diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,124 +1,133 @@ -name: sbp -version: 2.3.13 -synopsis: SwiftNav's SBP Library -homepage: https://github.com/swift-nav/libsbp -license: LGPL-3 -author: Swift Navigation Inc. -maintainer: Swift Navigation -copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -category: Network -build-type: Simple -cabal-version: >= 1.22 -extra-source-files: README.md +cabal-version: >=1.22 +name: sbp +version: 2.3.15 +license: LGPL-3 +copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. +maintainer: Swift Navigation +author: Swift Navigation Inc. +homepage: https://github.com/swift-nav/libsbp +synopsis: SwiftNav's SBP Library description: - Haskell bindings for Swift Navigation Binary Protocol (SBP), a fast, - simple, and minimal binary protocol for communicating with Swift - devices. It is the native binary protocol used by the Piksi GPS - receiver to transmit solutions, observations, status and debugging - messages, as well as receive messages from the host operating - system, such as differential corrections and the almanac. + Haskell bindings for Swift Navigation Binary Protocol (SBP), a fast, + simple, and minimal binary protocol for communicating with Swift + devices. It is the native binary protocol used by the Piksi GPS + receiver to transmit solutions, observations, status and debugging + messages, as well as receive messages from the host operating + system, such as differential corrections and the almanac. +category: Network +build-type: Simple +extra-source-files: + README.md source-repository head - type: git - location: git@github.com:swift-nav/libsbp.git + type: git + location: git@github.com:swift-nav/libsbp.git library - exposed-modules: SwiftNav.CRC16 - , SwiftNav.SBP - other-modules: SwiftNav.SBP.Msg - , SwiftNav.SBP.TH - , SwiftNav.SBP.Types - , SwiftNav.SBP.Acquisition - , SwiftNav.SBP.Bootload - , SwiftNav.SBP.ExtEvents - , SwiftNav.SBP.FileIo - , SwiftNav.SBP.Flash - , SwiftNav.SBP.Gnss - , SwiftNav.SBP.Imu - , SwiftNav.SBP.Logging - , SwiftNav.SBP.Mag - , SwiftNav.SBP.Navigation - , SwiftNav.SBP.Ndb - , SwiftNav.SBP.Observation - , SwiftNav.SBP.Orientation - , SwiftNav.SBP.Piksi - , SwiftNav.SBP.Sbas - , SwiftNav.SBP.Settings - , SwiftNav.SBP.Ssr - , SwiftNav.SBP.System - , SwiftNav.SBP.Tracking - , SwiftNav.SBP.User - , SwiftNav.SBP.Vehicle - default-language: Haskell2010 - hs-source-dirs: src - ghc-options: -Wall - build-depends: aeson - , array - , base >= 4.8 && < 5 - , base64-bytestring - , basic-prelude - , binary - , bytestring - , data-binary-ieee754 - , lens - , lens-aeson - , monad-loops - , template-haskell - , text + exposed-modules: + SwiftNav.CRC16 + SwiftNav.SBP + SwiftNav.SBP.Acquisition + SwiftNav.SBP.Bootload + SwiftNav.SBP.ExtEvents + SwiftNav.SBP.FileIo + SwiftNav.SBP.Flash + SwiftNav.SBP.Gnss + SwiftNav.SBP.Imu + SwiftNav.SBP.Logging + SwiftNav.SBP.Mag + SwiftNav.SBP.Navigation + SwiftNav.SBP.Ndb + SwiftNav.SBP.Observation + SwiftNav.SBP.Orientation + SwiftNav.SBP.Piksi + SwiftNav.SBP.Sbas + SwiftNav.SBP.Settings + SwiftNav.SBP.Ssr + SwiftNav.SBP.System + SwiftNav.SBP.Tracking + SwiftNav.SBP.User + SwiftNav.SBP.Vehicle + SwiftNav.SBP.Types + hs-source-dirs: src + other-modules: + SwiftNav.SBP.Msg + SwiftNav.SBP.TH + default-language: Haskell2010 + ghc-options: -Wall + build-depends: + aeson >=1.2.4.0, + array >=0.5.2.0, + base >=4.8 && <5, + base64-bytestring >=1.0.0.1, + basic-prelude >=0.7.0, + binary >=0.8.5.1, + bytestring >=0.10.8.2, + data-binary-ieee754 >=0.4.4, + lens >=4.15.4, + lens-aeson >=1.0.2, + monad-loops >=0.4.3, + template-haskell >=2.12.0.0, + text >=1.2.2.2 executable sbp2json - hs-source-dirs: main - main-is: SBP2JSON.hs - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall - build-depends: aeson - , base - , basic-prelude - , binary-conduit - , bytestring - , conduit - , conduit-extra - , resourcet - , sbp - default-language: Haskell2010 + main-is: SBP2JSON.hs + hs-source-dirs: main + default-language: Haskell2010 + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + build-depends: + aeson >=1.2.4.0, + base >=4.10.1.0, + basic-prelude >=0.7.0, + binary-conduit >=1.2.5, + bytestring >=0.10.8.2, + conduit >=1.2.13.1, + conduit-extra >=1.2.3.2, + resourcet >=1.1.11, + sbp -any executable json2sbp - hs-source-dirs: main - main-is: JSON2SBP.hs - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall - build-depends: aeson - , base - , basic-prelude - , binary-conduit - , conduit - , conduit-extra - , resourcet - , sbp - default-language: Haskell2010 + main-is: JSON2SBP.hs + hs-source-dirs: main + default-language: Haskell2010 + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + build-depends: + aeson >=1.2.4.0, + base >=4.10.1.0, + basic-prelude >=0.7.0, + binary-conduit >=1.2.5, + conduit >=1.2.13.1, + conduit-extra >=1.2.3.2, + resourcet >=1.1.11, + sbp -any executable sbp2yaml - hs-source-dirs: main - main-is: SBP2YAML.hs - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall - build-depends: base - , basic-prelude - , binary-conduit - , bytestring - , conduit - , conduit-extra - , resourcet - , sbp - , yaml - default-language: Haskell2010 + main-is: SBP2YAML.hs + hs-source-dirs: main + default-language: Haskell2010 + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + build-depends: + base >=4.10.1.0, + basic-prelude >=0.7.0, + binary-conduit >=1.2.5, + bytestring >=0.10.8.2, + conduit >=1.2.13.1, + conduit-extra >=1.2.3.2, + resourcet >=1.1.11, + sbp -any, + yaml >=0.8.28 test-suite test - type: exitcode-stdio-1.0 - hs-source-dirs: test - main-is: Test.hs - other-modules: Test.SwiftNav.CRC16 - build-depends: base - , basic-prelude - , sbp - , tasty - , tasty-hunit - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall - default-language: Haskell2010 + type: exitcode-stdio-1.0 + main-is: Test.hs + hs-source-dirs: test + other-modules: + Test.SwiftNav.CRC16 + default-language: Haskell2010 + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + build-depends: + base >=4.10.1.0, + basic-prelude >=0.7.0, + sbp -any, + tasty >=0.11.3, + tasty-hunit >=0.9.2 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 @@ -78,6 +78,7 @@ | SBPMsgBootloaderHandshakeReq MsgBootloaderHandshakeReq Msg | SBPMsgBootloaderHandshakeResp MsgBootloaderHandshakeResp Msg | SBPMsgBootloaderJumpToApp MsgBootloaderJumpToApp Msg + | SBPMsgCellModemStatus MsgCellModemStatus Msg | SBPMsgCommandOutput MsgCommandOutput Msg | SBPMsgCommandReq MsgCommandReq Msg | SBPMsgCommandResp MsgCommandResp Msg @@ -234,6 +235,7 @@ | _msgSBPType == msgBootloaderHandshakeReq = SBPMsgBootloaderHandshakeReq (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgBootloaderHandshakeResp = SBPMsgBootloaderHandshakeResp (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgBootloaderJumpToApp = SBPMsgBootloaderJumpToApp (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgCellModemStatus = SBPMsgCellModemStatus (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgCommandOutput = SBPMsgCommandOutput (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgCommandReq = SBPMsgCommandReq (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgCommandResp = SBPMsgCommandResp (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -382,6 +384,7 @@ encoder (SBPMsgBootloaderHandshakeReq _ m) = put m encoder (SBPMsgBootloaderHandshakeResp _ m) = put m encoder (SBPMsgBootloaderJumpToApp _ m) = put m + encoder (SBPMsgCellModemStatus _ m) = put m encoder (SBPMsgCommandOutput _ m) = put m encoder (SBPMsgCommandReq _ m) = put m encoder (SBPMsgCommandResp _ m) = put m @@ -534,6 +537,7 @@ | msgType == msgBootloaderHandshakeReq = SBPMsgBootloaderHandshakeReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgBootloaderHandshakeResp = SBPMsgBootloaderHandshakeResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgBootloaderJumpToApp = SBPMsgBootloaderJumpToApp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgCellModemStatus = SBPMsgCellModemStatus <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgCommandOutput = SBPMsgCommandOutput <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgCommandReq = SBPMsgCommandReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgCommandResp = SBPMsgCommandResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -687,6 +691,7 @@ toJSON (SBPMsgBootloaderHandshakeReq n m) = toJSON n <<>> toJSON m toJSON (SBPMsgBootloaderHandshakeResp n m) = toJSON n <<>> toJSON m toJSON (SBPMsgBootloaderJumpToApp n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgCellModemStatus n m) = toJSON n <<>> toJSON m toJSON (SBPMsgCommandOutput n m) = toJSON n <<>> toJSON m toJSON (SBPMsgCommandReq n m) = toJSON n <<>> toJSON m toJSON (SBPMsgCommandResp n m) = toJSON n <<>> toJSON m @@ -834,6 +839,7 @@ msg f (SBPMsgBootloaderHandshakeReq n m) = SBPMsgBootloaderHandshakeReq n <$> f m msg f (SBPMsgBootloaderHandshakeResp n m) = SBPMsgBootloaderHandshakeResp n <$> f m msg f (SBPMsgBootloaderJumpToApp n m) = SBPMsgBootloaderJumpToApp n <$> f m + msg f (SBPMsgCellModemStatus n m) = SBPMsgCellModemStatus 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 diff --git a/src/SwiftNav/SBP/Orientation.hs b/src/SwiftNav/SBP/Orientation.hs --- a/src/SwiftNav/SBP/Orientation.hs +++ b/src/SwiftNav/SBP/Orientation.hs @@ -82,25 +82,25 @@ -- of the vector should sum to a unit vector assuming that the LSB of each -- component as a value of 2^-31. data MsgOrientQuat = MsgOrientQuat - { _msgOrientQuat_tow :: !Word32 + { _msgOrientQuat_tow :: !Word32 -- ^ GPS Time of Week - , _msgOrientQuat_w :: !Int32 + , _msgOrientQuat_w :: !Int32 -- ^ Real component - , _msgOrientQuat_x :: !Int32 + , _msgOrientQuat_x :: !Int32 -- ^ 1st imaginary component - , _msgOrientQuat_y :: !Int32 + , _msgOrientQuat_y :: !Int32 -- ^ 2nd imaginary component - , _msgOrientQuat_z :: !Int32 + , _msgOrientQuat_z :: !Int32 -- ^ 3rd imaginary component - , _msgOrientQuat_acc_w :: !Float + , _msgOrientQuat_w_accuracy :: !Float -- ^ Estimated standard deviation of w - , _msgOrientQuat_acc_x :: !Float + , _msgOrientQuat_x_accuracy :: !Float -- ^ Estimated standard deviation of x - , _msgOrientQuat_acc_y :: !Float + , _msgOrientQuat_y_accuracy :: !Float -- ^ Estimated standard deviation of y - , _msgOrientQuat_acc_z :: !Float + , _msgOrientQuat_z_accuracy :: !Float -- ^ Estimated standard deviation of z - , _msgOrientQuat_flags :: !Word8 + , _msgOrientQuat_flags :: !Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -111,10 +111,10 @@ _msgOrientQuat_x <- fromIntegral <$> getWord32le _msgOrientQuat_y <- fromIntegral <$> getWord32le _msgOrientQuat_z <- fromIntegral <$> getWord32le - _msgOrientQuat_acc_w <- getFloat32le - _msgOrientQuat_acc_x <- getFloat32le - _msgOrientQuat_acc_y <- getFloat32le - _msgOrientQuat_acc_z <- getFloat32le + _msgOrientQuat_w_accuracy <- getFloat32le + _msgOrientQuat_x_accuracy <- getFloat32le + _msgOrientQuat_y_accuracy <- getFloat32le + _msgOrientQuat_z_accuracy <- getFloat32le _msgOrientQuat_flags <- getWord8 pure MsgOrientQuat {..} @@ -124,10 +124,10 @@ putWord32le $ fromIntegral _msgOrientQuat_x putWord32le $ fromIntegral _msgOrientQuat_y putWord32le $ fromIntegral _msgOrientQuat_z - putFloat32le _msgOrientQuat_acc_w - putFloat32le _msgOrientQuat_acc_x - putFloat32le _msgOrientQuat_acc_y - putFloat32le _msgOrientQuat_acc_z + putFloat32le _msgOrientQuat_w_accuracy + putFloat32le _msgOrientQuat_x_accuracy + putFloat32le _msgOrientQuat_y_accuracy + putFloat32le _msgOrientQuat_z_accuracy putWord8 _msgOrientQuat_flags $(makeSBP 'msgOrientQuat ''MsgOrientQuat) @@ -144,21 +144,21 @@ -- and roll in order to rotate the from a frame aligned with the local-level -- NED frame to the vehicle body frame. data MsgOrientEuler = MsgOrientEuler - { _msgOrientEuler_tow :: !Word32 + { _msgOrientEuler_tow :: !Word32 -- ^ GPS Time of Week - , _msgOrientEuler_roll :: !Int32 + , _msgOrientEuler_roll :: !Int32 -- ^ rotation about the forward axis of the vehicle - , _msgOrientEuler_pitch :: !Int32 + , _msgOrientEuler_pitch :: !Int32 -- ^ rotation about the rightward axis of the vehicle - , _msgOrientEuler_yaw :: !Int32 + , _msgOrientEuler_yaw :: !Int32 -- ^ rotation about the downward axis of the vehicle - , _msgOrientEuler_var_roll :: !Float + , _msgOrientEuler_roll_accuracy :: !Float -- ^ Estimated standard deviation of roll - , _msgOrientEuler_var_pitch :: !Float + , _msgOrientEuler_pitch_accuracy :: !Float -- ^ Estimated standard deviation of pitch - , _msgOrientEuler_var_yaw :: !Float + , _msgOrientEuler_yaw_accuracy :: !Float -- ^ Estimated standard deviation of yaw - , _msgOrientEuler_flags :: !Word8 + , _msgOrientEuler_flags :: !Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -168,9 +168,9 @@ _msgOrientEuler_roll <- fromIntegral <$> getWord32le _msgOrientEuler_pitch <- fromIntegral <$> getWord32le _msgOrientEuler_yaw <- fromIntegral <$> getWord32le - _msgOrientEuler_var_roll <- getFloat32le - _msgOrientEuler_var_pitch <- getFloat32le - _msgOrientEuler_var_yaw <- getFloat32le + _msgOrientEuler_roll_accuracy <- getFloat32le + _msgOrientEuler_pitch_accuracy <- getFloat32le + _msgOrientEuler_yaw_accuracy <- getFloat32le _msgOrientEuler_flags <- getWord8 pure MsgOrientEuler {..} @@ -179,9 +179,9 @@ putWord32le $ fromIntegral _msgOrientEuler_roll putWord32le $ fromIntegral _msgOrientEuler_pitch putWord32le $ fromIntegral _msgOrientEuler_yaw - putFloat32le _msgOrientEuler_var_roll - putFloat32le _msgOrientEuler_var_pitch - putFloat32le _msgOrientEuler_var_yaw + putFloat32le _msgOrientEuler_roll_accuracy + putFloat32le _msgOrientEuler_pitch_accuracy + putFloat32le _msgOrientEuler_yaw_accuracy putWord8 _msgOrientEuler_flags $(makeSBP 'msgOrientEuler ''MsgOrientEuler) 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 @@ -772,6 +772,39 @@ $(makeJSON "_msgNetworkBandwidthUsage_" ''MsgNetworkBandwidthUsage) $(makeLenses ''MsgNetworkBandwidthUsage) +msgCellModemStatus :: Word16 +msgCellModemStatus = 0x00BE + +-- | SBP class for message MSG_CELL_MODEM_STATUS (0x00BE). +-- +-- If a cell modem is present on a piksi device, this message will be send +-- periodically to update the host on the status of the modem and its various +-- parameters. +data MsgCellModemStatus = MsgCellModemStatus + { _msgCellModemStatus_signal_strength :: !Int8 + -- ^ Received cell signal strength in dBm, zero translates to unknown + , _msgCellModemStatus_signal_error_rate :: !Float + -- ^ BER as reported by the modem, zero translates to unknown + , _msgCellModemStatus_reserved :: ![Word8] + -- ^ Unspecified data TBD for this schema + } deriving ( Show, Read, Eq ) + +instance Binary MsgCellModemStatus where + get = do + _msgCellModemStatus_signal_strength <- fromIntegral <$> getWord8 + _msgCellModemStatus_signal_error_rate <- getFloat32le + _msgCellModemStatus_reserved <- whileM (not <$> isEmpty) getWord8 + pure MsgCellModemStatus {..} + + put MsgCellModemStatus {..} = do + putWord8 $ fromIntegral _msgCellModemStatus_signal_strength + putFloat32le _msgCellModemStatus_signal_error_rate + mapM_ putWord8 _msgCellModemStatus_reserved + +$(makeSBP 'msgCellModemStatus ''MsgCellModemStatus) +$(makeJSON "_msgCellModemStatus_" ''MsgCellModemStatus) +$(makeLenses ''MsgCellModemStatus) + msgSpecanDep :: Word16 msgSpecanDep = 0x0050