diff --git a/README.md b/README.md --- a/README.md +++ b/README.md @@ -13,7 +13,7 @@ The library supports building against Stackage LTS-10. To install from Hackage using `stack`: - $ stack install --resolver lts-10.0 sbp # (LTS-10) + $ stack install --resolver lts-10.10 sbp # (LTS-10) Note that we explicitly specify the resolvers to use, as installing `libsbp` may fail to build with more recent resolvers. diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,6 +1,6 @@ cabal-version: >=1.22 name: sbp -version: 2.3.16 +version: 2.3.17 license: LGPL-3 copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. maintainer: Swift Navigation 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 @@ -88,18 +88,23 @@ | SBPMsgDgnssStatus MsgDgnssStatus Msg | SBPMsgDops MsgDops Msg | SBPMsgDopsDepA MsgDopsDepA Msg + | SBPMsgEphemerisBds MsgEphemerisBds Msg | SBPMsgEphemerisDepA MsgEphemerisDepA Msg | SBPMsgEphemerisDepB MsgEphemerisDepB Msg | SBPMsgEphemerisDepC MsgEphemerisDepC Msg | SBPMsgEphemerisDepD MsgEphemerisDepD Msg + | SBPMsgEphemerisGal MsgEphemerisGal Msg | SBPMsgEphemerisGlo MsgEphemerisGlo Msg | SBPMsgEphemerisGloDepA MsgEphemerisGloDepA Msg | SBPMsgEphemerisGloDepB MsgEphemerisGloDepB Msg | SBPMsgEphemerisGloDepC MsgEphemerisGloDepC Msg + | SBPMsgEphemerisGloDepD MsgEphemerisGloDepD Msg | SBPMsgEphemerisGps MsgEphemerisGps Msg | SBPMsgEphemerisGpsDepE MsgEphemerisGpsDepE Msg + | SBPMsgEphemerisGpsDepF MsgEphemerisGpsDepF Msg | SBPMsgEphemerisSbas MsgEphemerisSbas Msg | SBPMsgEphemerisSbasDepA MsgEphemerisSbasDepA Msg + | SBPMsgEphemerisSbasDepB MsgEphemerisSbasDepB Msg | SBPMsgExtEvent MsgExtEvent Msg | SBPMsgFileioReadDirReq MsgFileioReadDirReq Msg | SBPMsgFileioReadDirResp MsgFileioReadDirResp Msg @@ -115,6 +120,7 @@ | SBPMsgFlashReadResp MsgFlashReadResp Msg | SBPMsgFwd MsgFwd Msg | SBPMsgGloBiases MsgGloBiases Msg + | SBPMsgGnssCapb MsgGnssCapb Msg | SBPMsgGpsTime MsgGpsTime Msg | SBPMsgGpsTimeDepA MsgGpsTimeDepA Msg | SBPMsgGroupDelay MsgGroupDelay Msg @@ -177,7 +183,7 @@ | SBPMsgStmFlashUnlockSector MsgStmFlashUnlockSector Msg | SBPMsgStmUniqueIdReq MsgStmUniqueIdReq Msg | SBPMsgStmUniqueIdResp MsgStmUniqueIdResp Msg - | SBPMsgSvConfigurationGps MsgSvConfigurationGps Msg + | SBPMsgSvConfigurationGpsDep MsgSvConfigurationGpsDep Msg | SBPMsgThreadState MsgThreadState Msg | SBPMsgTrackingIq MsgTrackingIq Msg | SBPMsgTrackingIqDep MsgTrackingIqDep Msg @@ -246,18 +252,23 @@ | _msgSBPType == msgDgnssStatus = SBPMsgDgnssStatus (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgDops = SBPMsgDops (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgDopsDepA = SBPMsgDopsDepA (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgEphemerisBds = SBPMsgEphemerisBds (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEphemerisDepA = SBPMsgEphemerisDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEphemerisDepB = SBPMsgEphemerisDepB (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEphemerisDepC = SBPMsgEphemerisDepC (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEphemerisDepD = SBPMsgEphemerisDepD (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgEphemerisGal = SBPMsgEphemerisGal (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEphemerisGlo = SBPMsgEphemerisGlo (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEphemerisGloDepA = SBPMsgEphemerisGloDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEphemerisGloDepB = SBPMsgEphemerisGloDepB (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEphemerisGloDepC = SBPMsgEphemerisGloDepC (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgEphemerisGloDepD = SBPMsgEphemerisGloDepD (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEphemerisGps = SBPMsgEphemerisGps (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEphemerisGpsDepE = SBPMsgEphemerisGpsDepE (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgEphemerisGpsDepF = SBPMsgEphemerisGpsDepF (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEphemerisSbas = SBPMsgEphemerisSbas (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEphemerisSbasDepA = SBPMsgEphemerisSbasDepA (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgEphemerisSbasDepB = SBPMsgEphemerisSbasDepB (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgExtEvent = SBPMsgExtEvent (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgFileioReadDirReq = SBPMsgFileioReadDirReq (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgFileioReadDirResp = SBPMsgFileioReadDirResp (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -273,6 +284,7 @@ | _msgSBPType == msgFlashReadResp = SBPMsgFlashReadResp (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgFwd = SBPMsgFwd (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGloBiases = SBPMsgGloBiases (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgGnssCapb = SBPMsgGnssCapb (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGpsTime = SBPMsgGpsTime (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGpsTimeDepA = SBPMsgGpsTimeDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGroupDelay = SBPMsgGroupDelay (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -335,7 +347,7 @@ | _msgSBPType == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgStmUniqueIdReq = SBPMsgStmUniqueIdReq (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgStmUniqueIdResp = SBPMsgStmUniqueIdResp (decode (fromStrict (unBytes _msgSBPPayload))) m - | _msgSBPType == msgSvConfigurationGps = SBPMsgSvConfigurationGps (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSvConfigurationGpsDep = SBPMsgSvConfigurationGpsDep (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 @@ -396,18 +408,23 @@ encoder (SBPMsgDgnssStatus _ m) = put m encoder (SBPMsgDops _ m) = put m encoder (SBPMsgDopsDepA _ m) = put m + encoder (SBPMsgEphemerisBds _ m) = put m encoder (SBPMsgEphemerisDepA _ m) = put m encoder (SBPMsgEphemerisDepB _ m) = put m encoder (SBPMsgEphemerisDepC _ m) = put m encoder (SBPMsgEphemerisDepD _ m) = put m + encoder (SBPMsgEphemerisGal _ m) = put m encoder (SBPMsgEphemerisGlo _ m) = put m encoder (SBPMsgEphemerisGloDepA _ m) = put m encoder (SBPMsgEphemerisGloDepB _ m) = put m encoder (SBPMsgEphemerisGloDepC _ m) = put m + encoder (SBPMsgEphemerisGloDepD _ m) = put m encoder (SBPMsgEphemerisGps _ m) = put m encoder (SBPMsgEphemerisGpsDepE _ m) = put m + encoder (SBPMsgEphemerisGpsDepF _ m) = put m encoder (SBPMsgEphemerisSbas _ m) = put m encoder (SBPMsgEphemerisSbasDepA _ m) = put m + encoder (SBPMsgEphemerisSbasDepB _ m) = put m encoder (SBPMsgExtEvent _ m) = put m encoder (SBPMsgFileioReadDirReq _ m) = put m encoder (SBPMsgFileioReadDirResp _ m) = put m @@ -423,6 +440,7 @@ encoder (SBPMsgFlashReadResp _ m) = put m encoder (SBPMsgFwd _ m) = put m encoder (SBPMsgGloBiases _ m) = put m + encoder (SBPMsgGnssCapb _ m) = put m encoder (SBPMsgGpsTime _ m) = put m encoder (SBPMsgGpsTimeDepA _ m) = put m encoder (SBPMsgGroupDelay _ m) = put m @@ -485,7 +503,7 @@ encoder (SBPMsgStmFlashUnlockSector _ m) = put m encoder (SBPMsgStmUniqueIdReq _ m) = put m encoder (SBPMsgStmUniqueIdResp _ m) = put m - encoder (SBPMsgSvConfigurationGps _ m) = put m + encoder (SBPMsgSvConfigurationGpsDep _ m) = put m encoder (SBPMsgThreadState _ m) = put m encoder (SBPMsgTrackingIq _ m) = put m encoder (SBPMsgTrackingIqDep _ m) = put m @@ -550,18 +568,23 @@ | msgType == msgDgnssStatus = SBPMsgDgnssStatus <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgDops = SBPMsgDops <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgDopsDepA = SBPMsgDopsDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgEphemerisBds = SBPMsgEphemerisBds <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEphemerisDepA = SBPMsgEphemerisDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEphemerisDepB = SBPMsgEphemerisDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEphemerisDepC = SBPMsgEphemerisDepC <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEphemerisDepD = SBPMsgEphemerisDepD <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgEphemerisGal = SBPMsgEphemerisGal <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEphemerisGlo = SBPMsgEphemerisGlo <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEphemerisGloDepA = SBPMsgEphemerisGloDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEphemerisGloDepB = SBPMsgEphemerisGloDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEphemerisGloDepC = SBPMsgEphemerisGloDepC <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgEphemerisGloDepD = SBPMsgEphemerisGloDepD <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEphemerisGps = SBPMsgEphemerisGps <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEphemerisGpsDepE = SBPMsgEphemerisGpsDepE <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgEphemerisGpsDepF = SBPMsgEphemerisGpsDepF <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEphemerisSbas = SBPMsgEphemerisSbas <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEphemerisSbasDepA = SBPMsgEphemerisSbasDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgEphemerisSbasDepB = SBPMsgEphemerisSbasDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgExtEvent = SBPMsgExtEvent <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgFileioReadDirReq = SBPMsgFileioReadDirReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgFileioReadDirResp = SBPMsgFileioReadDirResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -577,6 +600,7 @@ | msgType == msgFlashReadResp = SBPMsgFlashReadResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgFwd = SBPMsgFwd <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGloBiases = SBPMsgGloBiases <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgGnssCapb = SBPMsgGnssCapb <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGpsTime = SBPMsgGpsTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGpsTimeDepA = SBPMsgGpsTimeDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGroupDelay = SBPMsgGroupDelay <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -639,7 +663,7 @@ | msgType == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgStmUniqueIdReq = SBPMsgStmUniqueIdReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgStmUniqueIdResp = SBPMsgStmUniqueIdResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj - | msgType == msgSvConfigurationGps = SBPMsgSvConfigurationGps <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSvConfigurationGpsDep = SBPMsgSvConfigurationGpsDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgThreadState = SBPMsgThreadState <$> 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 @@ -705,18 +729,23 @@ toJSON (SBPMsgDgnssStatus n m) = toJSON n <<>> toJSON m toJSON (SBPMsgDops n m) = toJSON n <<>> toJSON m toJSON (SBPMsgDopsDepA n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgEphemerisBds n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEphemerisDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEphemerisDepB n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEphemerisDepC n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEphemerisDepD n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgEphemerisGal n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEphemerisGlo n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEphemerisGloDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEphemerisGloDepB n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEphemerisGloDepC n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgEphemerisGloDepD n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEphemerisGps n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEphemerisGpsDepE n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgEphemerisGpsDepF n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEphemerisSbas n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEphemerisSbasDepA n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgEphemerisSbasDepB n m) = toJSON n <<>> toJSON m toJSON (SBPMsgExtEvent n m) = toJSON n <<>> toJSON m toJSON (SBPMsgFileioReadDirReq n m) = toJSON n <<>> toJSON m toJSON (SBPMsgFileioReadDirResp n m) = toJSON n <<>> toJSON m @@ -732,6 +761,7 @@ toJSON (SBPMsgFlashReadResp n m) = toJSON n <<>> toJSON m toJSON (SBPMsgFwd n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGloBiases n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgGnssCapb n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGpsTime n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGpsTimeDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGroupDelay n m) = toJSON n <<>> toJSON m @@ -794,7 +824,7 @@ toJSON (SBPMsgStmFlashUnlockSector n m) = toJSON n <<>> toJSON m toJSON (SBPMsgStmUniqueIdReq n m) = toJSON n <<>> toJSON m toJSON (SBPMsgStmUniqueIdResp n m) = toJSON n <<>> toJSON m - toJSON (SBPMsgSvConfigurationGps n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSvConfigurationGpsDep 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 @@ -854,18 +884,23 @@ msg f (SBPMsgDgnssStatus n m) = SBPMsgDgnssStatus n <$> f m msg f (SBPMsgDops n m) = SBPMsgDops n <$> f m msg f (SBPMsgDopsDepA n m) = SBPMsgDopsDepA n <$> f m + msg f (SBPMsgEphemerisBds n m) = SBPMsgEphemerisBds n <$> f m msg f (SBPMsgEphemerisDepA n m) = SBPMsgEphemerisDepA n <$> f m msg f (SBPMsgEphemerisDepB n m) = SBPMsgEphemerisDepB n <$> f m msg f (SBPMsgEphemerisDepC n m) = SBPMsgEphemerisDepC n <$> f m msg f (SBPMsgEphemerisDepD n m) = SBPMsgEphemerisDepD n <$> f m + msg f (SBPMsgEphemerisGal n m) = SBPMsgEphemerisGal 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 <$> f m + msg f (SBPMsgEphemerisGloDepD n m) = SBPMsgEphemerisGloDepD n <$> f m msg f (SBPMsgEphemerisGps n m) = SBPMsgEphemerisGps n <$> f m msg f (SBPMsgEphemerisGpsDepE n m) = SBPMsgEphemerisGpsDepE n <$> f m + msg f (SBPMsgEphemerisGpsDepF n m) = SBPMsgEphemerisGpsDepF n <$> f m msg f (SBPMsgEphemerisSbas n m) = SBPMsgEphemerisSbas n <$> f m msg f (SBPMsgEphemerisSbasDepA n m) = SBPMsgEphemerisSbasDepA n <$> f m + msg f (SBPMsgEphemerisSbasDepB n m) = SBPMsgEphemerisSbasDepB n <$> f m msg f (SBPMsgExtEvent n m) = SBPMsgExtEvent n <$> f m msg f (SBPMsgFileioReadDirReq n m) = SBPMsgFileioReadDirReq n <$> f m msg f (SBPMsgFileioReadDirResp n m) = SBPMsgFileioReadDirResp n <$> f m @@ -881,6 +916,7 @@ msg f (SBPMsgFlashReadResp n m) = SBPMsgFlashReadResp n <$> f m msg f (SBPMsgFwd n m) = SBPMsgFwd n <$> f m msg f (SBPMsgGloBiases n m) = SBPMsgGloBiases n <$> f m + msg f (SBPMsgGnssCapb n m) = SBPMsgGnssCapb n <$> f m msg f (SBPMsgGpsTime n m) = SBPMsgGpsTime n <$> f m msg f (SBPMsgGpsTimeDepA n m) = SBPMsgGpsTimeDepA n <$> f m msg f (SBPMsgGroupDelay n m) = SBPMsgGroupDelay n <$> f m @@ -943,7 +979,7 @@ msg f (SBPMsgStmFlashUnlockSector n m) = SBPMsgStmFlashUnlockSector n <$> f m msg f (SBPMsgStmUniqueIdReq n m) = SBPMsgStmUniqueIdReq n <$> f m msg f (SBPMsgStmUniqueIdResp n m) = SBPMsgStmUniqueIdResp n <$> f m - msg f (SBPMsgSvConfigurationGps n m) = SBPMsgSvConfigurationGps n <$> f m + msg f (SBPMsgSvConfigurationGpsDep n m) = SBPMsgSvConfigurationGpsDep 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 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 @@ -243,7 +243,7 @@ -- ^ GNSS signal identifier (16 bit) , _ephemerisCommonContent_toe :: !GpsTimeSec -- ^ Time of Ephemerides - , _ephemerisCommonContent_ura :: !Double + , _ephemerisCommonContent_ura :: !Float -- ^ User Range Accuracy , _ephemerisCommonContent_fit_interval :: !Word32 -- ^ Curve fit interval @@ -258,7 +258,7 @@ get = do _ephemerisCommonContent_sid <- get _ephemerisCommonContent_toe <- get - _ephemerisCommonContent_ura <- getFloat64le + _ephemerisCommonContent_ura <- getFloat32le _ephemerisCommonContent_fit_interval <- getWord32le _ephemerisCommonContent_valid <- getWord8 _ephemerisCommonContent_health_bits <- getWord8 @@ -267,7 +267,7 @@ put EphemerisCommonContent {..} = do put _ephemerisCommonContent_sid put _ephemerisCommonContent_toe - putFloat64le _ephemerisCommonContent_ura + putFloat32le _ephemerisCommonContent_ura putWord32le _ephemerisCommonContent_fit_interval putWord8 _ephemerisCommonContent_valid putWord8 _ephemerisCommonContent_health_bits @@ -275,6 +275,43 @@ $(makeJSON "_ephemerisCommonContent_" ''EphemerisCommonContent) $(makeLenses ''EphemerisCommonContent) +data EphemerisCommonContentDepB = EphemerisCommonContentDepB + { _ephemerisCommonContentDepB_sid :: !GnssSignal + -- ^ GNSS signal identifier (16 bit) + , _ephemerisCommonContentDepB_toe :: !GpsTimeSec + -- ^ Time of Ephemerides + , _ephemerisCommonContentDepB_ura :: !Double + -- ^ User Range Accuracy + , _ephemerisCommonContentDepB_fit_interval :: !Word32 + -- ^ Curve fit interval + , _ephemerisCommonContentDepB_valid :: !Word8 + -- ^ Status of ephemeris, 1 = valid, 0 = invalid + , _ephemerisCommonContentDepB_health_bits :: !Word8 + -- ^ Satellite health status. GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 Others: + -- 0 = valid, non-zero = invalid + } deriving ( Show, Read, Eq ) + +instance Binary EphemerisCommonContentDepB where + get = do + _ephemerisCommonContentDepB_sid <- get + _ephemerisCommonContentDepB_toe <- get + _ephemerisCommonContentDepB_ura <- getFloat64le + _ephemerisCommonContentDepB_fit_interval <- getWord32le + _ephemerisCommonContentDepB_valid <- getWord8 + _ephemerisCommonContentDepB_health_bits <- getWord8 + pure EphemerisCommonContentDepB {..} + + put EphemerisCommonContentDepB {..} = do + put _ephemerisCommonContentDepB_sid + put _ephemerisCommonContentDepB_toe + putFloat64le _ephemerisCommonContentDepB_ura + putWord32le _ephemerisCommonContentDepB_fit_interval + putWord8 _ephemerisCommonContentDepB_valid + putWord8 _ephemerisCommonContentDepB_health_bits + +$(makeJSON "_ephemerisCommonContentDepB_" ''EphemerisCommonContentDepB) +$(makeLenses ''EphemerisCommonContentDepB) + data EphemerisCommonContentDepA = EphemerisCommonContentDepA { _ephemerisCommonContentDepA_sid :: !GnssSignalDep -- ^ GNSS signal identifier @@ -430,10 +467,126 @@ $(makeJSON "_msgEphemerisGpsDepE_" ''MsgEphemerisGpsDepE) $(makeLenses ''MsgEphemerisGpsDepE) +msgEphemerisGpsDepF :: Word16 +msgEphemerisGpsDepF = 0x0086 + +-- | SBP class for message MSG_EPHEMERIS_GPS_DEP_F (0x0086). +-- +-- This observation message has been deprecated in favor of ephemeris message +-- using floats for size reduction. +data MsgEphemerisGpsDepF = MsgEphemerisGpsDepF + { _msgEphemerisGpsDepF_common :: !EphemerisCommonContentDepB + -- ^ Values common for all ephemeris types + , _msgEphemerisGpsDepF_tgd :: !Double + -- ^ Group delay differential between L1 and L2 + , _msgEphemerisGpsDepF_c_rs :: !Double + -- ^ Amplitude of the sine harmonic correction term to the orbit radius + , _msgEphemerisGpsDepF_c_rc :: !Double + -- ^ Amplitude of the cosine harmonic correction term to the orbit radius + , _msgEphemerisGpsDepF_c_uc :: !Double + -- ^ Amplitude of the cosine harmonic correction term to the argument of + -- latitude + , _msgEphemerisGpsDepF_c_us :: !Double + -- ^ Amplitude of the sine harmonic correction term to the argument of + -- latitude + , _msgEphemerisGpsDepF_c_ic :: !Double + -- ^ Amplitude of the cosine harmonic correction term to the angle of + -- inclination + , _msgEphemerisGpsDepF_c_is :: !Double + -- ^ Amplitude of the sine harmonic correction term to the angle of + -- inclination + , _msgEphemerisGpsDepF_dn :: !Double + -- ^ Mean motion difference + , _msgEphemerisGpsDepF_m0 :: !Double + -- ^ Mean anomaly at reference time + , _msgEphemerisGpsDepF_ecc :: !Double + -- ^ Eccentricity of satellite orbit + , _msgEphemerisGpsDepF_sqrta :: !Double + -- ^ Square root of the semi-major axis of orbit + , _msgEphemerisGpsDepF_omega0 :: !Double + -- ^ Longitude of ascending node of orbit plane at weekly epoch + , _msgEphemerisGpsDepF_omegadot :: !Double + -- ^ Rate of right ascension + , _msgEphemerisGpsDepF_w :: !Double + -- ^ Argument of perigee + , _msgEphemerisGpsDepF_inc :: !Double + -- ^ Inclination + , _msgEphemerisGpsDepF_inc_dot :: !Double + -- ^ Inclination first derivative + , _msgEphemerisGpsDepF_af0 :: !Double + -- ^ Polynomial clock correction coefficient (clock bias) + , _msgEphemerisGpsDepF_af1 :: !Double + -- ^ Polynomial clock correction coefficient (clock drift) + , _msgEphemerisGpsDepF_af2 :: !Double + -- ^ Polynomial clock correction coefficient (rate of clock drift) + , _msgEphemerisGpsDepF_toc :: !GpsTimeSec + -- ^ Clock reference + , _msgEphemerisGpsDepF_iode :: !Word8 + -- ^ Issue of ephemeris data + , _msgEphemerisGpsDepF_iodc :: !Word16 + -- ^ Issue of clock data + } deriving ( Show, Read, Eq ) + +instance Binary MsgEphemerisGpsDepF where + get = do + _msgEphemerisGpsDepF_common <- get + _msgEphemerisGpsDepF_tgd <- getFloat64le + _msgEphemerisGpsDepF_c_rs <- getFloat64le + _msgEphemerisGpsDepF_c_rc <- getFloat64le + _msgEphemerisGpsDepF_c_uc <- getFloat64le + _msgEphemerisGpsDepF_c_us <- getFloat64le + _msgEphemerisGpsDepF_c_ic <- getFloat64le + _msgEphemerisGpsDepF_c_is <- getFloat64le + _msgEphemerisGpsDepF_dn <- getFloat64le + _msgEphemerisGpsDepF_m0 <- getFloat64le + _msgEphemerisGpsDepF_ecc <- getFloat64le + _msgEphemerisGpsDepF_sqrta <- getFloat64le + _msgEphemerisGpsDepF_omega0 <- getFloat64le + _msgEphemerisGpsDepF_omegadot <- getFloat64le + _msgEphemerisGpsDepF_w <- getFloat64le + _msgEphemerisGpsDepF_inc <- getFloat64le + _msgEphemerisGpsDepF_inc_dot <- getFloat64le + _msgEphemerisGpsDepF_af0 <- getFloat64le + _msgEphemerisGpsDepF_af1 <- getFloat64le + _msgEphemerisGpsDepF_af2 <- getFloat64le + _msgEphemerisGpsDepF_toc <- get + _msgEphemerisGpsDepF_iode <- getWord8 + _msgEphemerisGpsDepF_iodc <- getWord16le + pure MsgEphemerisGpsDepF {..} + + put MsgEphemerisGpsDepF {..} = do + put _msgEphemerisGpsDepF_common + putFloat64le _msgEphemerisGpsDepF_tgd + putFloat64le _msgEphemerisGpsDepF_c_rs + putFloat64le _msgEphemerisGpsDepF_c_rc + putFloat64le _msgEphemerisGpsDepF_c_uc + putFloat64le _msgEphemerisGpsDepF_c_us + putFloat64le _msgEphemerisGpsDepF_c_ic + putFloat64le _msgEphemerisGpsDepF_c_is + putFloat64le _msgEphemerisGpsDepF_dn + putFloat64le _msgEphemerisGpsDepF_m0 + putFloat64le _msgEphemerisGpsDepF_ecc + putFloat64le _msgEphemerisGpsDepF_sqrta + putFloat64le _msgEphemerisGpsDepF_omega0 + putFloat64le _msgEphemerisGpsDepF_omegadot + putFloat64le _msgEphemerisGpsDepF_w + putFloat64le _msgEphemerisGpsDepF_inc + putFloat64le _msgEphemerisGpsDepF_inc_dot + putFloat64le _msgEphemerisGpsDepF_af0 + putFloat64le _msgEphemerisGpsDepF_af1 + putFloat64le _msgEphemerisGpsDepF_af2 + put _msgEphemerisGpsDepF_toc + putWord8 _msgEphemerisGpsDepF_iode + putWord16le _msgEphemerisGpsDepF_iodc + +$(makeSBP 'msgEphemerisGpsDepF ''MsgEphemerisGpsDepF) +$(makeJSON "_msgEphemerisGpsDepF_" ''MsgEphemerisGpsDepF) +$(makeLenses ''MsgEphemerisGpsDepF) + msgEphemerisGps :: Word16 -msgEphemerisGps = 0x0086 +msgEphemerisGps = 0x008A --- | SBP class for message MSG_EPHEMERIS_GPS (0x0086). +-- | SBP class for message MSG_EPHEMERIS_GPS (0x008A). -- -- The ephemeris message returns a set of satellite orbit parameters that is -- used to calculate GPS satellite position, velocity, and clock offset. Please @@ -442,22 +595,22 @@ data MsgEphemerisGps = MsgEphemerisGps { _msgEphemerisGps_common :: !EphemerisCommonContent -- ^ Values common for all ephemeris types - , _msgEphemerisGps_tgd :: !Double + , _msgEphemerisGps_tgd :: !Float -- ^ Group delay differential between L1 and L2 - , _msgEphemerisGps_c_rs :: !Double + , _msgEphemerisGps_c_rs :: !Float -- ^ Amplitude of the sine harmonic correction term to the orbit radius - , _msgEphemerisGps_c_rc :: !Double + , _msgEphemerisGps_c_rc :: !Float -- ^ Amplitude of the cosine harmonic correction term to the orbit radius - , _msgEphemerisGps_c_uc :: !Double + , _msgEphemerisGps_c_uc :: !Float -- ^ Amplitude of the cosine harmonic correction term to the argument of -- latitude - , _msgEphemerisGps_c_us :: !Double + , _msgEphemerisGps_c_us :: !Float -- ^ Amplitude of the sine harmonic correction term to the argument of -- latitude - , _msgEphemerisGps_c_ic :: !Double + , _msgEphemerisGps_c_ic :: !Float -- ^ Amplitude of the cosine harmonic correction term to the angle of -- inclination - , _msgEphemerisGps_c_is :: !Double + , _msgEphemerisGps_c_is :: !Float -- ^ Amplitude of the sine harmonic correction term to the angle of -- inclination , _msgEphemerisGps_dn :: !Double @@ -478,11 +631,11 @@ -- ^ Inclination , _msgEphemerisGps_inc_dot :: !Double -- ^ Inclination first derivative - , _msgEphemerisGps_af0 :: !Double + , _msgEphemerisGps_af0 :: !Float -- ^ Polynomial clock correction coefficient (clock bias) - , _msgEphemerisGps_af1 :: !Double + , _msgEphemerisGps_af1 :: !Float -- ^ Polynomial clock correction coefficient (clock drift) - , _msgEphemerisGps_af2 :: !Double + , _msgEphemerisGps_af2 :: !Float -- ^ Polynomial clock correction coefficient (rate of clock drift) , _msgEphemerisGps_toc :: !GpsTimeSec -- ^ Clock reference @@ -495,13 +648,13 @@ instance Binary MsgEphemerisGps where get = do _msgEphemerisGps_common <- get - _msgEphemerisGps_tgd <- getFloat64le - _msgEphemerisGps_c_rs <- getFloat64le - _msgEphemerisGps_c_rc <- getFloat64le - _msgEphemerisGps_c_uc <- getFloat64le - _msgEphemerisGps_c_us <- getFloat64le - _msgEphemerisGps_c_ic <- getFloat64le - _msgEphemerisGps_c_is <- getFloat64le + _msgEphemerisGps_tgd <- getFloat32le + _msgEphemerisGps_c_rs <- getFloat32le + _msgEphemerisGps_c_rc <- getFloat32le + _msgEphemerisGps_c_uc <- getFloat32le + _msgEphemerisGps_c_us <- getFloat32le + _msgEphemerisGps_c_ic <- getFloat32le + _msgEphemerisGps_c_is <- getFloat32le _msgEphemerisGps_dn <- getFloat64le _msgEphemerisGps_m0 <- getFloat64le _msgEphemerisGps_ecc <- getFloat64le @@ -511,9 +664,9 @@ _msgEphemerisGps_w <- getFloat64le _msgEphemerisGps_inc <- getFloat64le _msgEphemerisGps_inc_dot <- getFloat64le - _msgEphemerisGps_af0 <- getFloat64le - _msgEphemerisGps_af1 <- getFloat64le - _msgEphemerisGps_af2 <- getFloat64le + _msgEphemerisGps_af0 <- getFloat32le + _msgEphemerisGps_af1 <- getFloat32le + _msgEphemerisGps_af2 <- getFloat32le _msgEphemerisGps_toc <- get _msgEphemerisGps_iode <- getWord8 _msgEphemerisGps_iodc <- getWord16le @@ -521,13 +674,13 @@ put MsgEphemerisGps {..} = do put _msgEphemerisGps_common - putFloat64le _msgEphemerisGps_tgd - putFloat64le _msgEphemerisGps_c_rs - putFloat64le _msgEphemerisGps_c_rc - putFloat64le _msgEphemerisGps_c_uc - putFloat64le _msgEphemerisGps_c_us - putFloat64le _msgEphemerisGps_c_ic - putFloat64le _msgEphemerisGps_c_is + putFloat32le _msgEphemerisGps_tgd + putFloat32le _msgEphemerisGps_c_rs + putFloat32le _msgEphemerisGps_c_rc + putFloat32le _msgEphemerisGps_c_uc + putFloat32le _msgEphemerisGps_c_us + putFloat32le _msgEphemerisGps_c_ic + putFloat32le _msgEphemerisGps_c_is putFloat64le _msgEphemerisGps_dn putFloat64le _msgEphemerisGps_m0 putFloat64le _msgEphemerisGps_ecc @@ -537,9 +690,9 @@ putFloat64le _msgEphemerisGps_w putFloat64le _msgEphemerisGps_inc putFloat64le _msgEphemerisGps_inc_dot - putFloat64le _msgEphemerisGps_af0 - putFloat64le _msgEphemerisGps_af1 - putFloat64le _msgEphemerisGps_af2 + putFloat32le _msgEphemerisGps_af0 + putFloat32le _msgEphemerisGps_af1 + putFloat32le _msgEphemerisGps_af2 put _msgEphemerisGps_toc putWord8 _msgEphemerisGps_iode putWord16le _msgEphemerisGps_iodc @@ -548,6 +701,250 @@ $(makeJSON "_msgEphemerisGps_" ''MsgEphemerisGps) $(makeLenses ''MsgEphemerisGps) +msgEphemerisBds :: Word16 +msgEphemerisBds = 0x0089 + +-- | SBP class for message MSG_EPHEMERIS_BDS (0x0089). +-- +-- The ephemeris message returns a set of satellite orbit parameters that is +-- used to calculate BDS satellite position, velocity, and clock offset. Please +-- see the BeiDou Navigation Satellite System SIS-ICD Version 2.1, Table 5-9 +-- for more details. +data MsgEphemerisBds = MsgEphemerisBds + { _msgEphemerisBds_common :: !EphemerisCommonContent + -- ^ Values common for all ephemeris types + , _msgEphemerisBds_tgd1 :: !Float + -- ^ Group delay differential for B1 + , _msgEphemerisBds_tgd2 :: !Float + -- ^ Group delay differential for B2 + , _msgEphemerisBds_c_rs :: !Float + -- ^ Amplitude of the sine harmonic correction term to the orbit radius + , _msgEphemerisBds_c_rc :: !Float + -- ^ Amplitude of the cosine harmonic correction term to the orbit radius + , _msgEphemerisBds_c_uc :: !Float + -- ^ Amplitude of the cosine harmonic correction term to the argument of + -- latitude + , _msgEphemerisBds_c_us :: !Float + -- ^ Amplitude of the sine harmonic correction term to the argument of + -- latitude + , _msgEphemerisBds_c_ic :: !Float + -- ^ Amplitude of the cosine harmonic correction term to the angle of + -- inclination + , _msgEphemerisBds_c_is :: !Float + -- ^ Amplitude of the sine harmonic correction term to the angle of + -- inclination + , _msgEphemerisBds_dn :: !Double + -- ^ Mean motion difference + , _msgEphemerisBds_m0 :: !Double + -- ^ Mean anomaly at reference time + , _msgEphemerisBds_ecc :: !Double + -- ^ Eccentricity of satellite orbit + , _msgEphemerisBds_sqrta :: !Double + -- ^ Square root of the semi-major axis of orbit + , _msgEphemerisBds_omega0 :: !Double + -- ^ Longitude of ascending node of orbit plane at weekly epoch + , _msgEphemerisBds_omegadot :: !Double + -- ^ Rate of right ascension + , _msgEphemerisBds_w :: !Double + -- ^ Argument of perigee + , _msgEphemerisBds_inc :: !Double + -- ^ Inclination + , _msgEphemerisBds_inc_dot :: !Double + -- ^ Inclination first derivative + , _msgEphemerisBds_af0 :: !Double + -- ^ Polynomial clock correction coefficient (clock bias) + , _msgEphemerisBds_af1 :: !Float + -- ^ Polynomial clock correction coefficient (clock drift) + , _msgEphemerisBds_af2 :: !Float + -- ^ Polynomial clock correction coefficient (rate of clock drift) + , _msgEphemerisBds_toc :: !GpsTimeSec + -- ^ Clock reference + , _msgEphemerisBds_iode :: !Word8 + -- ^ Issue of ephemeris data + , _msgEphemerisBds_iodc :: !Word16 + -- ^ Issue of clock data + } deriving ( Show, Read, Eq ) + +instance Binary MsgEphemerisBds where + get = do + _msgEphemerisBds_common <- get + _msgEphemerisBds_tgd1 <- getFloat32le + _msgEphemerisBds_tgd2 <- getFloat32le + _msgEphemerisBds_c_rs <- getFloat32le + _msgEphemerisBds_c_rc <- getFloat32le + _msgEphemerisBds_c_uc <- getFloat32le + _msgEphemerisBds_c_us <- getFloat32le + _msgEphemerisBds_c_ic <- getFloat32le + _msgEphemerisBds_c_is <- getFloat32le + _msgEphemerisBds_dn <- getFloat64le + _msgEphemerisBds_m0 <- getFloat64le + _msgEphemerisBds_ecc <- getFloat64le + _msgEphemerisBds_sqrta <- getFloat64le + _msgEphemerisBds_omega0 <- getFloat64le + _msgEphemerisBds_omegadot <- getFloat64le + _msgEphemerisBds_w <- getFloat64le + _msgEphemerisBds_inc <- getFloat64le + _msgEphemerisBds_inc_dot <- getFloat64le + _msgEphemerisBds_af0 <- getFloat64le + _msgEphemerisBds_af1 <- getFloat32le + _msgEphemerisBds_af2 <- getFloat32le + _msgEphemerisBds_toc <- get + _msgEphemerisBds_iode <- getWord8 + _msgEphemerisBds_iodc <- getWord16le + pure MsgEphemerisBds {..} + + put MsgEphemerisBds {..} = do + put _msgEphemerisBds_common + putFloat32le _msgEphemerisBds_tgd1 + putFloat32le _msgEphemerisBds_tgd2 + putFloat32le _msgEphemerisBds_c_rs + putFloat32le _msgEphemerisBds_c_rc + putFloat32le _msgEphemerisBds_c_uc + putFloat32le _msgEphemerisBds_c_us + putFloat32le _msgEphemerisBds_c_ic + putFloat32le _msgEphemerisBds_c_is + putFloat64le _msgEphemerisBds_dn + putFloat64le _msgEphemerisBds_m0 + putFloat64le _msgEphemerisBds_ecc + putFloat64le _msgEphemerisBds_sqrta + putFloat64le _msgEphemerisBds_omega0 + putFloat64le _msgEphemerisBds_omegadot + putFloat64le _msgEphemerisBds_w + putFloat64le _msgEphemerisBds_inc + putFloat64le _msgEphemerisBds_inc_dot + putFloat64le _msgEphemerisBds_af0 + putFloat32le _msgEphemerisBds_af1 + putFloat32le _msgEphemerisBds_af2 + put _msgEphemerisBds_toc + putWord8 _msgEphemerisBds_iode + putWord16le _msgEphemerisBds_iodc + +$(makeSBP 'msgEphemerisBds ''MsgEphemerisBds) +$(makeJSON "_msgEphemerisBds_" ''MsgEphemerisBds) +$(makeLenses ''MsgEphemerisBds) + +msgEphemerisGal :: Word16 +msgEphemerisGal = 0x0095 + +-- | SBP class for message MSG_EPHEMERIS_GAL (0x0095). +-- +-- The ephemeris message returns a set of satellite orbit parameters that is +-- used to calculate Galileo satellite position, velocity, and clock offset. +-- Please see the Signal In Space ICD OS SIS ICD, Issue 1.3, December 2016 for +-- more details. +data MsgEphemerisGal = MsgEphemerisGal + { _msgEphemerisGal_common :: !EphemerisCommonContent + -- ^ Values common for all ephemeris types + , _msgEphemerisGal_bgd_e1e5a :: !Float + -- ^ E1-E5a Broadcast Group Delay + , _msgEphemerisGal_bgd_e1e5b :: !Float + -- ^ E1-E5b Broadcast Group Delay + , _msgEphemerisGal_c_rs :: !Float + -- ^ Amplitude of the sine harmonic correction term to the orbit radius + , _msgEphemerisGal_c_rc :: !Float + -- ^ Amplitude of the cosine harmonic correction term to the orbit radius + , _msgEphemerisGal_c_uc :: !Float + -- ^ Amplitude of the cosine harmonic correction term to the argument of + -- latitude + , _msgEphemerisGal_c_us :: !Float + -- ^ Amplitude of the sine harmonic correction term to the argument of + -- latitude + , _msgEphemerisGal_c_ic :: !Float + -- ^ Amplitude of the cosine harmonic correction term to the angle of + -- inclination + , _msgEphemerisGal_c_is :: !Float + -- ^ Amplitude of the sine harmonic correction term to the angle of + -- inclination + , _msgEphemerisGal_dn :: !Double + -- ^ Mean motion difference + , _msgEphemerisGal_m0 :: !Double + -- ^ Mean anomaly at reference time + , _msgEphemerisGal_ecc :: !Double + -- ^ Eccentricity of satellite orbit + , _msgEphemerisGal_sqrta :: !Double + -- ^ Square root of the semi-major axis of orbit + , _msgEphemerisGal_omega0 :: !Double + -- ^ Longitude of ascending node of orbit plane at weekly epoch + , _msgEphemerisGal_omegadot :: !Double + -- ^ Rate of right ascension + , _msgEphemerisGal_w :: !Double + -- ^ Argument of perigee + , _msgEphemerisGal_inc :: !Double + -- ^ Inclination + , _msgEphemerisGal_inc_dot :: !Double + -- ^ Inclination first derivative + , _msgEphemerisGal_af0 :: !Double + -- ^ Polynomial clock correction coefficient (clock bias) + , _msgEphemerisGal_af1 :: !Double + -- ^ Polynomial clock correction coefficient (clock drift) + , _msgEphemerisGal_af2 :: !Float + -- ^ Polynomial clock correction coefficient (rate of clock drift) + , _msgEphemerisGal_toc :: !GpsTimeSec + -- ^ Clock reference + , _msgEphemerisGal_iode :: !Word16 + -- ^ Issue of ephemeris data + , _msgEphemerisGal_iodc :: !Word16 + -- ^ Issue of clock data + } deriving ( Show, Read, Eq ) + +instance Binary MsgEphemerisGal where + get = do + _msgEphemerisGal_common <- get + _msgEphemerisGal_bgd_e1e5a <- getFloat32le + _msgEphemerisGal_bgd_e1e5b <- getFloat32le + _msgEphemerisGal_c_rs <- getFloat32le + _msgEphemerisGal_c_rc <- getFloat32le + _msgEphemerisGal_c_uc <- getFloat32le + _msgEphemerisGal_c_us <- getFloat32le + _msgEphemerisGal_c_ic <- getFloat32le + _msgEphemerisGal_c_is <- getFloat32le + _msgEphemerisGal_dn <- getFloat64le + _msgEphemerisGal_m0 <- getFloat64le + _msgEphemerisGal_ecc <- getFloat64le + _msgEphemerisGal_sqrta <- getFloat64le + _msgEphemerisGal_omega0 <- getFloat64le + _msgEphemerisGal_omegadot <- getFloat64le + _msgEphemerisGal_w <- getFloat64le + _msgEphemerisGal_inc <- getFloat64le + _msgEphemerisGal_inc_dot <- getFloat64le + _msgEphemerisGal_af0 <- getFloat64le + _msgEphemerisGal_af1 <- getFloat64le + _msgEphemerisGal_af2 <- getFloat32le + _msgEphemerisGal_toc <- get + _msgEphemerisGal_iode <- getWord16le + _msgEphemerisGal_iodc <- getWord16le + pure MsgEphemerisGal {..} + + put MsgEphemerisGal {..} = do + put _msgEphemerisGal_common + putFloat32le _msgEphemerisGal_bgd_e1e5a + putFloat32le _msgEphemerisGal_bgd_e1e5b + putFloat32le _msgEphemerisGal_c_rs + putFloat32le _msgEphemerisGal_c_rc + putFloat32le _msgEphemerisGal_c_uc + putFloat32le _msgEphemerisGal_c_us + putFloat32le _msgEphemerisGal_c_ic + putFloat32le _msgEphemerisGal_c_is + putFloat64le _msgEphemerisGal_dn + putFloat64le _msgEphemerisGal_m0 + putFloat64le _msgEphemerisGal_ecc + putFloat64le _msgEphemerisGal_sqrta + putFloat64le _msgEphemerisGal_omega0 + putFloat64le _msgEphemerisGal_omegadot + putFloat64le _msgEphemerisGal_w + putFloat64le _msgEphemerisGal_inc + putFloat64le _msgEphemerisGal_inc_dot + putFloat64le _msgEphemerisGal_af0 + putFloat64le _msgEphemerisGal_af1 + putFloat32le _msgEphemerisGal_af2 + put _msgEphemerisGal_toc + putWord16le _msgEphemerisGal_iode + putWord16le _msgEphemerisGal_iodc + +$(makeSBP 'msgEphemerisGal ''MsgEphemerisGal) +$(makeJSON "_msgEphemerisGal_" ''MsgEphemerisGal) +$(makeLenses ''MsgEphemerisGal) + msgEphemerisSbasDepA :: Word16 msgEphemerisSbasDepA = 0x0082 @@ -634,21 +1031,65 @@ $(makeJSON "_msgEphemerisGloDepA_" ''MsgEphemerisGloDepA) $(makeLenses ''MsgEphemerisGloDepA) +msgEphemerisSbasDepB :: Word16 +msgEphemerisSbasDepB = 0x0084 + +-- | SBP class for message MSG_EPHEMERIS_SBAS_DEP_B (0x0084). +-- +-- This observation message has been deprecated in favor of ephemeris message +-- using floats for size reduction. +data MsgEphemerisSbasDepB = MsgEphemerisSbasDepB + { _msgEphemerisSbasDepB_common :: !EphemerisCommonContentDepB + -- ^ Values common for all ephemeris types + , _msgEphemerisSbasDepB_pos :: ![Double] + -- ^ Position of the GEO at time toe + , _msgEphemerisSbasDepB_vel :: ![Double] + -- ^ Velocity of the GEO at time toe + , _msgEphemerisSbasDepB_acc :: ![Double] + -- ^ Acceleration of the GEO at time toe + , _msgEphemerisSbasDepB_a_gf0 :: !Double + -- ^ Time offset of the GEO clock w.r.t. SBAS Network Time + , _msgEphemerisSbasDepB_a_gf1 :: !Double + -- ^ Drift of the GEO clock w.r.t. SBAS Network Time + } deriving ( Show, Read, Eq ) + +instance Binary MsgEphemerisSbasDepB where + get = do + _msgEphemerisSbasDepB_common <- get + _msgEphemerisSbasDepB_pos <- replicateM 3 getFloat64le + _msgEphemerisSbasDepB_vel <- replicateM 3 getFloat64le + _msgEphemerisSbasDepB_acc <- replicateM 3 getFloat64le + _msgEphemerisSbasDepB_a_gf0 <- getFloat64le + _msgEphemerisSbasDepB_a_gf1 <- getFloat64le + pure MsgEphemerisSbasDepB {..} + + put MsgEphemerisSbasDepB {..} = do + put _msgEphemerisSbasDepB_common + mapM_ putFloat64le _msgEphemerisSbasDepB_pos + mapM_ putFloat64le _msgEphemerisSbasDepB_vel + mapM_ putFloat64le _msgEphemerisSbasDepB_acc + putFloat64le _msgEphemerisSbasDepB_a_gf0 + putFloat64le _msgEphemerisSbasDepB_a_gf1 + +$(makeSBP 'msgEphemerisSbasDepB ''MsgEphemerisSbasDepB) +$(makeJSON "_msgEphemerisSbasDepB_" ''MsgEphemerisSbasDepB) +$(makeLenses ''MsgEphemerisSbasDepB) + msgEphemerisSbas :: Word16 -msgEphemerisSbas = 0x0084 +msgEphemerisSbas = 0x008C data MsgEphemerisSbas = MsgEphemerisSbas { _msgEphemerisSbas_common :: !EphemerisCommonContent -- ^ Values common for all ephemeris types , _msgEphemerisSbas_pos :: ![Double] -- ^ Position of the GEO at time toe - , _msgEphemerisSbas_vel :: ![Double] + , _msgEphemerisSbas_vel :: ![Float] -- ^ Velocity of the GEO at time toe - , _msgEphemerisSbas_acc :: ![Double] + , _msgEphemerisSbas_acc :: ![Float] -- ^ Acceleration of the GEO at time toe - , _msgEphemerisSbas_a_gf0 :: !Double + , _msgEphemerisSbas_a_gf0 :: !Float -- ^ Time offset of the GEO clock w.r.t. SBAS Network Time - , _msgEphemerisSbas_a_gf1 :: !Double + , _msgEphemerisSbas_a_gf1 :: !Float -- ^ Drift of the GEO clock w.r.t. SBAS Network Time } deriving ( Show, Read, Eq ) @@ -656,19 +1097,19 @@ get = do _msgEphemerisSbas_common <- get _msgEphemerisSbas_pos <- replicateM 3 getFloat64le - _msgEphemerisSbas_vel <- replicateM 3 getFloat64le - _msgEphemerisSbas_acc <- replicateM 3 getFloat64le - _msgEphemerisSbas_a_gf0 <- getFloat64le - _msgEphemerisSbas_a_gf1 <- getFloat64le + _msgEphemerisSbas_vel <- replicateM 3 getFloat32le + _msgEphemerisSbas_acc <- replicateM 3 getFloat32le + _msgEphemerisSbas_a_gf0 <- getFloat32le + _msgEphemerisSbas_a_gf1 <- getFloat32le pure MsgEphemerisSbas {..} put MsgEphemerisSbas {..} = do put _msgEphemerisSbas_common mapM_ putFloat64le _msgEphemerisSbas_pos - mapM_ putFloat64le _msgEphemerisSbas_vel - mapM_ putFloat64le _msgEphemerisSbas_acc - putFloat64le _msgEphemerisSbas_a_gf0 - putFloat64le _msgEphemerisSbas_a_gf1 + mapM_ putFloat32le _msgEphemerisSbas_vel + mapM_ putFloat32le _msgEphemerisSbas_acc + putFloat32le _msgEphemerisSbas_a_gf0 + putFloat32le _msgEphemerisSbas_a_gf1 $(makeSBP 'msgEphemerisSbas ''MsgEphemerisSbas) $(makeJSON "_msgEphemerisSbas_" ''MsgEphemerisSbas) @@ -684,7 +1125,7 @@ -- 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 + { _msgEphemerisGloDepB_common :: !EphemerisCommonContentDepB -- ^ Values common for all ephemeris types , _msgEphemerisGloDepB_gamma :: !Double -- ^ Relative deviation of predicted carrier frequency from nominal @@ -730,7 +1171,7 @@ -- 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 + { _msgEphemerisGloDepC_common :: !EphemerisCommonContentDepB -- ^ Values common for all ephemeris types , _msgEphemerisGloDepC_gamma :: !Double -- ^ Relative deviation of predicted carrier frequency from nominal @@ -774,10 +1215,66 @@ $(makeJSON "_msgEphemerisGloDepC_" ''MsgEphemerisGloDepC) $(makeLenses ''MsgEphemerisGloDepC) +msgEphemerisGloDepD :: Word16 +msgEphemerisGloDepD = 0x0088 + +-- | SBP class for message MSG_EPHEMERIS_GLO_DEP_D (0x0088). +-- +-- This observation message has been deprecated in favor of ephemeris message +-- using floats for size reduction. +data MsgEphemerisGloDepD = MsgEphemerisGloDepD + { _msgEphemerisGloDepD_common :: !EphemerisCommonContentDepB + -- ^ Values common for all ephemeris types + , _msgEphemerisGloDepD_gamma :: !Double + -- ^ Relative deviation of predicted carrier frequency from nominal + , _msgEphemerisGloDepD_tau :: !Double + -- ^ Correction to the SV time + , _msgEphemerisGloDepD_d_tau :: !Double + -- ^ Equipment delay between L1 and L2 + , _msgEphemerisGloDepD_pos :: ![Double] + -- ^ Position of the SV at tb in PZ-90.02 coordinates system + , _msgEphemerisGloDepD_vel :: ![Double] + -- ^ Velocity vector of the SV at tb in PZ-90.02 coordinates system + , _msgEphemerisGloDepD_acc :: ![Double] + -- ^ Acceleration vector of the SV at tb in PZ-90.02 coordinates sys + , _msgEphemerisGloDepD_fcn :: !Word8 + -- ^ Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid + , _msgEphemerisGloDepD_iod :: !Word8 + -- ^ Issue of ephemeris data + } deriving ( Show, Read, Eq ) + +instance Binary MsgEphemerisGloDepD where + get = do + _msgEphemerisGloDepD_common <- get + _msgEphemerisGloDepD_gamma <- getFloat64le + _msgEphemerisGloDepD_tau <- getFloat64le + _msgEphemerisGloDepD_d_tau <- getFloat64le + _msgEphemerisGloDepD_pos <- replicateM 3 getFloat64le + _msgEphemerisGloDepD_vel <- replicateM 3 getFloat64le + _msgEphemerisGloDepD_acc <- replicateM 3 getFloat64le + _msgEphemerisGloDepD_fcn <- getWord8 + _msgEphemerisGloDepD_iod <- getWord8 + pure MsgEphemerisGloDepD {..} + + put MsgEphemerisGloDepD {..} = do + put _msgEphemerisGloDepD_common + putFloat64le _msgEphemerisGloDepD_gamma + putFloat64le _msgEphemerisGloDepD_tau + putFloat64le _msgEphemerisGloDepD_d_tau + mapM_ putFloat64le _msgEphemerisGloDepD_pos + mapM_ putFloat64le _msgEphemerisGloDepD_vel + mapM_ putFloat64le _msgEphemerisGloDepD_acc + putWord8 _msgEphemerisGloDepD_fcn + putWord8 _msgEphemerisGloDepD_iod + +$(makeSBP 'msgEphemerisGloDepD ''MsgEphemerisGloDepD) +$(makeJSON "_msgEphemerisGloDepD_" ''MsgEphemerisGloDepD) +$(makeLenses ''MsgEphemerisGloDepD) + msgEphemerisGlo :: Word16 -msgEphemerisGlo = 0x0088 +msgEphemerisGlo = 0x008B --- | SBP class for message MSG_EPHEMERIS_GLO (0x0088). +-- | SBP class for message MSG_EPHEMERIS_GLO (0x008B). -- -- The ephemeris message returns a set of satellite orbit parameters that is -- used to calculate GLO satellite position, velocity, and clock offset. Please @@ -786,17 +1283,17 @@ data MsgEphemerisGlo = MsgEphemerisGlo { _msgEphemerisGlo_common :: !EphemerisCommonContent -- ^ Values common for all ephemeris types - , _msgEphemerisGlo_gamma :: !Double + , _msgEphemerisGlo_gamma :: !Float -- ^ Relative deviation of predicted carrier frequency from nominal - , _msgEphemerisGlo_tau :: !Double + , _msgEphemerisGlo_tau :: !Float -- ^ Correction to the SV time - , _msgEphemerisGlo_d_tau :: !Double + , _msgEphemerisGlo_d_tau :: !Float -- ^ 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] + , _msgEphemerisGlo_acc :: ![Float] -- ^ 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 @@ -807,24 +1304,24 @@ instance Binary MsgEphemerisGlo where get = do _msgEphemerisGlo_common <- get - _msgEphemerisGlo_gamma <- getFloat64le - _msgEphemerisGlo_tau <- getFloat64le - _msgEphemerisGlo_d_tau <- getFloat64le + _msgEphemerisGlo_gamma <- getFloat32le + _msgEphemerisGlo_tau <- getFloat32le + _msgEphemerisGlo_d_tau <- getFloat32le _msgEphemerisGlo_pos <- replicateM 3 getFloat64le _msgEphemerisGlo_vel <- replicateM 3 getFloat64le - _msgEphemerisGlo_acc <- replicateM 3 getFloat64le + _msgEphemerisGlo_acc <- replicateM 3 getFloat32le _msgEphemerisGlo_fcn <- getWord8 _msgEphemerisGlo_iod <- getWord8 pure MsgEphemerisGlo {..} put MsgEphemerisGlo {..} = do put _msgEphemerisGlo_common - putFloat64le _msgEphemerisGlo_gamma - putFloat64le _msgEphemerisGlo_tau - putFloat64le _msgEphemerisGlo_d_tau + putFloat32le _msgEphemerisGlo_gamma + putFloat32le _msgEphemerisGlo_tau + putFloat32le _msgEphemerisGlo_d_tau mapM_ putFloat64le _msgEphemerisGlo_pos mapM_ putFloat64le _msgEphemerisGlo_vel - mapM_ putFloat64le _msgEphemerisGlo_acc + mapM_ putFloat32le _msgEphemerisGlo_acc putWord8 _msgEphemerisGlo_fcn putWord8 _msgEphemerisGlo_iod @@ -1676,32 +2173,130 @@ $(makeJSON "_msgIono_" ''MsgIono) $(makeLenses ''MsgIono) -msgSvConfigurationGps :: Word16 -msgSvConfigurationGps = 0x0091 +msgSvConfigurationGpsDep :: Word16 +msgSvConfigurationGpsDep = 0x0091 --- | SBP class for message MSG_SV_CONFIGURATION_GPS (0x0091). +-- | SBP class for message MSG_SV_CONFIGURATION_GPS_DEP (0x0091). -- -- Please see ICD-GPS-200 (Chapter 20.3.3.5.1.4) for more details. -data MsgSvConfigurationGps = MsgSvConfigurationGps - { _msgSvConfigurationGps_t_nmct :: !GpsTimeSec +data MsgSvConfigurationGpsDep = MsgSvConfigurationGpsDep + { _msgSvConfigurationGpsDep_t_nmct :: !GpsTimeSec -- ^ Navigation Message Correction Table Valitidy Time - , _msgSvConfigurationGps_l2c_mask :: !Word32 + , _msgSvConfigurationGpsDep_l2c_mask :: !Word32 -- ^ L2C capability mask, SV32 bit being MSB, SV1 bit being LSB } deriving ( Show, Read, Eq ) -instance Binary MsgSvConfigurationGps where +instance Binary MsgSvConfigurationGpsDep where get = do - _msgSvConfigurationGps_t_nmct <- get - _msgSvConfigurationGps_l2c_mask <- getWord32le - pure MsgSvConfigurationGps {..} + _msgSvConfigurationGpsDep_t_nmct <- get + _msgSvConfigurationGpsDep_l2c_mask <- getWord32le + pure MsgSvConfigurationGpsDep {..} - put MsgSvConfigurationGps {..} = do - put _msgSvConfigurationGps_t_nmct - putWord32le _msgSvConfigurationGps_l2c_mask + put MsgSvConfigurationGpsDep {..} = do + put _msgSvConfigurationGpsDep_t_nmct + putWord32le _msgSvConfigurationGpsDep_l2c_mask -$(makeSBP 'msgSvConfigurationGps ''MsgSvConfigurationGps) -$(makeJSON "_msgSvConfigurationGps_" ''MsgSvConfigurationGps) -$(makeLenses ''MsgSvConfigurationGps) +$(makeSBP 'msgSvConfigurationGpsDep ''MsgSvConfigurationGpsDep) +$(makeJSON "_msgSvConfigurationGpsDep_" ''MsgSvConfigurationGpsDep) +$(makeLenses ''MsgSvConfigurationGpsDep) + +data GnssCapb = GnssCapb + { _gnssCapb_gps_active :: !Word64 + -- ^ GPS SV active mask + , _gnssCapb_gps_l2c :: !Word64 + -- ^ GPS L2C active mask + , _gnssCapb_gps_l5 :: !Word64 + -- ^ GPS L5 active mask + , _gnssCapb_glo_active :: !Word32 + -- ^ GLO active mask + , _gnssCapb_glo_l2of :: !Word32 + -- ^ GLO L2OF active mask + , _gnssCapb_glo_l3 :: !Word32 + -- ^ GLO L3 active mask + , _gnssCapb_sbas_active :: !Word64 + -- ^ SBAS active mask (PRNs 120..158, AN 7/62.2.2-18/18 Table B-23, + -- https://www.caat.or.th/wp-content/uploads/2018/03/SL-2018.18.E-1.pdf) + , _gnssCapb_sbas_l5 :: !Word64 + -- ^ SBAS L5 active mask (PRNs 120..158, AN 7/62.2.2-18/18 Table B-23, + -- https://www.caat.or.th/wp-content/uploads/2018/03/SL-2018.18.E-1.pdf) + , _gnssCapb_bds_active :: !Word64 + -- ^ BDS active mask + , _gnssCapb_bds_d2nav :: !Word64 + -- ^ BDS D2NAV active mask + , _gnssCapb_bds_b2 :: !Word64 + -- ^ BDS B2 active mask + , _gnssCapb_bds_b2a :: !Word64 + -- ^ BDS B2A active mask + , _gnssCapb_qzss_active :: !Word32 + -- ^ QZSS active mask + , _gnssCapb_gal_active :: !Word64 + -- ^ GAL active mask + , _gnssCapb_gal_e5 :: !Word64 + -- ^ GAL E5 active mask + } deriving ( Show, Read, Eq ) + +instance Binary GnssCapb where + get = do + _gnssCapb_gps_active <- getWord64le + _gnssCapb_gps_l2c <- getWord64le + _gnssCapb_gps_l5 <- getWord64le + _gnssCapb_glo_active <- getWord32le + _gnssCapb_glo_l2of <- getWord32le + _gnssCapb_glo_l3 <- getWord32le + _gnssCapb_sbas_active <- getWord64le + _gnssCapb_sbas_l5 <- getWord64le + _gnssCapb_bds_active <- getWord64le + _gnssCapb_bds_d2nav <- getWord64le + _gnssCapb_bds_b2 <- getWord64le + _gnssCapb_bds_b2a <- getWord64le + _gnssCapb_qzss_active <- getWord32le + _gnssCapb_gal_active <- getWord64le + _gnssCapb_gal_e5 <- getWord64le + pure GnssCapb {..} + + put GnssCapb {..} = do + putWord64le _gnssCapb_gps_active + putWord64le _gnssCapb_gps_l2c + putWord64le _gnssCapb_gps_l5 + putWord32le _gnssCapb_glo_active + putWord32le _gnssCapb_glo_l2of + putWord32le _gnssCapb_glo_l3 + putWord64le _gnssCapb_sbas_active + putWord64le _gnssCapb_sbas_l5 + putWord64le _gnssCapb_bds_active + putWord64le _gnssCapb_bds_d2nav + putWord64le _gnssCapb_bds_b2 + putWord64le _gnssCapb_bds_b2a + putWord32le _gnssCapb_qzss_active + putWord64le _gnssCapb_gal_active + putWord64le _gnssCapb_gal_e5 + +$(makeJSON "_gnssCapb_" ''GnssCapb) +$(makeLenses ''GnssCapb) + +msgGnssCapb :: Word16 +msgGnssCapb = 0x0096 + +data MsgGnssCapb = MsgGnssCapb + { _msgGnssCapb_t_nmct :: !GpsTimeSec + -- ^ Navigation Message Correction Table Validity Time + , _msgGnssCapb_gc :: !GnssCapb + -- ^ GNSS capabilities masks + } deriving ( Show, Read, Eq ) + +instance Binary MsgGnssCapb where + get = do + _msgGnssCapb_t_nmct <- get + _msgGnssCapb_gc <- get + pure MsgGnssCapb {..} + + put MsgGnssCapb {..} = do + put _msgGnssCapb_t_nmct + put _msgGnssCapb_gc + +$(makeSBP 'msgGnssCapb ''MsgGnssCapb) +$(makeJSON "_msgGnssCapb_" ''MsgGnssCapb) +$(makeLenses ''MsgGnssCapb) msgGroupDelayDepA :: Word16 msgGroupDelayDepA = 0x0092