diff --git a/README.md b/README.md --- a/README.md +++ b/README.md @@ -10,10 +10,10 @@ Available on [Hackage as `sbp`](http://hackage.haskell.org/package/sbp). -The library supports building against Stackage LTS-6. To +The library supports building against Stackage LTS-10. To install from Hackage using `stack`: - $ stack install --resolver lts-6.35 sbp # (LTS-6) + $ stack install --resolver lts-10.0 sbp # (LTS-10) Note that we explicitly specify the resolvers to use, as installing `libsbp` may fail to build with more recent resolvers. @@ -41,9 +41,9 @@ ## Publishing To publish to [Hackage](http://hackage.haskell.org/package/sbp), use the -`publish-lower` recipe in the `Shakefile.hs` with LTS-6 `stack.yaml`: +`publish-lower` recipe in the `Shakefile.hs` with LTS-10 `stack.yaml`: - $ STACK_YAML=stack-lts-6.yaml ./Shakefile.hs publish-lower + $ STACK_YAML=stack-lts-10.yaml ./Shakefile.hs publish-lower ## References diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,129 +1,124 @@ -name: sbp -version: 2.3.2 -cabal-version: >=1.22 -build-type: Simple -license: LGPL-3 -copyright: Copyright (C) 2015 Swift Navigation, Inc. -maintainer: Mark Fine -homepage: https://github.com/swift-nav/libsbp -synopsis: SwiftNav's SBP Library +name: sbp +version: 2.3.5 +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 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. -category: Network -author: Swift Navigation Inc. -extra-source-files: - README.md + 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. 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 - build-depends: - aeson >=0.11.3.0, - array >=0.5.1.0, - base >=4.8 && <5, - base64-bytestring >=1.0.0.1, - basic-prelude >=0.5.2, - binary >=0.7.5.0, - bytestring >=0.10.6.0, - data-binary-ieee754 >=0.4.4, - lens >=4.13, - lens-aeson >=1.0.0.5, - monad-loops >=0.4.3, - template-haskell >=2.10.0.0, - text >=1.2.2.2 - default-language: Haskell2010 - hs-source-dirs: src - 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.Piksi - SwiftNav.SBP.Settings - SwiftNav.SBP.System - SwiftNav.SBP.Tracking - SwiftNav.SBP.User - ghc-options: -Wall + 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 executable sbp2json - main-is: SBP2JSON.hs - build-depends: - aeson >=0.11.3.0, - base >=4.8.2.0, - basic-prelude >=0.5.2, - binary-conduit >=1.2.4.1, - bytestring >=0.10.6.0, - conduit >=1.2.10, - conduit-extra >=1.1.16, - resourcet >=1.1.9, - sbp - default-language: Haskell2010 - hs-source-dirs: main - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + 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 executable json2sbp - main-is: JSON2SBP.hs - build-depends: - aeson >=0.11.3.0, - base >=4.8.2.0, - basic-prelude >=0.5.2, - binary-conduit >=1.2.4.1, - conduit >=1.2.10, - conduit-extra >=1.1.16, - resourcet >=1.1.9, - sbp - default-language: Haskell2010 - hs-source-dirs: main - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + 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 executable sbp2yaml - main-is: SBP2YAML.hs - build-depends: - base >=4.8.2.0, - basic-prelude >=0.5.2, - binary-conduit >=1.2.4.1, - bytestring >=0.10.6.0, - conduit >=1.2.10, - conduit-extra >=1.1.16, - resourcet >=1.1.9, - sbp, - yaml >=0.8.23 - default-language: Haskell2010 - hs-source-dirs: main - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + 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 test-suite test - type: exitcode-stdio-1.0 - main-is: Test.hs - build-depends: - base >=4.8.2.0, - basic-prelude >=0.5.2, - sbp, - tasty >=0.11.2.1, - tasty-hunit >=0.9.2 - default-language: Haskell2010 - hs-source-dirs: test - other-modules: - Test.SwiftNav.CRC16 - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + 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 diff --git a/src/SwiftNav/SBP.hs b/src/SwiftNav/SBP.hs --- a/src/SwiftNav/SBP.hs +++ b/src/SwiftNav/SBP.hs @@ -1,8 +1,8 @@ -- | -- Module: SwiftNav.SBP --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- @@ -26,8 +26,12 @@ import SwiftNav.SBP.Navigation as Exports import SwiftNav.SBP.Ndb as Exports import SwiftNav.SBP.Observation as Exports +import SwiftNav.SBP.Orientation as Exports import SwiftNav.SBP.Piksi as Exports +import SwiftNav.SBP.Sbas as Exports import SwiftNav.SBP.Settings as Exports +import SwiftNav.SBP.Ssr as Exports import SwiftNav.SBP.System as Exports import SwiftNav.SBP.Tracking as Exports import SwiftNav.SBP.User as Exports +import SwiftNav.SBP.Vehicle as Exports 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 @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.Acquisition --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- diff --git a/src/SwiftNav/SBP/Bootload.hs b/src/SwiftNav/SBP/Bootload.hs --- a/src/SwiftNav/SBP/Bootload.hs +++ b/src/SwiftNav/SBP/Bootload.hs @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.Bootload --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- diff --git a/src/SwiftNav/SBP/ExtEvents.hs b/src/SwiftNav/SBP/ExtEvents.hs --- a/src/SwiftNav/SBP/ExtEvents.hs +++ b/src/SwiftNav/SBP/ExtEvents.hs @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.ExtEvents --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- diff --git a/src/SwiftNav/SBP/FileIo.hs b/src/SwiftNav/SBP/FileIo.hs --- a/src/SwiftNav/SBP/FileIo.hs +++ b/src/SwiftNav/SBP/FileIo.hs @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.FileIo --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- diff --git a/src/SwiftNav/SBP/Flash.hs b/src/SwiftNav/SBP/Flash.hs --- a/src/SwiftNav/SBP/Flash.hs +++ b/src/SwiftNav/SBP/Flash.hs @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.Flash --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- 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 @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.Gnss --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- diff --git a/src/SwiftNav/SBP/Imu.hs b/src/SwiftNav/SBP/Imu.hs --- a/src/SwiftNav/SBP/Imu.hs +++ b/src/SwiftNav/SBP/Imu.hs @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.Imu --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- @@ -41,7 +41,8 @@ -- | SBP class for message MSG_IMU_RAW (0x0900). -- -- Raw data from the Inertial Measurement Unit, containing accelerometer and --- gyroscope readings. +-- gyroscope readings. The sense of the measurements are to be aligned with +-- the indications on the device itself. data MsgImuRaw = MsgImuRaw { _msgImuRaw_tow :: !Word32 -- ^ Milliseconds since start of GPS week. If the high bit is set, the time @@ -49,17 +50,17 @@ , _msgImuRaw_tow_f :: !Word8 -- ^ Milliseconds since start of GPS week, fractional part , _msgImuRaw_acc_x :: !Int16 - -- ^ Acceleration in the body frame X axis + -- ^ Acceleration in the IMU frame X axis , _msgImuRaw_acc_y :: !Int16 - -- ^ Acceleration in the body frame Y axis + -- ^ Acceleration in the IMU frame Y axis , _msgImuRaw_acc_z :: !Int16 - -- ^ Acceleration in the body frame Z axis + -- ^ Acceleration in the IMU frame Z axis , _msgImuRaw_gyr_x :: !Int16 - -- ^ Angular rate around the body frame X axis + -- ^ Angular rate around IMU frame X axis , _msgImuRaw_gyr_y :: !Int16 - -- ^ Angular rate around the body frame Y axis + -- ^ Angular rate around IMU frame Y axis , _msgImuRaw_gyr_z :: !Int16 - -- ^ Angular rate around the body frame Z axis + -- ^ Angular rate around IMU frame Z axis } deriving ( Show, Read, Eq ) instance Binary MsgImuRaw where diff --git a/src/SwiftNav/SBP/Logging.hs b/src/SwiftNav/SBP/Logging.hs --- a/src/SwiftNav/SBP/Logging.hs +++ b/src/SwiftNav/SBP/Logging.hs @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.Logging --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- diff --git a/src/SwiftNav/SBP/Mag.hs b/src/SwiftNav/SBP/Mag.hs --- a/src/SwiftNav/SBP/Mag.hs +++ b/src/SwiftNav/SBP/Mag.hs @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.Mag --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- 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 @@ -6,9 +6,9 @@ -- | -- Module: SwiftNav.SBP.Msg --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- @@ -36,11 +36,15 @@ import SwiftNav.SBP.Navigation import SwiftNav.SBP.Ndb import SwiftNav.SBP.Observation +import SwiftNav.SBP.Orientation import SwiftNav.SBP.Piksi +import SwiftNav.SBP.Sbas import SwiftNav.SBP.Settings +import SwiftNav.SBP.Ssr import SwiftNav.SBP.System import SwiftNav.SBP.Tracking import SwiftNav.SBP.User +import SwiftNav.SBP.Vehicle import SwiftNav.SBP.Types @@ -61,6 +65,7 @@ | SBPMsgAlmanacGloDep MsgAlmanacGloDep Msg | SBPMsgAlmanacGps MsgAlmanacGps Msg | SBPMsgAlmanacGpsDep MsgAlmanacGpsDep Msg + | SBPMsgAngularRate MsgAngularRate Msg | SBPMsgBasePosEcef MsgBasePosEcef Msg | SBPMsgBasePosLlh MsgBasePosLlh Msg | SBPMsgBaselineEcef MsgBaselineEcef Msg @@ -119,6 +124,7 @@ | SBPMsgImuAux MsgImuAux Msg | SBPMsgImuRaw MsgImuRaw Msg | SBPMsgInitBase MsgInitBase Msg + | SBPMsgInsStatus MsgInsStatus Msg | SBPMsgIono MsgIono Msg | SBPMsgLog MsgLog Msg | SBPMsgM25FlashWriteStatus MsgM25FlashWriteStatus Msg @@ -134,14 +140,20 @@ | SBPMsgObsDepA MsgObsDepA Msg | SBPMsgObsDepB MsgObsDepB Msg | SBPMsgObsDepC MsgObsDepC Msg + | SBPMsgOdometry MsgOdometry Msg + | SBPMsgOrientEuler MsgOrientEuler Msg + | SBPMsgOrientQuat MsgOrientQuat Msg | SBPMsgPosEcef MsgPosEcef Msg + | SBPMsgPosEcefCov MsgPosEcefCov Msg | SBPMsgPosEcefDepA MsgPosEcefDepA Msg | SBPMsgPosLlh MsgPosLlh Msg + | SBPMsgPosLlhCov MsgPosLlhCov Msg | SBPMsgPosLlhDepA MsgPosLlhDepA Msg | SBPMsgPrintDep MsgPrintDep Msg | SBPMsgReset MsgReset Msg | SBPMsgResetDep MsgResetDep Msg | SBPMsgResetFilters MsgResetFilters Msg + | SBPMsgSbasRaw MsgSbasRaw Msg | SBPMsgSetTime MsgSetTime Msg | SBPMsgSettingsReadByIndexDone MsgSettingsReadByIndexDone Msg | SBPMsgSettingsReadByIndexReq MsgSettingsReadByIndexReq Msg @@ -154,6 +166,9 @@ | SBPMsgSettingsWriteResp MsgSettingsWriteResp Msg | SBPMsgSpecan MsgSpecan Msg | SBPMsgSpecanDep MsgSpecanDep Msg + | SBPMsgSsrCodeBiases MsgSsrCodeBiases Msg + | SBPMsgSsrOrbitClock MsgSsrOrbitClock Msg + | SBPMsgSsrPhaseBiases MsgSsrPhaseBiases Msg | SBPMsgStartup MsgStartup Msg | SBPMsgStmFlashLockSector MsgStmFlashLockSector Msg | SBPMsgStmFlashUnlockSector MsgStmFlashUnlockSector Msg @@ -166,16 +181,19 @@ | SBPMsgTrackingState MsgTrackingState Msg | SBPMsgTrackingStateDepA MsgTrackingStateDepA Msg | SBPMsgTrackingStateDepB MsgTrackingStateDepB Msg - | SBPMsgTrackingStateDetailed MsgTrackingStateDetailed Msg | SBPMsgTrackingStateDetailedDep MsgTrackingStateDetailedDep Msg + | SBPMsgTrackingStateDetailedDepA MsgTrackingStateDetailedDepA Msg | SBPMsgTweet MsgTweet Msg | SBPMsgUartState MsgUartState Msg | SBPMsgUartStateDepa MsgUartStateDepa Msg | SBPMsgUserData MsgUserData Msg | SBPMsgUtcTime MsgUtcTime Msg + | SBPMsgVelBody MsgVelBody Msg | SBPMsgVelEcef MsgVelEcef Msg + | SBPMsgVelEcefCov MsgVelEcefCov Msg | SBPMsgVelEcefDepA MsgVelEcefDepA Msg | SBPMsgVelNed MsgVelNed Msg + | SBPMsgVelNedCov MsgVelNedCov Msg | SBPMsgVelNedDepA MsgVelNedDepA Msg | SBPMsgBadCrc Msg | SBPMsgUnknown Msg @@ -202,6 +220,7 @@ | _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 == msgAngularRate = SBPMsgAngularRate (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 @@ -260,6 +279,7 @@ | _msgSBPType == msgImuAux = SBPMsgImuAux (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgImuRaw = SBPMsgImuRaw (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgInitBase = SBPMsgInitBase (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgInsStatus = SBPMsgInsStatus (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgIono = SBPMsgIono (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgLog = SBPMsgLog (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -275,14 +295,20 @@ | _msgSBPType == msgObsDepA = SBPMsgObsDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgObsDepB = SBPMsgObsDepB (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgObsDepC = SBPMsgObsDepC (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgOdometry = SBPMsgOdometry (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgOrientEuler = SBPMsgOrientEuler (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgOrientQuat = SBPMsgOrientQuat (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPosEcef = SBPMsgPosEcef (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgPosEcefCov = SBPMsgPosEcefCov (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPosEcefDepA = SBPMsgPosEcefDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPosLlh = SBPMsgPosLlh (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgPosLlhCov = SBPMsgPosLlhCov (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPosLlhDepA = SBPMsgPosLlhDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPrintDep = SBPMsgPrintDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgReset = SBPMsgReset (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgResetDep = SBPMsgResetDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgResetFilters = SBPMsgResetFilters (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSbasRaw = SBPMsgSbasRaw (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSetTime = SBPMsgSetTime (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSettingsReadByIndexDone = SBPMsgSettingsReadByIndexDone (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSettingsReadByIndexReq = SBPMsgSettingsReadByIndexReq (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -295,6 +321,9 @@ | _msgSBPType == msgSettingsWriteResp = SBPMsgSettingsWriteResp (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSpecan = SBPMsgSpecan (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSpecanDep = SBPMsgSpecanDep (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSsrCodeBiases = SBPMsgSsrCodeBiases (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSsrOrbitClock = SBPMsgSsrOrbitClock (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSsrPhaseBiases = SBPMsgSsrPhaseBiases (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 @@ -307,16 +336,19 @@ | _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 == msgTrackingStateDetailedDepA = SBPMsgTrackingStateDetailedDepA (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 | _msgSBPType == msgUserData = SBPMsgUserData (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgUtcTime = SBPMsgUtcTime (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgVelBody = SBPMsgVelBody (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgVelEcef = SBPMsgVelEcef (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgVelEcefCov = SBPMsgVelEcefCov (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgVelEcefDepA = SBPMsgVelEcefDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgVelNed = SBPMsgVelNed (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgVelNedCov = SBPMsgVelNedCov (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgVelNedDepA = SBPMsgVelNedDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | otherwise = SBPMsgUnknown m @@ -335,6 +367,7 @@ encoder (SBPMsgAlmanacGloDep _ m) = put m encoder (SBPMsgAlmanacGps _ m) = put m encoder (SBPMsgAlmanacGpsDep _ m) = put m + encoder (SBPMsgAngularRate _ m) = put m encoder (SBPMsgBasePosEcef _ m) = put m encoder (SBPMsgBasePosLlh _ m) = put m encoder (SBPMsgBaselineEcef _ m) = put m @@ -393,6 +426,7 @@ encoder (SBPMsgImuAux _ m) = put m encoder (SBPMsgImuRaw _ m) = put m encoder (SBPMsgInitBase _ m) = put m + encoder (SBPMsgInsStatus _ m) = put m encoder (SBPMsgIono _ m) = put m encoder (SBPMsgLog _ m) = put m encoder (SBPMsgM25FlashWriteStatus _ m) = put m @@ -408,14 +442,20 @@ encoder (SBPMsgObsDepA _ m) = put m encoder (SBPMsgObsDepB _ m) = put m encoder (SBPMsgObsDepC _ m) = put m + encoder (SBPMsgOdometry _ m) = put m + encoder (SBPMsgOrientEuler _ m) = put m + encoder (SBPMsgOrientQuat _ m) = put m encoder (SBPMsgPosEcef _ m) = put m + encoder (SBPMsgPosEcefCov _ m) = put m encoder (SBPMsgPosEcefDepA _ m) = put m encoder (SBPMsgPosLlh _ m) = put m + encoder (SBPMsgPosLlhCov _ m) = put m encoder (SBPMsgPosLlhDepA _ m) = put m encoder (SBPMsgPrintDep _ m) = put m encoder (SBPMsgReset _ m) = put m encoder (SBPMsgResetDep _ m) = put m encoder (SBPMsgResetFilters _ m) = put m + encoder (SBPMsgSbasRaw _ m) = put m encoder (SBPMsgSetTime _ m) = put m encoder (SBPMsgSettingsReadByIndexDone _ m) = put m encoder (SBPMsgSettingsReadByIndexReq _ m) = put m @@ -428,6 +468,9 @@ encoder (SBPMsgSettingsWriteResp _ m) = put m encoder (SBPMsgSpecan _ m) = put m encoder (SBPMsgSpecanDep _ m) = put m + encoder (SBPMsgSsrCodeBiases _ m) = put m + encoder (SBPMsgSsrOrbitClock _ m) = put m + encoder (SBPMsgSsrPhaseBiases _ m) = put m encoder (SBPMsgStartup _ m) = put m encoder (SBPMsgStmFlashLockSector _ m) = put m encoder (SBPMsgStmFlashUnlockSector _ m) = put m @@ -440,16 +483,19 @@ 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 (SBPMsgTrackingStateDetailedDepA _ m) = put m encoder (SBPMsgTweet _ m) = put m encoder (SBPMsgUartState _ m) = put m encoder (SBPMsgUartStateDepa _ m) = put m encoder (SBPMsgUserData _ m) = put m encoder (SBPMsgUtcTime _ m) = put m + encoder (SBPMsgVelBody _ m) = put m encoder (SBPMsgVelEcef _ m) = put m + encoder (SBPMsgVelEcefCov _ m) = put m encoder (SBPMsgVelEcefDepA _ m) = put m encoder (SBPMsgVelNed _ m) = put m + encoder (SBPMsgVelNedCov _ m) = put m encoder (SBPMsgVelNedDepA _ m) = put m encoder (SBPMsgUnknown m) = put m encoder (SBPMsgBadCrc m) = put m @@ -472,6 +518,7 @@ | msgType == msgAlmanacGloDep = SBPMsgAlmanacGloDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgAlmanacGps = SBPMsgAlmanacGps <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgAlmanacGpsDep = SBPMsgAlmanacGpsDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgAngularRate = SBPMsgAngularRate <$> 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 <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -530,6 +577,7 @@ | msgType == msgImuAux = SBPMsgImuAux <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgImuRaw = SBPMsgImuRaw <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgInitBase = SBPMsgInitBase <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgInsStatus = SBPMsgInsStatus <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgIono = SBPMsgIono <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgLog = SBPMsgLog <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -545,14 +593,20 @@ | msgType == msgObsDepA = SBPMsgObsDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgObsDepB = SBPMsgObsDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgObsDepC = SBPMsgObsDepC <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgOdometry = SBPMsgOdometry <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgOrientEuler = SBPMsgOrientEuler <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgOrientQuat = SBPMsgOrientQuat <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPosEcef = SBPMsgPosEcef <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgPosEcefCov = SBPMsgPosEcefCov <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPosEcefDepA = SBPMsgPosEcefDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPosLlh = SBPMsgPosLlh <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgPosLlhCov = SBPMsgPosLlhCov <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPosLlhDepA = SBPMsgPosLlhDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPrintDep = SBPMsgPrintDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgReset = SBPMsgReset <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgResetDep = SBPMsgResetDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgResetFilters = SBPMsgResetFilters <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSbasRaw = SBPMsgSbasRaw <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSetTime = SBPMsgSetTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSettingsReadByIndexDone = SBPMsgSettingsReadByIndexDone <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSettingsReadByIndexReq = SBPMsgSettingsReadByIndexReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -565,6 +619,9 @@ | msgType == msgSettingsWriteResp = SBPMsgSettingsWriteResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSpecan = SBPMsgSpecan <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSpecanDep = SBPMsgSpecanDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSsrCodeBiases = SBPMsgSsrCodeBiases <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSsrOrbitClock = SBPMsgSsrOrbitClock <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSsrPhaseBiases = SBPMsgSsrPhaseBiases <$> 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 <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -577,16 +634,19 @@ | msgType == msgTrackingState = SBPMsgTrackingState <$> 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 == msgTrackingStateDetailedDepA = SBPMsgTrackingStateDetailedDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgTweet = SBPMsgTweet <$> 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 | msgType == msgUserData = SBPMsgUserData <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgUtcTime = SBPMsgUtcTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgVelBody = SBPMsgVelBody <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgVelEcef = SBPMsgVelEcef <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgVelEcefCov = SBPMsgVelEcefCov <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgVelEcefDepA = SBPMsgVelEcefDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgVelNed = SBPMsgVelNed <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgVelNedCov = SBPMsgVelNedCov <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgVelNedDepA = SBPMsgVelNedDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | otherwise = SBPMsgUnknown <$> parseJSON obj parseJSON _ = mzero @@ -610,6 +670,7 @@ 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 (SBPMsgAngularRate 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 @@ -668,6 +729,7 @@ toJSON (SBPMsgImuAux n m) = toJSON n <<>> toJSON m toJSON (SBPMsgImuRaw n m) = toJSON n <<>> toJSON m toJSON (SBPMsgInitBase n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgInsStatus n m) = toJSON n <<>> toJSON m toJSON (SBPMsgIono n m) = toJSON n <<>> toJSON m toJSON (SBPMsgLog n m) = toJSON n <<>> toJSON m toJSON (SBPMsgM25FlashWriteStatus n m) = toJSON n <<>> toJSON m @@ -683,14 +745,20 @@ toJSON (SBPMsgObsDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgObsDepB n m) = toJSON n <<>> toJSON m toJSON (SBPMsgObsDepC n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgOdometry n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgOrientEuler n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgOrientQuat n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPosEcef n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgPosEcefCov n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPosEcefDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPosLlh n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgPosLlhCov n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPosLlhDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPrintDep n m) = toJSON n <<>> toJSON m toJSON (SBPMsgReset n m) = toJSON n <<>> toJSON m toJSON (SBPMsgResetDep n m) = toJSON n <<>> toJSON m toJSON (SBPMsgResetFilters n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSbasRaw n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSetTime n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSettingsReadByIndexDone n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSettingsReadByIndexReq n m) = toJSON n <<>> toJSON m @@ -703,6 +771,9 @@ toJSON (SBPMsgSettingsWriteResp n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSpecan n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSpecanDep n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSsrCodeBiases n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSsrOrbitClock n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSsrPhaseBiases 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 @@ -715,16 +786,19 @@ 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 (SBPMsgTrackingStateDetailedDepA 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 toJSON (SBPMsgUserData n m) = toJSON n <<>> toJSON m toJSON (SBPMsgUtcTime n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgVelBody n m) = toJSON n <<>> toJSON m toJSON (SBPMsgVelEcef n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgVelEcefCov n m) = toJSON n <<>> toJSON m toJSON (SBPMsgVelEcefDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgVelNed n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgVelNedCov n m) = toJSON n <<>> toJSON m toJSON (SBPMsgVelNedDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgBadCrc m) = toJSON m toJSON (SBPMsgUnknown m) = toJSON m @@ -742,6 +816,7 @@ 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 <$> f m + msg f (SBPMsgAngularRate n m) = SBPMsgAngularRate n <$> 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 <$> f m @@ -800,6 +875,7 @@ msg f (SBPMsgImuAux n m) = SBPMsgImuAux n <$> f m msg f (SBPMsgImuRaw n m) = SBPMsgImuRaw n <$> f m msg f (SBPMsgInitBase n m) = SBPMsgInitBase n <$> f m + msg f (SBPMsgInsStatus n m) = SBPMsgInsStatus n <$> f m msg f (SBPMsgIono n m) = SBPMsgIono n <$> f m msg f (SBPMsgLog n m) = SBPMsgLog n <$> f m msg f (SBPMsgM25FlashWriteStatus n m) = SBPMsgM25FlashWriteStatus n <$> f m @@ -815,14 +891,20 @@ msg f (SBPMsgObsDepA n m) = SBPMsgObsDepA n <$> f m msg f (SBPMsgObsDepB n m) = SBPMsgObsDepB n <$> f m msg f (SBPMsgObsDepC n m) = SBPMsgObsDepC n <$> f m + msg f (SBPMsgOdometry n m) = SBPMsgOdometry n <$> f m + msg f (SBPMsgOrientEuler n m) = SBPMsgOrientEuler n <$> f m + msg f (SBPMsgOrientQuat n m) = SBPMsgOrientQuat n <$> f m msg f (SBPMsgPosEcef n m) = SBPMsgPosEcef n <$> f m + msg f (SBPMsgPosEcefCov n m) = SBPMsgPosEcefCov n <$> f m msg f (SBPMsgPosEcefDepA n m) = SBPMsgPosEcefDepA n <$> f m msg f (SBPMsgPosLlh n m) = SBPMsgPosLlh n <$> f m + msg f (SBPMsgPosLlhCov n m) = SBPMsgPosLlhCov n <$> f m msg f (SBPMsgPosLlhDepA n m) = SBPMsgPosLlhDepA n <$> f m msg f (SBPMsgPrintDep n m) = SBPMsgPrintDep n <$> f m msg f (SBPMsgReset n m) = SBPMsgReset n <$> f m msg f (SBPMsgResetDep n m) = SBPMsgResetDep n <$> f m msg f (SBPMsgResetFilters n m) = SBPMsgResetFilters n <$> f m + msg f (SBPMsgSbasRaw n m) = SBPMsgSbasRaw n <$> f m msg f (SBPMsgSetTime n m) = SBPMsgSetTime n <$> f m msg f (SBPMsgSettingsReadByIndexDone n m) = SBPMsgSettingsReadByIndexDone n <$> f m msg f (SBPMsgSettingsReadByIndexReq n m) = SBPMsgSettingsReadByIndexReq n <$> f m @@ -835,6 +917,9 @@ msg f (SBPMsgSettingsWriteResp n m) = SBPMsgSettingsWriteResp n <$> f m msg f (SBPMsgSpecan n m) = SBPMsgSpecan n <$> f m msg f (SBPMsgSpecanDep n m) = SBPMsgSpecanDep n <$> f m + msg f (SBPMsgSsrCodeBiases n m) = SBPMsgSsrCodeBiases n <$> f m + msg f (SBPMsgSsrOrbitClock n m) = SBPMsgSsrOrbitClock n <$> f m + msg f (SBPMsgSsrPhaseBiases n m) = SBPMsgSsrPhaseBiases n <$> 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 <$> f m @@ -847,16 +932,19 @@ msg f (SBPMsgTrackingState n m) = SBPMsgTrackingState n <$> 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 (SBPMsgTrackingStateDetailedDepA n m) = SBPMsgTrackingStateDetailedDepA 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 msg f (SBPMsgUserData n m) = SBPMsgUserData n <$> f m msg f (SBPMsgUtcTime n m) = SBPMsgUtcTime n <$> f m + msg f (SBPMsgVelBody n m) = SBPMsgVelBody n <$> f m msg f (SBPMsgVelEcef n m) = SBPMsgVelEcef n <$> f m + msg f (SBPMsgVelEcefCov n m) = SBPMsgVelEcefCov n <$> f m msg f (SBPMsgVelEcefDepA n m) = SBPMsgVelEcefDepA n <$> f m msg f (SBPMsgVelNed n m) = SBPMsgVelNed n <$> f m + msg f (SBPMsgVelNedCov n m) = SBPMsgVelNedCov n <$> f m msg f (SBPMsgVelNedDepA n m) = SBPMsgVelNedDepA n <$> f m msg f (SBPMsgUnknown m) = SBPMsgUnknown <$> f m msg f (SBPMsgBadCrc m) = SBPMsgBadCrc <$> 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 @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.Navigation --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- @@ -19,7 +19,12 @@ -- differential GPS solution, which can use either a fixed/integer or floating -- carrier phase ambiguity. The pseudo-absolute position solution uses a user- -- provided, well-surveyed base station position (if available) and the RTK --- solution in tandem. +-- solution in tandem. When the inertial navigation mode indicates that the +-- IMU is used, all messages are reported in the vehicle body frame as defined +-- by device settings. By default, the vehicle body frame is configured to be +-- coincident with the antenna phase center. When there is no inertial +-- navigation, the solution will be reported at the phase center of the +-- antenna. module SwiftNav.SBP.Navigation ( module SwiftNav.SBP.Navigation @@ -216,7 +221,7 @@ , _msgPosEcef_z :: !Double -- ^ ECEF Z coordinate , _msgPosEcef_accuracy :: !Word16 - -- ^ Position accuracy estimate. + -- ^ Position estimated standard deviation , _msgPosEcef_n_sats :: !Word8 -- ^ Number of satellites used in solution , _msgPosEcef_flags :: !Word8 @@ -247,6 +252,80 @@ $(makeJSON "_msgPosEcef_" ''MsgPosEcef) $(makeLenses ''MsgPosEcef) +msgPosEcefCov :: Word16 +msgPosEcefCov = 0x0214 + +-- | SBP class for message MSG_POS_ECEF_COV (0x0214). +-- +-- The position solution message reports absolute Earth Centered Earth Fixed +-- (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of +-- the position solution. The message also reports the upper triangular portion +-- of the 3x3 covariance matrix. If the receiver knows the surveyed position of +-- the base station and has an RTK solution, this reports a pseudo-absolute +-- position solution using the base station position and the rover's RTK +-- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME +-- with the matching time-of-week (tow). +data MsgPosEcefCov = MsgPosEcefCov + { _msgPosEcefCov_tow :: !Word32 + -- ^ GPS Time of Week + , _msgPosEcefCov_x :: !Double + -- ^ ECEF X coordinate + , _msgPosEcefCov_y :: !Double + -- ^ ECEF Y coordinate + , _msgPosEcefCov_z :: !Double + -- ^ ECEF Z coordinate + , _msgPosEcefCov_cov_x_x :: !Float + -- ^ Estimated variance of x + , _msgPosEcefCov_cov_x_y :: !Float + -- ^ Estimated covariance of x and y + , _msgPosEcefCov_cov_x_z :: !Float + -- ^ Estimated covariance of x and z + , _msgPosEcefCov_cov_y_y :: !Float + -- ^ Estimated variance of y + , _msgPosEcefCov_cov_y_z :: !Float + -- ^ Estimated covariance of y and z + , _msgPosEcefCov_cov_z_z :: !Float + -- ^ Estimated variance of z + , _msgPosEcefCov_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgPosEcefCov_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgPosEcefCov where + get = do + _msgPosEcefCov_tow <- getWord32le + _msgPosEcefCov_x <- getFloat64le + _msgPosEcefCov_y <- getFloat64le + _msgPosEcefCov_z <- getFloat64le + _msgPosEcefCov_cov_x_x <- getFloat32le + _msgPosEcefCov_cov_x_y <- getFloat32le + _msgPosEcefCov_cov_x_z <- getFloat32le + _msgPosEcefCov_cov_y_y <- getFloat32le + _msgPosEcefCov_cov_y_z <- getFloat32le + _msgPosEcefCov_cov_z_z <- getFloat32le + _msgPosEcefCov_n_sats <- getWord8 + _msgPosEcefCov_flags <- getWord8 + pure MsgPosEcefCov {..} + + put MsgPosEcefCov {..} = do + putWord32le _msgPosEcefCov_tow + putFloat64le _msgPosEcefCov_x + putFloat64le _msgPosEcefCov_y + putFloat64le _msgPosEcefCov_z + putFloat32le _msgPosEcefCov_cov_x_x + putFloat32le _msgPosEcefCov_cov_x_y + putFloat32le _msgPosEcefCov_cov_x_z + putFloat32le _msgPosEcefCov_cov_y_y + putFloat32le _msgPosEcefCov_cov_y_z + putFloat32le _msgPosEcefCov_cov_z_z + putWord8 _msgPosEcefCov_n_sats + putWord8 _msgPosEcefCov_flags + +$(makeSBP 'msgPosEcefCov ''MsgPosEcefCov) +$(makeJSON "_msgPosEcefCov_" ''MsgPosEcefCov) +$(makeLenses ''MsgPosEcefCov) + msgPosLlh :: Word16 msgPosLlh = 0x020A @@ -269,9 +348,9 @@ , _msgPosLlh_height :: !Double -- ^ Height above WGS84 ellipsoid , _msgPosLlh_h_accuracy :: !Word16 - -- ^ Horizontal position accuracy estimate. + -- ^ Horizontal position estimated standard deviation , _msgPosLlh_v_accuracy :: !Word16 - -- ^ Vertical position accuracy estimate. + -- ^ Vertical position estimated standard deviation , _msgPosLlh_n_sats :: !Word8 -- ^ Number of satellites used in solution. , _msgPosLlh_flags :: !Word8 @@ -304,6 +383,80 @@ $(makeJSON "_msgPosLlh_" ''MsgPosLlh) $(makeLenses ''MsgPosLlh) +msgPosLlhCov :: Word16 +msgPosLlhCov = 0x0211 + +-- | SBP class for message MSG_POS_LLH_COV (0x0211). +-- +-- This position solution message reports the absolute geodetic coordinates and +-- the status (single point vs pseudo-absolute RTK) of the position solution as +-- well as the upper triangle of the 3x3 covariance matrix. The position +-- information and Fix Mode flags should follow the MSG_POS_LLH message. Since +-- the covariance matrix is computed in the local-level North, East, Down +-- frame, the covariance terms follow with that convention. Thus, covariances +-- are reported against the "downward" measurement and care should be taken +-- with the sign convention. +data MsgPosLlhCov = MsgPosLlhCov + { _msgPosLlhCov_tow :: !Word32 + -- ^ GPS Time of Week + , _msgPosLlhCov_lat :: !Double + -- ^ Latitude + , _msgPosLlhCov_lon :: !Double + -- ^ Longitude + , _msgPosLlhCov_height :: !Double + -- ^ Height above WGS84 ellipsoid + , _msgPosLlhCov_cov_n_n :: !Float + -- ^ Estimated variance of northing + , _msgPosLlhCov_cov_n_e :: !Float + -- ^ Covariance of northing and easting + , _msgPosLlhCov_cov_n_d :: !Float + -- ^ Covariance of northing and downward measurement + , _msgPosLlhCov_cov_e_e :: !Float + -- ^ Estimated variance of easting + , _msgPosLlhCov_cov_e_d :: !Float + -- ^ Covariance of easting and downward measurement + , _msgPosLlhCov_cov_d_d :: !Float + -- ^ Estimated variance of downward measurement + , _msgPosLlhCov_n_sats :: !Word8 + -- ^ Number of satellites used in solution. + , _msgPosLlhCov_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgPosLlhCov where + get = do + _msgPosLlhCov_tow <- getWord32le + _msgPosLlhCov_lat <- getFloat64le + _msgPosLlhCov_lon <- getFloat64le + _msgPosLlhCov_height <- getFloat64le + _msgPosLlhCov_cov_n_n <- getFloat32le + _msgPosLlhCov_cov_n_e <- getFloat32le + _msgPosLlhCov_cov_n_d <- getFloat32le + _msgPosLlhCov_cov_e_e <- getFloat32le + _msgPosLlhCov_cov_e_d <- getFloat32le + _msgPosLlhCov_cov_d_d <- getFloat32le + _msgPosLlhCov_n_sats <- getWord8 + _msgPosLlhCov_flags <- getWord8 + pure MsgPosLlhCov {..} + + put MsgPosLlhCov {..} = do + putWord32le _msgPosLlhCov_tow + putFloat64le _msgPosLlhCov_lat + putFloat64le _msgPosLlhCov_lon + putFloat64le _msgPosLlhCov_height + putFloat32le _msgPosLlhCov_cov_n_n + putFloat32le _msgPosLlhCov_cov_n_e + putFloat32le _msgPosLlhCov_cov_n_d + putFloat32le _msgPosLlhCov_cov_e_e + putFloat32le _msgPosLlhCov_cov_e_d + putFloat32le _msgPosLlhCov_cov_d_d + putWord8 _msgPosLlhCov_n_sats + putWord8 _msgPosLlhCov_flags + +$(makeSBP 'msgPosLlhCov ''MsgPosLlhCov) +$(makeJSON "_msgPosLlhCov_" ''MsgPosLlhCov) +$(makeLenses ''MsgPosLlhCov) + msgBaselineEcef :: Word16 msgBaselineEcef = 0x020B @@ -323,7 +476,7 @@ , _msgBaselineEcef_z :: !Int32 -- ^ Baseline ECEF Z coordinate , _msgBaselineEcef_accuracy :: !Word16 - -- ^ Position accuracy estimate + -- ^ Position estimated standard deviation , _msgBaselineEcef_n_sats :: !Word8 -- ^ Number of satellites used in solution , _msgBaselineEcef_flags :: !Word8 @@ -375,9 +528,9 @@ , _msgBaselineNed_d :: !Int32 -- ^ Baseline Down coordinate , _msgBaselineNed_h_accuracy :: !Word16 - -- ^ Horizontal position accuracy estimate + -- ^ Horizontal position estimated standard deviation , _msgBaselineNed_v_accuracy :: !Word16 - -- ^ Vertical position accuracy estimate + -- ^ Vertical position estimated standard deviation , _msgBaselineNed_n_sats :: !Word8 -- ^ Number of satellites used in solution , _msgBaselineNed_flags :: !Word8 @@ -428,7 +581,7 @@ , _msgVelEcef_z :: !Int32 -- ^ Velocity ECEF Z coordinate , _msgVelEcef_accuracy :: !Word16 - -- ^ Velocity accuracy estimate + -- ^ Velocity estimated standard deviation , _msgVelEcef_n_sats :: !Word8 -- ^ Number of satellites used in solution , _msgVelEcef_flags :: !Word8 @@ -459,6 +612,75 @@ $(makeJSON "_msgVelEcef_" ''MsgVelEcef) $(makeLenses ''MsgVelEcef) +msgVelEcefCov :: Word16 +msgVelEcefCov = 0x0215 + +-- | SBP class for message MSG_VEL_ECEF_COV (0x0215). +-- +-- This message reports the velocity in Earth Centered Earth Fixed (ECEF) +-- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with +-- the matching time-of-week (tow). +data MsgVelEcefCov = MsgVelEcefCov + { _msgVelEcefCov_tow :: !Word32 + -- ^ GPS Time of Week + , _msgVelEcefCov_x :: !Int32 + -- ^ Velocity ECEF X coordinate + , _msgVelEcefCov_y :: !Int32 + -- ^ Velocity ECEF Y coordinate + , _msgVelEcefCov_z :: !Int32 + -- ^ Velocity ECEF Z coordinate + , _msgVelEcefCov_cov_x_x :: !Float + -- ^ Estimated variance of x + , _msgVelEcefCov_cov_x_y :: !Float + -- ^ Estimated covariance of x and y + , _msgVelEcefCov_cov_x_z :: !Float + -- ^ Estimated covariance of x and z + , _msgVelEcefCov_cov_y_y :: !Float + -- ^ Estimated variance of y + , _msgVelEcefCov_cov_y_z :: !Float + -- ^ Estimated covariance of y and z + , _msgVelEcefCov_cov_z_z :: !Float + -- ^ Estimated variance of z + , _msgVelEcefCov_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgVelEcefCov_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgVelEcefCov where + get = do + _msgVelEcefCov_tow <- getWord32le + _msgVelEcefCov_x <- fromIntegral <$> getWord32le + _msgVelEcefCov_y <- fromIntegral <$> getWord32le + _msgVelEcefCov_z <- fromIntegral <$> getWord32le + _msgVelEcefCov_cov_x_x <- getFloat32le + _msgVelEcefCov_cov_x_y <- getFloat32le + _msgVelEcefCov_cov_x_z <- getFloat32le + _msgVelEcefCov_cov_y_y <- getFloat32le + _msgVelEcefCov_cov_y_z <- getFloat32le + _msgVelEcefCov_cov_z_z <- getFloat32le + _msgVelEcefCov_n_sats <- getWord8 + _msgVelEcefCov_flags <- getWord8 + pure MsgVelEcefCov {..} + + put MsgVelEcefCov {..} = do + putWord32le _msgVelEcefCov_tow + putWord32le $ fromIntegral _msgVelEcefCov_x + putWord32le $ fromIntegral _msgVelEcefCov_y + putWord32le $ fromIntegral _msgVelEcefCov_z + putFloat32le _msgVelEcefCov_cov_x_x + putFloat32le _msgVelEcefCov_cov_x_y + putFloat32le _msgVelEcefCov_cov_x_z + putFloat32le _msgVelEcefCov_cov_y_y + putFloat32le _msgVelEcefCov_cov_y_z + putFloat32le _msgVelEcefCov_cov_z_z + putWord8 _msgVelEcefCov_n_sats + putWord8 _msgVelEcefCov_flags + +$(makeSBP 'msgVelEcefCov ''MsgVelEcefCov) +$(makeJSON "_msgVelEcefCov_" ''MsgVelEcefCov) +$(makeLenses ''MsgVelEcefCov) + msgVelNed :: Word16 msgVelNed = 0x020E @@ -478,9 +700,9 @@ , _msgVelNed_d :: !Int32 -- ^ Velocity Down coordinate , _msgVelNed_h_accuracy :: !Word16 - -- ^ Horizontal velocity accuracy estimate + -- ^ Horizontal velocity estimated standard deviation , _msgVelNed_v_accuracy :: !Word16 - -- ^ Vertical velocity accuracy estimate + -- ^ Vertical velocity estimated standard deviation , _msgVelNed_n_sats :: !Word8 -- ^ Number of satellites used in solution , _msgVelNed_flags :: !Word8 @@ -513,43 +735,150 @@ $(makeJSON "_msgVelNed_" ''MsgVelNed) $(makeLenses ''MsgVelNed) -msgBaselineHeading :: Word16 -msgBaselineHeading = 0x020F +msgVelNedCov :: Word16 +msgVelNedCov = 0x0212 --- | SBP class for message MSG_BASELINE_HEADING (0x020F). +-- | SBP class for message MSG_VEL_NED_COV (0x0212). -- --- This message reports the baseline heading pointing from the base station to --- the rover relative to True North. The full GPS time is given by the --- preceding MSG_GPS_TIME with the matching time-of-week (tow). It is intended --- that time-matched RTK mode is used when the base station is moving. -data MsgBaselineHeading = MsgBaselineHeading - { _msgBaselineHeading_tow :: !Word32 +-- This message reports the velocity in local North East Down (NED) +-- coordinates. The NED coordinate system is defined as the local WGS84 tangent +-- plane centered at the current position. The full GPS time is given by the +-- preceding MSG_GPS_TIME with the matching time-of-week (tow). This message is +-- similar to the MSG_VEL_NED, but it includes the upper triangular portion of +-- the 3x3 covariance matrix. +data MsgVelNedCov = MsgVelNedCov + { _msgVelNedCov_tow :: !Word32 -- ^ GPS Time of Week - , _msgBaselineHeading_heading :: !Word32 - -- ^ Heading - , _msgBaselineHeading_n_sats :: !Word8 + , _msgVelNedCov_n :: !Int32 + -- ^ Velocity North coordinate + , _msgVelNedCov_e :: !Int32 + -- ^ Velocity East coordinate + , _msgVelNedCov_d :: !Int32 + -- ^ Velocity Down coordinate + , _msgVelNedCov_cov_n_n :: !Float + -- ^ Estimated variance of northward measurement + , _msgVelNedCov_cov_n_e :: !Float + -- ^ Covariance of northward and eastward measurement + , _msgVelNedCov_cov_n_d :: !Float + -- ^ Covariance of northward and downward measurement + , _msgVelNedCov_cov_e_e :: !Float + -- ^ Estimated variance of eastward measurement + , _msgVelNedCov_cov_e_d :: !Float + -- ^ Covariance of eastward and downward measurement + , _msgVelNedCov_cov_d_d :: !Float + -- ^ Estimated variance of downward measurement + , _msgVelNedCov_n_sats :: !Word8 -- ^ Number of satellites used in solution - , _msgBaselineHeading_flags :: !Word8 + , _msgVelNedCov_flags :: !Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) -instance Binary MsgBaselineHeading where +instance Binary MsgVelNedCov where get = do - _msgBaselineHeading_tow <- getWord32le - _msgBaselineHeading_heading <- getWord32le - _msgBaselineHeading_n_sats <- getWord8 - _msgBaselineHeading_flags <- getWord8 - pure MsgBaselineHeading {..} + _msgVelNedCov_tow <- getWord32le + _msgVelNedCov_n <- fromIntegral <$> getWord32le + _msgVelNedCov_e <- fromIntegral <$> getWord32le + _msgVelNedCov_d <- fromIntegral <$> getWord32le + _msgVelNedCov_cov_n_n <- getFloat32le + _msgVelNedCov_cov_n_e <- getFloat32le + _msgVelNedCov_cov_n_d <- getFloat32le + _msgVelNedCov_cov_e_e <- getFloat32le + _msgVelNedCov_cov_e_d <- getFloat32le + _msgVelNedCov_cov_d_d <- getFloat32le + _msgVelNedCov_n_sats <- getWord8 + _msgVelNedCov_flags <- getWord8 + pure MsgVelNedCov {..} - put MsgBaselineHeading {..} = do - putWord32le _msgBaselineHeading_tow - putWord32le _msgBaselineHeading_heading - putWord8 _msgBaselineHeading_n_sats - putWord8 _msgBaselineHeading_flags + put MsgVelNedCov {..} = do + putWord32le _msgVelNedCov_tow + putWord32le $ fromIntegral _msgVelNedCov_n + putWord32le $ fromIntegral _msgVelNedCov_e + putWord32le $ fromIntegral _msgVelNedCov_d + putFloat32le _msgVelNedCov_cov_n_n + putFloat32le _msgVelNedCov_cov_n_e + putFloat32le _msgVelNedCov_cov_n_d + putFloat32le _msgVelNedCov_cov_e_e + putFloat32le _msgVelNedCov_cov_e_d + putFloat32le _msgVelNedCov_cov_d_d + putWord8 _msgVelNedCov_n_sats + putWord8 _msgVelNedCov_flags -$(makeSBP 'msgBaselineHeading ''MsgBaselineHeading) -$(makeJSON "_msgBaselineHeading_" ''MsgBaselineHeading) -$(makeLenses ''MsgBaselineHeading) +$(makeSBP 'msgVelNedCov ''MsgVelNedCov) +$(makeJSON "_msgVelNedCov_" ''MsgVelNedCov) +$(makeLenses ''MsgVelNedCov) + +msgVelBody :: Word16 +msgVelBody = 0x0213 + +-- | SBP class for message MSG_VEL_BODY (0x0213). +-- +-- This message reports the velocity in the Vehicle Body Frame. By convention, +-- the x-axis should point out the nose of the vehicle and represent the +-- forward direction, while as the y-axis should point out the right hand side +-- of the vehicle. Since this is a right handed system, z should point out the +-- bottom of the vehicle. The orientation and origin of the Vehicle Body Frame +-- are specified via the device settings. The full GPS time is given by the +-- preceding MSG_GPS_TIME with the matching time-of-week (tow). +data MsgVelBody = MsgVelBody + { _msgVelBody_tow :: !Word32 + -- ^ GPS Time of Week + , _msgVelBody_x :: !Int32 + -- ^ Velocity in x direction + , _msgVelBody_y :: !Int32 + -- ^ Velocity in y direction + , _msgVelBody_z :: !Int32 + -- ^ Velocity in z direction + , _msgVelBody_cov_x_x :: !Float + -- ^ Estimated variance of x + , _msgVelBody_cov_x_y :: !Float + -- ^ Covariance of x and y + , _msgVelBody_cov_x_z :: !Float + -- ^ Covariance of x and z + , _msgVelBody_cov_y_y :: !Float + -- ^ Estimated variance of y + , _msgVelBody_cov_y_z :: !Float + -- ^ Covariance of y and z + , _msgVelBody_cov_z_z :: !Float + -- ^ Estimated variance of z + , _msgVelBody_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgVelBody_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgVelBody where + get = do + _msgVelBody_tow <- getWord32le + _msgVelBody_x <- fromIntegral <$> getWord32le + _msgVelBody_y <- fromIntegral <$> getWord32le + _msgVelBody_z <- fromIntegral <$> getWord32le + _msgVelBody_cov_x_x <- getFloat32le + _msgVelBody_cov_x_y <- getFloat32le + _msgVelBody_cov_x_z <- getFloat32le + _msgVelBody_cov_y_y <- getFloat32le + _msgVelBody_cov_y_z <- getFloat32le + _msgVelBody_cov_z_z <- getFloat32le + _msgVelBody_n_sats <- getWord8 + _msgVelBody_flags <- getWord8 + pure MsgVelBody {..} + + put MsgVelBody {..} = do + putWord32le _msgVelBody_tow + putWord32le $ fromIntegral _msgVelBody_x + putWord32le $ fromIntegral _msgVelBody_y + putWord32le $ fromIntegral _msgVelBody_z + putFloat32le _msgVelBody_cov_x_x + putFloat32le _msgVelBody_cov_x_y + putFloat32le _msgVelBody_cov_x_z + putFloat32le _msgVelBody_cov_y_y + putFloat32le _msgVelBody_cov_y_z + putFloat32le _msgVelBody_cov_z_z + putWord8 _msgVelBody_n_sats + putWord8 _msgVelBody_flags + +$(makeSBP 'msgVelBody ''MsgVelBody) +$(makeJSON "_msgVelBody_" ''MsgVelBody) +$(makeLenses ''MsgVelBody) msgAgeCorrections :: Word16 msgAgeCorrections = 0x0210 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 @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.Ndb --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- 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 @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.Observation --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- diff --git a/src/SwiftNav/SBP/Orientation.hs b/src/SwiftNav/SBP/Orientation.hs new file mode 100644 --- /dev/null +++ b/src/SwiftNav/SBP/Orientation.hs @@ -0,0 +1,234 @@ +{-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + +-- | +-- Module: SwiftNav.SBP.Orientation +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. +-- License: LGPL-3 +-- Maintainer: Swift Navigation +-- Stability: experimental +-- Portability: portable +-- +-- Orientation Messages + +module SwiftNav.SBP.Orientation + ( module SwiftNav.SBP.Orientation + ) where + +import BasicPrelude +import Control.Lens +import Control.Monad.Loops +import Data.Binary +import Data.Binary.Get +import Data.Binary.IEEE754 +import Data.Binary.Put +import Data.ByteString.Lazy hiding (ByteString) +import Data.Int +import Data.Word +import SwiftNav.SBP.TH + +{-# ANN module ("HLint: ignore Use camelCase"::String) #-} +{-# ANN module ("HLint: ignore Redundant do"::String) #-} +{-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-} + + +msgBaselineHeading :: Word16 +msgBaselineHeading = 0x020F + +-- | SBP class for message MSG_BASELINE_HEADING (0x020F). +-- +-- This message reports the baseline heading pointing from the base station to +-- the rover relative to True North. The full GPS time is given by the +-- preceding MSG_GPS_TIME with the matching time-of-week (tow). It is intended +-- that time-matched RTK mode is used when the base station is moving. +data MsgBaselineHeading = MsgBaselineHeading + { _msgBaselineHeading_tow :: !Word32 + -- ^ GPS Time of Week + , _msgBaselineHeading_heading :: !Word32 + -- ^ Heading + , _msgBaselineHeading_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgBaselineHeading_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgBaselineHeading where + get = do + _msgBaselineHeading_tow <- getWord32le + _msgBaselineHeading_heading <- getWord32le + _msgBaselineHeading_n_sats <- getWord8 + _msgBaselineHeading_flags <- getWord8 + pure MsgBaselineHeading {..} + + put MsgBaselineHeading {..} = do + putWord32le _msgBaselineHeading_tow + putWord32le _msgBaselineHeading_heading + putWord8 _msgBaselineHeading_n_sats + putWord8 _msgBaselineHeading_flags + +$(makeSBP 'msgBaselineHeading ''MsgBaselineHeading) +$(makeJSON "_msgBaselineHeading_" ''MsgBaselineHeading) +$(makeLenses ''MsgBaselineHeading) + +msgOrientQuat :: Word16 +msgOrientQuat = 0x0220 + +-- | SBP class for message MSG_ORIENT_QUAT (0x0220). +-- +-- This message reports the quaternion vector describing the vehicle body +-- frame's orientation with respect to a local-level NED frame. The components +-- 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 + -- ^ GPS Time of Week + , _msgOrientQuat_w :: !Int32 + -- ^ Real component + , _msgOrientQuat_x :: !Int32 + -- ^ 1st imaginary component + , _msgOrientQuat_y :: !Int32 + -- ^ 2nd imaginary component + , _msgOrientQuat_z :: !Int32 + -- ^ 3rd imaginary component + , _msgOrientQuat_acc_w :: !Float + -- ^ Estimated standard deviation of w + , _msgOrientQuat_acc_x :: !Float + -- ^ Estimated standard deviation of x + , _msgOrientQuat_acc_y :: !Float + -- ^ Estimated standard deviation of y + , _msgOrientQuat_acc_z :: !Float + -- ^ Estimated standard deviation of z + , _msgOrientQuat_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgOrientQuat where + get = do + _msgOrientQuat_tow <- getWord32le + _msgOrientQuat_w <- fromIntegral <$> getWord32le + _msgOrientQuat_x <- fromIntegral <$> 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_flags <- getWord8 + pure MsgOrientQuat {..} + + put MsgOrientQuat {..} = do + putWord32le _msgOrientQuat_tow + putWord32le $ fromIntegral _msgOrientQuat_w + 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 + putWord8 _msgOrientQuat_flags + +$(makeSBP 'msgOrientQuat ''MsgOrientQuat) +$(makeJSON "_msgOrientQuat_" ''MsgOrientQuat) +$(makeLenses ''MsgOrientQuat) + +msgOrientEuler :: Word16 +msgOrientEuler = 0x0221 + +-- | SBP class for message MSG_ORIENT_EULER (0x0221). +-- +-- This message reports the yaw, pitch, and roll angles of the vehicle body +-- frame. The rotations should applied intrinsically in the order yaw, pitch, +-- and roll in order to rotate the from a frame aligned with the local-level +-- NED frame to the vehicle body frame. +data MsgOrientEuler = MsgOrientEuler + { _msgOrientEuler_tow :: !Word32 + -- ^ GPS Time of Week + , _msgOrientEuler_roll :: !Int32 + -- ^ rotation about the forward axis of the vehicle + , _msgOrientEuler_pitch :: !Int32 + -- ^ rotation about the rightward axis of the vehicle + , _msgOrientEuler_yaw :: !Int32 + -- ^ rotation about the downward axis of the vehicle + , _msgOrientEuler_var_roll :: !Float + -- ^ Estimated standard deviation of roll + , _msgOrientEuler_var_pitch :: !Float + -- ^ Estimated standard deviation of pitch + , _msgOrientEuler_var_yaw :: !Float + -- ^ Estimated standard deviation of yaw + , _msgOrientEuler_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgOrientEuler where + get = do + _msgOrientEuler_tow <- getWord32le + _msgOrientEuler_roll <- fromIntegral <$> getWord32le + _msgOrientEuler_pitch <- fromIntegral <$> getWord32le + _msgOrientEuler_yaw <- fromIntegral <$> getWord32le + _msgOrientEuler_var_roll <- getFloat32le + _msgOrientEuler_var_pitch <- getFloat32le + _msgOrientEuler_var_yaw <- getFloat32le + _msgOrientEuler_flags <- getWord8 + pure MsgOrientEuler {..} + + put MsgOrientEuler {..} = do + putWord32le _msgOrientEuler_tow + putWord32le $ fromIntegral _msgOrientEuler_roll + putWord32le $ fromIntegral _msgOrientEuler_pitch + putWord32le $ fromIntegral _msgOrientEuler_yaw + putFloat32le _msgOrientEuler_var_roll + putFloat32le _msgOrientEuler_var_pitch + putFloat32le _msgOrientEuler_var_yaw + putWord8 _msgOrientEuler_flags + +$(makeSBP 'msgOrientEuler ''MsgOrientEuler) +$(makeJSON "_msgOrientEuler_" ''MsgOrientEuler) +$(makeLenses ''MsgOrientEuler) + +msgAngularRate :: Word16 +msgAngularRate = 0x0222 + +-- | SBP class for message MSG_ANGULAR_RATE (0x0222). +-- +-- This message reports the orientation rates in the vehicle body frame. The +-- values represent the measurements a strapped down gyroscope would make and +-- are not equivalent to the time derivative of the Euler angles. The +-- orientation and origin of the user frame is specified via device settings. +-- By convention, the vehicle x-axis is expected to be aligned with the forward +-- direction, while the vehicle y-axis is expected to be aligned with the right +-- direction, and the vehicle z-axis should be aligned with the down direction. +data MsgAngularRate = MsgAngularRate + { _msgAngularRate_tow :: !Word32 + -- ^ GPS Time of Week + , _msgAngularRate_x :: !Int32 + -- ^ angular rate about x axis + , _msgAngularRate_y :: !Int32 + -- ^ angular rate about y axis + , _msgAngularRate_z :: !Int32 + -- ^ angular rate about z axis + , _msgAngularRate_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgAngularRate where + get = do + _msgAngularRate_tow <- getWord32le + _msgAngularRate_x <- fromIntegral <$> getWord32le + _msgAngularRate_y <- fromIntegral <$> getWord32le + _msgAngularRate_z <- fromIntegral <$> getWord32le + _msgAngularRate_flags <- getWord8 + pure MsgAngularRate {..} + + put MsgAngularRate {..} = do + putWord32le _msgAngularRate_tow + putWord32le $ fromIntegral _msgAngularRate_x + putWord32le $ fromIntegral _msgAngularRate_y + putWord32le $ fromIntegral _msgAngularRate_z + putWord8 _msgAngularRate_flags + +$(makeSBP 'msgAngularRate ''MsgAngularRate) +$(makeJSON "_msgAngularRate_" ''MsgAngularRate) +$(makeLenses ''MsgAngularRate) 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 @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.Piksi --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- diff --git a/src/SwiftNav/SBP/Sbas.hs b/src/SwiftNav/SBP/Sbas.hs new file mode 100644 --- /dev/null +++ b/src/SwiftNav/SBP/Sbas.hs @@ -0,0 +1,72 @@ +{-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + +-- | +-- Module: SwiftNav.SBP.Sbas +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. +-- License: LGPL-3 +-- Maintainer: Swift Navigation +-- Stability: experimental +-- Portability: portable +-- +-- SBAS data + +module SwiftNav.SBP.Sbas + ( module SwiftNav.SBP.Sbas + ) where + +import BasicPrelude +import Control.Lens +import Control.Monad.Loops +import Data.Binary +import Data.Binary.Get +import Data.Binary.IEEE754 +import Data.Binary.Put +import Data.ByteString.Lazy hiding (ByteString) +import Data.Int +import Data.Word +import SwiftNav.SBP.TH +import SwiftNav.SBP.Gnss + +{-# ANN module ("HLint: ignore Use camelCase"::String) #-} +{-# ANN module ("HLint: ignore Redundant do"::String) #-} +{-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-} + + +msgSbasRaw :: Word16 +msgSbasRaw = 0x7777 + +-- | SBP class for message MSG_SBAS_RAW (0x7777). +-- +-- This message is sent once per second per SBAS satellite. ME checks the +-- parity of the data block and sends only blocks that pass the check. +data MsgSbasRaw = MsgSbasRaw + { _msgSbasRaw_sid :: !GnssSignal + -- ^ GNSS signal identifier. + , _msgSbasRaw_tow :: !Word32 + -- ^ GPS time-of-week at the start of the data block. + , _msgSbasRaw_message_type :: !Word8 + -- ^ SBAS message type (0-63) + , _msgSbasRaw_data :: ![Word8] + -- ^ Raw SBAS data field of 212 bits (last byte padded with zeros). + } deriving ( Show, Read, Eq ) + +instance Binary MsgSbasRaw where + get = do + _msgSbasRaw_sid <- get + _msgSbasRaw_tow <- getWord32le + _msgSbasRaw_message_type <- getWord8 + _msgSbasRaw_data <- replicateM 27 getWord8 + pure MsgSbasRaw {..} + + put MsgSbasRaw {..} = do + put _msgSbasRaw_sid + putWord32le _msgSbasRaw_tow + putWord8 _msgSbasRaw_message_type + mapM_ putWord8 _msgSbasRaw_data + +$(makeSBP 'msgSbasRaw ''MsgSbasRaw) +$(makeJSON "_msgSbasRaw_" ''MsgSbasRaw) +$(makeLenses ''MsgSbasRaw) diff --git a/src/SwiftNav/SBP/Settings.hs b/src/SwiftNav/SBP/Settings.hs --- a/src/SwiftNav/SBP/Settings.hs +++ b/src/SwiftNav/SBP/Settings.hs @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.Settings --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- diff --git a/src/SwiftNav/SBP/Ssr.hs b/src/SwiftNav/SBP/Ssr.hs new file mode 100644 --- /dev/null +++ b/src/SwiftNav/SBP/Ssr.hs @@ -0,0 +1,278 @@ +{-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + +-- | +-- Module: SwiftNav.SBP.Ssr +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. +-- License: LGPL-3 +-- Maintainer: Swift Navigation +-- Stability: experimental +-- Portability: portable +-- +-- Precise State Space Representation (SSR) corrections format + +module SwiftNav.SBP.Ssr + ( module SwiftNav.SBP.Ssr + ) where + +import BasicPrelude +import Control.Lens +import Control.Monad.Loops +import Data.Binary +import Data.Binary.Get +import Data.Binary.IEEE754 +import Data.Binary.Put +import Data.ByteString.Lazy hiding (ByteString) +import Data.Int +import Data.Word +import SwiftNav.SBP.TH +import SwiftNav.SBP.Types +import SwiftNav.SBP.Gnss + +{-# ANN module ("HLint: ignore Use camelCase"::String) #-} +{-# ANN module ("HLint: ignore Redundant do"::String) #-} +{-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-} + + +-- | CodeBiasesContent. +-- +-- Code biases are to be added to pseudorange. The corrections are conform with +-- typical RTCMv3 MT1059 and 1065. +data CodeBiasesContent = CodeBiasesContent + { _codeBiasesContent_code :: !Word8 + -- ^ Signal constellation, band and code + , _codeBiasesContent_value :: !Int16 + -- ^ Code bias value + } deriving ( Show, Read, Eq ) + +instance Binary CodeBiasesContent where + get = do + _codeBiasesContent_code <- getWord8 + _codeBiasesContent_value <- fromIntegral <$> getWord16le + pure CodeBiasesContent {..} + + put CodeBiasesContent {..} = do + putWord8 _codeBiasesContent_code + putWord16le $ fromIntegral _codeBiasesContent_value + +$(makeJSON "_codeBiasesContent_" ''CodeBiasesContent) +$(makeLenses ''CodeBiasesContent) + +-- | PhaseBiasesContent. +-- +-- Phase biases are to be added to carrier phase measurements. The corrections +-- are conform with typical RTCMv3 MT1059 and 1065. +data PhaseBiasesContent = PhaseBiasesContent + { _phaseBiasesContent_code :: !Word8 + -- ^ Signal constellation, band and code + , _phaseBiasesContent_integer_indicator :: !Word8 + -- ^ Indicator for integer property + , _phaseBiasesContent_widelane_integer_indicator :: !Word8 + -- ^ Indicator for two groups of Wide-Lane(s) integer property + , _phaseBiasesContent_discontinuity_counter :: !Word8 + -- ^ Signal phase discontinuity counter. Increased for every discontinuity + -- in phase. + , _phaseBiasesContent_bias :: !Int32 + -- ^ Phase bias for specified signal + } deriving ( Show, Read, Eq ) + +instance Binary PhaseBiasesContent where + get = do + _phaseBiasesContent_code <- getWord8 + _phaseBiasesContent_integer_indicator <- getWord8 + _phaseBiasesContent_widelane_integer_indicator <- getWord8 + _phaseBiasesContent_discontinuity_counter <- getWord8 + _phaseBiasesContent_bias <- fromIntegral <$> getWord32le + pure PhaseBiasesContent {..} + + put PhaseBiasesContent {..} = do + putWord8 _phaseBiasesContent_code + putWord8 _phaseBiasesContent_integer_indicator + putWord8 _phaseBiasesContent_widelane_integer_indicator + putWord8 _phaseBiasesContent_discontinuity_counter + putWord32le $ fromIntegral _phaseBiasesContent_bias + +$(makeJSON "_phaseBiasesContent_" ''PhaseBiasesContent) +$(makeLenses ''PhaseBiasesContent) + +msgSsrOrbitClock :: Word16 +msgSsrOrbitClock = 0x05DC + +-- | SBP class for message MSG_SSR_ORBIT_CLOCK (0x05DC). +-- +-- The precise orbit and clock correction message is to be applied as a delta +-- correction to broadcast ephemeris and is typically an equivalent to the +-- 1060 and 1066 RTCM message types +data MsgSsrOrbitClock = MsgSsrOrbitClock + { _msgSsrOrbitClock_time :: !GpsTimeSec + -- ^ GNSS reference time of the correction + , _msgSsrOrbitClock_sid :: !GnssSignal + -- ^ GNSS signal identifier (16 bit) + , _msgSsrOrbitClock_update_interval :: !Word8 + -- ^ Update interval between consecutive corrections + , _msgSsrOrbitClock_iod_ssr :: !Word8 + -- ^ IOD of the SSR correction. A change of Issue Of Data SSR is used to + -- indicate a change in the SSR generating configuration + , _msgSsrOrbitClock_iod :: !Word8 + -- ^ Issue of broadcast ephemeris data + , _msgSsrOrbitClock_radial :: !Int32 + -- ^ Orbit radial delta correction + , _msgSsrOrbitClock_along :: !Int32 + -- ^ Orbit along delta correction + , _msgSsrOrbitClock_cross :: !Int32 + -- ^ Orbit along delta correction + , _msgSsrOrbitClock_dot_radial :: !Int32 + -- ^ Velocity of orbit radial delta correction + , _msgSsrOrbitClock_dot_along :: !Int32 + -- ^ Velocity of orbit along delta correction + , _msgSsrOrbitClock_dot_cross :: !Int32 + -- ^ Velocity of orbit cross delta correction + , _msgSsrOrbitClock_c0 :: !Int32 + -- ^ C0 polynomial coefficient for correction of broadcast satellite clock + , _msgSsrOrbitClock_c1 :: !Int32 + -- ^ C1 polynomial coefficient for correction of broadcast satellite clock + , _msgSsrOrbitClock_c2 :: !Int32 + -- ^ C2 polynomial coefficient for correction of broadcast satellite clock + } deriving ( Show, Read, Eq ) + +instance Binary MsgSsrOrbitClock where + get = do + _msgSsrOrbitClock_time <- get + _msgSsrOrbitClock_sid <- get + _msgSsrOrbitClock_update_interval <- getWord8 + _msgSsrOrbitClock_iod_ssr <- getWord8 + _msgSsrOrbitClock_iod <- getWord8 + _msgSsrOrbitClock_radial <- fromIntegral <$> getWord32le + _msgSsrOrbitClock_along <- fromIntegral <$> getWord32le + _msgSsrOrbitClock_cross <- fromIntegral <$> getWord32le + _msgSsrOrbitClock_dot_radial <- fromIntegral <$> getWord32le + _msgSsrOrbitClock_dot_along <- fromIntegral <$> getWord32le + _msgSsrOrbitClock_dot_cross <- fromIntegral <$> getWord32le + _msgSsrOrbitClock_c0 <- fromIntegral <$> getWord32le + _msgSsrOrbitClock_c1 <- fromIntegral <$> getWord32le + _msgSsrOrbitClock_c2 <- fromIntegral <$> getWord32le + pure MsgSsrOrbitClock {..} + + put MsgSsrOrbitClock {..} = do + put _msgSsrOrbitClock_time + put _msgSsrOrbitClock_sid + putWord8 _msgSsrOrbitClock_update_interval + putWord8 _msgSsrOrbitClock_iod_ssr + putWord8 _msgSsrOrbitClock_iod + putWord32le $ fromIntegral _msgSsrOrbitClock_radial + putWord32le $ fromIntegral _msgSsrOrbitClock_along + putWord32le $ fromIntegral _msgSsrOrbitClock_cross + putWord32le $ fromIntegral _msgSsrOrbitClock_dot_radial + putWord32le $ fromIntegral _msgSsrOrbitClock_dot_along + putWord32le $ fromIntegral _msgSsrOrbitClock_dot_cross + putWord32le $ fromIntegral _msgSsrOrbitClock_c0 + putWord32le $ fromIntegral _msgSsrOrbitClock_c1 + putWord32le $ fromIntegral _msgSsrOrbitClock_c2 + +$(makeSBP 'msgSsrOrbitClock ''MsgSsrOrbitClock) +$(makeJSON "_msgSsrOrbitClock_" ''MsgSsrOrbitClock) +$(makeLenses ''MsgSsrOrbitClock) + +msgSsrCodeBiases :: Word16 +msgSsrCodeBiases = 0x05E1 + +-- | SBP class for message MSG_SSR_CODE_BIASES (0x05E1). +-- +-- The precise code biases message is to be added to the pseudorange of the +-- corresponding signal to get corrected pseudorange. It is typically an +-- equivalent to the 1059 and 1065 RTCM message types +data MsgSsrCodeBiases = MsgSsrCodeBiases + { _msgSsrCodeBiases_time :: !GpsTimeSec + -- ^ GNSS reference time of the correction + , _msgSsrCodeBiases_sid :: !GnssSignal + -- ^ GNSS signal identifier (16 bit) + , _msgSsrCodeBiases_update_interval :: !Word8 + -- ^ Update interval between consecutive corrections + , _msgSsrCodeBiases_iod_ssr :: !Word8 + -- ^ IOD of the SSR correction. A change of Issue Of Data SSR is used to + -- indicate a change in the SSR generating configuration + , _msgSsrCodeBiases_biases :: ![CodeBiasesContent] + -- ^ Code biases for the different satellite signals + } deriving ( Show, Read, Eq ) + +instance Binary MsgSsrCodeBiases where + get = do + _msgSsrCodeBiases_time <- get + _msgSsrCodeBiases_sid <- get + _msgSsrCodeBiases_update_interval <- getWord8 + _msgSsrCodeBiases_iod_ssr <- getWord8 + _msgSsrCodeBiases_biases <- replicateM 8 get + pure MsgSsrCodeBiases {..} + + put MsgSsrCodeBiases {..} = do + put _msgSsrCodeBiases_time + put _msgSsrCodeBiases_sid + putWord8 _msgSsrCodeBiases_update_interval + putWord8 _msgSsrCodeBiases_iod_ssr + mapM_ put _msgSsrCodeBiases_biases + +$(makeSBP 'msgSsrCodeBiases ''MsgSsrCodeBiases) +$(makeJSON "_msgSsrCodeBiases_" ''MsgSsrCodeBiases) +$(makeLenses ''MsgSsrCodeBiases) + +msgSsrPhaseBiases :: Word16 +msgSsrPhaseBiases = 0x05E6 + +-- | SBP class for message MSG_SSR_PHASE_BIASES (0x05E6). +-- +-- The precise phase biases message contains the biases to be added to the +-- carrier phase of the corresponding signal to get corrected carrier phase +-- measurement, as well as the satellite yaw angle to be applied to compute +-- the phase wind-up correction. It is typically an equivalent to the 1265 +-- RTCM message types +data MsgSsrPhaseBiases = MsgSsrPhaseBiases + { _msgSsrPhaseBiases_time :: !GpsTimeSec + -- ^ GNSS reference time of the correction + , _msgSsrPhaseBiases_sid :: !GnssSignal + -- ^ GNSS signal identifier (16 bit) + , _msgSsrPhaseBiases_update_interval :: !Word8 + -- ^ Update interval between consecutive corrections + , _msgSsrPhaseBiases_iod_ssr :: !Word8 + -- ^ IOD of the SSR correction. A change of Issue Of Data SSR is used to + -- indicate a change in the SSR generating configuration + , _msgSsrPhaseBiases_dispersive_bias :: !Word8 + -- ^ Indicator for the dispersive phase biases property. + , _msgSsrPhaseBiases_mw_consistency :: !Word8 + -- ^ Consistency indicator for Melbourne-Wubbena linear combinations + , _msgSsrPhaseBiases_yaw :: !Word16 + -- ^ Satellite yaw angle + , _msgSsrPhaseBiases_yaw_rate :: !Int16 + -- ^ Satellite yaw angle rate + , _msgSsrPhaseBiases_biases :: ![PhaseBiasesContent] + -- ^ Phase biases corrections for a satellite being tracked. + } deriving ( Show, Read, Eq ) + +instance Binary MsgSsrPhaseBiases where + get = do + _msgSsrPhaseBiases_time <- get + _msgSsrPhaseBiases_sid <- get + _msgSsrPhaseBiases_update_interval <- getWord8 + _msgSsrPhaseBiases_iod_ssr <- getWord8 + _msgSsrPhaseBiases_dispersive_bias <- getWord8 + _msgSsrPhaseBiases_mw_consistency <- getWord8 + _msgSsrPhaseBiases_yaw <- getWord16le + _msgSsrPhaseBiases_yaw_rate <- fromIntegral <$> getWord16le + _msgSsrPhaseBiases_biases <- replicateM 8 get + pure MsgSsrPhaseBiases {..} + + put MsgSsrPhaseBiases {..} = do + put _msgSsrPhaseBiases_time + put _msgSsrPhaseBiases_sid + putWord8 _msgSsrPhaseBiases_update_interval + putWord8 _msgSsrPhaseBiases_iod_ssr + putWord8 _msgSsrPhaseBiases_dispersive_bias + putWord8 _msgSsrPhaseBiases_mw_consistency + putWord16le _msgSsrPhaseBiases_yaw + putWord16le $ fromIntegral _msgSsrPhaseBiases_yaw_rate + mapM_ put _msgSsrPhaseBiases_biases + +$(makeSBP 'msgSsrPhaseBiases ''MsgSsrPhaseBiases) +$(makeJSON "_msgSsrPhaseBiases_" ''MsgSsrPhaseBiases) +$(makeLenses ''MsgSsrPhaseBiases) diff --git a/src/SwiftNav/SBP/System.hs b/src/SwiftNav/SBP/System.hs --- a/src/SwiftNav/SBP/System.hs +++ b/src/SwiftNav/SBP/System.hs @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.System --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- @@ -133,3 +133,27 @@ $(makeSBP 'msgHeartbeat ''MsgHeartbeat) $(makeJSON "_msgHeartbeat_" ''MsgHeartbeat) $(makeLenses ''MsgHeartbeat) + +msgInsStatus :: Word16 +msgInsStatus = 0xFF03 + +-- | SBP class for message MSG_INS_STATUS (0xFF03). +-- +-- The INS status message describes the state of the operation and +-- initialization of the inertial navigation system. +data MsgInsStatus = MsgInsStatus + { _msgInsStatus_flags :: !Word32 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgInsStatus where + get = do + _msgInsStatus_flags <- getWord32le + pure MsgInsStatus {..} + + put MsgInsStatus {..} = do + putWord32le _msgInsStatus_flags + +$(makeSBP 'msgInsStatus ''MsgInsStatus) +$(makeJSON "_msgInsStatus_" ''MsgInsStatus) +$(makeLenses ''MsgInsStatus) 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 @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.Tracking --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- @@ -36,115 +36,115 @@ {-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-} -msgTrackingStateDetailed :: Word16 -msgTrackingStateDetailed = 0x0021 +msgTrackingStateDetailedDepA :: Word16 +msgTrackingStateDetailedDepA = 0x0021 --- | SBP class for message MSG_TRACKING_STATE_DETAILED (0x0021). +-- | SBP class for message MSG_TRACKING_STATE_DETAILED_DEP_A (0x0021). -- -- The tracking message returns a set tracking channel parameters for a single -- tracking channel useful for debugging issues. -data MsgTrackingStateDetailed = MsgTrackingStateDetailed - { _msgTrackingStateDetailed_recv_time :: !Word64 +data MsgTrackingStateDetailedDepA = MsgTrackingStateDetailedDepA + { _msgTrackingStateDetailedDepA_recv_time :: !Word64 -- ^ Receiver clock time. - , _msgTrackingStateDetailed_tot :: !GpsTime + , _msgTrackingStateDetailedDepA_tot :: !GpsTime -- ^ 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. - , _msgTrackingStateDetailed_P :: !Word32 + , _msgTrackingStateDetailedDepA_P :: !Word32 -- ^ Pseudorange observation. Valid only when pseudorange valid flag is set. - , _msgTrackingStateDetailed_P_std :: !Word16 + , _msgTrackingStateDetailedDepA_P_std :: !Word16 -- ^ Pseudorange observation standard deviation. Valid only when pseudorange -- valid flag is set. - , _msgTrackingStateDetailed_L :: !CarrierPhase + , _msgTrackingStateDetailedDepA_L :: !CarrierPhase -- ^ Carrier phase observation with typical sign convention. Valid only when -- PLL pessimistic lock is achieved. - , _msgTrackingStateDetailed_cn0 :: !Word8 + , _msgTrackingStateDetailedDepA_cn0 :: !Word8 -- ^ Carrier-to-Noise density - , _msgTrackingStateDetailed_lock :: !Word16 + , _msgTrackingStateDetailedDepA_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. - , _msgTrackingStateDetailed_sid :: !GnssSignal + , _msgTrackingStateDetailedDepA_sid :: !GnssSignal -- ^ GNSS signal identifier. - , _msgTrackingStateDetailed_doppler :: !Int32 + , _msgTrackingStateDetailedDepA_doppler :: !Int32 -- ^ Carrier Doppler frequency. - , _msgTrackingStateDetailed_doppler_std :: !Word16 + , _msgTrackingStateDetailedDepA_doppler_std :: !Word16 -- ^ Carrier Doppler frequency standard deviation. - , _msgTrackingStateDetailed_uptime :: !Word32 + , _msgTrackingStateDetailedDepA_uptime :: !Word32 -- ^ Number of seconds of continuous tracking. Specifies how much time signal -- is in continuous track. - , _msgTrackingStateDetailed_clock_offset :: !Int16 + , _msgTrackingStateDetailedDepA_clock_offset :: !Int16 -- ^ TCXO clock offset. Valid only when valid clock valid flag is set. - , _msgTrackingStateDetailed_clock_drift :: !Int16 + , _msgTrackingStateDetailedDepA_clock_drift :: !Int16 -- ^ TCXO clock drift. Valid only when valid clock valid flag is set. - , _msgTrackingStateDetailed_corr_spacing :: !Word16 + , _msgTrackingStateDetailedDepA_corr_spacing :: !Word16 -- ^ Early-Prompt (EP) and Prompt-Late (PL) correlators spacing. - , _msgTrackingStateDetailed_acceleration :: !Int8 + , _msgTrackingStateDetailedDepA_acceleration :: !Int8 -- ^ Acceleration. Valid only when acceleration valid flag is set. - , _msgTrackingStateDetailed_sync_flags :: !Word8 + , _msgTrackingStateDetailedDepA_sync_flags :: !Word8 -- ^ Synchronization status flags. - , _msgTrackingStateDetailed_tow_flags :: !Word8 + , _msgTrackingStateDetailedDepA_tow_flags :: !Word8 -- ^ TOW status flags. - , _msgTrackingStateDetailed_track_flags :: !Word8 + , _msgTrackingStateDetailedDepA_track_flags :: !Word8 -- ^ Tracking loop status flags. - , _msgTrackingStateDetailed_nav_flags :: !Word8 + , _msgTrackingStateDetailedDepA_nav_flags :: !Word8 -- ^ Navigation data status flags. - , _msgTrackingStateDetailed_pset_flags :: !Word8 + , _msgTrackingStateDetailedDepA_pset_flags :: !Word8 -- ^ Parameters sets flags. - , _msgTrackingStateDetailed_misc_flags :: !Word8 + , _msgTrackingStateDetailedDepA_misc_flags :: !Word8 -- ^ Miscellaneous flags. } deriving ( Show, Read, Eq ) -instance Binary MsgTrackingStateDetailed where +instance Binary MsgTrackingStateDetailedDepA where get = do - _msgTrackingStateDetailed_recv_time <- getWord64le - _msgTrackingStateDetailed_tot <- get - _msgTrackingStateDetailed_P <- getWord32le - _msgTrackingStateDetailed_P_std <- getWord16le - _msgTrackingStateDetailed_L <- get - _msgTrackingStateDetailed_cn0 <- getWord8 - _msgTrackingStateDetailed_lock <- getWord16le - _msgTrackingStateDetailed_sid <- get - _msgTrackingStateDetailed_doppler <- fromIntegral <$> getWord32le - _msgTrackingStateDetailed_doppler_std <- getWord16le - _msgTrackingStateDetailed_uptime <- getWord32le - _msgTrackingStateDetailed_clock_offset <- fromIntegral <$> getWord16le - _msgTrackingStateDetailed_clock_drift <- fromIntegral <$> getWord16le - _msgTrackingStateDetailed_corr_spacing <- getWord16le - _msgTrackingStateDetailed_acceleration <- fromIntegral <$> getWord8 - _msgTrackingStateDetailed_sync_flags <- getWord8 - _msgTrackingStateDetailed_tow_flags <- getWord8 - _msgTrackingStateDetailed_track_flags <- getWord8 - _msgTrackingStateDetailed_nav_flags <- getWord8 - _msgTrackingStateDetailed_pset_flags <- getWord8 - _msgTrackingStateDetailed_misc_flags <- getWord8 - pure MsgTrackingStateDetailed {..} + _msgTrackingStateDetailedDepA_recv_time <- getWord64le + _msgTrackingStateDetailedDepA_tot <- get + _msgTrackingStateDetailedDepA_P <- getWord32le + _msgTrackingStateDetailedDepA_P_std <- getWord16le + _msgTrackingStateDetailedDepA_L <- get + _msgTrackingStateDetailedDepA_cn0 <- getWord8 + _msgTrackingStateDetailedDepA_lock <- getWord16le + _msgTrackingStateDetailedDepA_sid <- get + _msgTrackingStateDetailedDepA_doppler <- fromIntegral <$> getWord32le + _msgTrackingStateDetailedDepA_doppler_std <- getWord16le + _msgTrackingStateDetailedDepA_uptime <- getWord32le + _msgTrackingStateDetailedDepA_clock_offset <- fromIntegral <$> getWord16le + _msgTrackingStateDetailedDepA_clock_drift <- fromIntegral <$> getWord16le + _msgTrackingStateDetailedDepA_corr_spacing <- getWord16le + _msgTrackingStateDetailedDepA_acceleration <- fromIntegral <$> getWord8 + _msgTrackingStateDetailedDepA_sync_flags <- getWord8 + _msgTrackingStateDetailedDepA_tow_flags <- getWord8 + _msgTrackingStateDetailedDepA_track_flags <- getWord8 + _msgTrackingStateDetailedDepA_nav_flags <- getWord8 + _msgTrackingStateDetailedDepA_pset_flags <- getWord8 + _msgTrackingStateDetailedDepA_misc_flags <- getWord8 + pure MsgTrackingStateDetailedDepA {..} - put MsgTrackingStateDetailed {..} = do - putWord64le _msgTrackingStateDetailed_recv_time - put _msgTrackingStateDetailed_tot - putWord32le _msgTrackingStateDetailed_P - putWord16le _msgTrackingStateDetailed_P_std - put _msgTrackingStateDetailed_L - putWord8 _msgTrackingStateDetailed_cn0 - putWord16le _msgTrackingStateDetailed_lock - put _msgTrackingStateDetailed_sid - putWord32le $ fromIntegral _msgTrackingStateDetailed_doppler - putWord16le _msgTrackingStateDetailed_doppler_std - putWord32le _msgTrackingStateDetailed_uptime - putWord16le $ fromIntegral _msgTrackingStateDetailed_clock_offset - putWord16le $ fromIntegral _msgTrackingStateDetailed_clock_drift - putWord16le _msgTrackingStateDetailed_corr_spacing - putWord8 $ fromIntegral _msgTrackingStateDetailed_acceleration - putWord8 _msgTrackingStateDetailed_sync_flags - putWord8 _msgTrackingStateDetailed_tow_flags - putWord8 _msgTrackingStateDetailed_track_flags - putWord8 _msgTrackingStateDetailed_nav_flags - putWord8 _msgTrackingStateDetailed_pset_flags - putWord8 _msgTrackingStateDetailed_misc_flags + put MsgTrackingStateDetailedDepA {..} = do + putWord64le _msgTrackingStateDetailedDepA_recv_time + put _msgTrackingStateDetailedDepA_tot + putWord32le _msgTrackingStateDetailedDepA_P + putWord16le _msgTrackingStateDetailedDepA_P_std + put _msgTrackingStateDetailedDepA_L + putWord8 _msgTrackingStateDetailedDepA_cn0 + putWord16le _msgTrackingStateDetailedDepA_lock + put _msgTrackingStateDetailedDepA_sid + putWord32le $ fromIntegral _msgTrackingStateDetailedDepA_doppler + putWord16le _msgTrackingStateDetailedDepA_doppler_std + putWord32le _msgTrackingStateDetailedDepA_uptime + putWord16le $ fromIntegral _msgTrackingStateDetailedDepA_clock_offset + putWord16le $ fromIntegral _msgTrackingStateDetailedDepA_clock_drift + putWord16le _msgTrackingStateDetailedDepA_corr_spacing + putWord8 $ fromIntegral _msgTrackingStateDetailedDepA_acceleration + putWord8 _msgTrackingStateDetailedDepA_sync_flags + putWord8 _msgTrackingStateDetailedDepA_tow_flags + putWord8 _msgTrackingStateDetailedDepA_track_flags + putWord8 _msgTrackingStateDetailedDepA_nav_flags + putWord8 _msgTrackingStateDetailedDepA_pset_flags + putWord8 _msgTrackingStateDetailedDepA_misc_flags -$(makeSBP 'msgTrackingStateDetailed ''MsgTrackingStateDetailed) -$(makeJSON "_msgTrackingStateDetailed_" ''MsgTrackingStateDetailed) -$(makeLenses ''MsgTrackingStateDetailed) +$(makeSBP 'msgTrackingStateDetailedDepA ''MsgTrackingStateDetailedDepA) +$(makeJSON "_msgTrackingStateDetailedDepA_" ''MsgTrackingStateDetailedDepA) +$(makeLenses ''MsgTrackingStateDetailedDepA) msgTrackingStateDetailedDep :: Word16 msgTrackingStateDetailedDep = 0x0011 diff --git a/src/SwiftNav/SBP/User.hs b/src/SwiftNav/SBP/User.hs --- a/src/SwiftNav/SBP/User.hs +++ b/src/SwiftNav/SBP/User.hs @@ -5,9 +5,9 @@ -- | -- Module: SwiftNav.SBP.User --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Maintainer: Swift Navigation -- Stability: experimental -- Portability: portable -- diff --git a/src/SwiftNav/SBP/Vehicle.hs b/src/SwiftNav/SBP/Vehicle.hs new file mode 100644 --- /dev/null +++ b/src/SwiftNav/SBP/Vehicle.hs @@ -0,0 +1,73 @@ +{-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + +-- | +-- Module: SwiftNav.SBP.Vehicle +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. +-- License: LGPL-3 +-- Maintainer: Swift Navigation +-- Stability: experimental +-- Portability: portable +-- +-- Messages from a vehicle. + +module SwiftNav.SBP.Vehicle + ( module SwiftNav.SBP.Vehicle + ) where + +import BasicPrelude +import Control.Lens +import Control.Monad.Loops +import Data.Binary +import Data.Binary.Get +import Data.Binary.IEEE754 +import Data.Binary.Put +import Data.ByteString.Lazy hiding (ByteString) +import Data.Int +import Data.Word +import SwiftNav.SBP.TH + +{-# ANN module ("HLint: ignore Use camelCase"::String) #-} +{-# ANN module ("HLint: ignore Redundant do"::String) #-} +{-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-} + + +msgOdometry :: Word16 +msgOdometry = 0x0903 + +-- | SBP class for message MSG_ODOMETRY (0x0903). +-- +-- Message representing the x component of vehicle velocity in the user frame +-- at the odometry reference point(s) specified by the user. The offset for the +-- odometry reference point and the definition and origin of the user frame +-- are defined through the device settings interface. There are 4 possible +-- user-defined sources of this message which are labeled arbitrarily source +-- 0 through 3. +data MsgOdometry = MsgOdometry + { _msgOdometry_tow :: !Word32 + -- ^ Time field representing either milliseconds in the GPS Week or local CPU + -- time from the producing system in milliseconds. See the tow_source flag + -- for the exact source of this timestamp. + , _msgOdometry_velocity :: !Int32 + -- ^ The signed forward component of vehicle velocity. + , _msgOdometry_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgOdometry where + get = do + _msgOdometry_tow <- getWord32le + _msgOdometry_velocity <- fromIntegral <$> getWord32le + _msgOdometry_flags <- getWord8 + pure MsgOdometry {..} + + put MsgOdometry {..} = do + putWord32le _msgOdometry_tow + putWord32le $ fromIntegral _msgOdometry_velocity + putWord8 _msgOdometry_flags + +$(makeSBP 'msgOdometry ''MsgOdometry) +$(makeJSON "_msgOdometry_" ''MsgOdometry) +$(makeLenses ''MsgOdometry)