diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 2.3.9 +version: 2.3.12 synopsis: SwiftNav's SBP Library homepage: https://github.com/swift-nav/libsbp license: LGPL-3 diff --git a/src/SwiftNav/SBP/Acquisition.hs b/src/SwiftNav/SBP/Acquisition.hs --- a/src/SwiftNav/SBP/Acquisition.hs +++ b/src/SwiftNav/SBP/Acquisition.hs @@ -46,13 +46,13 @@ -- contains the parameters of the point in the acquisition search space with -- the best carrier-to-noise (CN/0) ratio. data MsgAcqResult = MsgAcqResult - { _msgAcqResult_cn0 :: !Float + { _msgAcqResult_cn0 :: !float -- ^ CN/0 of best point - , _msgAcqResult_cp :: !Float + , _msgAcqResult_cp :: !float -- ^ Code phase of best point - , _msgAcqResult_cf :: !Float + , _msgAcqResult_cf :: !float -- ^ Carrier frequency of best point - , _msgAcqResult_sid :: !GnssSignal + , _msgAcqResult_sid :: !gnss.GnssSignal -- ^ GNSS signal for which acquisition was attempted } deriving ( Show, Read, Eq ) @@ -81,11 +81,11 @@ -- -- Deprecated. data MsgAcqResultDepC = MsgAcqResultDepC - { _msgAcqResultDepC_cn0 :: !Float + { _msgAcqResultDepC_cn0 :: !float -- ^ CN/0 of best point - , _msgAcqResultDepC_cp :: !Float + , _msgAcqResultDepC_cp :: !float -- ^ Code phase of best point - , _msgAcqResultDepC_cf :: !Float + , _msgAcqResultDepC_cf :: !float -- ^ Carrier frequency of best point , _msgAcqResultDepC_sid :: !GnssSignalDep -- ^ GNSS signal for which acquisition was attempted @@ -116,12 +116,12 @@ -- -- Deprecated. data MsgAcqResultDepB = MsgAcqResultDepB - { _msgAcqResultDepB_snr :: !Float + { _msgAcqResultDepB_snr :: !float -- ^ SNR of best point. Currently in arbitrary SNR points, but will be in -- units of dB Hz in a later revision of this message. - , _msgAcqResultDepB_cp :: !Float + , _msgAcqResultDepB_cp :: !float -- ^ Code phase of best point - , _msgAcqResultDepB_cf :: !Float + , _msgAcqResultDepB_cf :: !float -- ^ Carrier frequency of best point , _msgAcqResultDepB_sid :: !GnssSignalDep -- ^ GNSS signal for which acquisition was attempted @@ -152,14 +152,14 @@ -- -- Deprecated. data MsgAcqResultDepA = MsgAcqResultDepA - { _msgAcqResultDepA_snr :: !Float + { _msgAcqResultDepA_snr :: !float -- ^ SNR of best point. Currently dimensonless, but will have units of dB Hz -- in the revision of this message. - , _msgAcqResultDepA_cp :: !Float + , _msgAcqResultDepA_cp :: !float -- ^ Code phase of best point - , _msgAcqResultDepA_cf :: !Float + , _msgAcqResultDepA_cf :: !float -- ^ Carrier frequency of best point - , _msgAcqResultDepA_prn :: !Word8 + , _msgAcqResultDepA_prn :: !uint32 -- ^ PRN-1 identifier of the satellite signal for which acquisition was -- attempted } deriving ( Show, Read, Eq ) @@ -188,29 +188,29 @@ -- profile during acquisition time. The message is used to debug and measure -- the performance. data AcqSvProfile = AcqSvProfile - { _acqSvProfile_job_type :: !Word8 + { _acqSvProfile_job_type :: !uint32 -- ^ SV search job type (deep, fallback, etc) - , _acqSvProfile_status :: !Word8 + , _acqSvProfile_status :: !uint32 -- ^ Acquisition status 1 is Success, 0 is Failure - , _acqSvProfile_cn0 :: !Word16 + , _acqSvProfile_cn0 :: !uint32 -- ^ CN0 value. Only valid if status is '1' - , _acqSvProfile_int_time :: !Word8 + , _acqSvProfile_int_time :: !uint32 -- ^ Acquisition integration time - , _acqSvProfile_sid :: !GnssSignal + , _acqSvProfile_sid :: !gnss.GnssSignal -- ^ GNSS signal for which acquisition was attempted - , _acqSvProfile_bin_width :: !Word16 + , _acqSvProfile_bin_width :: !uint32 -- ^ Acq frequency bin width - , _acqSvProfile_timestamp :: !Word32 + , _acqSvProfile_timestamp :: !uint32 -- ^ Timestamp of the job complete event - , _acqSvProfile_time_spent :: !Word32 + , _acqSvProfile_time_spent :: !uint32 -- ^ Time spent to search for sid.code - , _acqSvProfile_cf_min :: !Int32 + , _acqSvProfile_cf_min :: !sint32 -- ^ Doppler range lowest frequency - , _acqSvProfile_cf_max :: !Int32 + , _acqSvProfile_cf_max :: !sint32 -- ^ Doppler range highest frequency - , _acqSvProfile_cf :: !Int32 + , _acqSvProfile_cf :: !sint32 -- ^ Doppler value of detected peak. Only valid if status is '1' - , _acqSvProfile_cp :: !Word32 + , _acqSvProfile_cp :: !uint32 -- ^ Codephase of detected peak. Only valid if status is '1' } deriving ( Show, Read, Eq ) @@ -251,29 +251,29 @@ -- -- Deprecated. data AcqSvProfileDep = AcqSvProfileDep - { _acqSvProfileDep_job_type :: !Word8 + { _acqSvProfileDep_job_type :: !uint32 -- ^ SV search job type (deep, fallback, etc) - , _acqSvProfileDep_status :: !Word8 + , _acqSvProfileDep_status :: !uint32 -- ^ Acquisition status 1 is Success, 0 is Failure - , _acqSvProfileDep_cn0 :: !Word16 + , _acqSvProfileDep_cn0 :: !uint32 -- ^ CN0 value. Only valid if status is '1' - , _acqSvProfileDep_int_time :: !Word8 + , _acqSvProfileDep_int_time :: !uint32 -- ^ Acquisition integration time , _acqSvProfileDep_sid :: !GnssSignalDep -- ^ GNSS signal for which acquisition was attempted - , _acqSvProfileDep_bin_width :: !Word16 + , _acqSvProfileDep_bin_width :: !uint32 -- ^ Acq frequency bin width - , _acqSvProfileDep_timestamp :: !Word32 + , _acqSvProfileDep_timestamp :: !uint32 -- ^ Timestamp of the job complete event - , _acqSvProfileDep_time_spent :: !Word32 + , _acqSvProfileDep_time_spent :: !uint32 -- ^ Time spent to search for sid.code - , _acqSvProfileDep_cf_min :: !Int32 + , _acqSvProfileDep_cf_min :: !sint32 -- ^ Doppler range lowest frequency - , _acqSvProfileDep_cf_max :: !Int32 + , _acqSvProfileDep_cf_max :: !sint32 -- ^ Doppler range highest frequency - , _acqSvProfileDep_cf :: !Int32 + , _acqSvProfileDep_cf :: !sint32 -- ^ Doppler value of detected peak. Only valid if status is '1' - , _acqSvProfileDep_cp :: !Word32 + , _acqSvProfileDep_cp :: !uint32 -- ^ Codephase of detected peak. Only valid if status is '1' } deriving ( Show, Read, Eq ) @@ -318,7 +318,7 @@ -- The message describes all SV profiles during acquisition time. The message -- is used to debug and measure the performance. data MsgAcqSvProfile = MsgAcqSvProfile - { _msgAcqSvProfile_acq_sv_profile :: ![AcqSvProfile] + { _msgAcqSvProfile_acq_sv_profile :: !repeated AcqSvProfile -- ^ SV profiles during acquisition time } deriving ( Show, Read, Eq ) @@ -341,7 +341,7 @@ -- -- Deprecated. data MsgAcqSvProfileDep = MsgAcqSvProfileDep - { _msgAcqSvProfileDep_acq_sv_profile :: ![AcqSvProfileDep] + { _msgAcqSvProfileDep_acq_sv_profile :: !repeated AcqSvProfileDep -- ^ SV profiles during acquisition time } deriving ( Show, Read, Eq ) 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 @@ -68,9 +68,9 @@ -- MSG_BOOTLOADER_HANDSHAKE_REQ. The payload contains the bootloader version -- number and the SBP protocol version number. data MsgBootloaderHandshakeResp = MsgBootloaderHandshakeResp - { _msgBootloaderHandshakeResp_flags :: !Word32 + { _msgBootloaderHandshakeResp_flags :: !uint32 -- ^ Bootloader flags - , _msgBootloaderHandshakeResp_version :: !Text + , _msgBootloaderHandshakeResp_version :: !string -- ^ Bootloader version number } deriving ( Show, Read, Eq ) @@ -95,7 +95,7 @@ -- -- The host initiates the bootloader to jump to the application. data MsgBootloaderJumpToApp = MsgBootloaderJumpToApp - { _msgBootloaderJumpToApp_jump :: !Word8 + { _msgBootloaderJumpToApp_jump :: !uint32 -- ^ Ignored by the device } deriving ( Show, Read, Eq ) @@ -146,7 +146,7 @@ -- that this ID is tied to the FPGA, and not related to the Piksi's serial -- number. data MsgNapDeviceDnaResp = MsgNapDeviceDnaResp - { _msgNapDeviceDnaResp_dna :: ![Word8] + { _msgNapDeviceDnaResp_dna :: !repeated uint32 -- ^ 57-bit SwiftNAP FPGA Device ID. Remaining bits are padded on the right. } deriving ( Show, Read, Eq ) @@ -169,7 +169,7 @@ -- -- Deprecated. data MsgBootloaderHandshakeDepA = MsgBootloaderHandshakeDepA - { _msgBootloaderHandshakeDepA_handshake :: ![Word8] + { _msgBootloaderHandshakeDepA_handshake :: !repeated uint32 -- ^ Version number string (not NULL terminated) } deriving ( Show, Read, Eq ) 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 @@ -44,16 +44,16 @@ -- Reports detection of an external event, the GPS time it occurred, which pin -- it was and whether it was rising or falling. data MsgExtEvent = MsgExtEvent - { _msgExtEvent_wn :: !Word16 + { _msgExtEvent_wn :: !uint32 -- ^ GPS week number - , _msgExtEvent_tow :: !Word32 + , _msgExtEvent_tow :: !uint32 -- ^ GPS time of week rounded to the nearest millisecond - , _msgExtEvent_ns_residual :: !Int32 + , _msgExtEvent_ns_residual :: !sint32 -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to -- 500000) - , _msgExtEvent_flags :: !Word8 + , _msgExtEvent_flags :: !uint32 -- ^ Flags - , _msgExtEvent_pin :: !Word8 + , _msgExtEvent_pin :: !uint32 -- ^ Pin number. 0..9 = DEBUG0..9. } deriving ( Show, Read, Eq ) 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 @@ -53,13 +53,13 @@ -- fileio read message". A device will only respond to this message when it is -- received from sender ID 0x42. data MsgFileioReadReq = MsgFileioReadReq - { _msgFileioReadReq_sequence :: !Word32 + { _msgFileioReadReq_sequence :: !uint32 -- ^ Read sequence number - , _msgFileioReadReq_offset :: !Word32 + , _msgFileioReadReq_offset :: !uint32 -- ^ File offset - , _msgFileioReadReq_chunk_size :: !Word8 + , _msgFileioReadReq_chunk_size :: !uint32 -- ^ Chunk size to read - , _msgFileioReadReq_filename :: !Text + , _msgFileioReadReq_filename :: !string -- ^ Name of the file to read from } deriving ( Show, Read, Eq ) @@ -91,9 +91,9 @@ -- length field indicates how many bytes were succesfully read. The sequence -- number in the response is preserved from the request. data MsgFileioReadResp = MsgFileioReadResp - { _msgFileioReadResp_sequence :: !Word32 + { _msgFileioReadResp_sequence :: !uint32 -- ^ Read sequence number - , _msgFileioReadResp_contents :: ![Word8] + , _msgFileioReadResp_contents :: !repeated uint32 -- ^ Contents of read file } deriving ( Show, Read, Eq ) @@ -125,11 +125,11 @@ -- MSG_PRINT message will print "Invalid fileio read message". A device will -- only respond to this message when it is received from sender ID 0x42. data MsgFileioReadDirReq = MsgFileioReadDirReq - { _msgFileioReadDirReq_sequence :: !Word32 + { _msgFileioReadDirReq_sequence :: !uint32 -- ^ Read sequence number - , _msgFileioReadDirReq_offset :: !Word32 + , _msgFileioReadDirReq_offset :: !uint32 -- ^ The offset to skip the first n elements of the file list - , _msgFileioReadDirReq_dirname :: !Text + , _msgFileioReadDirReq_dirname :: !string -- ^ Name of the directory to list } deriving ( Show, Read, Eq ) @@ -160,9 +160,9 @@ -- of the list is identified by an entry containing just the character 0xFF. -- The sequence number in the response is preserved from the request. data MsgFileioReadDirResp = MsgFileioReadDirResp - { _msgFileioReadDirResp_sequence :: !Word32 + { _msgFileioReadDirResp_sequence :: !uint32 -- ^ Read sequence number - , _msgFileioReadDirResp_contents :: ![Word8] + , _msgFileioReadDirResp_contents :: !repeated uint32 -- ^ Contents of read directory } deriving ( Show, Read, Eq ) @@ -190,7 +190,7 @@ -- message". A device will only process this message when it is received from -- sender ID 0x42. data MsgFileioRemove = MsgFileioRemove - { _msgFileioRemove_filename :: !Text + { _msgFileioRemove_filename :: !string -- ^ Name of the file to delete } deriving ( Show, Read, Eq ) @@ -219,13 +219,13 @@ -- message". A device will only process this message when it is received from -- sender ID 0x42. data MsgFileioWriteReq = MsgFileioWriteReq - { _msgFileioWriteReq_sequence :: !Word32 + { _msgFileioWriteReq_sequence :: !uint32 -- ^ Write sequence number - , _msgFileioWriteReq_offset :: !Word32 + , _msgFileioWriteReq_offset :: !uint32 -- ^ Offset into the file at which to start writing in bytes - , _msgFileioWriteReq_filename :: !Text + , _msgFileioWriteReq_filename :: !string -- ^ Name of the file to write to - , _msgFileioWriteReq_data :: ![Word8] + , _msgFileioWriteReq_data :: !repeated uint32 -- ^ Variable-length array of data to write } deriving ( Show, Read, Eq ) @@ -257,7 +257,7 @@ -- MSG_FILEIO_WRITE_REQ message to check integrity of the write. The sequence -- number in the response is preserved from the request. data MsgFileioWriteResp = MsgFileioWriteResp - { _msgFileioWriteResp_sequence :: !Word32 + { _msgFileioWriteResp_sequence :: !uint32 -- ^ Write sequence number } deriving ( Show, Read, Eq ) 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 @@ -49,13 +49,13 @@ -- if the maximum write size is exceeded. Note that the sector-containing -- addresses must be erased before addresses can be programmed. data MsgFlashProgram = MsgFlashProgram - { _msgFlashProgram_target :: !Word8 + { _msgFlashProgram_target :: !uint32 -- ^ Target flags - , _msgFlashProgram_addr_start :: ![Word8] + , _msgFlashProgram_addr_start :: !repeated uint32 -- ^ Starting address offset to program - , _msgFlashProgram_addr_len :: !Word8 + , _msgFlashProgram_addr_len :: !uint32 -- ^ Length of set of addresses to program, counting up from starting address - , _msgFlashProgram_data :: ![Word8] + , _msgFlashProgram_data :: !repeated uint32 -- ^ Data to program addresses with, with length N=addr_len } deriving ( Show, Read, Eq ) @@ -87,7 +87,7 @@ -- MSG_FLASH_READ_REQ, or MSG_FLASH_PROGRAM, may return this message on -- failure. data MsgFlashDone = MsgFlashDone - { _msgFlashDone_response :: !Word8 + { _msgFlashDone_response :: !uint32 -- ^ Response flags } deriving ( Show, Read, Eq ) @@ -115,11 +115,11 @@ -- exceeded or FLASH_INVALID_ADDR (3) if the address is outside of the allowed -- range. data MsgFlashReadReq = MsgFlashReadReq - { _msgFlashReadReq_target :: !Word8 + { _msgFlashReadReq_target :: !uint32 -- ^ Target flags - , _msgFlashReadReq_addr_start :: ![Word8] + , _msgFlashReadReq_addr_start :: !repeated uint32 -- ^ Starting address offset to read from - , _msgFlashReadReq_addr_len :: !Word8 + , _msgFlashReadReq_addr_len :: !uint32 -- ^ Length of set of addresses to read, counting up from starting address } deriving ( Show, Read, Eq ) @@ -151,11 +151,11 @@ -- exceeded or FLASH_INVALID_ADDR (3) if the address is outside of the allowed -- range. data MsgFlashReadResp = MsgFlashReadResp - { _msgFlashReadResp_target :: !Word8 + { _msgFlashReadResp_target :: !uint32 -- ^ Target flags - , _msgFlashReadResp_addr_start :: ![Word8] + , _msgFlashReadResp_addr_start :: !repeated uint32 -- ^ Starting address offset to read from - , _msgFlashReadResp_addr_len :: !Word8 + , _msgFlashReadResp_addr_len :: !uint32 -- ^ Length of set of addresses to read, counting up from starting address } deriving ( Show, Read, Eq ) @@ -185,9 +185,9 @@ -- message containing the return code - FLASH_OK (0) on success or -- FLASH_INVALID_FLASH (1) if the flash specified is invalid. data MsgFlashErase = MsgFlashErase - { _msgFlashErase_target :: !Word8 + { _msgFlashErase_target :: !uint32 -- ^ Target flags - , _msgFlashErase_sector_num :: !Word32 + , _msgFlashErase_sector_num :: !uint32 -- ^ Flash sector number to erase (0-11 for the STM, 0-15 for the M25) } deriving ( Show, Read, Eq ) @@ -213,7 +213,7 @@ -- The flash lock message locks a sector of the STM flash memory. The device -- replies with a MSG_FLASH_DONE message. data MsgStmFlashLockSector = MsgStmFlashLockSector - { _msgStmFlashLockSector_sector :: !Word32 + { _msgStmFlashLockSector_sector :: !uint32 -- ^ Flash sector number to lock } deriving ( Show, Read, Eq ) @@ -237,7 +237,7 @@ -- The flash unlock message unlocks a sector of the STM flash memory. The -- device replies with a MSG_FLASH_DONE message. data MsgStmFlashUnlockSector = MsgStmFlashUnlockSector - { _msgStmFlashUnlockSector_sector :: !Word32 + { _msgStmFlashUnlockSector_sector :: !uint32 -- ^ Flash sector number to unlock } deriving ( Show, Read, Eq ) @@ -283,7 +283,7 @@ -- ID by sending a MSG_STM_UNIQUE_ID_REQ. The device responds with a -- MSG_STM_UNIQUE_ID_RESP with the 12-byte unique ID in the payload.. data MsgStmUniqueIdResp = MsgStmUniqueIdResp - { _msgStmUniqueIdResp_stm_id :: ![Word8] + { _msgStmUniqueIdResp_stm_id :: !repeated uint32 -- ^ Device unique ID } deriving ( Show, Read, Eq ) @@ -307,7 +307,7 @@ -- The flash status message writes to the 8-bit M25 flash status register. The -- device replies with a MSG_FLASH_DONE message. data MsgM25FlashWriteStatus = MsgM25FlashWriteStatus - { _msgM25FlashWriteStatus_status :: ![Word8] + { _msgM25FlashWriteStatus_status :: !repeated uint32 -- ^ Byte to write to the M25 flash status register } deriving ( Show, Read, Eq ) 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 @@ -39,9 +39,9 @@ -- -- Signal identifier containing constellation, band, and satellite identifier data GnssSignal = GnssSignal - { _gnssSignal_sat :: !Word8 + { _gnssSignal_sat :: !uint32 -- ^ Constellation-specific satellite identifier - , _gnssSignal_code :: !Word8 + , _gnssSignal_code :: !uint32 -- ^ Signal constellation, band and code } deriving ( Show, Read, Eq ) @@ -62,13 +62,13 @@ -- -- Deprecated. data GnssSignalDep = GnssSignalDep - { _gnssSignalDep_sat :: !Word16 + { _gnssSignalDep_sat :: !uint32 -- ^ Constellation-specific satellite identifier. Note: unlike GnssSignal, -- GPS satellites are encoded as (PRN - 1). Other constellations do not -- have this offset. - , _gnssSignalDep_code :: !Word8 + , _gnssSignalDep_code :: !uint32 -- ^ Signal constellation, band and code - , _gnssSignalDep_reserved :: !Word8 + , _gnssSignalDep_reserved :: !uint32 -- ^ Reserved } deriving ( Show, Read, Eq ) @@ -92,9 +92,9 @@ -- A wire-appropriate GPS time, defined as the number of milliseconds since -- beginning of the week on the Saturday/Sunday transition. data GpsTimeDep = GpsTimeDep - { _gpsTimeDep_tow :: !Word32 + { _gpsTimeDep_tow :: !uint32 -- ^ Milliseconds since start of GPS week - , _gpsTimeDep_wn :: !Word16 + , _gpsTimeDep_wn :: !uint32 -- ^ GPS week number } deriving ( Show, Read, Eq ) @@ -116,9 +116,9 @@ -- A GPS time, defined as the number of seconds since beginning of the week on -- the Saturday/Sunday transition. data GpsTimeSec = GpsTimeSec - { _gpsTimeSec_tow :: !Word32 + { _gpsTimeSec_tow :: !uint32 -- ^ Seconds since start of GPS week - , _gpsTimeSec_wn :: !Word16 + , _gpsTimeSec_wn :: !uint32 -- ^ GPS week number } deriving ( Show, Read, Eq ) @@ -141,12 +141,12 @@ -- beginning of the week on the Saturday/Sunday transition. In most cases, -- observations are epoch aligned so ns field will be 0. data GpsTime = GpsTime - { _gpsTime_tow :: !Word32 + { _gpsTime_tow :: !uint32 -- ^ Milliseconds since start of GPS week - , _gpsTime_ns_residual :: !Int32 + , _gpsTime_ns_residual :: !sint32 -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to -- 500000) - , _gpsTime_wn :: !Word16 + , _gpsTime_wn :: !uint32 -- ^ GPS week number } deriving ( Show, Read, Eq ) @@ -171,9 +171,9 @@ -- number with Q32.8 layout, i.e. 32-bits of whole cycles and 8-bits of -- fractional cycles. This phase has the same sign as the pseudorange. data CarrierPhase = CarrierPhase - { _carrierPhase_i :: !Int32 + { _carrierPhase_i :: !sint32 -- ^ Carrier phase whole cycles - , _carrierPhase_f :: !Word8 + , _carrierPhase_f :: !uint32 -- ^ Carrier phase fractional part } deriving ( Show, Read, Eq ) 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 @@ -44,22 +44,22 @@ -- gyroscope readings. The sense of the measurements are to be aligned with -- the indications on the device itself. data MsgImuRaw = MsgImuRaw - { _msgImuRaw_tow :: !Word32 + { _msgImuRaw_tow :: !uint32 -- ^ Milliseconds since start of GPS week. If the high bit is set, the time -- is unknown or invalid. - , _msgImuRaw_tow_f :: !Word8 + , _msgImuRaw_tow_f :: !uint32 -- ^ Milliseconds since start of GPS week, fractional part - , _msgImuRaw_acc_x :: !Int16 + , _msgImuRaw_acc_x :: !sint32 -- ^ Acceleration in the IMU frame X axis - , _msgImuRaw_acc_y :: !Int16 + , _msgImuRaw_acc_y :: !sint32 -- ^ Acceleration in the IMU frame Y axis - , _msgImuRaw_acc_z :: !Int16 + , _msgImuRaw_acc_z :: !sint32 -- ^ Acceleration in the IMU frame Z axis - , _msgImuRaw_gyr_x :: !Int16 + , _msgImuRaw_gyr_x :: !sint32 -- ^ Angular rate around IMU frame X axis - , _msgImuRaw_gyr_y :: !Int16 + , _msgImuRaw_gyr_y :: !sint32 -- ^ Angular rate around IMU frame Y axis - , _msgImuRaw_gyr_z :: !Int16 + , _msgImuRaw_gyr_z :: !sint32 -- ^ Angular rate around IMU frame Z axis } deriving ( Show, Read, Eq ) @@ -98,11 +98,11 @@ -- always be consistent but the rest of the payload is device specific and -- depends on the value of `imu_type`. data MsgImuAux = MsgImuAux - { _msgImuAux_imu_type :: !Word8 + { _msgImuAux_imu_type :: !uint32 -- ^ IMU type - , _msgImuAux_temp :: !Int16 + , _msgImuAux_temp :: !sint32 -- ^ Raw IMU temperature - , _msgImuAux_imu_conf :: !Word8 + , _msgImuAux_imu_conf :: !uint32 -- ^ IMU configuration } deriving ( Show, Read, Eq ) 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 @@ -44,9 +44,9 @@ -- containing errors, warnings and informational messages at ERROR, WARNING, -- DEBUG, INFO logging levels. data MsgLog = MsgLog - { _msgLog_level :: !Word8 + { _msgLog_level :: !uint32 -- ^ Logging level - , _msgLog_text :: !Text + , _msgLog_text :: !string -- ^ Human-readable string } deriving ( Show, Read, Eq ) @@ -77,11 +77,11 @@ -- Protocol 0 represents SBP and the remaining values are implementation -- defined. data MsgFwd = MsgFwd - { _msgFwd_source :: !Word8 + { _msgFwd_source :: !uint32 -- ^ source identifier - , _msgFwd_protocol :: !Word8 + , _msgFwd_protocol :: !uint32 -- ^ protocol identifier - , _msgFwd_fwd_payload :: !Text + , _msgFwd_fwd_payload :: !string -- ^ variable length wrapped binary message } deriving ( Show, Read, Eq ) @@ -108,7 +108,7 @@ -- -- All the news fit to tweet. data MsgTweet = MsgTweet - { _msgTweet_tweet :: !Text + { _msgTweet_tweet :: !string -- ^ Human-readable string } deriving ( Show, Read, Eq ) @@ -131,7 +131,7 @@ -- -- Deprecated. data MsgPrintDep = MsgPrintDep - { _msgPrintDep_text :: !Text + { _msgPrintDep_text :: !string -- ^ Human-readable string } deriving ( Show, Read, Eq ) 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 @@ -42,16 +42,16 @@ -- -- Raw data from the magnetometer. data MsgMagRaw = MsgMagRaw - { _msgMagRaw_tow :: !Word32 + { _msgMagRaw_tow :: !uint32 -- ^ Milliseconds since start of GPS week. If the high bit is set, the time -- is unknown or invalid. - , _msgMagRaw_tow_f :: !Word8 + , _msgMagRaw_tow_f :: !uint32 -- ^ Milliseconds since start of GPS week, fractional part - , _msgMagRaw_mag_x :: !Int16 + , _msgMagRaw_mag_x :: !sint32 -- ^ Magnetic field in the body frame X axis - , _msgMagRaw_mag_y :: !Int16 + , _msgMagRaw_mag_y :: !sint32 -- ^ Magnetic field in the body frame Y axis - , _msgMagRaw_mag_z :: !Int16 + , _msgMagRaw_mag_z :: !sint32 -- ^ Magnetic field in the body frame Z axis } deriving ( Show, Read, Eq ) 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 @@ -63,14 +63,14 @@ -- other navigation messages referenced to the same time (but lacking the ns -- field) and indicates a more precise time of these messages. data MsgGpsTime = MsgGpsTime - { _msgGpsTime_wn :: !Word16 + { _msgGpsTime_wn :: !uint32 -- ^ GPS week number - , _msgGpsTime_tow :: !Word32 + , _msgGpsTime_tow :: !uint32 -- ^ GPS time of week rounded to the nearest millisecond - , _msgGpsTime_ns_residual :: !Int32 + , _msgGpsTime_ns_residual :: !sint32 -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to -- 500000) - , _msgGpsTime_flags :: !Word8 + , _msgGpsTime_flags :: !uint32 -- ^ Status flags (reserved) } deriving ( Show, Read, Eq ) @@ -101,23 +101,23 @@ -- which indicate the source of the UTC offset value and source of the time -- fix. data MsgUtcTime = MsgUtcTime - { _msgUtcTime_flags :: !Word8 + { _msgUtcTime_flags :: !uint32 -- ^ Indicates source and time validity - , _msgUtcTime_tow :: !Word32 + , _msgUtcTime_tow :: !uint32 -- ^ GPS time of week rounded to the nearest millisecond - , _msgUtcTime_year :: !Word16 + , _msgUtcTime_year :: !uint32 -- ^ Year - , _msgUtcTime_month :: !Word8 + , _msgUtcTime_month :: !uint32 -- ^ Month (range 1 .. 12) - , _msgUtcTime_day :: !Word8 + , _msgUtcTime_day :: !uint32 -- ^ days in the month (range 1-31) - , _msgUtcTime_hours :: !Word8 + , _msgUtcTime_hours :: !uint32 -- ^ hours of day (range 0-23) - , _msgUtcTime_minutes :: !Word8 + , _msgUtcTime_minutes :: !uint32 -- ^ minutes of hour (range 0-59) - , _msgUtcTime_seconds :: !Word8 + , _msgUtcTime_seconds :: !uint32 -- ^ seconds of minute (range 0-60) rounded down - , _msgUtcTime_ns :: !Word32 + , _msgUtcTime_ns :: !uint32 -- ^ nanoseconds of second (range 0-999999999) } deriving ( Show, Read, Eq ) @@ -159,19 +159,19 @@ -- indicated whether the DOP reported corresponds to differential or SPP -- solution. data MsgDops = MsgDops - { _msgDops_tow :: !Word32 + { _msgDops_tow :: !uint32 -- ^ GPS Time of Week - , _msgDops_gdop :: !Word16 + , _msgDops_gdop :: !uint32 -- ^ Geometric Dilution of Precision - , _msgDops_pdop :: !Word16 + , _msgDops_pdop :: !uint32 -- ^ Position Dilution of Precision - , _msgDops_tdop :: !Word16 + , _msgDops_tdop :: !uint32 -- ^ Time Dilution of Precision - , _msgDops_hdop :: !Word16 + , _msgDops_hdop :: !uint32 -- ^ Horizontal Dilution of Precision - , _msgDops_vdop :: !Word16 + , _msgDops_vdop :: !uint32 -- ^ Vertical Dilution of Precision - , _msgDops_flags :: !Word8 + , _msgDops_flags :: !uint32 -- ^ Indicates the position solution with which the DOPS message corresponds } deriving ( Show, Read, Eq ) @@ -212,19 +212,19 @@ -- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME -- with the matching time-of-week (tow). data MsgPosEcef = MsgPosEcef - { _msgPosEcef_tow :: !Word32 + { _msgPosEcef_tow :: !uint32 -- ^ GPS Time of Week - , _msgPosEcef_x :: !Double + , _msgPosEcef_x :: !double -- ^ ECEF X coordinate - , _msgPosEcef_y :: !Double + , _msgPosEcef_y :: !double -- ^ ECEF Y coordinate - , _msgPosEcef_z :: !Double + , _msgPosEcef_z :: !double -- ^ ECEF Z coordinate - , _msgPosEcef_accuracy :: !Word16 + , _msgPosEcef_accuracy :: !uint32 -- ^ Position estimated standard deviation - , _msgPosEcef_n_sats :: !Word8 + , _msgPosEcef_n_sats :: !uint32 -- ^ Number of satellites used in solution - , _msgPosEcef_flags :: !Word8 + , _msgPosEcef_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -266,29 +266,29 @@ -- 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 + { _msgPosEcefCov_tow :: !uint32 -- ^ GPS Time of Week - , _msgPosEcefCov_x :: !Double + , _msgPosEcefCov_x :: !double -- ^ ECEF X coordinate - , _msgPosEcefCov_y :: !Double + , _msgPosEcefCov_y :: !double -- ^ ECEF Y coordinate - , _msgPosEcefCov_z :: !Double + , _msgPosEcefCov_z :: !double -- ^ ECEF Z coordinate - , _msgPosEcefCov_cov_x_x :: !Float + , _msgPosEcefCov_cov_x_x :: !float -- ^ Estimated variance of x - , _msgPosEcefCov_cov_x_y :: !Float + , _msgPosEcefCov_cov_x_y :: !float -- ^ Estimated covariance of x and y - , _msgPosEcefCov_cov_x_z :: !Float + , _msgPosEcefCov_cov_x_z :: !float -- ^ Estimated covariance of x and z - , _msgPosEcefCov_cov_y_y :: !Float + , _msgPosEcefCov_cov_y_y :: !float -- ^ Estimated variance of y - , _msgPosEcefCov_cov_y_z :: !Float + , _msgPosEcefCov_cov_y_z :: !float -- ^ Estimated covariance of y and z - , _msgPosEcefCov_cov_z_z :: !Float + , _msgPosEcefCov_cov_z_z :: !float -- ^ Estimated variance of z - , _msgPosEcefCov_n_sats :: !Word8 + , _msgPosEcefCov_n_sats :: !uint32 -- ^ Number of satellites used in solution - , _msgPosEcefCov_flags :: !Word8 + , _msgPosEcefCov_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -339,21 +339,21 @@ -- time is given by the preceding MSG_GPS_TIME with the matching time-of-week -- (tow). data MsgPosLlh = MsgPosLlh - { _msgPosLlh_tow :: !Word32 + { _msgPosLlh_tow :: !uint32 -- ^ GPS Time of Week - , _msgPosLlh_lat :: !Double + , _msgPosLlh_lat :: !double -- ^ Latitude - , _msgPosLlh_lon :: !Double + , _msgPosLlh_lon :: !double -- ^ Longitude - , _msgPosLlh_height :: !Double + , _msgPosLlh_height :: !double -- ^ Height above WGS84 ellipsoid - , _msgPosLlh_h_accuracy :: !Word16 + , _msgPosLlh_h_accuracy :: !uint32 -- ^ Horizontal position estimated standard deviation - , _msgPosLlh_v_accuracy :: !Word16 + , _msgPosLlh_v_accuracy :: !uint32 -- ^ Vertical position estimated standard deviation - , _msgPosLlh_n_sats :: !Word8 + , _msgPosLlh_n_sats :: !uint32 -- ^ Number of satellites used in solution. - , _msgPosLlh_flags :: !Word8 + , _msgPosLlh_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -397,29 +397,29 @@ -- are reported against the "downward" measurement and care should be taken -- with the sign convention. data MsgPosLlhCov = MsgPosLlhCov - { _msgPosLlhCov_tow :: !Word32 + { _msgPosLlhCov_tow :: !uint32 -- ^ GPS Time of Week - , _msgPosLlhCov_lat :: !Double + , _msgPosLlhCov_lat :: !double -- ^ Latitude - , _msgPosLlhCov_lon :: !Double + , _msgPosLlhCov_lon :: !double -- ^ Longitude - , _msgPosLlhCov_height :: !Double + , _msgPosLlhCov_height :: !double -- ^ Height above WGS84 ellipsoid - , _msgPosLlhCov_cov_n_n :: !Float + , _msgPosLlhCov_cov_n_n :: !float -- ^ Estimated variance of northing - , _msgPosLlhCov_cov_n_e :: !Float + , _msgPosLlhCov_cov_n_e :: !float -- ^ Covariance of northing and easting - , _msgPosLlhCov_cov_n_d :: !Float + , _msgPosLlhCov_cov_n_d :: !float -- ^ Covariance of northing and downward measurement - , _msgPosLlhCov_cov_e_e :: !Float + , _msgPosLlhCov_cov_e_e :: !float -- ^ Estimated variance of easting - , _msgPosLlhCov_cov_e_d :: !Float + , _msgPosLlhCov_cov_e_d :: !float -- ^ Covariance of easting and downward measurement - , _msgPosLlhCov_cov_d_d :: !Float + , _msgPosLlhCov_cov_d_d :: !float -- ^ Estimated variance of downward measurement - , _msgPosLlhCov_n_sats :: !Word8 + , _msgPosLlhCov_n_sats :: !uint32 -- ^ Number of satellites used in solution. - , _msgPosLlhCov_flags :: !Word8 + , _msgPosLlhCov_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -467,19 +467,19 @@ -- base station to the rover receiver. The full GPS time is given by the -- preceding MSG_GPS_TIME with the matching time-of-week (tow). data MsgBaselineEcef = MsgBaselineEcef - { _msgBaselineEcef_tow :: !Word32 + { _msgBaselineEcef_tow :: !uint32 -- ^ GPS Time of Week - , _msgBaselineEcef_x :: !Int32 + , _msgBaselineEcef_x :: !sint32 -- ^ Baseline ECEF X coordinate - , _msgBaselineEcef_y :: !Int32 + , _msgBaselineEcef_y :: !sint32 -- ^ Baseline ECEF Y coordinate - , _msgBaselineEcef_z :: !Int32 + , _msgBaselineEcef_z :: !sint32 -- ^ Baseline ECEF Z coordinate - , _msgBaselineEcef_accuracy :: !Word16 + , _msgBaselineEcef_accuracy :: !uint32 -- ^ Position estimated standard deviation - , _msgBaselineEcef_n_sats :: !Word8 + , _msgBaselineEcef_n_sats :: !uint32 -- ^ Number of satellites used in solution - , _msgBaselineEcef_flags :: !Word8 + , _msgBaselineEcef_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -519,21 +519,21 @@ -- GPS time is given by the preceding MSG_GPS_TIME with the matching time-of- -- week (tow). data MsgBaselineNed = MsgBaselineNed - { _msgBaselineNed_tow :: !Word32 + { _msgBaselineNed_tow :: !uint32 -- ^ GPS Time of Week - , _msgBaselineNed_n :: !Int32 + , _msgBaselineNed_n :: !sint32 -- ^ Baseline North coordinate - , _msgBaselineNed_e :: !Int32 + , _msgBaselineNed_e :: !sint32 -- ^ Baseline East coordinate - , _msgBaselineNed_d :: !Int32 + , _msgBaselineNed_d :: !sint32 -- ^ Baseline Down coordinate - , _msgBaselineNed_h_accuracy :: !Word16 + , _msgBaselineNed_h_accuracy :: !uint32 -- ^ Horizontal position estimated standard deviation - , _msgBaselineNed_v_accuracy :: !Word16 + , _msgBaselineNed_v_accuracy :: !uint32 -- ^ Vertical position estimated standard deviation - , _msgBaselineNed_n_sats :: !Word8 + , _msgBaselineNed_n_sats :: !uint32 -- ^ Number of satellites used in solution - , _msgBaselineNed_flags :: !Word8 + , _msgBaselineNed_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -572,19 +572,19 @@ -- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with -- the matching time-of-week (tow). data MsgVelEcef = MsgVelEcef - { _msgVelEcef_tow :: !Word32 + { _msgVelEcef_tow :: !uint32 -- ^ GPS Time of Week - , _msgVelEcef_x :: !Int32 + , _msgVelEcef_x :: !sint32 -- ^ Velocity ECEF X coordinate - , _msgVelEcef_y :: !Int32 + , _msgVelEcef_y :: !sint32 -- ^ Velocity ECEF Y coordinate - , _msgVelEcef_z :: !Int32 + , _msgVelEcef_z :: !sint32 -- ^ Velocity ECEF Z coordinate - , _msgVelEcef_accuracy :: !Word16 + , _msgVelEcef_accuracy :: !uint32 -- ^ Velocity estimated standard deviation - , _msgVelEcef_n_sats :: !Word8 + , _msgVelEcef_n_sats :: !uint32 -- ^ Number of satellites used in solution - , _msgVelEcef_flags :: !Word8 + , _msgVelEcef_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -621,29 +621,29 @@ -- 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 + { _msgVelEcefCov_tow :: !uint32 -- ^ GPS Time of Week - , _msgVelEcefCov_x :: !Int32 + , _msgVelEcefCov_x :: !sint32 -- ^ Velocity ECEF X coordinate - , _msgVelEcefCov_y :: !Int32 + , _msgVelEcefCov_y :: !sint32 -- ^ Velocity ECEF Y coordinate - , _msgVelEcefCov_z :: !Int32 + , _msgVelEcefCov_z :: !sint32 -- ^ Velocity ECEF Z coordinate - , _msgVelEcefCov_cov_x_x :: !Float + , _msgVelEcefCov_cov_x_x :: !float -- ^ Estimated variance of x - , _msgVelEcefCov_cov_x_y :: !Float + , _msgVelEcefCov_cov_x_y :: !float -- ^ Estimated covariance of x and y - , _msgVelEcefCov_cov_x_z :: !Float + , _msgVelEcefCov_cov_x_z :: !float -- ^ Estimated covariance of x and z - , _msgVelEcefCov_cov_y_y :: !Float + , _msgVelEcefCov_cov_y_y :: !float -- ^ Estimated variance of y - , _msgVelEcefCov_cov_y_z :: !Float + , _msgVelEcefCov_cov_y_z :: !float -- ^ Estimated covariance of y and z - , _msgVelEcefCov_cov_z_z :: !Float + , _msgVelEcefCov_cov_z_z :: !float -- ^ Estimated variance of z - , _msgVelEcefCov_n_sats :: !Word8 + , _msgVelEcefCov_n_sats :: !uint32 -- ^ Number of satellites used in solution - , _msgVelEcefCov_flags :: !Word8 + , _msgVelEcefCov_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -691,21 +691,21 @@ -- 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). data MsgVelNed = MsgVelNed - { _msgVelNed_tow :: !Word32 + { _msgVelNed_tow :: !uint32 -- ^ GPS Time of Week - , _msgVelNed_n :: !Int32 + , _msgVelNed_n :: !sint32 -- ^ Velocity North coordinate - , _msgVelNed_e :: !Int32 + , _msgVelNed_e :: !sint32 -- ^ Velocity East coordinate - , _msgVelNed_d :: !Int32 + , _msgVelNed_d :: !sint32 -- ^ Velocity Down coordinate - , _msgVelNed_h_accuracy :: !Word16 + , _msgVelNed_h_accuracy :: !uint32 -- ^ Horizontal velocity estimated standard deviation - , _msgVelNed_v_accuracy :: !Word16 + , _msgVelNed_v_accuracy :: !uint32 -- ^ Vertical velocity estimated standard deviation - , _msgVelNed_n_sats :: !Word8 + , _msgVelNed_n_sats :: !uint32 -- ^ Number of satellites used in solution - , _msgVelNed_flags :: !Word8 + , _msgVelNed_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -747,29 +747,29 @@ -- similar to the MSG_VEL_NED, but it includes the upper triangular portion of -- the 3x3 covariance matrix. data MsgVelNedCov = MsgVelNedCov - { _msgVelNedCov_tow :: !Word32 + { _msgVelNedCov_tow :: !uint32 -- ^ GPS Time of Week - , _msgVelNedCov_n :: !Int32 + , _msgVelNedCov_n :: !sint32 -- ^ Velocity North coordinate - , _msgVelNedCov_e :: !Int32 + , _msgVelNedCov_e :: !sint32 -- ^ Velocity East coordinate - , _msgVelNedCov_d :: !Int32 + , _msgVelNedCov_d :: !sint32 -- ^ Velocity Down coordinate - , _msgVelNedCov_cov_n_n :: !Float + , _msgVelNedCov_cov_n_n :: !float -- ^ Estimated variance of northward measurement - , _msgVelNedCov_cov_n_e :: !Float + , _msgVelNedCov_cov_n_e :: !float -- ^ Covariance of northward and eastward measurement - , _msgVelNedCov_cov_n_d :: !Float + , _msgVelNedCov_cov_n_d :: !float -- ^ Covariance of northward and downward measurement - , _msgVelNedCov_cov_e_e :: !Float + , _msgVelNedCov_cov_e_e :: !float -- ^ Estimated variance of eastward measurement - , _msgVelNedCov_cov_e_d :: !Float + , _msgVelNedCov_cov_e_d :: !float -- ^ Covariance of eastward and downward measurement - , _msgVelNedCov_cov_d_d :: !Float + , _msgVelNedCov_cov_d_d :: !float -- ^ Estimated variance of downward measurement - , _msgVelNedCov_n_sats :: !Word8 + , _msgVelNedCov_n_sats :: !uint32 -- ^ Number of satellites used in solution - , _msgVelNedCov_flags :: !Word8 + , _msgVelNedCov_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -820,29 +820,29 @@ -- 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 + { _msgVelBody_tow :: !uint32 -- ^ GPS Time of Week - , _msgVelBody_x :: !Int32 + , _msgVelBody_x :: !sint32 -- ^ Velocity in x direction - , _msgVelBody_y :: !Int32 + , _msgVelBody_y :: !sint32 -- ^ Velocity in y direction - , _msgVelBody_z :: !Int32 + , _msgVelBody_z :: !sint32 -- ^ Velocity in z direction - , _msgVelBody_cov_x_x :: !Float + , _msgVelBody_cov_x_x :: !float -- ^ Estimated variance of x - , _msgVelBody_cov_x_y :: !Float + , _msgVelBody_cov_x_y :: !float -- ^ Covariance of x and y - , _msgVelBody_cov_x_z :: !Float + , _msgVelBody_cov_x_z :: !float -- ^ Covariance of x and z - , _msgVelBody_cov_y_y :: !Float + , _msgVelBody_cov_y_y :: !float -- ^ Estimated variance of y - , _msgVelBody_cov_y_z :: !Float + , _msgVelBody_cov_y_z :: !float -- ^ Covariance of y and z - , _msgVelBody_cov_z_z :: !Float + , _msgVelBody_cov_z_z :: !float -- ^ Estimated variance of z - , _msgVelBody_n_sats :: !Word8 + , _msgVelBody_n_sats :: !uint32 -- ^ Number of satellites used in solution - , _msgVelBody_flags :: !Word8 + , _msgVelBody_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -888,9 +888,9 @@ -- This message reports the Age of the corrections used for the current -- Differential solution data MsgAgeCorrections = MsgAgeCorrections - { _msgAgeCorrections_tow :: !Word32 + { _msgAgeCorrections_tow :: !uint32 -- ^ GPS Time of Week - , _msgAgeCorrections_age :: !Word16 + , _msgAgeCorrections_age :: !uint32 -- ^ Age of the corrections (0xFFFF indicates invalid) } deriving ( Show, Read, Eq ) @@ -923,14 +923,14 @@ -- other navigation messages referenced to the same time (but lacking the ns -- field) and indicates a more precise time of these messages. data MsgGpsTimeDepA = MsgGpsTimeDepA - { _msgGpsTimeDepA_wn :: !Word16 + { _msgGpsTimeDepA_wn :: !uint32 -- ^ GPS week number - , _msgGpsTimeDepA_tow :: !Word32 + , _msgGpsTimeDepA_tow :: !uint32 -- ^ GPS time of week rounded to the nearest millisecond - , _msgGpsTimeDepA_ns_residual :: !Int32 + , _msgGpsTimeDepA_ns_residual :: !sint32 -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to -- 500000) - , _msgGpsTimeDepA_flags :: !Word8 + , _msgGpsTimeDepA_flags :: !uint32 -- ^ Status flags (reserved) } deriving ( Show, Read, Eq ) @@ -960,17 +960,17 @@ -- This dilution of precision (DOP) message describes the effect of navigation -- satellite geometry on positional measurement precision. data MsgDopsDepA = MsgDopsDepA - { _msgDopsDepA_tow :: !Word32 + { _msgDopsDepA_tow :: !uint32 -- ^ GPS Time of Week - , _msgDopsDepA_gdop :: !Word16 + , _msgDopsDepA_gdop :: !uint32 -- ^ Geometric Dilution of Precision - , _msgDopsDepA_pdop :: !Word16 + , _msgDopsDepA_pdop :: !uint32 -- ^ Position Dilution of Precision - , _msgDopsDepA_tdop :: !Word16 + , _msgDopsDepA_tdop :: !uint32 -- ^ Time Dilution of Precision - , _msgDopsDepA_hdop :: !Word16 + , _msgDopsDepA_hdop :: !uint32 -- ^ Horizontal Dilution of Precision - , _msgDopsDepA_vdop :: !Word16 + , _msgDopsDepA_vdop :: !uint32 -- ^ Vertical Dilution of Precision } deriving ( Show, Read, Eq ) @@ -1009,19 +1009,19 @@ -- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME -- with the matching time-of-week (tow). data MsgPosEcefDepA = MsgPosEcefDepA - { _msgPosEcefDepA_tow :: !Word32 + { _msgPosEcefDepA_tow :: !uint32 -- ^ GPS Time of Week - , _msgPosEcefDepA_x :: !Double + , _msgPosEcefDepA_x :: !double -- ^ ECEF X coordinate - , _msgPosEcefDepA_y :: !Double + , _msgPosEcefDepA_y :: !double -- ^ ECEF Y coordinate - , _msgPosEcefDepA_z :: !Double + , _msgPosEcefDepA_z :: !double -- ^ ECEF Z coordinate - , _msgPosEcefDepA_accuracy :: !Word16 + , _msgPosEcefDepA_accuracy :: !uint32 -- ^ Position accuracy estimate (not implemented). Defaults to 0. - , _msgPosEcefDepA_n_sats :: !Word8 + , _msgPosEcefDepA_n_sats :: !uint32 -- ^ Number of satellites used in solution - , _msgPosEcefDepA_flags :: !Word8 + , _msgPosEcefDepA_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -1062,21 +1062,21 @@ -- time is given by the preceding MSG_GPS_TIME with the matching time-of-week -- (tow). data MsgPosLlhDepA = MsgPosLlhDepA - { _msgPosLlhDepA_tow :: !Word32 + { _msgPosLlhDepA_tow :: !uint32 -- ^ GPS Time of Week - , _msgPosLlhDepA_lat :: !Double + , _msgPosLlhDepA_lat :: !double -- ^ Latitude - , _msgPosLlhDepA_lon :: !Double + , _msgPosLlhDepA_lon :: !double -- ^ Longitude - , _msgPosLlhDepA_height :: !Double + , _msgPosLlhDepA_height :: !double -- ^ Height - , _msgPosLlhDepA_h_accuracy :: !Word16 + , _msgPosLlhDepA_h_accuracy :: !uint32 -- ^ Horizontal position accuracy estimate (not implemented). Defaults to 0. - , _msgPosLlhDepA_v_accuracy :: !Word16 + , _msgPosLlhDepA_v_accuracy :: !uint32 -- ^ Vertical position accuracy estimate (not implemented). Defaults to 0. - , _msgPosLlhDepA_n_sats :: !Word8 + , _msgPosLlhDepA_n_sats :: !uint32 -- ^ Number of satellites used in solution. - , _msgPosLlhDepA_flags :: !Word8 + , _msgPosLlhDepA_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -1116,19 +1116,19 @@ -- base station to the rover receiver. The full GPS time is given by the -- preceding MSG_GPS_TIME with the matching time-of-week (tow). data MsgBaselineEcefDepA = MsgBaselineEcefDepA - { _msgBaselineEcefDepA_tow :: !Word32 + { _msgBaselineEcefDepA_tow :: !uint32 -- ^ GPS Time of Week - , _msgBaselineEcefDepA_x :: !Int32 + , _msgBaselineEcefDepA_x :: !sint32 -- ^ Baseline ECEF X coordinate - , _msgBaselineEcefDepA_y :: !Int32 + , _msgBaselineEcefDepA_y :: !sint32 -- ^ Baseline ECEF Y coordinate - , _msgBaselineEcefDepA_z :: !Int32 + , _msgBaselineEcefDepA_z :: !sint32 -- ^ Baseline ECEF Z coordinate - , _msgBaselineEcefDepA_accuracy :: !Word16 + , _msgBaselineEcefDepA_accuracy :: !uint32 -- ^ Position accuracy estimate - , _msgBaselineEcefDepA_n_sats :: !Word8 + , _msgBaselineEcefDepA_n_sats :: !uint32 -- ^ Number of satellites used in solution - , _msgBaselineEcefDepA_flags :: !Word8 + , _msgBaselineEcefDepA_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -1168,21 +1168,21 @@ -- GPS time is given by the preceding MSG_GPS_TIME with the matching time-of- -- week (tow). data MsgBaselineNedDepA = MsgBaselineNedDepA - { _msgBaselineNedDepA_tow :: !Word32 + { _msgBaselineNedDepA_tow :: !uint32 -- ^ GPS Time of Week - , _msgBaselineNedDepA_n :: !Int32 + , _msgBaselineNedDepA_n :: !sint32 -- ^ Baseline North coordinate - , _msgBaselineNedDepA_e :: !Int32 + , _msgBaselineNedDepA_e :: !sint32 -- ^ Baseline East coordinate - , _msgBaselineNedDepA_d :: !Int32 + , _msgBaselineNedDepA_d :: !sint32 -- ^ Baseline Down coordinate - , _msgBaselineNedDepA_h_accuracy :: !Word16 + , _msgBaselineNedDepA_h_accuracy :: !uint32 -- ^ Horizontal position accuracy estimate (not implemented). Defaults to 0. - , _msgBaselineNedDepA_v_accuracy :: !Word16 + , _msgBaselineNedDepA_v_accuracy :: !uint32 -- ^ Vertical position accuracy estimate (not implemented). Defaults to 0. - , _msgBaselineNedDepA_n_sats :: !Word8 + , _msgBaselineNedDepA_n_sats :: !uint32 -- ^ Number of satellites used in solution - , _msgBaselineNedDepA_flags :: !Word8 + , _msgBaselineNedDepA_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -1221,19 +1221,19 @@ -- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with -- the matching time-of-week (tow). data MsgVelEcefDepA = MsgVelEcefDepA - { _msgVelEcefDepA_tow :: !Word32 + { _msgVelEcefDepA_tow :: !uint32 -- ^ GPS Time of Week - , _msgVelEcefDepA_x :: !Int32 + , _msgVelEcefDepA_x :: !sint32 -- ^ Velocity ECEF X coordinate - , _msgVelEcefDepA_y :: !Int32 + , _msgVelEcefDepA_y :: !sint32 -- ^ Velocity ECEF Y coordinate - , _msgVelEcefDepA_z :: !Int32 + , _msgVelEcefDepA_z :: !sint32 -- ^ Velocity ECEF Z coordinate - , _msgVelEcefDepA_accuracy :: !Word16 + , _msgVelEcefDepA_accuracy :: !uint32 -- ^ Velocity accuracy estimate (not implemented). Defaults to 0. - , _msgVelEcefDepA_n_sats :: !Word8 + , _msgVelEcefDepA_n_sats :: !uint32 -- ^ Number of satellites used in solution - , _msgVelEcefDepA_flags :: !Word8 + , _msgVelEcefDepA_flags :: !uint32 -- ^ Status flags (reserved) } deriving ( Show, Read, Eq ) @@ -1271,21 +1271,21 @@ -- 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). data MsgVelNedDepA = MsgVelNedDepA - { _msgVelNedDepA_tow :: !Word32 + { _msgVelNedDepA_tow :: !uint32 -- ^ GPS Time of Week - , _msgVelNedDepA_n :: !Int32 + , _msgVelNedDepA_n :: !sint32 -- ^ Velocity North coordinate - , _msgVelNedDepA_e :: !Int32 + , _msgVelNedDepA_e :: !sint32 -- ^ Velocity East coordinate - , _msgVelNedDepA_d :: !Int32 + , _msgVelNedDepA_d :: !sint32 -- ^ Velocity Down coordinate - , _msgVelNedDepA_h_accuracy :: !Word16 + , _msgVelNedDepA_h_accuracy :: !uint32 -- ^ Horizontal velocity accuracy estimate (not implemented). Defaults to 0. - , _msgVelNedDepA_v_accuracy :: !Word16 + , _msgVelNedDepA_v_accuracy :: !uint32 -- ^ Vertical velocity accuracy estimate (not implemented). Defaults to 0. - , _msgVelNedDepA_n_sats :: !Word8 + , _msgVelNedDepA_n_sats :: !uint32 -- ^ Number of satellites used in solution - , _msgVelNedDepA_flags :: !Word8 + , _msgVelNedDepA_flags :: !uint32 -- ^ Status flags (reserved) } deriving ( Show, Read, Eq ) @@ -1324,13 +1324,13 @@ -- 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). data MsgBaselineHeadingDepA = MsgBaselineHeadingDepA - { _msgBaselineHeadingDepA_tow :: !Word32 + { _msgBaselineHeadingDepA_tow :: !uint32 -- ^ GPS Time of Week - , _msgBaselineHeadingDepA_heading :: !Word32 + , _msgBaselineHeadingDepA_heading :: !uint32 -- ^ Heading - , _msgBaselineHeadingDepA_n_sats :: !Word8 + , _msgBaselineHeadingDepA_n_sats :: !uint32 -- ^ Number of satellites used in solution - , _msgBaselineHeadingDepA_flags :: !Word8 + , _msgBaselineHeadingDepA_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) 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 @@ -44,25 +44,25 @@ -- This message is sent out when an object is stored into NDB. If needed -- message could also be sent out when fetching an object from NDB. data MsgNdbEvent = MsgNdbEvent - { _msgNdbEvent_recv_time :: !Word64 + { _msgNdbEvent_recv_time :: !uint64 -- ^ HW time in milliseconds. - , _msgNdbEvent_event :: !Word8 + , _msgNdbEvent_event :: !uint32 -- ^ Event type. - , _msgNdbEvent_object_type :: !Word8 + , _msgNdbEvent_object_type :: !uint32 -- ^ Event object type. - , _msgNdbEvent_result :: !Word8 + , _msgNdbEvent_result :: !uint32 -- ^ Event result. - , _msgNdbEvent_data_source :: !Word8 + , _msgNdbEvent_data_source :: !uint32 -- ^ Data source for STORE event, reserved for other events. - , _msgNdbEvent_object_sid :: !GnssSignal + , _msgNdbEvent_object_sid :: !gnss.GnssSignal -- ^ GNSS signal identifier, If object_type is Ephemeris OR Almanac, sid -- indicates for which signal the object belongs to. Reserved in other -- cases. - , _msgNdbEvent_src_sid :: !GnssSignal + , _msgNdbEvent_src_sid :: !gnss.GnssSignal -- ^ GNSS signal identifier, If object_type is Almanac, Almanac WN, Iono OR -- L2C capabilities AND data_source is NDB_DS_RECEIVER sid indicates from -- which SV data was decoded. Reserved in other cases. - , _msgNdbEvent_original_sender :: !Word16 + , _msgNdbEvent_original_sender :: !uint32 -- ^ A unique identifier of the sending hardware. For v1.0, set to the 2 -- least significant bytes of the device serial number, valid only if -- data_source is NDB_DS_SBP. Reserved in case of other data_source. diff --git a/src/SwiftNav/SBP/Observation.hs b/src/SwiftNav/SBP/Observation.hs --- a/src/SwiftNav/SBP/Observation.hs +++ b/src/SwiftNav/SBP/Observation.hs @@ -40,9 +40,9 @@ -- -- Header of a GNSS observation message. data ObservationHeader = ObservationHeader - { _observationHeader_t :: !GpsTime + { _observationHeader_t :: !gnss.GpsTime -- ^ GNSS time of this observation - , _observationHeader_n_obs :: !Word8 + , _observationHeader_n_obs :: !uint32 -- ^ Total number of observations. First nibble is the size of the sequence -- (n), second nibble is the zero-indexed counter (ith packet of n) } deriving ( Show, Read, Eq ) @@ -66,9 +66,9 @@ -- Q16.8 layout, i.e. 16-bits of whole doppler and 8-bits of fractional -- doppler. This doppler is defined as positive for approaching satellites. data Doppler = Doppler - { _doppler_i :: !Int16 + { _doppler_i :: !sint32 -- ^ Doppler whole Hz - , _doppler_f :: !Word8 + , _doppler_f :: !uint32 -- ^ Doppler fractional part } deriving ( Show, Read, Eq ) @@ -91,26 +91,26 @@ -- observations are interoperable with 3rd party receivers and conform with -- typical RTCMv3 GNSS observations. data PackedObsContent = PackedObsContent - { _packedObsContent_P :: !Word32 + { _packedObsContent_P :: !uint32 -- ^ Pseudorange observation - , _packedObsContent_L :: !CarrierPhase + , _packedObsContent_L :: !gnss.CarrierPhase -- ^ Carrier phase observation with typical sign convention. , _packedObsContent_D :: !Doppler -- ^ Doppler observation with typical sign convention. - , _packedObsContent_cn0 :: !Word8 + , _packedObsContent_cn0 :: !uint32 -- ^ Carrier-to-Noise density. Zero implies invalid cn0. - , _packedObsContent_lock :: !Word8 + , _packedObsContent_lock :: !uint32 -- ^ Lock timer. This value gives an indication of the time for which a -- signal has maintained continuous phase lock. Whenever a signal has lost -- and regained lock, this value is reset to zero. It is encoded according -- to DF402 from the RTCM 10403.2 Amendment 2 specification. Valid values -- range from 0 to 15 and the most significant nibble is reserved for -- future use. - , _packedObsContent_flags :: !Word8 + , _packedObsContent_flags :: !uint32 -- ^ Measurement status flags. A bit field of flags providing the status of -- this observation. If this field is 0 it means only the Cn0 estimate for -- the signal is valid. - , _packedObsContent_sid :: !GnssSignal + , _packedObsContent_sid :: !gnss.GnssSignal -- ^ GNSS signal identifier (16 bit) } deriving ( Show, Read, Eq ) @@ -151,7 +151,7 @@ data MsgObs = MsgObs { _msgObs_header :: !ObservationHeader -- ^ Header of a GPS observation message - , _msgObs_obs :: ![PackedObsContent] + , _msgObs_obs :: !repeated PackedObsContent -- ^ Pseudorange and carrier phase observation for a satellite being tracked. } deriving ( Show, Read, Eq ) @@ -179,11 +179,11 @@ -- required to be a high-accuracy surveyed location of the base station. Any -- error here will result in an error in the pseudo-absolute position output. data MsgBasePosLlh = MsgBasePosLlh - { _msgBasePosLlh_lat :: !Double + { _msgBasePosLlh_lat :: !double -- ^ Latitude - , _msgBasePosLlh_lon :: !Double + , _msgBasePosLlh_lon :: !double -- ^ Longitude - , _msgBasePosLlh_height :: !Double + , _msgBasePosLlh_height :: !double -- ^ Height } deriving ( Show, Read, Eq ) @@ -214,11 +214,11 @@ -- accuracy surveyed location of the base station. Any error here will result -- in an error in the pseudo-absolute position output. data MsgBasePosEcef = MsgBasePosEcef - { _msgBasePosEcef_x :: !Double + { _msgBasePosEcef_x :: !double -- ^ ECEF X coodinate - , _msgBasePosEcef_y :: !Double + , _msgBasePosEcef_y :: !double -- ^ ECEF Y coordinate - , _msgBasePosEcef_z :: !Double + , _msgBasePosEcef_z :: !double -- ^ ECEF Z coordinate } deriving ( Show, Read, Eq ) @@ -239,17 +239,17 @@ $(makeLenses ''MsgBasePosEcef) data EphemerisCommonContent = EphemerisCommonContent - { _ephemerisCommonContent_sid :: !GnssSignal + { _ephemerisCommonContent_sid :: !gnss.GnssSignal -- ^ GNSS signal identifier (16 bit) - , _ephemerisCommonContent_toe :: !GpsTimeSec + , _ephemerisCommonContent_toe :: !gnss.GpsTimeSec -- ^ Time of Ephemerides - , _ephemerisCommonContent_ura :: !Double + , _ephemerisCommonContent_ura :: !double -- ^ User Range Accuracy - , _ephemerisCommonContent_fit_interval :: !Word32 + , _ephemerisCommonContent_fit_interval :: !uint32 -- ^ Curve fit interval - , _ephemerisCommonContent_valid :: !Word8 + , _ephemerisCommonContent_valid :: !uint32 -- ^ Status of ephemeris, 1 = valid, 0 = invalid - , _ephemerisCommonContent_health_bits :: !Word8 + , _ephemerisCommonContent_health_bits :: !uint32 -- ^ Satellite health status. GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 SBAS: 0 -- = valid, non-zero = invalid GLO: 0 = valid, non-zero = invalid } deriving ( Show, Read, Eq ) @@ -280,13 +280,13 @@ -- ^ GNSS signal identifier , _ephemerisCommonContentDepA_toe :: !GpsTimeDep -- ^ Time of Ephemerides - , _ephemerisCommonContentDepA_ura :: !Double + , _ephemerisCommonContentDepA_ura :: !double -- ^ User Range Accuracy - , _ephemerisCommonContentDepA_fit_interval :: !Word32 + , _ephemerisCommonContentDepA_fit_interval :: !uint32 -- ^ Curve fit interval - , _ephemerisCommonContentDepA_valid :: !Word8 + , _ephemerisCommonContentDepA_valid :: !uint32 -- ^ Status of ephemeris, 1 = valid, 0 = invalid - , _ephemerisCommonContentDepA_health_bits :: !Word8 + , _ephemerisCommonContentDepA_health_bits :: !uint32 -- ^ Satellite health status. GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 SBAS: 0 -- = valid, non-zero = invalid GLO: 0 = valid, non-zero = invalid } deriving ( Show, Read, Eq ) @@ -324,53 +324,53 @@ data MsgEphemerisGpsDepE = MsgEphemerisGpsDepE { _msgEphemerisGpsDepE_common :: !EphemerisCommonContentDepA -- ^ Values common for all ephemeris types - , _msgEphemerisGpsDepE_tgd :: !Double + , _msgEphemerisGpsDepE_tgd :: !double -- ^ Group delay differential between L1 and L2 - , _msgEphemerisGpsDepE_c_rs :: !Double + , _msgEphemerisGpsDepE_c_rs :: !double -- ^ Amplitude of the sine harmonic correction term to the orbit radius - , _msgEphemerisGpsDepE_c_rc :: !Double + , _msgEphemerisGpsDepE_c_rc :: !double -- ^ Amplitude of the cosine harmonic correction term to the orbit radius - , _msgEphemerisGpsDepE_c_uc :: !Double + , _msgEphemerisGpsDepE_c_uc :: !double -- ^ Amplitude of the cosine harmonic correction term to the argument of -- latitude - , _msgEphemerisGpsDepE_c_us :: !Double + , _msgEphemerisGpsDepE_c_us :: !double -- ^ Amplitude of the sine harmonic correction term to the argument of -- latitude - , _msgEphemerisGpsDepE_c_ic :: !Double + , _msgEphemerisGpsDepE_c_ic :: !double -- ^ Amplitude of the cosine harmonic correction term to the angle of -- inclination - , _msgEphemerisGpsDepE_c_is :: !Double + , _msgEphemerisGpsDepE_c_is :: !double -- ^ Amplitude of the sine harmonic correction term to the angle of -- inclination - , _msgEphemerisGpsDepE_dn :: !Double + , _msgEphemerisGpsDepE_dn :: !double -- ^ Mean motion difference - , _msgEphemerisGpsDepE_m0 :: !Double + , _msgEphemerisGpsDepE_m0 :: !double -- ^ Mean anomaly at reference time - , _msgEphemerisGpsDepE_ecc :: !Double + , _msgEphemerisGpsDepE_ecc :: !double -- ^ Eccentricity of satellite orbit - , _msgEphemerisGpsDepE_sqrta :: !Double + , _msgEphemerisGpsDepE_sqrta :: !double -- ^ Square root of the semi-major axis of orbit - , _msgEphemerisGpsDepE_omega0 :: !Double + , _msgEphemerisGpsDepE_omega0 :: !double -- ^ Longitude of ascending node of orbit plane at weekly epoch - , _msgEphemerisGpsDepE_omegadot :: !Double + , _msgEphemerisGpsDepE_omegadot :: !double -- ^ Rate of right ascension - , _msgEphemerisGpsDepE_w :: !Double + , _msgEphemerisGpsDepE_w :: !double -- ^ Argument of perigee - , _msgEphemerisGpsDepE_inc :: !Double + , _msgEphemerisGpsDepE_inc :: !double -- ^ Inclination - , _msgEphemerisGpsDepE_inc_dot :: !Double + , _msgEphemerisGpsDepE_inc_dot :: !double -- ^ Inclination first derivative - , _msgEphemerisGpsDepE_af0 :: !Double + , _msgEphemerisGpsDepE_af0 :: !double -- ^ Polynomial clock correction coefficient (clock bias) - , _msgEphemerisGpsDepE_af1 :: !Double + , _msgEphemerisGpsDepE_af1 :: !double -- ^ Polynomial clock correction coefficient (clock drift) - , _msgEphemerisGpsDepE_af2 :: !Double + , _msgEphemerisGpsDepE_af2 :: !double -- ^ Polynomial clock correction coefficient (rate of clock drift) , _msgEphemerisGpsDepE_toc :: !GpsTimeDep -- ^ Clock reference - , _msgEphemerisGpsDepE_iode :: !Word8 + , _msgEphemerisGpsDepE_iode :: !uint32 -- ^ Issue of ephemeris data - , _msgEphemerisGpsDepE_iodc :: !Word16 + , _msgEphemerisGpsDepE_iodc :: !uint32 -- ^ Issue of clock data } deriving ( Show, Read, Eq ) @@ -442,53 +442,53 @@ data MsgEphemerisGps = MsgEphemerisGps { _msgEphemerisGps_common :: !EphemerisCommonContent -- ^ Values common for all ephemeris types - , _msgEphemerisGps_tgd :: !Double + , _msgEphemerisGps_tgd :: !double -- ^ Group delay differential between L1 and L2 - , _msgEphemerisGps_c_rs :: !Double + , _msgEphemerisGps_c_rs :: !double -- ^ Amplitude of the sine harmonic correction term to the orbit radius - , _msgEphemerisGps_c_rc :: !Double + , _msgEphemerisGps_c_rc :: !double -- ^ Amplitude of the cosine harmonic correction term to the orbit radius - , _msgEphemerisGps_c_uc :: !Double + , _msgEphemerisGps_c_uc :: !double -- ^ Amplitude of the cosine harmonic correction term to the argument of -- latitude - , _msgEphemerisGps_c_us :: !Double + , _msgEphemerisGps_c_us :: !double -- ^ Amplitude of the sine harmonic correction term to the argument of -- latitude - , _msgEphemerisGps_c_ic :: !Double + , _msgEphemerisGps_c_ic :: !double -- ^ Amplitude of the cosine harmonic correction term to the angle of -- inclination - , _msgEphemerisGps_c_is :: !Double + , _msgEphemerisGps_c_is :: !double -- ^ Amplitude of the sine harmonic correction term to the angle of -- inclination - , _msgEphemerisGps_dn :: !Double + , _msgEphemerisGps_dn :: !double -- ^ Mean motion difference - , _msgEphemerisGps_m0 :: !Double + , _msgEphemerisGps_m0 :: !double -- ^ Mean anomaly at reference time - , _msgEphemerisGps_ecc :: !Double + , _msgEphemerisGps_ecc :: !double -- ^ Eccentricity of satellite orbit - , _msgEphemerisGps_sqrta :: !Double + , _msgEphemerisGps_sqrta :: !double -- ^ Square root of the semi-major axis of orbit - , _msgEphemerisGps_omega0 :: !Double + , _msgEphemerisGps_omega0 :: !double -- ^ Longitude of ascending node of orbit plane at weekly epoch - , _msgEphemerisGps_omegadot :: !Double + , _msgEphemerisGps_omegadot :: !double -- ^ Rate of right ascension - , _msgEphemerisGps_w :: !Double + , _msgEphemerisGps_w :: !double -- ^ Argument of perigee - , _msgEphemerisGps_inc :: !Double + , _msgEphemerisGps_inc :: !double -- ^ Inclination - , _msgEphemerisGps_inc_dot :: !Double + , _msgEphemerisGps_inc_dot :: !double -- ^ Inclination first derivative - , _msgEphemerisGps_af0 :: !Double + , _msgEphemerisGps_af0 :: !double -- ^ Polynomial clock correction coefficient (clock bias) - , _msgEphemerisGps_af1 :: !Double + , _msgEphemerisGps_af1 :: !double -- ^ Polynomial clock correction coefficient (clock drift) - , _msgEphemerisGps_af2 :: !Double + , _msgEphemerisGps_af2 :: !double -- ^ Polynomial clock correction coefficient (rate of clock drift) - , _msgEphemerisGps_toc :: !GpsTimeSec + , _msgEphemerisGps_toc :: !gnss.GpsTimeSec -- ^ Clock reference - , _msgEphemerisGps_iode :: !Word8 + , _msgEphemerisGps_iode :: !uint32 -- ^ Issue of ephemeris data - , _msgEphemerisGps_iodc :: !Word16 + , _msgEphemerisGps_iodc :: !uint32 -- ^ Issue of clock data } deriving ( Show, Read, Eq ) @@ -554,15 +554,15 @@ data MsgEphemerisSbasDepA = MsgEphemerisSbasDepA { _msgEphemerisSbasDepA_common :: !EphemerisCommonContentDepA -- ^ Values common for all ephemeris types - , _msgEphemerisSbasDepA_pos :: ![Double] + , _msgEphemerisSbasDepA_pos :: !repeated double -- ^ Position of the GEO at time toe - , _msgEphemerisSbasDepA_vel :: ![Double] + , _msgEphemerisSbasDepA_vel :: !repeated double -- ^ Velocity of the GEO at time toe - , _msgEphemerisSbasDepA_acc :: ![Double] + , _msgEphemerisSbasDepA_acc :: !repeated double -- ^ Acceleration of the GEO at time toe - , _msgEphemerisSbasDepA_a_gf0 :: !Double + , _msgEphemerisSbasDepA_a_gf0 :: !double -- ^ Time offset of the GEO clock w.r.t. SBAS Network Time - , _msgEphemerisSbasDepA_a_gf1 :: !Double + , _msgEphemerisSbasDepA_a_gf1 :: !double -- ^ Drift of the GEO clock w.r.t. SBAS Network Time } deriving ( Show, Read, Eq ) @@ -600,15 +600,15 @@ data MsgEphemerisGloDepA = MsgEphemerisGloDepA { _msgEphemerisGloDepA_common :: !EphemerisCommonContentDepA -- ^ Values common for all ephemeris types - , _msgEphemerisGloDepA_gamma :: !Double + , _msgEphemerisGloDepA_gamma :: !double -- ^ Relative deviation of predicted carrier frequency from nominal - , _msgEphemerisGloDepA_tau :: !Double + , _msgEphemerisGloDepA_tau :: !double -- ^ Correction to the SV time - , _msgEphemerisGloDepA_pos :: ![Double] + , _msgEphemerisGloDepA_pos :: !repeated double -- ^ Position of the SV at tb in PZ-90.02 coordinates system - , _msgEphemerisGloDepA_vel :: ![Double] + , _msgEphemerisGloDepA_vel :: !repeated double -- ^ Velocity vector of the SV at tb in PZ-90.02 coordinates system - , _msgEphemerisGloDepA_acc :: ![Double] + , _msgEphemerisGloDepA_acc :: !repeated double -- ^ Acceleration vector of the SV at tb in PZ-90.02 coordinates sys } deriving ( Show, Read, Eq ) @@ -640,15 +640,15 @@ data MsgEphemerisSbas = MsgEphemerisSbas { _msgEphemerisSbas_common :: !EphemerisCommonContent -- ^ Values common for all ephemeris types - , _msgEphemerisSbas_pos :: ![Double] + , _msgEphemerisSbas_pos :: !repeated double -- ^ Position of the GEO at time toe - , _msgEphemerisSbas_vel :: ![Double] + , _msgEphemerisSbas_vel :: !repeated double -- ^ Velocity of the GEO at time toe - , _msgEphemerisSbas_acc :: ![Double] + , _msgEphemerisSbas_acc :: !repeated double -- ^ Acceleration of the GEO at time toe - , _msgEphemerisSbas_a_gf0 :: !Double + , _msgEphemerisSbas_a_gf0 :: !double -- ^ Time offset of the GEO clock w.r.t. SBAS Network Time - , _msgEphemerisSbas_a_gf1 :: !Double + , _msgEphemerisSbas_a_gf1 :: !double -- ^ Drift of the GEO clock w.r.t. SBAS Network Time } deriving ( Show, Read, Eq ) @@ -686,15 +686,15 @@ data MsgEphemerisGloDepB = MsgEphemerisGloDepB { _msgEphemerisGloDepB_common :: !EphemerisCommonContent -- ^ Values common for all ephemeris types - , _msgEphemerisGloDepB_gamma :: !Double + , _msgEphemerisGloDepB_gamma :: !double -- ^ Relative deviation of predicted carrier frequency from nominal - , _msgEphemerisGloDepB_tau :: !Double + , _msgEphemerisGloDepB_tau :: !double -- ^ Correction to the SV time - , _msgEphemerisGloDepB_pos :: ![Double] + , _msgEphemerisGloDepB_pos :: !repeated double -- ^ Position of the SV at tb in PZ-90.02 coordinates system - , _msgEphemerisGloDepB_vel :: ![Double] + , _msgEphemerisGloDepB_vel :: !repeated double -- ^ Velocity vector of the SV at tb in PZ-90.02 coordinates system - , _msgEphemerisGloDepB_acc :: ![Double] + , _msgEphemerisGloDepB_acc :: !repeated double -- ^ Acceleration vector of the SV at tb in PZ-90.02 coordinates sys } deriving ( Show, Read, Eq ) @@ -732,19 +732,19 @@ data MsgEphemerisGloDepC = MsgEphemerisGloDepC { _msgEphemerisGloDepC_common :: !EphemerisCommonContent -- ^ Values common for all ephemeris types - , _msgEphemerisGloDepC_gamma :: !Double + , _msgEphemerisGloDepC_gamma :: !double -- ^ Relative deviation of predicted carrier frequency from nominal - , _msgEphemerisGloDepC_tau :: !Double + , _msgEphemerisGloDepC_tau :: !double -- ^ Correction to the SV time - , _msgEphemerisGloDepC_d_tau :: !Double + , _msgEphemerisGloDepC_d_tau :: !double -- ^ Equipment delay between L1 and L2 - , _msgEphemerisGloDepC_pos :: ![Double] + , _msgEphemerisGloDepC_pos :: !repeated double -- ^ Position of the SV at tb in PZ-90.02 coordinates system - , _msgEphemerisGloDepC_vel :: ![Double] + , _msgEphemerisGloDepC_vel :: !repeated double -- ^ Velocity vector of the SV at tb in PZ-90.02 coordinates system - , _msgEphemerisGloDepC_acc :: ![Double] + , _msgEphemerisGloDepC_acc :: !repeated double -- ^ Acceleration vector of the SV at tb in PZ-90.02 coordinates sys - , _msgEphemerisGloDepC_fcn :: !Word8 + , _msgEphemerisGloDepC_fcn :: !uint32 -- ^ Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid } deriving ( Show, Read, Eq ) @@ -786,21 +786,21 @@ data MsgEphemerisGlo = MsgEphemerisGlo { _msgEphemerisGlo_common :: !EphemerisCommonContent -- ^ Values common for all ephemeris types - , _msgEphemerisGlo_gamma :: !Double + , _msgEphemerisGlo_gamma :: !double -- ^ Relative deviation of predicted carrier frequency from nominal - , _msgEphemerisGlo_tau :: !Double + , _msgEphemerisGlo_tau :: !double -- ^ Correction to the SV time - , _msgEphemerisGlo_d_tau :: !Double + , _msgEphemerisGlo_d_tau :: !double -- ^ Equipment delay between L1 and L2 - , _msgEphemerisGlo_pos :: ![Double] + , _msgEphemerisGlo_pos :: !repeated double -- ^ Position of the SV at tb in PZ-90.02 coordinates system - , _msgEphemerisGlo_vel :: ![Double] + , _msgEphemerisGlo_vel :: !repeated double -- ^ Velocity vector of the SV at tb in PZ-90.02 coordinates system - , _msgEphemerisGlo_acc :: ![Double] + , _msgEphemerisGlo_acc :: !repeated double -- ^ Acceleration vector of the SV at tb in PZ-90.02 coordinates sys - , _msgEphemerisGlo_fcn :: !Word8 + , _msgEphemerisGlo_fcn :: !uint32 -- ^ Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid - , _msgEphemerisGlo_iod :: !Word8 + , _msgEphemerisGlo_iod :: !uint32 -- ^ Issue of ephemeris data } deriving ( Show, Read, Eq ) @@ -842,67 +842,67 @@ -- see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, -- Table 20-III) for more details. data MsgEphemerisDepD = MsgEphemerisDepD - { _msgEphemerisDepD_tgd :: !Double + { _msgEphemerisDepD_tgd :: !double -- ^ Group delay differential between L1 and L2 - , _msgEphemerisDepD_c_rs :: !Double + , _msgEphemerisDepD_c_rs :: !double -- ^ Amplitude of the sine harmonic correction term to the orbit radius - , _msgEphemerisDepD_c_rc :: !Double + , _msgEphemerisDepD_c_rc :: !double -- ^ Amplitude of the cosine harmonic correction term to the orbit radius - , _msgEphemerisDepD_c_uc :: !Double + , _msgEphemerisDepD_c_uc :: !double -- ^ Amplitude of the cosine harmonic correction term to the argument of -- latitude - , _msgEphemerisDepD_c_us :: !Double + , _msgEphemerisDepD_c_us :: !double -- ^ Amplitude of the sine harmonic correction term to the argument of -- latitude - , _msgEphemerisDepD_c_ic :: !Double + , _msgEphemerisDepD_c_ic :: !double -- ^ Amplitude of the cosine harmonic correction term to the angle of -- inclination - , _msgEphemerisDepD_c_is :: !Double + , _msgEphemerisDepD_c_is :: !double -- ^ Amplitude of the sine harmonic correction term to the angle of -- inclination - , _msgEphemerisDepD_dn :: !Double + , _msgEphemerisDepD_dn :: !double -- ^ Mean motion difference - , _msgEphemerisDepD_m0 :: !Double + , _msgEphemerisDepD_m0 :: !double -- ^ Mean anomaly at reference time - , _msgEphemerisDepD_ecc :: !Double + , _msgEphemerisDepD_ecc :: !double -- ^ Eccentricity of satellite orbit - , _msgEphemerisDepD_sqrta :: !Double + , _msgEphemerisDepD_sqrta :: !double -- ^ Square root of the semi-major axis of orbit - , _msgEphemerisDepD_omega0 :: !Double + , _msgEphemerisDepD_omega0 :: !double -- ^ Longitude of ascending node of orbit plane at weekly epoch - , _msgEphemerisDepD_omegadot :: !Double + , _msgEphemerisDepD_omegadot :: !double -- ^ Rate of right ascension - , _msgEphemerisDepD_w :: !Double + , _msgEphemerisDepD_w :: !double -- ^ Argument of perigee - , _msgEphemerisDepD_inc :: !Double + , _msgEphemerisDepD_inc :: !double -- ^ Inclination - , _msgEphemerisDepD_inc_dot :: !Double + , _msgEphemerisDepD_inc_dot :: !double -- ^ Inclination first derivative - , _msgEphemerisDepD_af0 :: !Double + , _msgEphemerisDepD_af0 :: !double -- ^ Polynomial clock correction coefficient (clock bias) - , _msgEphemerisDepD_af1 :: !Double + , _msgEphemerisDepD_af1 :: !double -- ^ Polynomial clock correction coefficient (clock drift) - , _msgEphemerisDepD_af2 :: !Double + , _msgEphemerisDepD_af2 :: !double -- ^ Polynomial clock correction coefficient (rate of clock drift) - , _msgEphemerisDepD_toe_tow :: !Double + , _msgEphemerisDepD_toe_tow :: !double -- ^ Time of week - , _msgEphemerisDepD_toe_wn :: !Word16 + , _msgEphemerisDepD_toe_wn :: !uint32 -- ^ Week number - , _msgEphemerisDepD_toc_tow :: !Double + , _msgEphemerisDepD_toc_tow :: !double -- ^ Clock reference time of week - , _msgEphemerisDepD_toc_wn :: !Word16 + , _msgEphemerisDepD_toc_wn :: !uint32 -- ^ Clock reference week number - , _msgEphemerisDepD_valid :: !Word8 + , _msgEphemerisDepD_valid :: !uint32 -- ^ Is valid? - , _msgEphemerisDepD_healthy :: !Word8 + , _msgEphemerisDepD_healthy :: !uint32 -- ^ Satellite is healthy? , _msgEphemerisDepD_sid :: !GnssSignalDep -- ^ GNSS signal identifier - , _msgEphemerisDepD_iode :: !Word8 + , _msgEphemerisDepD_iode :: !uint32 -- ^ Issue of ephemeris data - , _msgEphemerisDepD_iodc :: !Word16 + , _msgEphemerisDepD_iodc :: !uint32 -- ^ Issue of clock data - , _msgEphemerisDepD_reserved :: !Word32 + , _msgEphemerisDepD_reserved :: !uint32 -- ^ Reserved field } deriving ( Show, Read, Eq ) @@ -981,61 +981,61 @@ -- -- Deprecated. data MsgEphemerisDepA = MsgEphemerisDepA - { _msgEphemerisDepA_tgd :: !Double + { _msgEphemerisDepA_tgd :: !double -- ^ Group delay differential between L1 and L2 - , _msgEphemerisDepA_c_rs :: !Double + , _msgEphemerisDepA_c_rs :: !double -- ^ Amplitude of the sine harmonic correction term to the orbit radius - , _msgEphemerisDepA_c_rc :: !Double + , _msgEphemerisDepA_c_rc :: !double -- ^ Amplitude of the cosine harmonic correction term to the orbit radius - , _msgEphemerisDepA_c_uc :: !Double + , _msgEphemerisDepA_c_uc :: !double -- ^ Amplitude of the cosine harmonic correction term to the argument of -- latitude - , _msgEphemerisDepA_c_us :: !Double + , _msgEphemerisDepA_c_us :: !double -- ^ Amplitude of the sine harmonic correction term to the argument of -- latitude - , _msgEphemerisDepA_c_ic :: !Double + , _msgEphemerisDepA_c_ic :: !double -- ^ Amplitude of the cosine harmonic correction term to the angle of -- inclination - , _msgEphemerisDepA_c_is :: !Double + , _msgEphemerisDepA_c_is :: !double -- ^ Amplitude of the sine harmonic correction term to the angle of -- inclination - , _msgEphemerisDepA_dn :: !Double + , _msgEphemerisDepA_dn :: !double -- ^ Mean motion difference - , _msgEphemerisDepA_m0 :: !Double + , _msgEphemerisDepA_m0 :: !double -- ^ Mean anomaly at reference time - , _msgEphemerisDepA_ecc :: !Double + , _msgEphemerisDepA_ecc :: !double -- ^ Eccentricity of satellite orbit - , _msgEphemerisDepA_sqrta :: !Double + , _msgEphemerisDepA_sqrta :: !double -- ^ Square root of the semi-major axis of orbit - , _msgEphemerisDepA_omega0 :: !Double + , _msgEphemerisDepA_omega0 :: !double -- ^ Longitude of ascending node of orbit plane at weekly epoch - , _msgEphemerisDepA_omegadot :: !Double + , _msgEphemerisDepA_omegadot :: !double -- ^ Rate of right ascension - , _msgEphemerisDepA_w :: !Double + , _msgEphemerisDepA_w :: !double -- ^ Argument of perigee - , _msgEphemerisDepA_inc :: !Double + , _msgEphemerisDepA_inc :: !double -- ^ Inclination - , _msgEphemerisDepA_inc_dot :: !Double + , _msgEphemerisDepA_inc_dot :: !double -- ^ Inclination first derivative - , _msgEphemerisDepA_af0 :: !Double + , _msgEphemerisDepA_af0 :: !double -- ^ Polynomial clock correction coefficient (clock bias) - , _msgEphemerisDepA_af1 :: !Double + , _msgEphemerisDepA_af1 :: !double -- ^ Polynomial clock correction coefficient (clock drift) - , _msgEphemerisDepA_af2 :: !Double + , _msgEphemerisDepA_af2 :: !double -- ^ Polynomial clock correction coefficient (rate of clock drift) - , _msgEphemerisDepA_toe_tow :: !Double + , _msgEphemerisDepA_toe_tow :: !double -- ^ Time of week - , _msgEphemerisDepA_toe_wn :: !Word16 + , _msgEphemerisDepA_toe_wn :: !uint32 -- ^ Week number - , _msgEphemerisDepA_toc_tow :: !Double + , _msgEphemerisDepA_toc_tow :: !double -- ^ Clock reference time of week - , _msgEphemerisDepA_toc_wn :: !Word16 + , _msgEphemerisDepA_toc_wn :: !uint32 -- ^ Clock reference week number - , _msgEphemerisDepA_valid :: !Word8 + , _msgEphemerisDepA_valid :: !uint32 -- ^ Is valid? - , _msgEphemerisDepA_healthy :: !Word8 + , _msgEphemerisDepA_healthy :: !uint32 -- ^ Satellite is healthy? - , _msgEphemerisDepA_prn :: !Word8 + , _msgEphemerisDepA_prn :: !uint32 -- ^ PRN being tracked } deriving ( Show, Read, Eq ) @@ -1108,63 +1108,63 @@ -- -- Deprecated. data MsgEphemerisDepB = MsgEphemerisDepB - { _msgEphemerisDepB_tgd :: !Double + { _msgEphemerisDepB_tgd :: !double -- ^ Group delay differential between L1 and L2 - , _msgEphemerisDepB_c_rs :: !Double + , _msgEphemerisDepB_c_rs :: !double -- ^ Amplitude of the sine harmonic correction term to the orbit radius - , _msgEphemerisDepB_c_rc :: !Double + , _msgEphemerisDepB_c_rc :: !double -- ^ Amplitude of the cosine harmonic correction term to the orbit radius - , _msgEphemerisDepB_c_uc :: !Double + , _msgEphemerisDepB_c_uc :: !double -- ^ Amplitude of the cosine harmonic correction term to the argument of -- latitude - , _msgEphemerisDepB_c_us :: !Double + , _msgEphemerisDepB_c_us :: !double -- ^ Amplitude of the sine harmonic correction term to the argument of -- latitude - , _msgEphemerisDepB_c_ic :: !Double + , _msgEphemerisDepB_c_ic :: !double -- ^ Amplitude of the cosine harmonic correction term to the angle of -- inclination - , _msgEphemerisDepB_c_is :: !Double + , _msgEphemerisDepB_c_is :: !double -- ^ Amplitude of the sine harmonic correction term to the angle of -- inclination - , _msgEphemerisDepB_dn :: !Double + , _msgEphemerisDepB_dn :: !double -- ^ Mean motion difference - , _msgEphemerisDepB_m0 :: !Double + , _msgEphemerisDepB_m0 :: !double -- ^ Mean anomaly at reference time - , _msgEphemerisDepB_ecc :: !Double + , _msgEphemerisDepB_ecc :: !double -- ^ Eccentricity of satellite orbit - , _msgEphemerisDepB_sqrta :: !Double + , _msgEphemerisDepB_sqrta :: !double -- ^ Square root of the semi-major axis of orbit - , _msgEphemerisDepB_omega0 :: !Double + , _msgEphemerisDepB_omega0 :: !double -- ^ Longitude of ascending node of orbit plane at weekly epoch - , _msgEphemerisDepB_omegadot :: !Double + , _msgEphemerisDepB_omegadot :: !double -- ^ Rate of right ascension - , _msgEphemerisDepB_w :: !Double + , _msgEphemerisDepB_w :: !double -- ^ Argument of perigee - , _msgEphemerisDepB_inc :: !Double + , _msgEphemerisDepB_inc :: !double -- ^ Inclination - , _msgEphemerisDepB_inc_dot :: !Double + , _msgEphemerisDepB_inc_dot :: !double -- ^ Inclination first derivative - , _msgEphemerisDepB_af0 :: !Double + , _msgEphemerisDepB_af0 :: !double -- ^ Polynomial clock correction coefficient (clock bias) - , _msgEphemerisDepB_af1 :: !Double + , _msgEphemerisDepB_af1 :: !double -- ^ Polynomial clock correction coefficient (clock drift) - , _msgEphemerisDepB_af2 :: !Double + , _msgEphemerisDepB_af2 :: !double -- ^ Polynomial clock correction coefficient (rate of clock drift) - , _msgEphemerisDepB_toe_tow :: !Double + , _msgEphemerisDepB_toe_tow :: !double -- ^ Time of week - , _msgEphemerisDepB_toe_wn :: !Word16 + , _msgEphemerisDepB_toe_wn :: !uint32 -- ^ Week number - , _msgEphemerisDepB_toc_tow :: !Double + , _msgEphemerisDepB_toc_tow :: !double -- ^ Clock reference time of week - , _msgEphemerisDepB_toc_wn :: !Word16 + , _msgEphemerisDepB_toc_wn :: !uint32 -- ^ Clock reference week number - , _msgEphemerisDepB_valid :: !Word8 + , _msgEphemerisDepB_valid :: !uint32 -- ^ Is valid? - , _msgEphemerisDepB_healthy :: !Word8 + , _msgEphemerisDepB_healthy :: !uint32 -- ^ Satellite is healthy? - , _msgEphemerisDepB_prn :: !Word8 + , _msgEphemerisDepB_prn :: !uint32 -- ^ PRN being tracked - , _msgEphemerisDepB_iode :: !Word8 + , _msgEphemerisDepB_iode :: !uint32 -- ^ Issue of ephemeris data } deriving ( Show, Read, Eq ) @@ -1242,67 +1242,67 @@ -- see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, -- Table 20-III) for more details. data MsgEphemerisDepC = MsgEphemerisDepC - { _msgEphemerisDepC_tgd :: !Double + { _msgEphemerisDepC_tgd :: !double -- ^ Group delay differential between L1 and L2 - , _msgEphemerisDepC_c_rs :: !Double + , _msgEphemerisDepC_c_rs :: !double -- ^ Amplitude of the sine harmonic correction term to the orbit radius - , _msgEphemerisDepC_c_rc :: !Double + , _msgEphemerisDepC_c_rc :: !double -- ^ Amplitude of the cosine harmonic correction term to the orbit radius - , _msgEphemerisDepC_c_uc :: !Double + , _msgEphemerisDepC_c_uc :: !double -- ^ Amplitude of the cosine harmonic correction term to the argument of -- latitude - , _msgEphemerisDepC_c_us :: !Double + , _msgEphemerisDepC_c_us :: !double -- ^ Amplitude of the sine harmonic correction term to the argument of -- latitude - , _msgEphemerisDepC_c_ic :: !Double + , _msgEphemerisDepC_c_ic :: !double -- ^ Amplitude of the cosine harmonic correction term to the angle of -- inclination - , _msgEphemerisDepC_c_is :: !Double + , _msgEphemerisDepC_c_is :: !double -- ^ Amplitude of the sine harmonic correction term to the angle of -- inclination - , _msgEphemerisDepC_dn :: !Double + , _msgEphemerisDepC_dn :: !double -- ^ Mean motion difference - , _msgEphemerisDepC_m0 :: !Double + , _msgEphemerisDepC_m0 :: !double -- ^ Mean anomaly at reference time - , _msgEphemerisDepC_ecc :: !Double + , _msgEphemerisDepC_ecc :: !double -- ^ Eccentricity of satellite orbit - , _msgEphemerisDepC_sqrta :: !Double + , _msgEphemerisDepC_sqrta :: !double -- ^ Square root of the semi-major axis of orbit - , _msgEphemerisDepC_omega0 :: !Double + , _msgEphemerisDepC_omega0 :: !double -- ^ Longitude of ascending node of orbit plane at weekly epoch - , _msgEphemerisDepC_omegadot :: !Double + , _msgEphemerisDepC_omegadot :: !double -- ^ Rate of right ascension - , _msgEphemerisDepC_w :: !Double + , _msgEphemerisDepC_w :: !double -- ^ Argument of perigee - , _msgEphemerisDepC_inc :: !Double + , _msgEphemerisDepC_inc :: !double -- ^ Inclination - , _msgEphemerisDepC_inc_dot :: !Double + , _msgEphemerisDepC_inc_dot :: !double -- ^ Inclination first derivative - , _msgEphemerisDepC_af0 :: !Double + , _msgEphemerisDepC_af0 :: !double -- ^ Polynomial clock correction coefficient (clock bias) - , _msgEphemerisDepC_af1 :: !Double + , _msgEphemerisDepC_af1 :: !double -- ^ Polynomial clock correction coefficient (clock drift) - , _msgEphemerisDepC_af2 :: !Double + , _msgEphemerisDepC_af2 :: !double -- ^ Polynomial clock correction coefficient (rate of clock drift) - , _msgEphemerisDepC_toe_tow :: !Double + , _msgEphemerisDepC_toe_tow :: !double -- ^ Time of week - , _msgEphemerisDepC_toe_wn :: !Word16 + , _msgEphemerisDepC_toe_wn :: !uint32 -- ^ Week number - , _msgEphemerisDepC_toc_tow :: !Double + , _msgEphemerisDepC_toc_tow :: !double -- ^ Clock reference time of week - , _msgEphemerisDepC_toc_wn :: !Word16 + , _msgEphemerisDepC_toc_wn :: !uint32 -- ^ Clock reference week number - , _msgEphemerisDepC_valid :: !Word8 + , _msgEphemerisDepC_valid :: !uint32 -- ^ Is valid? - , _msgEphemerisDepC_healthy :: !Word8 + , _msgEphemerisDepC_healthy :: !uint32 -- ^ Satellite is healthy? , _msgEphemerisDepC_sid :: !GnssSignalDep -- ^ GNSS signal identifier - , _msgEphemerisDepC_iode :: !Word8 + , _msgEphemerisDepC_iode :: !uint32 -- ^ Issue of ephemeris data - , _msgEphemerisDepC_iodc :: !Word16 + , _msgEphemerisDepC_iodc :: !uint32 -- ^ Issue of clock data - , _msgEphemerisDepC_reserved :: !Word32 + , _msgEphemerisDepC_reserved :: !uint32 -- ^ Reserved field } deriving ( Show, Read, Eq ) @@ -1380,7 +1380,7 @@ data ObservationHeaderDep = ObservationHeaderDep { _observationHeaderDep_t :: !GpsTimeDep -- ^ GPS time of this observation - , _observationHeaderDep_n_obs :: !Word8 + , _observationHeaderDep_n_obs :: !uint32 -- ^ Total number of observations. First nibble is the size of the sequence -- (n), second nibble is the zero-indexed counter (ith packet of n) } deriving ( Show, Read, Eq ) @@ -1405,9 +1405,9 @@ -- fractional cycles. This has the opposite sign convention than a typical GPS -- receiver and the phase has the opposite sign as the pseudorange. data CarrierPhaseDepA = CarrierPhaseDepA - { _carrierPhaseDepA_i :: !Int32 + { _carrierPhaseDepA_i :: !sint32 -- ^ Carrier phase whole cycles - , _carrierPhaseDepA_f :: !Word8 + , _carrierPhaseDepA_f :: !uint32 -- ^ Carrier phase fractional part } deriving ( Show, Read, Eq ) @@ -1428,17 +1428,17 @@ -- -- Deprecated. data PackedObsContentDepA = PackedObsContentDepA - { _packedObsContentDepA_P :: !Word32 + { _packedObsContentDepA_P :: !uint32 -- ^ Pseudorange observation , _packedObsContentDepA_L :: !CarrierPhaseDepA -- ^ Carrier phase observation with opposite sign from typical convention - , _packedObsContentDepA_cn0 :: !Word8 + , _packedObsContentDepA_cn0 :: !uint32 -- ^ Carrier-to-Noise density - , _packedObsContentDepA_lock :: !Word16 + , _packedObsContentDepA_lock :: !uint32 -- ^ Lock indicator. This value changes whenever a satellite signal has lost -- and regained lock, indicating that the carrier phase ambiguity may have -- changed. - , _packedObsContentDepA_prn :: !Word8 + , _packedObsContentDepA_prn :: !uint32 -- ^ PRN-1 identifier of the satellite signal } deriving ( Show, Read, Eq ) @@ -1466,13 +1466,13 @@ -- Pseudorange and carrier phase observation for a satellite being tracked. -- Pseudoranges are referenced to a nominal pseudorange. data PackedObsContentDepB = PackedObsContentDepB - { _packedObsContentDepB_P :: !Word32 + { _packedObsContentDepB_P :: !uint32 -- ^ Pseudorange observation , _packedObsContentDepB_L :: !CarrierPhaseDepA -- ^ Carrier phase observation with opposite sign from typical convention. - , _packedObsContentDepB_cn0 :: !Word8 + , _packedObsContentDepB_cn0 :: !uint32 -- ^ Carrier-to-Noise density - , _packedObsContentDepB_lock :: !Word16 + , _packedObsContentDepB_lock :: !uint32 -- ^ Lock indicator. This value changes whenever a satellite signal has lost -- and regained lock, indicating that the carrier phase ambiguity may have -- changed. @@ -1505,13 +1505,13 @@ -- observations are be interoperable with 3rd party receivers and conform with -- typical RTCMv3 GNSS observations. data PackedObsContentDepC = PackedObsContentDepC - { _packedObsContentDepC_P :: !Word32 + { _packedObsContentDepC_P :: !uint32 -- ^ Pseudorange observation - , _packedObsContentDepC_L :: !CarrierPhase + , _packedObsContentDepC_L :: !gnss.CarrierPhase -- ^ Carrier phase observation with typical sign convention. - , _packedObsContentDepC_cn0 :: !Word8 + , _packedObsContentDepC_cn0 :: !uint32 -- ^ Carrier-to-Noise density - , _packedObsContentDepC_lock :: !Word16 + , _packedObsContentDepC_lock :: !uint32 -- ^ Lock indicator. This value changes whenever a satellite signal has lost -- and regained lock, indicating that the carrier phase ambiguity may have -- changed. @@ -1547,7 +1547,7 @@ data MsgObsDepA = MsgObsDepA { _msgObsDepA_header :: !ObservationHeaderDep -- ^ Header of a GPS observation message - , _msgObsDepA_obs :: ![PackedObsContentDepA] + , _msgObsDepA_obs :: !repeated PackedObsContentDepA -- ^ Pseudorange and carrier phase observation for a satellite being tracked. } deriving ( Show, Read, Eq ) @@ -1577,7 +1577,7 @@ data MsgObsDepB = MsgObsDepB { _msgObsDepB_header :: !ObservationHeaderDep -- ^ Header of a GPS observation message - , _msgObsDepB_obs :: ![PackedObsContentDepB] + , _msgObsDepB_obs :: !repeated PackedObsContentDepB -- ^ Pseudorange and carrier phase observation for a satellite being tracked. } deriving ( Show, Read, Eq ) @@ -1609,7 +1609,7 @@ data MsgObsDepC = MsgObsDepC { _msgObsDepC_header :: !ObservationHeaderDep -- ^ Header of a GPS observation message - , _msgObsDepC_obs :: ![PackedObsContentDepC] + , _msgObsDepC_obs :: !repeated PackedObsContentDepC -- ^ Pseudorange and carrier phase observation for a satellite being tracked. } deriving ( Show, Read, Eq ) @@ -1636,16 +1636,16 @@ -- utilize the ionospheric model for computation of the ionospheric delay. -- Please see ICD-GPS-200 (Chapter 20.3.3.5.1.7) for more details. data MsgIono = MsgIono - { _msgIono_t_nmct :: !GpsTimeSec + { _msgIono_t_nmct :: !gnss.GpsTimeSec -- ^ Navigation Message Correction Table Valitidy Time - , _msgIono_a0 :: !Double - , _msgIono_a1 :: !Double - , _msgIono_a2 :: !Double - , _msgIono_a3 :: !Double - , _msgIono_b0 :: !Double - , _msgIono_b1 :: !Double - , _msgIono_b2 :: !Double - , _msgIono_b3 :: !Double + , _msgIono_a0 :: !double + , _msgIono_a1 :: !double + , _msgIono_a2 :: !double + , _msgIono_a3 :: !double + , _msgIono_b0 :: !double + , _msgIono_b1 :: !double + , _msgIono_b2 :: !double + , _msgIono_b3 :: !double } deriving ( Show, Read, Eq ) instance Binary MsgIono where @@ -1683,9 +1683,9 @@ -- -- Please see ICD-GPS-200 (Chapter 20.3.3.5.1.4) for more details. data MsgSvConfigurationGps = MsgSvConfigurationGps - { _msgSvConfigurationGps_t_nmct :: !GpsTimeSec + { _msgSvConfigurationGps_t_nmct :: !gnss.GpsTimeSec -- ^ Navigation Message Correction Table Valitidy Time - , _msgSvConfigurationGps_l2c_mask :: !Word32 + , _msgSvConfigurationGps_l2c_mask :: !uint32 -- ^ L2C capability mask, SV32 bit being MSB, SV1 bit being LSB } deriving ( Show, Read, Eq ) @@ -1712,14 +1712,14 @@ data MsgGroupDelayDepA = MsgGroupDelayDepA { _msgGroupDelayDepA_t_op :: !GpsTimeDep -- ^ Data Predict Time of Week - , _msgGroupDelayDepA_prn :: !Word8 + , _msgGroupDelayDepA_prn :: !uint32 -- ^ Satellite number - , _msgGroupDelayDepA_valid :: !Word8 + , _msgGroupDelayDepA_valid :: !uint32 -- ^ bit-field indicating validity of the values, LSB indicating tgd validity -- etc. 1 = value is valid, 0 = value is not valid. - , _msgGroupDelayDepA_tgd :: !Int16 - , _msgGroupDelayDepA_isc_l1ca :: !Int16 - , _msgGroupDelayDepA_isc_l2c :: !Int16 + , _msgGroupDelayDepA_tgd :: !sint32 + , _msgGroupDelayDepA_isc_l1ca :: !sint32 + , _msgGroupDelayDepA_isc_l2c :: !sint32 } deriving ( Show, Read, Eq ) instance Binary MsgGroupDelayDepA where @@ -1751,16 +1751,16 @@ -- -- Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. data MsgGroupDelayDepB = MsgGroupDelayDepB - { _msgGroupDelayDepB_t_op :: !GpsTimeSec + { _msgGroupDelayDepB_t_op :: !gnss.GpsTimeSec -- ^ Data Predict Time of Week , _msgGroupDelayDepB_sid :: !GnssSignalDep -- ^ GNSS signal identifier - , _msgGroupDelayDepB_valid :: !Word8 + , _msgGroupDelayDepB_valid :: !uint32 -- ^ bit-field indicating validity of the values, LSB indicating tgd validity -- etc. 1 = value is valid, 0 = value is not valid. - , _msgGroupDelayDepB_tgd :: !Int16 - , _msgGroupDelayDepB_isc_l1ca :: !Int16 - , _msgGroupDelayDepB_isc_l2c :: !Int16 + , _msgGroupDelayDepB_tgd :: !sint32 + , _msgGroupDelayDepB_isc_l1ca :: !sint32 + , _msgGroupDelayDepB_isc_l2c :: !sint32 } deriving ( Show, Read, Eq ) instance Binary MsgGroupDelayDepB where @@ -1792,16 +1792,16 @@ -- -- Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. data MsgGroupDelay = MsgGroupDelay - { _msgGroupDelay_t_op :: !GpsTimeSec + { _msgGroupDelay_t_op :: !gnss.GpsTimeSec -- ^ Data Predict Time of Week - , _msgGroupDelay_sid :: !GnssSignal + , _msgGroupDelay_sid :: !gnss.GnssSignal -- ^ GNSS signal identifier - , _msgGroupDelay_valid :: !Word8 + , _msgGroupDelay_valid :: !uint32 -- ^ bit-field indicating validity of the values, LSB indicating tgd validity -- etc. 1 = value is valid, 0 = value is not valid. - , _msgGroupDelay_tgd :: !Int16 - , _msgGroupDelay_isc_l1ca :: !Int16 - , _msgGroupDelay_isc_l2c :: !Int16 + , _msgGroupDelay_tgd :: !sint32 + , _msgGroupDelay_isc_l1ca :: !sint32 + , _msgGroupDelay_isc_l2c :: !sint32 } deriving ( Show, Read, Eq ) instance Binary MsgGroupDelay where @@ -1827,17 +1827,17 @@ $(makeLenses ''MsgGroupDelay) data AlmanacCommonContent = AlmanacCommonContent - { _almanacCommonContent_sid :: !GnssSignal + { _almanacCommonContent_sid :: !gnss.GnssSignal -- ^ GNSS signal identifier - , _almanacCommonContent_toa :: !GpsTimeSec + , _almanacCommonContent_toa :: !gnss.GpsTimeSec -- ^ Reference time of almanac - , _almanacCommonContent_ura :: !Double + , _almanacCommonContent_ura :: !double -- ^ User Range Accuracy - , _almanacCommonContent_fit_interval :: !Word32 + , _almanacCommonContent_fit_interval :: !uint32 -- ^ Curve fit interval - , _almanacCommonContent_valid :: !Word8 + , _almanacCommonContent_valid :: !uint32 -- ^ Status of almanac, 1 = valid, 0 = invalid - , _almanacCommonContent_health_bits :: !Word8 + , _almanacCommonContent_health_bits :: !uint32 -- ^ Satellite health status for GPS: - bits 5-7: NAV data health status. -- See IS-GPS-200H Table 20-VII: NAV Data Health Indications. - bits -- 0-4: Signal health status. See IS-GPS-200H Table 20-VIII. Codes for @@ -1874,15 +1874,15 @@ data AlmanacCommonContentDep = AlmanacCommonContentDep { _almanacCommonContentDep_sid :: !GnssSignalDep -- ^ GNSS signal identifier - , _almanacCommonContentDep_toa :: !GpsTimeSec + , _almanacCommonContentDep_toa :: !gnss.GpsTimeSec -- ^ Reference time of almanac - , _almanacCommonContentDep_ura :: !Double + , _almanacCommonContentDep_ura :: !double -- ^ User Range Accuracy - , _almanacCommonContentDep_fit_interval :: !Word32 + , _almanacCommonContentDep_fit_interval :: !uint32 -- ^ Curve fit interval - , _almanacCommonContentDep_valid :: !Word8 + , _almanacCommonContentDep_valid :: !uint32 -- ^ Status of almanac, 1 = valid, 0 = invalid - , _almanacCommonContentDep_health_bits :: !Word8 + , _almanacCommonContentDep_health_bits :: !uint32 -- ^ Satellite health status for GPS: - bits 5-7: NAV data health status. -- See IS-GPS-200H Table 20-VII: NAV Data Health Indications. - bits -- 0-4: Signal health status. See IS-GPS-200H Table 20-VIII. Codes for @@ -1928,23 +1928,23 @@ data MsgAlmanacGpsDep = MsgAlmanacGpsDep { _msgAlmanacGpsDep_common :: !AlmanacCommonContentDep -- ^ Values common for all almanac types - , _msgAlmanacGpsDep_m0 :: !Double + , _msgAlmanacGpsDep_m0 :: !double -- ^ Mean anomaly at reference time - , _msgAlmanacGpsDep_ecc :: !Double + , _msgAlmanacGpsDep_ecc :: !double -- ^ Eccentricity of satellite orbit - , _msgAlmanacGpsDep_sqrta :: !Double + , _msgAlmanacGpsDep_sqrta :: !double -- ^ Square root of the semi-major axis of orbit - , _msgAlmanacGpsDep_omega0 :: !Double + , _msgAlmanacGpsDep_omega0 :: !double -- ^ Longitude of ascending node of orbit plane at weekly epoch - , _msgAlmanacGpsDep_omegadot :: !Double + , _msgAlmanacGpsDep_omegadot :: !double -- ^ Rate of right ascension - , _msgAlmanacGpsDep_w :: !Double + , _msgAlmanacGpsDep_w :: !double -- ^ Argument of perigee - , _msgAlmanacGpsDep_inc :: !Double + , _msgAlmanacGpsDep_inc :: !double -- ^ Inclination - , _msgAlmanacGpsDep_af0 :: !Double + , _msgAlmanacGpsDep_af0 :: !double -- ^ Polynomial clock correction coefficient (clock bias) - , _msgAlmanacGpsDep_af1 :: !Double + , _msgAlmanacGpsDep_af1 :: !double -- ^ Polynomial clock correction coefficient (clock drift) } deriving ( Show, Read, Eq ) @@ -1990,23 +1990,23 @@ data MsgAlmanacGps = MsgAlmanacGps { _msgAlmanacGps_common :: !AlmanacCommonContent -- ^ Values common for all almanac types - , _msgAlmanacGps_m0 :: !Double + , _msgAlmanacGps_m0 :: !double -- ^ Mean anomaly at reference time - , _msgAlmanacGps_ecc :: !Double + , _msgAlmanacGps_ecc :: !double -- ^ Eccentricity of satellite orbit - , _msgAlmanacGps_sqrta :: !Double + , _msgAlmanacGps_sqrta :: !double -- ^ Square root of the semi-major axis of orbit - , _msgAlmanacGps_omega0 :: !Double + , _msgAlmanacGps_omega0 :: !double -- ^ Longitude of ascending node of orbit plane at weekly epoch - , _msgAlmanacGps_omegadot :: !Double + , _msgAlmanacGps_omegadot :: !double -- ^ Rate of right ascension - , _msgAlmanacGps_w :: !Double + , _msgAlmanacGps_w :: !double -- ^ Argument of perigee - , _msgAlmanacGps_inc :: !Double + , _msgAlmanacGps_inc :: !double -- ^ Inclination - , _msgAlmanacGps_af0 :: !Double + , _msgAlmanacGps_af0 :: !double -- ^ Polynomial clock correction coefficient (clock bias) - , _msgAlmanacGps_af1 :: !Double + , _msgAlmanacGps_af1 :: !double -- ^ Polynomial clock correction coefficient (clock drift) } deriving ( Show, Read, Eq ) @@ -2052,20 +2052,20 @@ data MsgAlmanacGloDep = MsgAlmanacGloDep { _msgAlmanacGloDep_common :: !AlmanacCommonContentDep -- ^ Values common for all almanac types - , _msgAlmanacGloDep_lambda_na :: !Double + , _msgAlmanacGloDep_lambda_na :: !double -- ^ Longitude of the first ascending node of the orbit in PZ-90.02 -- coordinate system - , _msgAlmanacGloDep_t_lambda_na :: !Double + , _msgAlmanacGloDep_t_lambda_na :: !double -- ^ Time of the first ascending node passage - , _msgAlmanacGloDep_i :: !Double + , _msgAlmanacGloDep_i :: !double -- ^ Value of inclination at instant of t_lambda - , _msgAlmanacGloDep_t :: !Double + , _msgAlmanacGloDep_t :: !double -- ^ Value of Draconian period at instant of t_lambda - , _msgAlmanacGloDep_t_dot :: !Double + , _msgAlmanacGloDep_t_dot :: !double -- ^ Rate of change of the Draconian period - , _msgAlmanacGloDep_epsilon :: !Double + , _msgAlmanacGloDep_epsilon :: !double -- ^ Eccentricity at instant of t_lambda - , _msgAlmanacGloDep_omega :: !Double + , _msgAlmanacGloDep_omega :: !double -- ^ Argument of perigee at instant of t_lambda } deriving ( Show, Read, Eq ) @@ -2107,20 +2107,20 @@ data MsgAlmanacGlo = MsgAlmanacGlo { _msgAlmanacGlo_common :: !AlmanacCommonContent -- ^ Values common for all almanac types - , _msgAlmanacGlo_lambda_na :: !Double + , _msgAlmanacGlo_lambda_na :: !double -- ^ Longitude of the first ascending node of the orbit in PZ-90.02 -- coordinate system - , _msgAlmanacGlo_t_lambda_na :: !Double + , _msgAlmanacGlo_t_lambda_na :: !double -- ^ Time of the first ascending node passage - , _msgAlmanacGlo_i :: !Double + , _msgAlmanacGlo_i :: !double -- ^ Value of inclination at instant of t_lambda - , _msgAlmanacGlo_t :: !Double + , _msgAlmanacGlo_t :: !double -- ^ Value of Draconian period at instant of t_lambda - , _msgAlmanacGlo_t_dot :: !Double + , _msgAlmanacGlo_t_dot :: !double -- ^ Rate of change of the Draconian period - , _msgAlmanacGlo_epsilon :: !Double + , _msgAlmanacGlo_epsilon :: !double -- ^ Eccentricity at instant of t_lambda - , _msgAlmanacGlo_omega :: !Double + , _msgAlmanacGlo_omega :: !double -- ^ Argument of perigee at instant of t_lambda } deriving ( Show, Read, Eq ) @@ -2159,15 +2159,15 @@ -- ambiguity resolution for baselines with mixed receiver types (e.g. receiver -- of different manufacturers) data MsgGloBiases = MsgGloBiases - { _msgGloBiases_mask :: !Word8 + { _msgGloBiases_mask :: !uint32 -- ^ GLONASS FDMA signals mask - , _msgGloBiases_l1ca_bias :: !Int16 + , _msgGloBiases_l1ca_bias :: !sint32 -- ^ GLONASS L1 C/A Code-Phase Bias - , _msgGloBiases_l1p_bias :: !Int16 + , _msgGloBiases_l1p_bias :: !sint32 -- ^ GLONASS L1 P Code-Phase Bias - , _msgGloBiases_l2ca_bias :: !Int16 + , _msgGloBiases_l2ca_bias :: !sint32 -- ^ GLONASS L2 C/A Code-Phase Bias - , _msgGloBiases_l2p_bias :: !Int16 + , _msgGloBiases_l2p_bias :: !sint32 -- ^ GLONASS L2 P Code-Phase Bias } deriving ( Show, Read, Eq ) diff --git a/src/SwiftNav/SBP/Orientation.hs b/src/SwiftNav/SBP/Orientation.hs --- a/src/SwiftNav/SBP/Orientation.hs +++ b/src/SwiftNav/SBP/Orientation.hs @@ -44,13 +44,13 @@ -- 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 + { _msgBaselineHeading_tow :: !uint32 -- ^ GPS Time of Week - , _msgBaselineHeading_heading :: !Word32 + , _msgBaselineHeading_heading :: !uint32 -- ^ Heading - , _msgBaselineHeading_n_sats :: !Word8 + , _msgBaselineHeading_n_sats :: !uint32 -- ^ Number of satellites used in solution - , _msgBaselineHeading_flags :: !Word8 + , _msgBaselineHeading_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -82,25 +82,25 @@ -- of the vector should sum to a unit vector assuming that the LSB of each -- component as a value of 2^-31. data MsgOrientQuat = MsgOrientQuat - { _msgOrientQuat_tow :: !Word32 + { _msgOrientQuat_tow :: !uint32 -- ^ GPS Time of Week - , _msgOrientQuat_w :: !Int32 + , _msgOrientQuat_w :: !sint32 -- ^ Real component - , _msgOrientQuat_x :: !Int32 + , _msgOrientQuat_x :: !sint32 -- ^ 1st imaginary component - , _msgOrientQuat_y :: !Int32 + , _msgOrientQuat_y :: !sint32 -- ^ 2nd imaginary component - , _msgOrientQuat_z :: !Int32 + , _msgOrientQuat_z :: !sint32 -- ^ 3rd imaginary component - , _msgOrientQuat_acc_w :: !Float + , _msgOrientQuat_acc_w :: !float -- ^ Estimated standard deviation of w - , _msgOrientQuat_acc_x :: !Float + , _msgOrientQuat_acc_x :: !float -- ^ Estimated standard deviation of x - , _msgOrientQuat_acc_y :: !Float + , _msgOrientQuat_acc_y :: !float -- ^ Estimated standard deviation of y - , _msgOrientQuat_acc_z :: !Float + , _msgOrientQuat_acc_z :: !float -- ^ Estimated standard deviation of z - , _msgOrientQuat_flags :: !Word8 + , _msgOrientQuat_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -144,21 +144,21 @@ -- and roll in order to rotate the from a frame aligned with the local-level -- NED frame to the vehicle body frame. data MsgOrientEuler = MsgOrientEuler - { _msgOrientEuler_tow :: !Word32 + { _msgOrientEuler_tow :: !uint32 -- ^ GPS Time of Week - , _msgOrientEuler_roll :: !Int32 + , _msgOrientEuler_roll :: !sint32 -- ^ rotation about the forward axis of the vehicle - , _msgOrientEuler_pitch :: !Int32 + , _msgOrientEuler_pitch :: !sint32 -- ^ rotation about the rightward axis of the vehicle - , _msgOrientEuler_yaw :: !Int32 + , _msgOrientEuler_yaw :: !sint32 -- ^ rotation about the downward axis of the vehicle - , _msgOrientEuler_var_roll :: !Float + , _msgOrientEuler_var_roll :: !float -- ^ Estimated standard deviation of roll - , _msgOrientEuler_var_pitch :: !Float + , _msgOrientEuler_var_pitch :: !float -- ^ Estimated standard deviation of pitch - , _msgOrientEuler_var_yaw :: !Float + , _msgOrientEuler_var_yaw :: !float -- ^ Estimated standard deviation of yaw - , _msgOrientEuler_flags :: !Word8 + , _msgOrientEuler_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -201,15 +201,15 @@ -- 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 + { _msgAngularRate_tow :: !uint32 -- ^ GPS Time of Week - , _msgAngularRate_x :: !Int32 + , _msgAngularRate_x :: !sint32 -- ^ angular rate about x axis - , _msgAngularRate_y :: !Int32 + , _msgAngularRate_y :: !sint32 -- ^ angular rate about y axis - , _msgAngularRate_z :: !Int32 + , _msgAngularRate_z :: !sint32 -- ^ angular rate about z axis - , _msgAngularRate_flags :: !Word8 + , _msgAngularRate_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) 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 @@ -85,7 +85,7 @@ -- -- This message from the host resets the Piksi back into the bootloader. data MsgReset = MsgReset - { _msgReset_flags :: !Word32 + { _msgReset_flags :: !uint32 -- ^ Reset flags } deriving ( Show, Read, Eq ) @@ -170,7 +170,7 @@ -- This message resets either the DGNSS Kalman filters or Integer Ambiguity -- Resolution (IAR) process. data MsgResetFilters = MsgResetFilters - { _msgResetFilters_filter :: !Word8 + { _msgResetFilters_filter :: !uint32 -- ^ Filter flags } deriving ( Show, Read, Eq ) @@ -217,12 +217,12 @@ -- (RTOS) thread usage statistics for the named thread. The reported percentage -- values must be normalized. data MsgThreadState = MsgThreadState - { _msgThreadState_name :: !Text + { _msgThreadState_name :: !string -- ^ Thread name (NULL terminated) - , _msgThreadState_cpu :: !Word16 + , _msgThreadState_cpu :: !uint32 -- ^ Percentage cpu use for this thread. Values range from 0 - 1000 and needs -- to be renormalized to 100 - , _msgThreadState_stack_free :: !Word32 + , _msgThreadState_stack_free :: !uint32 -- ^ Free stack space for this thread } deriving ( Show, Read, Eq ) @@ -247,17 +247,17 @@ -- Throughput, utilization, and error counts on the RX/TX buffers of this UART -- channel. The reported percentage values must be normalized. data UARTChannel = UARTChannel - { _uARTChannel_tx_throughput :: !Float + { _uARTChannel_tx_throughput :: !float -- ^ UART transmit throughput - , _uARTChannel_rx_throughput :: !Float + , _uARTChannel_rx_throughput :: !float -- ^ UART receive throughput - , _uARTChannel_crc_error_count :: !Word16 + , _uARTChannel_crc_error_count :: !uint32 -- ^ UART CRC error count - , _uARTChannel_io_error_count :: !Word16 + , _uARTChannel_io_error_count :: !uint32 -- ^ UART IO error count - , _uARTChannel_tx_buffer_level :: !Word8 + , _uARTChannel_tx_buffer_level :: !uint32 -- ^ UART transmit buffer percentage utilization (ranges from 0 to 255) - , _uARTChannel_rx_buffer_level :: !Word8 + , _uARTChannel_rx_buffer_level :: !uint32 -- ^ UART receive buffer percentage utilization (ranges from 0 to 255) } deriving ( Show, Read, Eq ) @@ -290,13 +290,13 @@ -- for link quality as incomplete or missing sets will increase the period. -- Long periods can cause momentary RTK solution outages. data Period = Period - { _period_avg :: !Int32 + { _period_avg :: !sint32 -- ^ Average period - , _period_pmin :: !Int32 + , _period_pmin :: !sint32 -- ^ Minimum period - , _period_pmax :: !Int32 + , _period_pmax :: !sint32 -- ^ Maximum period - , _period_current :: !Int32 + , _period_current :: !sint32 -- ^ Smoothed estimate of the current period } deriving ( Show, Read, Eq ) @@ -324,13 +324,13 @@ -- GPS time calculated locally by the receiver to give a precise measurement of -- the end-to-end communication latency in the system. data Latency = Latency - { _latency_avg :: !Int32 + { _latency_avg :: !sint32 -- ^ Average latency - , _latency_lmin :: !Int32 + , _latency_lmin :: !sint32 -- ^ Minimum latency - , _latency_lmax :: !Int32 + , _latency_lmax :: !sint32 -- ^ Maximum latency - , _latency_current :: !Int32 + , _latency_current :: !sint32 -- ^ Smoothed estimate of the current latency } deriving ( Show, Read, Eq ) @@ -441,7 +441,7 @@ -- process, which resolves unknown integer ambiguities from double-differenced -- carrier-phase measurements from satellite observations. data MsgIarState = MsgIarState - { _msgIarState_num_hyps :: !Word32 + { _msgIarState_num_hyps :: !uint32 -- ^ Number of integer ambiguity hypotheses remaining } deriving ( Show, Read, Eq ) @@ -465,9 +465,9 @@ -- This message allows setting a mask to prevent a particular satellite from -- being used in various Piksi subsystems. data MsgMaskSatellite = MsgMaskSatellite - { _msgMaskSatellite_mask :: !Word8 + { _msgMaskSatellite_mask :: !uint32 -- ^ Mask of systems that should ignore this satellite. - , _msgMaskSatellite_sid :: !GnssSignal + , _msgMaskSatellite_sid :: !gnss.GnssSignal -- ^ GNSS signal for which the mask is applied } deriving ( Show, Read, Eq ) @@ -492,7 +492,7 @@ -- -- Deprecated. data MsgMaskSatelliteDep = MsgMaskSatelliteDep - { _msgMaskSatelliteDep_mask :: !Word8 + { _msgMaskSatelliteDep_mask :: !uint32 -- ^ Mask of systems that should ignore this satellite. , _msgMaskSatelliteDep_sid :: !GnssSignalDep -- ^ GNSS signal for which the mask is applied @@ -521,15 +521,15 @@ -- processor's monitoring system and the RF frontend die temperature if -- available. data MsgDeviceMonitor = MsgDeviceMonitor - { _msgDeviceMonitor_dev_vin :: !Int16 + { _msgDeviceMonitor_dev_vin :: !sint32 -- ^ Device V_in - , _msgDeviceMonitor_cpu_vint :: !Int16 + , _msgDeviceMonitor_cpu_vint :: !sint32 -- ^ Processor V_int - , _msgDeviceMonitor_cpu_vaux :: !Int16 + , _msgDeviceMonitor_cpu_vaux :: !sint32 -- ^ Processor V_aux - , _msgDeviceMonitor_cpu_temperature :: !Int16 + , _msgDeviceMonitor_cpu_temperature :: !sint32 -- ^ Processor temperature - , _msgDeviceMonitor_fe_temperature :: !Int16 + , _msgDeviceMonitor_fe_temperature :: !sint32 -- ^ Frontend temperature (if available) } deriving ( Show, Read, Eq ) @@ -561,9 +561,9 @@ -- Request the recipient to execute an command. Output will be sent in MSG_LOG -- messages, and the exit code will be returned with MSG_COMMAND_RESP. data MsgCommandReq = MsgCommandReq - { _msgCommandReq_sequence :: !Word32 + { _msgCommandReq_sequence :: !uint32 -- ^ Sequence number - , _msgCommandReq_command :: !Text + , _msgCommandReq_command :: !string -- ^ Command line to execute } deriving ( Show, Read, Eq ) @@ -589,9 +589,9 @@ -- The response to MSG_COMMAND_REQ with the return code of the command. A -- return code of zero indicates success. data MsgCommandResp = MsgCommandResp - { _msgCommandResp_sequence :: !Word32 + { _msgCommandResp_sequence :: !uint32 -- ^ Sequence number - , _msgCommandResp_code :: !Int32 + , _msgCommandResp_code :: !sint32 -- ^ Exit code } deriving ( Show, Read, Eq ) @@ -618,9 +618,9 @@ -- MSG_COMMAND_REQ. The sequence number can be used to filter for filtering the -- correct command. data MsgCommandOutput = MsgCommandOutput - { _msgCommandOutput_sequence :: !Word32 + { _msgCommandOutput_sequence :: !uint32 -- ^ Sequence number - , _msgCommandOutput_line :: !Text + , _msgCommandOutput_line :: !string -- ^ Line of standard output or standard error } deriving ( Show, Read, Eq ) @@ -666,21 +666,21 @@ -- The state of a network interface on the Piksi. Data is made to reflect -- output of ifaddrs struct returned by getifaddrs in c. data MsgNetworkStateResp = MsgNetworkStateResp - { _msgNetworkStateResp_ipv4_address :: ![Word8] + { _msgNetworkStateResp_ipv4_address :: !repeated uint32 -- ^ IPv4 address (all zero when unavailable) - , _msgNetworkStateResp_ipv4_mask_size :: !Word8 + , _msgNetworkStateResp_ipv4_mask_size :: !uint32 -- ^ IPv4 netmask CIDR notation - , _msgNetworkStateResp_ipv6_address :: ![Word8] + , _msgNetworkStateResp_ipv6_address :: !repeated uint32 -- ^ IPv6 address (all zero when unavailable) - , _msgNetworkStateResp_ipv6_mask_size :: !Word8 + , _msgNetworkStateResp_ipv6_mask_size :: !uint32 -- ^ IPv6 netmask CIDR notation - , _msgNetworkStateResp_rx_bytes :: !Word32 + , _msgNetworkStateResp_rx_bytes :: !uint32 -- ^ Number of Rx bytes - , _msgNetworkStateResp_tx_bytes :: !Word32 + , _msgNetworkStateResp_tx_bytes :: !uint32 -- ^ Number of Tx bytes - , _msgNetworkStateResp_interface_name :: !Text + , _msgNetworkStateResp_interface_name :: !string -- ^ Interface Name - , _msgNetworkStateResp_flags :: !Word32 + , _msgNetworkStateResp_flags :: !uint32 -- ^ Interface flags from SIOCGIFFLAGS } deriving ( Show, Read, Eq ) @@ -718,15 +718,15 @@ -- may vary, both a timestamp and period field is provided, though may not -- necessarily be populated with a value. data NetworkUsage = NetworkUsage - { _networkUsage_duration :: !Word64 + { _networkUsage_duration :: !uint64 -- ^ Duration over which the measurement was collected - , _networkUsage_total_bytes :: !Word64 + , _networkUsage_total_bytes :: !uint64 -- ^ Number of bytes handled in total within period - , _networkUsage_rx_bytes :: !Word32 + , _networkUsage_rx_bytes :: !uint32 -- ^ Number of bytes transmitted within period - , _networkUsage_tx_bytes :: !Word32 + , _networkUsage_tx_bytes :: !uint32 -- ^ Number of bytes received within period - , _networkUsage_interface_name :: !Text + , _networkUsage_interface_name :: !string -- ^ Interface Name } deriving ( Show, Read, Eq ) @@ -756,7 +756,7 @@ -- -- The bandwidth usage, a list of usage by interface. data MsgNetworkBandwidthUsage = MsgNetworkBandwidthUsage - { _msgNetworkBandwidthUsage_interfaces :: ![NetworkUsage] + { _msgNetworkBandwidthUsage_interfaces :: !repeated NetworkUsage -- ^ Usage measurement array } deriving ( Show, Read, Eq ) @@ -779,19 +779,19 @@ -- -- Deprecated. data MsgSpecanDep = MsgSpecanDep - { _msgSpecanDep_channel_tag :: !Word16 + { _msgSpecanDep_channel_tag :: !uint32 -- ^ Channel ID , _msgSpecanDep_t :: !GpsTimeDep -- ^ Receiver time of this observation - , _msgSpecanDep_freq_ref :: !Float + , _msgSpecanDep_freq_ref :: !float -- ^ Reference frequency of this packet - , _msgSpecanDep_freq_step :: !Float + , _msgSpecanDep_freq_step :: !float -- ^ Frequency step of points in this packet - , _msgSpecanDep_amplitude_ref :: !Float + , _msgSpecanDep_amplitude_ref :: !float -- ^ Reference amplitude of this packet - , _msgSpecanDep_amplitude_unit :: !Float + , _msgSpecanDep_amplitude_unit :: !float -- ^ Amplitude unit value of points in this packet - , _msgSpecanDep_amplitude_value :: ![Word8] + , _msgSpecanDep_amplitude_value :: !repeated uint32 -- ^ Amplitude values (in the above units) of points in this packet } deriving ( Show, Read, Eq ) @@ -826,19 +826,19 @@ -- -- Spectrum analyzer packet. data MsgSpecan = MsgSpecan - { _msgSpecan_channel_tag :: !Word16 + { _msgSpecan_channel_tag :: !uint32 -- ^ Channel ID - , _msgSpecan_t :: !GpsTime + , _msgSpecan_t :: !gnss.GpsTime -- ^ Receiver time of this observation - , _msgSpecan_freq_ref :: !Float + , _msgSpecan_freq_ref :: !float -- ^ Reference frequency of this packet - , _msgSpecan_freq_step :: !Float + , _msgSpecan_freq_step :: !float -- ^ Frequency step of points in this packet - , _msgSpecan_amplitude_ref :: !Float + , _msgSpecan_amplitude_ref :: !float -- ^ Reference amplitude of this packet - , _msgSpecan_amplitude_unit :: !Float + , _msgSpecan_amplitude_unit :: !float -- ^ Amplitude unit value of points in this packet - , _msgSpecan_amplitude_value :: ![Word8] + , _msgSpecan_amplitude_value :: !repeated uint32 -- ^ Amplitude values (in the above units) of points in this packet } deriving ( Show, Read, Eq ) diff --git a/src/SwiftNav/SBP/Sbas.hs b/src/SwiftNav/SBP/Sbas.hs --- a/src/SwiftNav/SBP/Sbas.hs +++ b/src/SwiftNav/SBP/Sbas.hs @@ -43,13 +43,13 @@ -- 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 + { _msgSbasRaw_sid :: !gnss.GnssSignal -- ^ GNSS signal identifier. - , _msgSbasRaw_tow :: !Word32 + , _msgSbasRaw_tow :: !uint32 -- ^ GPS time-of-week at the start of the data block. - , _msgSbasRaw_message_type :: !Word8 + , _msgSbasRaw_message_type :: !uint32 -- ^ SBAS message type (0-63) - , _msgSbasRaw_data :: ![Word8] + , _msgSbasRaw_data :: !repeated uint32 -- ^ Raw SBAS data field of 212 bits (last byte padded with zeros). } deriving ( Show, Read, Eq ) 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 @@ -11,11 +11,28 @@ -- Stability: experimental -- Portability: portable -- --- Messages for reading and writing the device's device settings. Note that --- some of these messages share the same message type ID for both the host --- request and the device response. See the accompanying document for --- descriptions of settings configurations and examples: https://github.com --- /swift-nav/piksi\_firmware/blob/master/docs/settings.pdf +-- Messages for reading, writing, and discovering device settings. Settings +-- with a "string" field have multiple values in this field delimited with a +-- null character (the c style null terminator). For instance, when querying +-- the 'firmware_version' setting in the 'system_info' section, the following +-- array of characters needs to be sent for the string field in +-- MSG_SETTINGS_READ: "system_info\0firmware_version\0", where the delimiting +-- null characters are specified with the escape sequence '\0' and all +-- quotation marks should be omitted. In the message descriptions below, the +-- generic strings SECTION_SETTING and SETTING are used to refer to the two +-- strings that comprise the identifier of an individual setting.In +-- firmware_version example above, SECTION_SETTING is the 'system_info', and +-- the SETTING portion is 'firmware_version'. See the "Software Settings +-- Manual" on support.swiftnav.com for detailed documentation about all +-- settings and sections available for each Swift firmware version. Settings +-- manuals are available for each firmware version at the following link: +-- https://support.swiftnav.com/customer/en/portal/articles/2628580-piksi- +-- multi-specifications#settings. The latest settings document is also +-- available at the following link: http://swiftnav.com/latest/piksi-multi- +-- settings . See lastly https://github.com/swift- +-- nav/piksi_tools/blob/master/piksi_tools/settings.py , the open source +-- python command line utility for reading, writing, and saving settings in the +-- piksi_tools repository on github as a helpful reference and example. module SwiftNav.SBP.Settings ( module SwiftNav.SBP.Settings @@ -64,12 +81,16 @@ -- | SBP class for message MSG_SETTINGS_WRITE (0x00A0). -- --- The setting message writes the device configuration. +-- The setting message writes the device configuration for a particular setting +-- via A NULL-terminated and NULL-delimited string with contents +-- "SECTION_SETTING\0SETTING\0VALUE\0" where the '\0' escape sequence denotes +-- the NULL character and where quotation marks are omitted. A device will only +-- process to this message when it is received from sender ID 0x42. An example +-- string that could be sent to a device is "solution\0soln_freq\010\0". data MsgSettingsWrite = MsgSettingsWrite - { _msgSettingsWrite_setting :: !Text - -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING, - -- SETTING, VALUE]. A device will only process to this message when it is - -- received from sender ID 0x42. + { _msgSettingsWrite_setting :: !string + -- ^ A NULL-terminated and NULL-delimited string with contents + -- "SECTION_SETTING\0SETTING\0VALUE\0" } deriving ( Show, Read, Eq ) instance Binary MsgSettingsWrite where @@ -90,13 +111,17 @@ -- | SBP class for message MSG_SETTINGS_WRITE_RESP (0x00AF). -- -- Return the status of a write request with the new value of the setting. If --- the requested value is rejected, the current value will be returned. +-- the requested value is rejected, the current value will be returned. The +-- string field is a NULL-terminated and NULL-delimited string with contents +-- "SECTION_SETTING\0SETTING\0VALUE\0" where the '\0' escape sequence denotes +-- the NULL character and where quotation marks are omitted. An example string +-- that could be sent from device is "solution\0soln_freq\010\0". data MsgSettingsWriteResp = MsgSettingsWriteResp - { _msgSettingsWriteResp_status :: !Word8 + { _msgSettingsWriteResp_status :: !uint32 -- ^ Write status - , _msgSettingsWriteResp_setting :: !Text - -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING, - -- SETTING, VALUE]. + , _msgSettingsWriteResp_setting :: !string + -- ^ A NULL-terminated and delimited string with contents + -- "SECTION_SETTING\0SETTING\0VALUE\0" } deriving ( Show, Read, Eq ) instance Binary MsgSettingsWriteResp where @@ -118,12 +143,17 @@ -- | SBP class for message MSG_SETTINGS_READ_REQ (0x00A4). -- --- The setting message reads the device configuration. +-- The setting message that reads the device configuration. The string field is +-- a NULL-terminated and NULL-delimited string with contents +-- "SECTION_SETTING\0SETTING\0" where the '\0' escape sequence denotes the NULL +-- character and where quotation marks are omitted. An example string that +-- could be sent to a device is "solution\0soln_freq\0". A device will only +-- respond to this message when it is received from sender ID 0x42. A device +-- should respond with a MSG_SETTINGS_READ_RESP message (msg_id 0x00A5). data MsgSettingsReadReq = MsgSettingsReadReq - { _msgSettingsReadReq_setting :: !Text - -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING, - -- SETTING]. A device will only respond to this message when it is received - -- from sender ID 0x42. + { _msgSettingsReadReq_setting :: !string + -- ^ A NULL-terminated and NULL-delimited string with contents + -- "SECTION_SETTING\0SETTING\0" } deriving ( Show, Read, Eq ) instance Binary MsgSettingsReadReq where @@ -143,11 +173,16 @@ -- | SBP class for message MSG_SETTINGS_READ_RESP (0x00A5). -- --- The setting message reads the device configuration. +-- The setting message wich which the device responds after a +-- MSG_SETTING_READ_REQ is sent to device. The string field is a NULL- +-- terminated and NULL-delimited string with contents +-- "SECTION_SETTING\0SETTING\0VALUE\0" where the '\0' escape sequence denotes +-- the NULL character and where quotation marks are omitted. An example string +-- that could be sent from device is "solution\0soln_freq\010\0". data MsgSettingsReadResp = MsgSettingsReadResp - { _msgSettingsReadResp_setting :: !Text - -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING, - -- SETTING, VALUE]. + { _msgSettingsReadResp_setting :: !string + -- ^ A NULL-terminated and NULL-delimited string with contents + -- "SECTION_SETTING\0SETTING\0VALUE\0" } deriving ( Show, Read, Eq ) instance Binary MsgSettingsReadResp where @@ -167,12 +202,10 @@ -- | SBP class for message MSG_SETTINGS_READ_BY_INDEX_REQ (0x00A2). -- --- The settings message for iterating through the settings values. It will read --- the setting at an index, returning a NULL-terminated and delimited string --- with contents [SECTION_SETTING, SETTING, VALUE]. A device will only respond --- to this message when it is received from sender ID 0x42. +-- The settings message for iterating through the settings values. A device +-- will respond to this message with a "MSG_SETTINGS_READ_BY_INDEX_RESP". data MsgSettingsReadByIndexReq = MsgSettingsReadByIndexReq - { _msgSettingsReadByIndexReq_index :: !Word16 + { _msgSettingsReadByIndexReq_index :: !uint32 -- ^ An index into the device settings, with values ranging from 0 to -- length(settings) } deriving ( Show, Read, Eq ) @@ -194,16 +227,22 @@ -- | SBP class for message MSG_SETTINGS_READ_BY_INDEX_RESP (0x00A7). -- --- The settings message for iterating through the settings values. It will read --- the setting at an index, returning a NULL-terminated and delimited string --- with contents [SECTION_SETTING, SETTING, VALUE]. +-- The settings message that reports the value of a setting at an index. In +-- the string field, it reports NULL-terminated and delimited string with +-- contents "SECTION_SETTING\0SETTING\0VALUE\0FORMAT_TYPE\0". where the '\0' +-- escape sequence denotes the NULL character and where quotation marks are +-- omitted. The FORMAT_TYPE field is optional and denotes possible string +-- values of the setting as a hint to the user. If included, the format type +-- portion of the string has the format "enum:value1,value2,value3". An example +-- string that could be sent from the device is +-- "simulator\0enabled\0True\0enum:True,False\0" data MsgSettingsReadByIndexResp = MsgSettingsReadByIndexResp - { _msgSettingsReadByIndexResp_index :: !Word16 + { _msgSettingsReadByIndexResp_index :: !uint32 -- ^ An index into the device settings, with values ranging from 0 to -- length(settings) - , _msgSettingsReadByIndexResp_setting :: !Text - -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING, - -- SETTING, VALUE]. + , _msgSettingsReadByIndexResp_setting :: !string + -- ^ A NULL-terminated and delimited string with contents + -- "SECTION_SETTING\0SETTING\0VALUE\0FORMAT_TYPE\0" } deriving ( Show, Read, Eq ) instance Binary MsgSettingsReadByIndexResp where @@ -248,9 +287,9 @@ -- settings daemon. The host should reply with MSG_SETTINGS_WRITE for this -- setting to set the initial value. data MsgSettingsRegister = MsgSettingsRegister - { _msgSettingsRegister_setting :: !Text - -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING, - -- SETTING, VALUE]. + { _msgSettingsRegister_setting :: !string + -- ^ A NULL-terminated and delimited string with contents + -- "SECTION_SETTING\0SETTING\0VALUE". } deriving ( Show, Read, Eq ) instance Binary MsgSettingsRegister where diff --git a/src/SwiftNav/SBP/Ssr.hs b/src/SwiftNav/SBP/Ssr.hs --- a/src/SwiftNav/SBP/Ssr.hs +++ b/src/SwiftNav/SBP/Ssr.hs @@ -41,9 +41,9 @@ -- Code biases are to be added to pseudorange. The corrections are conform with -- typical RTCMv3 MT1059 and 1065. data CodeBiasesContent = CodeBiasesContent - { _codeBiasesContent_code :: !Word8 + { _codeBiasesContent_code :: !uint32 -- ^ Signal constellation, band and code - , _codeBiasesContent_value :: !Int16 + , _codeBiasesContent_value :: !sint32 -- ^ Code bias value } deriving ( Show, Read, Eq ) @@ -65,16 +65,16 @@ -- 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 + { _phaseBiasesContent_code :: !uint32 -- ^ Signal constellation, band and code - , _phaseBiasesContent_integer_indicator :: !Word8 + , _phaseBiasesContent_integer_indicator :: !uint32 -- ^ Indicator for integer property - , _phaseBiasesContent_widelane_integer_indicator :: !Word8 + , _phaseBiasesContent_widelane_integer_indicator :: !uint32 -- ^ Indicator for two groups of Wide-Lane(s) integer property - , _phaseBiasesContent_discontinuity_counter :: !Word8 + , _phaseBiasesContent_discontinuity_counter :: !uint32 -- ^ Signal phase discontinuity counter. Increased for every discontinuity -- in phase. - , _phaseBiasesContent_bias :: !Int32 + , _phaseBiasesContent_bias :: !sint32 -- ^ Phase bias for specified signal } deriving ( Show, Read, Eq ) @@ -106,34 +106,34 @@ -- correction to broadcast ephemeris and is typically an equivalent to the -- 1060 and 1066 RTCM message types data MsgSsrOrbitClock = MsgSsrOrbitClock - { _msgSsrOrbitClock_time :: !GpsTimeSec + { _msgSsrOrbitClock_time :: !gnss.GpsTimeSec -- ^ GNSS reference time of the correction - , _msgSsrOrbitClock_sid :: !GnssSignal + , _msgSsrOrbitClock_sid :: !gnss.GnssSignal -- ^ GNSS signal identifier (16 bit) - , _msgSsrOrbitClock_update_interval :: !Word8 + , _msgSsrOrbitClock_update_interval :: !uint32 -- ^ Update interval between consecutive corrections - , _msgSsrOrbitClock_iod_ssr :: !Word8 + , _msgSsrOrbitClock_iod_ssr :: !uint32 -- ^ 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 + , _msgSsrOrbitClock_iod :: !uint32 -- ^ Issue of broadcast ephemeris data - , _msgSsrOrbitClock_radial :: !Int32 + , _msgSsrOrbitClock_radial :: !sint32 -- ^ Orbit radial delta correction - , _msgSsrOrbitClock_along :: !Int32 + , _msgSsrOrbitClock_along :: !sint32 -- ^ Orbit along delta correction - , _msgSsrOrbitClock_cross :: !Int32 + , _msgSsrOrbitClock_cross :: !sint32 -- ^ Orbit along delta correction - , _msgSsrOrbitClock_dot_radial :: !Int32 + , _msgSsrOrbitClock_dot_radial :: !sint32 -- ^ Velocity of orbit radial delta correction - , _msgSsrOrbitClock_dot_along :: !Int32 + , _msgSsrOrbitClock_dot_along :: !sint32 -- ^ Velocity of orbit along delta correction - , _msgSsrOrbitClock_dot_cross :: !Int32 + , _msgSsrOrbitClock_dot_cross :: !sint32 -- ^ Velocity of orbit cross delta correction - , _msgSsrOrbitClock_c0 :: !Int32 + , _msgSsrOrbitClock_c0 :: !sint32 -- ^ C0 polynomial coefficient for correction of broadcast satellite clock - , _msgSsrOrbitClock_c1 :: !Int32 + , _msgSsrOrbitClock_c1 :: !sint32 -- ^ C1 polynomial coefficient for correction of broadcast satellite clock - , _msgSsrOrbitClock_c2 :: !Int32 + , _msgSsrOrbitClock_c2 :: !sint32 -- ^ C2 polynomial coefficient for correction of broadcast satellite clock } deriving ( Show, Read, Eq ) @@ -184,16 +184,16 @@ -- 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 + { _msgSsrCodeBiases_time :: !gnss.GpsTimeSec -- ^ GNSS reference time of the correction - , _msgSsrCodeBiases_sid :: !GnssSignal + , _msgSsrCodeBiases_sid :: !gnss.GnssSignal -- ^ GNSS signal identifier (16 bit) - , _msgSsrCodeBiases_update_interval :: !Word8 + , _msgSsrCodeBiases_update_interval :: !uint32 -- ^ Update interval between consecutive corrections - , _msgSsrCodeBiases_iod_ssr :: !Word8 + , _msgSsrCodeBiases_iod_ssr :: !uint32 -- ^ 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] + , _msgSsrCodeBiases_biases :: !repeated CodeBiasesContent -- ^ Code biases for the different satellite signals } deriving ( Show, Read, Eq ) @@ -228,24 +228,24 @@ -- the phase wind-up correction. It is typically an equivalent to the 1265 -- RTCM message types data MsgSsrPhaseBiases = MsgSsrPhaseBiases - { _msgSsrPhaseBiases_time :: !GpsTimeSec + { _msgSsrPhaseBiases_time :: !gnss.GpsTimeSec -- ^ GNSS reference time of the correction - , _msgSsrPhaseBiases_sid :: !GnssSignal + , _msgSsrPhaseBiases_sid :: !gnss.GnssSignal -- ^ GNSS signal identifier (16 bit) - , _msgSsrPhaseBiases_update_interval :: !Word8 + , _msgSsrPhaseBiases_update_interval :: !uint32 -- ^ Update interval between consecutive corrections - , _msgSsrPhaseBiases_iod_ssr :: !Word8 + , _msgSsrPhaseBiases_iod_ssr :: !uint32 -- ^ 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 + , _msgSsrPhaseBiases_dispersive_bias :: !uint32 -- ^ Indicator for the dispersive phase biases property. - , _msgSsrPhaseBiases_mw_consistency :: !Word8 + , _msgSsrPhaseBiases_mw_consistency :: !uint32 -- ^ Consistency indicator for Melbourne-Wubbena linear combinations - , _msgSsrPhaseBiases_yaw :: !Word16 + , _msgSsrPhaseBiases_yaw :: !uint32 -- ^ Satellite yaw angle - , _msgSsrPhaseBiases_yaw_rate :: !Int8 + , _msgSsrPhaseBiases_yaw_rate :: !sint32 -- ^ Satellite yaw angle rate - , _msgSsrPhaseBiases_biases :: ![PhaseBiasesContent] + , _msgSsrPhaseBiases_biases :: !repeated PhaseBiasesContent -- ^ Phase biases corrections for a satellite being tracked. } deriving ( Show, Read, Eq ) 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 @@ -44,11 +44,11 @@ -- host or other attached devices that the system has started and is now ready -- to respond to commands or configuration requests. data MsgStartup = MsgStartup - { _msgStartup_cause :: !Word8 + { _msgStartup_cause :: !uint32 -- ^ Cause of startup - , _msgStartup_startup_type :: !Word8 + , _msgStartup_startup_type :: !uint32 -- ^ Startup type - , _msgStartup_reserved :: !Word16 + , _msgStartup_reserved :: !uint32 -- ^ Reserved } deriving ( Show, Read, Eq ) @@ -77,13 +77,13 @@ -- corrections. It is expected to be sent with each receipt of a complete -- corrections packet. data MsgDgnssStatus = MsgDgnssStatus - { _msgDgnssStatus_flags :: !Word8 + { _msgDgnssStatus_flags :: !uint32 -- ^ Status flags - , _msgDgnssStatus_latency :: !Word16 + , _msgDgnssStatus_latency :: !uint32 -- ^ Latency of observation receipt - , _msgDgnssStatus_num_signals :: !Word8 + , _msgDgnssStatus_num_signals :: !uint32 -- ^ Number of signals from base station - , _msgDgnssStatus_source :: !Text + , _msgDgnssStatus_source :: !string -- ^ Corrections source string } deriving ( Show, Read, Eq ) @@ -118,7 +118,7 @@ -- indicate that an error has occurred in the system. To determine the source -- of the error, the remaining error flags should be inspected. data MsgHeartbeat = MsgHeartbeat - { _msgHeartbeat_flags :: !Word32 + { _msgHeartbeat_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -142,7 +142,7 @@ -- The INS status message describes the state of the operation and -- initialization of the inertial navigation system. data MsgInsStatus = MsgInsStatus - { _msgInsStatus_flags :: !Word32 + { _msgInsStatus_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq ) 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 @@ -44,53 +44,53 @@ -- The tracking message returns a set tracking channel parameters for a single -- tracking channel useful for debugging issues. data MsgTrackingStateDetailedDepA = MsgTrackingStateDetailedDepA - { _msgTrackingStateDetailedDepA_recv_time :: !Word64 + { _msgTrackingStateDetailedDepA_recv_time :: !uint64 -- ^ Receiver clock time. - , _msgTrackingStateDetailedDepA_tot :: !GpsTime + , _msgTrackingStateDetailedDepA_tot :: !gnss.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. - , _msgTrackingStateDetailedDepA_P :: !Word32 + , _msgTrackingStateDetailedDepA_P :: !uint32 -- ^ Pseudorange observation. Valid only when pseudorange valid flag is set. - , _msgTrackingStateDetailedDepA_P_std :: !Word16 + , _msgTrackingStateDetailedDepA_P_std :: !uint32 -- ^ Pseudorange observation standard deviation. Valid only when pseudorange -- valid flag is set. - , _msgTrackingStateDetailedDepA_L :: !CarrierPhase + , _msgTrackingStateDetailedDepA_L :: !gnss.CarrierPhase -- ^ Carrier phase observation with typical sign convention. Valid only when -- PLL pessimistic lock is achieved. - , _msgTrackingStateDetailedDepA_cn0 :: !Word8 + , _msgTrackingStateDetailedDepA_cn0 :: !uint32 -- ^ Carrier-to-Noise density - , _msgTrackingStateDetailedDepA_lock :: !Word16 + , _msgTrackingStateDetailedDepA_lock :: !uint32 -- ^ Lock time. It is encoded according to DF402 from the RTCM 10403.2 -- Amendment 2 specification. Valid values range from 0 to 15. - , _msgTrackingStateDetailedDepA_sid :: !GnssSignal + , _msgTrackingStateDetailedDepA_sid :: !gnss.GnssSignal -- ^ GNSS signal identifier. - , _msgTrackingStateDetailedDepA_doppler :: !Int32 + , _msgTrackingStateDetailedDepA_doppler :: !sint32 -- ^ Carrier Doppler frequency. - , _msgTrackingStateDetailedDepA_doppler_std :: !Word16 + , _msgTrackingStateDetailedDepA_doppler_std :: !uint32 -- ^ Carrier Doppler frequency standard deviation. - , _msgTrackingStateDetailedDepA_uptime :: !Word32 + , _msgTrackingStateDetailedDepA_uptime :: !uint32 -- ^ Number of seconds of continuous tracking. Specifies how much time signal -- is in continuous track. - , _msgTrackingStateDetailedDepA_clock_offset :: !Int16 + , _msgTrackingStateDetailedDepA_clock_offset :: !sint32 -- ^ TCXO clock offset. Valid only when valid clock valid flag is set. - , _msgTrackingStateDetailedDepA_clock_drift :: !Int16 + , _msgTrackingStateDetailedDepA_clock_drift :: !sint32 -- ^ TCXO clock drift. Valid only when valid clock valid flag is set. - , _msgTrackingStateDetailedDepA_corr_spacing :: !Word16 + , _msgTrackingStateDetailedDepA_corr_spacing :: !uint32 -- ^ Early-Prompt (EP) and Prompt-Late (PL) correlators spacing. - , _msgTrackingStateDetailedDepA_acceleration :: !Int8 + , _msgTrackingStateDetailedDepA_acceleration :: !sint32 -- ^ Acceleration. Valid only when acceleration valid flag is set. - , _msgTrackingStateDetailedDepA_sync_flags :: !Word8 + , _msgTrackingStateDetailedDepA_sync_flags :: !uint32 -- ^ Synchronization status flags. - , _msgTrackingStateDetailedDepA_tow_flags :: !Word8 + , _msgTrackingStateDetailedDepA_tow_flags :: !uint32 -- ^ TOW status flags. - , _msgTrackingStateDetailedDepA_track_flags :: !Word8 + , _msgTrackingStateDetailedDepA_track_flags :: !uint32 -- ^ Tracking loop status flags. - , _msgTrackingStateDetailedDepA_nav_flags :: !Word8 + , _msgTrackingStateDetailedDepA_nav_flags :: !uint32 -- ^ Navigation data status flags. - , _msgTrackingStateDetailedDepA_pset_flags :: !Word8 + , _msgTrackingStateDetailedDepA_pset_flags :: !uint32 -- ^ Parameters sets flags. - , _msgTrackingStateDetailedDepA_misc_flags :: !Word8 + , _msgTrackingStateDetailedDepA_misc_flags :: !uint32 -- ^ Miscellaneous flags. } deriving ( Show, Read, Eq ) @@ -153,53 +153,53 @@ -- -- Deprecated. data MsgTrackingStateDetailedDep = MsgTrackingStateDetailedDep - { _msgTrackingStateDetailedDep_recv_time :: !Word64 + { _msgTrackingStateDetailedDep_recv_time :: !uint64 -- ^ Receiver clock time. , _msgTrackingStateDetailedDep_tot :: !GpsTimeDep -- ^ Time of transmission of signal from satellite. TOW only valid when TOW -- status is decoded or propagated. WN only valid when week number valid -- flag is set. - , _msgTrackingStateDetailedDep_P :: !Word32 + , _msgTrackingStateDetailedDep_P :: !uint32 -- ^ Pseudorange observation. Valid only when pseudorange valid flag is set. - , _msgTrackingStateDetailedDep_P_std :: !Word16 + , _msgTrackingStateDetailedDep_P_std :: !uint32 -- ^ Pseudorange observation standard deviation. Valid only when pseudorange -- valid flag is set. - , _msgTrackingStateDetailedDep_L :: !CarrierPhase + , _msgTrackingStateDetailedDep_L :: !gnss.CarrierPhase -- ^ Carrier phase observation with typical sign convention. Valid only when -- PLL pessimistic lock is achieved. - , _msgTrackingStateDetailedDep_cn0 :: !Word8 + , _msgTrackingStateDetailedDep_cn0 :: !uint32 -- ^ Carrier-to-Noise density - , _msgTrackingStateDetailedDep_lock :: !Word16 + , _msgTrackingStateDetailedDep_lock :: !uint32 -- ^ Lock time. It is encoded according to DF402 from the RTCM 10403.2 -- Amendment 2 specification. Valid values range from 0 to 15. , _msgTrackingStateDetailedDep_sid :: !GnssSignalDep -- ^ GNSS signal identifier. - , _msgTrackingStateDetailedDep_doppler :: !Int32 + , _msgTrackingStateDetailedDep_doppler :: !sint32 -- ^ Carrier Doppler frequency. - , _msgTrackingStateDetailedDep_doppler_std :: !Word16 + , _msgTrackingStateDetailedDep_doppler_std :: !uint32 -- ^ Carrier Doppler frequency standard deviation. - , _msgTrackingStateDetailedDep_uptime :: !Word32 + , _msgTrackingStateDetailedDep_uptime :: !uint32 -- ^ Number of seconds of continuous tracking. Specifies how much time signal -- is in continuous track. - , _msgTrackingStateDetailedDep_clock_offset :: !Int16 + , _msgTrackingStateDetailedDep_clock_offset :: !sint32 -- ^ TCXO clock offset. Valid only when valid clock valid flag is set. - , _msgTrackingStateDetailedDep_clock_drift :: !Int16 + , _msgTrackingStateDetailedDep_clock_drift :: !sint32 -- ^ TCXO clock drift. Valid only when valid clock valid flag is set. - , _msgTrackingStateDetailedDep_corr_spacing :: !Word16 + , _msgTrackingStateDetailedDep_corr_spacing :: !uint32 -- ^ Early-Prompt (EP) and Prompt-Late (PL) correlators spacing. - , _msgTrackingStateDetailedDep_acceleration :: !Int8 + , _msgTrackingStateDetailedDep_acceleration :: !sint32 -- ^ Acceleration. Valid only when acceleration valid flag is set. - , _msgTrackingStateDetailedDep_sync_flags :: !Word8 + , _msgTrackingStateDetailedDep_sync_flags :: !uint32 -- ^ Synchronization status flags. - , _msgTrackingStateDetailedDep_tow_flags :: !Word8 + , _msgTrackingStateDetailedDep_tow_flags :: !uint32 -- ^ TOW status flags. - , _msgTrackingStateDetailedDep_track_flags :: !Word8 + , _msgTrackingStateDetailedDep_track_flags :: !uint32 -- ^ Tracking loop status flags. - , _msgTrackingStateDetailedDep_nav_flags :: !Word8 + , _msgTrackingStateDetailedDep_nav_flags :: !uint32 -- ^ Navigation data status flags. - , _msgTrackingStateDetailedDep_pset_flags :: !Word8 + , _msgTrackingStateDetailedDep_pset_flags :: !uint32 -- ^ Parameters sets flags. - , _msgTrackingStateDetailedDep_misc_flags :: !Word8 + , _msgTrackingStateDetailedDep_misc_flags :: !uint32 -- ^ Miscellaneous flags. } deriving ( Show, Read, Eq ) @@ -260,11 +260,11 @@ -- Tracking channel state for a specific satellite signal and measured signal -- power. data TrackingChannelState = TrackingChannelState - { _trackingChannelState_sid :: !GnssSignal + { _trackingChannelState_sid :: !gnss.GnssSignal -- ^ GNSS signal being tracked - , _trackingChannelState_fcn :: !Word8 + , _trackingChannelState_fcn :: !uint32 -- ^ Frequency channel number (GLONASS only) - , _trackingChannelState_cn0 :: !Word8 + , _trackingChannelState_cn0 :: !uint32 -- ^ Carrier-to-Noise density. Zero implies invalid cn0. } deriving ( Show, Read, Eq ) @@ -292,7 +292,7 @@ -- states. It reports status and carrier-to-noise density measurements for all -- tracked satellites. data MsgTrackingState = MsgTrackingState - { _msgTrackingState_states :: ![TrackingChannelState] + { _msgTrackingState_states :: !repeated TrackingChannelState -- ^ Signal tracking channel state } deriving ( Show, Read, Eq ) @@ -312,9 +312,9 @@ -- -- Structure containing in-phase and quadrature correlation components. data TrackingChannelCorrelation = TrackingChannelCorrelation - { _trackingChannelCorrelation_I :: !Int32 + { _trackingChannelCorrelation_I :: !sint32 -- ^ In-phase correlation - , _trackingChannelCorrelation_Q :: !Int32 + , _trackingChannelCorrelation_Q :: !sint32 -- ^ Quadrature correlation } deriving ( Show, Read, Eq ) @@ -339,11 +339,11 @@ -- When enabled, a tracking channel can output the correlations at each update -- interval. data MsgTrackingIq = MsgTrackingIq - { _msgTrackingIq_channel :: !Word8 + { _msgTrackingIq_channel :: !uint32 -- ^ Tracking channel of origin - , _msgTrackingIq_sid :: !GnssSignal + , _msgTrackingIq_sid :: !gnss.GnssSignal -- ^ GNSS signal identifier - , _msgTrackingIq_corrs :: ![TrackingChannelCorrelation] + , _msgTrackingIq_corrs :: !repeated TrackingChannelCorrelation -- ^ Early, Prompt and Late correlations } deriving ( Show, Read, Eq ) @@ -370,11 +370,11 @@ -- -- Deprecated. data MsgTrackingIqDep = MsgTrackingIqDep - { _msgTrackingIqDep_channel :: !Word8 + { _msgTrackingIqDep_channel :: !uint32 -- ^ Tracking channel of origin , _msgTrackingIqDep_sid :: !GnssSignalDep -- ^ GNSS signal identifier - , _msgTrackingIqDep_corrs :: ![TrackingChannelCorrelation] + , _msgTrackingIqDep_corrs :: !repeated TrackingChannelCorrelation -- ^ Early, Prompt and Late correlations } deriving ( Show, Read, Eq ) @@ -398,11 +398,11 @@ -- -- Deprecated. data TrackingChannelStateDepA = TrackingChannelStateDepA - { _trackingChannelStateDepA_state :: !Word8 + { _trackingChannelStateDepA_state :: !uint32 -- ^ Status of tracking channel - , _trackingChannelStateDepA_prn :: !Word8 + , _trackingChannelStateDepA_prn :: !uint32 -- ^ PRN-1 being tracked - , _trackingChannelStateDepA_cn0 :: !Float + , _trackingChannelStateDepA_cn0 :: !float -- ^ Carrier-to-noise density } deriving ( Show, Read, Eq ) @@ -428,7 +428,7 @@ -- -- Deprecated. data MsgTrackingStateDepA = MsgTrackingStateDepA - { _msgTrackingStateDepA_states :: ![TrackingChannelStateDepA] + { _msgTrackingStateDepA_states :: !repeated TrackingChannelStateDepA -- ^ Satellite tracking channel state } deriving ( Show, Read, Eq ) @@ -448,11 +448,11 @@ -- -- Deprecated. data TrackingChannelStateDepB = TrackingChannelStateDepB - { _trackingChannelStateDepB_state :: !Word8 + { _trackingChannelStateDepB_state :: !uint32 -- ^ Status of tracking channel , _trackingChannelStateDepB_sid :: !GnssSignalDep -- ^ GNSS signal being tracked - , _trackingChannelStateDepB_cn0 :: !Float + , _trackingChannelStateDepB_cn0 :: !float -- ^ Carrier-to-noise density } deriving ( Show, Read, Eq ) @@ -478,7 +478,7 @@ -- -- Deprecated. data MsgTrackingStateDepB = MsgTrackingStateDepB - { _msgTrackingStateDepB_states :: ![TrackingChannelStateDepB] + { _msgTrackingStateDepB_states :: !repeated TrackingChannelStateDepB -- ^ Signal tracking channel state } deriving ( Show, Read, Eq ) 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 @@ -43,7 +43,7 @@ -- This message can contain any application specific user data up to a maximum -- length of 255 bytes per message. data MsgUserData = MsgUserData - { _msgUserData_contents :: ![Word8] + { _msgUserData_contents :: !repeated uint32 -- ^ User data payload } deriving ( Show, Read, Eq ) diff --git a/src/SwiftNav/SBP/Vehicle.hs b/src/SwiftNav/SBP/Vehicle.hs --- a/src/SwiftNav/SBP/Vehicle.hs +++ b/src/SwiftNav/SBP/Vehicle.hs @@ -46,13 +46,13 @@ -- user-defined sources of this message which are labeled arbitrarily source -- 0 through 3. data MsgOdometry = MsgOdometry - { _msgOdometry_tow :: !Word32 + { _msgOdometry_tow :: !uint32 -- ^ 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 + , _msgOdometry_velocity :: !sint32 -- ^ The signed forward component of vehicle velocity. - , _msgOdometry_flags :: !Word8 + , _msgOdometry_flags :: !uint32 -- ^ Status flags } deriving ( Show, Read, Eq )