diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 2.2.17 +version: 2.3.0 cabal-version: >=1.22 build-type: Simple license: LGPL-3 diff --git a/src/SwiftNav/SBP/Acquisition.hs b/src/SwiftNav/SBP/Acquisition.hs --- a/src/SwiftNav/SBP/Acquisition.hs +++ b/src/SwiftNav/SBP/Acquisition.hs @@ -37,9 +37,9 @@ msgAcqResult :: Word16 -msgAcqResult = 0x001F +msgAcqResult = 0x002F --- | SBP class for message MSG_ACQ_RESULT (0x001F). +-- | SBP class for message MSG_ACQ_RESULT (0x002F). -- -- This message describes the results from an attempted GPS signal acquisition -- search for a satellite PRN over a code phase/carrier frequency range. It @@ -74,6 +74,41 @@ $(makeJSON "_msgAcqResult_" ''MsgAcqResult) $(makeLenses ''MsgAcqResult) +msgAcqResultDepC :: Word16 +msgAcqResultDepC = 0x001F + +-- | SBP class for message MSG_ACQ_RESULT_DEP_C (0x001F). +-- +-- Deprecated. +data MsgAcqResultDepC = MsgAcqResultDepC + { _msgAcqResultDepC_cn0 :: !Float + -- ^ CN/0 of best point + , _msgAcqResultDepC_cp :: !Float + -- ^ Code phase of best point + , _msgAcqResultDepC_cf :: !Float + -- ^ Carrier frequency of best point + , _msgAcqResultDepC_sid :: !GnssSignalDep + -- ^ GNSS signal for which acquisition was attempted + } deriving ( Show, Read, Eq ) + +instance Binary MsgAcqResultDepC where + get = do + _msgAcqResultDepC_cn0 <- getFloat32le + _msgAcqResultDepC_cp <- getFloat32le + _msgAcqResultDepC_cf <- getFloat32le + _msgAcqResultDepC_sid <- get + pure MsgAcqResultDepC {..} + + put MsgAcqResultDepC {..} = do + putFloat32le _msgAcqResultDepC_cn0 + putFloat32le _msgAcqResultDepC_cp + putFloat32le _msgAcqResultDepC_cf + put _msgAcqResultDepC_sid + +$(makeSBP 'msgAcqResultDepC ''MsgAcqResultDepC) +$(makeJSON "_msgAcqResultDepC_" ''MsgAcqResultDepC) +$(makeLenses ''MsgAcqResultDepC) + msgAcqResultDepB :: Word16 msgAcqResultDepB = 0x0014 @@ -88,7 +123,7 @@ -- ^ Code phase of best point , _msgAcqResultDepB_cf :: !Float -- ^ Carrier frequency of best point - , _msgAcqResultDepB_sid :: !GnssSignal + , _msgAcqResultDepB_sid :: !GnssSignalDep -- ^ GNSS signal for which acquisition was attempted } deriving ( Show, Read, Eq ) @@ -212,10 +247,73 @@ $(makeJSON "_acqSvProfile_" ''AcqSvProfile) $(makeLenses ''AcqSvProfile) +-- | AcqSvProfileDep. +-- +-- Deprecated. +data AcqSvProfileDep = AcqSvProfileDep + { _acqSvProfileDep_job_type :: !Word8 + -- ^ SV search job type (deep, fallback, etc) + , _acqSvProfileDep_status :: !Word8 + -- ^ Acquisition status 1 is Success, 0 is Failure + , _acqSvProfileDep_cn0 :: !Word16 + -- ^ CN0 value. Only valid if status is '1' + , _acqSvProfileDep_int_time :: !Word8 + -- ^ Acquisition integration time + , _acqSvProfileDep_sid :: !GnssSignalDep + -- ^ GNSS signal for which acquisition was attempted + , _acqSvProfileDep_bin_width :: !Word16 + -- ^ Acq frequency bin width + , _acqSvProfileDep_timestamp :: !Word32 + -- ^ Timestamp of the job complete event + , _acqSvProfileDep_time_spent :: !Word32 + -- ^ Time spent to search for sid.code + , _acqSvProfileDep_cf_min :: !Int32 + -- ^ Doppler range lowest frequency + , _acqSvProfileDep_cf_max :: !Int32 + -- ^ Doppler range highest frequency + , _acqSvProfileDep_cf :: !Int32 + -- ^ Doppler value of detected peak. Only valid if status is '1' + , _acqSvProfileDep_cp :: !Word32 + -- ^ Codephase of detected peak. Only valid if status is '1' + } deriving ( Show, Read, Eq ) + +instance Binary AcqSvProfileDep where + get = do + _acqSvProfileDep_job_type <- getWord8 + _acqSvProfileDep_status <- getWord8 + _acqSvProfileDep_cn0 <- getWord16le + _acqSvProfileDep_int_time <- getWord8 + _acqSvProfileDep_sid <- get + _acqSvProfileDep_bin_width <- getWord16le + _acqSvProfileDep_timestamp <- getWord32le + _acqSvProfileDep_time_spent <- getWord32le + _acqSvProfileDep_cf_min <- fromIntegral <$> getWord32le + _acqSvProfileDep_cf_max <- fromIntegral <$> getWord32le + _acqSvProfileDep_cf <- fromIntegral <$> getWord32le + _acqSvProfileDep_cp <- getWord32le + pure AcqSvProfileDep {..} + + put AcqSvProfileDep {..} = do + putWord8 _acqSvProfileDep_job_type + putWord8 _acqSvProfileDep_status + putWord16le _acqSvProfileDep_cn0 + putWord8 _acqSvProfileDep_int_time + put _acqSvProfileDep_sid + putWord16le _acqSvProfileDep_bin_width + putWord32le _acqSvProfileDep_timestamp + putWord32le _acqSvProfileDep_time_spent + putWord32le $ fromIntegral _acqSvProfileDep_cf_min + putWord32le $ fromIntegral _acqSvProfileDep_cf_max + putWord32le $ fromIntegral _acqSvProfileDep_cf + putWord32le _acqSvProfileDep_cp + +$(makeJSON "_acqSvProfileDep_" ''AcqSvProfileDep) +$(makeLenses ''AcqSvProfileDep) + msgAcqSvProfile :: Word16 -msgAcqSvProfile = 0x001E +msgAcqSvProfile = 0x002E --- | SBP class for message MSG_ACQ_SV_PROFILE (0x001E). +-- | SBP class for message MSG_ACQ_SV_PROFILE (0x002E). -- -- The message describes all SV profiles during acquisition time. The message -- is used to debug and measure the performance. @@ -235,3 +333,26 @@ $(makeSBP 'msgAcqSvProfile ''MsgAcqSvProfile) $(makeJSON "_msgAcqSvProfile_" ''MsgAcqSvProfile) $(makeLenses ''MsgAcqSvProfile) + +msgAcqSvProfileDep :: Word16 +msgAcqSvProfileDep = 0x001E + +-- | SBP class for message MSG_ACQ_SV_PROFILE_DEP (0x001E). +-- +-- Deprecated. +data MsgAcqSvProfileDep = MsgAcqSvProfileDep + { _msgAcqSvProfileDep_acq_sv_profile :: ![AcqSvProfileDep] + -- ^ SV profiles during acquisition time + } deriving ( Show, Read, Eq ) + +instance Binary MsgAcqSvProfileDep where + get = do + _msgAcqSvProfileDep_acq_sv_profile <- whileM (not <$> isEmpty) get + pure MsgAcqSvProfileDep {..} + + put MsgAcqSvProfileDep {..} = do + mapM_ put _msgAcqSvProfileDep_acq_sv_profile + +$(makeSBP 'msgAcqSvProfileDep ''MsgAcqSvProfileDep) +$(makeJSON "_msgAcqSvProfileDep_" ''MsgAcqSvProfileDep) +$(makeLenses ''MsgAcqSvProfileDep) diff --git a/src/SwiftNav/SBP/Gnss.hs b/src/SwiftNav/SBP/Gnss.hs --- a/src/SwiftNav/SBP/Gnss.hs +++ b/src/SwiftNav/SBP/Gnss.hs @@ -35,81 +35,81 @@ {-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-} --- | GnssSignal16. +-- | GnssSignal. -- -- Signal identifier containing constellation, band, and satellite identifier -data GnssSignal16 = GnssSignal16 - { _gnssSignal16_sat :: !Word8 +data GnssSignal = GnssSignal + { _gnssSignal_sat :: !Word8 -- ^ Constellation-specific satellite identifier - , _gnssSignal16_code :: !Word8 + , _gnssSignal_code :: !Word8 -- ^ Signal constellation, band and code } deriving ( Show, Read, Eq ) -instance Binary GnssSignal16 where +instance Binary GnssSignal where get = do - _gnssSignal16_sat <- getWord8 - _gnssSignal16_code <- getWord8 - pure GnssSignal16 {..} + _gnssSignal_sat <- getWord8 + _gnssSignal_code <- getWord8 + pure GnssSignal {..} - put GnssSignal16 {..} = do - putWord8 _gnssSignal16_sat - putWord8 _gnssSignal16_code + put GnssSignal {..} = do + putWord8 _gnssSignal_sat + putWord8 _gnssSignal_code -$(makeJSON "_gnssSignal16_" ''GnssSignal16) -$(makeLenses ''GnssSignal16) +$(makeJSON "_gnssSignal_" ''GnssSignal) +$(makeLenses ''GnssSignal) --- | GnssSignal. +-- | GnssSignalDep. -- --- Signal identifier containing constellation, band, and satellite identifier -data GnssSignal = GnssSignal - { _gnssSignal_sat :: !Word16 - -- ^ Constellation-specific satellite identifier. Note: unlike GnssSignal16, +-- Deprecated. +data GnssSignalDep = GnssSignalDep + { _gnssSignalDep_sat :: !Word16 + -- ^ Constellation-specific satellite identifier. Note: unlike GnssSignal, -- GPS satellites are encoded as (PRN - 1). Other constellations do not -- have this offset. - , _gnssSignal_code :: !Word8 + , _gnssSignalDep_code :: !Word8 -- ^ Signal constellation, band and code - , _gnssSignal_reserved :: !Word8 + , _gnssSignalDep_reserved :: !Word8 -- ^ Reserved } deriving ( Show, Read, Eq ) -instance Binary GnssSignal where +instance Binary GnssSignalDep where get = do - _gnssSignal_sat <- getWord16le - _gnssSignal_code <- getWord8 - _gnssSignal_reserved <- getWord8 - pure GnssSignal {..} + _gnssSignalDep_sat <- getWord16le + _gnssSignalDep_code <- getWord8 + _gnssSignalDep_reserved <- getWord8 + pure GnssSignalDep {..} - put GnssSignal {..} = do - putWord16le _gnssSignal_sat - putWord8 _gnssSignal_code - putWord8 _gnssSignal_reserved + put GnssSignalDep {..} = do + putWord16le _gnssSignalDep_sat + putWord8 _gnssSignalDep_code + putWord8 _gnssSignalDep_reserved -$(makeJSON "_gnssSignal_" ''GnssSignal) -$(makeLenses ''GnssSignal) +$(makeJSON "_gnssSignalDep_" ''GnssSignalDep) +$(makeLenses ''GnssSignalDep) --- | GPSTime. +-- | GPSTimeDep. -- -- A wire-appropriate GPS time, defined as the number of milliseconds since -- beginning of the week on the Saturday/Sunday transition. -data GpsTime = GpsTime - { _gpsTime_tow :: !Word32 +data GpsTimeDep = GpsTimeDep + { _gpsTimeDep_tow :: !Word32 -- ^ Milliseconds since start of GPS week - , _gpsTime_wn :: !Word16 + , _gpsTimeDep_wn :: !Word16 -- ^ GPS week number } deriving ( Show, Read, Eq ) -instance Binary GpsTime where +instance Binary GpsTimeDep where get = do - _gpsTime_tow <- getWord32le - _gpsTime_wn <- getWord16le - pure GpsTime {..} + _gpsTimeDep_tow <- getWord32le + _gpsTimeDep_wn <- getWord16le + pure GpsTimeDep {..} - put GpsTime {..} = do - putWord32le _gpsTime_tow - putWord16le _gpsTime_wn + put GpsTimeDep {..} = do + putWord32le _gpsTimeDep_tow + putWord16le _gpsTimeDep_wn -$(makeJSON "_gpsTime_" ''GpsTime) -$(makeLenses ''GpsTime) +$(makeJSON "_gpsTimeDep_" ''GpsTimeDep) +$(makeLenses ''GpsTimeDep) -- | GPSTimeSec. -- @@ -135,35 +135,35 @@ $(makeJSON "_gpsTimeSec_" ''GpsTimeSec) $(makeLenses ''GpsTimeSec) --- | GPSTimeNano. +-- | GPSTime. -- -- A wire-appropriate receiver clock time, defined as the time since the -- beginning of the week on the Saturday/Sunday transition. In most cases, -- observations are epoch aligned so ns field will be 0. -data GpsTimeNano = GpsTimeNano - { _gpsTimeNano_tow :: !Word32 +data GpsTime = GpsTime + { _gpsTime_tow :: !Word32 -- ^ Milliseconds since start of GPS week - , _gpsTimeNano_ns_residual :: !Int32 + , _gpsTime_ns_residual :: !Int32 -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to -- 500000) - , _gpsTimeNano_wn :: !Word16 + , _gpsTime_wn :: !Word16 -- ^ GPS week number } deriving ( Show, Read, Eq ) -instance Binary GpsTimeNano where +instance Binary GpsTime where get = do - _gpsTimeNano_tow <- getWord32le - _gpsTimeNano_ns_residual <- fromIntegral <$> getWord32le - _gpsTimeNano_wn <- getWord16le - pure GpsTimeNano {..} + _gpsTime_tow <- getWord32le + _gpsTime_ns_residual <- fromIntegral <$> getWord32le + _gpsTime_wn <- getWord16le + pure GpsTime {..} - put GpsTimeNano {..} = do - putWord32le _gpsTimeNano_tow - putWord32le $ fromIntegral _gpsTimeNano_ns_residual - putWord16le _gpsTimeNano_wn + put GpsTime {..} = do + putWord32le _gpsTime_tow + putWord32le $ fromIntegral _gpsTime_ns_residual + putWord16le _gpsTime_wn -$(makeJSON "_gpsTimeNano_" ''GpsTimeNano) -$(makeLenses ''GpsTimeNano) +$(makeJSON "_gpsTime_" ''GpsTime) +$(makeLenses ''GpsTime) -- | CarrierPhase. -- diff --git a/src/SwiftNav/SBP/Msg.hs b/src/SwiftNav/SBP/Msg.hs --- a/src/SwiftNav/SBP/Msg.hs +++ b/src/SwiftNav/SBP/Msg.hs @@ -52,11 +52,15 @@ SBPMsgAcqResult MsgAcqResult Msg | SBPMsgAcqResultDepA MsgAcqResultDepA Msg | SBPMsgAcqResultDepB MsgAcqResultDepB Msg + | SBPMsgAcqResultDepC MsgAcqResultDepC Msg | SBPMsgAcqSvProfile MsgAcqSvProfile Msg + | SBPMsgAcqSvProfileDep MsgAcqSvProfileDep Msg | SBPMsgAgeCorrections MsgAgeCorrections Msg | SBPMsgAlmanac MsgAlmanac Msg | SBPMsgAlmanacGlo MsgAlmanacGlo Msg + | SBPMsgAlmanacGloDep MsgAlmanacGloDep Msg | SBPMsgAlmanacGps MsgAlmanacGps Msg + | SBPMsgAlmanacGpsDep MsgAlmanacGpsDep Msg | SBPMsgBasePosEcef MsgBasePosEcef Msg | SBPMsgBasePosLlh MsgBasePosLlh Msg | SBPMsgBaselineEcef MsgBaselineEcef Msg @@ -108,6 +112,7 @@ | SBPMsgGpsTimeDepA MsgGpsTimeDepA Msg | SBPMsgGroupDelay MsgGroupDelay Msg | SBPMsgGroupDelayDepA MsgGroupDelayDepA Msg + | SBPMsgGroupDelayDepB MsgGroupDelayDepB Msg | SBPMsgHeartbeat MsgHeartbeat Msg | SBPMsgIarState MsgIarState Msg | SBPMsgImuAux MsgImuAux Msg @@ -118,6 +123,7 @@ | SBPMsgM25FlashWriteStatus MsgM25FlashWriteStatus Msg | SBPMsgMagRaw MsgMagRaw Msg | SBPMsgMaskSatellite MsgMaskSatellite Msg + | SBPMsgMaskSatelliteDep MsgMaskSatelliteDep Msg | SBPMsgNapDeviceDnaReq MsgNapDeviceDnaReq Msg | SBPMsgNapDeviceDnaResp MsgNapDeviceDnaResp Msg | SBPMsgNdbEvent MsgNdbEvent Msg @@ -145,6 +151,7 @@ | SBPMsgSettingsSave MsgSettingsSave Msg | SBPMsgSettingsWrite MsgSettingsWrite Msg | SBPMsgSpecan MsgSpecan Msg + | SBPMsgSpecanDep MsgSpecanDep Msg | SBPMsgStartup MsgStartup Msg | SBPMsgStmFlashLockSector MsgStmFlashLockSector Msg | SBPMsgStmFlashUnlockSector MsgStmFlashUnlockSector Msg @@ -153,10 +160,12 @@ | SBPMsgSvConfigurationGps MsgSvConfigurationGps Msg | SBPMsgThreadState MsgThreadState Msg | SBPMsgTrackingIq MsgTrackingIq Msg + | SBPMsgTrackingIqDep MsgTrackingIqDep Msg | SBPMsgTrackingState MsgTrackingState Msg | SBPMsgTrackingStateDepA MsgTrackingStateDepA Msg | SBPMsgTrackingStateDepB MsgTrackingStateDepB Msg | SBPMsgTrackingStateDetailed MsgTrackingStateDetailed Msg + | SBPMsgTrackingStateDetailedDep MsgTrackingStateDetailedDep Msg | SBPMsgTweet MsgTweet Msg | SBPMsgUartState MsgUartState Msg | SBPMsgUartStateDepa MsgUartStateDepa Msg @@ -182,11 +191,15 @@ | _msgSBPType == msgAcqResult = SBPMsgAcqResult (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgAcqResultDepA = SBPMsgAcqResultDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgAcqResultDepB = SBPMsgAcqResultDepB (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgAcqResultDepC = SBPMsgAcqResultDepC (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgAcqSvProfile = SBPMsgAcqSvProfile (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgAcqSvProfileDep = SBPMsgAcqSvProfileDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgAgeCorrections = SBPMsgAgeCorrections (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgAlmanac = SBPMsgAlmanac (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgAlmanacGlo = SBPMsgAlmanacGlo (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgAlmanacGloDep = SBPMsgAlmanacGloDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgAlmanacGps = SBPMsgAlmanacGps (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgAlmanacGpsDep = SBPMsgAlmanacGpsDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgBasePosEcef = SBPMsgBasePosEcef (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgBasePosLlh = SBPMsgBasePosLlh (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgBaselineEcef = SBPMsgBaselineEcef (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -238,6 +251,7 @@ | _msgSBPType == msgGpsTimeDepA = SBPMsgGpsTimeDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGroupDelay = SBPMsgGroupDelay (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGroupDelayDepA = SBPMsgGroupDelayDepA (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgGroupDelayDepB = SBPMsgGroupDelayDepB (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgHeartbeat = SBPMsgHeartbeat (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgIarState = SBPMsgIarState (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgImuAux = SBPMsgImuAux (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -248,6 +262,7 @@ | _msgSBPType == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgMagRaw = SBPMsgMagRaw (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgMaskSatellite = SBPMsgMaskSatellite (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgMaskSatelliteDep = SBPMsgMaskSatelliteDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgNdbEvent = SBPMsgNdbEvent (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -275,6 +290,7 @@ | _msgSBPType == msgSettingsSave = SBPMsgSettingsSave (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSettingsWrite = SBPMsgSettingsWrite (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSpecan = SBPMsgSpecan (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSpecanDep = SBPMsgSpecanDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgStartup = SBPMsgStartup (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgStmFlashLockSector = SBPMsgStmFlashLockSector (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -283,10 +299,12 @@ | _msgSBPType == msgSvConfigurationGps = SBPMsgSvConfigurationGps (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgThreadState = SBPMsgThreadState (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgTrackingIq = SBPMsgTrackingIq (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgTrackingIqDep = SBPMsgTrackingIqDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgTrackingState = SBPMsgTrackingState (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgTrackingStateDepA = SBPMsgTrackingStateDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgTrackingStateDepB = SBPMsgTrackingStateDepB (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgTrackingStateDetailed = SBPMsgTrackingStateDetailed (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgTrackingStateDetailedDep = SBPMsgTrackingStateDetailedDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgTweet = SBPMsgTweet (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgUartState = SBPMsgUartState (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgUartStateDepa = SBPMsgUartStateDepa (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -304,11 +322,15 @@ encoder (SBPMsgAcqResult _ m) = put m encoder (SBPMsgAcqResultDepA _ m) = put m encoder (SBPMsgAcqResultDepB _ m) = put m + encoder (SBPMsgAcqResultDepC _ m) = put m encoder (SBPMsgAcqSvProfile _ m) = put m + encoder (SBPMsgAcqSvProfileDep _ m) = put m encoder (SBPMsgAgeCorrections _ m) = put m encoder (SBPMsgAlmanac _ m) = put m encoder (SBPMsgAlmanacGlo _ m) = put m + encoder (SBPMsgAlmanacGloDep _ m) = put m encoder (SBPMsgAlmanacGps _ m) = put m + encoder (SBPMsgAlmanacGpsDep _ m) = put m encoder (SBPMsgBasePosEcef _ m) = put m encoder (SBPMsgBasePosLlh _ m) = put m encoder (SBPMsgBaselineEcef _ m) = put m @@ -360,6 +382,7 @@ encoder (SBPMsgGpsTimeDepA _ m) = put m encoder (SBPMsgGroupDelay _ m) = put m encoder (SBPMsgGroupDelayDepA _ m) = put m + encoder (SBPMsgGroupDelayDepB _ m) = put m encoder (SBPMsgHeartbeat _ m) = put m encoder (SBPMsgIarState _ m) = put m encoder (SBPMsgImuAux _ m) = put m @@ -370,6 +393,7 @@ encoder (SBPMsgM25FlashWriteStatus _ m) = put m encoder (SBPMsgMagRaw _ m) = put m encoder (SBPMsgMaskSatellite _ m) = put m + encoder (SBPMsgMaskSatelliteDep _ m) = put m encoder (SBPMsgNapDeviceDnaReq _ m) = put m encoder (SBPMsgNapDeviceDnaResp _ m) = put m encoder (SBPMsgNdbEvent _ m) = put m @@ -397,6 +421,7 @@ encoder (SBPMsgSettingsSave _ m) = put m encoder (SBPMsgSettingsWrite _ m) = put m encoder (SBPMsgSpecan _ m) = put m + encoder (SBPMsgSpecanDep _ m) = put m encoder (SBPMsgStartup _ m) = put m encoder (SBPMsgStmFlashLockSector _ m) = put m encoder (SBPMsgStmFlashUnlockSector _ m) = put m @@ -405,10 +430,12 @@ encoder (SBPMsgSvConfigurationGps _ m) = put m encoder (SBPMsgThreadState _ m) = put m encoder (SBPMsgTrackingIq _ m) = put m + encoder (SBPMsgTrackingIqDep _ m) = put m encoder (SBPMsgTrackingState _ m) = put m encoder (SBPMsgTrackingStateDepA _ m) = put m encoder (SBPMsgTrackingStateDepB _ m) = put m encoder (SBPMsgTrackingStateDetailed _ m) = put m + encoder (SBPMsgTrackingStateDetailedDep _ m) = put m encoder (SBPMsgTweet _ m) = put m encoder (SBPMsgUartState _ m) = put m encoder (SBPMsgUartStateDepa _ m) = put m @@ -430,11 +457,15 @@ | msgType == msgAcqResult = SBPMsgAcqResult <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgAcqResultDepA = SBPMsgAcqResultDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgAcqResultDepB = SBPMsgAcqResultDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgAcqResultDepC = SBPMsgAcqResultDepC <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgAcqSvProfile = SBPMsgAcqSvProfile <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgAcqSvProfileDep = SBPMsgAcqSvProfileDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgAgeCorrections = SBPMsgAgeCorrections <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgAlmanac = SBPMsgAlmanac <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgAlmanacGlo = SBPMsgAlmanacGlo <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgAlmanacGloDep = SBPMsgAlmanacGloDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgAlmanacGps = SBPMsgAlmanacGps <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgAlmanacGpsDep = SBPMsgAlmanacGpsDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgBasePosEcef = SBPMsgBasePosEcef <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgBasePosLlh = SBPMsgBasePosLlh <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgBaselineEcef = SBPMsgBaselineEcef <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -486,6 +517,7 @@ | msgType == msgGpsTimeDepA = SBPMsgGpsTimeDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGroupDelay = SBPMsgGroupDelay <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGroupDelayDepA = SBPMsgGroupDelayDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgGroupDelayDepB = SBPMsgGroupDelayDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgHeartbeat = SBPMsgHeartbeat <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgIarState = SBPMsgIarState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgImuAux = SBPMsgImuAux <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -496,6 +528,7 @@ | msgType == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgMagRaw = SBPMsgMagRaw <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgMaskSatellite = SBPMsgMaskSatellite <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgMaskSatelliteDep = SBPMsgMaskSatelliteDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgNdbEvent = SBPMsgNdbEvent <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -523,6 +556,7 @@ | msgType == msgSettingsSave = SBPMsgSettingsSave <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSettingsWrite = SBPMsgSettingsWrite <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSpecan = SBPMsgSpecan <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSpecanDep = SBPMsgSpecanDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgStartup = SBPMsgStartup <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgStmFlashLockSector = SBPMsgStmFlashLockSector <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -531,10 +565,12 @@ | msgType == msgSvConfigurationGps = SBPMsgSvConfigurationGps <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgThreadState = SBPMsgThreadState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgTrackingIq = SBPMsgTrackingIq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgTrackingIqDep = SBPMsgTrackingIqDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgTrackingState = SBPMsgTrackingState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgTrackingStateDepA = SBPMsgTrackingStateDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgTrackingStateDepB = SBPMsgTrackingStateDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgTrackingStateDetailed = SBPMsgTrackingStateDetailed <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgTrackingStateDetailedDep = SBPMsgTrackingStateDetailedDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgTweet = SBPMsgTweet <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgUartState = SBPMsgUartState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgUartStateDepa = SBPMsgUartStateDepa <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -557,11 +593,15 @@ toJSON (SBPMsgAcqResult n m) = toJSON n <<>> toJSON m toJSON (SBPMsgAcqResultDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgAcqResultDepB n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgAcqResultDepC n m) = toJSON n <<>> toJSON m toJSON (SBPMsgAcqSvProfile n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgAcqSvProfileDep n m) = toJSON n <<>> toJSON m toJSON (SBPMsgAgeCorrections n m) = toJSON n <<>> toJSON m toJSON (SBPMsgAlmanac n m) = toJSON n <<>> toJSON m toJSON (SBPMsgAlmanacGlo n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgAlmanacGloDep n m) = toJSON n <<>> toJSON m toJSON (SBPMsgAlmanacGps n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgAlmanacGpsDep n m) = toJSON n <<>> toJSON m toJSON (SBPMsgBasePosEcef n m) = toJSON n <<>> toJSON m toJSON (SBPMsgBasePosLlh n m) = toJSON n <<>> toJSON m toJSON (SBPMsgBaselineEcef n m) = toJSON n <<>> toJSON m @@ -613,6 +653,7 @@ toJSON (SBPMsgGpsTimeDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGroupDelay n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGroupDelayDepA n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgGroupDelayDepB n m) = toJSON n <<>> toJSON m toJSON (SBPMsgHeartbeat n m) = toJSON n <<>> toJSON m toJSON (SBPMsgIarState n m) = toJSON n <<>> toJSON m toJSON (SBPMsgImuAux n m) = toJSON n <<>> toJSON m @@ -623,6 +664,7 @@ toJSON (SBPMsgM25FlashWriteStatus n m) = toJSON n <<>> toJSON m toJSON (SBPMsgMagRaw n m) = toJSON n <<>> toJSON m toJSON (SBPMsgMaskSatellite n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgMaskSatelliteDep n m) = toJSON n <<>> toJSON m toJSON (SBPMsgNapDeviceDnaReq n m) = toJSON n <<>> toJSON m toJSON (SBPMsgNapDeviceDnaResp n m) = toJSON n <<>> toJSON m toJSON (SBPMsgNdbEvent n m) = toJSON n <<>> toJSON m @@ -650,6 +692,7 @@ toJSON (SBPMsgSettingsSave n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSettingsWrite n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSpecan n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSpecanDep n m) = toJSON n <<>> toJSON m toJSON (SBPMsgStartup n m) = toJSON n <<>> toJSON m toJSON (SBPMsgStmFlashLockSector n m) = toJSON n <<>> toJSON m toJSON (SBPMsgStmFlashUnlockSector n m) = toJSON n <<>> toJSON m @@ -658,10 +701,12 @@ toJSON (SBPMsgSvConfigurationGps n m) = toJSON n <<>> toJSON m toJSON (SBPMsgThreadState n m) = toJSON n <<>> toJSON m toJSON (SBPMsgTrackingIq n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgTrackingIqDep n m) = toJSON n <<>> toJSON m toJSON (SBPMsgTrackingState n m) = toJSON n <<>> toJSON m toJSON (SBPMsgTrackingStateDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgTrackingStateDepB n m) = toJSON n <<>> toJSON m toJSON (SBPMsgTrackingStateDetailed n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgTrackingStateDetailedDep n m) = toJSON n <<>> toJSON m toJSON (SBPMsgTweet n m) = toJSON n <<>> toJSON m toJSON (SBPMsgUartState n m) = toJSON n <<>> toJSON m toJSON (SBPMsgUartStateDepa n m) = toJSON n <<>> toJSON m @@ -678,11 +723,15 @@ msg f (SBPMsgAcqResult n m) = SBPMsgAcqResult n <$> f m msg f (SBPMsgAcqResultDepA n m) = SBPMsgAcqResultDepA n <$> f m msg f (SBPMsgAcqResultDepB n m) = SBPMsgAcqResultDepB n <$> f m + msg f (SBPMsgAcqResultDepC n m) = SBPMsgAcqResultDepC n <$> f m msg f (SBPMsgAcqSvProfile n m) = SBPMsgAcqSvProfile n <$> f m + msg f (SBPMsgAcqSvProfileDep n m) = SBPMsgAcqSvProfileDep n <$> 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 <$> f m + msg f (SBPMsgAlmanacGloDep n m) = SBPMsgAlmanacGloDep n <$> f m msg f (SBPMsgAlmanacGps n m) = SBPMsgAlmanacGps n <$> f m + msg f (SBPMsgAlmanacGpsDep n m) = SBPMsgAlmanacGpsDep n <$> 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 <$> f m @@ -734,6 +783,7 @@ msg f (SBPMsgGpsTimeDepA n m) = SBPMsgGpsTimeDepA n <$> f m msg f (SBPMsgGroupDelay n m) = SBPMsgGroupDelay n <$> f m msg f (SBPMsgGroupDelayDepA n m) = SBPMsgGroupDelayDepA n <$> f m + msg f (SBPMsgGroupDelayDepB n m) = SBPMsgGroupDelayDepB 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 @@ -744,6 +794,7 @@ msg f (SBPMsgM25FlashWriteStatus n m) = SBPMsgM25FlashWriteStatus n <$> f m msg f (SBPMsgMagRaw n m) = SBPMsgMagRaw n <$> f m msg f (SBPMsgMaskSatellite n m) = SBPMsgMaskSatellite n <$> f m + msg f (SBPMsgMaskSatelliteDep n m) = SBPMsgMaskSatelliteDep n <$> f m 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 <$> f m @@ -771,6 +822,7 @@ msg f (SBPMsgSettingsSave n m) = SBPMsgSettingsSave n <$> f m msg f (SBPMsgSettingsWrite n m) = SBPMsgSettingsWrite n <$> f m msg f (SBPMsgSpecan n m) = SBPMsgSpecan n <$> f m + msg f (SBPMsgSpecanDep n m) = SBPMsgSpecanDep 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 @@ -779,10 +831,12 @@ msg f (SBPMsgSvConfigurationGps n m) = SBPMsgSvConfigurationGps n <$> f m msg f (SBPMsgThreadState n m) = SBPMsgThreadState n <$> f m msg f (SBPMsgTrackingIq n m) = SBPMsgTrackingIq n <$> f m + msg f (SBPMsgTrackingIqDep n m) = SBPMsgTrackingIqDep n <$> 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 (SBPMsgTrackingStateDetailedDep n m) = SBPMsgTrackingStateDetailedDep n <$> f m msg f (SBPMsgTweet n m) = SBPMsgTweet n <$> f m msg f (SBPMsgUartState n m) = SBPMsgUartState n <$> f m msg f (SBPMsgUartStateDepa n m) = SBPMsgUartStateDepa n <$> f m diff --git a/src/SwiftNav/SBP/Ndb.hs b/src/SwiftNav/SBP/Ndb.hs --- a/src/SwiftNav/SBP/Ndb.hs +++ b/src/SwiftNav/SBP/Ndb.hs @@ -54,11 +54,11 @@ -- ^ Event result. , _msgNdbEvent_data_source :: !Word8 -- ^ Data source for STORE event, reserved for other events. - , _msgNdbEvent_object_sid :: !GnssSignal16 + , _msgNdbEvent_object_sid :: !GnssSignal -- ^ GNSS signal identifier, If object_type is Ephemeris OR Almanac, sid -- indicates for which signal the object belongs to. Reserved in other -- cases. - , _msgNdbEvent_src_sid :: !GnssSignal16 + , _msgNdbEvent_src_sid :: !GnssSignal -- ^ GNSS signal identifier, If object_type is Almanac, Almanac WN, Iono OR -- L2C capabilities AND data_source is NDB_DS_RECEIVER sid indicates from -- which SV data was decoded. Reserved in other cases. 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 @@ -40,7 +40,7 @@ -- -- Header of a GNSS observation message. data ObservationHeader = ObservationHeader - { _observationHeader_t :: !GpsTimeNano + { _observationHeader_t :: !GpsTime -- ^ GNSS time of this observation , _observationHeader_n_obs :: !Word8 -- ^ Total number of observations. First nibble is the size of the sequence @@ -110,7 +110,7 @@ -- ^ 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 + , _packedObsContent_sid :: !GnssSignal -- ^ GNSS signal identifier (16 bit) } deriving ( Show, Read, Eq ) @@ -239,7 +239,7 @@ $(makeLenses ''MsgBasePosEcef) data EphemerisCommonContent = EphemerisCommonContent - { _ephemerisCommonContent_sid :: !GnssSignal16 + { _ephemerisCommonContent_sid :: !GnssSignal -- ^ GNSS signal identifier (16 bit) , _ephemerisCommonContent_toe :: !GpsTimeSec -- ^ Time of Ephemerides @@ -276,9 +276,9 @@ $(makeLenses ''EphemerisCommonContent) data EphemerisCommonContentDepA = EphemerisCommonContentDepA - { _ephemerisCommonContentDepA_sid :: !GnssSignal + { _ephemerisCommonContentDepA_sid :: !GnssSignalDep -- ^ GNSS signal identifier - , _ephemerisCommonContentDepA_toe :: !GpsTime + , _ephemerisCommonContentDepA_toe :: !GpsTimeDep -- ^ Time of Ephemerides , _ephemerisCommonContentDepA_ura :: !Double -- ^ User Range Accuracy @@ -366,7 +366,7 @@ -- ^ Polynomial clock correction coefficient (clock drift) , _msgEphemerisGpsDepE_af2 :: !Double -- ^ Polynomial clock correction coefficient (rate of clock drift) - , _msgEphemerisGpsDepE_toc :: !GpsTime + , _msgEphemerisGpsDepE_toc :: !GpsTimeDep -- ^ Clock reference , _msgEphemerisGpsDepE_iode :: !Word8 -- ^ Issue of ephemeris data @@ -896,7 +896,7 @@ -- ^ Is valid? , _msgEphemerisDepD_healthy :: !Word8 -- ^ Satellite is healthy? - , _msgEphemerisDepD_sid :: !GnssSignal + , _msgEphemerisDepD_sid :: !GnssSignalDep -- ^ GNSS signal identifier , _msgEphemerisDepD_iode :: !Word8 -- ^ Issue of ephemeris data @@ -1296,7 +1296,7 @@ -- ^ Is valid? , _msgEphemerisDepC_healthy :: !Word8 -- ^ Satellite is healthy? - , _msgEphemerisDepC_sid :: !GnssSignal + , _msgEphemerisDepC_sid :: !GnssSignalDep -- ^ GNSS signal identifier , _msgEphemerisDepC_iode :: !Word8 -- ^ Issue of ephemeris data @@ -1378,7 +1378,7 @@ -- -- Header of a GPS observation message. data ObservationHeaderDep = ObservationHeaderDep - { _observationHeaderDep_t :: !GpsTime + { _observationHeaderDep_t :: !GpsTimeDep -- ^ GPS time of this observation , _observationHeaderDep_n_obs :: !Word8 -- ^ Total number of observations. First nibble is the size of the sequence @@ -1476,7 +1476,7 @@ -- ^ Lock indicator. This value changes whenever a satellite signal has lost -- and regained lock, indicating that the carrier phase ambiguity may have -- changed. - , _packedObsContentDepB_sid :: !GnssSignal + , _packedObsContentDepB_sid :: !GnssSignalDep -- ^ GNSS signal identifier } deriving ( Show, Read, Eq ) @@ -1515,7 +1515,7 @@ -- ^ 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 + , _packedObsContentDepC_sid :: !GnssSignalDep -- ^ GNSS signal identifier } deriving ( Show, Read, Eq ) @@ -1710,7 +1710,7 @@ -- -- Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. data MsgGroupDelayDepA = MsgGroupDelayDepA - { _msgGroupDelayDepA_t_op :: !GpsTime + { _msgGroupDelayDepA_t_op :: !GpsTimeDep -- ^ Data Predict Time of Week , _msgGroupDelayDepA_prn :: !Word8 -- ^ Satellite number @@ -1744,10 +1744,51 @@ $(makeJSON "_msgGroupDelayDepA_" ''MsgGroupDelayDepA) $(makeLenses ''MsgGroupDelayDepA) +msgGroupDelayDepB :: Word16 +msgGroupDelayDepB = 0x0093 + +-- | SBP class for message MSG_GROUP_DELAY_DEP_B (0x0093). +-- +-- Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. +data MsgGroupDelayDepB = MsgGroupDelayDepB + { _msgGroupDelayDepB_t_op :: !GpsTimeSec + -- ^ Data Predict Time of Week + , _msgGroupDelayDepB_sid :: !GnssSignalDep + -- ^ GNSS signal identifier + , _msgGroupDelayDepB_valid :: !Word8 + -- ^ bit-field indicating validity of the values, LSB indicating tgd validity + -- etc. 1 = value is valid, 0 = value is not valid. + , _msgGroupDelayDepB_tgd :: !Int16 + , _msgGroupDelayDepB_isc_l1ca :: !Int16 + , _msgGroupDelayDepB_isc_l2c :: !Int16 + } deriving ( Show, Read, Eq ) + +instance Binary MsgGroupDelayDepB where + get = do + _msgGroupDelayDepB_t_op <- get + _msgGroupDelayDepB_sid <- get + _msgGroupDelayDepB_valid <- getWord8 + _msgGroupDelayDepB_tgd <- fromIntegral <$> getWord16le + _msgGroupDelayDepB_isc_l1ca <- fromIntegral <$> getWord16le + _msgGroupDelayDepB_isc_l2c <- fromIntegral <$> getWord16le + pure MsgGroupDelayDepB {..} + + put MsgGroupDelayDepB {..} = do + put _msgGroupDelayDepB_t_op + put _msgGroupDelayDepB_sid + putWord8 _msgGroupDelayDepB_valid + putWord16le $ fromIntegral _msgGroupDelayDepB_tgd + putWord16le $ fromIntegral _msgGroupDelayDepB_isc_l1ca + putWord16le $ fromIntegral _msgGroupDelayDepB_isc_l2c + +$(makeSBP 'msgGroupDelayDepB ''MsgGroupDelayDepB) +$(makeJSON "_msgGroupDelayDepB_" ''MsgGroupDelayDepB) +$(makeLenses ''MsgGroupDelayDepB) + msgGroupDelay :: Word16 -msgGroupDelay = 0x0093 +msgGroupDelay = 0x0094 --- | SBP class for message MSG_GROUP_DELAY (0x0093). +-- | SBP class for message MSG_GROUP_DELAY (0x0094). -- -- Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. data MsgGroupDelay = MsgGroupDelay @@ -1830,10 +1871,117 @@ $(makeJSON "_almanacCommonContent_" ''AlmanacCommonContent) $(makeLenses ''AlmanacCommonContent) +data AlmanacCommonContentDep = AlmanacCommonContentDep + { _almanacCommonContentDep_sid :: !GnssSignalDep + -- ^ GNSS signal identifier + , _almanacCommonContentDep_toa :: !GpsTimeSec + -- ^ Reference time of almanac + , _almanacCommonContentDep_ura :: !Double + -- ^ User Range Accuracy + , _almanacCommonContentDep_fit_interval :: !Word32 + -- ^ Curve fit interval + , _almanacCommonContentDep_valid :: !Word8 + -- ^ Status of almanac, 1 = valid, 0 = invalid + , _almanacCommonContentDep_health_bits :: !Word8 + -- ^ Satellite health status for GPS: - bits 5-7: NAV data health status. + -- See IS-GPS-200H Table 20-VII: NAV Data Health Indications. - bits + -- 0-4: Signal health status. See IS-GPS-200H Table 20-VIII. Codes for + -- Health of SV Signal Components. Satellite health status for GLO: + -- See GLO ICD 5.1 table 5.1 for details - bit 0: C(n), "unhealthy" flag + -- that is transmitted within non-immediate data and indicates overall + -- constellation status at the moment of almanac uploading. '0' + -- indicates malfunction of n-satellite. '1' indicates that n-satellite + -- is operational. - bit 1: Bn(ln), '0' indicates the satellite is + -- operational and suitable for navigation. + } deriving ( Show, Read, Eq ) + +instance Binary AlmanacCommonContentDep where + get = do + _almanacCommonContentDep_sid <- get + _almanacCommonContentDep_toa <- get + _almanacCommonContentDep_ura <- getFloat64le + _almanacCommonContentDep_fit_interval <- getWord32le + _almanacCommonContentDep_valid <- getWord8 + _almanacCommonContentDep_health_bits <- getWord8 + pure AlmanacCommonContentDep {..} + + put AlmanacCommonContentDep {..} = do + put _almanacCommonContentDep_sid + put _almanacCommonContentDep_toa + putFloat64le _almanacCommonContentDep_ura + putWord32le _almanacCommonContentDep_fit_interval + putWord8 _almanacCommonContentDep_valid + putWord8 _almanacCommonContentDep_health_bits + +$(makeJSON "_almanacCommonContentDep_" ''AlmanacCommonContentDep) +$(makeLenses ''AlmanacCommonContentDep) + +msgAlmanacGpsDep :: Word16 +msgAlmanacGpsDep = 0x0070 + +-- | SBP class for message MSG_ALMANAC_GPS_DEP (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 MsgAlmanacGpsDep = MsgAlmanacGpsDep + { _msgAlmanacGpsDep_common :: !AlmanacCommonContentDep + -- ^ Values common for all almanac types + , _msgAlmanacGpsDep_m0 :: !Double + -- ^ Mean anomaly at reference time + , _msgAlmanacGpsDep_ecc :: !Double + -- ^ Eccentricity of satellite orbit + , _msgAlmanacGpsDep_sqrta :: !Double + -- ^ Square root of the semi-major axis of orbit + , _msgAlmanacGpsDep_omega0 :: !Double + -- ^ Longitude of ascending node of orbit plane at weekly epoch + , _msgAlmanacGpsDep_omegadot :: !Double + -- ^ Rate of right ascension + , _msgAlmanacGpsDep_w :: !Double + -- ^ Argument of perigee + , _msgAlmanacGpsDep_inc :: !Double + -- ^ Inclination + , _msgAlmanacGpsDep_af0 :: !Double + -- ^ Polynomial clock correction coefficient (clock bias) + , _msgAlmanacGpsDep_af1 :: !Double + -- ^ Polynomial clock correction coefficient (clock drift) + } deriving ( Show, Read, Eq ) + +instance Binary MsgAlmanacGpsDep where + get = do + _msgAlmanacGpsDep_common <- get + _msgAlmanacGpsDep_m0 <- getFloat64le + _msgAlmanacGpsDep_ecc <- getFloat64le + _msgAlmanacGpsDep_sqrta <- getFloat64le + _msgAlmanacGpsDep_omega0 <- getFloat64le + _msgAlmanacGpsDep_omegadot <- getFloat64le + _msgAlmanacGpsDep_w <- getFloat64le + _msgAlmanacGpsDep_inc <- getFloat64le + _msgAlmanacGpsDep_af0 <- getFloat64le + _msgAlmanacGpsDep_af1 <- getFloat64le + pure MsgAlmanacGpsDep {..} + + put MsgAlmanacGpsDep {..} = do + put _msgAlmanacGpsDep_common + putFloat64le _msgAlmanacGpsDep_m0 + putFloat64le _msgAlmanacGpsDep_ecc + putFloat64le _msgAlmanacGpsDep_sqrta + putFloat64le _msgAlmanacGpsDep_omega0 + putFloat64le _msgAlmanacGpsDep_omegadot + putFloat64le _msgAlmanacGpsDep_w + putFloat64le _msgAlmanacGpsDep_inc + putFloat64le _msgAlmanacGpsDep_af0 + putFloat64le _msgAlmanacGpsDep_af1 + +$(makeSBP 'msgAlmanacGpsDep ''MsgAlmanacGpsDep) +$(makeJSON "_msgAlmanacGpsDep_" ''MsgAlmanacGpsDep) +$(makeLenses ''MsgAlmanacGpsDep) + msgAlmanacGps :: Word16 -msgAlmanacGps = 0x0070 +msgAlmanacGps = 0x0072 --- | SBP class for message MSG_ALMANAC_GPS (0x0070). +-- | SBP class for message MSG_ALMANAC_GPS (0x0072). -- -- 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. @@ -1892,10 +2040,65 @@ $(makeJSON "_msgAlmanacGps_" ''MsgAlmanacGps) $(makeLenses ''MsgAlmanacGps) +msgAlmanacGloDep :: Word16 +msgAlmanacGloDep = 0x0071 + +-- | SBP class for message MSG_ALMANAC_GLO_DEP (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 MsgAlmanacGloDep = MsgAlmanacGloDep + { _msgAlmanacGloDep_common :: !AlmanacCommonContentDep + -- ^ Values common for all almanac types + , _msgAlmanacGloDep_lambda_na :: !Double + -- ^ Longitude of the first ascending node of the orbit in PZ-90.02 + -- coordinate system + , _msgAlmanacGloDep_t_lambda_na :: !Double + -- ^ Time of the first ascending node passage + , _msgAlmanacGloDep_i :: !Double + -- ^ Value of inclination at instant of t_lambda + , _msgAlmanacGloDep_t :: !Double + -- ^ Value of Draconian period at instant of t_lambda + , _msgAlmanacGloDep_t_dot :: !Double + -- ^ Rate of change of the Draconian period + , _msgAlmanacGloDep_epsilon :: !Double + -- ^ Eccentricity at instant of t_lambda + , _msgAlmanacGloDep_omega :: !Double + -- ^ Argument of perigee at instant of t_lambda + } deriving ( Show, Read, Eq ) + +instance Binary MsgAlmanacGloDep where + get = do + _msgAlmanacGloDep_common <- get + _msgAlmanacGloDep_lambda_na <- getFloat64le + _msgAlmanacGloDep_t_lambda_na <- getFloat64le + _msgAlmanacGloDep_i <- getFloat64le + _msgAlmanacGloDep_t <- getFloat64le + _msgAlmanacGloDep_t_dot <- getFloat64le + _msgAlmanacGloDep_epsilon <- getFloat64le + _msgAlmanacGloDep_omega <- getFloat64le + pure MsgAlmanacGloDep {..} + + put MsgAlmanacGloDep {..} = do + put _msgAlmanacGloDep_common + putFloat64le _msgAlmanacGloDep_lambda_na + putFloat64le _msgAlmanacGloDep_t_lambda_na + putFloat64le _msgAlmanacGloDep_i + putFloat64le _msgAlmanacGloDep_t + putFloat64le _msgAlmanacGloDep_t_dot + putFloat64le _msgAlmanacGloDep_epsilon + putFloat64le _msgAlmanacGloDep_omega + +$(makeSBP 'msgAlmanacGloDep ''MsgAlmanacGloDep) +$(makeJSON "_msgAlmanacGloDep_" ''MsgAlmanacGloDep) +$(makeLenses ''MsgAlmanacGloDep) + msgAlmanacGlo :: Word16 -msgAlmanacGlo = 0x0071 +msgAlmanacGlo = 0x0073 --- | SBP class for message MSG_ALMANAC_GLO (0x0071). +-- | SBP class for message MSG_ALMANAC_GLO (0x0073). -- -- 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. 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 @@ -458,9 +458,9 @@ $(makeLenses ''MsgIarState) msgMaskSatellite :: Word16 -msgMaskSatellite = 0x001B +msgMaskSatellite = 0x002B --- | SBP class for message MSG_MASK_SATELLITE (0x001B). +-- | SBP class for message MSG_MASK_SATELLITE (0x002B). -- -- This message allows setting a mask to prevent a particular satellite from -- being used in various Piksi subsystems. @@ -485,6 +485,33 @@ $(makeJSON "_msgMaskSatellite_" ''MsgMaskSatellite) $(makeLenses ''MsgMaskSatellite) +msgMaskSatelliteDep :: Word16 +msgMaskSatelliteDep = 0x001B + +-- | SBP class for message MSG_MASK_SATELLITE_DEP (0x001B). +-- +-- Deprecated. +data MsgMaskSatelliteDep = MsgMaskSatelliteDep + { _msgMaskSatelliteDep_mask :: !Word8 + -- ^ Mask of systems that should ignore this satellite. + , _msgMaskSatelliteDep_sid :: !GnssSignalDep + -- ^ GNSS signal for which the mask is applied + } deriving ( Show, Read, Eq ) + +instance Binary MsgMaskSatelliteDep where + get = do + _msgMaskSatelliteDep_mask <- getWord8 + _msgMaskSatelliteDep_sid <- get + pure MsgMaskSatelliteDep {..} + + put MsgMaskSatelliteDep {..} = do + putWord8 _msgMaskSatelliteDep_mask + put _msgMaskSatelliteDep_sid + +$(makeSBP 'msgMaskSatelliteDep ''MsgMaskSatelliteDep) +$(makeJSON "_msgMaskSatelliteDep_" ''MsgMaskSatelliteDep) +$(makeLenses ''MsgMaskSatelliteDep) + msgDeviceMonitor :: Word16 msgDeviceMonitor = 0x00B5 @@ -683,10 +710,57 @@ $(makeJSON "_msgNetworkStateResp_" ''MsgNetworkStateResp) $(makeLenses ''MsgNetworkStateResp) +msgSpecanDep :: Word16 +msgSpecanDep = 0x0050 + +-- | SBP class for message MSG_SPECAN_DEP (0x0050). +-- +-- Deprecated. +data MsgSpecanDep = MsgSpecanDep + { _msgSpecanDep_channel_tag :: !Word16 + -- ^ Channel ID + , _msgSpecanDep_t :: !GpsTimeDep + -- ^ Receiver time of this observation + , _msgSpecanDep_freq_ref :: !Float + -- ^ Reference frequency of this packet + , _msgSpecanDep_freq_step :: !Float + -- ^ Frequency step of points in this packet + , _msgSpecanDep_amplitude_ref :: !Float + -- ^ Reference amplitude of this packet + , _msgSpecanDep_amplitude_unit :: !Float + -- ^ Amplitude unit value of points in this packet + , _msgSpecanDep_amplitude_value :: ![Word8] + -- ^ Amplitude values (in the above units) of points in this packet + } deriving ( Show, Read, Eq ) + +instance Binary MsgSpecanDep where + get = do + _msgSpecanDep_channel_tag <- getWord16le + _msgSpecanDep_t <- get + _msgSpecanDep_freq_ref <- getFloat32le + _msgSpecanDep_freq_step <- getFloat32le + _msgSpecanDep_amplitude_ref <- getFloat32le + _msgSpecanDep_amplitude_unit <- getFloat32le + _msgSpecanDep_amplitude_value <- whileM (not <$> isEmpty) getWord8 + pure MsgSpecanDep {..} + + put MsgSpecanDep {..} = do + putWord16le _msgSpecanDep_channel_tag + put _msgSpecanDep_t + putFloat32le _msgSpecanDep_freq_ref + putFloat32le _msgSpecanDep_freq_step + putFloat32le _msgSpecanDep_amplitude_ref + putFloat32le _msgSpecanDep_amplitude_unit + mapM_ putWord8 _msgSpecanDep_amplitude_value + +$(makeSBP 'msgSpecanDep ''MsgSpecanDep) +$(makeJSON "_msgSpecanDep_" ''MsgSpecanDep) +$(makeLenses ''MsgSpecanDep) + msgSpecan :: Word16 -msgSpecan = 0x0050 +msgSpecan = 0x0051 --- | SBP class for message MSG_SPECAN (0x0050). +-- | SBP class for message MSG_SPECAN (0x0051). -- -- Spectrum analyzer packet. data MsgSpecan = 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 @@ -37,9 +37,9 @@ msgTrackingStateDetailed :: Word16 -msgTrackingStateDetailed = 0x0011 +msgTrackingStateDetailed = 0x0021 --- | SBP class for message MSG_TRACKING_STATE_DETAILED (0x0011). +-- | SBP class for message MSG_TRACKING_STATE_DETAILED (0x0021). -- -- The tracking message returns a set tracking channel parameters for a single -- tracking channel useful for debugging issues. @@ -146,12 +146,121 @@ $(makeJSON "_msgTrackingStateDetailed_" ''MsgTrackingStateDetailed) $(makeLenses ''MsgTrackingStateDetailed) +msgTrackingStateDetailedDep :: Word16 +msgTrackingStateDetailedDep = 0x0011 + +-- | SBP class for message MSG_TRACKING_STATE_DETAILED_DEP (0x0011). +-- +-- Deprecated. +data MsgTrackingStateDetailedDep = MsgTrackingStateDetailedDep + { _msgTrackingStateDetailedDep_recv_time :: !Word64 + -- ^ Receiver clock time. + , _msgTrackingStateDetailedDep_tot :: !GpsTimeDep + -- ^ Time of transmission of signal from satellite. TOW only valid when TOW + -- status is decoded or propagated. WN only valid when week number valid + -- flag is set. + , _msgTrackingStateDetailedDep_P :: !Word32 + -- ^ Pseudorange observation. Valid only when pseudorange valid flag is set. + , _msgTrackingStateDetailedDep_P_std :: !Word16 + -- ^ Pseudorange observation standard deviation. Valid only when pseudorange + -- valid flag is set. + , _msgTrackingStateDetailedDep_L :: !CarrierPhase + -- ^ Carrier phase observation with typical sign convention. Valid only when + -- PLL pessimistic lock is achieved. + , _msgTrackingStateDetailedDep_cn0 :: !Word8 + -- ^ Carrier-to-Noise density + , _msgTrackingStateDetailedDep_lock :: !Word16 + -- ^ Lock time. It is encoded according to DF402 from the RTCM 10403.2 + -- Amendment 2 specification. Valid values range from 0 to 15. + , _msgTrackingStateDetailedDep_sid :: !GnssSignalDep + -- ^ GNSS signal identifier. + , _msgTrackingStateDetailedDep_doppler :: !Int32 + -- ^ Carrier Doppler frequency. + , _msgTrackingStateDetailedDep_doppler_std :: !Word16 + -- ^ Carrier Doppler frequency standard deviation. + , _msgTrackingStateDetailedDep_uptime :: !Word32 + -- ^ Number of seconds of continuous tracking. Specifies how much time signal + -- is in continuous track. + , _msgTrackingStateDetailedDep_clock_offset :: !Int16 + -- ^ TCXO clock offset. Valid only when valid clock valid flag is set. + , _msgTrackingStateDetailedDep_clock_drift :: !Int16 + -- ^ TCXO clock drift. Valid only when valid clock valid flag is set. + , _msgTrackingStateDetailedDep_corr_spacing :: !Word16 + -- ^ Early-Prompt (EP) and Prompt-Late (PL) correlators spacing. + , _msgTrackingStateDetailedDep_acceleration :: !Int8 + -- ^ Acceleration. Valid only when acceleration valid flag is set. + , _msgTrackingStateDetailedDep_sync_flags :: !Word8 + -- ^ Synchronization status flags. + , _msgTrackingStateDetailedDep_tow_flags :: !Word8 + -- ^ TOW status flags. + , _msgTrackingStateDetailedDep_track_flags :: !Word8 + -- ^ Tracking loop status flags. + , _msgTrackingStateDetailedDep_nav_flags :: !Word8 + -- ^ Navigation data status flags. + , _msgTrackingStateDetailedDep_pset_flags :: !Word8 + -- ^ Parameters sets flags. + , _msgTrackingStateDetailedDep_misc_flags :: !Word8 + -- ^ Miscellaneous flags. + } deriving ( Show, Read, Eq ) + +instance Binary MsgTrackingStateDetailedDep where + get = do + _msgTrackingStateDetailedDep_recv_time <- getWord64le + _msgTrackingStateDetailedDep_tot <- get + _msgTrackingStateDetailedDep_P <- getWord32le + _msgTrackingStateDetailedDep_P_std <- getWord16le + _msgTrackingStateDetailedDep_L <- get + _msgTrackingStateDetailedDep_cn0 <- getWord8 + _msgTrackingStateDetailedDep_lock <- getWord16le + _msgTrackingStateDetailedDep_sid <- get + _msgTrackingStateDetailedDep_doppler <- fromIntegral <$> getWord32le + _msgTrackingStateDetailedDep_doppler_std <- getWord16le + _msgTrackingStateDetailedDep_uptime <- getWord32le + _msgTrackingStateDetailedDep_clock_offset <- fromIntegral <$> getWord16le + _msgTrackingStateDetailedDep_clock_drift <- fromIntegral <$> getWord16le + _msgTrackingStateDetailedDep_corr_spacing <- getWord16le + _msgTrackingStateDetailedDep_acceleration <- fromIntegral <$> getWord8 + _msgTrackingStateDetailedDep_sync_flags <- getWord8 + _msgTrackingStateDetailedDep_tow_flags <- getWord8 + _msgTrackingStateDetailedDep_track_flags <- getWord8 + _msgTrackingStateDetailedDep_nav_flags <- getWord8 + _msgTrackingStateDetailedDep_pset_flags <- getWord8 + _msgTrackingStateDetailedDep_misc_flags <- getWord8 + pure MsgTrackingStateDetailedDep {..} + + put MsgTrackingStateDetailedDep {..} = do + putWord64le _msgTrackingStateDetailedDep_recv_time + put _msgTrackingStateDetailedDep_tot + putWord32le _msgTrackingStateDetailedDep_P + putWord16le _msgTrackingStateDetailedDep_P_std + put _msgTrackingStateDetailedDep_L + putWord8 _msgTrackingStateDetailedDep_cn0 + putWord16le _msgTrackingStateDetailedDep_lock + put _msgTrackingStateDetailedDep_sid + putWord32le $ fromIntegral _msgTrackingStateDetailedDep_doppler + putWord16le _msgTrackingStateDetailedDep_doppler_std + putWord32le _msgTrackingStateDetailedDep_uptime + putWord16le $ fromIntegral _msgTrackingStateDetailedDep_clock_offset + putWord16le $ fromIntegral _msgTrackingStateDetailedDep_clock_drift + putWord16le _msgTrackingStateDetailedDep_corr_spacing + putWord8 $ fromIntegral _msgTrackingStateDetailedDep_acceleration + putWord8 _msgTrackingStateDetailedDep_sync_flags + putWord8 _msgTrackingStateDetailedDep_tow_flags + putWord8 _msgTrackingStateDetailedDep_track_flags + putWord8 _msgTrackingStateDetailedDep_nav_flags + putWord8 _msgTrackingStateDetailedDep_pset_flags + putWord8 _msgTrackingStateDetailedDep_misc_flags + +$(makeSBP 'msgTrackingStateDetailedDep ''MsgTrackingStateDetailedDep) +$(makeJSON "_msgTrackingStateDetailedDep_" ''MsgTrackingStateDetailedDep) +$(makeLenses ''MsgTrackingStateDetailedDep) + -- | TrackingChannelState. -- -- Tracking channel state for a specific satellite signal and measured signal -- power. data TrackingChannelState = TrackingChannelState - { _trackingChannelState_sid :: !GnssSignal16 + { _trackingChannelState_sid :: !GnssSignal -- ^ GNSS signal being tracked , _trackingChannelState_fcn :: !Word8 -- ^ Frequency channel number (GLONASS only) @@ -223,9 +332,9 @@ $(makeLenses ''TrackingChannelCorrelation) msgTrackingIq :: Word16 -msgTrackingIq = 0x001C +msgTrackingIq = 0x002C --- | SBP class for message MSG_TRACKING_IQ (0x001C). +-- | SBP class for message MSG_TRACKING_IQ (0x002C). -- -- When enabled, a tracking channel can output the correlations at each update -- interval. @@ -254,6 +363,37 @@ $(makeJSON "_msgTrackingIq_" ''MsgTrackingIq) $(makeLenses ''MsgTrackingIq) +msgTrackingIqDep :: Word16 +msgTrackingIqDep = 0x001C + +-- | SBP class for message MSG_TRACKING_IQ_DEP (0x001C). +-- +-- Deprecated. +data MsgTrackingIqDep = MsgTrackingIqDep + { _msgTrackingIqDep_channel :: !Word8 + -- ^ Tracking channel of origin + , _msgTrackingIqDep_sid :: !GnssSignalDep + -- ^ GNSS signal identifier + , _msgTrackingIqDep_corrs :: ![TrackingChannelCorrelation] + -- ^ Early, Prompt and Late correlations + } deriving ( Show, Read, Eq ) + +instance Binary MsgTrackingIqDep where + get = do + _msgTrackingIqDep_channel <- getWord8 + _msgTrackingIqDep_sid <- get + _msgTrackingIqDep_corrs <- replicateM 3 get + pure MsgTrackingIqDep {..} + + put MsgTrackingIqDep {..} = do + putWord8 _msgTrackingIqDep_channel + put _msgTrackingIqDep_sid + mapM_ put _msgTrackingIqDep_corrs + +$(makeSBP 'msgTrackingIqDep ''MsgTrackingIqDep) +$(makeJSON "_msgTrackingIqDep_" ''MsgTrackingIqDep) +$(makeLenses ''MsgTrackingIqDep) + -- | TrackingChannelStateDepA. -- -- Deprecated. @@ -310,7 +450,7 @@ data TrackingChannelStateDepB = TrackingChannelStateDepB { _trackingChannelStateDepB_state :: !Word8 -- ^ Status of tracking channel - , _trackingChannelStateDepB_sid :: !GnssSignal + , _trackingChannelStateDepB_sid :: !GnssSignalDep -- ^ GNSS signal being tracked , _trackingChannelStateDepB_cn0 :: !Float -- ^ Carrier-to-noise density