBPMsgSettingsSave MsgSettingsSave Msg | SBPMsgSettingsWrite MsgSettingsWrite Msg + | SBPMsgSpecan MsgSpecan Msg | SBPMsgStartup MsgStartup Msg | SBPMsgStmFlashLockSector MsgStmFlashLockSector Msg | SBPMsgStmFlashUnlockSector MsgStmFlashUnlockSector Msg @@ -160,6 +161,7 @@ | SBPMsgTrackingIq MsgTrackingIq Msg | SBPMsgTrackingState MsgTrackingState Msg | SBPMsgTrackingStateDepA MsgTrackingStateDepA Msg + | SBPMsgTrackingStateDepB MsgTrackingStateDepB Msg | SBPMsgTrackingStateDetailed MsgTrackingStateDetailed Msg | SBPMsgTweet MsgTweet Msg | SBPMsgUartState MsgUartState Msg @@ -275,6 +277,7 @@ | _msgSBPType == msgSettingsRegister = SBPMsgSettingsRegister (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgSettingsSave = SBPMsgSettingsSave (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgSettingsWrite = SBPMsgSettingsWrite (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgSpecan = SBPMsgSpecan (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgStartup = SBPMsgStartup (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgStmFlashLockSector = SBPMsgStmFlashLockSector (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector (decode (fromStrict _msgSBPPayload)) m @@ -285,6 +288,7 @@ | _msgSBPType == msgTrackingIq = SBPMsgTrackingIq (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgTrackingState = SBPMsgTrackingState (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgTrackingStateDepA = SBPMsgTrackingStateDepA (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgTrackingStateDepB = SBPMsgTrackingStateDepB (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgTrackingStateDetailed = SBPMsgTrackingStateDetailed (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgTweet = SBPMsgTweet (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgUartState = SBPMsgUartState (decode (fromStrict _msgSBPPayload)) m @@ -392,6 +396,7 @@ encode' (SBPMsgSettingsRegister _ m) = put m encode' (SBPMsgSettingsSave _ m) = put m encode' (SBPMsgSettingsWrite _ m) = put m + encode' (SBPMsgSpecan _ m) = put m encode' (SBPMsgStartup _ m) = put m encode' (SBPMsgStmFlashLockSector _ m) = put m encode' (SBPMsgStmFlashUnlockSector _ m) = put m @@ -402,6 +407,7 @@ encode' (SBPMsgTrackingIq _ m) = put m encode' (SBPMsgTrackingState _ m) = put m encode' (SBPMsgTrackingStateDepA _ m) = put m + encode' (SBPMsgTrackingStateDepB _ m) = put m encode' (SBPMsgTrackingStateDetailed _ m) = put m encode' (SBPMsgTweet _ m) = put m encode' (SBPMsgUartState _ m) = put m @@ -512,6 +518,7 @@ | msgType == msgSettingsRegister = SBPMsgSettingsRegister <$> parseJSON obj <*> parseJSON obj | msgType == msgSettingsSave = SBPMsgSettingsSave <$> parseJSON obj <*> parseJSON obj | msgType == msgSettingsWrite = SBPMsgSettingsWrite <$> parseJSON obj <*> parseJSON obj + | msgType == msgSpecan = SBPMsgSpecan <$> parseJSON obj <*> parseJSON obj | msgType == msgStartup = SBPMsgStartup <$> parseJSON obj <*> parseJSON obj | msgType == msgStmFlashLockSector = SBPMsgStmFlashLockSector <$> parseJSON obj <*> parseJSON obj | msgType == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector <$> parseJSON obj <*> parseJSON obj @@ -522,6 +529,7 @@ | msgType == msgTrackingIq = SBPMsgTrackingIq <$> parseJSON obj <*> parseJSON obj | msgType == msgTrackingState = SBPMsgTrackingState <$> parseJSON obj <*> parseJSON obj | msgType == msgTrackingStateDepA = SBPMsgTrackingStateDepA <$> parseJSON obj <*> parseJSON obj + | msgType == msgTrackingStateDepB = SBPMsgTrackingStateDepB <$> parseJSON obj <*> parseJSON obj | msgType == msgTrackingStateDetailed = SBPMsgTrackingStateDetailed <$> parseJSON obj <*> parseJSON obj | msgType == msgTweet = SBPMsgTweet <$> parseJSON obj <*> parseJSON obj | msgType == msgUartState = SBPMsgUartState <$> parseJSON obj <*> parseJSON obj @@ -634,6 +642,7 @@ toJSON (SBPMsgSettingsRegister n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgSettingsSave n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgSettingsWrite n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgSpecan n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgStartup n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgStmFlashLockSector n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgStmFlashUnlockSector n m) = toJSON n `mergeValues` toJSON m @@ -644,6 +653,7 @@ toJSON (SBPMsgTrackingIq n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgTrackingState n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgTrackingStateDepA n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgTrackingStateDepB n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgTrackingStateDetailed n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgTweet n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgUartState n m) = toJSON n `mergeValues` toJSON m @@ -750,6 +760,7 @@ msg f (SBPMsgSettingsRegister n m) = SBPMsgSettingsRegister n <$> f m msg f (SBPMsgSettingsSave n m) = SBPMsgSettingsSave n <$> f m msg f (SBPMsgSettingsWrite n m) = SBPMsgSettingsWrite n <$> f m + msg f (SBPMsgSpecan n m) = SBPMsgSpecan n <$> f m msg f (SBPMsgStartup n m) = SBPMsgStartup n <$> f m msg f (SBPMsgStmFlashLockSector n m) = SBPMsgStmFlashLockSector n <$> f m msg f (SBPMsgStmFlashUnlockSector n m) = SBPMsgStmFlashUnlockSector n <$> f m @@ -760,6 +771,7 @@ msg f (SBPMsgTrackingIq n m) = SBPMsgTrackingIq n <$> f m msg f (SBPMsgTrackingState n m) = SBPMsgTrackingState n <$> f m msg f (SBPMsgTrackingStateDepA n m) = SBPMsgTrackingStateDepA n <$> f m + msg f (SBPMsgTrackingStateDepB n m) = SBPMsgTrackingStateDepB n <$> f m msg f (SBPMsgTrackingStateDetailed n m) = SBPMsgTrackingStateDetailed n <$> f m msg f (SBPMsgTweet n m) = SBPMsgTweet n <$> f m msg f (SBPMsgUartState n m) = SBPMsgUartState n <$> f m 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 @@ -688,3 +688,48 @@ $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgNetworkStateResp_" . P.stripPrefix "_msgNetworkStateResp_"} ''MsgNetworkStateResp) $(makeLenses ''MsgNetworkStateResp) + +msgSpecan :: Word16 +msgSpecan = 0x0050 + +-- | SBP class for message MSG_SPECAN (0x0050). +-- +-- Spectrum analyzer packet. +data MsgSpecan = MsgSpecan + { _msgSpecan_t :: GpsTime + -- ^ Receiver time of this observation + , _msgSpecan_freq_ref :: Float + -- ^ Reference frequency of this packet + , _msgSpecan_freq_step :: Float + -- ^ Frequency step of points in this packet + , _msgSpecan_amplitude_ref :: Float + -- ^ Reference amplitude of this packet + , _msgSpecan_amplitude_unit :: Float + -- ^ Amplitude unit value of points in this packet + , _msgSpecan_amplitude_value :: [Word8] + -- ^ Amplitude values (in the above units) of points in this packet + } deriving ( Show, Read, Eq ) + +instance Binary MsgSpecan where + get = do + _msgSpecan_t <- get + _msgSpecan_freq_ref <- getFloat32le + _msgSpecan_freq_step <- getFloat32le + _msgSpecan_amplitude_ref <- getFloat32le + _msgSpecan_amplitude_unit <- getFloat32le + _msgSpecan_amplitude_value <- whileM (not <$> isEmpty) getWord8 + return MsgSpecan {..} + + put MsgSpecan {..} = do + put _msgSpecan_t + putFloat32le _msgSpecan_freq_ref + putFloat32le _msgSpecan_freq_step + putFloat32le _msgSpecan_amplitude_ref + putFloat32le _msgSpecan_amplitude_unit + mapM_ putWord8 _msgSpecan_amplitude_value + +$(deriveSBP 'msgSpecan ''MsgSpecan) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgSpecan_" . P.stripPrefix "_msgSpecan_"} + ''MsgSpecan) +$(makeLenses ''MsgSpecan) diff --git a/src/SwiftNav/SBP/Tracking.hs b/src/SwiftNav/SBP/Tracking.hs --- a/src/SwiftNav/SBP/Tracking.hs +++ b/src/SwiftNav/SBP/Tracking.hs @@ -145,33 +145,33 @@ -- Tracking channel state for a specific satellite signal and measured signal -- power. data TrackingChannelState = TrackingChannelState - { _trackingChannelState_state :: Word8 - -- ^ Status of tracking channel - , _trackingChannelState_sid :: GnssSignal + { _trackingChannelState_sid :: GnssSignal16 -- ^ GNSS signal being tracked - , _trackingChannelState_cn0 :: Float - -- ^ Carrier-to-noise density + , _trackingChannelState_fcn :: Word8 + -- ^ Frequency channel number (GLONASS only) + , _trackingChannelState_cn0 :: Word8 + -- ^ Carrier-to-Noise density. Zero implies invalid cn0. } deriving ( Show, Read, Eq ) instance Binary TrackingChannelState where get = do - _trackingChannelState_state <- getWord8 _trackingChannelState_sid <- get - _trackingChannelState_cn0 <- getFloat32le + _trackingChannelState_fcn <- getWord8 + _trackingChannelState_cn0 <- getWord8 return TrackingChannelState {..} put TrackingChannelState {..} = do - putWord8 _trackingChannelState_state put _trackingChannelState_sid - putFloat32le _trackingChannelState_cn0 + putWord8 _trackingChannelState_fcn + putWord8 _trackingChannelState_cn0 $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_trackingChannelState_" . P.stripPrefix "_trackingChannelState_"} ''TrackingChannelState) $(makeLenses ''TrackingChannelState) msgTrackingState :: Word16 -msgTrackingState = 0x0013 +msgTrackingState = 0x0041 --- | SBP class for message MSG_TRACKING_STATE (0x0013). +-- | SBP class for message MSG_TRACKING_STATE (0x0041). -- -- The tracking message returns a variable-length array of tracking channel -- states. It reports status and carrier-to-noise density measurements for all @@ -303,3 +303,55 @@ $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgTrackingStateDepA_" . P.stripPrefix "_msgTrackingStateDepA_"} ''MsgTrackingStateDepA) $(makeLenses ''MsgTrackingStateDepA) + +-- | TrackingChannelStateDepB. +-- +-- Deprecated. +data TrackingChannelStateDepB = TrackingChannelStateDepB + { _trackingChannelStateDepB_state :: Word8 + -- ^ Status of tracking channel + , _trackingChannelStateDepB_sid :: GnssSignal + -- ^ GNSS signal being tracked + , _trackingChannelStateDepB_cn0 :: Float + -- ^ Carrier-to-noise density + } deriving ( Show, Read, Eq ) + +instance Binary TrackingChannelStateDepB where + get = do + _trackingChannelStateDepB_state <- getWord8 + _trackingChannelStateDepB_sid <- get + _trackingChannelStateDepB_cn0 <- getFloat32le + return TrackingChannelStateDepB {..} + + put TrackingChannelStateDepB {..} = do + putWord8 _trackingChannelStateDepB_state + put _trackingChannelStateDepB_sid + putFloat32le _trackingChannelStateDepB_cn0 +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_trackingChannelStateDepB_" . P.stripPrefix "_trackingChannelStateDepB_"} + ''TrackingChannelStateDepB) +$(makeLenses ''TrackingChannelStateDepB) + +msgTrackingStateDepB :: Word16 +msgTrackingStateDepB = 0x0013 + +-- | SBP class for message MSG_TRACKING_STATE_DEP_B (0x0013). +-- +-- Deprecated. +data MsgTrackingStateDepB = MsgTrackingStateDepB + { _msgTrackingStateDepB_states :: [TrackingChannelStateDepB] + -- ^ Signal tracking channel state + } deriving ( Show, Read, Eq ) + +instance Binary MsgTrackingStateDepB where + get = do + _msgTrackingStateDepB_states <- whileM (not <$> isEmpty) get + return MsgTrackingStateDepB {..} + + put MsgTrackingStateDepB {..} = do + mapM_ put _msgTrackingStateDepB_states + +$(deriveSBP 'msgTrackingStateDepB ''MsgTrackingStateDepB) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgTrackingStateDepB_" . P.stripPrefix "_msgTrackingStateDepB_"} + ''MsgTrackingStateDepB) +$(makeLenses ''MsgTrackingStateDepB)