diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 2.2.3 +version: 2.2.6 synopsis: SwiftNav's SBP Library homepage: https://github.com/swift-nav/libsbp license: LGPL-3 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 @@ -59,6 +59,7 @@ | SBPMsgBootloaderHandshakeReq MsgBootloaderHandshakeReq Msg | SBPMsgBootloaderHandshakeResp MsgBootloaderHandshakeResp Msg | SBPMsgBootloaderJumpToApp MsgBootloaderJumpToApp Msg + | SBPMsgCommandOutput MsgCommandOutput Msg | SBPMsgCommandReq MsgCommandReq Msg | SBPMsgCommandResp MsgCommandResp Msg | SBPMsgCwResults MsgCwResults Msg @@ -73,6 +74,8 @@ | SBPMsgEphemerisDepD MsgEphemerisDepD Msg | SBPMsgEphemerisGlo MsgEphemerisGlo Msg | SBPMsgEphemerisGloDepA MsgEphemerisGloDepA Msg + | SBPMsgEphemerisGloDepB MsgEphemerisGloDepB Msg + | SBPMsgEphemerisGloDepC MsgEphemerisGloDepC Msg | SBPMsgEphemerisGps MsgEphemerisGps Msg | SBPMsgEphemerisGpsDepE MsgEphemerisGpsDepE Msg | SBPMsgEphemerisSbas MsgEphemerisSbas Msg @@ -186,6 +189,7 @@ | _msgSBPType == msgBootloaderHandshakeReq = SBPMsgBootloaderHandshakeReq (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgBootloaderHandshakeResp = SBPMsgBootloaderHandshakeResp (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgBootloaderJumpToApp = SBPMsgBootloaderJumpToApp (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgCommandOutput = SBPMsgCommandOutput (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgCommandReq = SBPMsgCommandReq (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgCommandResp = SBPMsgCommandResp (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgCwResults = SBPMsgCwResults (decode (fromStrict _msgSBPPayload)) m @@ -200,6 +204,8 @@ | _msgSBPType == msgEphemerisDepD = SBPMsgEphemerisDepD (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgEphemerisGlo = SBPMsgEphemerisGlo (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgEphemerisGloDepA = SBPMsgEphemerisGloDepA (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgEphemerisGloDepB = SBPMsgEphemerisGloDepB (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgEphemerisGloDepC = SBPMsgEphemerisGloDepC (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 @@ -305,6 +311,7 @@ encode' (SBPMsgBootloaderHandshakeReq _ m) = put m encode' (SBPMsgBootloaderHandshakeResp _ m) = put m encode' (SBPMsgBootloaderJumpToApp _ m) = put m + encode' (SBPMsgCommandOutput _ m) = put m encode' (SBPMsgCommandReq _ m) = put m encode' (SBPMsgCommandResp _ m) = put m encode' (SBPMsgCwResults _ m) = put m @@ -319,6 +326,8 @@ encode' (SBPMsgEphemerisDepD _ m) = put m encode' (SBPMsgEphemerisGlo _ m) = put m encode' (SBPMsgEphemerisGloDepA _ m) = put m + encode' (SBPMsgEphemerisGloDepB _ m) = put m + encode' (SBPMsgEphemerisGloDepC _ m) = put m encode' (SBPMsgEphemerisGps _ m) = put m encode' (SBPMsgEphemerisGpsDepE _ m) = put m encode' (SBPMsgEphemerisSbas _ m) = put m @@ -427,6 +436,7 @@ | msgType == msgBootloaderHandshakeReq = SBPMsgBootloaderHandshakeReq <$> parseJSON obj <*> parseJSON obj | msgType == msgBootloaderHandshakeResp = SBPMsgBootloaderHandshakeResp <$> parseJSON obj <*> parseJSON obj | msgType == msgBootloaderJumpToApp = SBPMsgBootloaderJumpToApp <$> parseJSON obj <*> parseJSON obj + | msgType == msgCommandOutput = SBPMsgCommandOutput <$> parseJSON obj <*> parseJSON obj | msgType == msgCommandReq = SBPMsgCommandReq <$> parseJSON obj <*> parseJSON obj | msgType == msgCommandResp = SBPMsgCommandResp <$> parseJSON obj <*> parseJSON obj | msgType == msgCwResults = SBPMsgCwResults <$> parseJSON obj <*> parseJSON obj @@ -441,6 +451,8 @@ | msgType == msgEphemerisDepD = SBPMsgEphemerisDepD <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisGlo = SBPMsgEphemerisGlo <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisGloDepA = SBPMsgEphemerisGloDepA <$> parseJSON obj <*> parseJSON obj + | msgType == msgEphemerisGloDepB = SBPMsgEphemerisGloDepB <$> parseJSON obj <*> parseJSON obj + | msgType == msgEphemerisGloDepC = SBPMsgEphemerisGloDepC <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisGps = SBPMsgEphemerisGps <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisGpsDepE = SBPMsgEphemerisGpsDepE <$> parseJSON obj <*> parseJSON obj | msgType == msgEphemerisSbas = SBPMsgEphemerisSbas <$> parseJSON obj <*> parseJSON obj @@ -551,6 +563,7 @@ toJSON (SBPMsgBootloaderHandshakeReq n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgBootloaderHandshakeResp n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgBootloaderJumpToApp n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgCommandOutput n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgCommandReq n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgCommandResp n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgCwResults n m) = toJSON n `mergeValues` toJSON m @@ -565,6 +578,8 @@ toJSON (SBPMsgEphemerisDepD n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgEphemerisGlo n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgEphemerisGloDepA n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgEphemerisGloDepB n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgEphemerisGloDepC n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgEphemerisGps n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgEphemerisGpsDepE n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgEphemerisSbas n m) = toJSON n `mergeValues` toJSON m @@ -669,6 +684,7 @@ msg f (SBPMsgBootloaderHandshakeReq n m) = SBPMsgBootloaderHandshakeReq n <$> f m msg f (SBPMsgBootloaderHandshakeResp n m) = SBPMsgBootloaderHandshakeResp n <$> f m msg f (SBPMsgBootloaderJumpToApp n m) = SBPMsgBootloaderJumpToApp n <$> f m + msg f (SBPMsgCommandOutput n m) = SBPMsgCommandOutput n <$> f m msg f (SBPMsgCommandReq n m) = SBPMsgCommandReq n <$> f m msg f (SBPMsgCommandResp n m) = SBPMsgCommandResp n <$> f m msg f (SBPMsgCwResults n m) = SBPMsgCwResults n <$> f m @@ -683,6 +699,8 @@ 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 <$> f m + msg f (SBPMsgEphemerisGloDepB n m) = SBPMsgEphemerisGloDepB n <$> f m + msg f (SBPMsgEphemerisGloDepC n m) = SBPMsgEphemerisGloDepC 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 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 @@ -434,7 +434,7 @@ , _msgVelEcef_z :: Int32 -- ^ Velocity ECEF Z coordinate , _msgVelEcef_accuracy :: Word16 - -- ^ Velocity accuracy estimate (not implemented). Defaults to 0. + -- ^ Velocity accuracy estimate , _msgVelEcef_n_sats :: Word8 -- ^ Number of satellites used in solution , _msgVelEcef_flags :: Word8 @@ -486,9 +486,9 @@ , _msgVelNed_d :: Int32 -- ^ Velocity Down coordinate , _msgVelNed_h_accuracy :: Word16 - -- ^ Horizontal velocity accuracy estimate (not implemented). Defaults to 0. + -- ^ Horizontal velocity accuracy estimate , _msgVelNed_v_accuracy :: Word16 - -- ^ Vertical velocity accuracy estimate (not implemented). Defaults to 0. + -- ^ Vertical velocity accuracy estimate , _msgVelNed_n_sats :: Word8 -- ^ Number of satellites used in solution , _msgVelNed_flags :: Word8 @@ -818,7 +818,7 @@ , _msgBaselineEcefDepA_z :: Int32 -- ^ Baseline ECEF Z coordinate , _msgBaselineEcefDepA_accuracy :: Word16 - -- ^ Position accuracy estimate (not implemented). Defaults to 0. + -- ^ Position accuracy estimate , _msgBaselineEcefDepA_n_sats :: Word8 -- ^ Number of satellites used in solution , _msgBaselineEcefDepA_flags :: Word8 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 @@ -682,10 +682,114 @@ ''MsgEphemerisSbas) $(makeLenses ''MsgEphemerisSbas) +msgEphemerisGloDepB :: Word16 +msgEphemerisGloDepB = 0x0085 + +-- | SBP class for message MSG_EPHEMERIS_GLO_DEP_B (0x0085). +-- +-- The ephemeris message returns a set of satellite orbit parameters that is +-- used to calculate GLO satellite position, velocity, and clock offset. Please +-- see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate +-- information (ephemeris parameters)" for more details. +data MsgEphemerisGloDepB = MsgEphemerisGloDepB + { _msgEphemerisGloDepB_common :: EphemerisCommonContent + -- ^ Values common for all ephemeris types + , _msgEphemerisGloDepB_gamma :: Double + -- ^ Relative deviation of predicted carrier frequency from nominal + , _msgEphemerisGloDepB_tau :: Double + -- ^ Correction to the SV time + , _msgEphemerisGloDepB_pos :: [Double] + -- ^ Position of the SV at tb in PZ-90.02 coordinates system + , _msgEphemerisGloDepB_vel :: [Double] + -- ^ Velocity vector of the SV at tb in PZ-90.02 coordinates system + , _msgEphemerisGloDepB_acc :: [Double] + -- ^ Acceleration vector of the SV at tb in PZ-90.02 coordinates sys + } deriving ( Show, Read, Eq ) + +instance Binary MsgEphemerisGloDepB where + get = do + _msgEphemerisGloDepB_common <- get + _msgEphemerisGloDepB_gamma <- getFloat64le + _msgEphemerisGloDepB_tau <- getFloat64le + _msgEphemerisGloDepB_pos <- replicateM 3 getFloat64le + _msgEphemerisGloDepB_vel <- replicateM 3 getFloat64le + _msgEphemerisGloDepB_acc <- replicateM 3 getFloat64le + return MsgEphemerisGloDepB {..} + + put MsgEphemerisGloDepB {..} = do + put _msgEphemerisGloDepB_common + putFloat64le _msgEphemerisGloDepB_gamma + putFloat64le _msgEphemerisGloDepB_tau + mapM_ putFloat64le _msgEphemerisGloDepB_pos + mapM_ putFloat64le _msgEphemerisGloDepB_vel + mapM_ putFloat64le _msgEphemerisGloDepB_acc + +$(deriveSBP 'msgEphemerisGloDepB ''MsgEphemerisGloDepB) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgEphemerisGloDepB_" . P.stripPrefix "_msgEphemerisGloDepB_"} + ''MsgEphemerisGloDepB) +$(makeLenses ''MsgEphemerisGloDepB) + +msgEphemerisGloDepC :: Word16 +msgEphemerisGloDepC = 0x0087 + +-- | SBP class for message MSG_EPHEMERIS_GLO_DEP_C (0x0087). +-- +-- 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 MsgEphemerisGloDepC = MsgEphemerisGloDepC + { _msgEphemerisGloDepC_common :: EphemerisCommonContent + -- ^ Values common for all ephemeris types + , _msgEphemerisGloDepC_gamma :: Double + -- ^ Relative deviation of predicted carrier frequency from nominal + , _msgEphemerisGloDepC_tau :: Double + -- ^ Correction to the SV time + , _msgEphemerisGloDepC_d_tau :: Double + -- ^ Equipment delay between L1 and L2 + , _msgEphemerisGloDepC_pos :: [Double] + -- ^ Position of the SV at tb in PZ-90.02 coordinates system + , _msgEphemerisGloDepC_vel :: [Double] + -- ^ Velocity vector of the SV at tb in PZ-90.02 coordinates system + , _msgEphemerisGloDepC_acc :: [Double] + -- ^ Acceleration vector of the SV at tb in PZ-90.02 coordinates sys + , _msgEphemerisGloDepC_fcn :: Word8 + -- ^ Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid + } deriving ( Show, Read, Eq ) + +instance Binary MsgEphemerisGloDepC where + get = do + _msgEphemerisGloDepC_common <- get + _msgEphemerisGloDepC_gamma <- getFloat64le + _msgEphemerisGloDepC_tau <- getFloat64le + _msgEphemerisGloDepC_d_tau <- getFloat64le + _msgEphemerisGloDepC_pos <- replicateM 3 getFloat64le + _msgEphemerisGloDepC_vel <- replicateM 3 getFloat64le + _msgEphemerisGloDepC_acc <- replicateM 3 getFloat64le + _msgEphemerisGloDepC_fcn <- getWord8 + return MsgEphemerisGloDepC {..} + + put MsgEphemerisGloDepC {..} = do + put _msgEphemerisGloDepC_common + putFloat64le _msgEphemerisGloDepC_gamma + putFloat64le _msgEphemerisGloDepC_tau + putFloat64le _msgEphemerisGloDepC_d_tau + mapM_ putFloat64le _msgEphemerisGloDepC_pos + mapM_ putFloat64le _msgEphemerisGloDepC_vel + mapM_ putFloat64le _msgEphemerisGloDepC_acc + putWord8 _msgEphemerisGloDepC_fcn + +$(deriveSBP 'msgEphemerisGloDepC ''MsgEphemerisGloDepC) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgEphemerisGloDepC_" . P.stripPrefix "_msgEphemerisGloDepC_"} + ''MsgEphemerisGloDepC) +$(makeLenses ''MsgEphemerisGloDepC) + msgEphemerisGlo :: Word16 -msgEphemerisGlo = 0x0085 +msgEphemerisGlo = 0x0088 --- | SBP class for message MSG_EPHEMERIS_GLO (0x0085). +-- | SBP class for message MSG_EPHEMERIS_GLO (0x0088). -- -- The ephemeris message returns a set of satellite orbit parameters that is -- used to calculate GLO satellite position, velocity, and clock offset. Please @@ -698,12 +802,18 @@ -- ^ Relative deviation of predicted carrier frequency from nominal , _msgEphemerisGlo_tau :: Double -- ^ Correction to the SV time + , _msgEphemerisGlo_d_tau :: Double + -- ^ Equipment delay between L1 and L2 , _msgEphemerisGlo_pos :: [Double] -- ^ Position of the SV at tb in PZ-90.02 coordinates system , _msgEphemerisGlo_vel :: [Double] -- ^ Velocity vector of the SV at tb in PZ-90.02 coordinates system , _msgEphemerisGlo_acc :: [Double] -- ^ Acceleration vector of the SV at tb in PZ-90.02 coordinates sys + , _msgEphemerisGlo_fcn :: Word8 + -- ^ Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid + , _msgEphemerisGlo_iod :: Word8 + -- ^ Issue of ephemeris data } deriving ( Show, Read, Eq ) instance Binary MsgEphemerisGlo where @@ -711,18 +821,24 @@ _msgEphemerisGlo_common <- get _msgEphemerisGlo_gamma <- getFloat64le _msgEphemerisGlo_tau <- getFloat64le + _msgEphemerisGlo_d_tau <- getFloat64le _msgEphemerisGlo_pos <- replicateM 3 getFloat64le _msgEphemerisGlo_vel <- replicateM 3 getFloat64le _msgEphemerisGlo_acc <- replicateM 3 getFloat64le + _msgEphemerisGlo_fcn <- getWord8 + _msgEphemerisGlo_iod <- getWord8 return MsgEphemerisGlo {..} put MsgEphemerisGlo {..} = do put _msgEphemerisGlo_common putFloat64le _msgEphemerisGlo_gamma putFloat64le _msgEphemerisGlo_tau + putFloat64le _msgEphemerisGlo_d_tau mapM_ putFloat64le _msgEphemerisGlo_pos mapM_ putFloat64le _msgEphemerisGlo_vel mapM_ putFloat64le _msgEphemerisGlo_acc + putWord8 _msgEphemerisGlo_fcn + putWord8 _msgEphemerisGlo_iod $(deriveSBP 'msgEphemerisGlo ''MsgEphemerisGlo) 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 @@ -612,6 +612,37 @@ ''MsgCommandResp) $(makeLenses ''MsgCommandResp) +msgCommandOutput :: Word16 +msgCommandOutput = 0x00BC + +-- | SBP class for message MSG_COMMAND_OUTPUT (0x00BC). +-- +-- Returns the standard output and standard error of the command requested by +-- MSG_COMMAND_REQ. The sequence number can be used to filter for filtering the +-- correct command. +data MsgCommandOutput = MsgCommandOutput + { _msgCommandOutput_sequence :: Word32 + -- ^ Sequence number + , _msgCommandOutput_line :: Text + -- ^ Line of standard output or standard error + } deriving ( Show, Read, Eq ) + +instance Binary MsgCommandOutput where + get = do + _msgCommandOutput_sequence <- getWord32le + _msgCommandOutput_line <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + return MsgCommandOutput {..} + + put MsgCommandOutput {..} = do + putWord32le _msgCommandOutput_sequence + putByteString $ encodeUtf8 _msgCommandOutput_line + +$(deriveSBP 'msgCommandOutput ''MsgCommandOutput) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgCommandOutput_" . P.stripPrefix "_msgCommandOutput_"} + ''MsgCommandOutput) +$(makeLenses ''MsgCommandOutput) + msgNetworkStateReq :: Word16 msgNetworkStateReq = 0x00BA @@ -696,7 +727,9 @@ -- -- Spectrum analyzer packet. data MsgSpecan = MsgSpecan - { _msgSpecan_t :: GpsTime + { _msgSpecan_channel_tag :: Word16 + -- ^ Channel ID + , _msgSpecan_t :: GpsTime -- ^ Receiver time of this observation , _msgSpecan_freq_ref :: Float -- ^ Reference frequency of this packet @@ -712,6 +745,7 @@ instance Binary MsgSpecan where get = do + _msgSpecan_channel_tag <- getWord16le _msgSpecan_t <- get _msgSpecan_freq_ref <- getFloat32le _msgSpecan_freq_step <- getFloat32le @@ -721,6 +755,7 @@ return MsgSpecan {..} put MsgSpecan {..} = do + putWord16le _msgSpecan_channel_tag put _msgSpecan_t putFloat32le _msgSpecan_freq_ref putFloat32le _msgSpecan_freq_step