diff --git a/README.md b/README.md --- a/README.md +++ b/README.md @@ -10,13 +10,15 @@ Available on [Hackage as `sbp`](http://hackage.haskell.org/package/sbp). -The library supports building against Stackage LTS-10. To -install from Hackage using `stack`: +The library supports building against Stackage LTS-10. To install from Hackage using `stack`: $ stack install --resolver lts-10.10 sbp # (LTS-10) - -Note that we explicitly specify the resolvers to use, as installing `libsbp` may -fail to build with more recent resolvers. + +Note that we explicitly specify the resolvers to use, as installing `libsbp` may fail to build with more recent resolvers. + +Next, install the latest version of sbp available in the [snapshots](https://www.stackage.org/package/sbp/snapshots). For example, if the latest version listed in the snapshots is v2.6.3, run: + + $ stack install sbp-2.6.3 Building with cabal is possible but not supported and may fail to build. diff --git a/main/JSON2JSON.hs b/main/JSON2JSON.hs --- a/main/JSON2JSON.hs +++ b/main/JSON2JSON.hs @@ -6,7 +6,7 @@ -- Module: JSON2JSON -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- diff --git a/main/JSON2SBP.hs b/main/JSON2SBP.hs --- a/main/JSON2SBP.hs +++ b/main/JSON2SBP.hs @@ -5,7 +5,7 @@ -- Module: JSON2SBP -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- diff --git a/main/SBP2JSON.hs b/main/SBP2JSON.hs --- a/main/SBP2JSON.hs +++ b/main/SBP2JSON.hs @@ -5,7 +5,7 @@ -- Module: SBP2JSON -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- @@ -28,7 +28,9 @@ encodeLine v = toStrict $ encode v <> "\n" main :: IO () -main = +main = do + hSetBuffering stdin NoBuffering + hSetBuffering stdout NoBuffering runResourceT $ sourceHandle stdin =$= conduitDecode diff --git a/main/SBP2NMEA.hs b/main/SBP2NMEA.hs new file mode 100644 --- /dev/null +++ b/main/SBP2NMEA.hs @@ -0,0 +1,137 @@ +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE OverloadedStrings #-} + +-- | +-- Module: SBP2JNMEA +-- Copyright: Copyright (C) 2020 Swift Navigation, Inc. +-- License: LGPL-3 +-- Contact: https://support.swiftnav.com +-- Stability: experimental +-- Portability: portable +-- +-- SBP to NMEA tool - reads SBP binary from stdin and sends NMEA +-- to stdout. + +import BasicPrelude hiding (map) +import Control.Lens +import Control.Monad.Trans.Resource +import Data.Bits +import qualified Data.ByteString as BS +import qualified Data.ByteString.Char8 as BS8 +import Data.Conduit +import Data.Conduit.Binary +import Data.Conduit.List +import Data.Conduit.Serialization.Binary +import Data.Time +import Data.Time.Clock.POSIX +import Data.Word +import SwiftNav.SBP +import System.IO +import Text.Printf + +-- | NMEA time. +-- +timestamp :: MsgPosLlh -> ByteString +timestamp posLlh = BS8.pack $ printf "%s.%03u" times mods + where + epochs = 315964800 + offsets = 18 + (tows, mods) = divMod (posLlh ^. msgPosLlh_tow) 1000 + seconds = epochs - offsets + tows + time = posixSecondsToUTCTime $ fromIntegral seconds + times = formatTime defaultTimeLocale "%H%M%S" time + +-- | NMEA latitude. +-- +lat :: MsgPosLlh -> ByteString +lat posLlh = BS8.pack $ printf "%02u%010.7f" i (60 * f) + where + (i, f) = properFraction (abs $ posLlh ^. msgPosLlh_lat) :: (Word16, Double) + +-- | NMEA latitude direction. +-- +latDir :: MsgPosLlh -> ByteString +latDir posLlh = bool "S" "N" $ posLlh ^. msgPosLlh_lat > 0 + +-- | NMEA longitude. +-- +lon :: MsgPosLlh -> ByteString +lon posLlh = BS8.pack $ printf "%03u%010.7f" i (60 * f) + where + (i, f) = properFraction (abs $ posLlh ^. msgPosLlh_lon) :: (Word16, Double) + +-- | NMEA longitude direction. +-- +lonDir :: MsgPosLlh -> ByteString +lonDir posLlh = bool "W" "E" $ posLlh ^. msgPosLlh_lon > 0 + +-- | NMEA quality. +-- +quality :: MsgPosLlh -> ByteString +quality posLlh = case posLlh ^. msgPosLlh_flags .&. 0x7 of + 0 -> "0" + 1 -> "1" + 2 -> "2" + 3 -> "5" + 4 -> "4" + _ -> "0" + +-- | NMEA number of satellites. +-- +satellites :: MsgPosLlh -> ByteString +satellites posLlh = BS8.pack $ printf "%02u" $ posLlh ^. msgPosLlh_n_sats + +-- | NMEA altitude. +-- +height :: MsgPosLlh -> ByteString +height posLlh = BS8.pack $ printf "%.2f" $ posLlh ^. msgPosLlh_height + +-- | NMEA sentence for GGA for GPS. +-- +sentence :: MsgPosLlh -> ByteString +sentence posLlh = + BS8.intercalate "," + [ "GPGGA" + , timestamp posLlh + , lat posLlh + , latDir posLlh + , lon posLlh + , lonDir posLlh + , quality posLlh + , satellites posLlh + , "0.0" + , height posLlh + , "M" + , "0.0" + , "M" + , mempty + , mempty + ] + +-- | NMEA checksum. +-- +checksum :: ByteString -> ByteString +checksum s = BS8.pack $ printf "%02x" $ BS.foldl' xor 0 s + +-- | NMEA GGA for GPS. +-- +gpgga :: MsgPosLlh -> ByteString +gpgga posLlh = "$" <> s <> "*" <> c <> "\r\n" + where + s = sentence posLlh + c = checksum s + +-- | Encode a SBPMsg to a line of JSON. +encodeLine :: SBPMsg -> ByteString +encodeLine (SBPMsgPosLlh posLlh _msg) = gpgga posLlh +encodeLine _ = mempty + +main :: IO () +main = do + hSetBuffering stdin NoBuffering + hSetBuffering stdout NoBuffering + runResourceT $ + sourceHandle stdin + =$= conduitDecode + =$= map encodeLine + $$ sinkHandle stdout diff --git a/main/SBP2YAML.hs b/main/SBP2YAML.hs --- a/main/SBP2YAML.hs +++ b/main/SBP2YAML.hs @@ -4,7 +4,7 @@ -- Module: SBP2YAML -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,167 +1,173 @@ -cabal-version: >=1.22 -name: sbp -version: 2.6.3 -license: LGPL-3 -copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. -maintainer: Swift Navigation -author: Swift Navigation Inc. -homepage: https://github.com/swift-nav/libsbp -synopsis: SwiftNav's SBP Library +name: sbp +version: 3.4.11 +synopsis: SwiftNav's SBP Library +homepage: https://github.com/swift-nav/libsbp +license: MIT +author: Swift Navigation Inc. +maintainer: Swift Navigation +copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. +category: Network +build-type: Simple +cabal-version: >= 1.22 +extra-source-files: README.md description: - Haskell bindings for Swift Navigation Binary Protocol (SBP), a fast, - simple, and minimal binary protocol for communicating with Swift - devices. It is the native binary protocol used by the Piksi GPS - receiver to transmit solutions, observations, status and debugging - messages, as well as receive messages from the host operating - system, such as differential corrections and the almanac. -category: Network -build-type: Simple -extra-source-files: - README.md + Haskell bindings for Swift Navigation Binary Protocol (SBP), a fast, + simple, and minimal binary protocol for communicating with Swift + devices. It is the native binary protocol used by the Piksi GPS + receiver to transmit solutions, observations, status and debugging + messages, as well as receive messages from the host operating + system, such as differential corrections and the almanac. source-repository head - type: git - location: git@github.com:swift-nav/libsbp.git + type: git + location: git@github.com:swift-nav/libsbp.git library - exposed-modules: - SwiftNav.CRC16 - SwiftNav.SBP - SwiftNav.SBP.Acquisition - SwiftNav.SBP.Bootload - SwiftNav.SBP.ExtEvents - SwiftNav.SBP.FileIo - SwiftNav.SBP.Flash - SwiftNav.SBP.Gnss - SwiftNav.SBP.Imu - SwiftNav.SBP.Linux - SwiftNav.SBP.Logging - SwiftNav.SBP.Mag - SwiftNav.SBP.Navigation - SwiftNav.SBP.Ndb - SwiftNav.SBP.Observation - SwiftNav.SBP.Orientation - SwiftNav.SBP.Piksi - SwiftNav.SBP.Sbas - SwiftNav.SBP.Settings - SwiftNav.SBP.Ssr - SwiftNav.SBP.System - SwiftNav.SBP.Tracking - SwiftNav.SBP.User - SwiftNav.SBP.Vehicle - SwiftNav.SBP.Types - hs-source-dirs: src - other-modules: - SwiftNav.SBP.Msg - SwiftNav.SBP.TH - default-language: Haskell2010 - ghc-options: -Wall - build-depends: - aeson >=1.2.4.0, - array >=0.5.2.0, - base >=4.8 && <5, - base64-bytestring >=1.0.0.1, - basic-prelude >=0.7.0, - binary >=0.8.5.1, - bytestring >=0.10.8.2, - data-binary-ieee754 >=0.4.4, - lens >=4.15.4, - lens-aeson >=1.0.2, - monad-loops >=0.4.3, - template-haskell >=2.12.0.0, - text >=1.2.2.2 + exposed-modules: SwiftNav.CRC16 + , SwiftNav.SBP + , SwiftNav.SBP.Acquisition + , SwiftNav.SBP.Bootload + , SwiftNav.SBP.ExtEvents + , SwiftNav.SBP.FileIo + , SwiftNav.SBP.Flash + , SwiftNav.SBP.Gnss + , SwiftNav.SBP.Imu + , SwiftNav.SBP.Linux + , SwiftNav.SBP.Logging + , SwiftNav.SBP.Mag + , SwiftNav.SBP.Navigation + , SwiftNav.SBP.Ndb + , SwiftNav.SBP.Observation + , SwiftNav.SBP.Orientation + , SwiftNav.SBP.Piksi + , SwiftNav.SBP.Sbas + , SwiftNav.SBP.Settings + , SwiftNav.SBP.SolutionMeta + , SwiftNav.SBP.Ssr + , SwiftNav.SBP.System + , SwiftNav.SBP.Tracking + , SwiftNav.SBP.User + , SwiftNav.SBP.Vehicle + , SwiftNav.SBP.Types + other-modules: SwiftNav.SBP.Msg + , SwiftNav.SBP.TH + default-language: Haskell2010 + hs-source-dirs: src + ghc-options: -Wall + build-depends: aeson + , array + , base >= 4.8 && < 5 + , base64-bytestring + , basic-prelude + , binary + , bytestring + , data-binary-ieee754 + , lens + , lens-aeson + , monad-loops + , template-haskell + , text executable sbp2json - main-is: SBP2JSON.hs - hs-source-dirs: main - default-language: Haskell2010 - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall - build-depends: - aeson >=1.2.4.0, - base >=4.10.1.0, - basic-prelude >=0.7.0, - binary-conduit >=1.2.5, - bytestring >=0.10.8.2, - conduit >=1.2.13.1, - conduit-extra >=1.2.3.2, - resourcet >=1.1.11, - sbp -any + hs-source-dirs: main + main-is: SBP2JSON.hs + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + build-depends: aeson + , base + , basic-prelude + , binary-conduit + , bytestring + , conduit + , conduit-extra + , resourcet + , sbp + default-language: Haskell2010 executable sbp2prettyjson - main-is: SBP2PRETTYJSON.hs - hs-source-dirs: main - default-language: Haskell2010 - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall - build-depends: - aeson-pretty >=0.8.5, - base >=4.10.1.0, - basic-prelude >=0.7.0, - binary-conduit >=1.2.5, - bytestring >=0.10.8.2, - cmdargs >=0.10.20, - conduit >=1.2.13.1, - conduit-extra >=1.2.3.2, - resourcet >=1.1.11, - sbp -any + hs-source-dirs: main + main-is: SBP2PRETTYJSON.hs + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + build-depends: aeson-pretty + , base + , basic-prelude + , binary-conduit + , bytestring + , cmdargs + , conduit + , conduit-extra + , resourcet + , sbp + default-language: Haskell2010 executable json2sbp - main-is: JSON2SBP.hs - hs-source-dirs: main - default-language: Haskell2010 - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall - build-depends: - aeson >=1.2.4.0, - base >=4.10.1.0, - basic-prelude >=0.7.0, - binary-conduit >=1.2.5, - conduit >=1.2.13.1, - conduit-extra >=1.2.3.2, - resourcet >=1.1.11, - sbp -any + hs-source-dirs: main + main-is: JSON2SBP.hs + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + build-depends: aeson + , base + , basic-prelude + , binary-conduit + , conduit + , conduit-extra + , resourcet + , sbp + default-language: Haskell2010 executable json2json - main-is: JSON2JSON.hs - hs-source-dirs: main - default-language: Haskell2010 - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall - build-depends: - aeson >=1.2.4.0, - base >=4.10.1.0, - basic-prelude >=0.7.0, - bytestring >=0.10.8.2, - conduit >=1.2.13.1, - conduit-extra >=1.2.3.2, - resourcet >=1.1.11, - sbp -any, - time >=1.8.0.2 + hs-source-dirs: main + main-is: JSON2JSON.hs + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + build-depends: aeson + , base + , basic-prelude + , bytestring + , conduit + , conduit-extra + , resourcet + , sbp + , time + default-language: Haskell2010 executable sbp2yaml - main-is: SBP2YAML.hs - hs-source-dirs: main - default-language: Haskell2010 - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall - build-depends: - base >=4.10.1.0, - basic-prelude >=0.7.0, - binary-conduit >=1.2.5, - bytestring >=0.10.8.2, - conduit >=1.2.13.1, - conduit-extra >=1.2.3.2, - resourcet >=1.1.11, - sbp -any, - yaml >=0.8.28 + hs-source-dirs: main + main-is: SBP2YAML.hs + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + build-depends: base + , basic-prelude + , binary-conduit + , bytestring + , conduit + , conduit-extra + , resourcet + , sbp + , yaml + default-language: Haskell2010 +executable sbp2nmea + hs-source-dirs: main + main-is: SBP2NMEA.hs + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + build-depends: base + , basic-prelude + , binary-conduit + , bytestring + , conduit + , conduit-extra + , lens + , resourcet + , sbp + , time + default-language: Haskell2010 + test-suite test - type: exitcode-stdio-1.0 - main-is: Test.hs - hs-source-dirs: test - other-modules: - Test.SwiftNav.CRC16 - default-language: Haskell2010 - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall - build-depends: - base >=4.10.1.0, - basic-prelude >=0.7.0, - sbp -any, - tasty >=0.11.3, - tasty-hunit >=0.9.2 + type: exitcode-stdio-1.0 + hs-source-dirs: test + main-is: Test.hs + other-modules: Test.SwiftNav.CRC16 + build-depends: base + , basic-prelude + , sbp + , tasty + , tasty-hunit + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + default-language: Haskell2010 diff --git a/src/SwiftNav/CRC16.hs b/src/SwiftNav/CRC16.hs --- a/src/SwiftNav/CRC16.hs +++ b/src/SwiftNav/CRC16.hs @@ -4,7 +4,7 @@ -- Module: SwiftNav.SBP -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- diff --git a/src/SwiftNav/SBP.hs b/src/SwiftNav/SBP.hs --- a/src/SwiftNav/SBP.hs +++ b/src/SwiftNav/SBP.hs @@ -1,8 +1,8 @@ -- | -- Module: SwiftNav.SBP -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- @@ -31,6 +31,7 @@ import SwiftNav.SBP.Piksi as Exports import SwiftNav.SBP.Sbas as Exports import SwiftNav.SBP.Settings as Exports +import SwiftNav.SBP.SolutionMeta as Exports import SwiftNav.SBP.Ssr as Exports import SwiftNav.SBP.System as Exports import SwiftNav.SBP.Tracking as Exports diff --git a/src/SwiftNav/SBP/Acquisition.hs b/src/SwiftNav/SBP/Acquisition.hs --- a/src/SwiftNav/SBP/Acquisition.hs +++ b/src/SwiftNav/SBP/Acquisition.hs @@ -6,12 +6,12 @@ -- | -- Module: SwiftNav.SBP.Acquisition -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Satellite acquisition messages from the device. +-- \< Satellite acquisition messages from the device. \> module SwiftNav.SBP.Acquisition ( module SwiftNav.SBP.Acquisition @@ -184,7 +184,7 @@ -- | AcqSvProfile. -- --- Profile for a specific SV for debugging purposes The message describes SV +-- Profile for a specific SV for debugging purposes. The message describes SV -- profile during acquisition time. The message is used to debug and measure -- the performance. data AcqSvProfile = AcqSvProfile @@ -224,9 +224,9 @@ _acqSvProfile_bin_width <- getWord16le _acqSvProfile_timestamp <- getWord32le _acqSvProfile_time_spent <- getWord32le - _acqSvProfile_cf_min <- fromIntegral <$> getWord32le - _acqSvProfile_cf_max <- fromIntegral <$> getWord32le - _acqSvProfile_cf <- fromIntegral <$> getWord32le + _acqSvProfile_cf_min <- (fromIntegral <$> getWord32le) + _acqSvProfile_cf_max <- (fromIntegral <$> getWord32le) + _acqSvProfile_cf <- (fromIntegral <$> getWord32le) _acqSvProfile_cp <- getWord32le pure AcqSvProfile {..} @@ -287,9 +287,9 @@ _acqSvProfileDep_bin_width <- getWord16le _acqSvProfileDep_timestamp <- getWord32le _acqSvProfileDep_time_spent <- getWord32le - _acqSvProfileDep_cf_min <- fromIntegral <$> getWord32le - _acqSvProfileDep_cf_max <- fromIntegral <$> getWord32le - _acqSvProfileDep_cf <- fromIntegral <$> getWord32le + _acqSvProfileDep_cf_min <- (fromIntegral <$> getWord32le) + _acqSvProfileDep_cf_max <- (fromIntegral <$> getWord32le) + _acqSvProfileDep_cf <- (fromIntegral <$> getWord32le) _acqSvProfileDep_cp <- getWord32le pure AcqSvProfileDep {..} 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 @@ -6,14 +6,16 @@ -- | -- Module: SwiftNav.SBP.Bootload -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Messages for the bootloading configuration of a Piksi 2.3.1. This message --- group does not apply to Piksi Multi. Note that some of these messages share --- the same message type ID for both the host request and the device response. +-- \< Messages for the bootloading configuration of a Piksi 2.3.1. This message +-- group does not apply to Piksi Multi. +-- +-- Note that some of these messages share the same message type ID for both +-- the host request and the device response. \> module SwiftNav.SBP.Bootload ( module SwiftNav.SBP.Bootload @@ -119,8 +121,9 @@ -- The device message from the host reads a unique device identifier from the -- SwiftNAP, an FPGA. The host requests the ID by sending a -- MSG_NAP_DEVICE_DNA_REQ message. The device responds with a --- MSG_NAP_DEVICE_DNA_RESP message with the device ID in the payload. Note that --- this ID is tied to the FPGA, and not related to the Piksi's serial number. +-- MSG_NAP_DEVICE_DNA_RESP message with the device ID in the payload. Note +-- that this ID is tied to the FPGA, and not related to the Piksi's serial +-- number. data MsgNapDeviceDnaReq = MsgNapDeviceDnaReq 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 @@ -6,13 +6,13 @@ -- | -- Module: SwiftNav.SBP.ExtEvents -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Messages reporting accurately-timestamped external events, e.g. camera --- shutter time. +-- \< Messages reporting accurately-timestamped external events, e.g. camera +-- shutter time. \> module SwiftNav.SBP.ExtEvents ( module SwiftNav.SBP.ExtEvents @@ -61,7 +61,7 @@ get = do _msgExtEvent_wn <- getWord16le _msgExtEvent_tow <- getWord32le - _msgExtEvent_ns_residual <- fromIntegral <$> getWord32le + _msgExtEvent_ns_residual <- (fromIntegral <$> getWord32le) _msgExtEvent_flags <- getWord8 _msgExtEvent_pin <- getWord8 pure MsgExtEvent {..} 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 @@ -6,17 +6,19 @@ -- | -- Module: SwiftNav.SBP.FileIo -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Messages for using device's onboard flash filesystem functionality. This +-- \< Messages for using device's onboard flash filesystem functionality. This -- allows data to be stored persistently in the device's program flash with -- wear-levelling using a simple filesystem interface. The file system -- interface (CFS) defines an abstract API for reading directories and for --- reading and writing files. Note that some of these messages share the same --- message type ID for both the host request and the device response. +-- reading and writing files. +-- +-- Note that some of these messages share the same message type ID for both +-- the host request and the device response. \> module SwiftNav.SBP.FileIo ( module SwiftNav.SBP.FileIo @@ -48,8 +50,8 @@ -- The file read message reads a certain length (up to 255 bytes) from a given -- offset into a file, and returns the data in a MSG_FILEIO_READ_RESP message -- where the message length field indicates how many bytes were succesfully --- read.The sequence number in the request will be returned in the response. If --- the message is invalid, a followup MSG_PRINT message will print "Invalid +-- read.The sequence number in the request will be returned in the response. +-- If the message is invalid, a followup 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 MsgFileioReadReq = MsgFileioReadReq @@ -121,9 +123,10 @@ -- first n elements of the file list. Returns a MSG_FILEIO_READ_DIR_RESP -- message containing the directory listings as a NULL delimited list. The -- listing is chunked over multiple SBP packets. The sequence number in the --- request will be returned in the response. If message is invalid, a followup --- 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. +-- request will be returned in the response. If message is invalid, a +-- followup 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 -- ^ Read sequence number @@ -155,10 +158,10 @@ -- | SBP class for message MSG_FILEIO_READ_DIR_RESP (0x00AA). -- -- The read directory message lists the files in a directory on the device's --- onboard flash file system. Message contains the directory listings as a NULL --- delimited list. The listing is chunked over multiple SBP packets and the end --- of the list is identified by an entry containing just the character 0xFF. --- The sequence number in the response is preserved from the request. +-- onboard flash file system. Message contains the directory listings as a +-- NULL delimited list. The listing is chunked over multiple SBP packets and +-- the end of the list is identified by an packet with no entries. The +-- sequence number in the response is preserved from the request. data MsgFileioReadDirResp = MsgFileioReadDirResp { _msgFileioReadDirResp_sequence :: !Word32 -- ^ Read sequence number @@ -216,7 +219,7 @@ -- MSG_FILEIO_WRITE_RESP message to check integrity of the write. The sequence -- number in the request will be returned in the response. If message is -- invalid, a followup MSG_PRINT message will print "Invalid fileio write --- message". A device will only process this message when it is received from +-- message". A device will only process this message when it is received from -- sender ID 0x42. data MsgFileioWriteReq = MsgFileioWriteReq { _msgFileioWriteReq_sequence :: !Word32 @@ -278,9 +281,10 @@ -- | SBP class for message MSG_FILEIO_CONFIG_REQ (0x1001). -- --- Requests advice on the optimal configuration for a FileIO transfer. Newer +-- Requests advice on the optimal configuration for a FileIO transfer. Newer -- version of FileIO can support greater throughput by supporting a large --- window of FileIO data that can be in-flight during read or write operations. +-- window of FileIO data that can be in-flight during read or write +-- operations. data MsgFileioConfigReq = MsgFileioConfigReq { _msgFileioConfigReq_sequence :: !Word32 -- ^ Advice sequence number @@ -305,7 +309,8 @@ -- -- The advice on the optimal configuration for a FileIO transfer. Newer -- version of FileIO can support greater throughput by supporting a large --- window of FileIO data that can be in-flight during read or write operations. +-- window of FileIO data that can be in-flight during read or write +-- operations. data MsgFileioConfigResp = MsgFileioConfigResp { _msgFileioConfigResp_sequence :: !Word32 -- ^ Advice sequence number 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 @@ -6,15 +6,15 @@ -- | -- Module: SwiftNav.SBP.Flash -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Messages for reading/writing the device's onboard flash memory. Many of +-- \< Messages for reading/writing the device's onboard flash memory. Many of -- these messages target specific flash memory peripherals used in Swift -- Navigation devices: the STM32 flash and the M25Pxx FPGA configuration flash --- from Piksi 2.3.1. This module does not apply to Piksi Multi. +-- from Piksi 2.3.1. This module does not apply to Piksi Multi. \> module SwiftNav.SBP.Flash ( module SwiftNav.SBP.Flash @@ -45,8 +45,8 @@ -- -- The flash program message programs a set of addresses of either the STM or -- M25 flash. The device replies with either a MSG_FLASH_DONE message --- containing the return code FLASH_OK (0) on success, or FLASH_INVALID_LEN (2) --- if the maximum write size is exceeded. Note that the sector-containing +-- containing the return code FLASH_OK (0) on success, or FLASH_INVALID_LEN +-- (2) 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 @@ -54,7 +54,8 @@ , _msgFlashProgram_addr_start :: ![Word8] -- ^ Starting address offset to program , _msgFlashProgram_addr_len :: !Word8 - -- ^ Length of set of addresses to program, counting up from starting address + -- ^ Length of set of addresses to program, counting up from starting + -- address , _msgFlashProgram_data :: ![Word8] -- ^ Data to program addresses with, with length N=addr_len } deriving ( Show, Read, Eq ) @@ -83,8 +84,8 @@ -- | SBP class for message MSG_FLASH_DONE (0x00E0). -- -- This message defines success or failure codes for a variety of flash memory --- requests from the host to the device. Flash read and write messages, such as --- MSG_FLASH_READ_REQ, or MSG_FLASH_PROGRAM, may return this message on +-- requests from the host to the device. Flash read and write messages, such +-- as MSG_FLASH_READ_REQ, or MSG_FLASH_PROGRAM, may return this message on -- failure. data MsgFlashDone = MsgFlashDone { _msgFlashDone_response :: !Word8 @@ -111,9 +112,9 @@ -- The flash read message reads a set of addresses of either the STM or M25 -- onboard flash. The device replies with a MSG_FLASH_READ_RESP message -- containing either the read data on success or a MSG_FLASH_DONE message --- containing the return code FLASH_INVALID_LEN (2) if the maximum read size is --- exceeded or FLASH_INVALID_ADDR (3) if the address is outside of the allowed --- range. +-- containing the return code FLASH_INVALID_LEN (2) if the maximum read size +-- is exceeded or FLASH_INVALID_ADDR (3) if the address is outside of the +-- allowed range. data MsgFlashReadReq = MsgFlashReadReq { _msgFlashReadReq_target :: !Word8 -- ^ Target flags @@ -147,9 +148,9 @@ -- The flash read message reads a set of addresses of either the STM or M25 -- onboard flash. The device replies with a MSG_FLASH_READ_RESP message -- containing either the read data on success or a MSG_FLASH_DONE message --- containing the return code FLASH_INVALID_LEN (2) if the maximum read size is --- exceeded or FLASH_INVALID_ADDR (3) if the address is outside of the allowed --- range. +-- containing the return code FLASH_INVALID_LEN (2) if the maximum read size +-- is exceeded or FLASH_INVALID_ADDR (3) if the address is outside of the +-- allowed range. data MsgFlashReadResp = MsgFlashReadResp { _msgFlashReadResp_target :: !Word8 -- ^ Target flags @@ -281,7 +282,7 @@ -- -- This message reads the device's hardcoded unique ID. The host requests the -- 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.. +-- MSG_STM_UNIQUE_ID_RESP with the 12-byte unique ID in the payload. data MsgStmUniqueIdResp = MsgStmUniqueIdResp { _msgStmUniqueIdResp_stm_id :: ![Word8] -- ^ Device unique ID 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 @@ -6,12 +6,12 @@ -- | -- Module: SwiftNav.SBP.Gnss -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Various structs shared between modules +-- \< Various structs shared between modules \> module SwiftNav.SBP.Gnss ( module SwiftNav.SBP.Gnss @@ -37,11 +37,11 @@ -- | GnssSignal. -- --- Signal identifier containing constellation, band, and satellite identifier +-- Signal identifier containing constellation, band, and satellite identifier. data GnssSignal = GnssSignal { _gnssSignal_sat :: !Word8 -- ^ Constellation-specific satellite identifier. This field for Glonass can - -- either be (100+FCN) where FCN is in [-7,+6] or the Slot ID in [1,28] + -- either be (100+FCN) where FCN is in [-7,+6] or the Slot ID in [1,28]. , _gnssSignal_code :: !Word8 -- ^ Signal constellation, band and code } deriving ( Show, Read, Eq ) @@ -62,7 +62,7 @@ -- | SvId. -- -- A (Constellation ID, satellite ID) tuple that uniquely identifies a space --- vehicle +-- vehicle. data SvId = SvId { _svId_satId :: !Word8 -- ^ ID of the space vehicle within its constellation @@ -88,9 +88,10 @@ -- Deprecated. data GnssSignalDep = GnssSignalDep { _gnssSignalDep_sat :: !Word16 - -- ^ Constellation-specific satellite identifier. Note: unlike GnssSignal, - -- GPS satellites are encoded as (PRN - 1). Other constellations do not - -- have this offset. + -- ^ Constellation-specific satellite identifier. + -- + -- Note: unlike GnssSignal, GPS satellites are encoded as (PRN - 1). Other + -- constellations do not have this offset. , _gnssSignalDep_code :: !Word8 -- ^ Signal constellation, band and code , _gnssSignalDep_reserved :: !Word8 @@ -178,7 +179,7 @@ instance Binary GpsTime where get = do _gpsTime_tow <- getWord32le - _gpsTime_ns_residual <- fromIntegral <$> getWord32le + _gpsTime_ns_residual <- (fromIntegral <$> getWord32le) _gpsTime_wn <- getWord16le pure GpsTime {..} @@ -204,7 +205,7 @@ instance Binary CarrierPhase where get = do - _carrierPhase_i <- fromIntegral <$> getWord32le + _carrierPhase_i <- (fromIntegral <$> getWord32le) _carrierPhase_f <- getWord8 pure CarrierPhase {..} 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 @@ -6,12 +6,12 @@ -- | -- Module: SwiftNav.SBP.Imu -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Inertial Measurement Unit (IMU) messages. +-- \< Inertial Measurement Unit (IMU) messages. \> module SwiftNav.SBP.Imu ( module SwiftNav.SBP.Imu @@ -44,13 +44,17 @@ -- gyroscope readings. The sense of the measurements are to be aligned with -- the indications on the device itself. Measurement units, which are specific -- to the device hardware and settings, are communicated via the MSG_IMU_AUX --- message. +-- message. If using "time since startup" time tags, the receiving end will +-- expect a `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to +-- synchronise IMU measurements with GNSS. The timestamp must wrap around to +-- zero when reaching one week (604800 seconds). +-- +-- The time-tagging mode should not change throughout a run. data MsgImuRaw = MsgImuRaw { _msgImuRaw_tow :: !Word32 - -- ^ Milliseconds since start of GPS week. If the high bit is set, the time - -- is unknown or invalid. + -- ^ Milliseconds since reference epoch and time status. , _msgImuRaw_tow_f :: !Word8 - -- ^ Milliseconds since start of GPS week, fractional part + -- ^ Milliseconds since reference epoch, fractional part , _msgImuRaw_acc_x :: !Int16 -- ^ Acceleration in the IMU frame X axis , _msgImuRaw_acc_y :: !Int16 @@ -69,12 +73,12 @@ get = do _msgImuRaw_tow <- getWord32le _msgImuRaw_tow_f <- getWord8 - _msgImuRaw_acc_x <- fromIntegral <$> getWord16le - _msgImuRaw_acc_y <- fromIntegral <$> getWord16le - _msgImuRaw_acc_z <- fromIntegral <$> getWord16le - _msgImuRaw_gyr_x <- fromIntegral <$> getWord16le - _msgImuRaw_gyr_y <- fromIntegral <$> getWord16le - _msgImuRaw_gyr_z <- fromIntegral <$> getWord16le + _msgImuRaw_acc_x <- (fromIntegral <$> getWord16le) + _msgImuRaw_acc_y <- (fromIntegral <$> getWord16le) + _msgImuRaw_acc_z <- (fromIntegral <$> getWord16le) + _msgImuRaw_gyr_x <- (fromIntegral <$> getWord16le) + _msgImuRaw_gyr_y <- (fromIntegral <$> getWord16le) + _msgImuRaw_gyr_z <- (fromIntegral <$> getWord16le) pure MsgImuRaw {..} put MsgImuRaw {..} = do @@ -111,7 +115,7 @@ instance Binary MsgImuAux where get = do _msgImuAux_imu_type <- getWord8 - _msgImuAux_temp <- fromIntegral <$> getWord16le + _msgImuAux_temp <- (fromIntegral <$> getWord16le) _msgImuAux_imu_conf <- getWord8 pure MsgImuAux {..} diff --git a/src/SwiftNav/SBP/Linux.hs b/src/SwiftNav/SBP/Linux.hs --- a/src/SwiftNav/SBP/Linux.hs +++ b/src/SwiftNav/SBP/Linux.hs @@ -6,12 +6,12 @@ -- | -- Module: SwiftNav.SBP.Linux -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Linux state monitoring. +-- \< Linux state monitoring. \> module SwiftNav.SBP.Linux ( module SwiftNav.SBP.Linux @@ -35,128 +35,128 @@ {-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-} -msgLinuxCpuState :: Word16 -msgLinuxCpuState = 0x7F00 +msgLinuxCpuStateDepA :: Word16 +msgLinuxCpuStateDepA = 0x7F00 --- | SBP class for message MSG_LINUX_CPU_STATE (0x7F00). +-- | SBP class for message MSG_LINUX_CPU_STATE_DEP_A (0x7F00). -- --- This message indicates the process state of the top 10 heaviest consumers of --- CPU on the system. -data MsgLinuxCpuState = MsgLinuxCpuState - { _msgLinuxCpuState_index :: !Word8 +-- This message indicates the process state of the top 10 heaviest consumers +-- of CPU on the system. +data MsgLinuxCpuStateDepA = MsgLinuxCpuStateDepA + { _msgLinuxCpuStateDepA_index :: !Word8 -- ^ sequence of this status message, values from 0-9 - , _msgLinuxCpuState_pid :: !Word16 + , _msgLinuxCpuStateDepA_pid :: !Word16 -- ^ the PID of the process - , _msgLinuxCpuState_pcpu :: !Word8 + , _msgLinuxCpuStateDepA_pcpu :: !Word8 -- ^ percent of cpu used, expressed as a fraction of 256 - , _msgLinuxCpuState_tname :: !Text + , _msgLinuxCpuStateDepA_tname :: !Text -- ^ fixed length string representing the thread name - , _msgLinuxCpuState_cmdline :: !Text + , _msgLinuxCpuStateDepA_cmdline :: !Text -- ^ the command line (as much as it fits in the remaining packet) } deriving ( Show, Read, Eq ) -instance Binary MsgLinuxCpuState where +instance Binary MsgLinuxCpuStateDepA where get = do - _msgLinuxCpuState_index <- getWord8 - _msgLinuxCpuState_pid <- getWord16le - _msgLinuxCpuState_pcpu <- getWord8 - _msgLinuxCpuState_tname <- decodeUtf8 <$> getByteString 15 - _msgLinuxCpuState_cmdline <- decodeUtf8 . toStrict <$> getRemainingLazyByteString - pure MsgLinuxCpuState {..} + _msgLinuxCpuStateDepA_index <- getWord8 + _msgLinuxCpuStateDepA_pid <- getWord16le + _msgLinuxCpuStateDepA_pcpu <- getWord8 + _msgLinuxCpuStateDepA_tname <- decodeUtf8 <$> getByteString 15 + _msgLinuxCpuStateDepA_cmdline <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + pure MsgLinuxCpuStateDepA {..} - put MsgLinuxCpuState {..} = do - putWord8 _msgLinuxCpuState_index - putWord16le _msgLinuxCpuState_pid - putWord8 _msgLinuxCpuState_pcpu - putByteString $ encodeUtf8 _msgLinuxCpuState_tname - putByteString $ encodeUtf8 _msgLinuxCpuState_cmdline + put MsgLinuxCpuStateDepA {..} = do + putWord8 _msgLinuxCpuStateDepA_index + putWord16le _msgLinuxCpuStateDepA_pid + putWord8 _msgLinuxCpuStateDepA_pcpu + putByteString $ encodeUtf8 _msgLinuxCpuStateDepA_tname + putByteString $ encodeUtf8 _msgLinuxCpuStateDepA_cmdline -$(makeSBP 'msgLinuxCpuState ''MsgLinuxCpuState) -$(makeJSON "_msgLinuxCpuState_" ''MsgLinuxCpuState) -$(makeLenses ''MsgLinuxCpuState) +$(makeSBP 'msgLinuxCpuStateDepA ''MsgLinuxCpuStateDepA) +$(makeJSON "_msgLinuxCpuStateDepA_" ''MsgLinuxCpuStateDepA) +$(makeLenses ''MsgLinuxCpuStateDepA) -msgLinuxMemState :: Word16 -msgLinuxMemState = 0x7F01 +msgLinuxMemStateDepA :: Word16 +msgLinuxMemStateDepA = 0x7F01 --- | SBP class for message MSG_LINUX_MEM_STATE (0x7F01). +-- | SBP class for message MSG_LINUX_MEM_STATE_DEP_A (0x7F01). -- --- This message indicates the process state of the top 10 heaviest consumers of --- memory on the system. -data MsgLinuxMemState = MsgLinuxMemState - { _msgLinuxMemState_index :: !Word8 +-- This message indicates the process state of the top 10 heaviest consumers +-- of memory on the system. +data MsgLinuxMemStateDepA = MsgLinuxMemStateDepA + { _msgLinuxMemStateDepA_index :: !Word8 -- ^ sequence of this status message, values from 0-9 - , _msgLinuxMemState_pid :: !Word16 + , _msgLinuxMemStateDepA_pid :: !Word16 -- ^ the PID of the process - , _msgLinuxMemState_pmem :: !Word8 + , _msgLinuxMemStateDepA_pmem :: !Word8 -- ^ percent of memory used, expressed as a fraction of 256 - , _msgLinuxMemState_tname :: !Text + , _msgLinuxMemStateDepA_tname :: !Text -- ^ fixed length string representing the thread name - , _msgLinuxMemState_cmdline :: !Text + , _msgLinuxMemStateDepA_cmdline :: !Text -- ^ the command line (as much as it fits in the remaining packet) } deriving ( Show, Read, Eq ) -instance Binary MsgLinuxMemState where +instance Binary MsgLinuxMemStateDepA where get = do - _msgLinuxMemState_index <- getWord8 - _msgLinuxMemState_pid <- getWord16le - _msgLinuxMemState_pmem <- getWord8 - _msgLinuxMemState_tname <- decodeUtf8 <$> getByteString 15 - _msgLinuxMemState_cmdline <- decodeUtf8 . toStrict <$> getRemainingLazyByteString - pure MsgLinuxMemState {..} + _msgLinuxMemStateDepA_index <- getWord8 + _msgLinuxMemStateDepA_pid <- getWord16le + _msgLinuxMemStateDepA_pmem <- getWord8 + _msgLinuxMemStateDepA_tname <- decodeUtf8 <$> getByteString 15 + _msgLinuxMemStateDepA_cmdline <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + pure MsgLinuxMemStateDepA {..} - put MsgLinuxMemState {..} = do - putWord8 _msgLinuxMemState_index - putWord16le _msgLinuxMemState_pid - putWord8 _msgLinuxMemState_pmem - putByteString $ encodeUtf8 _msgLinuxMemState_tname - putByteString $ encodeUtf8 _msgLinuxMemState_cmdline + put MsgLinuxMemStateDepA {..} = do + putWord8 _msgLinuxMemStateDepA_index + putWord16le _msgLinuxMemStateDepA_pid + putWord8 _msgLinuxMemStateDepA_pmem + putByteString $ encodeUtf8 _msgLinuxMemStateDepA_tname + putByteString $ encodeUtf8 _msgLinuxMemStateDepA_cmdline -$(makeSBP 'msgLinuxMemState ''MsgLinuxMemState) -$(makeJSON "_msgLinuxMemState_" ''MsgLinuxMemState) -$(makeLenses ''MsgLinuxMemState) +$(makeSBP 'msgLinuxMemStateDepA ''MsgLinuxMemStateDepA) +$(makeJSON "_msgLinuxMemStateDepA_" ''MsgLinuxMemStateDepA) +$(makeLenses ''MsgLinuxMemStateDepA) -msgLinuxSysState :: Word16 -msgLinuxSysState = 0x7F02 +msgLinuxSysStateDepA :: Word16 +msgLinuxSysStateDepA = 0x7F02 --- | SBP class for message MSG_LINUX_SYS_STATE (0x7F02). +-- | SBP class for message MSG_LINUX_SYS_STATE_DEP_A (0x7F02). -- -- This presents a summary of CPU and memory utilization. -data MsgLinuxSysState = MsgLinuxSysState - { _msgLinuxSysState_mem_total :: !Word16 +data MsgLinuxSysStateDepA = MsgLinuxSysStateDepA + { _msgLinuxSysStateDepA_mem_total :: !Word16 -- ^ total system memory - , _msgLinuxSysState_pcpu :: !Word8 + , _msgLinuxSysStateDepA_pcpu :: !Word8 -- ^ percent of total cpu currently utilized - , _msgLinuxSysState_pmem :: !Word8 + , _msgLinuxSysStateDepA_pmem :: !Word8 -- ^ percent of total memory currently utilized - , _msgLinuxSysState_procs_starting :: !Word16 + , _msgLinuxSysStateDepA_procs_starting :: !Word16 -- ^ number of processes that started during collection phase - , _msgLinuxSysState_procs_stopping :: !Word16 + , _msgLinuxSysStateDepA_procs_stopping :: !Word16 -- ^ number of processes that stopped during collection phase - , _msgLinuxSysState_pid_count :: !Word16 + , _msgLinuxSysStateDepA_pid_count :: !Word16 -- ^ the count of processes on the system } deriving ( Show, Read, Eq ) -instance Binary MsgLinuxSysState where +instance Binary MsgLinuxSysStateDepA where get = do - _msgLinuxSysState_mem_total <- getWord16le - _msgLinuxSysState_pcpu <- getWord8 - _msgLinuxSysState_pmem <- getWord8 - _msgLinuxSysState_procs_starting <- getWord16le - _msgLinuxSysState_procs_stopping <- getWord16le - _msgLinuxSysState_pid_count <- getWord16le - pure MsgLinuxSysState {..} + _msgLinuxSysStateDepA_mem_total <- getWord16le + _msgLinuxSysStateDepA_pcpu <- getWord8 + _msgLinuxSysStateDepA_pmem <- getWord8 + _msgLinuxSysStateDepA_procs_starting <- getWord16le + _msgLinuxSysStateDepA_procs_stopping <- getWord16le + _msgLinuxSysStateDepA_pid_count <- getWord16le + pure MsgLinuxSysStateDepA {..} - put MsgLinuxSysState {..} = do - putWord16le _msgLinuxSysState_mem_total - putWord8 _msgLinuxSysState_pcpu - putWord8 _msgLinuxSysState_pmem - putWord16le _msgLinuxSysState_procs_starting - putWord16le _msgLinuxSysState_procs_stopping - putWord16le _msgLinuxSysState_pid_count + put MsgLinuxSysStateDepA {..} = do + putWord16le _msgLinuxSysStateDepA_mem_total + putWord8 _msgLinuxSysStateDepA_pcpu + putWord8 _msgLinuxSysStateDepA_pmem + putWord16le _msgLinuxSysStateDepA_procs_starting + putWord16le _msgLinuxSysStateDepA_procs_stopping + putWord16le _msgLinuxSysStateDepA_pid_count -$(makeSBP 'msgLinuxSysState ''MsgLinuxSysState) -$(makeJSON "_msgLinuxSysState_" ''MsgLinuxSysState) -$(makeLenses ''MsgLinuxSysState) +$(makeSBP 'msgLinuxSysStateDepA ''MsgLinuxSysStateDepA) +$(makeJSON "_msgLinuxSysStateDepA_" ''MsgLinuxSysStateDepA) +$(makeLenses ''MsgLinuxSysStateDepA) msgLinuxProcessSocketCounts :: Word16 msgLinuxProcessSocketCounts = 0x7F03 @@ -172,13 +172,13 @@ , _msgLinuxProcessSocketCounts_socket_count :: !Word16 -- ^ the number of sockets the process is using , _msgLinuxProcessSocketCounts_socket_types :: !Word16 - -- ^ A bitfield indicating the socket types used: 0x1 (tcp), 0x2 (udp), 0x4 - -- (unix stream), 0x8 (unix dgram), 0x10 (netlink), and 0x8000 (unknown) + -- ^ A bitfield indicating the socket types used: 0x1 (tcp), 0x2 (udp), 0x4 + -- (unix stream), 0x8 (unix dgram), 0x10 (netlink), and 0x8000 (unknown) , _msgLinuxProcessSocketCounts_socket_states :: !Word16 - -- ^ A bitfield indicating the socket states: 0x1 (established), 0x2 (syn- - -- sent), 0x4 (syn-recv), 0x8 (fin-wait-1), 0x10 (fin-wait-2), 0x20 - -- (time-wait), 0x40 (closed), 0x80 (close-wait), 0x100 (last-ack), 0x200 - -- (listen), 0x400 (closing), 0x800 (unconnected), and 0x8000 (unknown) + -- ^ A bitfield indicating the socket states: 0x1 (established), 0x2 (syn- + -- sent), 0x4 (syn-recv), 0x8 (fin-wait-1), 0x10 (fin-wait-2), 0x20 (time- + -- wait), 0x40 (closed), 0x80 (close-wait), 0x100 (last-ack), 0x200 + -- (listen), 0x400 (closing), 0x800 (unconnected), and 0x8000 (unknown) , _msgLinuxProcessSocketCounts_cmdline :: !Text -- ^ the command line of the process in question } deriving ( Show, Read, Eq ) @@ -221,13 +221,13 @@ , _msgLinuxProcessSocketQueues_send_queued :: !Word16 -- ^ the total amount of send data queued for this process , _msgLinuxProcessSocketQueues_socket_types :: !Word16 - -- ^ A bitfield indicating the socket types used: 0x1 (tcp), 0x2 (udp), 0x4 - -- (unix stream), 0x8 (unix dgram), 0x10 (netlink), and 0x8000 (unknown) + -- ^ A bitfield indicating the socket types used: 0x1 (tcp), 0x2 (udp), 0x4 + -- (unix stream), 0x8 (unix dgram), 0x10 (netlink), and 0x8000 (unknown) , _msgLinuxProcessSocketQueues_socket_states :: !Word16 - -- ^ A bitfield indicating the socket states: 0x1 (established), 0x2 (syn- - -- sent), 0x4 (syn-recv), 0x8 (fin-wait-1), 0x10 (fin-wait-2), 0x20 - -- (time-wait), 0x40 (closed), 0x80 (close-wait), 0x100 (last-ack), 0x200 - -- (listen), 0x400 (closing), 0x800 (unconnected), and 0x8000 (unknown) + -- ^ A bitfield indicating the socket states: 0x1 (established), 0x2 (syn- + -- sent), 0x4 (syn-recv), 0x8 (fin-wait-1), 0x10 (fin-wait-2), 0x20 (time- + -- wait), 0x40 (closed), 0x80 (close-wait), 0x100 (last-ack), 0x200 + -- (listen), 0x400 (closing), 0x800 (unconnected), and 0x8000 (unknown) , _msgLinuxProcessSocketQueues_address_of_largest :: !Text -- ^ Address of the largest queue, remote or local depending on the -- directionality of the connection. @@ -365,3 +365,151 @@ $(makeSBP 'msgLinuxProcessFdSummary ''MsgLinuxProcessFdSummary) $(makeJSON "_msgLinuxProcessFdSummary_" ''MsgLinuxProcessFdSummary) $(makeLenses ''MsgLinuxProcessFdSummary) + +msgLinuxCpuState :: Word16 +msgLinuxCpuState = 0x7F08 + +-- | SBP class for message MSG_LINUX_CPU_STATE (0x7F08). +-- +-- This message indicates the process state of the top 10 heaviest consumers +-- of CPU on the system, including a timestamp. +data MsgLinuxCpuState = MsgLinuxCpuState + { _msgLinuxCpuState_index :: !Word8 + -- ^ sequence of this status message, values from 0-9 + , _msgLinuxCpuState_pid :: !Word16 + -- ^ the PID of the process + , _msgLinuxCpuState_pcpu :: !Word8 + -- ^ percent of CPU used, expressed as a fraction of 256 + , _msgLinuxCpuState_time :: !Word32 + -- ^ timestamp of message, refer to flags field for how to interpret + , _msgLinuxCpuState_flags :: !Word8 + -- ^ flags + , _msgLinuxCpuState_tname :: !Text + -- ^ fixed length string representing the thread name + , _msgLinuxCpuState_cmdline :: !Text + -- ^ the command line (as much as it fits in the remaining packet) + } deriving ( Show, Read, Eq ) + +instance Binary MsgLinuxCpuState where + get = do + _msgLinuxCpuState_index <- getWord8 + _msgLinuxCpuState_pid <- getWord16le + _msgLinuxCpuState_pcpu <- getWord8 + _msgLinuxCpuState_time <- getWord32le + _msgLinuxCpuState_flags <- getWord8 + _msgLinuxCpuState_tname <- decodeUtf8 <$> getByteString 15 + _msgLinuxCpuState_cmdline <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + pure MsgLinuxCpuState {..} + + put MsgLinuxCpuState {..} = do + putWord8 _msgLinuxCpuState_index + putWord16le _msgLinuxCpuState_pid + putWord8 _msgLinuxCpuState_pcpu + putWord32le _msgLinuxCpuState_time + putWord8 _msgLinuxCpuState_flags + putByteString $ encodeUtf8 _msgLinuxCpuState_tname + putByteString $ encodeUtf8 _msgLinuxCpuState_cmdline + +$(makeSBP 'msgLinuxCpuState ''MsgLinuxCpuState) +$(makeJSON "_msgLinuxCpuState_" ''MsgLinuxCpuState) +$(makeLenses ''MsgLinuxCpuState) + +msgLinuxMemState :: Word16 +msgLinuxMemState = 0x7F09 + +-- | SBP class for message MSG_LINUX_MEM_STATE (0x7F09). +-- +-- This message indicates the process state of the top 10 heaviest consumers +-- of memory on the system, including a timestamp. +data MsgLinuxMemState = MsgLinuxMemState + { _msgLinuxMemState_index :: !Word8 + -- ^ sequence of this status message, values from 0-9 + , _msgLinuxMemState_pid :: !Word16 + -- ^ the PID of the process + , _msgLinuxMemState_pmem :: !Word8 + -- ^ percent of memory used, expressed as a fraction of 256 + , _msgLinuxMemState_time :: !Word32 + -- ^ timestamp of message, refer to flags field for how to interpret + , _msgLinuxMemState_flags :: !Word8 + -- ^ flags + , _msgLinuxMemState_tname :: !Text + -- ^ fixed length string representing the thread name + , _msgLinuxMemState_cmdline :: !Text + -- ^ the command line (as much as it fits in the remaining packet) + } deriving ( Show, Read, Eq ) + +instance Binary MsgLinuxMemState where + get = do + _msgLinuxMemState_index <- getWord8 + _msgLinuxMemState_pid <- getWord16le + _msgLinuxMemState_pmem <- getWord8 + _msgLinuxMemState_time <- getWord32le + _msgLinuxMemState_flags <- getWord8 + _msgLinuxMemState_tname <- decodeUtf8 <$> getByteString 15 + _msgLinuxMemState_cmdline <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + pure MsgLinuxMemState {..} + + put MsgLinuxMemState {..} = do + putWord8 _msgLinuxMemState_index + putWord16le _msgLinuxMemState_pid + putWord8 _msgLinuxMemState_pmem + putWord32le _msgLinuxMemState_time + putWord8 _msgLinuxMemState_flags + putByteString $ encodeUtf8 _msgLinuxMemState_tname + putByteString $ encodeUtf8 _msgLinuxMemState_cmdline + +$(makeSBP 'msgLinuxMemState ''MsgLinuxMemState) +$(makeJSON "_msgLinuxMemState_" ''MsgLinuxMemState) +$(makeLenses ''MsgLinuxMemState) + +msgLinuxSysState :: Word16 +msgLinuxSysState = 0x7F0A + +-- | SBP class for message MSG_LINUX_SYS_STATE (0x7F0A). +-- +-- This presents a summary of CPU and memory utilization, including a +-- timestamp. +data MsgLinuxSysState = MsgLinuxSysState + { _msgLinuxSysState_mem_total :: !Word16 + -- ^ total system memory, in MiB + , _msgLinuxSysState_pcpu :: !Word8 + -- ^ percent of CPU used, expressed as a fraction of 256 + , _msgLinuxSysState_pmem :: !Word8 + -- ^ percent of memory used, expressed as a fraction of 256 + , _msgLinuxSysState_procs_starting :: !Word16 + -- ^ number of processes that started during collection phase + , _msgLinuxSysState_procs_stopping :: !Word16 + -- ^ number of processes that stopped during collection phase + , _msgLinuxSysState_pid_count :: !Word16 + -- ^ the count of processes on the system + , _msgLinuxSysState_time :: !Word32 + -- ^ timestamp of message, refer to flags field for how to interpret + , _msgLinuxSysState_flags :: !Word8 + -- ^ flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgLinuxSysState where + get = do + _msgLinuxSysState_mem_total <- getWord16le + _msgLinuxSysState_pcpu <- getWord8 + _msgLinuxSysState_pmem <- getWord8 + _msgLinuxSysState_procs_starting <- getWord16le + _msgLinuxSysState_procs_stopping <- getWord16le + _msgLinuxSysState_pid_count <- getWord16le + _msgLinuxSysState_time <- getWord32le + _msgLinuxSysState_flags <- getWord8 + pure MsgLinuxSysState {..} + + put MsgLinuxSysState {..} = do + putWord16le _msgLinuxSysState_mem_total + putWord8 _msgLinuxSysState_pcpu + putWord8 _msgLinuxSysState_pmem + putWord16le _msgLinuxSysState_procs_starting + putWord16le _msgLinuxSysState_procs_stopping + putWord16le _msgLinuxSysState_pid_count + putWord32le _msgLinuxSysState_time + putWord8 _msgLinuxSysState_flags + +$(makeSBP 'msgLinuxSysState ''MsgLinuxSysState) +$(makeJSON "_msgLinuxSysState_" ''MsgLinuxSysState) +$(makeLenses ''MsgLinuxSysState) 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 @@ -6,12 +6,12 @@ -- | -- Module: SwiftNav.SBP.Logging -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Logging and debugging messages from the device. +-- \< Logging and debugging messages from the device. \> module SwiftNav.SBP.Logging ( module SwiftNav.SBP.Logging @@ -71,17 +71,18 @@ -- -- This message provides the ability to forward messages over SBP. This may -- take the form of wrapping up SBP messages received by Piksi for logging --- purposes or wrapping another protocol with SBP. The source identifier --- indicates from what interface a forwarded stream derived. The protocol --- identifier identifies what the expected protocol the forwarded msg contains. --- Protocol 0 represents SBP and the remaining values are implementation --- defined. +-- purposes or wrapping another protocol with SBP. +-- +-- The source identifier indicates from what interface a forwarded stream +-- derived. The protocol identifier identifies what the expected protocol the +-- forwarded msg contains. Protocol 0 represents SBP and the remaining values +-- are implementation defined. data MsgFwd = MsgFwd { _msgFwd_source :: !Word8 -- ^ source identifier , _msgFwd_protocol :: !Word8 -- ^ protocol identifier - , _msgFwd_fwd_payload :: !Text + , _msgFwd_fwd_payload :: ![Word8] -- ^ variable length wrapped binary message } deriving ( Show, Read, Eq ) @@ -89,13 +90,13 @@ get = do _msgFwd_source <- getWord8 _msgFwd_protocol <- getWord8 - _msgFwd_fwd_payload <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + _msgFwd_fwd_payload <- whileM (not <$> isEmpty) getWord8 pure MsgFwd {..} put MsgFwd {..} = do putWord8 _msgFwd_source putWord8 _msgFwd_protocol - putByteString $ encodeUtf8 _msgFwd_fwd_payload + mapM_ putWord8 _msgFwd_fwd_payload $(makeSBP 'msgFwd ''MsgFwd) $(makeJSON "_msgFwd_" ''MsgFwd) diff --git a/src/SwiftNav/SBP/Mag.hs b/src/SwiftNav/SBP/Mag.hs --- a/src/SwiftNav/SBP/Mag.hs +++ b/src/SwiftNav/SBP/Mag.hs @@ -6,12 +6,12 @@ -- | -- Module: SwiftNav.SBP.Mag -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Magnetometer (mag) messages. +-- \< Magnetometer (mag) messages. \> module SwiftNav.SBP.Mag ( module SwiftNav.SBP.Mag @@ -59,9 +59,9 @@ get = do _msgMagRaw_tow <- getWord32le _msgMagRaw_tow_f <- getWord8 - _msgMagRaw_mag_x <- fromIntegral <$> getWord16le - _msgMagRaw_mag_y <- fromIntegral <$> getWord16le - _msgMagRaw_mag_z <- fromIntegral <$> getWord16le + _msgMagRaw_mag_x <- (fromIntegral <$> getWord16le) + _msgMagRaw_mag_y <- (fromIntegral <$> getWord16le) + _msgMagRaw_mag_z <- (fromIntegral <$> getWord16le) pure MsgMagRaw {..} put MsgMagRaw {..} = do diff --git a/src/SwiftNav/SBP/Msg.hs b/src/SwiftNav/SBP/Msg.hs --- a/src/SwiftNav/SBP/Msg.hs +++ b/src/SwiftNav/SBP/Msg.hs @@ -7,8 +7,8 @@ -- | -- Module: SwiftNav.SBP.Msg -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- @@ -41,6 +41,7 @@ import SwiftNav.SBP.Piksi import SwiftNav.SBP.Sbas import SwiftNav.SBP.Settings +import SwiftNav.SBP.SolutionMeta import SwiftNav.SBP.Ssr import SwiftNav.SBP.System import SwiftNav.SBP.Tracking @@ -129,26 +130,33 @@ | SBPMsgFwd MsgFwd Msg | SBPMsgGloBiases MsgGloBiases Msg | SBPMsgGnssCapb MsgGnssCapb Msg + | SBPMsgGnssTimeOffset MsgGnssTimeOffset Msg | SBPMsgGpsTime MsgGpsTime Msg | SBPMsgGpsTimeDepA MsgGpsTimeDepA Msg + | SBPMsgGpsTimeGnss MsgGpsTimeGnss Msg | SBPMsgGroupDelay MsgGroupDelay Msg | SBPMsgGroupDelayDepA MsgGroupDelayDepA Msg | SBPMsgGroupDelayDepB MsgGroupDelayDepB Msg + | SBPMsgGroupMeta MsgGroupMeta Msg | SBPMsgHeartbeat MsgHeartbeat Msg | SBPMsgIarState MsgIarState Msg | SBPMsgImuAux MsgImuAux Msg | SBPMsgImuRaw MsgImuRaw Msg | SBPMsgInitBaseDep MsgInitBaseDep Msg | SBPMsgInsStatus MsgInsStatus Msg + | SBPMsgInsUpdates MsgInsUpdates Msg | SBPMsgIono MsgIono Msg | SBPMsgLinuxCpuState MsgLinuxCpuState Msg + | SBPMsgLinuxCpuStateDepA MsgLinuxCpuStateDepA Msg | SBPMsgLinuxMemState MsgLinuxMemState Msg + | SBPMsgLinuxMemStateDepA MsgLinuxMemStateDepA Msg | SBPMsgLinuxProcessFdCount MsgLinuxProcessFdCount Msg | SBPMsgLinuxProcessFdSummary MsgLinuxProcessFdSummary Msg | SBPMsgLinuxProcessSocketCounts MsgLinuxProcessSocketCounts Msg | SBPMsgLinuxProcessSocketQueues MsgLinuxProcessSocketQueues Msg | SBPMsgLinuxSocketUsage MsgLinuxSocketUsage Msg | SBPMsgLinuxSysState MsgLinuxSysState Msg + | SBPMsgLinuxSysStateDepA MsgLinuxSysStateDepA Msg | SBPMsgLog MsgLog Msg | SBPMsgM25FlashWriteStatus MsgM25FlashWriteStatus Msg | SBPMsgMagRaw MsgMagRaw Msg @@ -171,11 +179,19 @@ | SBPMsgOsr MsgOsr Msg | SBPMsgPosEcef MsgPosEcef Msg | SBPMsgPosEcefCov MsgPosEcefCov Msg + | SBPMsgPosEcefCovGnss MsgPosEcefCovGnss Msg | SBPMsgPosEcefDepA MsgPosEcefDepA Msg + | SBPMsgPosEcefGnss MsgPosEcefGnss Msg | SBPMsgPosLlh MsgPosLlh Msg + | SBPMsgPosLlhAcc MsgPosLlhAcc Msg | SBPMsgPosLlhCov MsgPosLlhCov Msg + | SBPMsgPosLlhCovGnss MsgPosLlhCovGnss Msg | SBPMsgPosLlhDepA MsgPosLlhDepA Msg + | SBPMsgPosLlhGnss MsgPosLlhGnss Msg + | SBPMsgPpsTime MsgPpsTime Msg | SBPMsgPrintDep MsgPrintDep Msg + | SBPMsgProtectionLevel MsgProtectionLevel Msg + | SBPMsgProtectionLevelDepA MsgProtectionLevelDepA Msg | SBPMsgReset MsgReset Msg | SBPMsgResetDep MsgResetDep Msg | SBPMsgResetFilters MsgResetFilters Msg @@ -191,16 +207,24 @@ | SBPMsgSettingsSave MsgSettingsSave Msg | SBPMsgSettingsWrite MsgSettingsWrite Msg | SBPMsgSettingsWriteResp MsgSettingsWriteResp Msg + | SBPMsgSolnMeta MsgSolnMeta Msg + | SBPMsgSolnMetaDepA MsgSolnMetaDepA Msg | SBPMsgSpecan MsgSpecan Msg | SBPMsgSpecanDep MsgSpecanDep Msg | SBPMsgSsrCodeBiases MsgSsrCodeBiases Msg - | SBPMsgSsrGridDefinition MsgSsrGridDefinition Msg + | SBPMsgSsrGridDefinitionDepA MsgSsrGridDefinitionDepA Msg | SBPMsgSsrGriddedCorrection MsgSsrGriddedCorrection Msg + | SBPMsgSsrGriddedCorrectionDepA MsgSsrGriddedCorrectionDepA Msg + | SBPMsgSsrGriddedCorrectionNoStdDepA MsgSsrGriddedCorrectionNoStdDepA Msg | SBPMsgSsrOrbitClock MsgSsrOrbitClock Msg | SBPMsgSsrOrbitClockDepA MsgSsrOrbitClockDepA Msg | SBPMsgSsrPhaseBiases MsgSsrPhaseBiases Msg + | SBPMsgSsrSatelliteApc MsgSsrSatelliteApc Msg | SBPMsgSsrStecCorrection MsgSsrStecCorrection Msg + | SBPMsgSsrStecCorrectionDepA MsgSsrStecCorrectionDepA Msg + | SBPMsgSsrTileDefinition MsgSsrTileDefinition Msg | SBPMsgStartup MsgStartup Msg + | SBPMsgStatusReport MsgStatusReport Msg | SBPMsgStmFlashLockSector MsgStmFlashLockSector Msg | SBPMsgStmFlashUnlockSector MsgStmFlashUnlockSector Msg | SBPMsgStmUniqueIdReq MsgStmUniqueIdReq Msg @@ -220,13 +244,20 @@ | SBPMsgUartStateDepa MsgUartStateDepa Msg | SBPMsgUserData MsgUserData Msg | SBPMsgUtcTime MsgUtcTime Msg + | SBPMsgUtcTimeGnss MsgUtcTimeGnss Msg | SBPMsgVelBody MsgVelBody Msg + | SBPMsgVelCog MsgVelCog Msg | SBPMsgVelEcef MsgVelEcef Msg | SBPMsgVelEcefCov MsgVelEcefCov Msg + | SBPMsgVelEcefCovGnss MsgVelEcefCovGnss Msg | SBPMsgVelEcefDepA MsgVelEcefDepA Msg + | SBPMsgVelEcefGnss MsgVelEcefGnss Msg | SBPMsgVelNed MsgVelNed Msg | SBPMsgVelNedCov MsgVelNedCov Msg + | SBPMsgVelNedCovGnss MsgVelNedCovGnss Msg | SBPMsgVelNedDepA MsgVelNedDepA Msg + | SBPMsgVelNedGnss MsgVelNedGnss Msg + | SBPMsgWheeltick MsgWheeltick Msg | SBPMsgBadCrc Msg | SBPMsgUnknown Msg deriving ( Show, Read, Eq ) @@ -315,26 +346,33 @@ | _msgSBPType == msgFwd = SBPMsgFwd (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGloBiases = SBPMsgGloBiases (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGnssCapb = SBPMsgGnssCapb (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgGnssTimeOffset = SBPMsgGnssTimeOffset (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGpsTime = SBPMsgGpsTime (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGpsTimeDepA = SBPMsgGpsTimeDepA (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgGpsTimeGnss = SBPMsgGpsTimeGnss (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGroupDelay = SBPMsgGroupDelay (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGroupDelayDepA = SBPMsgGroupDelayDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgGroupDelayDepB = SBPMsgGroupDelayDepB (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgGroupMeta = SBPMsgGroupMeta (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgHeartbeat = SBPMsgHeartbeat (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgIarState = SBPMsgIarState (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgImuAux = SBPMsgImuAux (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgImuRaw = SBPMsgImuRaw (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgInitBaseDep = SBPMsgInitBaseDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgInsStatus = SBPMsgInsStatus (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgInsUpdates = SBPMsgInsUpdates (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgIono = SBPMsgIono (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgLinuxCpuState = SBPMsgLinuxCpuState (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgLinuxCpuStateDepA = SBPMsgLinuxCpuStateDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgLinuxMemState = SBPMsgLinuxMemState (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgLinuxMemStateDepA = SBPMsgLinuxMemStateDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgLinuxProcessFdCount = SBPMsgLinuxProcessFdCount (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgLinuxProcessFdSummary = SBPMsgLinuxProcessFdSummary (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgLinuxProcessSocketCounts = SBPMsgLinuxProcessSocketCounts (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgLinuxProcessSocketQueues = SBPMsgLinuxProcessSocketQueues (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgLinuxSocketUsage = SBPMsgLinuxSocketUsage (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgLinuxSysState = SBPMsgLinuxSysState (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgLinuxSysStateDepA = SBPMsgLinuxSysStateDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgLog = SBPMsgLog (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgMagRaw = SBPMsgMagRaw (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -357,11 +395,19 @@ | _msgSBPType == msgOsr = SBPMsgOsr (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPosEcef = SBPMsgPosEcef (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPosEcefCov = SBPMsgPosEcefCov (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgPosEcefCovGnss = SBPMsgPosEcefCovGnss (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPosEcefDepA = SBPMsgPosEcefDepA (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgPosEcefGnss = SBPMsgPosEcefGnss (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPosLlh = SBPMsgPosLlh (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgPosLlhAcc = SBPMsgPosLlhAcc (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPosLlhCov = SBPMsgPosLlhCov (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgPosLlhCovGnss = SBPMsgPosLlhCovGnss (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPosLlhDepA = SBPMsgPosLlhDepA (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgPosLlhGnss = SBPMsgPosLlhGnss (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgPpsTime = SBPMsgPpsTime (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPrintDep = SBPMsgPrintDep (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgProtectionLevel = SBPMsgProtectionLevel (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgProtectionLevelDepA = SBPMsgProtectionLevelDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgReset = SBPMsgReset (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgResetDep = SBPMsgResetDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgResetFilters = SBPMsgResetFilters (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -377,16 +423,24 @@ | _msgSBPType == msgSettingsSave = SBPMsgSettingsSave (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSettingsWrite = SBPMsgSettingsWrite (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSettingsWriteResp = SBPMsgSettingsWriteResp (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSolnMeta = SBPMsgSolnMeta (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSolnMetaDepA = SBPMsgSolnMetaDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSpecan = SBPMsgSpecan (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSpecanDep = SBPMsgSpecanDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSsrCodeBiases = SBPMsgSsrCodeBiases (decode (fromStrict (unBytes _msgSBPPayload))) m - | _msgSBPType == msgSsrGridDefinition = SBPMsgSsrGridDefinition (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSsrGridDefinitionDepA = SBPMsgSsrGridDefinitionDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSsrGriddedCorrection = SBPMsgSsrGriddedCorrection (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSsrGriddedCorrectionDepA = SBPMsgSsrGriddedCorrectionDepA (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSsrGriddedCorrectionNoStdDepA = SBPMsgSsrGriddedCorrectionNoStdDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSsrOrbitClock = SBPMsgSsrOrbitClock (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSsrOrbitClockDepA = SBPMsgSsrOrbitClockDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSsrPhaseBiases = SBPMsgSsrPhaseBiases (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSsrSatelliteApc = SBPMsgSsrSatelliteApc (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSsrStecCorrection = SBPMsgSsrStecCorrection (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSsrStecCorrectionDepA = SBPMsgSsrStecCorrectionDepA (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSsrTileDefinition = SBPMsgSsrTileDefinition (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgStartup = SBPMsgStartup (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgStatusReport = SBPMsgStatusReport (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgStmFlashLockSector = SBPMsgStmFlashLockSector (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgStmUniqueIdReq = SBPMsgStmUniqueIdReq (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -406,13 +460,20 @@ | _msgSBPType == msgUartStateDepa = SBPMsgUartStateDepa (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgUserData = SBPMsgUserData (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgUtcTime = SBPMsgUtcTime (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgUtcTimeGnss = SBPMsgUtcTimeGnss (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgVelBody = SBPMsgVelBody (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgVelCog = SBPMsgVelCog (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgVelEcef = SBPMsgVelEcef (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgVelEcefCov = SBPMsgVelEcefCov (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgVelEcefCovGnss = SBPMsgVelEcefCovGnss (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgVelEcefDepA = SBPMsgVelEcefDepA (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgVelEcefGnss = SBPMsgVelEcefGnss (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgVelNed = SBPMsgVelNed (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgVelNedCov = SBPMsgVelNedCov (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgVelNedCovGnss = SBPMsgVelNedCovGnss (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgVelNedDepA = SBPMsgVelNedDepA (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgVelNedGnss = SBPMsgVelNedGnss (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgWheeltick = SBPMsgWheeltick (decode (fromStrict (unBytes _msgSBPPayload))) m | otherwise = SBPMsgUnknown m put sm = do @@ -493,26 +554,33 @@ encoder (SBPMsgFwd _ m) = put m encoder (SBPMsgGloBiases _ m) = put m encoder (SBPMsgGnssCapb _ m) = put m + encoder (SBPMsgGnssTimeOffset _ m) = put m encoder (SBPMsgGpsTime _ m) = put m encoder (SBPMsgGpsTimeDepA _ m) = put m + encoder (SBPMsgGpsTimeGnss _ m) = put m encoder (SBPMsgGroupDelay _ m) = put m encoder (SBPMsgGroupDelayDepA _ m) = put m encoder (SBPMsgGroupDelayDepB _ m) = put m + encoder (SBPMsgGroupMeta _ m) = put m encoder (SBPMsgHeartbeat _ m) = put m encoder (SBPMsgIarState _ m) = put m encoder (SBPMsgImuAux _ m) = put m encoder (SBPMsgImuRaw _ m) = put m encoder (SBPMsgInitBaseDep _ m) = put m encoder (SBPMsgInsStatus _ m) = put m + encoder (SBPMsgInsUpdates _ m) = put m encoder (SBPMsgIono _ m) = put m encoder (SBPMsgLinuxCpuState _ m) = put m + encoder (SBPMsgLinuxCpuStateDepA _ m) = put m encoder (SBPMsgLinuxMemState _ m) = put m + encoder (SBPMsgLinuxMemStateDepA _ m) = put m encoder (SBPMsgLinuxProcessFdCount _ m) = put m encoder (SBPMsgLinuxProcessFdSummary _ m) = put m encoder (SBPMsgLinuxProcessSocketCounts _ m) = put m encoder (SBPMsgLinuxProcessSocketQueues _ m) = put m encoder (SBPMsgLinuxSocketUsage _ m) = put m encoder (SBPMsgLinuxSysState _ m) = put m + encoder (SBPMsgLinuxSysStateDepA _ m) = put m encoder (SBPMsgLog _ m) = put m encoder (SBPMsgM25FlashWriteStatus _ m) = put m encoder (SBPMsgMagRaw _ m) = put m @@ -535,11 +603,19 @@ encoder (SBPMsgOsr _ m) = put m encoder (SBPMsgPosEcef _ m) = put m encoder (SBPMsgPosEcefCov _ m) = put m + encoder (SBPMsgPosEcefCovGnss _ m) = put m encoder (SBPMsgPosEcefDepA _ m) = put m + encoder (SBPMsgPosEcefGnss _ m) = put m encoder (SBPMsgPosLlh _ m) = put m + encoder (SBPMsgPosLlhAcc _ m) = put m encoder (SBPMsgPosLlhCov _ m) = put m + encoder (SBPMsgPosLlhCovGnss _ m) = put m encoder (SBPMsgPosLlhDepA _ m) = put m + encoder (SBPMsgPosLlhGnss _ m) = put m + encoder (SBPMsgPpsTime _ m) = put m encoder (SBPMsgPrintDep _ m) = put m + encoder (SBPMsgProtectionLevel _ m) = put m + encoder (SBPMsgProtectionLevelDepA _ m) = put m encoder (SBPMsgReset _ m) = put m encoder (SBPMsgResetDep _ m) = put m encoder (SBPMsgResetFilters _ m) = put m @@ -555,16 +631,24 @@ encoder (SBPMsgSettingsSave _ m) = put m encoder (SBPMsgSettingsWrite _ m) = put m encoder (SBPMsgSettingsWriteResp _ m) = put m + encoder (SBPMsgSolnMeta _ m) = put m + encoder (SBPMsgSolnMetaDepA _ m) = put m encoder (SBPMsgSpecan _ m) = put m encoder (SBPMsgSpecanDep _ m) = put m encoder (SBPMsgSsrCodeBiases _ m) = put m - encoder (SBPMsgSsrGridDefinition _ m) = put m + encoder (SBPMsgSsrGridDefinitionDepA _ m) = put m encoder (SBPMsgSsrGriddedCorrection _ m) = put m + encoder (SBPMsgSsrGriddedCorrectionDepA _ m) = put m + encoder (SBPMsgSsrGriddedCorrectionNoStdDepA _ m) = put m encoder (SBPMsgSsrOrbitClock _ m) = put m encoder (SBPMsgSsrOrbitClockDepA _ m) = put m encoder (SBPMsgSsrPhaseBiases _ m) = put m + encoder (SBPMsgSsrSatelliteApc _ m) = put m encoder (SBPMsgSsrStecCorrection _ m) = put m + encoder (SBPMsgSsrStecCorrectionDepA _ m) = put m + encoder (SBPMsgSsrTileDefinition _ m) = put m encoder (SBPMsgStartup _ m) = put m + encoder (SBPMsgStatusReport _ m) = put m encoder (SBPMsgStmFlashLockSector _ m) = put m encoder (SBPMsgStmFlashUnlockSector _ m) = put m encoder (SBPMsgStmUniqueIdReq _ m) = put m @@ -584,13 +668,20 @@ encoder (SBPMsgUartStateDepa _ m) = put m encoder (SBPMsgUserData _ m) = put m encoder (SBPMsgUtcTime _ m) = put m + encoder (SBPMsgUtcTimeGnss _ m) = put m encoder (SBPMsgVelBody _ m) = put m + encoder (SBPMsgVelCog _ m) = put m encoder (SBPMsgVelEcef _ m) = put m encoder (SBPMsgVelEcefCov _ m) = put m + encoder (SBPMsgVelEcefCovGnss _ m) = put m encoder (SBPMsgVelEcefDepA _ m) = put m + encoder (SBPMsgVelEcefGnss _ m) = put m encoder (SBPMsgVelNed _ m) = put m encoder (SBPMsgVelNedCov _ m) = put m + encoder (SBPMsgVelNedCovGnss _ m) = put m encoder (SBPMsgVelNedDepA _ m) = put m + encoder (SBPMsgVelNedGnss _ m) = put m + encoder (SBPMsgWheeltick _ m) = put m encoder (SBPMsgUnknown m) = put m encoder (SBPMsgBadCrc m) = put m @@ -675,26 +766,33 @@ | msgType == msgFwd = SBPMsgFwd <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGloBiases = SBPMsgGloBiases <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGnssCapb = SBPMsgGnssCapb <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgGnssTimeOffset = SBPMsgGnssTimeOffset <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGpsTime = SBPMsgGpsTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGpsTimeDepA = SBPMsgGpsTimeDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgGpsTimeGnss = SBPMsgGpsTimeGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGroupDelay = SBPMsgGroupDelay <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGroupDelayDepA = SBPMsgGroupDelayDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgGroupDelayDepB = SBPMsgGroupDelayDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgGroupMeta = SBPMsgGroupMeta <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgHeartbeat = SBPMsgHeartbeat <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgIarState = SBPMsgIarState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgImuAux = SBPMsgImuAux <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgImuRaw = SBPMsgImuRaw <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgInitBaseDep = SBPMsgInitBaseDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgInsStatus = SBPMsgInsStatus <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgInsUpdates = SBPMsgInsUpdates <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgIono = SBPMsgIono <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgLinuxCpuState = SBPMsgLinuxCpuState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgLinuxCpuStateDepA = SBPMsgLinuxCpuStateDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgLinuxMemState = SBPMsgLinuxMemState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgLinuxMemStateDepA = SBPMsgLinuxMemStateDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgLinuxProcessFdCount = SBPMsgLinuxProcessFdCount <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgLinuxProcessFdSummary = SBPMsgLinuxProcessFdSummary <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgLinuxProcessSocketCounts = SBPMsgLinuxProcessSocketCounts <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgLinuxProcessSocketQueues = SBPMsgLinuxProcessSocketQueues <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgLinuxSocketUsage = SBPMsgLinuxSocketUsage <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgLinuxSysState = SBPMsgLinuxSysState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgLinuxSysStateDepA = SBPMsgLinuxSysStateDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgLog = SBPMsgLog <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgMagRaw = SBPMsgMagRaw <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -717,11 +815,19 @@ | msgType == msgOsr = SBPMsgOsr <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPosEcef = SBPMsgPosEcef <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPosEcefCov = SBPMsgPosEcefCov <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgPosEcefCovGnss = SBPMsgPosEcefCovGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPosEcefDepA = SBPMsgPosEcefDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgPosEcefGnss = SBPMsgPosEcefGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPosLlh = SBPMsgPosLlh <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgPosLlhAcc = SBPMsgPosLlhAcc <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPosLlhCov = SBPMsgPosLlhCov <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgPosLlhCovGnss = SBPMsgPosLlhCovGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPosLlhDepA = SBPMsgPosLlhDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgPosLlhGnss = SBPMsgPosLlhGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgPpsTime = SBPMsgPpsTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPrintDep = SBPMsgPrintDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgProtectionLevel = SBPMsgProtectionLevel <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgProtectionLevelDepA = SBPMsgProtectionLevelDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgReset = SBPMsgReset <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgResetDep = SBPMsgResetDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgResetFilters = SBPMsgResetFilters <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -737,16 +843,24 @@ | msgType == msgSettingsSave = SBPMsgSettingsSave <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSettingsWrite = SBPMsgSettingsWrite <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSettingsWriteResp = SBPMsgSettingsWriteResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSolnMeta = SBPMsgSolnMeta <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSolnMetaDepA = SBPMsgSolnMetaDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSpecan = SBPMsgSpecan <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSpecanDep = SBPMsgSpecanDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSsrCodeBiases = SBPMsgSsrCodeBiases <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj - | msgType == msgSsrGridDefinition = SBPMsgSsrGridDefinition <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSsrGridDefinitionDepA = SBPMsgSsrGridDefinitionDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSsrGriddedCorrection = SBPMsgSsrGriddedCorrection <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSsrGriddedCorrectionDepA = SBPMsgSsrGriddedCorrectionDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSsrGriddedCorrectionNoStdDepA = SBPMsgSsrGriddedCorrectionNoStdDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSsrOrbitClock = SBPMsgSsrOrbitClock <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSsrOrbitClockDepA = SBPMsgSsrOrbitClockDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSsrPhaseBiases = SBPMsgSsrPhaseBiases <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSsrSatelliteApc = SBPMsgSsrSatelliteApc <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSsrStecCorrection = SBPMsgSsrStecCorrection <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSsrStecCorrectionDepA = SBPMsgSsrStecCorrectionDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSsrTileDefinition = SBPMsgSsrTileDefinition <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgStartup = SBPMsgStartup <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgStatusReport = SBPMsgStatusReport <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgStmFlashLockSector = SBPMsgStmFlashLockSector <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgStmUniqueIdReq = SBPMsgStmUniqueIdReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -766,13 +880,20 @@ | msgType == msgUartStateDepa = SBPMsgUartStateDepa <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgUserData = SBPMsgUserData <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgUtcTime = SBPMsgUtcTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgUtcTimeGnss = SBPMsgUtcTimeGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgVelBody = SBPMsgVelBody <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgVelCog = SBPMsgVelCog <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgVelEcef = SBPMsgVelEcef <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgVelEcefCov = SBPMsgVelEcefCov <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgVelEcefCovGnss = SBPMsgVelEcefCovGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgVelEcefDepA = SBPMsgVelEcefDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgVelEcefGnss = SBPMsgVelEcefGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgVelNed = SBPMsgVelNed <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgVelNedCov = SBPMsgVelNedCov <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgVelNedCovGnss = SBPMsgVelNedCovGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgVelNedDepA = SBPMsgVelNedDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgVelNedGnss = SBPMsgVelNedGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgWheeltick = SBPMsgWheeltick <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | otherwise = SBPMsgUnknown <$> parseJSON obj parseJSON _ = mzero @@ -858,26 +979,33 @@ toJSON (SBPMsgFwd n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGloBiases n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGnssCapb n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgGnssTimeOffset n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGpsTime n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGpsTimeDepA n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgGpsTimeGnss n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGroupDelay n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGroupDelayDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgGroupDelayDepB n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgGroupMeta n m) = toJSON n <<>> toJSON m toJSON (SBPMsgHeartbeat n m) = toJSON n <<>> toJSON m toJSON (SBPMsgIarState n m) = toJSON n <<>> toJSON m toJSON (SBPMsgImuAux n m) = toJSON n <<>> toJSON m toJSON (SBPMsgImuRaw n m) = toJSON n <<>> toJSON m toJSON (SBPMsgInitBaseDep _ m) = toJSON m toJSON (SBPMsgInsStatus n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgInsUpdates n m) = toJSON n <<>> toJSON m toJSON (SBPMsgIono n m) = toJSON n <<>> toJSON m toJSON (SBPMsgLinuxCpuState n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgLinuxCpuStateDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgLinuxMemState n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgLinuxMemStateDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgLinuxProcessFdCount n m) = toJSON n <<>> toJSON m toJSON (SBPMsgLinuxProcessFdSummary n m) = toJSON n <<>> toJSON m toJSON (SBPMsgLinuxProcessSocketCounts n m) = toJSON n <<>> toJSON m toJSON (SBPMsgLinuxProcessSocketQueues n m) = toJSON n <<>> toJSON m toJSON (SBPMsgLinuxSocketUsage n m) = toJSON n <<>> toJSON m toJSON (SBPMsgLinuxSysState n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgLinuxSysStateDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgLog n m) = toJSON n <<>> toJSON m toJSON (SBPMsgM25FlashWriteStatus n m) = toJSON n <<>> toJSON m toJSON (SBPMsgMagRaw n m) = toJSON n <<>> toJSON m @@ -900,11 +1028,19 @@ toJSON (SBPMsgOsr n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPosEcef n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPosEcefCov n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgPosEcefCovGnss n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPosEcefDepA n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgPosEcefGnss n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPosLlh n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgPosLlhAcc n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPosLlhCov n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgPosLlhCovGnss n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPosLlhDepA n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgPosLlhGnss n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgPpsTime n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPrintDep n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgProtectionLevel n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgProtectionLevelDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgReset n m) = toJSON n <<>> toJSON m toJSON (SBPMsgResetDep _ m) = toJSON m toJSON (SBPMsgResetFilters n m) = toJSON n <<>> toJSON m @@ -920,16 +1056,24 @@ toJSON (SBPMsgSettingsSave _ m) = toJSON m toJSON (SBPMsgSettingsWrite n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSettingsWriteResp n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSolnMeta n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSolnMetaDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSpecan n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSpecanDep n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSsrCodeBiases n m) = toJSON n <<>> toJSON m - toJSON (SBPMsgSsrGridDefinition n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSsrGridDefinitionDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSsrGriddedCorrection n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSsrGriddedCorrectionDepA n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSsrGriddedCorrectionNoStdDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSsrOrbitClock n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSsrOrbitClockDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSsrPhaseBiases n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSsrSatelliteApc n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSsrStecCorrection n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSsrStecCorrectionDepA n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSsrTileDefinition n m) = toJSON n <<>> toJSON m toJSON (SBPMsgStartup n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgStatusReport n m) = toJSON n <<>> toJSON m toJSON (SBPMsgStmFlashLockSector n m) = toJSON n <<>> toJSON m toJSON (SBPMsgStmFlashUnlockSector n m) = toJSON n <<>> toJSON m toJSON (SBPMsgStmUniqueIdReq _ m) = toJSON m @@ -949,13 +1093,20 @@ toJSON (SBPMsgUartStateDepa n m) = toJSON n <<>> toJSON m toJSON (SBPMsgUserData n m) = toJSON n <<>> toJSON m toJSON (SBPMsgUtcTime n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgUtcTimeGnss n m) = toJSON n <<>> toJSON m toJSON (SBPMsgVelBody n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgVelCog n m) = toJSON n <<>> toJSON m toJSON (SBPMsgVelEcef n m) = toJSON n <<>> toJSON m toJSON (SBPMsgVelEcefCov n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgVelEcefCovGnss n m) = toJSON n <<>> toJSON m toJSON (SBPMsgVelEcefDepA n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgVelEcefGnss n m) = toJSON n <<>> toJSON m toJSON (SBPMsgVelNed n m) = toJSON n <<>> toJSON m toJSON (SBPMsgVelNedCov n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgVelNedCovGnss n m) = toJSON n <<>> toJSON m toJSON (SBPMsgVelNedDepA n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgVelNedGnss n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgWheeltick n m) = toJSON n <<>> toJSON m toJSON (SBPMsgBadCrc m) = toJSON m toJSON (SBPMsgUnknown m) = toJSON m @@ -1035,26 +1186,33 @@ msg f (SBPMsgFwd n m) = SBPMsgFwd n <$> f m msg f (SBPMsgGloBiases n m) = SBPMsgGloBiases n <$> f m msg f (SBPMsgGnssCapb n m) = SBPMsgGnssCapb n <$> f m + msg f (SBPMsgGnssTimeOffset n m) = SBPMsgGnssTimeOffset n <$> f m msg f (SBPMsgGpsTime n m) = SBPMsgGpsTime n <$> f m msg f (SBPMsgGpsTimeDepA n m) = SBPMsgGpsTimeDepA n <$> f m + msg f (SBPMsgGpsTimeGnss n m) = SBPMsgGpsTimeGnss n <$> f m msg f (SBPMsgGroupDelay n m) = SBPMsgGroupDelay n <$> f m msg f (SBPMsgGroupDelayDepA n m) = SBPMsgGroupDelayDepA n <$> f m msg f (SBPMsgGroupDelayDepB n m) = SBPMsgGroupDelayDepB n <$> f m + msg f (SBPMsgGroupMeta n m) = SBPMsgGroupMeta n <$> f m msg f (SBPMsgHeartbeat n m) = SBPMsgHeartbeat n <$> f m msg f (SBPMsgIarState n m) = SBPMsgIarState n <$> f m msg f (SBPMsgImuAux n m) = SBPMsgImuAux n <$> f m msg f (SBPMsgImuRaw n m) = SBPMsgImuRaw n <$> f m msg f (SBPMsgInitBaseDep n m) = SBPMsgInitBaseDep n <$> f m msg f (SBPMsgInsStatus n m) = SBPMsgInsStatus n <$> f m + msg f (SBPMsgInsUpdates n m) = SBPMsgInsUpdates n <$> f m msg f (SBPMsgIono n m) = SBPMsgIono n <$> f m msg f (SBPMsgLinuxCpuState n m) = SBPMsgLinuxCpuState n <$> f m + msg f (SBPMsgLinuxCpuStateDepA n m) = SBPMsgLinuxCpuStateDepA n <$> f m msg f (SBPMsgLinuxMemState n m) = SBPMsgLinuxMemState n <$> f m + msg f (SBPMsgLinuxMemStateDepA n m) = SBPMsgLinuxMemStateDepA n <$> f m msg f (SBPMsgLinuxProcessFdCount n m) = SBPMsgLinuxProcessFdCount n <$> f m msg f (SBPMsgLinuxProcessFdSummary n m) = SBPMsgLinuxProcessFdSummary n <$> f m msg f (SBPMsgLinuxProcessSocketCounts n m) = SBPMsgLinuxProcessSocketCounts n <$> f m msg f (SBPMsgLinuxProcessSocketQueues n m) = SBPMsgLinuxProcessSocketQueues n <$> f m msg f (SBPMsgLinuxSocketUsage n m) = SBPMsgLinuxSocketUsage n <$> f m msg f (SBPMsgLinuxSysState n m) = SBPMsgLinuxSysState n <$> f m + msg f (SBPMsgLinuxSysStateDepA n m) = SBPMsgLinuxSysStateDepA n <$> f m msg f (SBPMsgLog n m) = SBPMsgLog n <$> f m msg f (SBPMsgM25FlashWriteStatus n m) = SBPMsgM25FlashWriteStatus n <$> f m msg f (SBPMsgMagRaw n m) = SBPMsgMagRaw n <$> f m @@ -1077,11 +1235,19 @@ msg f (SBPMsgOsr n m) = SBPMsgOsr n <$> f m msg f (SBPMsgPosEcef n m) = SBPMsgPosEcef n <$> f m msg f (SBPMsgPosEcefCov n m) = SBPMsgPosEcefCov n <$> f m + msg f (SBPMsgPosEcefCovGnss n m) = SBPMsgPosEcefCovGnss n <$> f m msg f (SBPMsgPosEcefDepA n m) = SBPMsgPosEcefDepA n <$> f m + msg f (SBPMsgPosEcefGnss n m) = SBPMsgPosEcefGnss n <$> f m msg f (SBPMsgPosLlh n m) = SBPMsgPosLlh n <$> f m + msg f (SBPMsgPosLlhAcc n m) = SBPMsgPosLlhAcc n <$> f m msg f (SBPMsgPosLlhCov n m) = SBPMsgPosLlhCov n <$> f m + msg f (SBPMsgPosLlhCovGnss n m) = SBPMsgPosLlhCovGnss n <$> f m msg f (SBPMsgPosLlhDepA n m) = SBPMsgPosLlhDepA n <$> f m + msg f (SBPMsgPosLlhGnss n m) = SBPMsgPosLlhGnss n <$> f m + msg f (SBPMsgPpsTime n m) = SBPMsgPpsTime n <$> f m msg f (SBPMsgPrintDep n m) = SBPMsgPrintDep n <$> f m + msg f (SBPMsgProtectionLevel n m) = SBPMsgProtectionLevel n <$> f m + msg f (SBPMsgProtectionLevelDepA n m) = SBPMsgProtectionLevelDepA n <$> f m msg f (SBPMsgReset n m) = SBPMsgReset n <$> f m msg f (SBPMsgResetDep n m) = SBPMsgResetDep n <$> f m msg f (SBPMsgResetFilters n m) = SBPMsgResetFilters n <$> f m @@ -1097,16 +1263,24 @@ msg f (SBPMsgSettingsSave n m) = SBPMsgSettingsSave n <$> f m msg f (SBPMsgSettingsWrite n m) = SBPMsgSettingsWrite n <$> f m msg f (SBPMsgSettingsWriteResp n m) = SBPMsgSettingsWriteResp n <$> f m + msg f (SBPMsgSolnMeta n m) = SBPMsgSolnMeta n <$> f m + msg f (SBPMsgSolnMetaDepA n m) = SBPMsgSolnMetaDepA n <$> f m msg f (SBPMsgSpecan n m) = SBPMsgSpecan n <$> f m msg f (SBPMsgSpecanDep n m) = SBPMsgSpecanDep n <$> f m msg f (SBPMsgSsrCodeBiases n m) = SBPMsgSsrCodeBiases n <$> f m - msg f (SBPMsgSsrGridDefinition n m) = SBPMsgSsrGridDefinition n <$> f m + msg f (SBPMsgSsrGridDefinitionDepA n m) = SBPMsgSsrGridDefinitionDepA n <$> f m msg f (SBPMsgSsrGriddedCorrection n m) = SBPMsgSsrGriddedCorrection n <$> f m + msg f (SBPMsgSsrGriddedCorrectionDepA n m) = SBPMsgSsrGriddedCorrectionDepA n <$> f m + msg f (SBPMsgSsrGriddedCorrectionNoStdDepA n m) = SBPMsgSsrGriddedCorrectionNoStdDepA n <$> f m msg f (SBPMsgSsrOrbitClock n m) = SBPMsgSsrOrbitClock n <$> f m msg f (SBPMsgSsrOrbitClockDepA n m) = SBPMsgSsrOrbitClockDepA n <$> f m msg f (SBPMsgSsrPhaseBiases n m) = SBPMsgSsrPhaseBiases n <$> f m + msg f (SBPMsgSsrSatelliteApc n m) = SBPMsgSsrSatelliteApc n <$> f m msg f (SBPMsgSsrStecCorrection n m) = SBPMsgSsrStecCorrection n <$> f m + msg f (SBPMsgSsrStecCorrectionDepA n m) = SBPMsgSsrStecCorrectionDepA n <$> f m + msg f (SBPMsgSsrTileDefinition n m) = SBPMsgSsrTileDefinition n <$> f m msg f (SBPMsgStartup n m) = SBPMsgStartup n <$> f m + msg f (SBPMsgStatusReport n m) = SBPMsgStatusReport n <$> f m msg f (SBPMsgStmFlashLockSector n m) = SBPMsgStmFlashLockSector n <$> f m msg f (SBPMsgStmFlashUnlockSector n m) = SBPMsgStmFlashUnlockSector n <$> f m msg f (SBPMsgStmUniqueIdReq n m) = SBPMsgStmUniqueIdReq n <$> f m @@ -1126,12 +1300,19 @@ msg f (SBPMsgUartStateDepa n m) = SBPMsgUartStateDepa n <$> f m msg f (SBPMsgUserData n m) = SBPMsgUserData n <$> f m msg f (SBPMsgUtcTime n m) = SBPMsgUtcTime n <$> f m + msg f (SBPMsgUtcTimeGnss n m) = SBPMsgUtcTimeGnss n <$> f m msg f (SBPMsgVelBody n m) = SBPMsgVelBody n <$> f m + msg f (SBPMsgVelCog n m) = SBPMsgVelCog n <$> f m msg f (SBPMsgVelEcef n m) = SBPMsgVelEcef n <$> f m msg f (SBPMsgVelEcefCov n m) = SBPMsgVelEcefCov n <$> f m + msg f (SBPMsgVelEcefCovGnss n m) = SBPMsgVelEcefCovGnss n <$> f m msg f (SBPMsgVelEcefDepA n m) = SBPMsgVelEcefDepA n <$> f m + msg f (SBPMsgVelEcefGnss n m) = SBPMsgVelEcefGnss n <$> f m msg f (SBPMsgVelNed n m) = SBPMsgVelNed n <$> f m msg f (SBPMsgVelNedCov n m) = SBPMsgVelNedCov n <$> f m + msg f (SBPMsgVelNedCovGnss n m) = SBPMsgVelNedCovGnss n <$> f m msg f (SBPMsgVelNedDepA n m) = SBPMsgVelNedDepA n <$> f m + msg f (SBPMsgVelNedGnss n m) = SBPMsgVelNedGnss n <$> f m + msg f (SBPMsgWheeltick n m) = SBPMsgWheeltick n <$> f m msg f (SBPMsgUnknown m) = SBPMsgUnknown <$> f m msg f (SBPMsgBadCrc m) = SBPMsgBadCrc <$> f m diff --git a/src/SwiftNav/SBP/Navigation.hs b/src/SwiftNav/SBP/Navigation.hs --- a/src/SwiftNav/SBP/Navigation.hs +++ b/src/SwiftNav/SBP/Navigation.hs @@ -6,1350 +6,2297 @@ -- | -- Module: SwiftNav.SBP.Navigation -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation --- Stability: experimental --- Portability: portable --- --- Geodetic navigation messages reporting GPS time, position, velocity, and --- baseline position solutions. For position solutions, these messages define --- several different position solutions: single-point (SPP), RTK, and pseudo- --- absolute position solutions. The SPP is the standalone, absolute GPS --- position solution using only a single receiver. The RTK solution is the --- differential GPS solution, which can use either a fixed/integer or floating --- carrier phase ambiguity. The pseudo-absolute position solution uses a user- --- provided, well-surveyed base station position (if available) and the RTK --- solution in tandem. When the inertial navigation mode indicates that the --- IMU is used, all messages are reported in the vehicle body frame as defined --- by device settings. By default, the vehicle body frame is configured to be --- coincident with the antenna phase center. When there is no inertial --- navigation, the solution will be reported at the phase center of the --- antenna. There is no inertial navigation capability on Piksi Multi or Duro. - -module SwiftNav.SBP.Navigation - ( module SwiftNav.SBP.Navigation - ) where - -import BasicPrelude -import Control.Lens -import Control.Monad.Loops -import Data.Binary -import Data.Binary.Get -import Data.Binary.IEEE754 -import Data.Binary.Put -import Data.ByteString.Lazy hiding (ByteString) -import Data.Int -import Data.Word -import SwiftNav.SBP.TH -import SwiftNav.SBP.Types - -{-# ANN module ("HLint: ignore Use camelCase"::String) #-} -{-# ANN module ("HLint: ignore Redundant do"::String) #-} -{-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-} - - -msgGpsTime :: Word16 -msgGpsTime = 0x0102 - --- | SBP class for message MSG_GPS_TIME (0x0102). --- --- This message reports the GPS time, representing the time since the GPS epoch --- began on midnight January 6, 1980 UTC. GPS time counts the weeks and seconds --- of the week. The weeks begin at the Saturday/Sunday transition. GPS week 0 --- began at the beginning of the GPS time scale. Within each week number, the --- GPS time of the week is between between 0 and 604800 seconds (=60*60*24*7). --- Note that GPS time does not accumulate leap seconds, and as of now, has a --- small offset from UTC. In a message stream, this message precedes a set of --- 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 - -- ^ GPS week number - , _msgGpsTime_tow :: !Word32 - -- ^ GPS time of week rounded to the nearest millisecond - , _msgGpsTime_ns_residual :: !Int32 - -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to - -- 500000) - , _msgGpsTime_flags :: !Word8 - -- ^ Status flags (reserved) - } deriving ( Show, Read, Eq ) - -instance Binary MsgGpsTime where - get = do - _msgGpsTime_wn <- getWord16le - _msgGpsTime_tow <- getWord32le - _msgGpsTime_ns_residual <- fromIntegral <$> getWord32le - _msgGpsTime_flags <- getWord8 - pure MsgGpsTime {..} - - put MsgGpsTime {..} = do - putWord16le _msgGpsTime_wn - putWord32le _msgGpsTime_tow - (putWord32le . fromIntegral) _msgGpsTime_ns_residual - putWord8 _msgGpsTime_flags - -$(makeSBP 'msgGpsTime ''MsgGpsTime) -$(makeJSON "_msgGpsTime_" ''MsgGpsTime) -$(makeLenses ''MsgGpsTime) - -msgUtcTime :: Word16 -msgUtcTime = 0x0103 - --- | SBP class for message MSG_UTC_TIME (0x0103). --- --- This message reports the Universal Coordinated Time (UTC). Note the flags --- which indicate the source of the UTC offset value and source of the time --- fix. -data MsgUtcTime = MsgUtcTime - { _msgUtcTime_flags :: !Word8 - -- ^ Indicates source and time validity - , _msgUtcTime_tow :: !Word32 - -- ^ GPS time of week rounded to the nearest millisecond - , _msgUtcTime_year :: !Word16 - -- ^ Year - , _msgUtcTime_month :: !Word8 - -- ^ Month (range 1 .. 12) - , _msgUtcTime_day :: !Word8 - -- ^ days in the month (range 1-31) - , _msgUtcTime_hours :: !Word8 - -- ^ hours of day (range 0-23) - , _msgUtcTime_minutes :: !Word8 - -- ^ minutes of hour (range 0-59) - , _msgUtcTime_seconds :: !Word8 - -- ^ seconds of minute (range 0-60) rounded down - , _msgUtcTime_ns :: !Word32 - -- ^ nanoseconds of second (range 0-999999999) - } deriving ( Show, Read, Eq ) - -instance Binary MsgUtcTime where - get = do - _msgUtcTime_flags <- getWord8 - _msgUtcTime_tow <- getWord32le - _msgUtcTime_year <- getWord16le - _msgUtcTime_month <- getWord8 - _msgUtcTime_day <- getWord8 - _msgUtcTime_hours <- getWord8 - _msgUtcTime_minutes <- getWord8 - _msgUtcTime_seconds <- getWord8 - _msgUtcTime_ns <- getWord32le - pure MsgUtcTime {..} - - put MsgUtcTime {..} = do - putWord8 _msgUtcTime_flags - putWord32le _msgUtcTime_tow - putWord16le _msgUtcTime_year - putWord8 _msgUtcTime_month - putWord8 _msgUtcTime_day - putWord8 _msgUtcTime_hours - putWord8 _msgUtcTime_minutes - putWord8 _msgUtcTime_seconds - putWord32le _msgUtcTime_ns - -$(makeSBP 'msgUtcTime ''MsgUtcTime) -$(makeJSON "_msgUtcTime_" ''MsgUtcTime) -$(makeLenses ''MsgUtcTime) - -msgDops :: Word16 -msgDops = 0x0208 - --- | SBP class for message MSG_DOPS (0x0208). --- --- This dilution of precision (DOP) message describes the effect of navigation --- satellite geometry on positional measurement precision. The flags field --- indicated whether the DOP reported corresponds to differential or SPP --- solution. -data MsgDops = MsgDops - { _msgDops_tow :: !Word32 - -- ^ GPS Time of Week - , _msgDops_gdop :: !Word16 - -- ^ Geometric Dilution of Precision - , _msgDops_pdop :: !Word16 - -- ^ Position Dilution of Precision - , _msgDops_tdop :: !Word16 - -- ^ Time Dilution of Precision - , _msgDops_hdop :: !Word16 - -- ^ Horizontal Dilution of Precision - , _msgDops_vdop :: !Word16 - -- ^ Vertical Dilution of Precision - , _msgDops_flags :: !Word8 - -- ^ Indicates the position solution with which the DOPS message corresponds - } deriving ( Show, Read, Eq ) - -instance Binary MsgDops where - get = do - _msgDops_tow <- getWord32le - _msgDops_gdop <- getWord16le - _msgDops_pdop <- getWord16le - _msgDops_tdop <- getWord16le - _msgDops_hdop <- getWord16le - _msgDops_vdop <- getWord16le - _msgDops_flags <- getWord8 - pure MsgDops {..} - - put MsgDops {..} = do - putWord32le _msgDops_tow - putWord16le _msgDops_gdop - putWord16le _msgDops_pdop - putWord16le _msgDops_tdop - putWord16le _msgDops_hdop - putWord16le _msgDops_vdop - putWord8 _msgDops_flags - -$(makeSBP 'msgDops ''MsgDops) -$(makeJSON "_msgDops_" ''MsgDops) -$(makeLenses ''MsgDops) - -msgPosEcef :: Word16 -msgPosEcef = 0x0209 - --- | SBP class for message MSG_POS_ECEF (0x0209). --- --- The position solution message reports absolute Earth Centered Earth Fixed --- (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of --- the position solution. If the rover receiver knows the surveyed position of --- the base station and has an RTK solution, this reports a pseudo-absolute --- position solution using the base station position and the rover's RTK --- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME --- with the matching time-of-week (tow). -data MsgPosEcef = MsgPosEcef - { _msgPosEcef_tow :: !Word32 - -- ^ GPS Time of Week - , _msgPosEcef_x :: !Double - -- ^ ECEF X coordinate - , _msgPosEcef_y :: !Double - -- ^ ECEF Y coordinate - , _msgPosEcef_z :: !Double - -- ^ ECEF Z coordinate - , _msgPosEcef_accuracy :: !Word16 - -- ^ Position estimated standard deviation - , _msgPosEcef_n_sats :: !Word8 - -- ^ Number of satellites used in solution - , _msgPosEcef_flags :: !Word8 - -- ^ Status flags - } deriving ( Show, Read, Eq ) - -instance Binary MsgPosEcef where - get = do - _msgPosEcef_tow <- getWord32le - _msgPosEcef_x <- getFloat64le - _msgPosEcef_y <- getFloat64le - _msgPosEcef_z <- getFloat64le - _msgPosEcef_accuracy <- getWord16le - _msgPosEcef_n_sats <- getWord8 - _msgPosEcef_flags <- getWord8 - pure MsgPosEcef {..} - - put MsgPosEcef {..} = do - putWord32le _msgPosEcef_tow - putFloat64le _msgPosEcef_x - putFloat64le _msgPosEcef_y - putFloat64le _msgPosEcef_z - putWord16le _msgPosEcef_accuracy - putWord8 _msgPosEcef_n_sats - putWord8 _msgPosEcef_flags - -$(makeSBP 'msgPosEcef ''MsgPosEcef) -$(makeJSON "_msgPosEcef_" ''MsgPosEcef) -$(makeLenses ''MsgPosEcef) - -msgPosEcefCov :: Word16 -msgPosEcefCov = 0x0214 - --- | SBP class for message MSG_POS_ECEF_COV (0x0214). --- --- The position solution message reports absolute Earth Centered Earth Fixed --- (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of --- the position solution. The message also reports the upper triangular portion --- of the 3x3 covariance matrix. If the receiver knows the surveyed position of --- the base station and has an RTK solution, this reports a pseudo-absolute --- position solution using the base station position and the rover's RTK --- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME --- with the matching time-of-week (tow). -data MsgPosEcefCov = MsgPosEcefCov - { _msgPosEcefCov_tow :: !Word32 - -- ^ GPS Time of Week - , _msgPosEcefCov_x :: !Double - -- ^ ECEF X coordinate - , _msgPosEcefCov_y :: !Double - -- ^ ECEF Y coordinate - , _msgPosEcefCov_z :: !Double - -- ^ ECEF Z coordinate - , _msgPosEcefCov_cov_x_x :: !Float - -- ^ Estimated variance of x - , _msgPosEcefCov_cov_x_y :: !Float - -- ^ Estimated covariance of x and y - , _msgPosEcefCov_cov_x_z :: !Float - -- ^ Estimated covariance of x and z - , _msgPosEcefCov_cov_y_y :: !Float - -- ^ Estimated variance of y - , _msgPosEcefCov_cov_y_z :: !Float - -- ^ Estimated covariance of y and z - , _msgPosEcefCov_cov_z_z :: !Float - -- ^ Estimated variance of z - , _msgPosEcefCov_n_sats :: !Word8 - -- ^ Number of satellites used in solution - , _msgPosEcefCov_flags :: !Word8 - -- ^ Status flags - } deriving ( Show, Read, Eq ) - -instance Binary MsgPosEcefCov where - get = do - _msgPosEcefCov_tow <- getWord32le - _msgPosEcefCov_x <- getFloat64le - _msgPosEcefCov_y <- getFloat64le - _msgPosEcefCov_z <- getFloat64le - _msgPosEcefCov_cov_x_x <- getFloat32le - _msgPosEcefCov_cov_x_y <- getFloat32le - _msgPosEcefCov_cov_x_z <- getFloat32le - _msgPosEcefCov_cov_y_y <- getFloat32le - _msgPosEcefCov_cov_y_z <- getFloat32le - _msgPosEcefCov_cov_z_z <- getFloat32le - _msgPosEcefCov_n_sats <- getWord8 - _msgPosEcefCov_flags <- getWord8 - pure MsgPosEcefCov {..} - - put MsgPosEcefCov {..} = do - putWord32le _msgPosEcefCov_tow - putFloat64le _msgPosEcefCov_x - putFloat64le _msgPosEcefCov_y - putFloat64le _msgPosEcefCov_z - putFloat32le _msgPosEcefCov_cov_x_x - putFloat32le _msgPosEcefCov_cov_x_y - putFloat32le _msgPosEcefCov_cov_x_z - putFloat32le _msgPosEcefCov_cov_y_y - putFloat32le _msgPosEcefCov_cov_y_z - putFloat32le _msgPosEcefCov_cov_z_z - putWord8 _msgPosEcefCov_n_sats - putWord8 _msgPosEcefCov_flags - -$(makeSBP 'msgPosEcefCov ''MsgPosEcefCov) -$(makeJSON "_msgPosEcefCov_" ''MsgPosEcefCov) -$(makeLenses ''MsgPosEcefCov) - -msgPosLlh :: Word16 -msgPosLlh = 0x020A - --- | SBP class for message MSG_POS_LLH (0x020A). --- --- This position solution message reports the absolute geodetic coordinates and --- the status (single point vs pseudo-absolute RTK) of the position solution. --- If the rover receiver knows the surveyed position of the base station and --- has an RTK solution, this reports a pseudo-absolute position solution using --- the base station position and the rover's RTK baseline vector. The full GPS --- time is given by the preceding MSG_GPS_TIME with the matching time-of-week --- (tow). -data MsgPosLlh = MsgPosLlh - { _msgPosLlh_tow :: !Word32 - -- ^ GPS Time of Week - , _msgPosLlh_lat :: !Double - -- ^ Latitude - , _msgPosLlh_lon :: !Double - -- ^ Longitude - , _msgPosLlh_height :: !Double - -- ^ Height above WGS84 ellipsoid - , _msgPosLlh_h_accuracy :: !Word16 - -- ^ Horizontal position estimated standard deviation - , _msgPosLlh_v_accuracy :: !Word16 - -- ^ Vertical position estimated standard deviation - , _msgPosLlh_n_sats :: !Word8 - -- ^ Number of satellites used in solution. - , _msgPosLlh_flags :: !Word8 - -- ^ Status flags - } deriving ( Show, Read, Eq ) - -instance Binary MsgPosLlh where - get = do - _msgPosLlh_tow <- getWord32le - _msgPosLlh_lat <- getFloat64le - _msgPosLlh_lon <- getFloat64le - _msgPosLlh_height <- getFloat64le - _msgPosLlh_h_accuracy <- getWord16le - _msgPosLlh_v_accuracy <- getWord16le - _msgPosLlh_n_sats <- getWord8 - _msgPosLlh_flags <- getWord8 - pure MsgPosLlh {..} - - put MsgPosLlh {..} = do - putWord32le _msgPosLlh_tow - putFloat64le _msgPosLlh_lat - putFloat64le _msgPosLlh_lon - putFloat64le _msgPosLlh_height - putWord16le _msgPosLlh_h_accuracy - putWord16le _msgPosLlh_v_accuracy - putWord8 _msgPosLlh_n_sats - putWord8 _msgPosLlh_flags - -$(makeSBP 'msgPosLlh ''MsgPosLlh) -$(makeJSON "_msgPosLlh_" ''MsgPosLlh) -$(makeLenses ''MsgPosLlh) - -msgPosLlhCov :: Word16 -msgPosLlhCov = 0x0211 - --- | SBP class for message MSG_POS_LLH_COV (0x0211). --- --- This position solution message reports the absolute geodetic coordinates and --- the status (single point vs pseudo-absolute RTK) of the position solution as --- well as the upper triangle of the 3x3 covariance matrix. The position --- information and Fix Mode flags should follow the MSG_POS_LLH message. Since --- the covariance matrix is computed in the local-level North, East, Down --- frame, the covariance terms follow with that convention. Thus, covariances --- are reported against the "downward" measurement and care should be taken --- with the sign convention. -data MsgPosLlhCov = MsgPosLlhCov - { _msgPosLlhCov_tow :: !Word32 - -- ^ GPS Time of Week - , _msgPosLlhCov_lat :: !Double - -- ^ Latitude - , _msgPosLlhCov_lon :: !Double - -- ^ Longitude - , _msgPosLlhCov_height :: !Double - -- ^ Height above WGS84 ellipsoid - , _msgPosLlhCov_cov_n_n :: !Float - -- ^ Estimated variance of northing - , _msgPosLlhCov_cov_n_e :: !Float - -- ^ Covariance of northing and easting - , _msgPosLlhCov_cov_n_d :: !Float - -- ^ Covariance of northing and downward measurement - , _msgPosLlhCov_cov_e_e :: !Float - -- ^ Estimated variance of easting - , _msgPosLlhCov_cov_e_d :: !Float - -- ^ Covariance of easting and downward measurement - , _msgPosLlhCov_cov_d_d :: !Float - -- ^ Estimated variance of downward measurement - , _msgPosLlhCov_n_sats :: !Word8 - -- ^ Number of satellites used in solution. - , _msgPosLlhCov_flags :: !Word8 - -- ^ Status flags - } deriving ( Show, Read, Eq ) - -instance Binary MsgPosLlhCov where - get = do - _msgPosLlhCov_tow <- getWord32le - _msgPosLlhCov_lat <- getFloat64le - _msgPosLlhCov_lon <- getFloat64le - _msgPosLlhCov_height <- getFloat64le - _msgPosLlhCov_cov_n_n <- getFloat32le - _msgPosLlhCov_cov_n_e <- getFloat32le - _msgPosLlhCov_cov_n_d <- getFloat32le - _msgPosLlhCov_cov_e_e <- getFloat32le - _msgPosLlhCov_cov_e_d <- getFloat32le - _msgPosLlhCov_cov_d_d <- getFloat32le - _msgPosLlhCov_n_sats <- getWord8 - _msgPosLlhCov_flags <- getWord8 - pure MsgPosLlhCov {..} - - put MsgPosLlhCov {..} = do - putWord32le _msgPosLlhCov_tow - putFloat64le _msgPosLlhCov_lat - putFloat64le _msgPosLlhCov_lon - putFloat64le _msgPosLlhCov_height - putFloat32le _msgPosLlhCov_cov_n_n - putFloat32le _msgPosLlhCov_cov_n_e - putFloat32le _msgPosLlhCov_cov_n_d - putFloat32le _msgPosLlhCov_cov_e_e - putFloat32le _msgPosLlhCov_cov_e_d - putFloat32le _msgPosLlhCov_cov_d_d - putWord8 _msgPosLlhCov_n_sats - putWord8 _msgPosLlhCov_flags - -$(makeSBP 'msgPosLlhCov ''MsgPosLlhCov) -$(makeJSON "_msgPosLlhCov_" ''MsgPosLlhCov) -$(makeLenses ''MsgPosLlhCov) - -msgBaselineEcef :: Word16 -msgBaselineEcef = 0x020B - --- | SBP class for message MSG_BASELINE_ECEF (0x020B). --- --- This message reports the baseline solution in Earth Centered Earth Fixed --- (ECEF) coordinates. This baseline is the relative vector distance from the --- 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 - -- ^ GPS Time of Week - , _msgBaselineEcef_x :: !Int32 - -- ^ Baseline ECEF X coordinate - , _msgBaselineEcef_y :: !Int32 - -- ^ Baseline ECEF Y coordinate - , _msgBaselineEcef_z :: !Int32 - -- ^ Baseline ECEF Z coordinate - , _msgBaselineEcef_accuracy :: !Word16 - -- ^ Position estimated standard deviation - , _msgBaselineEcef_n_sats :: !Word8 - -- ^ Number of satellites used in solution - , _msgBaselineEcef_flags :: !Word8 - -- ^ Status flags - } deriving ( Show, Read, Eq ) - -instance Binary MsgBaselineEcef where - get = do - _msgBaselineEcef_tow <- getWord32le - _msgBaselineEcef_x <- fromIntegral <$> getWord32le - _msgBaselineEcef_y <- fromIntegral <$> getWord32le - _msgBaselineEcef_z <- fromIntegral <$> getWord32le - _msgBaselineEcef_accuracy <- getWord16le - _msgBaselineEcef_n_sats <- getWord8 - _msgBaselineEcef_flags <- getWord8 - pure MsgBaselineEcef {..} - - put MsgBaselineEcef {..} = do - putWord32le _msgBaselineEcef_tow - (putWord32le . fromIntegral) _msgBaselineEcef_x - (putWord32le . fromIntegral) _msgBaselineEcef_y - (putWord32le . fromIntegral) _msgBaselineEcef_z - putWord16le _msgBaselineEcef_accuracy - putWord8 _msgBaselineEcef_n_sats - putWord8 _msgBaselineEcef_flags - -$(makeSBP 'msgBaselineEcef ''MsgBaselineEcef) -$(makeJSON "_msgBaselineEcef_" ''MsgBaselineEcef) -$(makeLenses ''MsgBaselineEcef) - -msgBaselineNed :: Word16 -msgBaselineNed = 0x020C - --- | SBP class for message MSG_BASELINE_NED (0x020C). --- --- This message reports the baseline solution in North East Down (NED) --- coordinates. This baseline is the relative vector distance from the base --- station to the rover receiver, and NED coordinate system is defined at the --- local WGS84 tangent plane centered at the base station position. The full --- GPS time is given by the preceding MSG_GPS_TIME with the matching time-of- --- week (tow). -data MsgBaselineNed = MsgBaselineNed - { _msgBaselineNed_tow :: !Word32 - -- ^ GPS Time of Week - , _msgBaselineNed_n :: !Int32 - -- ^ Baseline North coordinate - , _msgBaselineNed_e :: !Int32 - -- ^ Baseline East coordinate - , _msgBaselineNed_d :: !Int32 - -- ^ Baseline Down coordinate - , _msgBaselineNed_h_accuracy :: !Word16 - -- ^ Horizontal position estimated standard deviation - , _msgBaselineNed_v_accuracy :: !Word16 - -- ^ Vertical position estimated standard deviation - , _msgBaselineNed_n_sats :: !Word8 - -- ^ Number of satellites used in solution - , _msgBaselineNed_flags :: !Word8 - -- ^ Status flags - } deriving ( Show, Read, Eq ) - -instance Binary MsgBaselineNed where - get = do - _msgBaselineNed_tow <- getWord32le - _msgBaselineNed_n <- fromIntegral <$> getWord32le - _msgBaselineNed_e <- fromIntegral <$> getWord32le - _msgBaselineNed_d <- fromIntegral <$> getWord32le - _msgBaselineNed_h_accuracy <- getWord16le - _msgBaselineNed_v_accuracy <- getWord16le - _msgBaselineNed_n_sats <- getWord8 - _msgBaselineNed_flags <- getWord8 - pure MsgBaselineNed {..} - - put MsgBaselineNed {..} = do - putWord32le _msgBaselineNed_tow - (putWord32le . fromIntegral) _msgBaselineNed_n - (putWord32le . fromIntegral) _msgBaselineNed_e - (putWord32le . fromIntegral) _msgBaselineNed_d - putWord16le _msgBaselineNed_h_accuracy - putWord16le _msgBaselineNed_v_accuracy - putWord8 _msgBaselineNed_n_sats - putWord8 _msgBaselineNed_flags - -$(makeSBP 'msgBaselineNed ''MsgBaselineNed) -$(makeJSON "_msgBaselineNed_" ''MsgBaselineNed) -$(makeLenses ''MsgBaselineNed) - -msgVelEcef :: Word16 -msgVelEcef = 0x020D - --- | SBP class for message MSG_VEL_ECEF (0x020D). --- --- This message reports the velocity in Earth Centered Earth Fixed (ECEF) --- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with --- the matching time-of-week (tow). -data MsgVelEcef = MsgVelEcef - { _msgVelEcef_tow :: !Word32 - -- ^ GPS Time of Week - , _msgVelEcef_x :: !Int32 - -- ^ Velocity ECEF X coordinate - , _msgVelEcef_y :: !Int32 - -- ^ Velocity ECEF Y coordinate - , _msgVelEcef_z :: !Int32 - -- ^ Velocity ECEF Z coordinate - , _msgVelEcef_accuracy :: !Word16 - -- ^ Velocity estimated standard deviation - , _msgVelEcef_n_sats :: !Word8 - -- ^ Number of satellites used in solution - , _msgVelEcef_flags :: !Word8 - -- ^ Status flags - } deriving ( Show, Read, Eq ) - -instance Binary MsgVelEcef where - get = do - _msgVelEcef_tow <- getWord32le - _msgVelEcef_x <- fromIntegral <$> getWord32le - _msgVelEcef_y <- fromIntegral <$> getWord32le - _msgVelEcef_z <- fromIntegral <$> getWord32le - _msgVelEcef_accuracy <- getWord16le - _msgVelEcef_n_sats <- getWord8 - _msgVelEcef_flags <- getWord8 - pure MsgVelEcef {..} - - put MsgVelEcef {..} = do - putWord32le _msgVelEcef_tow - (putWord32le . fromIntegral) _msgVelEcef_x - (putWord32le . fromIntegral) _msgVelEcef_y - (putWord32le . fromIntegral) _msgVelEcef_z - putWord16le _msgVelEcef_accuracy - putWord8 _msgVelEcef_n_sats - putWord8 _msgVelEcef_flags - -$(makeSBP 'msgVelEcef ''MsgVelEcef) -$(makeJSON "_msgVelEcef_" ''MsgVelEcef) -$(makeLenses ''MsgVelEcef) - -msgVelEcefCov :: Word16 -msgVelEcefCov = 0x0215 - --- | SBP class for message MSG_VEL_ECEF_COV (0x0215). --- --- This message reports the velocity in Earth Centered Earth Fixed (ECEF) --- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with --- the matching time-of-week (tow). -data MsgVelEcefCov = MsgVelEcefCov - { _msgVelEcefCov_tow :: !Word32 - -- ^ GPS Time of Week - , _msgVelEcefCov_x :: !Int32 - -- ^ Velocity ECEF X coordinate - , _msgVelEcefCov_y :: !Int32 - -- ^ Velocity ECEF Y coordinate - , _msgVelEcefCov_z :: !Int32 - -- ^ Velocity ECEF Z coordinate - , _msgVelEcefCov_cov_x_x :: !Float - -- ^ Estimated variance of x - , _msgVelEcefCov_cov_x_y :: !Float - -- ^ Estimated covariance of x and y - , _msgVelEcefCov_cov_x_z :: !Float - -- ^ Estimated covariance of x and z - , _msgVelEcefCov_cov_y_y :: !Float - -- ^ Estimated variance of y - , _msgVelEcefCov_cov_y_z :: !Float - -- ^ Estimated covariance of y and z - , _msgVelEcefCov_cov_z_z :: !Float - -- ^ Estimated variance of z - , _msgVelEcefCov_n_sats :: !Word8 - -- ^ Number of satellites used in solution - , _msgVelEcefCov_flags :: !Word8 - -- ^ Status flags - } deriving ( Show, Read, Eq ) - -instance Binary MsgVelEcefCov where - get = do - _msgVelEcefCov_tow <- getWord32le - _msgVelEcefCov_x <- fromIntegral <$> getWord32le - _msgVelEcefCov_y <- fromIntegral <$> getWord32le - _msgVelEcefCov_z <- fromIntegral <$> getWord32le - _msgVelEcefCov_cov_x_x <- getFloat32le - _msgVelEcefCov_cov_x_y <- getFloat32le - _msgVelEcefCov_cov_x_z <- getFloat32le - _msgVelEcefCov_cov_y_y <- getFloat32le - _msgVelEcefCov_cov_y_z <- getFloat32le - _msgVelEcefCov_cov_z_z <- getFloat32le - _msgVelEcefCov_n_sats <- getWord8 - _msgVelEcefCov_flags <- getWord8 - pure MsgVelEcefCov {..} - - put MsgVelEcefCov {..} = do - putWord32le _msgVelEcefCov_tow - (putWord32le . fromIntegral) _msgVelEcefCov_x - (putWord32le . fromIntegral) _msgVelEcefCov_y - (putWord32le . fromIntegral) _msgVelEcefCov_z - putFloat32le _msgVelEcefCov_cov_x_x - putFloat32le _msgVelEcefCov_cov_x_y - putFloat32le _msgVelEcefCov_cov_x_z - putFloat32le _msgVelEcefCov_cov_y_y - putFloat32le _msgVelEcefCov_cov_y_z - putFloat32le _msgVelEcefCov_cov_z_z - putWord8 _msgVelEcefCov_n_sats - putWord8 _msgVelEcefCov_flags - -$(makeSBP 'msgVelEcefCov ''MsgVelEcefCov) -$(makeJSON "_msgVelEcefCov_" ''MsgVelEcefCov) -$(makeLenses ''MsgVelEcefCov) - -msgVelNed :: Word16 -msgVelNed = 0x020E - --- | SBP class for message MSG_VEL_NED (0x020E). --- --- This message reports the velocity in local North East Down (NED) --- coordinates. The NED coordinate system is defined as the local WGS84 tangent --- plane centered at the current position. The full GPS time is given by the --- preceding MSG_GPS_TIME with the matching time-of-week (tow). -data MsgVelNed = MsgVelNed - { _msgVelNed_tow :: !Word32 - -- ^ GPS Time of Week - , _msgVelNed_n :: !Int32 - -- ^ Velocity North coordinate - , _msgVelNed_e :: !Int32 - -- ^ Velocity East coordinate - , _msgVelNed_d :: !Int32 - -- ^ Velocity Down coordinate - , _msgVelNed_h_accuracy :: !Word16 - -- ^ Horizontal velocity estimated standard deviation - , _msgVelNed_v_accuracy :: !Word16 - -- ^ Vertical velocity estimated standard deviation - , _msgVelNed_n_sats :: !Word8 - -- ^ Number of satellites used in solution - , _msgVelNed_flags :: !Word8 - -- ^ Status flags - } deriving ( Show, Read, Eq ) - -instance Binary MsgVelNed where - get = do - _msgVelNed_tow <- getWord32le - _msgVelNed_n <- fromIntegral <$> getWord32le - _msgVelNed_e <- fromIntegral <$> getWord32le - _msgVelNed_d <- fromIntegral <$> getWord32le - _msgVelNed_h_accuracy <- getWord16le - _msgVelNed_v_accuracy <- getWord16le - _msgVelNed_n_sats <- getWord8 - _msgVelNed_flags <- getWord8 - pure MsgVelNed {..} - - put MsgVelNed {..} = do - putWord32le _msgVelNed_tow - (putWord32le . fromIntegral) _msgVelNed_n - (putWord32le . fromIntegral) _msgVelNed_e - (putWord32le . fromIntegral) _msgVelNed_d - putWord16le _msgVelNed_h_accuracy - putWord16le _msgVelNed_v_accuracy - putWord8 _msgVelNed_n_sats - putWord8 _msgVelNed_flags - -$(makeSBP 'msgVelNed ''MsgVelNed) -$(makeJSON "_msgVelNed_" ''MsgVelNed) -$(makeLenses ''MsgVelNed) - -msgVelNedCov :: Word16 -msgVelNedCov = 0x0212 - --- | SBP class for message MSG_VEL_NED_COV (0x0212). --- --- This message reports the velocity in local North East Down (NED) --- coordinates. The NED coordinate system is defined as the local WGS84 tangent --- plane centered at the current position. The full GPS time is given by the --- preceding MSG_GPS_TIME with the matching time-of-week (tow). This message is --- similar to the MSG_VEL_NED, but it includes the upper triangular portion of --- the 3x3 covariance matrix. -data MsgVelNedCov = MsgVelNedCov - { _msgVelNedCov_tow :: !Word32 - -- ^ GPS Time of Week - , _msgVelNedCov_n :: !Int32 - -- ^ Velocity North coordinate - , _msgVelNedCov_e :: !Int32 - -- ^ Velocity East coordinate - , _msgVelNedCov_d :: !Int32 - -- ^ Velocity Down coordinate - , _msgVelNedCov_cov_n_n :: !Float - -- ^ Estimated variance of northward measurement - , _msgVelNedCov_cov_n_e :: !Float - -- ^ Covariance of northward and eastward measurement - , _msgVelNedCov_cov_n_d :: !Float - -- ^ Covariance of northward and downward measurement - , _msgVelNedCov_cov_e_e :: !Float - -- ^ Estimated variance of eastward measurement - , _msgVelNedCov_cov_e_d :: !Float - -- ^ Covariance of eastward and downward measurement - , _msgVelNedCov_cov_d_d :: !Float - -- ^ Estimated variance of downward measurement - , _msgVelNedCov_n_sats :: !Word8 - -- ^ Number of satellites used in solution - , _msgVelNedCov_flags :: !Word8 - -- ^ Status flags - } deriving ( Show, Read, Eq ) - -instance Binary MsgVelNedCov where - get = do - _msgVelNedCov_tow <- getWord32le - _msgVelNedCov_n <- fromIntegral <$> getWord32le - _msgVelNedCov_e <- fromIntegral <$> getWord32le - _msgVelNedCov_d <- fromIntegral <$> getWord32le - _msgVelNedCov_cov_n_n <- getFloat32le - _msgVelNedCov_cov_n_e <- getFloat32le - _msgVelNedCov_cov_n_d <- getFloat32le - _msgVelNedCov_cov_e_e <- getFloat32le - _msgVelNedCov_cov_e_d <- getFloat32le - _msgVelNedCov_cov_d_d <- getFloat32le - _msgVelNedCov_n_sats <- getWord8 - _msgVelNedCov_flags <- getWord8 - pure MsgVelNedCov {..} - - put MsgVelNedCov {..} = do - putWord32le _msgVelNedCov_tow - (putWord32le . fromIntegral) _msgVelNedCov_n - (putWord32le . fromIntegral) _msgVelNedCov_e - (putWord32le . fromIntegral) _msgVelNedCov_d - putFloat32le _msgVelNedCov_cov_n_n - putFloat32le _msgVelNedCov_cov_n_e - putFloat32le _msgVelNedCov_cov_n_d - putFloat32le _msgVelNedCov_cov_e_e - putFloat32le _msgVelNedCov_cov_e_d - putFloat32le _msgVelNedCov_cov_d_d - putWord8 _msgVelNedCov_n_sats - putWord8 _msgVelNedCov_flags - -$(makeSBP 'msgVelNedCov ''MsgVelNedCov) -$(makeJSON "_msgVelNedCov_" ''MsgVelNedCov) -$(makeLenses ''MsgVelNedCov) - -msgVelBody :: Word16 -msgVelBody = 0x0213 - --- | SBP class for message MSG_VEL_BODY (0x0213). --- --- This message reports the velocity in the Vehicle Body Frame. By convention, --- the x-axis should point out the nose of the vehicle and represent the --- forward direction, while as the y-axis should point out the right hand side --- of the vehicle. Since this is a right handed system, z should point out the --- bottom of the vehicle. The orientation and origin of the Vehicle Body Frame --- are specified via the device settings. The full GPS time is given by the --- preceding MSG_GPS_TIME with the matching time-of-week (tow). This message is --- only produced by inertial versions of Swift products and is not available --- from Piksi Multi or Duro. -data MsgVelBody = MsgVelBody - { _msgVelBody_tow :: !Word32 - -- ^ GPS Time of Week - , _msgVelBody_x :: !Int32 - -- ^ Velocity in x direction - , _msgVelBody_y :: !Int32 - -- ^ Velocity in y direction - , _msgVelBody_z :: !Int32 - -- ^ Velocity in z direction - , _msgVelBody_cov_x_x :: !Float - -- ^ Estimated variance of x - , _msgVelBody_cov_x_y :: !Float - -- ^ Covariance of x and y - , _msgVelBody_cov_x_z :: !Float - -- ^ Covariance of x and z - , _msgVelBody_cov_y_y :: !Float - -- ^ Estimated variance of y - , _msgVelBody_cov_y_z :: !Float - -- ^ Covariance of y and z - , _msgVelBody_cov_z_z :: !Float - -- ^ Estimated variance of z - , _msgVelBody_n_sats :: !Word8 - -- ^ Number of satellites used in solution - , _msgVelBody_flags :: !Word8 - -- ^ Status flags - } deriving ( Show, Read, Eq ) - -instance Binary MsgVelBody where - get = do - _msgVelBody_tow <- getWord32le - _msgVelBody_x <- fromIntegral <$> getWord32le - _msgVelBody_y <- fromIntegral <$> getWord32le - _msgVelBody_z <- fromIntegral <$> getWord32le - _msgVelBody_cov_x_x <- getFloat32le - _msgVelBody_cov_x_y <- getFloat32le - _msgVelBody_cov_x_z <- getFloat32le - _msgVelBody_cov_y_y <- getFloat32le - _msgVelBody_cov_y_z <- getFloat32le - _msgVelBody_cov_z_z <- getFloat32le - _msgVelBody_n_sats <- getWord8 - _msgVelBody_flags <- getWord8 - pure MsgVelBody {..} - - put MsgVelBody {..} = do - putWord32le _msgVelBody_tow - (putWord32le . fromIntegral) _msgVelBody_x - (putWord32le . fromIntegral) _msgVelBody_y - (putWord32le . fromIntegral) _msgVelBody_z - putFloat32le _msgVelBody_cov_x_x - putFloat32le _msgVelBody_cov_x_y - putFloat32le _msgVelBody_cov_x_z - putFloat32le _msgVelBody_cov_y_y - putFloat32le _msgVelBody_cov_y_z - putFloat32le _msgVelBody_cov_z_z - putWord8 _msgVelBody_n_sats - putWord8 _msgVelBody_flags - -$(makeSBP 'msgVelBody ''MsgVelBody) -$(makeJSON "_msgVelBody_" ''MsgVelBody) -$(makeLenses ''MsgVelBody) - -msgAgeCorrections :: Word16 -msgAgeCorrections = 0x0210 - --- | SBP class for message MSG_AGE_CORRECTIONS (0x0210). --- --- This message reports the Age of the corrections used for the current --- Differential solution -data MsgAgeCorrections = MsgAgeCorrections - { _msgAgeCorrections_tow :: !Word32 - -- ^ GPS Time of Week - , _msgAgeCorrections_age :: !Word16 - -- ^ Age of the corrections (0xFFFF indicates invalid) - } deriving ( Show, Read, Eq ) - -instance Binary MsgAgeCorrections where - get = do - _msgAgeCorrections_tow <- getWord32le - _msgAgeCorrections_age <- getWord16le - pure MsgAgeCorrections {..} - - put MsgAgeCorrections {..} = do - putWord32le _msgAgeCorrections_tow - putWord16le _msgAgeCorrections_age - -$(makeSBP 'msgAgeCorrections ''MsgAgeCorrections) -$(makeJSON "_msgAgeCorrections_" ''MsgAgeCorrections) -$(makeLenses ''MsgAgeCorrections) - -msgGpsTimeDepA :: Word16 -msgGpsTimeDepA = 0x0100 - --- | SBP class for message MSG_GPS_TIME_DEP_A (0x0100). --- --- This message reports the GPS time, representing the time since the GPS epoch --- began on midnight January 6, 1980 UTC. GPS time counts the weeks and seconds --- of the week. The weeks begin at the Saturday/Sunday transition. GPS week 0 --- began at the beginning of the GPS time scale. Within each week number, the --- GPS time of the week is between between 0 and 604800 seconds (=60*60*24*7). --- Note that GPS time does not accumulate leap seconds, and as of now, has a --- small offset from UTC. In a message stream, this message precedes a set of --- other navigation messages referenced to the same time (but lacking the ns --- field) and indicates a more precise time of these messages. -data MsgGpsTimeDepA = MsgGpsTimeDepA - { _msgGpsTimeDepA_wn :: !Word16 - -- ^ GPS week number - , _msgGpsTimeDepA_tow :: !Word32 - -- ^ GPS time of week rounded to the nearest millisecond - , _msgGpsTimeDepA_ns_residual :: !Int32 - -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to - -- 500000) - , _msgGpsTimeDepA_flags :: !Word8 - -- ^ Status flags (reserved) - } deriving ( Show, Read, Eq ) - -instance Binary MsgGpsTimeDepA where - get = do - _msgGpsTimeDepA_wn <- getWord16le - _msgGpsTimeDepA_tow <- getWord32le - _msgGpsTimeDepA_ns_residual <- fromIntegral <$> getWord32le - _msgGpsTimeDepA_flags <- getWord8 - pure MsgGpsTimeDepA {..} - - put MsgGpsTimeDepA {..} = do - putWord16le _msgGpsTimeDepA_wn - putWord32le _msgGpsTimeDepA_tow - (putWord32le . fromIntegral) _msgGpsTimeDepA_ns_residual - putWord8 _msgGpsTimeDepA_flags - -$(makeSBP 'msgGpsTimeDepA ''MsgGpsTimeDepA) -$(makeJSON "_msgGpsTimeDepA_" ''MsgGpsTimeDepA) -$(makeLenses ''MsgGpsTimeDepA) - -msgDopsDepA :: Word16 -msgDopsDepA = 0x0206 - --- | SBP class for message MSG_DOPS_DEP_A (0x0206). --- --- This dilution of precision (DOP) message describes the effect of navigation --- satellite geometry on positional measurement precision. -data MsgDopsDepA = MsgDopsDepA - { _msgDopsDepA_tow :: !Word32 - -- ^ GPS Time of Week - , _msgDopsDepA_gdop :: !Word16 - -- ^ Geometric Dilution of Precision - , _msgDopsDepA_pdop :: !Word16 - -- ^ Position Dilution of Precision - , _msgDopsDepA_tdop :: !Word16 - -- ^ Time Dilution of Precision - , _msgDopsDepA_hdop :: !Word16 - -- ^ Horizontal Dilution of Precision - , _msgDopsDepA_vdop :: !Word16 - -- ^ Vertical Dilution of Precision - } deriving ( Show, Read, Eq ) - -instance Binary MsgDopsDepA where - get = do - _msgDopsDepA_tow <- getWord32le - _msgDopsDepA_gdop <- getWord16le - _msgDopsDepA_pdop <- getWord16le - _msgDopsDepA_tdop <- getWord16le - _msgDopsDepA_hdop <- getWord16le - _msgDopsDepA_vdop <- getWord16le - pure MsgDopsDepA {..} - - put MsgDopsDepA {..} = do - putWord32le _msgDopsDepA_tow - putWord16le _msgDopsDepA_gdop - putWord16le _msgDopsDepA_pdop - putWord16le _msgDopsDepA_tdop - putWord16le _msgDopsDepA_hdop - putWord16le _msgDopsDepA_vdop - -$(makeSBP 'msgDopsDepA ''MsgDopsDepA) -$(makeJSON "_msgDopsDepA_" ''MsgDopsDepA) -$(makeLenses ''MsgDopsDepA) - -msgPosEcefDepA :: Word16 -msgPosEcefDepA = 0x0200 - --- | SBP class for message MSG_POS_ECEF_DEP_A (0x0200). --- --- The position solution message reports absolute Earth Centered Earth Fixed --- (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of --- the position solution. If the rover receiver knows the surveyed position of --- the base station and has an RTK solution, this reports a pseudo-absolute --- position solution using the base station position and the rover's RTK --- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME --- with the matching time-of-week (tow). -data MsgPosEcefDepA = MsgPosEcefDepA - { _msgPosEcefDepA_tow :: !Word32 - -- ^ GPS Time of Week - , _msgPosEcefDepA_x :: !Double - -- ^ ECEF X coordinate - , _msgPosEcefDepA_y :: !Double - -- ^ ECEF Y coordinate - , _msgPosEcefDepA_z :: !Double - -- ^ ECEF Z coordinate - , _msgPosEcefDepA_accuracy :: !Word16 - -- ^ Position accuracy estimate (not implemented). Defaults to 0. - , _msgPosEcefDepA_n_sats :: !Word8 - -- ^ Number of satellites used in solution - , _msgPosEcefDepA_flags :: !Word8 - -- ^ Status flags - } deriving ( Show, Read, Eq ) - -instance Binary MsgPosEcefDepA where - get = do - _msgPosEcefDepA_tow <- getWord32le - _msgPosEcefDepA_x <- getFloat64le - _msgPosEcefDepA_y <- getFloat64le - _msgPosEcefDepA_z <- getFloat64le - _msgPosEcefDepA_accuracy <- getWord16le - _msgPosEcefDepA_n_sats <- getWord8 - _msgPosEcefDepA_flags <- getWord8 - pure MsgPosEcefDepA {..} - - put MsgPosEcefDepA {..} = do - putWord32le _msgPosEcefDepA_tow - putFloat64le _msgPosEcefDepA_x - putFloat64le _msgPosEcefDepA_y - putFloat64le _msgPosEcefDepA_z - putWord16le _msgPosEcefDepA_accuracy - putWord8 _msgPosEcefDepA_n_sats - putWord8 _msgPosEcefDepA_flags - -$(makeSBP 'msgPosEcefDepA ''MsgPosEcefDepA) -$(makeJSON "_msgPosEcefDepA_" ''MsgPosEcefDepA) -$(makeLenses ''MsgPosEcefDepA) - -msgPosLlhDepA :: Word16 -msgPosLlhDepA = 0x0201 - --- | SBP class for message MSG_POS_LLH_DEP_A (0x0201). --- --- This position solution message reports the absolute geodetic coordinates and --- the status (single point vs pseudo-absolute RTK) of the position solution. --- If the rover receiver knows the surveyed position of the base station and --- has an RTK solution, this reports a pseudo-absolute position solution using --- the base station position and the rover's RTK baseline vector. The full GPS --- time is given by the preceding MSG_GPS_TIME with the matching time-of-week --- (tow). -data MsgPosLlhDepA = MsgPosLlhDepA - { _msgPosLlhDepA_tow :: !Word32 - -- ^ GPS Time of Week - , _msgPosLlhDepA_lat :: !Double - -- ^ Latitude - , _msgPosLlhDepA_lon :: !Double - -- ^ Longitude - , _msgPosLlhDepA_height :: !Double - -- ^ Height - , _msgPosLlhDepA_h_accuracy :: !Word16 - -- ^ Horizontal position accuracy estimate (not implemented). Defaults to 0. - , _msgPosLlhDepA_v_accuracy :: !Word16 - -- ^ Vertical position accuracy estimate (not implemented). Defaults to 0. - , _msgPosLlhDepA_n_sats :: !Word8 - -- ^ Number of satellites used in solution. - , _msgPosLlhDepA_flags :: !Word8 - -- ^ Status flags - } deriving ( Show, Read, Eq ) - -instance Binary MsgPosLlhDepA where - get = do - _msgPosLlhDepA_tow <- getWord32le - _msgPosLlhDepA_lat <- getFloat64le - _msgPosLlhDepA_lon <- getFloat64le - _msgPosLlhDepA_height <- getFloat64le - _msgPosLlhDepA_h_accuracy <- getWord16le - _msgPosLlhDepA_v_accuracy <- getWord16le - _msgPosLlhDepA_n_sats <- getWord8 - _msgPosLlhDepA_flags <- getWord8 - pure MsgPosLlhDepA {..} - - put MsgPosLlhDepA {..} = do - putWord32le _msgPosLlhDepA_tow - putFloat64le _msgPosLlhDepA_lat - putFloat64le _msgPosLlhDepA_lon - putFloat64le _msgPosLlhDepA_height - putWord16le _msgPosLlhDepA_h_accuracy - putWord16le _msgPosLlhDepA_v_accuracy - putWord8 _msgPosLlhDepA_n_sats - putWord8 _msgPosLlhDepA_flags - -$(makeSBP 'msgPosLlhDepA ''MsgPosLlhDepA) -$(makeJSON "_msgPosLlhDepA_" ''MsgPosLlhDepA) -$(makeLenses ''MsgPosLlhDepA) - -msgBaselineEcefDepA :: Word16 -msgBaselineEcefDepA = 0x0202 - --- | SBP class for message MSG_BASELINE_ECEF_DEP_A (0x0202). --- --- This message reports the baseline solution in Earth Centered Earth Fixed --- (ECEF) coordinates. This baseline is the relative vector distance from the --- 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 - -- ^ GPS Time of Week - , _msgBaselineEcefDepA_x :: !Int32 - -- ^ Baseline ECEF X coordinate - , _msgBaselineEcefDepA_y :: !Int32 - -- ^ Baseline ECEF Y coordinate - , _msgBaselineEcefDepA_z :: !Int32 - -- ^ Baseline ECEF Z coordinate - , _msgBaselineEcefDepA_accuracy :: !Word16 - -- ^ Position accuracy estimate - , _msgBaselineEcefDepA_n_sats :: !Word8 - -- ^ Number of satellites used in solution - , _msgBaselineEcefDepA_flags :: !Word8 - -- ^ Status flags - } deriving ( Show, Read, Eq ) - -instance Binary MsgBaselineEcefDepA where - get = do - _msgBaselineEcefDepA_tow <- getWord32le - _msgBaselineEcefDepA_x <- fromIntegral <$> getWord32le - _msgBaselineEcefDepA_y <- fromIntegral <$> getWord32le - _msgBaselineEcefDepA_z <- fromIntegral <$> getWord32le - _msgBaselineEcefDepA_accuracy <- getWord16le - _msgBaselineEcefDepA_n_sats <- getWord8 - _msgBaselineEcefDepA_flags <- getWord8 - pure MsgBaselineEcefDepA {..} - - put MsgBaselineEcefDepA {..} = do - putWord32le _msgBaselineEcefDepA_tow - (putWord32le . fromIntegral) _msgBaselineEcefDepA_x - (putWord32le . fromIntegral) _msgBaselineEcefDepA_y - (putWord32le . fromIntegral) _msgBaselineEcefDepA_z - putWord16le _msgBaselineEcefDepA_accuracy - putWord8 _msgBaselineEcefDepA_n_sats - putWord8 _msgBaselineEcefDepA_flags - -$(makeSBP 'msgBaselineEcefDepA ''MsgBaselineEcefDepA) -$(makeJSON "_msgBaselineEcefDepA_" ''MsgBaselineEcefDepA) -$(makeLenses ''MsgBaselineEcefDepA) - -msgBaselineNedDepA :: Word16 -msgBaselineNedDepA = 0x0203 - --- | SBP class for message MSG_BASELINE_NED_DEP_A (0x0203). --- --- This message reports the baseline solution in North East Down (NED) --- coordinates. This baseline is the relative vector distance from the base --- station to the rover receiver, and NED coordinate system is defined at the --- local WGS84 tangent plane centered at the base station position. The full --- GPS time is given by the preceding MSG_GPS_TIME with the matching time-of- --- week (tow). -data MsgBaselineNedDepA = MsgBaselineNedDepA - { _msgBaselineNedDepA_tow :: !Word32 - -- ^ GPS Time of Week - , _msgBaselineNedDepA_n :: !Int32 - -- ^ Baseline North coordinate - , _msgBaselineNedDepA_e :: !Int32 - -- ^ Baseline East coordinate - , _msgBaselineNedDepA_d :: !Int32 - -- ^ Baseline Down coordinate - , _msgBaselineNedDepA_h_accuracy :: !Word16 - -- ^ Horizontal position accuracy estimate (not implemented). Defaults to 0. - , _msgBaselineNedDepA_v_accuracy :: !Word16 - -- ^ Vertical position accuracy estimate (not implemented). Defaults to 0. - , _msgBaselineNedDepA_n_sats :: !Word8 - -- ^ Number of satellites used in solution - , _msgBaselineNedDepA_flags :: !Word8 - -- ^ Status flags - } deriving ( Show, Read, Eq ) - -instance Binary MsgBaselineNedDepA where - get = do - _msgBaselineNedDepA_tow <- getWord32le - _msgBaselineNedDepA_n <- fromIntegral <$> getWord32le - _msgBaselineNedDepA_e <- fromIntegral <$> getWord32le - _msgBaselineNedDepA_d <- fromIntegral <$> getWord32le - _msgBaselineNedDepA_h_accuracy <- getWord16le - _msgBaselineNedDepA_v_accuracy <- getWord16le - _msgBaselineNedDepA_n_sats <- getWord8 - _msgBaselineNedDepA_flags <- getWord8 - pure MsgBaselineNedDepA {..} - - put MsgBaselineNedDepA {..} = do - putWord32le _msgBaselineNedDepA_tow - (putWord32le . fromIntegral) _msgBaselineNedDepA_n - (putWord32le . fromIntegral) _msgBaselineNedDepA_e - (putWord32le . fromIntegral) _msgBaselineNedDepA_d - putWord16le _msgBaselineNedDepA_h_accuracy - putWord16le _msgBaselineNedDepA_v_accuracy - putWord8 _msgBaselineNedDepA_n_sats - putWord8 _msgBaselineNedDepA_flags - -$(makeSBP 'msgBaselineNedDepA ''MsgBaselineNedDepA) -$(makeJSON "_msgBaselineNedDepA_" ''MsgBaselineNedDepA) -$(makeLenses ''MsgBaselineNedDepA) - -msgVelEcefDepA :: Word16 -msgVelEcefDepA = 0x0204 - --- | SBP class for message MSG_VEL_ECEF_DEP_A (0x0204). --- --- This message reports the velocity in Earth Centered Earth Fixed (ECEF) --- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with --- the matching time-of-week (tow). -data MsgVelEcefDepA = MsgVelEcefDepA - { _msgVelEcefDepA_tow :: !Word32 - -- ^ GPS Time of Week - , _msgVelEcefDepA_x :: !Int32 - -- ^ Velocity ECEF X coordinate - , _msgVelEcefDepA_y :: !Int32 - -- ^ Velocity ECEF Y coordinate - , _msgVelEcefDepA_z :: !Int32 - -- ^ Velocity ECEF Z coordinate - , _msgVelEcefDepA_accuracy :: !Word16 - -- ^ Velocity accuracy estimate (not implemented). Defaults to 0. - , _msgVelEcefDepA_n_sats :: !Word8 - -- ^ Number of satellites used in solution - , _msgVelEcefDepA_flags :: !Word8 - -- ^ Status flags (reserved) - } deriving ( Show, Read, Eq ) - -instance Binary MsgVelEcefDepA where - get = do - _msgVelEcefDepA_tow <- getWord32le - _msgVelEcefDepA_x <- fromIntegral <$> getWord32le - _msgVelEcefDepA_y <- fromIntegral <$> getWord32le - _msgVelEcefDepA_z <- fromIntegral <$> getWord32le - _msgVelEcefDepA_accuracy <- getWord16le - _msgVelEcefDepA_n_sats <- getWord8 - _msgVelEcefDepA_flags <- getWord8 - pure MsgVelEcefDepA {..} - - put MsgVelEcefDepA {..} = do - putWord32le _msgVelEcefDepA_tow - (putWord32le . fromIntegral) _msgVelEcefDepA_x - (putWord32le . fromIntegral) _msgVelEcefDepA_y - (putWord32le . fromIntegral) _msgVelEcefDepA_z - putWord16le _msgVelEcefDepA_accuracy - putWord8 _msgVelEcefDepA_n_sats - putWord8 _msgVelEcefDepA_flags - -$(makeSBP 'msgVelEcefDepA ''MsgVelEcefDepA) -$(makeJSON "_msgVelEcefDepA_" ''MsgVelEcefDepA) -$(makeLenses ''MsgVelEcefDepA) - -msgVelNedDepA :: Word16 -msgVelNedDepA = 0x0205 - --- | SBP class for message MSG_VEL_NED_DEP_A (0x0205). --- --- This message reports the velocity in local North East Down (NED) --- coordinates. The NED coordinate system is defined as the local WGS84 tangent --- plane centered at the current position. The full GPS time is given by the --- preceding MSG_GPS_TIME with the matching time-of-week (tow). -data MsgVelNedDepA = MsgVelNedDepA - { _msgVelNedDepA_tow :: !Word32 - -- ^ GPS Time of Week - , _msgVelNedDepA_n :: !Int32 - -- ^ Velocity North coordinate - , _msgVelNedDepA_e :: !Int32 - -- ^ Velocity East coordinate - , _msgVelNedDepA_d :: !Int32 - -- ^ Velocity Down coordinate - , _msgVelNedDepA_h_accuracy :: !Word16 - -- ^ Horizontal velocity accuracy estimate (not implemented). Defaults to 0. - , _msgVelNedDepA_v_accuracy :: !Word16 - -- ^ Vertical velocity accuracy estimate (not implemented). Defaults to 0. - , _msgVelNedDepA_n_sats :: !Word8 - -- ^ Number of satellites used in solution - , _msgVelNedDepA_flags :: !Word8 - -- ^ Status flags (reserved) - } deriving ( Show, Read, Eq ) - -instance Binary MsgVelNedDepA where - get = do - _msgVelNedDepA_tow <- getWord32le - _msgVelNedDepA_n <- fromIntegral <$> getWord32le - _msgVelNedDepA_e <- fromIntegral <$> getWord32le - _msgVelNedDepA_d <- fromIntegral <$> getWord32le - _msgVelNedDepA_h_accuracy <- getWord16le - _msgVelNedDepA_v_accuracy <- getWord16le - _msgVelNedDepA_n_sats <- getWord8 - _msgVelNedDepA_flags <- getWord8 - pure MsgVelNedDepA {..} - - put MsgVelNedDepA {..} = do - putWord32le _msgVelNedDepA_tow - (putWord32le . fromIntegral) _msgVelNedDepA_n - (putWord32le . fromIntegral) _msgVelNedDepA_e - (putWord32le . fromIntegral) _msgVelNedDepA_d - putWord16le _msgVelNedDepA_h_accuracy - putWord16le _msgVelNedDepA_v_accuracy - putWord8 _msgVelNedDepA_n_sats - putWord8 _msgVelNedDepA_flags - -$(makeSBP 'msgVelNedDepA ''MsgVelNedDepA) -$(makeJSON "_msgVelNedDepA_" ''MsgVelNedDepA) -$(makeLenses ''MsgVelNedDepA) - -msgBaselineHeadingDepA :: Word16 -msgBaselineHeadingDepA = 0x0207 - --- | SBP class for message MSG_BASELINE_HEADING_DEP_A (0x0207). --- --- This message reports the baseline heading pointing from the base station to --- the rover relative to True North. The full GPS time is given by the --- preceding MSG_GPS_TIME with the matching time-of-week (tow). -data MsgBaselineHeadingDepA = MsgBaselineHeadingDepA - { _msgBaselineHeadingDepA_tow :: !Word32 - -- ^ GPS Time of Week - , _msgBaselineHeadingDepA_heading :: !Word32 - -- ^ Heading - , _msgBaselineHeadingDepA_n_sats :: !Word8 - -- ^ Number of satellites used in solution - , _msgBaselineHeadingDepA_flags :: !Word8 - -- ^ Status flags - } deriving ( Show, Read, Eq ) - -instance Binary MsgBaselineHeadingDepA where - get = do - _msgBaselineHeadingDepA_tow <- getWord32le - _msgBaselineHeadingDepA_heading <- getWord32le - _msgBaselineHeadingDepA_n_sats <- getWord8 - _msgBaselineHeadingDepA_flags <- getWord8 - pure MsgBaselineHeadingDepA {..} - - put MsgBaselineHeadingDepA {..} = do - putWord32le _msgBaselineHeadingDepA_tow - putWord32le _msgBaselineHeadingDepA_heading - putWord8 _msgBaselineHeadingDepA_n_sats - putWord8 _msgBaselineHeadingDepA_flags - -$(makeSBP 'msgBaselineHeadingDepA ''MsgBaselineHeadingDepA) -$(makeJSON "_msgBaselineHeadingDepA_" ''MsgBaselineHeadingDepA) -$(makeLenses ''MsgBaselineHeadingDepA) +-- License: MIT +-- Contact: https://support.swiftnav.com +-- Stability: experimental +-- Portability: portable +-- +-- \< Geodetic navigation messages reporting GPS time, position, velocity, and +-- baseline position solutions. For position solutions, these messages define +-- several different position solutions: single-point (SPP), RTK, and pseudo- +-- absolute position solutions. +-- +-- The SPP is the standalone, absolute GPS position solution using only a +-- single receiver. The RTK solution is the differential GPS solution, which +-- can use either a fixed/integer or floating carrier phase ambiguity. The +-- pseudo-absolute position solution uses a user-provided, well-surveyed base +-- station position (if available) and the RTK solution in tandem. +-- +-- When the inertial navigation mode indicates that the IMU is used, all +-- messages are reported in the vehicle body frame as defined by device +-- settings. By default, the vehicle body frame is configured to be +-- coincident with the antenna phase center. When there is no inertial +-- navigation, the solution will be reported at the phase center of the +-- antenna. There is no inertial navigation capability on Piksi Multi or Duro. +-- +-- The tow field, when valid, is most often the Time of Measurement. When this +-- is the case, the 5th bit of flags is set to the default value of 0. When +-- this is not the case, the tow may be a time of arrival or a local system +-- timestamp, irrespective of the time reference (GPS Week or else), but not a +-- Time of Measurement. \> + +module SwiftNav.SBP.Navigation + ( module SwiftNav.SBP.Navigation + ) where + +import BasicPrelude +import Control.Lens +import Control.Monad.Loops +import Data.Binary +import Data.Binary.Get +import Data.Binary.IEEE754 +import Data.Binary.Put +import Data.ByteString.Lazy hiding (ByteString) +import Data.Int +import Data.Word +import SwiftNav.SBP.TH +import SwiftNav.SBP.Types + +{-# ANN module ("HLint: ignore Use camelCase"::String) #-} +{-# ANN module ("HLint: ignore Redundant do"::String) #-} +{-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-} + + +msgGpsTime :: Word16 +msgGpsTime = 0x0102 + +-- | SBP class for message MSG_GPS_TIME (0x0102). +-- +-- This message reports the GPS time, representing the time since the GPS +-- epoch began on midnight January 6, 1980 UTC. GPS time counts the weeks and +-- seconds of the week. The weeks begin at the Saturday/Sunday transition. GPS +-- week 0 began at the beginning of the GPS time scale. +-- +-- Within each week number, the GPS time of the week is between between 0 and +-- 604800 seconds (=60*60*24*7). Note that GPS time does not accumulate leap +-- seconds, and as of now, has a small offset from UTC. In a message stream, +-- this message precedes a set of 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 + -- ^ GPS week number + , _msgGpsTime_tow :: !Word32 + -- ^ GPS time of week rounded to the nearest millisecond + , _msgGpsTime_ns_residual :: !Int32 + -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to + -- 500000) + , _msgGpsTime_flags :: !Word8 + -- ^ Status flags (reserved) + } deriving ( Show, Read, Eq ) + +instance Binary MsgGpsTime where + get = do + _msgGpsTime_wn <- getWord16le + _msgGpsTime_tow <- getWord32le + _msgGpsTime_ns_residual <- (fromIntegral <$> getWord32le) + _msgGpsTime_flags <- getWord8 + pure MsgGpsTime {..} + + put MsgGpsTime {..} = do + putWord16le _msgGpsTime_wn + putWord32le _msgGpsTime_tow + (putWord32le . fromIntegral) _msgGpsTime_ns_residual + putWord8 _msgGpsTime_flags + +$(makeSBP 'msgGpsTime ''MsgGpsTime) +$(makeJSON "_msgGpsTime_" ''MsgGpsTime) +$(makeLenses ''MsgGpsTime) + +msgGpsTimeGnss :: Word16 +msgGpsTimeGnss = 0x0104 + +-- | SBP class for message MSG_GPS_TIME_GNSS (0x0104). +-- +-- This message reports the GPS time, representing the time since the GPS +-- epoch began on midnight January 6, 1980 UTC. GPS time counts the weeks and +-- seconds of the week. The weeks begin at the Saturday/Sunday transition. GPS +-- week 0 began at the beginning of the GPS time scale. +-- +-- Within each week number, the GPS time of the week is between between 0 and +-- 604800 seconds (=60*60*24*7). Note that GPS time does not accumulate leap +-- seconds, and as of now, has a small offset from UTC. In a message stream, +-- this message precedes a set of other navigation messages referenced to the +-- same time (but lacking the ns field) and indicates a more precise time of +-- these messages. +data MsgGpsTimeGnss = MsgGpsTimeGnss + { _msgGpsTimeGnss_wn :: !Word16 + -- ^ GPS week number + , _msgGpsTimeGnss_tow :: !Word32 + -- ^ GPS time of week rounded to the nearest millisecond + , _msgGpsTimeGnss_ns_residual :: !Int32 + -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to + -- 500000) + , _msgGpsTimeGnss_flags :: !Word8 + -- ^ Status flags (reserved) + } deriving ( Show, Read, Eq ) + +instance Binary MsgGpsTimeGnss where + get = do + _msgGpsTimeGnss_wn <- getWord16le + _msgGpsTimeGnss_tow <- getWord32le + _msgGpsTimeGnss_ns_residual <- (fromIntegral <$> getWord32le) + _msgGpsTimeGnss_flags <- getWord8 + pure MsgGpsTimeGnss {..} + + put MsgGpsTimeGnss {..} = do + putWord16le _msgGpsTimeGnss_wn + putWord32le _msgGpsTimeGnss_tow + (putWord32le . fromIntegral) _msgGpsTimeGnss_ns_residual + putWord8 _msgGpsTimeGnss_flags + +$(makeSBP 'msgGpsTimeGnss ''MsgGpsTimeGnss) +$(makeJSON "_msgGpsTimeGnss_" ''MsgGpsTimeGnss) +$(makeLenses ''MsgGpsTimeGnss) + +msgUtcTime :: Word16 +msgUtcTime = 0x0103 + +-- | SBP class for message MSG_UTC_TIME (0x0103). +-- +-- This message reports the Universal Coordinated Time (UTC). Note the flags +-- which indicate the source of the UTC offset value and source of the time +-- fix. +data MsgUtcTime = MsgUtcTime + { _msgUtcTime_flags :: !Word8 + -- ^ Indicates source and time validity + , _msgUtcTime_tow :: !Word32 + -- ^ GPS time of week rounded to the nearest millisecond + , _msgUtcTime_year :: !Word16 + -- ^ Year + , _msgUtcTime_month :: !Word8 + -- ^ Month (range 1 .. 12) + , _msgUtcTime_day :: !Word8 + -- ^ days in the month (range 1-31) + , _msgUtcTime_hours :: !Word8 + -- ^ hours of day (range 0-23) + , _msgUtcTime_minutes :: !Word8 + -- ^ minutes of hour (range 0-59) + , _msgUtcTime_seconds :: !Word8 + -- ^ seconds of minute (range 0-60) rounded down + , _msgUtcTime_ns :: !Word32 + -- ^ nanoseconds of second (range 0-999999999) + } deriving ( Show, Read, Eq ) + +instance Binary MsgUtcTime where + get = do + _msgUtcTime_flags <- getWord8 + _msgUtcTime_tow <- getWord32le + _msgUtcTime_year <- getWord16le + _msgUtcTime_month <- getWord8 + _msgUtcTime_day <- getWord8 + _msgUtcTime_hours <- getWord8 + _msgUtcTime_minutes <- getWord8 + _msgUtcTime_seconds <- getWord8 + _msgUtcTime_ns <- getWord32le + pure MsgUtcTime {..} + + put MsgUtcTime {..} = do + putWord8 _msgUtcTime_flags + putWord32le _msgUtcTime_tow + putWord16le _msgUtcTime_year + putWord8 _msgUtcTime_month + putWord8 _msgUtcTime_day + putWord8 _msgUtcTime_hours + putWord8 _msgUtcTime_minutes + putWord8 _msgUtcTime_seconds + putWord32le _msgUtcTime_ns + +$(makeSBP 'msgUtcTime ''MsgUtcTime) +$(makeJSON "_msgUtcTime_" ''MsgUtcTime) +$(makeLenses ''MsgUtcTime) + +msgUtcTimeGnss :: Word16 +msgUtcTimeGnss = 0x0105 + +-- | SBP class for message MSG_UTC_TIME_GNSS (0x0105). +-- +-- This message reports the Universal Coordinated Time (UTC). Note the flags +-- which indicate the source of the UTC offset value and source of the time +-- fix. +data MsgUtcTimeGnss = MsgUtcTimeGnss + { _msgUtcTimeGnss_flags :: !Word8 + -- ^ Indicates source and time validity + , _msgUtcTimeGnss_tow :: !Word32 + -- ^ GPS time of week rounded to the nearest millisecond + , _msgUtcTimeGnss_year :: !Word16 + -- ^ Year + , _msgUtcTimeGnss_month :: !Word8 + -- ^ Month (range 1 .. 12) + , _msgUtcTimeGnss_day :: !Word8 + -- ^ days in the month (range 1-31) + , _msgUtcTimeGnss_hours :: !Word8 + -- ^ hours of day (range 0-23) + , _msgUtcTimeGnss_minutes :: !Word8 + -- ^ minutes of hour (range 0-59) + , _msgUtcTimeGnss_seconds :: !Word8 + -- ^ seconds of minute (range 0-60) rounded down + , _msgUtcTimeGnss_ns :: !Word32 + -- ^ nanoseconds of second (range 0-999999999) + } deriving ( Show, Read, Eq ) + +instance Binary MsgUtcTimeGnss where + get = do + _msgUtcTimeGnss_flags <- getWord8 + _msgUtcTimeGnss_tow <- getWord32le + _msgUtcTimeGnss_year <- getWord16le + _msgUtcTimeGnss_month <- getWord8 + _msgUtcTimeGnss_day <- getWord8 + _msgUtcTimeGnss_hours <- getWord8 + _msgUtcTimeGnss_minutes <- getWord8 + _msgUtcTimeGnss_seconds <- getWord8 + _msgUtcTimeGnss_ns <- getWord32le + pure MsgUtcTimeGnss {..} + + put MsgUtcTimeGnss {..} = do + putWord8 _msgUtcTimeGnss_flags + putWord32le _msgUtcTimeGnss_tow + putWord16le _msgUtcTimeGnss_year + putWord8 _msgUtcTimeGnss_month + putWord8 _msgUtcTimeGnss_day + putWord8 _msgUtcTimeGnss_hours + putWord8 _msgUtcTimeGnss_minutes + putWord8 _msgUtcTimeGnss_seconds + putWord32le _msgUtcTimeGnss_ns + +$(makeSBP 'msgUtcTimeGnss ''MsgUtcTimeGnss) +$(makeJSON "_msgUtcTimeGnss_" ''MsgUtcTimeGnss) +$(makeLenses ''MsgUtcTimeGnss) + +msgDops :: Word16 +msgDops = 0x0208 + +-- | SBP class for message MSG_DOPS (0x0208). +-- +-- This dilution of precision (DOP) message describes the effect of navigation +-- satellite geometry on positional measurement precision. The flags field +-- indicated whether the DOP reported corresponds to differential or SPP +-- solution. +data MsgDops = MsgDops + { _msgDops_tow :: !Word32 + -- ^ GPS Time of Week + , _msgDops_gdop :: !Word16 + -- ^ Geometric Dilution of Precision + , _msgDops_pdop :: !Word16 + -- ^ Position Dilution of Precision + , _msgDops_tdop :: !Word16 + -- ^ Time Dilution of Precision + , _msgDops_hdop :: !Word16 + -- ^ Horizontal Dilution of Precision + , _msgDops_vdop :: !Word16 + -- ^ Vertical Dilution of Precision + , _msgDops_flags :: !Word8 + -- ^ Indicates the position solution with which the DOPS message corresponds + } deriving ( Show, Read, Eq ) + +instance Binary MsgDops where + get = do + _msgDops_tow <- getWord32le + _msgDops_gdop <- getWord16le + _msgDops_pdop <- getWord16le + _msgDops_tdop <- getWord16le + _msgDops_hdop <- getWord16le + _msgDops_vdop <- getWord16le + _msgDops_flags <- getWord8 + pure MsgDops {..} + + put MsgDops {..} = do + putWord32le _msgDops_tow + putWord16le _msgDops_gdop + putWord16le _msgDops_pdop + putWord16le _msgDops_tdop + putWord16le _msgDops_hdop + putWord16le _msgDops_vdop + putWord8 _msgDops_flags + +$(makeSBP 'msgDops ''MsgDops) +$(makeJSON "_msgDops_" ''MsgDops) +$(makeLenses ''MsgDops) + +msgPosEcef :: Word16 +msgPosEcef = 0x0209 + +-- | SBP class for message MSG_POS_ECEF (0x0209). +-- +-- The position solution message reports absolute Earth Centered Earth Fixed +-- (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of +-- the position solution. If the rover receiver knows the surveyed position of +-- the base station and has an RTK solution, this reports a pseudo-absolute +-- position solution using the base station position and the rover's RTK +-- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME +-- with the matching time-of-week (tow). +data MsgPosEcef = MsgPosEcef + { _msgPosEcef_tow :: !Word32 + -- ^ GPS Time of Week + , _msgPosEcef_x :: !Double + -- ^ ECEF X coordinate + , _msgPosEcef_y :: !Double + -- ^ ECEF Y coordinate + , _msgPosEcef_z :: !Double + -- ^ ECEF Z coordinate + , _msgPosEcef_accuracy :: !Word16 + -- ^ Position estimated standard deviation + , _msgPosEcef_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgPosEcef_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgPosEcef where + get = do + _msgPosEcef_tow <- getWord32le + _msgPosEcef_x <- getFloat64le + _msgPosEcef_y <- getFloat64le + _msgPosEcef_z <- getFloat64le + _msgPosEcef_accuracy <- getWord16le + _msgPosEcef_n_sats <- getWord8 + _msgPosEcef_flags <- getWord8 + pure MsgPosEcef {..} + + put MsgPosEcef {..} = do + putWord32le _msgPosEcef_tow + putFloat64le _msgPosEcef_x + putFloat64le _msgPosEcef_y + putFloat64le _msgPosEcef_z + putWord16le _msgPosEcef_accuracy + putWord8 _msgPosEcef_n_sats + putWord8 _msgPosEcef_flags + +$(makeSBP 'msgPosEcef ''MsgPosEcef) +$(makeJSON "_msgPosEcef_" ''MsgPosEcef) +$(makeLenses ''MsgPosEcef) + +msgPosEcefCov :: Word16 +msgPosEcefCov = 0x0214 + +-- | SBP class for message MSG_POS_ECEF_COV (0x0214). +-- +-- The position solution message reports absolute Earth Centered Earth Fixed +-- (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of +-- the position solution. The message also reports the upper triangular +-- portion of the 3x3 covariance matrix. If the receiver knows the surveyed +-- position of the base station and has an RTK solution, this reports a +-- pseudo-absolute position solution using the base station position and the +-- rover's RTK baseline vector. The full GPS time is given by the preceding +-- MSG_GPS_TIME with the matching time-of-week (tow). +data MsgPosEcefCov = MsgPosEcefCov + { _msgPosEcefCov_tow :: !Word32 + -- ^ GPS Time of Week + , _msgPosEcefCov_x :: !Double + -- ^ ECEF X coordinate + , _msgPosEcefCov_y :: !Double + -- ^ ECEF Y coordinate + , _msgPosEcefCov_z :: !Double + -- ^ ECEF Z coordinate + , _msgPosEcefCov_cov_x_x :: !Float + -- ^ Estimated variance of x + , _msgPosEcefCov_cov_x_y :: !Float + -- ^ Estimated covariance of x and y + , _msgPosEcefCov_cov_x_z :: !Float + -- ^ Estimated covariance of x and z + , _msgPosEcefCov_cov_y_y :: !Float + -- ^ Estimated variance of y + , _msgPosEcefCov_cov_y_z :: !Float + -- ^ Estimated covariance of y and z + , _msgPosEcefCov_cov_z_z :: !Float + -- ^ Estimated variance of z + , _msgPosEcefCov_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgPosEcefCov_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgPosEcefCov where + get = do + _msgPosEcefCov_tow <- getWord32le + _msgPosEcefCov_x <- getFloat64le + _msgPosEcefCov_y <- getFloat64le + _msgPosEcefCov_z <- getFloat64le + _msgPosEcefCov_cov_x_x <- getFloat32le + _msgPosEcefCov_cov_x_y <- getFloat32le + _msgPosEcefCov_cov_x_z <- getFloat32le + _msgPosEcefCov_cov_y_y <- getFloat32le + _msgPosEcefCov_cov_y_z <- getFloat32le + _msgPosEcefCov_cov_z_z <- getFloat32le + _msgPosEcefCov_n_sats <- getWord8 + _msgPosEcefCov_flags <- getWord8 + pure MsgPosEcefCov {..} + + put MsgPosEcefCov {..} = do + putWord32le _msgPosEcefCov_tow + putFloat64le _msgPosEcefCov_x + putFloat64le _msgPosEcefCov_y + putFloat64le _msgPosEcefCov_z + putFloat32le _msgPosEcefCov_cov_x_x + putFloat32le _msgPosEcefCov_cov_x_y + putFloat32le _msgPosEcefCov_cov_x_z + putFloat32le _msgPosEcefCov_cov_y_y + putFloat32le _msgPosEcefCov_cov_y_z + putFloat32le _msgPosEcefCov_cov_z_z + putWord8 _msgPosEcefCov_n_sats + putWord8 _msgPosEcefCov_flags + +$(makeSBP 'msgPosEcefCov ''MsgPosEcefCov) +$(makeJSON "_msgPosEcefCov_" ''MsgPosEcefCov) +$(makeLenses ''MsgPosEcefCov) + +msgPosLlh :: Word16 +msgPosLlh = 0x020A + +-- | SBP class for message MSG_POS_LLH (0x020A). +-- +-- This position solution message reports the absolute geodetic coordinates +-- and the status (single point vs pseudo-absolute RTK) of the position +-- solution. If the rover receiver knows the surveyed position of the base +-- station and has an RTK solution, this reports a pseudo-absolute position +-- solution using the base station position and the rover's RTK baseline +-- vector. The full GPS time is given by the preceding MSG_GPS_TIME with the +-- matching time-of-week (tow). +data MsgPosLlh = MsgPosLlh + { _msgPosLlh_tow :: !Word32 + -- ^ GPS Time of Week + , _msgPosLlh_lat :: !Double + -- ^ Latitude + , _msgPosLlh_lon :: !Double + -- ^ Longitude + , _msgPosLlh_height :: !Double + -- ^ Height above WGS84 ellipsoid + , _msgPosLlh_h_accuracy :: !Word16 + -- ^ Horizontal position estimated standard deviation + , _msgPosLlh_v_accuracy :: !Word16 + -- ^ Vertical position estimated standard deviation + , _msgPosLlh_n_sats :: !Word8 + -- ^ Number of satellites used in solution. + , _msgPosLlh_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgPosLlh where + get = do + _msgPosLlh_tow <- getWord32le + _msgPosLlh_lat <- getFloat64le + _msgPosLlh_lon <- getFloat64le + _msgPosLlh_height <- getFloat64le + _msgPosLlh_h_accuracy <- getWord16le + _msgPosLlh_v_accuracy <- getWord16le + _msgPosLlh_n_sats <- getWord8 + _msgPosLlh_flags <- getWord8 + pure MsgPosLlh {..} + + put MsgPosLlh {..} = do + putWord32le _msgPosLlh_tow + putFloat64le _msgPosLlh_lat + putFloat64le _msgPosLlh_lon + putFloat64le _msgPosLlh_height + putWord16le _msgPosLlh_h_accuracy + putWord16le _msgPosLlh_v_accuracy + putWord8 _msgPosLlh_n_sats + putWord8 _msgPosLlh_flags + +$(makeSBP 'msgPosLlh ''MsgPosLlh) +$(makeJSON "_msgPosLlh_" ''MsgPosLlh) +$(makeLenses ''MsgPosLlh) + +msgPosLlhCov :: Word16 +msgPosLlhCov = 0x0211 + +-- | SBP class for message MSG_POS_LLH_COV (0x0211). +-- +-- This position solution message reports the absolute geodetic coordinates +-- and the status (single point vs pseudo-absolute RTK) of the position +-- solution as well as the upper triangle of the 3x3 covariance matrix. The +-- position information and Fix Mode flags follow the MSG_POS_LLH message. +-- Since the covariance matrix is computed in the local-level North, East, +-- Down frame, the covariance terms follow that convention. Thus, covariances +-- are reported against the "downward" measurement and care should be taken +-- with the sign convention. +data MsgPosLlhCov = MsgPosLlhCov + { _msgPosLlhCov_tow :: !Word32 + -- ^ GPS Time of Week + , _msgPosLlhCov_lat :: !Double + -- ^ Latitude + , _msgPosLlhCov_lon :: !Double + -- ^ Longitude + , _msgPosLlhCov_height :: !Double + -- ^ Height above WGS84 ellipsoid + , _msgPosLlhCov_cov_n_n :: !Float + -- ^ Estimated variance of northing + , _msgPosLlhCov_cov_n_e :: !Float + -- ^ Covariance of northing and easting + , _msgPosLlhCov_cov_n_d :: !Float + -- ^ Covariance of northing and downward measurement + , _msgPosLlhCov_cov_e_e :: !Float + -- ^ Estimated variance of easting + , _msgPosLlhCov_cov_e_d :: !Float + -- ^ Covariance of easting and downward measurement + , _msgPosLlhCov_cov_d_d :: !Float + -- ^ Estimated variance of downward measurement + , _msgPosLlhCov_n_sats :: !Word8 + -- ^ Number of satellites used in solution. + , _msgPosLlhCov_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgPosLlhCov where + get = do + _msgPosLlhCov_tow <- getWord32le + _msgPosLlhCov_lat <- getFloat64le + _msgPosLlhCov_lon <- getFloat64le + _msgPosLlhCov_height <- getFloat64le + _msgPosLlhCov_cov_n_n <- getFloat32le + _msgPosLlhCov_cov_n_e <- getFloat32le + _msgPosLlhCov_cov_n_d <- getFloat32le + _msgPosLlhCov_cov_e_e <- getFloat32le + _msgPosLlhCov_cov_e_d <- getFloat32le + _msgPosLlhCov_cov_d_d <- getFloat32le + _msgPosLlhCov_n_sats <- getWord8 + _msgPosLlhCov_flags <- getWord8 + pure MsgPosLlhCov {..} + + put MsgPosLlhCov {..} = do + putWord32le _msgPosLlhCov_tow + putFloat64le _msgPosLlhCov_lat + putFloat64le _msgPosLlhCov_lon + putFloat64le _msgPosLlhCov_height + putFloat32le _msgPosLlhCov_cov_n_n + putFloat32le _msgPosLlhCov_cov_n_e + putFloat32le _msgPosLlhCov_cov_n_d + putFloat32le _msgPosLlhCov_cov_e_e + putFloat32le _msgPosLlhCov_cov_e_d + putFloat32le _msgPosLlhCov_cov_d_d + putWord8 _msgPosLlhCov_n_sats + putWord8 _msgPosLlhCov_flags + +$(makeSBP 'msgPosLlhCov ''MsgPosLlhCov) +$(makeJSON "_msgPosLlhCov_" ''MsgPosLlhCov) +$(makeLenses ''MsgPosLlhCov) + +data EstimatedHorizontalErrorEllipse = EstimatedHorizontalErrorEllipse + { _estimatedHorizontalErrorEllipse_semi_major :: !Float + -- ^ The semi major axis of the estimated horizontal error ellipse at the + -- user-configured confidence level; zero implies invalid. + , _estimatedHorizontalErrorEllipse_semi_minor :: !Float + -- ^ The semi minor axis of the estimated horizontal error ellipse at the + -- user-configured confidence level; zero implies invalid. + , _estimatedHorizontalErrorEllipse_orientation :: !Float + -- ^ The orientation of the semi major axis of the estimated horizontal + -- error ellipse with respect to North. + } deriving ( Show, Read, Eq ) + +instance Binary EstimatedHorizontalErrorEllipse where + get = do + _estimatedHorizontalErrorEllipse_semi_major <- getFloat32le + _estimatedHorizontalErrorEllipse_semi_minor <- getFloat32le + _estimatedHorizontalErrorEllipse_orientation <- getFloat32le + pure EstimatedHorizontalErrorEllipse {..} + + put EstimatedHorizontalErrorEllipse {..} = do + putFloat32le _estimatedHorizontalErrorEllipse_semi_major + putFloat32le _estimatedHorizontalErrorEllipse_semi_minor + putFloat32le _estimatedHorizontalErrorEllipse_orientation + +$(makeJSON "_estimatedHorizontalErrorEllipse_" ''EstimatedHorizontalErrorEllipse) +$(makeLenses ''EstimatedHorizontalErrorEllipse) + +msgPosLlhAcc :: Word16 +msgPosLlhAcc = 0x0218 + +-- | SBP class for message MSG_POS_LLH_ACC (0x0218). +-- +-- This position solution message reports the absolute geodetic coordinates +-- and the status (single point vs pseudo-absolute RTK) of the position +-- solution as well as the estimated horizontal, vertical, cross-track and +-- along-track errors. The position information and Fix Mode flags follow +-- the MSG_POS_LLH message. Since the covariance matrix is computed in the +-- local-level North, East, Down frame, the estimated error terms follow that +-- convention. +-- +-- The estimated errors are reported at a user-configurable confidence level. +-- The user-configured percentile is encoded in the percentile field. +data MsgPosLlhAcc = MsgPosLlhAcc + { _msgPosLlhAcc_tow :: !Word32 + -- ^ GPS Time of Week + , _msgPosLlhAcc_lat :: !Double + -- ^ Latitude + , _msgPosLlhAcc_lon :: !Double + -- ^ Longitude + , _msgPosLlhAcc_height :: !Double + -- ^ Height above WGS84 ellipsoid + , _msgPosLlhAcc_orthometric_height :: !Double + -- ^ Height above the geoid (i.e. height above mean sea level). See + -- confidence_and_geoid for geoid model used. + , _msgPosLlhAcc_h_accuracy :: !Float + -- ^ Estimated horizontal error at the user-configured confidence level; + -- zero implies invalid. + , _msgPosLlhAcc_v_accuracy :: !Float + -- ^ Estimated vertical error at the user-configured confidence level; zero + -- implies invalid. + , _msgPosLlhAcc_ct_accuracy :: !Float + -- ^ Estimated cross-track error at the user-configured confidence level; + -- zero implies invalid. + , _msgPosLlhAcc_at_accuracy :: !Float + -- ^ Estimated along-track error at the user-configured confidence level; + -- zero implies invalid. + , _msgPosLlhAcc_h_ellipse :: !EstimatedHorizontalErrorEllipse + -- ^ The estimated horizontal error ellipse at the user-configured + -- confidence level. + , _msgPosLlhAcc_confidence_and_geoid :: !Word8 + -- ^ The lower bits describe the configured confidence level for the + -- estimated position error. The middle bits describe the geoid model used + -- to calculate the orthometric height. + , _msgPosLlhAcc_n_sats :: !Word8 + -- ^ Number of satellites used in solution. + , _msgPosLlhAcc_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgPosLlhAcc where + get = do + _msgPosLlhAcc_tow <- getWord32le + _msgPosLlhAcc_lat <- getFloat64le + _msgPosLlhAcc_lon <- getFloat64le + _msgPosLlhAcc_height <- getFloat64le + _msgPosLlhAcc_orthometric_height <- getFloat64le + _msgPosLlhAcc_h_accuracy <- getFloat32le + _msgPosLlhAcc_v_accuracy <- getFloat32le + _msgPosLlhAcc_ct_accuracy <- getFloat32le + _msgPosLlhAcc_at_accuracy <- getFloat32le + _msgPosLlhAcc_h_ellipse <- get + _msgPosLlhAcc_confidence_and_geoid <- getWord8 + _msgPosLlhAcc_n_sats <- getWord8 + _msgPosLlhAcc_flags <- getWord8 + pure MsgPosLlhAcc {..} + + put MsgPosLlhAcc {..} = do + putWord32le _msgPosLlhAcc_tow + putFloat64le _msgPosLlhAcc_lat + putFloat64le _msgPosLlhAcc_lon + putFloat64le _msgPosLlhAcc_height + putFloat64le _msgPosLlhAcc_orthometric_height + putFloat32le _msgPosLlhAcc_h_accuracy + putFloat32le _msgPosLlhAcc_v_accuracy + putFloat32le _msgPosLlhAcc_ct_accuracy + putFloat32le _msgPosLlhAcc_at_accuracy + put _msgPosLlhAcc_h_ellipse + putWord8 _msgPosLlhAcc_confidence_and_geoid + putWord8 _msgPosLlhAcc_n_sats + putWord8 _msgPosLlhAcc_flags + +$(makeSBP 'msgPosLlhAcc ''MsgPosLlhAcc) +$(makeJSON "_msgPosLlhAcc_" ''MsgPosLlhAcc) +$(makeLenses ''MsgPosLlhAcc) + +msgBaselineEcef :: Word16 +msgBaselineEcef = 0x020B + +-- | SBP class for message MSG_BASELINE_ECEF (0x020B). +-- +-- This message reports the baseline solution in Earth Centered Earth Fixed +-- (ECEF) coordinates. This baseline is the relative vector distance from the +-- base station to the rover receiver. The full GPS time is given by the +-- preceding MSG_GPS_TIME with the matching time-of-week (tow). +data MsgBaselineEcef = MsgBaselineEcef + { _msgBaselineEcef_tow :: !Word32 + -- ^ GPS Time of Week + , _msgBaselineEcef_x :: !Int32 + -- ^ Baseline ECEF X coordinate + , _msgBaselineEcef_y :: !Int32 + -- ^ Baseline ECEF Y coordinate + , _msgBaselineEcef_z :: !Int32 + -- ^ Baseline ECEF Z coordinate + , _msgBaselineEcef_accuracy :: !Word16 + -- ^ Position estimated standard deviation + , _msgBaselineEcef_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgBaselineEcef_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgBaselineEcef where + get = do + _msgBaselineEcef_tow <- getWord32le + _msgBaselineEcef_x <- (fromIntegral <$> getWord32le) + _msgBaselineEcef_y <- (fromIntegral <$> getWord32le) + _msgBaselineEcef_z <- (fromIntegral <$> getWord32le) + _msgBaselineEcef_accuracy <- getWord16le + _msgBaselineEcef_n_sats <- getWord8 + _msgBaselineEcef_flags <- getWord8 + pure MsgBaselineEcef {..} + + put MsgBaselineEcef {..} = do + putWord32le _msgBaselineEcef_tow + (putWord32le . fromIntegral) _msgBaselineEcef_x + (putWord32le . fromIntegral) _msgBaselineEcef_y + (putWord32le . fromIntegral) _msgBaselineEcef_z + putWord16le _msgBaselineEcef_accuracy + putWord8 _msgBaselineEcef_n_sats + putWord8 _msgBaselineEcef_flags + +$(makeSBP 'msgBaselineEcef ''MsgBaselineEcef) +$(makeJSON "_msgBaselineEcef_" ''MsgBaselineEcef) +$(makeLenses ''MsgBaselineEcef) + +msgBaselineNed :: Word16 +msgBaselineNed = 0x020C + +-- | SBP class for message MSG_BASELINE_NED (0x020C). +-- +-- This message reports the baseline solution in North East Down (NED) +-- coordinates. This baseline is the relative vector distance from the base +-- station to the rover receiver, and NED coordinate system is defined at the +-- local WGS84 tangent plane centered at the base station position. The full +-- GPS time is given by the preceding MSG_GPS_TIME with the matching time-of- +-- week (tow). +data MsgBaselineNed = MsgBaselineNed + { _msgBaselineNed_tow :: !Word32 + -- ^ GPS Time of Week + , _msgBaselineNed_n :: !Int32 + -- ^ Baseline North coordinate + , _msgBaselineNed_e :: !Int32 + -- ^ Baseline East coordinate + , _msgBaselineNed_d :: !Int32 + -- ^ Baseline Down coordinate + , _msgBaselineNed_h_accuracy :: !Word16 + -- ^ Horizontal position estimated standard deviation + , _msgBaselineNed_v_accuracy :: !Word16 + -- ^ Vertical position estimated standard deviation + , _msgBaselineNed_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgBaselineNed_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgBaselineNed where + get = do + _msgBaselineNed_tow <- getWord32le + _msgBaselineNed_n <- (fromIntegral <$> getWord32le) + _msgBaselineNed_e <- (fromIntegral <$> getWord32le) + _msgBaselineNed_d <- (fromIntegral <$> getWord32le) + _msgBaselineNed_h_accuracy <- getWord16le + _msgBaselineNed_v_accuracy <- getWord16le + _msgBaselineNed_n_sats <- getWord8 + _msgBaselineNed_flags <- getWord8 + pure MsgBaselineNed {..} + + put MsgBaselineNed {..} = do + putWord32le _msgBaselineNed_tow + (putWord32le . fromIntegral) _msgBaselineNed_n + (putWord32le . fromIntegral) _msgBaselineNed_e + (putWord32le . fromIntegral) _msgBaselineNed_d + putWord16le _msgBaselineNed_h_accuracy + putWord16le _msgBaselineNed_v_accuracy + putWord8 _msgBaselineNed_n_sats + putWord8 _msgBaselineNed_flags + +$(makeSBP 'msgBaselineNed ''MsgBaselineNed) +$(makeJSON "_msgBaselineNed_" ''MsgBaselineNed) +$(makeLenses ''MsgBaselineNed) + +msgVelEcef :: Word16 +msgVelEcef = 0x020D + +-- | SBP class for message MSG_VEL_ECEF (0x020D). +-- +-- This message reports the velocity in Earth Centered Earth Fixed (ECEF) +-- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with +-- the matching time-of-week (tow). +data MsgVelEcef = MsgVelEcef + { _msgVelEcef_tow :: !Word32 + -- ^ GPS Time of Week + , _msgVelEcef_x :: !Int32 + -- ^ Velocity ECEF X coordinate + , _msgVelEcef_y :: !Int32 + -- ^ Velocity ECEF Y coordinate + , _msgVelEcef_z :: !Int32 + -- ^ Velocity ECEF Z coordinate + , _msgVelEcef_accuracy :: !Word16 + -- ^ Velocity estimated standard deviation + , _msgVelEcef_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgVelEcef_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgVelEcef where + get = do + _msgVelEcef_tow <- getWord32le + _msgVelEcef_x <- (fromIntegral <$> getWord32le) + _msgVelEcef_y <- (fromIntegral <$> getWord32le) + _msgVelEcef_z <- (fromIntegral <$> getWord32le) + _msgVelEcef_accuracy <- getWord16le + _msgVelEcef_n_sats <- getWord8 + _msgVelEcef_flags <- getWord8 + pure MsgVelEcef {..} + + put MsgVelEcef {..} = do + putWord32le _msgVelEcef_tow + (putWord32le . fromIntegral) _msgVelEcef_x + (putWord32le . fromIntegral) _msgVelEcef_y + (putWord32le . fromIntegral) _msgVelEcef_z + putWord16le _msgVelEcef_accuracy + putWord8 _msgVelEcef_n_sats + putWord8 _msgVelEcef_flags + +$(makeSBP 'msgVelEcef ''MsgVelEcef) +$(makeJSON "_msgVelEcef_" ''MsgVelEcef) +$(makeLenses ''MsgVelEcef) + +msgVelEcefCov :: Word16 +msgVelEcefCov = 0x0215 + +-- | SBP class for message MSG_VEL_ECEF_COV (0x0215). +-- +-- This message reports the velocity in Earth Centered Earth Fixed (ECEF) +-- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with +-- the matching time-of-week (tow). +data MsgVelEcefCov = MsgVelEcefCov + { _msgVelEcefCov_tow :: !Word32 + -- ^ GPS Time of Week + , _msgVelEcefCov_x :: !Int32 + -- ^ Velocity ECEF X coordinate + , _msgVelEcefCov_y :: !Int32 + -- ^ Velocity ECEF Y coordinate + , _msgVelEcefCov_z :: !Int32 + -- ^ Velocity ECEF Z coordinate + , _msgVelEcefCov_cov_x_x :: !Float + -- ^ Estimated variance of x + , _msgVelEcefCov_cov_x_y :: !Float + -- ^ Estimated covariance of x and y + , _msgVelEcefCov_cov_x_z :: !Float + -- ^ Estimated covariance of x and z + , _msgVelEcefCov_cov_y_y :: !Float + -- ^ Estimated variance of y + , _msgVelEcefCov_cov_y_z :: !Float + -- ^ Estimated covariance of y and z + , _msgVelEcefCov_cov_z_z :: !Float + -- ^ Estimated variance of z + , _msgVelEcefCov_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgVelEcefCov_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgVelEcefCov where + get = do + _msgVelEcefCov_tow <- getWord32le + _msgVelEcefCov_x <- (fromIntegral <$> getWord32le) + _msgVelEcefCov_y <- (fromIntegral <$> getWord32le) + _msgVelEcefCov_z <- (fromIntegral <$> getWord32le) + _msgVelEcefCov_cov_x_x <- getFloat32le + _msgVelEcefCov_cov_x_y <- getFloat32le + _msgVelEcefCov_cov_x_z <- getFloat32le + _msgVelEcefCov_cov_y_y <- getFloat32le + _msgVelEcefCov_cov_y_z <- getFloat32le + _msgVelEcefCov_cov_z_z <- getFloat32le + _msgVelEcefCov_n_sats <- getWord8 + _msgVelEcefCov_flags <- getWord8 + pure MsgVelEcefCov {..} + + put MsgVelEcefCov {..} = do + putWord32le _msgVelEcefCov_tow + (putWord32le . fromIntegral) _msgVelEcefCov_x + (putWord32le . fromIntegral) _msgVelEcefCov_y + (putWord32le . fromIntegral) _msgVelEcefCov_z + putFloat32le _msgVelEcefCov_cov_x_x + putFloat32le _msgVelEcefCov_cov_x_y + putFloat32le _msgVelEcefCov_cov_x_z + putFloat32le _msgVelEcefCov_cov_y_y + putFloat32le _msgVelEcefCov_cov_y_z + putFloat32le _msgVelEcefCov_cov_z_z + putWord8 _msgVelEcefCov_n_sats + putWord8 _msgVelEcefCov_flags + +$(makeSBP 'msgVelEcefCov ''MsgVelEcefCov) +$(makeJSON "_msgVelEcefCov_" ''MsgVelEcefCov) +$(makeLenses ''MsgVelEcefCov) + +msgVelNed :: Word16 +msgVelNed = 0x020E + +-- | SBP class for message MSG_VEL_NED (0x020E). +-- +-- This message reports the velocity in local North East Down (NED) +-- coordinates. The NED coordinate system is defined as the local WGS84 +-- tangent plane centered at the current position. The full GPS time is given +-- by the preceding MSG_GPS_TIME with the matching time-of-week (tow). +data MsgVelNed = MsgVelNed + { _msgVelNed_tow :: !Word32 + -- ^ GPS Time of Week + , _msgVelNed_n :: !Int32 + -- ^ Velocity North coordinate + , _msgVelNed_e :: !Int32 + -- ^ Velocity East coordinate + , _msgVelNed_d :: !Int32 + -- ^ Velocity Down coordinate + , _msgVelNed_h_accuracy :: !Word16 + -- ^ Horizontal velocity estimated standard deviation + , _msgVelNed_v_accuracy :: !Word16 + -- ^ Vertical velocity estimated standard deviation + , _msgVelNed_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgVelNed_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgVelNed where + get = do + _msgVelNed_tow <- getWord32le + _msgVelNed_n <- (fromIntegral <$> getWord32le) + _msgVelNed_e <- (fromIntegral <$> getWord32le) + _msgVelNed_d <- (fromIntegral <$> getWord32le) + _msgVelNed_h_accuracy <- getWord16le + _msgVelNed_v_accuracy <- getWord16le + _msgVelNed_n_sats <- getWord8 + _msgVelNed_flags <- getWord8 + pure MsgVelNed {..} + + put MsgVelNed {..} = do + putWord32le _msgVelNed_tow + (putWord32le . fromIntegral) _msgVelNed_n + (putWord32le . fromIntegral) _msgVelNed_e + (putWord32le . fromIntegral) _msgVelNed_d + putWord16le _msgVelNed_h_accuracy + putWord16le _msgVelNed_v_accuracy + putWord8 _msgVelNed_n_sats + putWord8 _msgVelNed_flags + +$(makeSBP 'msgVelNed ''MsgVelNed) +$(makeJSON "_msgVelNed_" ''MsgVelNed) +$(makeLenses ''MsgVelNed) + +msgVelNedCov :: Word16 +msgVelNedCov = 0x0212 + +-- | SBP class for message MSG_VEL_NED_COV (0x0212). +-- +-- This message reports the velocity in local North East Down (NED) +-- coordinates. The NED coordinate system is defined as the local WGS84 +-- tangent plane centered at the current position. The full GPS time is given +-- by the preceding MSG_GPS_TIME with the matching time-of-week (tow). This +-- message is similar to the MSG_VEL_NED, but it includes the upper triangular +-- portion of the 3x3 covariance matrix. +data MsgVelNedCov = MsgVelNedCov + { _msgVelNedCov_tow :: !Word32 + -- ^ GPS Time of Week + , _msgVelNedCov_n :: !Int32 + -- ^ Velocity North coordinate + , _msgVelNedCov_e :: !Int32 + -- ^ Velocity East coordinate + , _msgVelNedCov_d :: !Int32 + -- ^ Velocity Down coordinate + , _msgVelNedCov_cov_n_n :: !Float + -- ^ Estimated variance of northward measurement + , _msgVelNedCov_cov_n_e :: !Float + -- ^ Covariance of northward and eastward measurement + , _msgVelNedCov_cov_n_d :: !Float + -- ^ Covariance of northward and downward measurement + , _msgVelNedCov_cov_e_e :: !Float + -- ^ Estimated variance of eastward measurement + , _msgVelNedCov_cov_e_d :: !Float + -- ^ Covariance of eastward and downward measurement + , _msgVelNedCov_cov_d_d :: !Float + -- ^ Estimated variance of downward measurement + , _msgVelNedCov_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgVelNedCov_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgVelNedCov where + get = do + _msgVelNedCov_tow <- getWord32le + _msgVelNedCov_n <- (fromIntegral <$> getWord32le) + _msgVelNedCov_e <- (fromIntegral <$> getWord32le) + _msgVelNedCov_d <- (fromIntegral <$> getWord32le) + _msgVelNedCov_cov_n_n <- getFloat32le + _msgVelNedCov_cov_n_e <- getFloat32le + _msgVelNedCov_cov_n_d <- getFloat32le + _msgVelNedCov_cov_e_e <- getFloat32le + _msgVelNedCov_cov_e_d <- getFloat32le + _msgVelNedCov_cov_d_d <- getFloat32le + _msgVelNedCov_n_sats <- getWord8 + _msgVelNedCov_flags <- getWord8 + pure MsgVelNedCov {..} + + put MsgVelNedCov {..} = do + putWord32le _msgVelNedCov_tow + (putWord32le . fromIntegral) _msgVelNedCov_n + (putWord32le . fromIntegral) _msgVelNedCov_e + (putWord32le . fromIntegral) _msgVelNedCov_d + putFloat32le _msgVelNedCov_cov_n_n + putFloat32le _msgVelNedCov_cov_n_e + putFloat32le _msgVelNedCov_cov_n_d + putFloat32le _msgVelNedCov_cov_e_e + putFloat32le _msgVelNedCov_cov_e_d + putFloat32le _msgVelNedCov_cov_d_d + putWord8 _msgVelNedCov_n_sats + putWord8 _msgVelNedCov_flags + +$(makeSBP 'msgVelNedCov ''MsgVelNedCov) +$(makeJSON "_msgVelNedCov_" ''MsgVelNedCov) +$(makeLenses ''MsgVelNedCov) + +msgPosEcefGnss :: Word16 +msgPosEcefGnss = 0x0229 + +-- | SBP class for message MSG_POS_ECEF_GNSS (0x0229). +-- +-- The position solution message reports absolute Earth Centered Earth Fixed +-- (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of +-- the position solution. If the rover receiver knows the surveyed position of +-- the base station and has an RTK solution, this reports a pseudo-absolute +-- position solution using the base station position and the rover's RTK +-- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME +-- with the matching time-of-week (tow). +data MsgPosEcefGnss = MsgPosEcefGnss + { _msgPosEcefGnss_tow :: !Word32 + -- ^ GPS Time of Week + , _msgPosEcefGnss_x :: !Double + -- ^ ECEF X coordinate + , _msgPosEcefGnss_y :: !Double + -- ^ ECEF Y coordinate + , _msgPosEcefGnss_z :: !Double + -- ^ ECEF Z coordinate + , _msgPosEcefGnss_accuracy :: !Word16 + -- ^ Position estimated standard deviation + , _msgPosEcefGnss_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgPosEcefGnss_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgPosEcefGnss where + get = do + _msgPosEcefGnss_tow <- getWord32le + _msgPosEcefGnss_x <- getFloat64le + _msgPosEcefGnss_y <- getFloat64le + _msgPosEcefGnss_z <- getFloat64le + _msgPosEcefGnss_accuracy <- getWord16le + _msgPosEcefGnss_n_sats <- getWord8 + _msgPosEcefGnss_flags <- getWord8 + pure MsgPosEcefGnss {..} + + put MsgPosEcefGnss {..} = do + putWord32le _msgPosEcefGnss_tow + putFloat64le _msgPosEcefGnss_x + putFloat64le _msgPosEcefGnss_y + putFloat64le _msgPosEcefGnss_z + putWord16le _msgPosEcefGnss_accuracy + putWord8 _msgPosEcefGnss_n_sats + putWord8 _msgPosEcefGnss_flags + +$(makeSBP 'msgPosEcefGnss ''MsgPosEcefGnss) +$(makeJSON "_msgPosEcefGnss_" ''MsgPosEcefGnss) +$(makeLenses ''MsgPosEcefGnss) + +msgPosEcefCovGnss :: Word16 +msgPosEcefCovGnss = 0x0234 + +-- | SBP class for message MSG_POS_ECEF_COV_GNSS (0x0234). +-- +-- The position solution message reports absolute Earth Centered Earth Fixed +-- (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of +-- the position solution. The message also reports the upper triangular +-- portion of the 3x3 covariance matrix. If the receiver knows the surveyed +-- position of the base station and has an RTK solution, this reports a +-- pseudo-absolute position solution using the base station position and the +-- rover's RTK baseline vector. The full GPS time is given by the preceding +-- MSG_GPS_TIME with the matching time-of-week (tow). +data MsgPosEcefCovGnss = MsgPosEcefCovGnss + { _msgPosEcefCovGnss_tow :: !Word32 + -- ^ GPS Time of Week + , _msgPosEcefCovGnss_x :: !Double + -- ^ ECEF X coordinate + , _msgPosEcefCovGnss_y :: !Double + -- ^ ECEF Y coordinate + , _msgPosEcefCovGnss_z :: !Double + -- ^ ECEF Z coordinate + , _msgPosEcefCovGnss_cov_x_x :: !Float + -- ^ Estimated variance of x + , _msgPosEcefCovGnss_cov_x_y :: !Float + -- ^ Estimated covariance of x and y + , _msgPosEcefCovGnss_cov_x_z :: !Float + -- ^ Estimated covariance of x and z + , _msgPosEcefCovGnss_cov_y_y :: !Float + -- ^ Estimated variance of y + , _msgPosEcefCovGnss_cov_y_z :: !Float + -- ^ Estimated covariance of y and z + , _msgPosEcefCovGnss_cov_z_z :: !Float + -- ^ Estimated variance of z + , _msgPosEcefCovGnss_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgPosEcefCovGnss_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgPosEcefCovGnss where + get = do + _msgPosEcefCovGnss_tow <- getWord32le + _msgPosEcefCovGnss_x <- getFloat64le + _msgPosEcefCovGnss_y <- getFloat64le + _msgPosEcefCovGnss_z <- getFloat64le + _msgPosEcefCovGnss_cov_x_x <- getFloat32le + _msgPosEcefCovGnss_cov_x_y <- getFloat32le + _msgPosEcefCovGnss_cov_x_z <- getFloat32le + _msgPosEcefCovGnss_cov_y_y <- getFloat32le + _msgPosEcefCovGnss_cov_y_z <- getFloat32le + _msgPosEcefCovGnss_cov_z_z <- getFloat32le + _msgPosEcefCovGnss_n_sats <- getWord8 + _msgPosEcefCovGnss_flags <- getWord8 + pure MsgPosEcefCovGnss {..} + + put MsgPosEcefCovGnss {..} = do + putWord32le _msgPosEcefCovGnss_tow + putFloat64le _msgPosEcefCovGnss_x + putFloat64le _msgPosEcefCovGnss_y + putFloat64le _msgPosEcefCovGnss_z + putFloat32le _msgPosEcefCovGnss_cov_x_x + putFloat32le _msgPosEcefCovGnss_cov_x_y + putFloat32le _msgPosEcefCovGnss_cov_x_z + putFloat32le _msgPosEcefCovGnss_cov_y_y + putFloat32le _msgPosEcefCovGnss_cov_y_z + putFloat32le _msgPosEcefCovGnss_cov_z_z + putWord8 _msgPosEcefCovGnss_n_sats + putWord8 _msgPosEcefCovGnss_flags + +$(makeSBP 'msgPosEcefCovGnss ''MsgPosEcefCovGnss) +$(makeJSON "_msgPosEcefCovGnss_" ''MsgPosEcefCovGnss) +$(makeLenses ''MsgPosEcefCovGnss) + +msgPosLlhGnss :: Word16 +msgPosLlhGnss = 0x022A + +-- | SBP class for message MSG_POS_LLH_GNSS (0x022A). +-- +-- This position solution message reports the absolute geodetic coordinates +-- and the status (single point vs pseudo-absolute RTK) of the position +-- solution. If the rover receiver knows the surveyed position of the base +-- station and has an RTK solution, this reports a pseudo-absolute position +-- solution using the base station position and the rover's RTK baseline +-- vector. The full GPS time is given by the preceding MSG_GPS_TIME with the +-- matching time-of-week (tow). +data MsgPosLlhGnss = MsgPosLlhGnss + { _msgPosLlhGnss_tow :: !Word32 + -- ^ GPS Time of Week + , _msgPosLlhGnss_lat :: !Double + -- ^ Latitude + , _msgPosLlhGnss_lon :: !Double + -- ^ Longitude + , _msgPosLlhGnss_height :: !Double + -- ^ Height above WGS84 ellipsoid + , _msgPosLlhGnss_h_accuracy :: !Word16 + -- ^ Horizontal position estimated standard deviation + , _msgPosLlhGnss_v_accuracy :: !Word16 + -- ^ Vertical position estimated standard deviation + , _msgPosLlhGnss_n_sats :: !Word8 + -- ^ Number of satellites used in solution. + , _msgPosLlhGnss_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgPosLlhGnss where + get = do + _msgPosLlhGnss_tow <- getWord32le + _msgPosLlhGnss_lat <- getFloat64le + _msgPosLlhGnss_lon <- getFloat64le + _msgPosLlhGnss_height <- getFloat64le + _msgPosLlhGnss_h_accuracy <- getWord16le + _msgPosLlhGnss_v_accuracy <- getWord16le + _msgPosLlhGnss_n_sats <- getWord8 + _msgPosLlhGnss_flags <- getWord8 + pure MsgPosLlhGnss {..} + + put MsgPosLlhGnss {..} = do + putWord32le _msgPosLlhGnss_tow + putFloat64le _msgPosLlhGnss_lat + putFloat64le _msgPosLlhGnss_lon + putFloat64le _msgPosLlhGnss_height + putWord16le _msgPosLlhGnss_h_accuracy + putWord16le _msgPosLlhGnss_v_accuracy + putWord8 _msgPosLlhGnss_n_sats + putWord8 _msgPosLlhGnss_flags + +$(makeSBP 'msgPosLlhGnss ''MsgPosLlhGnss) +$(makeJSON "_msgPosLlhGnss_" ''MsgPosLlhGnss) +$(makeLenses ''MsgPosLlhGnss) + +msgPosLlhCovGnss :: Word16 +msgPosLlhCovGnss = 0x0231 + +-- | SBP class for message MSG_POS_LLH_COV_GNSS (0x0231). +-- +-- This position solution message reports the absolute geodetic coordinates +-- and the status (single point vs pseudo-absolute RTK) of the position +-- solution as well as the upper triangle of the 3x3 covariance matrix. The +-- position information and Fix Mode flags should follow the MSG_POS_LLH +-- message. Since the covariance matrix is computed in the local-level North, +-- East, Down frame, the covariance terms follow with that convention. Thus, +-- covariances are reported against the "downward" measurement and care should +-- be taken with the sign convention. +data MsgPosLlhCovGnss = MsgPosLlhCovGnss + { _msgPosLlhCovGnss_tow :: !Word32 + -- ^ GPS Time of Week + , _msgPosLlhCovGnss_lat :: !Double + -- ^ Latitude + , _msgPosLlhCovGnss_lon :: !Double + -- ^ Longitude + , _msgPosLlhCovGnss_height :: !Double + -- ^ Height above WGS84 ellipsoid + , _msgPosLlhCovGnss_cov_n_n :: !Float + -- ^ Estimated variance of northing + , _msgPosLlhCovGnss_cov_n_e :: !Float + -- ^ Covariance of northing and easting + , _msgPosLlhCovGnss_cov_n_d :: !Float + -- ^ Covariance of northing and downward measurement + , _msgPosLlhCovGnss_cov_e_e :: !Float + -- ^ Estimated variance of easting + , _msgPosLlhCovGnss_cov_e_d :: !Float + -- ^ Covariance of easting and downward measurement + , _msgPosLlhCovGnss_cov_d_d :: !Float + -- ^ Estimated variance of downward measurement + , _msgPosLlhCovGnss_n_sats :: !Word8 + -- ^ Number of satellites used in solution. + , _msgPosLlhCovGnss_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgPosLlhCovGnss where + get = do + _msgPosLlhCovGnss_tow <- getWord32le + _msgPosLlhCovGnss_lat <- getFloat64le + _msgPosLlhCovGnss_lon <- getFloat64le + _msgPosLlhCovGnss_height <- getFloat64le + _msgPosLlhCovGnss_cov_n_n <- getFloat32le + _msgPosLlhCovGnss_cov_n_e <- getFloat32le + _msgPosLlhCovGnss_cov_n_d <- getFloat32le + _msgPosLlhCovGnss_cov_e_e <- getFloat32le + _msgPosLlhCovGnss_cov_e_d <- getFloat32le + _msgPosLlhCovGnss_cov_d_d <- getFloat32le + _msgPosLlhCovGnss_n_sats <- getWord8 + _msgPosLlhCovGnss_flags <- getWord8 + pure MsgPosLlhCovGnss {..} + + put MsgPosLlhCovGnss {..} = do + putWord32le _msgPosLlhCovGnss_tow + putFloat64le _msgPosLlhCovGnss_lat + putFloat64le _msgPosLlhCovGnss_lon + putFloat64le _msgPosLlhCovGnss_height + putFloat32le _msgPosLlhCovGnss_cov_n_n + putFloat32le _msgPosLlhCovGnss_cov_n_e + putFloat32le _msgPosLlhCovGnss_cov_n_d + putFloat32le _msgPosLlhCovGnss_cov_e_e + putFloat32le _msgPosLlhCovGnss_cov_e_d + putFloat32le _msgPosLlhCovGnss_cov_d_d + putWord8 _msgPosLlhCovGnss_n_sats + putWord8 _msgPosLlhCovGnss_flags + +$(makeSBP 'msgPosLlhCovGnss ''MsgPosLlhCovGnss) +$(makeJSON "_msgPosLlhCovGnss_" ''MsgPosLlhCovGnss) +$(makeLenses ''MsgPosLlhCovGnss) + +msgVelEcefGnss :: Word16 +msgVelEcefGnss = 0x022D + +-- | SBP class for message MSG_VEL_ECEF_GNSS (0x022D). +-- +-- This message reports the velocity in Earth Centered Earth Fixed (ECEF) +-- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with +-- the matching time-of-week (tow). +data MsgVelEcefGnss = MsgVelEcefGnss + { _msgVelEcefGnss_tow :: !Word32 + -- ^ GPS Time of Week + , _msgVelEcefGnss_x :: !Int32 + -- ^ Velocity ECEF X coordinate + , _msgVelEcefGnss_y :: !Int32 + -- ^ Velocity ECEF Y coordinate + , _msgVelEcefGnss_z :: !Int32 + -- ^ Velocity ECEF Z coordinate + , _msgVelEcefGnss_accuracy :: !Word16 + -- ^ Velocity estimated standard deviation + , _msgVelEcefGnss_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgVelEcefGnss_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgVelEcefGnss where + get = do + _msgVelEcefGnss_tow <- getWord32le + _msgVelEcefGnss_x <- (fromIntegral <$> getWord32le) + _msgVelEcefGnss_y <- (fromIntegral <$> getWord32le) + _msgVelEcefGnss_z <- (fromIntegral <$> getWord32le) + _msgVelEcefGnss_accuracy <- getWord16le + _msgVelEcefGnss_n_sats <- getWord8 + _msgVelEcefGnss_flags <- getWord8 + pure MsgVelEcefGnss {..} + + put MsgVelEcefGnss {..} = do + putWord32le _msgVelEcefGnss_tow + (putWord32le . fromIntegral) _msgVelEcefGnss_x + (putWord32le . fromIntegral) _msgVelEcefGnss_y + (putWord32le . fromIntegral) _msgVelEcefGnss_z + putWord16le _msgVelEcefGnss_accuracy + putWord8 _msgVelEcefGnss_n_sats + putWord8 _msgVelEcefGnss_flags + +$(makeSBP 'msgVelEcefGnss ''MsgVelEcefGnss) +$(makeJSON "_msgVelEcefGnss_" ''MsgVelEcefGnss) +$(makeLenses ''MsgVelEcefGnss) + +msgVelEcefCovGnss :: Word16 +msgVelEcefCovGnss = 0x0235 + +-- | SBP class for message MSG_VEL_ECEF_COV_GNSS (0x0235). +-- +-- This message reports the velocity in Earth Centered Earth Fixed (ECEF) +-- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with +-- the matching time-of-week (tow). +data MsgVelEcefCovGnss = MsgVelEcefCovGnss + { _msgVelEcefCovGnss_tow :: !Word32 + -- ^ GPS Time of Week + , _msgVelEcefCovGnss_x :: !Int32 + -- ^ Velocity ECEF X coordinate + , _msgVelEcefCovGnss_y :: !Int32 + -- ^ Velocity ECEF Y coordinate + , _msgVelEcefCovGnss_z :: !Int32 + -- ^ Velocity ECEF Z coordinate + , _msgVelEcefCovGnss_cov_x_x :: !Float + -- ^ Estimated variance of x + , _msgVelEcefCovGnss_cov_x_y :: !Float + -- ^ Estimated covariance of x and y + , _msgVelEcefCovGnss_cov_x_z :: !Float + -- ^ Estimated covariance of x and z + , _msgVelEcefCovGnss_cov_y_y :: !Float + -- ^ Estimated variance of y + , _msgVelEcefCovGnss_cov_y_z :: !Float + -- ^ Estimated covariance of y and z + , _msgVelEcefCovGnss_cov_z_z :: !Float + -- ^ Estimated variance of z + , _msgVelEcefCovGnss_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgVelEcefCovGnss_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgVelEcefCovGnss where + get = do + _msgVelEcefCovGnss_tow <- getWord32le + _msgVelEcefCovGnss_x <- (fromIntegral <$> getWord32le) + _msgVelEcefCovGnss_y <- (fromIntegral <$> getWord32le) + _msgVelEcefCovGnss_z <- (fromIntegral <$> getWord32le) + _msgVelEcefCovGnss_cov_x_x <- getFloat32le + _msgVelEcefCovGnss_cov_x_y <- getFloat32le + _msgVelEcefCovGnss_cov_x_z <- getFloat32le + _msgVelEcefCovGnss_cov_y_y <- getFloat32le + _msgVelEcefCovGnss_cov_y_z <- getFloat32le + _msgVelEcefCovGnss_cov_z_z <- getFloat32le + _msgVelEcefCovGnss_n_sats <- getWord8 + _msgVelEcefCovGnss_flags <- getWord8 + pure MsgVelEcefCovGnss {..} + + put MsgVelEcefCovGnss {..} = do + putWord32le _msgVelEcefCovGnss_tow + (putWord32le . fromIntegral) _msgVelEcefCovGnss_x + (putWord32le . fromIntegral) _msgVelEcefCovGnss_y + (putWord32le . fromIntegral) _msgVelEcefCovGnss_z + putFloat32le _msgVelEcefCovGnss_cov_x_x + putFloat32le _msgVelEcefCovGnss_cov_x_y + putFloat32le _msgVelEcefCovGnss_cov_x_z + putFloat32le _msgVelEcefCovGnss_cov_y_y + putFloat32le _msgVelEcefCovGnss_cov_y_z + putFloat32le _msgVelEcefCovGnss_cov_z_z + putWord8 _msgVelEcefCovGnss_n_sats + putWord8 _msgVelEcefCovGnss_flags + +$(makeSBP 'msgVelEcefCovGnss ''MsgVelEcefCovGnss) +$(makeJSON "_msgVelEcefCovGnss_" ''MsgVelEcefCovGnss) +$(makeLenses ''MsgVelEcefCovGnss) + +msgVelNedGnss :: Word16 +msgVelNedGnss = 0x022E + +-- | SBP class for message MSG_VEL_NED_GNSS (0x022E). +-- +-- This message reports the velocity in local North East Down (NED) +-- coordinates. The NED coordinate system is defined as the local WGS84 +-- tangent plane centered at the current position. The full GPS time is given +-- by the preceding MSG_GPS_TIME with the matching time-of-week (tow). +data MsgVelNedGnss = MsgVelNedGnss + { _msgVelNedGnss_tow :: !Word32 + -- ^ GPS Time of Week + , _msgVelNedGnss_n :: !Int32 + -- ^ Velocity North coordinate + , _msgVelNedGnss_e :: !Int32 + -- ^ Velocity East coordinate + , _msgVelNedGnss_d :: !Int32 + -- ^ Velocity Down coordinate + , _msgVelNedGnss_h_accuracy :: !Word16 + -- ^ Horizontal velocity estimated standard deviation + , _msgVelNedGnss_v_accuracy :: !Word16 + -- ^ Vertical velocity estimated standard deviation + , _msgVelNedGnss_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgVelNedGnss_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgVelNedGnss where + get = do + _msgVelNedGnss_tow <- getWord32le + _msgVelNedGnss_n <- (fromIntegral <$> getWord32le) + _msgVelNedGnss_e <- (fromIntegral <$> getWord32le) + _msgVelNedGnss_d <- (fromIntegral <$> getWord32le) + _msgVelNedGnss_h_accuracy <- getWord16le + _msgVelNedGnss_v_accuracy <- getWord16le + _msgVelNedGnss_n_sats <- getWord8 + _msgVelNedGnss_flags <- getWord8 + pure MsgVelNedGnss {..} + + put MsgVelNedGnss {..} = do + putWord32le _msgVelNedGnss_tow + (putWord32le . fromIntegral) _msgVelNedGnss_n + (putWord32le . fromIntegral) _msgVelNedGnss_e + (putWord32le . fromIntegral) _msgVelNedGnss_d + putWord16le _msgVelNedGnss_h_accuracy + putWord16le _msgVelNedGnss_v_accuracy + putWord8 _msgVelNedGnss_n_sats + putWord8 _msgVelNedGnss_flags + +$(makeSBP 'msgVelNedGnss ''MsgVelNedGnss) +$(makeJSON "_msgVelNedGnss_" ''MsgVelNedGnss) +$(makeLenses ''MsgVelNedGnss) + +msgVelNedCovGnss :: Word16 +msgVelNedCovGnss = 0x0232 + +-- | SBP class for message MSG_VEL_NED_COV_GNSS (0x0232). +-- +-- This message reports the velocity in local North East Down (NED) +-- coordinates. The NED coordinate system is defined as the local WGS84 +-- tangent plane centered at the current position. The full GPS time is given +-- by the preceding MSG_GPS_TIME with the matching time-of-week (tow). This +-- message is similar to the MSG_VEL_NED, but it includes the upper triangular +-- portion of the 3x3 covariance matrix. +data MsgVelNedCovGnss = MsgVelNedCovGnss + { _msgVelNedCovGnss_tow :: !Word32 + -- ^ GPS Time of Week + , _msgVelNedCovGnss_n :: !Int32 + -- ^ Velocity North coordinate + , _msgVelNedCovGnss_e :: !Int32 + -- ^ Velocity East coordinate + , _msgVelNedCovGnss_d :: !Int32 + -- ^ Velocity Down coordinate + , _msgVelNedCovGnss_cov_n_n :: !Float + -- ^ Estimated variance of northward measurement + , _msgVelNedCovGnss_cov_n_e :: !Float + -- ^ Covariance of northward and eastward measurement + , _msgVelNedCovGnss_cov_n_d :: !Float + -- ^ Covariance of northward and downward measurement + , _msgVelNedCovGnss_cov_e_e :: !Float + -- ^ Estimated variance of eastward measurement + , _msgVelNedCovGnss_cov_e_d :: !Float + -- ^ Covariance of eastward and downward measurement + , _msgVelNedCovGnss_cov_d_d :: !Float + -- ^ Estimated variance of downward measurement + , _msgVelNedCovGnss_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgVelNedCovGnss_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgVelNedCovGnss where + get = do + _msgVelNedCovGnss_tow <- getWord32le + _msgVelNedCovGnss_n <- (fromIntegral <$> getWord32le) + _msgVelNedCovGnss_e <- (fromIntegral <$> getWord32le) + _msgVelNedCovGnss_d <- (fromIntegral <$> getWord32le) + _msgVelNedCovGnss_cov_n_n <- getFloat32le + _msgVelNedCovGnss_cov_n_e <- getFloat32le + _msgVelNedCovGnss_cov_n_d <- getFloat32le + _msgVelNedCovGnss_cov_e_e <- getFloat32le + _msgVelNedCovGnss_cov_e_d <- getFloat32le + _msgVelNedCovGnss_cov_d_d <- getFloat32le + _msgVelNedCovGnss_n_sats <- getWord8 + _msgVelNedCovGnss_flags <- getWord8 + pure MsgVelNedCovGnss {..} + + put MsgVelNedCovGnss {..} = do + putWord32le _msgVelNedCovGnss_tow + (putWord32le . fromIntegral) _msgVelNedCovGnss_n + (putWord32le . fromIntegral) _msgVelNedCovGnss_e + (putWord32le . fromIntegral) _msgVelNedCovGnss_d + putFloat32le _msgVelNedCovGnss_cov_n_n + putFloat32le _msgVelNedCovGnss_cov_n_e + putFloat32le _msgVelNedCovGnss_cov_n_d + putFloat32le _msgVelNedCovGnss_cov_e_e + putFloat32le _msgVelNedCovGnss_cov_e_d + putFloat32le _msgVelNedCovGnss_cov_d_d + putWord8 _msgVelNedCovGnss_n_sats + putWord8 _msgVelNedCovGnss_flags + +$(makeSBP 'msgVelNedCovGnss ''MsgVelNedCovGnss) +$(makeJSON "_msgVelNedCovGnss_" ''MsgVelNedCovGnss) +$(makeLenses ''MsgVelNedCovGnss) + +msgVelBody :: Word16 +msgVelBody = 0x0213 + +-- | SBP class for message MSG_VEL_BODY (0x0213). +-- +-- This message reports the velocity in the Vehicle Body Frame. By convention, +-- the x-axis should point out the nose of the vehicle and represent the +-- forward direction, while as the y-axis should point out the right hand side +-- of the vehicle. Since this is a right handed system, z should point out the +-- bottom of the vehicle. The orientation and origin of the Vehicle Body Frame +-- are specified via the device settings. The full GPS time is given by the +-- preceding MSG_GPS_TIME with the matching time-of-week (tow). This message +-- is only produced by inertial versions of Swift products and is not +-- available from Piksi Multi or Duro. +data MsgVelBody = MsgVelBody + { _msgVelBody_tow :: !Word32 + -- ^ GPS Time of Week + , _msgVelBody_x :: !Int32 + -- ^ Velocity in x direction + , _msgVelBody_y :: !Int32 + -- ^ Velocity in y direction + , _msgVelBody_z :: !Int32 + -- ^ Velocity in z direction + , _msgVelBody_cov_x_x :: !Float + -- ^ Estimated variance of x + , _msgVelBody_cov_x_y :: !Float + -- ^ Covariance of x and y + , _msgVelBody_cov_x_z :: !Float + -- ^ Covariance of x and z + , _msgVelBody_cov_y_y :: !Float + -- ^ Estimated variance of y + , _msgVelBody_cov_y_z :: !Float + -- ^ Covariance of y and z + , _msgVelBody_cov_z_z :: !Float + -- ^ Estimated variance of z + , _msgVelBody_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgVelBody_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgVelBody where + get = do + _msgVelBody_tow <- getWord32le + _msgVelBody_x <- (fromIntegral <$> getWord32le) + _msgVelBody_y <- (fromIntegral <$> getWord32le) + _msgVelBody_z <- (fromIntegral <$> getWord32le) + _msgVelBody_cov_x_x <- getFloat32le + _msgVelBody_cov_x_y <- getFloat32le + _msgVelBody_cov_x_z <- getFloat32le + _msgVelBody_cov_y_y <- getFloat32le + _msgVelBody_cov_y_z <- getFloat32le + _msgVelBody_cov_z_z <- getFloat32le + _msgVelBody_n_sats <- getWord8 + _msgVelBody_flags <- getWord8 + pure MsgVelBody {..} + + put MsgVelBody {..} = do + putWord32le _msgVelBody_tow + (putWord32le . fromIntegral) _msgVelBody_x + (putWord32le . fromIntegral) _msgVelBody_y + (putWord32le . fromIntegral) _msgVelBody_z + putFloat32le _msgVelBody_cov_x_x + putFloat32le _msgVelBody_cov_x_y + putFloat32le _msgVelBody_cov_x_z + putFloat32le _msgVelBody_cov_y_y + putFloat32le _msgVelBody_cov_y_z + putFloat32le _msgVelBody_cov_z_z + putWord8 _msgVelBody_n_sats + putWord8 _msgVelBody_flags + +$(makeSBP 'msgVelBody ''MsgVelBody) +$(makeJSON "_msgVelBody_" ''MsgVelBody) +$(makeLenses ''MsgVelBody) + +msgVelCog :: Word16 +msgVelCog = 0x021C + +-- | SBP class for message MSG_VEL_COG (0x021C). +-- +-- This message reports the receiver course over ground (COG) and speed over +-- ground (SOG) based on the horizontal (N-E) components of the NED velocity +-- vector. It also includes the vertical velocity in the form of the +-- D-component of the NED velocity vector. The NED coordinate system is +-- defined as the local WGS84 tangent plane centered at the current position. +-- The full GPS time is given by the preceding MSG_GPS_TIME with the matching +-- time-of-week (tow). Note: course over ground represents the receiver's +-- direction of travel, but not necessarily the device heading. +data MsgVelCog = MsgVelCog + { _msgVelCog_tow :: !Word32 + -- ^ GPS Time of Week + , _msgVelCog_cog :: !Word32 + -- ^ Course over ground relative to local north + , _msgVelCog_sog :: !Word32 + -- ^ Speed over ground + , _msgVelCog_vel_d :: !Int32 + -- ^ Velocity Down coordinate + , _msgVelCog_cog_accuracy :: !Word32 + -- ^ Course over ground estimated standard deviation + , _msgVelCog_sog_accuracy :: !Word32 + -- ^ Speed over ground estimated standard deviation + , _msgVelCog_vel_d_accuracy :: !Word32 + -- ^ Vertical velocity estimated standard deviation + , _msgVelCog_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgVelCog where + get = do + _msgVelCog_tow <- getWord32le + _msgVelCog_cog <- getWord32le + _msgVelCog_sog <- getWord32le + _msgVelCog_vel_d <- (fromIntegral <$> getWord32le) + _msgVelCog_cog_accuracy <- getWord32le + _msgVelCog_sog_accuracy <- getWord32le + _msgVelCog_vel_d_accuracy <- getWord32le + _msgVelCog_flags <- getWord8 + pure MsgVelCog {..} + + put MsgVelCog {..} = do + putWord32le _msgVelCog_tow + putWord32le _msgVelCog_cog + putWord32le _msgVelCog_sog + (putWord32le . fromIntegral) _msgVelCog_vel_d + putWord32le _msgVelCog_cog_accuracy + putWord32le _msgVelCog_sog_accuracy + putWord32le _msgVelCog_vel_d_accuracy + putWord8 _msgVelCog_flags + +$(makeSBP 'msgVelCog ''MsgVelCog) +$(makeJSON "_msgVelCog_" ''MsgVelCog) +$(makeLenses ''MsgVelCog) + +msgAgeCorrections :: Word16 +msgAgeCorrections = 0x0210 + +-- | SBP class for message MSG_AGE_CORRECTIONS (0x0210). +-- +-- This message reports the Age of the corrections used for the current +-- Differential solution. +data MsgAgeCorrections = MsgAgeCorrections + { _msgAgeCorrections_tow :: !Word32 + -- ^ GPS Time of Week + , _msgAgeCorrections_age :: !Word16 + -- ^ Age of the corrections (0xFFFF indicates invalid) + } deriving ( Show, Read, Eq ) + +instance Binary MsgAgeCorrections where + get = do + _msgAgeCorrections_tow <- getWord32le + _msgAgeCorrections_age <- getWord16le + pure MsgAgeCorrections {..} + + put MsgAgeCorrections {..} = do + putWord32le _msgAgeCorrections_tow + putWord16le _msgAgeCorrections_age + +$(makeSBP 'msgAgeCorrections ''MsgAgeCorrections) +$(makeJSON "_msgAgeCorrections_" ''MsgAgeCorrections) +$(makeLenses ''MsgAgeCorrections) + +msgGpsTimeDepA :: Word16 +msgGpsTimeDepA = 0x0100 + +-- | SBP class for message MSG_GPS_TIME_DEP_A (0x0100). +-- +-- This message reports the GPS time, representing the time since the GPS +-- epoch began on midnight January 6, 1980 UTC. GPS time counts the weeks and +-- seconds of the week. The weeks begin at the Saturday/Sunday transition. GPS +-- week 0 began at the beginning of the GPS time scale. +-- +-- Within each week number, the GPS time of the week is between between 0 and +-- 604800 seconds (=60*60*24*7). Note that GPS time does not accumulate leap +-- seconds, and as of now, has a small offset from UTC. In a message stream, +-- this message precedes a set of 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 + -- ^ GPS week number + , _msgGpsTimeDepA_tow :: !Word32 + -- ^ GPS time of week rounded to the nearest millisecond + , _msgGpsTimeDepA_ns_residual :: !Int32 + -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to + -- 500000) + , _msgGpsTimeDepA_flags :: !Word8 + -- ^ Status flags (reserved) + } deriving ( Show, Read, Eq ) + +instance Binary MsgGpsTimeDepA where + get = do + _msgGpsTimeDepA_wn <- getWord16le + _msgGpsTimeDepA_tow <- getWord32le + _msgGpsTimeDepA_ns_residual <- (fromIntegral <$> getWord32le) + _msgGpsTimeDepA_flags <- getWord8 + pure MsgGpsTimeDepA {..} + + put MsgGpsTimeDepA {..} = do + putWord16le _msgGpsTimeDepA_wn + putWord32le _msgGpsTimeDepA_tow + (putWord32le . fromIntegral) _msgGpsTimeDepA_ns_residual + putWord8 _msgGpsTimeDepA_flags + +$(makeSBP 'msgGpsTimeDepA ''MsgGpsTimeDepA) +$(makeJSON "_msgGpsTimeDepA_" ''MsgGpsTimeDepA) +$(makeLenses ''MsgGpsTimeDepA) + +msgDopsDepA :: Word16 +msgDopsDepA = 0x0206 + +-- | SBP class for message MSG_DOPS_DEP_A (0x0206). +-- +-- This dilution of precision (DOP) message describes the effect of navigation +-- satellite geometry on positional measurement precision. +data MsgDopsDepA = MsgDopsDepA + { _msgDopsDepA_tow :: !Word32 + -- ^ GPS Time of Week + , _msgDopsDepA_gdop :: !Word16 + -- ^ Geometric Dilution of Precision + , _msgDopsDepA_pdop :: !Word16 + -- ^ Position Dilution of Precision + , _msgDopsDepA_tdop :: !Word16 + -- ^ Time Dilution of Precision + , _msgDopsDepA_hdop :: !Word16 + -- ^ Horizontal Dilution of Precision + , _msgDopsDepA_vdop :: !Word16 + -- ^ Vertical Dilution of Precision + } deriving ( Show, Read, Eq ) + +instance Binary MsgDopsDepA where + get = do + _msgDopsDepA_tow <- getWord32le + _msgDopsDepA_gdop <- getWord16le + _msgDopsDepA_pdop <- getWord16le + _msgDopsDepA_tdop <- getWord16le + _msgDopsDepA_hdop <- getWord16le + _msgDopsDepA_vdop <- getWord16le + pure MsgDopsDepA {..} + + put MsgDopsDepA {..} = do + putWord32le _msgDopsDepA_tow + putWord16le _msgDopsDepA_gdop + putWord16le _msgDopsDepA_pdop + putWord16le _msgDopsDepA_tdop + putWord16le _msgDopsDepA_hdop + putWord16le _msgDopsDepA_vdop + +$(makeSBP 'msgDopsDepA ''MsgDopsDepA) +$(makeJSON "_msgDopsDepA_" ''MsgDopsDepA) +$(makeLenses ''MsgDopsDepA) + +msgPosEcefDepA :: Word16 +msgPosEcefDepA = 0x0200 + +-- | SBP class for message MSG_POS_ECEF_DEP_A (0x0200). +-- +-- The position solution message reports absolute Earth Centered Earth Fixed +-- (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of +-- the position solution. If the rover receiver knows the surveyed position of +-- the base station and has an RTK solution, this reports a pseudo-absolute +-- position solution using the base station position and the rover's RTK +-- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME +-- with the matching time-of-week (tow). +data MsgPosEcefDepA = MsgPosEcefDepA + { _msgPosEcefDepA_tow :: !Word32 + -- ^ GPS Time of Week + , _msgPosEcefDepA_x :: !Double + -- ^ ECEF X coordinate + , _msgPosEcefDepA_y :: !Double + -- ^ ECEF Y coordinate + , _msgPosEcefDepA_z :: !Double + -- ^ ECEF Z coordinate + , _msgPosEcefDepA_accuracy :: !Word16 + -- ^ Position accuracy estimate (not implemented). Defaults to 0. + , _msgPosEcefDepA_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgPosEcefDepA_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgPosEcefDepA where + get = do + _msgPosEcefDepA_tow <- getWord32le + _msgPosEcefDepA_x <- getFloat64le + _msgPosEcefDepA_y <- getFloat64le + _msgPosEcefDepA_z <- getFloat64le + _msgPosEcefDepA_accuracy <- getWord16le + _msgPosEcefDepA_n_sats <- getWord8 + _msgPosEcefDepA_flags <- getWord8 + pure MsgPosEcefDepA {..} + + put MsgPosEcefDepA {..} = do + putWord32le _msgPosEcefDepA_tow + putFloat64le _msgPosEcefDepA_x + putFloat64le _msgPosEcefDepA_y + putFloat64le _msgPosEcefDepA_z + putWord16le _msgPosEcefDepA_accuracy + putWord8 _msgPosEcefDepA_n_sats + putWord8 _msgPosEcefDepA_flags + +$(makeSBP 'msgPosEcefDepA ''MsgPosEcefDepA) +$(makeJSON "_msgPosEcefDepA_" ''MsgPosEcefDepA) +$(makeLenses ''MsgPosEcefDepA) + +msgPosLlhDepA :: Word16 +msgPosLlhDepA = 0x0201 + +-- | SBP class for message MSG_POS_LLH_DEP_A (0x0201). +-- +-- This position solution message reports the absolute geodetic coordinates +-- and the status (single point vs pseudo-absolute RTK) of the position +-- solution. If the rover receiver knows the surveyed position of the base +-- station and has an RTK solution, this reports a pseudo-absolute position +-- solution using the base station position and the rover's RTK baseline +-- vector. The full GPS time is given by the preceding MSG_GPS_TIME with the +-- matching time-of-week (tow). +data MsgPosLlhDepA = MsgPosLlhDepA + { _msgPosLlhDepA_tow :: !Word32 + -- ^ GPS Time of Week + , _msgPosLlhDepA_lat :: !Double + -- ^ Latitude + , _msgPosLlhDepA_lon :: !Double + -- ^ Longitude + , _msgPosLlhDepA_height :: !Double + -- ^ Height + , _msgPosLlhDepA_h_accuracy :: !Word16 + -- ^ Horizontal position accuracy estimate (not implemented). Defaults to 0. + , _msgPosLlhDepA_v_accuracy :: !Word16 + -- ^ Vertical position accuracy estimate (not implemented). Defaults to 0. + , _msgPosLlhDepA_n_sats :: !Word8 + -- ^ Number of satellites used in solution. + , _msgPosLlhDepA_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgPosLlhDepA where + get = do + _msgPosLlhDepA_tow <- getWord32le + _msgPosLlhDepA_lat <- getFloat64le + _msgPosLlhDepA_lon <- getFloat64le + _msgPosLlhDepA_height <- getFloat64le + _msgPosLlhDepA_h_accuracy <- getWord16le + _msgPosLlhDepA_v_accuracy <- getWord16le + _msgPosLlhDepA_n_sats <- getWord8 + _msgPosLlhDepA_flags <- getWord8 + pure MsgPosLlhDepA {..} + + put MsgPosLlhDepA {..} = do + putWord32le _msgPosLlhDepA_tow + putFloat64le _msgPosLlhDepA_lat + putFloat64le _msgPosLlhDepA_lon + putFloat64le _msgPosLlhDepA_height + putWord16le _msgPosLlhDepA_h_accuracy + putWord16le _msgPosLlhDepA_v_accuracy + putWord8 _msgPosLlhDepA_n_sats + putWord8 _msgPosLlhDepA_flags + +$(makeSBP 'msgPosLlhDepA ''MsgPosLlhDepA) +$(makeJSON "_msgPosLlhDepA_" ''MsgPosLlhDepA) +$(makeLenses ''MsgPosLlhDepA) + +msgBaselineEcefDepA :: Word16 +msgBaselineEcefDepA = 0x0202 + +-- | SBP class for message MSG_BASELINE_ECEF_DEP_A (0x0202). +-- +-- This message reports the baseline solution in Earth Centered Earth Fixed +-- (ECEF) coordinates. This baseline is the relative vector distance from the +-- base station to the rover receiver. The full GPS time is given by the +-- preceding MSG_GPS_TIME with the matching time-of-week (tow). +data MsgBaselineEcefDepA = MsgBaselineEcefDepA + { _msgBaselineEcefDepA_tow :: !Word32 + -- ^ GPS Time of Week + , _msgBaselineEcefDepA_x :: !Int32 + -- ^ Baseline ECEF X coordinate + , _msgBaselineEcefDepA_y :: !Int32 + -- ^ Baseline ECEF Y coordinate + , _msgBaselineEcefDepA_z :: !Int32 + -- ^ Baseline ECEF Z coordinate + , _msgBaselineEcefDepA_accuracy :: !Word16 + -- ^ Position accuracy estimate + , _msgBaselineEcefDepA_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgBaselineEcefDepA_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgBaselineEcefDepA where + get = do + _msgBaselineEcefDepA_tow <- getWord32le + _msgBaselineEcefDepA_x <- (fromIntegral <$> getWord32le) + _msgBaselineEcefDepA_y <- (fromIntegral <$> getWord32le) + _msgBaselineEcefDepA_z <- (fromIntegral <$> getWord32le) + _msgBaselineEcefDepA_accuracy <- getWord16le + _msgBaselineEcefDepA_n_sats <- getWord8 + _msgBaselineEcefDepA_flags <- getWord8 + pure MsgBaselineEcefDepA {..} + + put MsgBaselineEcefDepA {..} = do + putWord32le _msgBaselineEcefDepA_tow + (putWord32le . fromIntegral) _msgBaselineEcefDepA_x + (putWord32le . fromIntegral) _msgBaselineEcefDepA_y + (putWord32le . fromIntegral) _msgBaselineEcefDepA_z + putWord16le _msgBaselineEcefDepA_accuracy + putWord8 _msgBaselineEcefDepA_n_sats + putWord8 _msgBaselineEcefDepA_flags + +$(makeSBP 'msgBaselineEcefDepA ''MsgBaselineEcefDepA) +$(makeJSON "_msgBaselineEcefDepA_" ''MsgBaselineEcefDepA) +$(makeLenses ''MsgBaselineEcefDepA) + +msgBaselineNedDepA :: Word16 +msgBaselineNedDepA = 0x0203 + +-- | SBP class for message MSG_BASELINE_NED_DEP_A (0x0203). +-- +-- This message reports the baseline solution in North East Down (NED) +-- coordinates. This baseline is the relative vector distance from the base +-- station to the rover receiver, and NED coordinate system is defined at the +-- local WGS84 tangent plane centered at the base station position. The full +-- GPS time is given by the preceding MSG_GPS_TIME with the matching time-of- +-- week (tow). +data MsgBaselineNedDepA = MsgBaselineNedDepA + { _msgBaselineNedDepA_tow :: !Word32 + -- ^ GPS Time of Week + , _msgBaselineNedDepA_n :: !Int32 + -- ^ Baseline North coordinate + , _msgBaselineNedDepA_e :: !Int32 + -- ^ Baseline East coordinate + , _msgBaselineNedDepA_d :: !Int32 + -- ^ Baseline Down coordinate + , _msgBaselineNedDepA_h_accuracy :: !Word16 + -- ^ Horizontal position accuracy estimate (not implemented). Defaults to 0. + , _msgBaselineNedDepA_v_accuracy :: !Word16 + -- ^ Vertical position accuracy estimate (not implemented). Defaults to 0. + , _msgBaselineNedDepA_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgBaselineNedDepA_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgBaselineNedDepA where + get = do + _msgBaselineNedDepA_tow <- getWord32le + _msgBaselineNedDepA_n <- (fromIntegral <$> getWord32le) + _msgBaselineNedDepA_e <- (fromIntegral <$> getWord32le) + _msgBaselineNedDepA_d <- (fromIntegral <$> getWord32le) + _msgBaselineNedDepA_h_accuracy <- getWord16le + _msgBaselineNedDepA_v_accuracy <- getWord16le + _msgBaselineNedDepA_n_sats <- getWord8 + _msgBaselineNedDepA_flags <- getWord8 + pure MsgBaselineNedDepA {..} + + put MsgBaselineNedDepA {..} = do + putWord32le _msgBaselineNedDepA_tow + (putWord32le . fromIntegral) _msgBaselineNedDepA_n + (putWord32le . fromIntegral) _msgBaselineNedDepA_e + (putWord32le . fromIntegral) _msgBaselineNedDepA_d + putWord16le _msgBaselineNedDepA_h_accuracy + putWord16le _msgBaselineNedDepA_v_accuracy + putWord8 _msgBaselineNedDepA_n_sats + putWord8 _msgBaselineNedDepA_flags + +$(makeSBP 'msgBaselineNedDepA ''MsgBaselineNedDepA) +$(makeJSON "_msgBaselineNedDepA_" ''MsgBaselineNedDepA) +$(makeLenses ''MsgBaselineNedDepA) + +msgVelEcefDepA :: Word16 +msgVelEcefDepA = 0x0204 + +-- | SBP class for message MSG_VEL_ECEF_DEP_A (0x0204). +-- +-- This message reports the velocity in Earth Centered Earth Fixed (ECEF) +-- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with +-- the matching time-of-week (tow). +data MsgVelEcefDepA = MsgVelEcefDepA + { _msgVelEcefDepA_tow :: !Word32 + -- ^ GPS Time of Week + , _msgVelEcefDepA_x :: !Int32 + -- ^ Velocity ECEF X coordinate + , _msgVelEcefDepA_y :: !Int32 + -- ^ Velocity ECEF Y coordinate + , _msgVelEcefDepA_z :: !Int32 + -- ^ Velocity ECEF Z coordinate + , _msgVelEcefDepA_accuracy :: !Word16 + -- ^ Velocity accuracy estimate (not implemented). Defaults to 0. + , _msgVelEcefDepA_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgVelEcefDepA_flags :: !Word8 + -- ^ Status flags (reserved) + } deriving ( Show, Read, Eq ) + +instance Binary MsgVelEcefDepA where + get = do + _msgVelEcefDepA_tow <- getWord32le + _msgVelEcefDepA_x <- (fromIntegral <$> getWord32le) + _msgVelEcefDepA_y <- (fromIntegral <$> getWord32le) + _msgVelEcefDepA_z <- (fromIntegral <$> getWord32le) + _msgVelEcefDepA_accuracy <- getWord16le + _msgVelEcefDepA_n_sats <- getWord8 + _msgVelEcefDepA_flags <- getWord8 + pure MsgVelEcefDepA {..} + + put MsgVelEcefDepA {..} = do + putWord32le _msgVelEcefDepA_tow + (putWord32le . fromIntegral) _msgVelEcefDepA_x + (putWord32le . fromIntegral) _msgVelEcefDepA_y + (putWord32le . fromIntegral) _msgVelEcefDepA_z + putWord16le _msgVelEcefDepA_accuracy + putWord8 _msgVelEcefDepA_n_sats + putWord8 _msgVelEcefDepA_flags + +$(makeSBP 'msgVelEcefDepA ''MsgVelEcefDepA) +$(makeJSON "_msgVelEcefDepA_" ''MsgVelEcefDepA) +$(makeLenses ''MsgVelEcefDepA) + +msgVelNedDepA :: Word16 +msgVelNedDepA = 0x0205 + +-- | SBP class for message MSG_VEL_NED_DEP_A (0x0205). +-- +-- This message reports the velocity in local North East Down (NED) +-- coordinates. The NED coordinate system is defined as the local WGS84 +-- tangent plane centered at the current position. The full GPS time is given +-- by the preceding MSG_GPS_TIME with the matching time-of-week (tow). +data MsgVelNedDepA = MsgVelNedDepA + { _msgVelNedDepA_tow :: !Word32 + -- ^ GPS Time of Week + , _msgVelNedDepA_n :: !Int32 + -- ^ Velocity North coordinate + , _msgVelNedDepA_e :: !Int32 + -- ^ Velocity East coordinate + , _msgVelNedDepA_d :: !Int32 + -- ^ Velocity Down coordinate + , _msgVelNedDepA_h_accuracy :: !Word16 + -- ^ Horizontal velocity accuracy estimate (not implemented). Defaults to 0. + , _msgVelNedDepA_v_accuracy :: !Word16 + -- ^ Vertical velocity accuracy estimate (not implemented). Defaults to 0. + , _msgVelNedDepA_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgVelNedDepA_flags :: !Word8 + -- ^ Status flags (reserved) + } deriving ( Show, Read, Eq ) + +instance Binary MsgVelNedDepA where + get = do + _msgVelNedDepA_tow <- getWord32le + _msgVelNedDepA_n <- (fromIntegral <$> getWord32le) + _msgVelNedDepA_e <- (fromIntegral <$> getWord32le) + _msgVelNedDepA_d <- (fromIntegral <$> getWord32le) + _msgVelNedDepA_h_accuracy <- getWord16le + _msgVelNedDepA_v_accuracy <- getWord16le + _msgVelNedDepA_n_sats <- getWord8 + _msgVelNedDepA_flags <- getWord8 + pure MsgVelNedDepA {..} + + put MsgVelNedDepA {..} = do + putWord32le _msgVelNedDepA_tow + (putWord32le . fromIntegral) _msgVelNedDepA_n + (putWord32le . fromIntegral) _msgVelNedDepA_e + (putWord32le . fromIntegral) _msgVelNedDepA_d + putWord16le _msgVelNedDepA_h_accuracy + putWord16le _msgVelNedDepA_v_accuracy + putWord8 _msgVelNedDepA_n_sats + putWord8 _msgVelNedDepA_flags + +$(makeSBP 'msgVelNedDepA ''MsgVelNedDepA) +$(makeJSON "_msgVelNedDepA_" ''MsgVelNedDepA) +$(makeLenses ''MsgVelNedDepA) + +msgBaselineHeadingDepA :: Word16 +msgBaselineHeadingDepA = 0x0207 + +-- | SBP class for message MSG_BASELINE_HEADING_DEP_A (0x0207). +-- +-- This message reports the baseline heading pointing from the base station to +-- the rover relative to True North. The full GPS time is given by the +-- preceding MSG_GPS_TIME with the matching time-of-week (tow). +data MsgBaselineHeadingDepA = MsgBaselineHeadingDepA + { _msgBaselineHeadingDepA_tow :: !Word32 + -- ^ GPS Time of Week + , _msgBaselineHeadingDepA_heading :: !Word32 + -- ^ Heading + , _msgBaselineHeadingDepA_n_sats :: !Word8 + -- ^ Number of satellites used in solution + , _msgBaselineHeadingDepA_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgBaselineHeadingDepA where + get = do + _msgBaselineHeadingDepA_tow <- getWord32le + _msgBaselineHeadingDepA_heading <- getWord32le + _msgBaselineHeadingDepA_n_sats <- getWord8 + _msgBaselineHeadingDepA_flags <- getWord8 + pure MsgBaselineHeadingDepA {..} + + put MsgBaselineHeadingDepA {..} = do + putWord32le _msgBaselineHeadingDepA_tow + putWord32le _msgBaselineHeadingDepA_heading + putWord8 _msgBaselineHeadingDepA_n_sats + putWord8 _msgBaselineHeadingDepA_flags + +$(makeSBP 'msgBaselineHeadingDepA ''MsgBaselineHeadingDepA) +$(makeJSON "_msgBaselineHeadingDepA_" ''MsgBaselineHeadingDepA) +$(makeLenses ''MsgBaselineHeadingDepA) + +msgProtectionLevelDepA :: Word16 +msgProtectionLevelDepA = 0x0216 + +-- | SBP class for message MSG_PROTECTION_LEVEL_DEP_A (0x0216). +-- +-- This message reports the local vertical and horizontal protection levels +-- associated with a given LLH position solution. The full GPS time is given +-- by the preceding MSG_GPS_TIME with the matching time-of-week (tow). +data MsgProtectionLevelDepA = MsgProtectionLevelDepA + { _msgProtectionLevelDepA_tow :: !Word32 + -- ^ GPS Time of Week + , _msgProtectionLevelDepA_vpl :: !Word16 + -- ^ Vertical protection level + , _msgProtectionLevelDepA_hpl :: !Word16 + -- ^ Horizontal protection level + , _msgProtectionLevelDepA_lat :: !Double + -- ^ Latitude + , _msgProtectionLevelDepA_lon :: !Double + -- ^ Longitude + , _msgProtectionLevelDepA_height :: !Double + -- ^ Height + , _msgProtectionLevelDepA_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgProtectionLevelDepA where + get = do + _msgProtectionLevelDepA_tow <- getWord32le + _msgProtectionLevelDepA_vpl <- getWord16le + _msgProtectionLevelDepA_hpl <- getWord16le + _msgProtectionLevelDepA_lat <- getFloat64le + _msgProtectionLevelDepA_lon <- getFloat64le + _msgProtectionLevelDepA_height <- getFloat64le + _msgProtectionLevelDepA_flags <- getWord8 + pure MsgProtectionLevelDepA {..} + + put MsgProtectionLevelDepA {..} = do + putWord32le _msgProtectionLevelDepA_tow + putWord16le _msgProtectionLevelDepA_vpl + putWord16le _msgProtectionLevelDepA_hpl + putFloat64le _msgProtectionLevelDepA_lat + putFloat64le _msgProtectionLevelDepA_lon + putFloat64le _msgProtectionLevelDepA_height + putWord8 _msgProtectionLevelDepA_flags + +$(makeSBP 'msgProtectionLevelDepA ''MsgProtectionLevelDepA) +$(makeJSON "_msgProtectionLevelDepA_" ''MsgProtectionLevelDepA) +$(makeLenses ''MsgProtectionLevelDepA) + +msgProtectionLevel :: Word16 +msgProtectionLevel = 0x0217 + +-- | SBP class for message MSG_PROTECTION_LEVEL (0x0217). +-- +-- This message reports the protection levels associated to the given state +-- estimate. The full GPS time is given by the preceding MSG_GPS_TIME with the +-- matching time-of-week (tow). +data MsgProtectionLevel = MsgProtectionLevel + { _msgProtectionLevel_tow :: !Word32 + -- ^ GPS Time of Week + , _msgProtectionLevel_wn :: !Int16 + -- ^ GPS week number + , _msgProtectionLevel_hpl :: !Word16 + -- ^ Horizontal protection level + , _msgProtectionLevel_vpl :: !Word16 + -- ^ Vertical protection level + , _msgProtectionLevel_atpl :: !Word16 + -- ^ Along-track position error protection level + , _msgProtectionLevel_ctpl :: !Word16 + -- ^ Cross-track position error protection level + , _msgProtectionLevel_hvpl :: !Word16 + -- ^ Protection level for the error vector between estimated and true + -- along/cross track velocity vector + , _msgProtectionLevel_vvpl :: !Word16 + -- ^ Protection level for the velocity in vehicle upright direction + -- (different from vertical direction if on a slope) + , _msgProtectionLevel_hopl :: !Word16 + -- ^ Heading orientation protection level + , _msgProtectionLevel_popl :: !Word16 + -- ^ Pitch orientation protection level + , _msgProtectionLevel_ropl :: !Word16 + -- ^ Roll orientation protection level + , _msgProtectionLevel_lat :: !Double + -- ^ Latitude + , _msgProtectionLevel_lon :: !Double + -- ^ Longitude + , _msgProtectionLevel_height :: !Double + -- ^ Height + , _msgProtectionLevel_v_x :: !Int32 + -- ^ Velocity in vehicle x direction + , _msgProtectionLevel_v_y :: !Int32 + -- ^ Velocity in vehicle y direction + , _msgProtectionLevel_v_z :: !Int32 + -- ^ Velocity in vehicle z direction + , _msgProtectionLevel_roll :: !Int32 + -- ^ Roll angle + , _msgProtectionLevel_pitch :: !Int32 + -- ^ Pitch angle + , _msgProtectionLevel_heading :: !Int32 + -- ^ Heading angle + , _msgProtectionLevel_flags :: !Word32 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgProtectionLevel where + get = do + _msgProtectionLevel_tow <- getWord32le + _msgProtectionLevel_wn <- (fromIntegral <$> getWord16le) + _msgProtectionLevel_hpl <- getWord16le + _msgProtectionLevel_vpl <- getWord16le + _msgProtectionLevel_atpl <- getWord16le + _msgProtectionLevel_ctpl <- getWord16le + _msgProtectionLevel_hvpl <- getWord16le + _msgProtectionLevel_vvpl <- getWord16le + _msgProtectionLevel_hopl <- getWord16le + _msgProtectionLevel_popl <- getWord16le + _msgProtectionLevel_ropl <- getWord16le + _msgProtectionLevel_lat <- getFloat64le + _msgProtectionLevel_lon <- getFloat64le + _msgProtectionLevel_height <- getFloat64le + _msgProtectionLevel_v_x <- (fromIntegral <$> getWord32le) + _msgProtectionLevel_v_y <- (fromIntegral <$> getWord32le) + _msgProtectionLevel_v_z <- (fromIntegral <$> getWord32le) + _msgProtectionLevel_roll <- (fromIntegral <$> getWord32le) + _msgProtectionLevel_pitch <- (fromIntegral <$> getWord32le) + _msgProtectionLevel_heading <- (fromIntegral <$> getWord32le) + _msgProtectionLevel_flags <- getWord32le + pure MsgProtectionLevel {..} + + put MsgProtectionLevel {..} = do + putWord32le _msgProtectionLevel_tow + (putWord16le . fromIntegral) _msgProtectionLevel_wn + putWord16le _msgProtectionLevel_hpl + putWord16le _msgProtectionLevel_vpl + putWord16le _msgProtectionLevel_atpl + putWord16le _msgProtectionLevel_ctpl + putWord16le _msgProtectionLevel_hvpl + putWord16le _msgProtectionLevel_vvpl + putWord16le _msgProtectionLevel_hopl + putWord16le _msgProtectionLevel_popl + putWord16le _msgProtectionLevel_ropl + putFloat64le _msgProtectionLevel_lat + putFloat64le _msgProtectionLevel_lon + putFloat64le _msgProtectionLevel_height + (putWord32le . fromIntegral) _msgProtectionLevel_v_x + (putWord32le . fromIntegral) _msgProtectionLevel_v_y + (putWord32le . fromIntegral) _msgProtectionLevel_v_z + (putWord32le . fromIntegral) _msgProtectionLevel_roll + (putWord32le . fromIntegral) _msgProtectionLevel_pitch + (putWord32le . fromIntegral) _msgProtectionLevel_heading + putWord32le _msgProtectionLevel_flags + +$(makeSBP 'msgProtectionLevel ''MsgProtectionLevel) +$(makeJSON "_msgProtectionLevel_" ''MsgProtectionLevel) +$(makeLenses ''MsgProtectionLevel) diff --git a/src/SwiftNav/SBP/Ndb.hs b/src/SwiftNav/SBP/Ndb.hs --- a/src/SwiftNav/SBP/Ndb.hs +++ b/src/SwiftNav/SBP/Ndb.hs @@ -6,12 +6,12 @@ -- | -- Module: SwiftNav.SBP.Ndb -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Messages for logging NDB events. +-- \< Messages for logging NDB events. \> module SwiftNav.SBP.Ndb ( module SwiftNav.SBP.Ndb diff --git a/src/SwiftNav/SBP/Observation.hs b/src/SwiftNav/SBP/Observation.hs --- a/src/SwiftNav/SBP/Observation.hs +++ b/src/SwiftNav/SBP/Observation.hs @@ -6,12 +6,14 @@ -- | -- Module: SwiftNav.SBP.Observation -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Satellite observation messages from the device. +-- \< Satellite observation messages from the device. The SBP sender ID of 0 +-- indicates remote observations from a GNSS base station, correction network, +-- or Skylark, Swift's cloud GNSS correction product. \> module SwiftNav.SBP.Observation ( module SwiftNav.SBP.Observation @@ -74,7 +76,7 @@ instance Binary Doppler where get = do - _doppler_i <- fromIntegral <$> getWord16le + _doppler_i <- (fromIntegral <$> getWord16le) _doppler_f <- getWord8 pure Doppler {..} @@ -87,11 +89,13 @@ -- | PackedObsContent. -- --- Pseudorange and carrier phase observation for a satellite being tracked. The --- observations are interoperable with 3rd party receivers and conform with --- typical RTCM 3.1 message GPS/GLO observations. Carrier phase observations --- are not guaranteed to be aligned to the RINEX 3 or RTCM 3.3 MSM reference --- signal and no 1/4 cycle adjustments are currently peformed. +-- Pseudorange and carrier phase observation for a satellite being tracked. +-- The observations are interoperable with 3rd party receivers and conform +-- with typical RTCM 3.1 message GPS/GLO observations. +-- +-- Carrier phase observations are not guaranteed to be aligned to the RINEX 3 +-- or RTCM 3.3 MSM reference signal and no 1/4 cycle adjustments are currently +-- peformed. data PackedObsContent = PackedObsContent { _packedObsContent_P :: !Word32 -- ^ Pseudorange observation @@ -110,8 +114,8 @@ -- future use. , _packedObsContent_flags :: !Word8 -- ^ 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. + -- this observation. If this field is 0 it means only the Cn0 estimate + -- for the signal is valid. , _packedObsContent_sid :: !GnssSignal -- ^ GNSS signal identifier (16 bit) } deriving ( Show, Read, Eq ) @@ -199,14 +203,15 @@ -- The GPS observations message reports all the raw pseudorange and carrier -- phase observations for the satellites being tracked by the device. Carrier -- phase observation here is represented as a 40-bit fixed point number with --- Q32.8 layout (i.e. 32-bits of whole cycles and 8-bits of fractional cycles). --- The observations are be interoperable with 3rd party receivers and conform --- with typical RTCMv3 GNSS observations. +-- Q32.8 layout (i.e. 32-bits of whole cycles and 8-bits of fractional +-- cycles). The observations are be interoperable with 3rd party receivers and +-- conform with typical RTCMv3 GNSS observations. data MsgObs = MsgObs { _msgObs_header :: !ObservationHeader -- ^ Header of a GPS observation message , _msgObs_obs :: ![PackedObsContent] - -- ^ Pseudorange and carrier phase observation for a satellite being tracked. + -- ^ Pseudorange and carrier phase observation for a satellite being + -- tracked. } deriving ( Show, Read, Eq ) instance Binary MsgObs where @@ -304,8 +309,10 @@ , _ephemerisCommonContent_valid :: !Word8 -- ^ Status of ephemeris, 1 = valid, 0 = invalid , _ephemerisCommonContent_health_bits :: !Word8 - -- ^ 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 + -- ^ 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 ) instance Binary EphemerisCommonContent where @@ -341,8 +348,9 @@ , _ephemerisCommonContentDepB_valid :: !Word8 -- ^ Status of ephemeris, 1 = valid, 0 = invalid , _ephemerisCommonContentDepB_health_bits :: !Word8 - -- ^ Satellite health status. GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 Others: - -- 0 = valid, non-zero = invalid + -- ^ Satellite health status. + -- GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 + -- Others: 0 = valid, non-zero = invalid } deriving ( Show, Read, Eq ) instance Binary EphemerisCommonContentDepB where @@ -378,8 +386,10 @@ , _ephemerisCommonContentDepA_valid :: !Word8 -- ^ Status of ephemeris, 1 = valid, 0 = invalid , _ephemerisCommonContentDepA_health_bits :: !Word8 - -- ^ 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 + -- ^ 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 ) instance Binary EphemerisCommonContentDepA where @@ -409,9 +419,9 @@ -- | SBP class for message MSG_EPHEMERIS_GPS_DEP_E (0x0081). -- -- The ephemeris message returns a set of satellite orbit parameters that is --- used to calculate GPS satellite position, velocity, and clock offset. Please --- see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, --- Table 20-III) for more details. +-- used to calculate GPS satellite position, velocity, and clock offset. +-- Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD- +-- GPS-200, Table 20-III) for more details. data MsgEphemerisGpsDepE = MsgEphemerisGpsDepE { _msgEphemerisGpsDepE_common :: !EphemerisCommonContentDepA -- ^ Values common for all ephemeris types @@ -643,9 +653,9 @@ -- | SBP class for message MSG_EPHEMERIS_GPS (0x008A). -- -- The ephemeris message returns a set of satellite orbit parameters that is --- used to calculate GPS satellite position, velocity, and clock offset. Please --- see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, --- Table 20-III) for more details. +-- used to calculate GPS satellite position, velocity, and clock offset. +-- Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD- +-- GPS-200, Table 20-III) for more details. data MsgEphemerisGps = MsgEphemerisGps { _msgEphemerisGps_common :: !EphemerisCommonContent -- ^ Values common for all ephemeris types @@ -877,9 +887,9 @@ -- | SBP class for message MSG_EPHEMERIS_BDS (0x0089). -- -- The ephemeris message returns a set of satellite orbit parameters that is --- used to calculate BDS satellite position, velocity, and clock offset. Please --- see the BeiDou Navigation Satellite System SIS-ICD Version 2.1, Table 5-9 --- for more details. +-- used to calculate BDS satellite position, velocity, and clock offset. +-- Please see the BeiDou Navigation Satellite System SIS-ICD Version 2.1, +-- Table 5-9 for more details. data MsgEphemerisBds = MsgEphemerisBds { _msgEphemerisBds_common :: !EphemerisCommonContent -- ^ Values common for all ephemeris types @@ -931,8 +941,12 @@ -- ^ Clock reference , _msgEphemerisBds_iode :: !Word8 -- ^ Issue of ephemeris data + -- Calculated from the navigation data parameter t_oe per RTCM/CSNO + -- recommendation: IODE = mod (t_oe / 720, 240) , _msgEphemerisBds_iodc :: !Word16 -- ^ Issue of clock data + -- Calculated from the navigation data parameter t_oe per RTCM/CSNO + -- recommendation: IODE = mod (t_oc / 720, 240) } deriving ( Show, Read, Eq ) instance Binary MsgEphemerisBds where @@ -1050,9 +1064,9 @@ , _msgEphemerisGalDepA_toc :: !GpsTimeSec -- ^ Clock reference , _msgEphemerisGalDepA_iode :: !Word16 - -- ^ Issue of ephemeris data + -- ^ Issue of data (IODnav) , _msgEphemerisGalDepA_iodc :: !Word16 - -- ^ Issue of clock data + -- ^ Issue of data (IODnav). Always equal to iode } deriving ( Show, Read, Eq ) instance Binary MsgEphemerisGalDepA where @@ -1172,11 +1186,11 @@ , _msgEphemerisGal_toc :: !GpsTimeSec -- ^ Clock reference , _msgEphemerisGal_iode :: !Word16 - -- ^ Issue of ephemeris data + -- ^ Issue of data (IODnav) , _msgEphemerisGal_iodc :: !Word16 - -- ^ Issue of clock data + -- ^ Issue of data (IODnav). Always equal to iode , _msgEphemerisGal_source :: !Word8 - -- ^ 0=I/NAV, 1=F/NAV, ... + -- ^ 0=I/NAV, 1=F/NAV } deriving ( Show, Read, Eq ) instance Binary MsgEphemerisGal where @@ -1285,8 +1299,8 @@ -- | SBP class for message MSG_EPHEMERIS_GLO_DEP_A (0x0083). -- -- The ephemeris message returns a set of satellite orbit parameters that is --- used to calculate GLO satellite position, velocity, and clock offset. Please --- see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate +-- used to calculate GLO satellite position, velocity, and clock offset. +-- Please see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate -- information (ephemeris parameters)" for more details. data MsgEphemerisGloDepA = MsgEphemerisGloDepA { _msgEphemerisGloDepA_common :: !EphemerisCommonContentDepA @@ -1415,8 +1429,8 @@ -- | SBP class for message MSG_EPHEMERIS_GLO_DEP_B (0x0085). -- -- The ephemeris message returns a set of satellite orbit parameters that is --- used to calculate GLO satellite position, velocity, and clock offset. Please --- see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate +-- used to calculate GLO satellite position, velocity, and clock offset. +-- Please see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate -- information (ephemeris parameters)" for more details. data MsgEphemerisGloDepB = MsgEphemerisGloDepB { _msgEphemerisGloDepB_common :: !EphemerisCommonContentDepB @@ -1461,8 +1475,8 @@ -- | SBP class for message MSG_EPHEMERIS_GLO_DEP_C (0x0087). -- -- The ephemeris message returns a set of satellite orbit parameters that is --- used to calculate GLO satellite position, velocity, and clock offset. Please --- see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate +-- used to calculate GLO satellite position, velocity, and clock offset. +-- Please see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate -- information (ephemeris parameters)" for more details. data MsgEphemerisGloDepC = MsgEphemerisGloDepC { _msgEphemerisGloDepC_common :: !EphemerisCommonContentDepB @@ -1534,7 +1548,7 @@ , _msgEphemerisGloDepD_fcn :: !Word8 -- ^ Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid , _msgEphemerisGloDepD_iod :: !Word8 - -- ^ Issue of ephemeris data + -- ^ Issue of data. Equal to the 7 bits of the immediate data word t_b } deriving ( Show, Read, Eq ) instance Binary MsgEphemerisGloDepD where @@ -1571,8 +1585,8 @@ -- | SBP class for message MSG_EPHEMERIS_GLO (0x008B). -- -- The ephemeris message returns a set of satellite orbit parameters that is --- used to calculate GLO satellite position, velocity, and clock offset. Please --- see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate +-- used to calculate GLO satellite position, velocity, and clock offset. +-- Please see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate -- information (ephemeris parameters)" for more details. data MsgEphemerisGlo = MsgEphemerisGlo { _msgEphemerisGlo_common :: !EphemerisCommonContent @@ -1592,7 +1606,7 @@ , _msgEphemerisGlo_fcn :: !Word8 -- ^ Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid , _msgEphemerisGlo_iod :: !Word8 - -- ^ Issue of ephemeris data + -- ^ Issue of data. Equal to the 7 bits of the immediate data word t_b } deriving ( Show, Read, Eq ) instance Binary MsgEphemerisGlo where @@ -1629,9 +1643,9 @@ -- | SBP class for message MSG_EPHEMERIS_DEP_D (0x0080). -- -- The ephemeris message returns a set of satellite orbit parameters that is --- used to calculate GPS satellite position, velocity, and clock offset. Please --- see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, --- Table 20-III) for more details. +-- used to calculate GPS satellite position, velocity, and clock offset. +-- Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD- +-- GPS-200, Table 20-III) for more details. data MsgEphemerisDepD = MsgEphemerisDepD { _msgEphemerisDepD_tgd :: !Double -- ^ Group delay differential between L1 and L2 @@ -2029,9 +2043,9 @@ -- | SBP class for message MSG_EPHEMERIS_DEP_C (0x0047). -- -- The ephemeris message returns a set of satellite orbit parameters that is --- used to calculate GPS satellite position, velocity, and clock offset. Please --- see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, --- Table 20-III) for more details. +-- used to calculate GPS satellite position, velocity, and clock offset. +-- Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD- +-- GPS-200, Table 20-III) for more details. data MsgEphemerisDepC = MsgEphemerisDepC { _msgEphemerisDepC_tgd :: !Double -- ^ Group delay differential between L1 and L2 @@ -2204,7 +2218,7 @@ instance Binary CarrierPhaseDepA where get = do - _carrierPhaseDepA_i <- fromIntegral <$> getWord32le + _carrierPhaseDepA_i <- (fromIntegral <$> getWord32le) _carrierPhaseDepA_f <- getWord8 pure CarrierPhaseDepA {..} @@ -2292,9 +2306,9 @@ -- | PackedObsContentDepC. -- --- Pseudorange and carrier phase observation for a satellite being tracked. The --- observations are be interoperable with 3rd party receivers and conform with --- typical RTCMv3 GNSS observations. +-- Pseudorange and carrier phase observation for a satellite being tracked. +-- The observations are be interoperable with 3rd party receivers and conform +-- with typical RTCMv3 GNSS observations. data PackedObsContentDepC = PackedObsContentDepC { _packedObsContentDepC_P :: !Word32 -- ^ Pseudorange observation @@ -2339,7 +2353,8 @@ { _msgObsDepA_header :: !ObservationHeaderDep -- ^ Header of a GPS observation message , _msgObsDepA_obs :: ![PackedObsContentDepA] - -- ^ Pseudorange and carrier phase observation for a satellite being tracked. + -- ^ Pseudorange and carrier phase observation for a satellite being + -- tracked. } deriving ( Show, Read, Eq ) instance Binary MsgObsDepA where @@ -2369,7 +2384,8 @@ { _msgObsDepB_header :: !ObservationHeaderDep -- ^ Header of a GPS observation message , _msgObsDepB_obs :: ![PackedObsContentDepB] - -- ^ Pseudorange and carrier phase observation for a satellite being tracked. + -- ^ Pseudorange and carrier phase observation for a satellite being + -- tracked. } deriving ( Show, Read, Eq ) instance Binary MsgObsDepB where @@ -2394,14 +2410,15 @@ -- The GPS observations message reports all the raw pseudorange and carrier -- phase observations for the satellites being tracked by the device. Carrier -- phase observation here is represented as a 40-bit fixed point number with --- Q32.8 layout (i.e. 32-bits of whole cycles and 8-bits of fractional cycles). --- The observations are interoperable with 3rd party receivers and conform with --- typical RTCMv3 GNSS observations. +-- Q32.8 layout (i.e. 32-bits of whole cycles and 8-bits of fractional +-- cycles). The observations are interoperable with 3rd party receivers and +-- conform with typical RTCMv3 GNSS observations. data MsgObsDepC = MsgObsDepC { _msgObsDepC_header :: !ObservationHeaderDep -- ^ Header of a GPS observation message , _msgObsDepC_obs :: ![PackedObsContentDepC] - -- ^ Pseudorange and carrier phase observation for a satellite being tracked. + -- ^ Pseudorange and carrier phase observation for a satellite being + -- tracked. } deriving ( Show, Read, Eq ) instance Binary MsgObsDepC where @@ -2604,8 +2621,8 @@ , _msgGroupDelayDepA_prn :: !Word8 -- ^ Satellite number , _msgGroupDelayDepA_valid :: !Word8 - -- ^ bit-field indicating validity of the values, LSB indicating tgd validity - -- etc. 1 = value is valid, 0 = value is not valid. + -- ^ 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 @@ -2616,9 +2633,9 @@ _msgGroupDelayDepA_t_op <- get _msgGroupDelayDepA_prn <- getWord8 _msgGroupDelayDepA_valid <- getWord8 - _msgGroupDelayDepA_tgd <- fromIntegral <$> getWord16le - _msgGroupDelayDepA_isc_l1ca <- fromIntegral <$> getWord16le - _msgGroupDelayDepA_isc_l2c <- fromIntegral <$> getWord16le + _msgGroupDelayDepA_tgd <- (fromIntegral <$> getWord16le) + _msgGroupDelayDepA_isc_l1ca <- (fromIntegral <$> getWord16le) + _msgGroupDelayDepA_isc_l2c <- (fromIntegral <$> getWord16le) pure MsgGroupDelayDepA {..} put MsgGroupDelayDepA {..} = do @@ -2645,8 +2662,8 @@ , _msgGroupDelayDepB_sid :: !GnssSignalDep -- ^ GNSS signal identifier , _msgGroupDelayDepB_valid :: !Word8 - -- ^ bit-field indicating validity of the values, LSB indicating tgd validity - -- etc. 1 = value is valid, 0 = value is not valid. + -- ^ bit-field indicating validity of the values, LSB indicating tgd + -- validity etc. 1 = value is valid, 0 = value is not valid. , _msgGroupDelayDepB_tgd :: !Int16 , _msgGroupDelayDepB_isc_l1ca :: !Int16 , _msgGroupDelayDepB_isc_l2c :: !Int16 @@ -2657,9 +2674,9 @@ _msgGroupDelayDepB_t_op <- get _msgGroupDelayDepB_sid <- get _msgGroupDelayDepB_valid <- getWord8 - _msgGroupDelayDepB_tgd <- fromIntegral <$> getWord16le - _msgGroupDelayDepB_isc_l1ca <- fromIntegral <$> getWord16le - _msgGroupDelayDepB_isc_l2c <- fromIntegral <$> getWord16le + _msgGroupDelayDepB_tgd <- (fromIntegral <$> getWord16le) + _msgGroupDelayDepB_isc_l1ca <- (fromIntegral <$> getWord16le) + _msgGroupDelayDepB_isc_l2c <- (fromIntegral <$> getWord16le) pure MsgGroupDelayDepB {..} put MsgGroupDelayDepB {..} = do @@ -2686,8 +2703,8 @@ , _msgGroupDelay_sid :: !GnssSignal -- ^ GNSS signal identifier , _msgGroupDelay_valid :: !Word8 - -- ^ bit-field indicating validity of the values, LSB indicating tgd validity - -- etc. 1 = value is valid, 0 = value is not valid. + -- ^ bit-field indicating validity of the values, LSB indicating tgd + -- validity etc. 1 = value is valid, 0 = value is not valid. , _msgGroupDelay_tgd :: !Int16 , _msgGroupDelay_isc_l1ca :: !Int16 , _msgGroupDelay_isc_l2c :: !Int16 @@ -2698,9 +2715,9 @@ _msgGroupDelay_t_op <- get _msgGroupDelay_sid <- get _msgGroupDelay_valid <- getWord8 - _msgGroupDelay_tgd <- fromIntegral <$> getWord16le - _msgGroupDelay_isc_l1ca <- fromIntegral <$> getWord16le - _msgGroupDelay_isc_l2c <- fromIntegral <$> getWord16le + _msgGroupDelay_tgd <- (fromIntegral <$> getWord16le) + _msgGroupDelay_isc_l1ca <- (fromIntegral <$> getWord16le) + _msgGroupDelay_isc_l2c <- (fromIntegral <$> getWord16le) pure MsgGroupDelay {..} put MsgGroupDelay {..} = do @@ -2727,16 +2744,21 @@ , _almanacCommonContent_valid :: !Word8 -- ^ Status of almanac, 1 = valid, 0 = invalid , _almanacCommonContent_health_bits :: !Word8 - -- ^ 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 - -- Health of SV Signal Components. Satellite health status for GLO: - -- See GLO ICD 5.1 table 5.1 for details - bit 0: C(n), "unhealthy" flag - -- that is transmitted within non-immediate data and indicates overall - -- constellation status at the moment of almanac uploading. '0' - -- indicates malfunction of n-satellite. '1' indicates that n-satellite - -- is operational. - bit 1: Bn(ln), '0' indicates the satellite is - -- operational and suitable for navigation. + -- ^ 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 Health of SV Signal + -- Components. + -- Satellite health status for GLO (see GLO ICD 5.1 table 5.1 for + -- details): + -- - bit 0: C(n), "unhealthy" flag that is transmitted within + -- non-immediate data and indicates overall constellation status + -- at the moment of almanac uploading. + -- '0' indicates malfunction of n-satellite. + -- '1' indicates that n-satellite is operational. + -- - bit 1: Bn(ln), '0' indicates the satellite is operational + -- and suitable for navigation. } deriving ( Show, Read, Eq ) instance Binary AlmanacCommonContent where @@ -2772,16 +2794,21 @@ , _almanacCommonContentDep_valid :: !Word8 -- ^ Status of almanac, 1 = valid, 0 = invalid , _almanacCommonContentDep_health_bits :: !Word8 - -- ^ 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 - -- Health of SV Signal Components. Satellite health status for GLO: - -- See GLO ICD 5.1 table 5.1 for details - bit 0: C(n), "unhealthy" flag - -- that is transmitted within non-immediate data and indicates overall - -- constellation status at the moment of almanac uploading. '0' - -- indicates malfunction of n-satellite. '1' indicates that n-satellite - -- is operational. - bit 1: Bn(ln), '0' indicates the satellite is - -- operational and suitable for navigation. + -- ^ 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 Health of SV Signal + -- Components. + -- Satellite health status for GLO (see GLO ICD 5.1 table 5.1 for + -- details): + -- - bit 0: C(n), "unhealthy" flag that is transmitted within + -- non-immediate data and indicates overall constellation status + -- at the moment of almanac uploading. + -- '0' indicates malfunction of n-satellite. + -- '1' indicates that n-satellite is operational. + -- - bit 1: Bn(ln), '0' indicates the satellite is operational + -- and suitable for navigation. } deriving ( Show, Read, Eq ) instance Binary AlmanacCommonContentDep where @@ -3046,7 +3073,7 @@ -- -- The GLONASS L1/L2 Code-Phase biases allows to perform GPS+GLONASS integer -- ambiguity resolution for baselines with mixed receiver types (e.g. receiver --- of different manufacturers) +-- of different manufacturers). data MsgGloBiases = MsgGloBiases { _msgGloBiases_mask :: !Word8 -- ^ GLONASS FDMA signals mask @@ -3063,10 +3090,10 @@ instance Binary MsgGloBiases where get = do _msgGloBiases_mask <- getWord8 - _msgGloBiases_l1ca_bias <- fromIntegral <$> getWord16le - _msgGloBiases_l1p_bias <- fromIntegral <$> getWord16le - _msgGloBiases_l2ca_bias <- fromIntegral <$> getWord16le - _msgGloBiases_l2p_bias <- fromIntegral <$> getWord16le + _msgGloBiases_l1ca_bias <- (fromIntegral <$> getWord16le) + _msgGloBiases_l1p_bias <- (fromIntegral <$> getWord16le) + _msgGloBiases_l2ca_bias <- (fromIntegral <$> getWord16le) + _msgGloBiases_l2p_bias <- (fromIntegral <$> getWord16le) pure MsgGloBiases {..} put MsgGloBiases {..} = do @@ -3096,7 +3123,7 @@ get = do _svAzEl_sid <- get _svAzEl_az <- getWord8 - _svAzEl_el <- fromIntegral <$> getWord8 + _svAzEl_el <- (fromIntegral <$> getWord8) pure SvAzEl {..} put SvAzEl {..} = do @@ -3136,7 +3163,7 @@ -- | SBP class for message MSG_OSR (0x0640). -- --- The OSR message contains network corrections in an observation-like format +-- The OSR message contains network corrections in an observation-like format. data MsgOsr = MsgOsr { _msgOsr_header :: !ObservationHeader -- ^ Header of a GPS observation message diff --git a/src/SwiftNav/SBP/Orientation.hs b/src/SwiftNav/SBP/Orientation.hs --- a/src/SwiftNav/SBP/Orientation.hs +++ b/src/SwiftNav/SBP/Orientation.hs @@ -6,12 +6,12 @@ -- | -- Module: SwiftNav.SBP.Orientation -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Orientation Messages +-- \< Orientation Messages \> module SwiftNav.SBP.Orientation ( module SwiftNav.SBP.Orientation @@ -80,8 +80,9 @@ -- This message reports the quaternion vector describing the vehicle body -- frame's orientation with respect to a local-level NED frame. The components -- of the vector should sum to a unit vector assuming that the LSB of each --- component as a value of 2^-31. This message will only be available in future --- INS versions of Swift Products and is not produced by Piksi Multi or Duro. +-- component as a value of 2^-31. This message will only be available in +-- future INS versions of Swift Products and is not produced by Piksi Multi or +-- Duro. data MsgOrientQuat = MsgOrientQuat { _msgOrientQuat_tow :: !Word32 -- ^ GPS Time of Week @@ -108,10 +109,10 @@ instance Binary MsgOrientQuat where get = do _msgOrientQuat_tow <- getWord32le - _msgOrientQuat_w <- fromIntegral <$> getWord32le - _msgOrientQuat_x <- fromIntegral <$> getWord32le - _msgOrientQuat_y <- fromIntegral <$> getWord32le - _msgOrientQuat_z <- fromIntegral <$> getWord32le + _msgOrientQuat_w <- (fromIntegral <$> getWord32le) + _msgOrientQuat_x <- (fromIntegral <$> getWord32le) + _msgOrientQuat_y <- (fromIntegral <$> getWord32le) + _msgOrientQuat_z <- (fromIntegral <$> getWord32le) _msgOrientQuat_w_accuracy <- getFloat32le _msgOrientQuat_x_accuracy <- getFloat32le _msgOrientQuat_y_accuracy <- getFloat32le @@ -142,9 +143,9 @@ -- -- This message reports the yaw, pitch, and roll angles of the vehicle body -- frame. The rotations should applied intrinsically in the order yaw, pitch, --- and roll in order to rotate the from a frame aligned with the local-level --- NED frame to the vehicle body frame. This message will only be available --- in future INS versions of Swift Products and is not produced by Piksi Multi +-- and roll in order to rotate the from a frame aligned with the local-level +-- NED frame to the vehicle body frame. This message will only be available +-- in future INS versions of Swift Products and is not produced by Piksi Multi -- or Duro. data MsgOrientEuler = MsgOrientEuler { _msgOrientEuler_tow :: !Word32 @@ -168,9 +169,9 @@ instance Binary MsgOrientEuler where get = do _msgOrientEuler_tow <- getWord32le - _msgOrientEuler_roll <- fromIntegral <$> getWord32le - _msgOrientEuler_pitch <- fromIntegral <$> getWord32le - _msgOrientEuler_yaw <- fromIntegral <$> getWord32le + _msgOrientEuler_roll <- (fromIntegral <$> getWord32le) + _msgOrientEuler_pitch <- (fromIntegral <$> getWord32le) + _msgOrientEuler_yaw <- (fromIntegral <$> getWord32le) _msgOrientEuler_roll_accuracy <- getFloat32le _msgOrientEuler_pitch_accuracy <- getFloat32le _msgOrientEuler_yaw_accuracy <- getFloat32le @@ -196,15 +197,15 @@ -- | SBP class for message MSG_ANGULAR_RATE (0x0222). -- --- This message reports the orientation rates in the vehicle body frame. The --- values represent the measurements a strapped down gyroscope would make and +-- This message reports the orientation rates in the vehicle body frame. The +-- values represent the measurements a strapped down gyroscope would make and -- are not equivalent to the time derivative of the Euler angles. The -- orientation and origin of the user frame is specified via device settings. --- By convention, the vehicle x-axis is expected to be aligned with the forward --- direction, while the vehicle y-axis is expected to be aligned with the right --- direction, and the vehicle z-axis should be aligned with the down direction. --- This message will only be available in future INS versions of Swift Products --- and is not produced by Piksi Multi or Duro. +-- By convention, the vehicle x-axis is expected to be aligned with the +-- forward direction, while the vehicle y-axis is expected to be aligned with +-- the right direction, and the vehicle z-axis should be aligned with the down +-- direction. This message will only be available in future INS versions of +-- Swift Products and is not produced by Piksi Multi or Duro. data MsgAngularRate = MsgAngularRate { _msgAngularRate_tow :: !Word32 -- ^ GPS Time of Week @@ -221,9 +222,9 @@ instance Binary MsgAngularRate where get = do _msgAngularRate_tow <- getWord32le - _msgAngularRate_x <- fromIntegral <$> getWord32le - _msgAngularRate_y <- fromIntegral <$> getWord32le - _msgAngularRate_z <- fromIntegral <$> getWord32le + _msgAngularRate_x <- (fromIntegral <$> getWord32le) + _msgAngularRate_y <- (fromIntegral <$> getWord32le) + _msgAngularRate_z <- (fromIntegral <$> getWord32le) _msgAngularRate_flags <- getWord8 pure MsgAngularRate {..} diff --git a/src/SwiftNav/SBP/Piksi.hs b/src/SwiftNav/SBP/Piksi.hs --- a/src/SwiftNav/SBP/Piksi.hs +++ b/src/SwiftNav/SBP/Piksi.hs @@ -6,14 +6,14 @@ -- | -- Module: SwiftNav.SBP.Piksi -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- System health, configuration, and diagnostic messages specific to the Piksi +-- \< System health, configuration, and diagnostic messages specific to the Piksi -- L1 receiver, including a variety of legacy messages that may no longer be --- used. +-- used. \> module SwiftNav.SBP.Piksi ( module SwiftNav.SBP.Piksi @@ -211,14 +211,14 @@ -- | SBP class for message MSG_THREAD_STATE (0x0017). -- -- The thread usage message from the device reports real-time operating system --- (RTOS) thread usage statistics for the named thread. The reported percentage --- values must be normalized. +-- (RTOS) thread usage statistics for the named thread. The reported +-- percentage values must be normalized. data MsgThreadState = MsgThreadState { _msgThreadState_name :: !Text -- ^ Thread name (NULL terminated) , _msgThreadState_cpu :: !Word16 - -- ^ Percentage cpu use for this thread. Values range from 0 - 1000 and needs - -- to be renormalized to 100 + -- ^ Percentage cpu use for this thread. Values range from 0 - 1000 and + -- needs to be renormalized to 100 , _msgThreadState_stack_free :: !Word32 -- ^ Free stack space for this thread } deriving ( Show, Read, Eq ) @@ -299,10 +299,10 @@ instance Binary Period where get = do - _period_avg <- fromIntegral <$> getWord32le - _period_pmin <- fromIntegral <$> getWord32le - _period_pmax <- fromIntegral <$> getWord32le - _period_current <- fromIntegral <$> getWord32le + _period_avg <- (fromIntegral <$> getWord32le) + _period_pmin <- (fromIntegral <$> getWord32le) + _period_pmax <- (fromIntegral <$> getWord32le) + _period_current <- (fromIntegral <$> getWord32le) pure Period {..} put Period {..} = do @@ -316,10 +316,10 @@ -- | Latency. -- --- Statistics on the latency of observations received from the base station. As --- observation packets are received their GPS time is compared to the current --- GPS time calculated locally by the receiver to give a precise measurement of --- the end-to-end communication latency in the system. +-- Statistics on the latency of observations received from the base station. +-- As observation packets are received their GPS time is compared to the +-- current GPS time calculated locally by the receiver to give a precise +-- measurement of the end-to-end communication latency in the system. data Latency = Latency { _latency_avg :: !Int32 -- ^ Average latency @@ -333,10 +333,10 @@ instance Binary Latency where get = do - _latency_avg <- fromIntegral <$> getWord32le - _latency_lmin <- fromIntegral <$> getWord32le - _latency_lmax <- fromIntegral <$> getWord32le - _latency_current <- fromIntegral <$> getWord32le + _latency_avg <- (fromIntegral <$> getWord32le) + _latency_lmin <- (fromIntegral <$> getWord32le) + _latency_lmax <- (fromIntegral <$> getWord32le) + _latency_current <- (fromIntegral <$> getWord32le) pure Latency {..} put Latency {..} = do @@ -356,11 +356,11 @@ -- The UART message reports data latency and throughput of the UART channels -- providing SBP I/O. On the default Piksi configuration, UARTs A and B are -- used for telemetry radios, but can also be host access ports for embedded --- hosts, or other interfaces in future. The reported percentage values must be --- normalized. Observations latency and period can be used to assess the health --- of the differential corrections link. Latency provides the timeliness of --- received base observations while the period indicates their likelihood of --- transmission. +-- hosts, or other interfaces in future. The reported percentage values must +-- be normalized. Observations latency and period can be used to assess the +-- health of the differential corrections link. Latency provides the +-- timeliness of received base observations while the period indicates their +-- likelihood of transmission. data MsgUartState = MsgUartState { _msgUartState_uart_a :: !UARTChannel -- ^ State of UART A @@ -532,11 +532,11 @@ instance Binary MsgDeviceMonitor where get = do - _msgDeviceMonitor_dev_vin <- fromIntegral <$> getWord16le - _msgDeviceMonitor_cpu_vint <- fromIntegral <$> getWord16le - _msgDeviceMonitor_cpu_vaux <- fromIntegral <$> getWord16le - _msgDeviceMonitor_cpu_temperature <- fromIntegral <$> getWord16le - _msgDeviceMonitor_fe_temperature <- fromIntegral <$> getWord16le + _msgDeviceMonitor_dev_vin <- (fromIntegral <$> getWord16le) + _msgDeviceMonitor_cpu_vint <- (fromIntegral <$> getWord16le) + _msgDeviceMonitor_cpu_vaux <- (fromIntegral <$> getWord16le) + _msgDeviceMonitor_cpu_temperature <- (fromIntegral <$> getWord16le) + _msgDeviceMonitor_fe_temperature <- (fromIntegral <$> getWord16le) pure MsgDeviceMonitor {..} put MsgDeviceMonitor {..} = do @@ -595,7 +595,7 @@ instance Binary MsgCommandResp where get = do _msgCommandResp_sequence <- getWord32le - _msgCommandResp_code <- fromIntegral <$> getWord32le + _msgCommandResp_code <- (fromIntegral <$> getWord32le) pure MsgCommandResp {..} put MsgCommandResp {..} = do @@ -612,8 +612,8 @@ -- | SBP class for message MSG_COMMAND_OUTPUT (0x00BC). -- -- Returns the standard output and standard error of the command requested by --- MSG_COMMAND_REQ. The sequence number can be used to filter for filtering the --- correct command. +-- MSG_COMMAND_REQ. The sequence number can be used to filter for filtering +-- the correct command. data MsgCommandOutput = MsgCommandOutput { _msgCommandOutput_sequence :: !Word32 -- ^ Sequence number @@ -641,7 +641,7 @@ -- | SBP class for message MSG_NETWORK_STATE_REQ (0x00BA). -- -- Request state of Piksi network interfaces. Output will be sent in --- MSG_NETWORK_STATE_RESP messages +-- MSG_NETWORK_STATE_RESP messages. data MsgNetworkStateReq = MsgNetworkStateReq deriving ( Show, Read, Eq ) @@ -788,7 +788,7 @@ instance Binary MsgCellModemStatus where get = do - _msgCellModemStatus_signal_strength <- fromIntegral <$> getWord8 + _msgCellModemStatus_signal_strength <- (fromIntegral <$> getWord8) _msgCellModemStatus_signal_error_rate <- getFloat32le _msgCellModemStatus_reserved <- whileM (not <$> isEmpty) getWord8 pure MsgCellModemStatus {..} @@ -902,10 +902,10 @@ -- | SBP class for message MSG_FRONT_END_GAIN (0x00BF). -- -- This message describes the gain of each channel in the receiver frontend. --- Each gain is encoded as a non-dimensional percentage relative to the --- maximum range possible for the gain stage of the frontend. By convention, --- each gain array has 8 entries and the index of the array corresponding to --- the index of the rf channel in the frontend. A gain of 127 percent encodes +-- Each gain is encoded as a non-dimensional percentage relative to the +-- maximum range possible for the gain stage of the frontend. By convention, +-- each gain array has 8 entries and the index of the array corresponding to +-- the index of the rf channel in the frontend. A gain of 127 percent encodes -- that rf channel is not present in the hardware. A negative value implies an -- error for the particular gain stage as reported by the frontend. data MsgFrontEndGain = MsgFrontEndGain @@ -917,8 +917,8 @@ instance Binary MsgFrontEndGain where get = do - _msgFrontEndGain_rf_gain <- replicateM 8 fromIntegral <$> getWord8 - _msgFrontEndGain_if_gain <- replicateM 8 fromIntegral <$> getWord8 + _msgFrontEndGain_rf_gain <- replicateM 8 (fromIntegral <$> getWord8) + _msgFrontEndGain_if_gain <- replicateM 8 (fromIntegral <$> getWord8) pure MsgFrontEndGain {..} put MsgFrontEndGain {..} = do 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 @@ -6,12 +6,12 @@ -- | -- Module: SwiftNav.SBP.Sbas -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- SBAS data +-- \< SBAS data \> module SwiftNav.SBP.Sbas ( module SwiftNav.SBP.Sbas 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 @@ -6,33 +6,35 @@ -- | -- Module: SwiftNav.SBP.Settings -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Messages for reading, writing, and discovering device settings. Settings +-- \< 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. +-- 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/support/solutions/articles/44001850753-piksi-multi-specification. +-- 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 @@ -81,12 +83,13 @@ -- | SBP class for message MSG_SETTINGS_WRITE (0x00A0). -- --- The setting message writes the device configuration for a particular setting --- via A NULL-terminated and NULL-delimited string with contents +-- 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". +-- 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 NULL-delimited string with contents @@ -143,13 +146,14 @@ -- | SBP class for message MSG_SETTINGS_READ_REQ (0x00A4). -- --- 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). +-- 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 NULL-delimited string with contents @@ -203,11 +207,11 @@ -- | SBP class for message MSG_SETTINGS_READ_BY_INDEX_REQ (0x00A2). -- -- The settings message for iterating through the settings values. A device --- will respond to this message with a "MSG_SETTINGS_READ_BY_INDEX_RESP". +-- will respond to this message with a "MSG_SETTINGS_READ_BY_INDEX_RESP". data MsgSettingsReadByIndexReq = MsgSettingsReadByIndexReq { _msgSettingsReadByIndexReq_index :: !Word16 -- ^ An index into the device settings, with values ranging from 0 to - -- length(settings) + -- length(settings). } deriving ( Show, Read, Eq ) instance Binary MsgSettingsReadByIndexReq where @@ -227,15 +231,16 @@ -- | SBP class for message MSG_SETTINGS_READ_BY_INDEX_RESP (0x00A7). -- --- 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 +-- 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" +-- 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 -- ^ An index into the device settings, with values ranging from 0 to diff --git a/src/SwiftNav/SBP/SolutionMeta.hs b/src/SwiftNav/SBP/SolutionMeta.hs new file mode 100644 --- /dev/null +++ b/src/SwiftNav/SBP/SolutionMeta.hs @@ -0,0 +1,256 @@ +{-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + +-- | +-- Module: SwiftNav.SBP.SolutionMeta +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. +-- License: MIT +-- Contact: https://support.swiftnav.com +-- Stability: experimental +-- Portability: portable +-- +-- \< Standardized Metadata messages for Fuzed Solution from Swift Navigation +-- devices. \> + +module SwiftNav.SBP.SolutionMeta + ( module SwiftNav.SBP.SolutionMeta + ) where + +import BasicPrelude +import Control.Lens +import Control.Monad.Loops +import Data.Binary +import Data.Binary.Get +import Data.Binary.IEEE754 +import Data.Binary.Put +import Data.ByteString.Lazy hiding (ByteString) +import Data.Int +import Data.Word +import SwiftNav.SBP.TH +import SwiftNav.SBP.Types + +{-# ANN module ("HLint: ignore Use camelCase"::String) #-} +{-# ANN module ("HLint: ignore Redundant do"::String) #-} +{-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-} + + +-- | SolutionInputType. +-- +-- Metadata describing which sensors were involved in the solution. The +-- structure is fixed no matter what the actual sensor type is. The +-- sensor_type field tells you which sensor we are talking about. It also +-- tells you whether the sensor data was actually used or not. The flags +-- field, always a u8, contains the sensor-specific data. The content of +-- flags, for each sensor type, is described in the relevant structures in +-- this section. +data SolutionInputType = SolutionInputType + { _solutionInputType_sensor_type :: !Word8 + -- ^ The type of sensor + , _solutionInputType_flags :: !Word8 + -- ^ Refer to each InputType description + } deriving ( Show, Read, Eq ) + +instance Binary SolutionInputType where + get = do + _solutionInputType_sensor_type <- getWord8 + _solutionInputType_flags <- getWord8 + pure SolutionInputType {..} + + put SolutionInputType {..} = do + putWord8 _solutionInputType_sensor_type + putWord8 _solutionInputType_flags + +$(makeJSON "_solutionInputType_" ''SolutionInputType) +$(makeLenses ''SolutionInputType) + +msgSolnMetaDepA :: Word16 +msgSolnMetaDepA = 0xFF0F + +-- | SBP class for message MSG_SOLN_META_DEP_A (0xFF0F). +-- +-- Deprecated. +-- +-- This message contains all metadata about the sensors received and/or used +-- in computing the Fuzed Solution. It focuses primarly, but not only, on GNSS +-- metadata. +data MsgSolnMetaDepA = MsgSolnMetaDepA + { _msgSolnMetaDepA_pdop :: !Word16 + -- ^ Position Dilution of Precision as per last available DOPS from PVT + -- engine (0xFFFF indicates invalid) + , _msgSolnMetaDepA_hdop :: !Word16 + -- ^ Horizontal Dilution of Precision as per last available DOPS from PVT + -- engine (0xFFFF indicates invalid) + , _msgSolnMetaDepA_vdop :: !Word16 + -- ^ Vertical Dilution of Precision as per last available DOPS from PVT + -- engine (0xFFFF indicates invalid) + , _msgSolnMetaDepA_n_sats :: !Word8 + -- ^ Number of satellites as per last available solution from PVT engine + , _msgSolnMetaDepA_age_corrections :: !Word16 + -- ^ Age of corrections as per last available AGE_CORRECTIONS from PVT + -- engine (0xFFFF indicates invalid) + , _msgSolnMetaDepA_alignment_status :: !Word8 + -- ^ State of alignment and the status and receipt of the alignment inputs + , _msgSolnMetaDepA_last_used_gnss_pos_tow :: !Word32 + -- ^ Tow of last-used GNSS position measurement + , _msgSolnMetaDepA_last_used_gnss_vel_tow :: !Word32 + -- ^ Tow of last-used GNSS velocity measurement + , _msgSolnMetaDepA_sol_in :: ![SolutionInputType] + -- ^ Array of Metadata describing the sensors potentially involved in the + -- solution. Each element in the array represents a single sensor type and + -- consists of flags containing (meta)data pertaining to that specific + -- single sensor. Refer to each (XX)InputType descriptor in the present + -- doc. + } deriving ( Show, Read, Eq ) + +instance Binary MsgSolnMetaDepA where + get = do + _msgSolnMetaDepA_pdop <- getWord16le + _msgSolnMetaDepA_hdop <- getWord16le + _msgSolnMetaDepA_vdop <- getWord16le + _msgSolnMetaDepA_n_sats <- getWord8 + _msgSolnMetaDepA_age_corrections <- getWord16le + _msgSolnMetaDepA_alignment_status <- getWord8 + _msgSolnMetaDepA_last_used_gnss_pos_tow <- getWord32le + _msgSolnMetaDepA_last_used_gnss_vel_tow <- getWord32le + _msgSolnMetaDepA_sol_in <- whileM (not <$> isEmpty) get + pure MsgSolnMetaDepA {..} + + put MsgSolnMetaDepA {..} = do + putWord16le _msgSolnMetaDepA_pdop + putWord16le _msgSolnMetaDepA_hdop + putWord16le _msgSolnMetaDepA_vdop + putWord8 _msgSolnMetaDepA_n_sats + putWord16le _msgSolnMetaDepA_age_corrections + putWord8 _msgSolnMetaDepA_alignment_status + putWord32le _msgSolnMetaDepA_last_used_gnss_pos_tow + putWord32le _msgSolnMetaDepA_last_used_gnss_vel_tow + mapM_ put _msgSolnMetaDepA_sol_in + +$(makeSBP 'msgSolnMetaDepA ''MsgSolnMetaDepA) +$(makeJSON "_msgSolnMetaDepA_" ''MsgSolnMetaDepA) +$(makeLenses ''MsgSolnMetaDepA) + +msgSolnMeta :: Word16 +msgSolnMeta = 0xFF0E + +-- | SBP class for message MSG_SOLN_META (0xFF0E). +-- +-- This message contains all metadata about the sensors received and/or used +-- in computing the sensorfusion solution. It focuses primarly, but not only, +-- on GNSS metadata. Regarding the age of the last received valid GNSS +-- solution, the highest two bits are time status, indicating whether age gnss +-- can or can not be used to retrieve time of measurement (noted TOM, also +-- known as time of validity) If it can, substract 'age gnss' from 'tow' in +-- navigation messages to get TOM. Can be used before alignment is complete in +-- the Fusion Engine, when output solution is the last received valid GNSS +-- solution and its tow is not a TOM. +data MsgSolnMeta = MsgSolnMeta + { _msgSolnMeta_tow :: !Word32 + -- ^ GPS time of week rounded to the nearest millisecond + , _msgSolnMeta_pdop :: !Word16 + -- ^ Position Dilution of Precision as per last available DOPS from PVT + -- engine (0xFFFF indicates invalid) + , _msgSolnMeta_hdop :: !Word16 + -- ^ Horizontal Dilution of Precision as per last available DOPS from PVT + -- engine (0xFFFF indicates invalid) + , _msgSolnMeta_vdop :: !Word16 + -- ^ Vertical Dilution of Precision as per last available DOPS from PVT + -- engine (0xFFFF indicates invalid) + , _msgSolnMeta_age_corrections :: !Word16 + -- ^ Age of corrections as per last available AGE_CORRECTIONS from PVT + -- engine (0xFFFF indicates invalid) + , _msgSolnMeta_age_gnss :: !Word32 + -- ^ Age and Time Status of the last received valid GNSS solution. + , _msgSolnMeta_sol_in :: ![SolutionInputType] + -- ^ Array of Metadata describing the sensors potentially involved in the + -- solution. Each element in the array represents a single sensor type and + -- consists of flags containing (meta)data pertaining to that specific + -- single sensor. Refer to each (XX)InputType descriptor in the present + -- doc. + } deriving ( Show, Read, Eq ) + +instance Binary MsgSolnMeta where + get = do + _msgSolnMeta_tow <- getWord32le + _msgSolnMeta_pdop <- getWord16le + _msgSolnMeta_hdop <- getWord16le + _msgSolnMeta_vdop <- getWord16le + _msgSolnMeta_age_corrections <- getWord16le + _msgSolnMeta_age_gnss <- getWord32le + _msgSolnMeta_sol_in <- whileM (not <$> isEmpty) get + pure MsgSolnMeta {..} + + put MsgSolnMeta {..} = do + putWord32le _msgSolnMeta_tow + putWord16le _msgSolnMeta_pdop + putWord16le _msgSolnMeta_hdop + putWord16le _msgSolnMeta_vdop + putWord16le _msgSolnMeta_age_corrections + putWord32le _msgSolnMeta_age_gnss + mapM_ put _msgSolnMeta_sol_in + +$(makeSBP 'msgSolnMeta ''MsgSolnMeta) +$(makeJSON "_msgSolnMeta_" ''MsgSolnMeta) +$(makeLenses ''MsgSolnMeta) + +-- | GNSSInputType. +-- +-- Metadata around the GNSS sensors involved in the fuzed solution. Accessible +-- through sol_in[N].flags in a MSG_SOLN_META. +data GNSSInputType = GNSSInputType + { _gNSSInputType_flags :: !Word8 + -- ^ flags that store all relevant info specific to this sensor type. + } deriving ( Show, Read, Eq ) + +instance Binary GNSSInputType where + get = do + _gNSSInputType_flags <- getWord8 + pure GNSSInputType {..} + + put GNSSInputType {..} = do + putWord8 _gNSSInputType_flags + +$(makeJSON "_gNSSInputType_" ''GNSSInputType) +$(makeLenses ''GNSSInputType) + +-- | IMUInputType. +-- +-- Metadata around the IMU sensors involved in the fuzed solution. Accessible +-- through sol_in[N].flags in a MSG_SOLN_META. +data IMUInputType = IMUInputType + { _iMUInputType_flags :: !Word8 + -- ^ Instrument time, grade, and architecture for a sensor. + } deriving ( Show, Read, Eq ) + +instance Binary IMUInputType where + get = do + _iMUInputType_flags <- getWord8 + pure IMUInputType {..} + + put IMUInputType {..} = do + putWord8 _iMUInputType_flags + +$(makeJSON "_iMUInputType_" ''IMUInputType) +$(makeLenses ''IMUInputType) + +-- | OdoInputType. +-- +-- Metadata around the Odometry sensors involved in the fuzed solution. +-- Accessible through sol_in[N].flags in a MSG_SOLN_META. +data OdoInputType = OdoInputType + { _odoInputType_flags :: !Word8 + -- ^ Instrument ODO rate, grade, and quality. + } deriving ( Show, Read, Eq ) + +instance Binary OdoInputType where + get = do + _odoInputType_flags <- getWord8 + pure OdoInputType {..} + + put OdoInputType {..} = do + putWord8 _odoInputType_flags + +$(makeJSON "_odoInputType_" ''OdoInputType) +$(makeLenses ''OdoInputType) 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 @@ -6,12 +6,12 @@ -- | -- Module: SwiftNav.SBP.Ssr -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Precise State Space Representation (SSR) corrections format +-- \< Precise State Space Representation (SSR) corrections format \> module SwiftNav.SBP.Ssr ( module SwiftNav.SBP.Ssr @@ -38,11 +38,12 @@ -- | CodeBiasesContent. -- --- Code biases are to be added to pseudorange. The corrections are conform with --- typical RTCMv3 MT1059 and 1065. +-- Code biases are to be added to pseudorange. The corrections conform with +-- RTCMv3 MT 1059 / 1065. data CodeBiasesContent = CodeBiasesContent { _codeBiasesContent_code :: !Word8 - -- ^ Signal constellation, band and code + -- ^ Signal encoded following RTCM specifications (DF380, DF381, DF382 and + -- DF467). , _codeBiasesContent_value :: !Int16 -- ^ Code bias value } deriving ( Show, Read, Eq ) @@ -50,7 +51,7 @@ instance Binary CodeBiasesContent where get = do _codeBiasesContent_code <- getWord8 - _codeBiasesContent_value <- fromIntegral <$> getWord16le + _codeBiasesContent_value <- (fromIntegral <$> getWord16le) pure CodeBiasesContent {..} put CodeBiasesContent {..} = do @@ -62,18 +63,18 @@ -- | PhaseBiasesContent. -- --- Phase biases are to be added to carrier phase measurements. The corrections --- are conform with typical RTCMv3 MT1059 and 1065. +-- Phase biases are to be added to carrier phase measurements. data PhaseBiasesContent = PhaseBiasesContent { _phaseBiasesContent_code :: !Word8 - -- ^ Signal constellation, band and code + -- ^ Signal encoded following RTCM specifications (DF380, DF381, DF382 and + -- DF467) , _phaseBiasesContent_integer_indicator :: !Word8 -- ^ Indicator for integer property , _phaseBiasesContent_widelane_integer_indicator :: !Word8 -- ^ Indicator for two groups of Wide-Lane(s) integer property , _phaseBiasesContent_discontinuity_counter :: !Word8 - -- ^ Signal phase discontinuity counter. Increased for every discontinuity in - -- phase. + -- ^ Signal phase discontinuity counter. Increased for every discontinuity + -- in phase. , _phaseBiasesContent_bias :: !Int32 -- ^ Phase bias for specified signal } deriving ( Show, Read, Eq ) @@ -84,7 +85,7 @@ _phaseBiasesContent_integer_indicator <- getWord8 _phaseBiasesContent_widelane_integer_indicator <- getWord8 _phaseBiasesContent_discontinuity_counter <- getWord8 - _phaseBiasesContent_bias <- fromIntegral <$> getWord32le + _phaseBiasesContent_bias <- (fromIntegral <$> getWord32le) pure PhaseBiasesContent {..} put PhaseBiasesContent {..} = do @@ -99,98 +100,118 @@ -- | STECHeader. -- --- A full set of STEC information will likely span multiple SBP messages, since --- SBP message a limited to 255 bytes. The header is used to tie multiple SBP --- messages into a sequence. +-- A full set of STEC information will likely span multiple SBP messages, +-- since SBP message a limited to 255 bytes. The header is used to tie +-- multiple SBP messages into a sequence. data STECHeader = STECHeader - { _sTECHeader_time :: !GpsTime - -- ^ GNSS time of the STEC data - , _sTECHeader_num_msgs :: !Word8 + { _sTECHeader_tile_set_id :: !Word16 + -- ^ Unique identifier of the tile set this tile belongs to. + , _sTECHeader_tile_id :: !Word16 + -- ^ Unique identifier of this tile in the tile set. + , _sTECHeader_time :: !GpsTimeSec + -- ^ GNSS reference time of the correction + , _sTECHeader_num_msgs :: !Word8 -- ^ Number of messages in the dataset - , _sTECHeader_seq_num :: !Word8 + , _sTECHeader_seq_num :: !Word8 -- ^ Position of this message in the dataset - , _sTECHeader_ssr_update_interval :: !Word16 - -- ^ update interval in seconds - , _sTECHeader_iod_ssr :: !Word8 - -- ^ range 0 - 15 + , _sTECHeader_update_interval :: !Word8 + -- ^ Update interval between consecutive corrections. Encoded following RTCM + -- DF391 specification. + , _sTECHeader_iod_atmo :: !Word8 + -- ^ IOD of the SSR atmospheric correction } deriving ( Show, Read, Eq ) instance Binary STECHeader where get = do + _sTECHeader_tile_set_id <- getWord16le + _sTECHeader_tile_id <- getWord16le _sTECHeader_time <- get _sTECHeader_num_msgs <- getWord8 _sTECHeader_seq_num <- getWord8 - _sTECHeader_ssr_update_interval <- getWord16le - _sTECHeader_iod_ssr <- getWord8 + _sTECHeader_update_interval <- getWord8 + _sTECHeader_iod_atmo <- getWord8 pure STECHeader {..} put STECHeader {..} = do + putWord16le _sTECHeader_tile_set_id + putWord16le _sTECHeader_tile_id put _sTECHeader_time putWord8 _sTECHeader_num_msgs putWord8 _sTECHeader_seq_num - putWord16le _sTECHeader_ssr_update_interval - putWord8 _sTECHeader_iod_ssr + putWord8 _sTECHeader_update_interval + putWord8 _sTECHeader_iod_atmo $(makeJSON "_sTECHeader_" ''STECHeader) $(makeLenses ''STECHeader) -- | GriddedCorrectionHeader. -- --- The 3GPP message contains nested variable length arrays which are not +-- The LPP message contains nested variable length arrays which are not -- suppported in SBP, so each grid point will be identified by the index. data GriddedCorrectionHeader = GriddedCorrectionHeader - { _griddedCorrectionHeader_time :: !GpsTime - -- ^ GNSS time of the STEC data - , _griddedCorrectionHeader_num_msgs :: !Word16 + { _griddedCorrectionHeader_tile_set_id :: !Word16 + -- ^ Unique identifier of the tile set this tile belongs to. + , _griddedCorrectionHeader_tile_id :: !Word16 + -- ^ Unique identifier of this tile in the tile set. + , _griddedCorrectionHeader_time :: !GpsTimeSec + -- ^ GNSS reference time of the correction + , _griddedCorrectionHeader_num_msgs :: !Word16 -- ^ Number of messages in the dataset - , _griddedCorrectionHeader_seq_num :: !Word16 + , _griddedCorrectionHeader_seq_num :: !Word16 -- ^ Position of this message in the dataset - , _griddedCorrectionHeader_ssr_update_interval :: !Word16 - -- ^ update interval in seconds - , _griddedCorrectionHeader_iod_ssr :: !Word8 - -- ^ range 0 - 15 - , _griddedCorrectionHeader_tropo_quality :: !Word8 - -- ^ troposphere quality indicator + , _griddedCorrectionHeader_update_interval :: !Word8 + -- ^ Update interval between consecutive corrections. Encoded following RTCM + -- DF391 specification. + , _griddedCorrectionHeader_iod_atmo :: !Word8 + -- ^ IOD of the SSR atmospheric correction + , _griddedCorrectionHeader_tropo_quality_indicator :: !Word8 + -- ^ Quality of the troposphere data. Encoded following RTCM DF389 + -- specification in units of m. } deriving ( Show, Read, Eq ) instance Binary GriddedCorrectionHeader where get = do + _griddedCorrectionHeader_tile_set_id <- getWord16le + _griddedCorrectionHeader_tile_id <- getWord16le _griddedCorrectionHeader_time <- get _griddedCorrectionHeader_num_msgs <- getWord16le _griddedCorrectionHeader_seq_num <- getWord16le - _griddedCorrectionHeader_ssr_update_interval <- getWord16le - _griddedCorrectionHeader_iod_ssr <- getWord8 - _griddedCorrectionHeader_tropo_quality <- getWord8 + _griddedCorrectionHeader_update_interval <- getWord8 + _griddedCorrectionHeader_iod_atmo <- getWord8 + _griddedCorrectionHeader_tropo_quality_indicator <- getWord8 pure GriddedCorrectionHeader {..} put GriddedCorrectionHeader {..} = do + putWord16le _griddedCorrectionHeader_tile_set_id + putWord16le _griddedCorrectionHeader_tile_id put _griddedCorrectionHeader_time putWord16le _griddedCorrectionHeader_num_msgs putWord16le _griddedCorrectionHeader_seq_num - putWord16le _griddedCorrectionHeader_ssr_update_interval - putWord8 _griddedCorrectionHeader_iod_ssr - putWord8 _griddedCorrectionHeader_tropo_quality + putWord8 _griddedCorrectionHeader_update_interval + putWord8 _griddedCorrectionHeader_iod_atmo + putWord8 _griddedCorrectionHeader_tropo_quality_indicator $(makeJSON "_griddedCorrectionHeader_" ''GriddedCorrectionHeader) $(makeLenses ''GriddedCorrectionHeader) -- | STECSatElement. -- --- STEC for the given satellite. +-- STEC polynomial for the given satellite. data STECSatElement = STECSatElement { _sTECSatElement_sv_id :: !SvId -- ^ Unique space vehicle identifier , _sTECSatElement_stec_quality_indicator :: !Word8 - -- ^ quality of STEC data + -- ^ Quality of the STEC data. Encoded following RTCM DF389 specification + -- but in units of TECU instead of m. , _sTECSatElement_stec_coeff :: ![Int16] - -- ^ coefficents of the STEC polynomial + -- ^ Coefficents of the STEC polynomial in the order of C00, C01, C10, C11 } deriving ( Show, Read, Eq ) instance Binary STECSatElement where get = do _sTECSatElement_sv_id <- get _sTECSatElement_stec_quality_indicator <- getWord8 - _sTECSatElement_stec_coeff <- replicateM 4 fromIntegral <$> getWord16le + _sTECSatElement_stec_coeff <- replicateM 4 (fromIntegral <$> getWord16le) pure STECSatElement {..} put STECSatElement {..} = do @@ -201,134 +222,180 @@ $(makeJSON "_sTECSatElement_" ''STECSatElement) $(makeLenses ''STECSatElement) +-- | TroposphericDelayCorrectionNoStd. +-- +-- Troposphere vertical delays at the grid point. +data TroposphericDelayCorrectionNoStd = TroposphericDelayCorrectionNoStd + { _troposphericDelayCorrectionNoStd_hydro :: !Int16 + -- ^ Hydrostatic vertical delay + , _troposphericDelayCorrectionNoStd_wet :: !Int8 + -- ^ Wet vertical delay + } deriving ( Show, Read, Eq ) + +instance Binary TroposphericDelayCorrectionNoStd where + get = do + _troposphericDelayCorrectionNoStd_hydro <- (fromIntegral <$> getWord16le) + _troposphericDelayCorrectionNoStd_wet <- (fromIntegral <$> getWord8) + pure TroposphericDelayCorrectionNoStd {..} + + put TroposphericDelayCorrectionNoStd {..} = do + (putWord16le . fromIntegral) _troposphericDelayCorrectionNoStd_hydro + (putWord8 . fromIntegral) _troposphericDelayCorrectionNoStd_wet + +$(makeJSON "_troposphericDelayCorrectionNoStd_" ''TroposphericDelayCorrectionNoStd) +$(makeLenses ''TroposphericDelayCorrectionNoStd) + -- | TroposphericDelayCorrection. -- --- Contains wet vertical and hydrostatic vertical delay +-- Troposphere vertical delays (mean and standard deviation) at the grid +-- point. data TroposphericDelayCorrection = TroposphericDelayCorrection { _troposphericDelayCorrection_hydro :: !Int16 - -- ^ hydrostatic vertical delay - , _troposphericDelayCorrection_wet :: !Int8 - -- ^ wet vertical delay + -- ^ Hydrostatic vertical delay + , _troposphericDelayCorrection_wet :: !Int8 + -- ^ Wet vertical delay + , _troposphericDelayCorrection_stddev :: !Word8 + -- ^ stddev } deriving ( Show, Read, Eq ) instance Binary TroposphericDelayCorrection where get = do - _troposphericDelayCorrection_hydro <- fromIntegral <$> getWord16le - _troposphericDelayCorrection_wet <- fromIntegral <$> getWord8 + _troposphericDelayCorrection_hydro <- (fromIntegral <$> getWord16le) + _troposphericDelayCorrection_wet <- (fromIntegral <$> getWord8) + _troposphericDelayCorrection_stddev <- getWord8 pure TroposphericDelayCorrection {..} put TroposphericDelayCorrection {..} = do (putWord16le . fromIntegral) _troposphericDelayCorrection_hydro (putWord8 . fromIntegral) _troposphericDelayCorrection_wet + putWord8 _troposphericDelayCorrection_stddev $(makeJSON "_troposphericDelayCorrection_" ''TroposphericDelayCorrection) $(makeLenses ''TroposphericDelayCorrection) +-- | STECResidualNoStd. +-- +-- STEC residual for the given satellite at the grid point. +data STECResidualNoStd = STECResidualNoStd + { _sTECResidualNoStd_sv_id :: !SvId + -- ^ space vehicle identifier + , _sTECResidualNoStd_residual :: !Int16 + -- ^ STEC residual + } deriving ( Show, Read, Eq ) + +instance Binary STECResidualNoStd where + get = do + _sTECResidualNoStd_sv_id <- get + _sTECResidualNoStd_residual <- (fromIntegral <$> getWord16le) + pure STECResidualNoStd {..} + + put STECResidualNoStd {..} = do + put _sTECResidualNoStd_sv_id + (putWord16le . fromIntegral) _sTECResidualNoStd_residual + +$(makeJSON "_sTECResidualNoStd_" ''STECResidualNoStd) +$(makeLenses ''STECResidualNoStd) + -- | STECResidual. -- --- STEC residual +-- STEC residual (mean and standard deviation) for the given satellite at the +-- grid point. data STECResidual = STECResidual { _sTECResidual_sv_id :: !SvId -- ^ space vehicle identifier , _sTECResidual_residual :: !Int16 -- ^ STEC residual + , _sTECResidual_stddev :: !Word8 + -- ^ stddev } deriving ( Show, Read, Eq ) instance Binary STECResidual where get = do _sTECResidual_sv_id <- get - _sTECResidual_residual <- fromIntegral <$> getWord16le + _sTECResidual_residual <- (fromIntegral <$> getWord16le) + _sTECResidual_stddev <- getWord8 pure STECResidual {..} put STECResidual {..} = do put _sTECResidual_sv_id (putWord16le . fromIntegral) _sTECResidual_residual + putWord8 _sTECResidual_stddev $(makeJSON "_sTECResidual_" ''STECResidual) $(makeLenses ''STECResidual) +-- | GridElementNoStd. +-- +-- Contains one tropo delay, plus STEC residuals for each satellite at the +-- grid point. +data GridElementNoStd = GridElementNoStd + { _gridElementNoStd_index :: !Word16 + -- ^ Index of the grid point + , _gridElementNoStd_tropo_delay_correction :: !TroposphericDelayCorrectionNoStd + -- ^ Wet and hydrostatic vertical delays + , _gridElementNoStd_stec_residuals :: ![STECResidualNoStd] + -- ^ STEC residuals for each satellite + } deriving ( Show, Read, Eq ) + +instance Binary GridElementNoStd where + get = do + _gridElementNoStd_index <- getWord16le + _gridElementNoStd_tropo_delay_correction <- get + _gridElementNoStd_stec_residuals <- whileM (not <$> isEmpty) get + pure GridElementNoStd {..} + + put GridElementNoStd {..} = do + putWord16le _gridElementNoStd_index + put _gridElementNoStd_tropo_delay_correction + mapM_ put _gridElementNoStd_stec_residuals + +$(makeJSON "_gridElementNoStd_" ''GridElementNoStd) +$(makeLenses ''GridElementNoStd) + -- | GridElement. -- --- Contains one tropo datum, plus STEC residuals for each space vehicle +-- Contains one tropo delay (mean and stddev), plus STEC residuals (mean and +-- stddev) for each satellite at the grid point. data GridElement = GridElement { _gridElement_index :: !Word16 - -- ^ index of the grid point + -- ^ Index of the grid point , _gridElement_tropo_delay_correction :: !TroposphericDelayCorrection - -- ^ Wet and Hydrostatic Vertical Delay - , _gridElement_STEC_residuals :: ![STECResidual] - -- ^ STEC Residual for the given space vehicle + -- ^ Wet and hydrostatic vertical delays (mean, stddev) + , _gridElement_stec_residuals :: ![STECResidual] + -- ^ STEC residuals for each satellite (mean, stddev) } deriving ( Show, Read, Eq ) instance Binary GridElement where get = do _gridElement_index <- getWord16le _gridElement_tropo_delay_correction <- get - _gridElement_STEC_residuals <- whileM (not <$> isEmpty) get + _gridElement_stec_residuals <- whileM (not <$> isEmpty) get pure GridElement {..} put GridElement {..} = do putWord16le _gridElement_index put _gridElement_tropo_delay_correction - mapM_ put _gridElement_STEC_residuals + mapM_ put _gridElement_stec_residuals $(makeJSON "_gridElement_" ''GridElement) $(makeLenses ''GridElement) --- | GridDefinitionHeader. --- --- Defines the grid for STEC and tropo grid messages. Also includes an RLE --- encoded validity list. -data GridDefinitionHeader = GridDefinitionHeader - { _gridDefinitionHeader_region_size_inverse :: !Word8 - -- ^ inverse of region size - , _gridDefinitionHeader_area_width :: !Word16 - -- ^ area width; see spec for details - , _gridDefinitionHeader_lat_nw_corner_enc :: !Word16 - -- ^ encoded latitude of the northwest corner of the grid - , _gridDefinitionHeader_lon_nw_corner_enc :: !Word16 - -- ^ encoded longitude of the northwest corner of the grid - , _gridDefinitionHeader_num_msgs :: !Word8 - -- ^ Number of messages in the dataset - , _gridDefinitionHeader_seq_num :: !Word8 - -- ^ Postion of this message in the dataset - } deriving ( Show, Read, Eq ) - -instance Binary GridDefinitionHeader where - get = do - _gridDefinitionHeader_region_size_inverse <- getWord8 - _gridDefinitionHeader_area_width <- getWord16le - _gridDefinitionHeader_lat_nw_corner_enc <- getWord16le - _gridDefinitionHeader_lon_nw_corner_enc <- getWord16le - _gridDefinitionHeader_num_msgs <- getWord8 - _gridDefinitionHeader_seq_num <- getWord8 - pure GridDefinitionHeader {..} - - put GridDefinitionHeader {..} = do - putWord8 _gridDefinitionHeader_region_size_inverse - putWord16le _gridDefinitionHeader_area_width - putWord16le _gridDefinitionHeader_lat_nw_corner_enc - putWord16le _gridDefinitionHeader_lon_nw_corner_enc - putWord8 _gridDefinitionHeader_num_msgs - putWord8 _gridDefinitionHeader_seq_num - -$(makeJSON "_gridDefinitionHeader_" ''GridDefinitionHeader) -$(makeLenses ''GridDefinitionHeader) - msgSsrOrbitClock :: Word16 msgSsrOrbitClock = 0x05DD -- | SBP class for message MSG_SSR_ORBIT_CLOCK (0x05DD). -- -- The precise orbit and clock correction message is to be applied as a delta --- correction to broadcast ephemeris and is typically an equivalent to the 1060 --- and 1066 RTCM message types +-- correction to broadcast ephemeris and is an equivalent to the 1060 /1066 +-- RTCM message types. data MsgSsrOrbitClock = MsgSsrOrbitClock { _msgSsrOrbitClock_time :: !GpsTimeSec -- ^ GNSS reference time of the correction , _msgSsrOrbitClock_sid :: !GnssSignal -- ^ GNSS signal identifier (16 bit) , _msgSsrOrbitClock_update_interval :: !Word8 - -- ^ Update interval between consecutive corrections + -- ^ Update interval between consecutive corrections. Encoded following RTCM + -- DF391 specification. , _msgSsrOrbitClock_iod_ssr :: !Word8 -- ^ IOD of the SSR correction. A change of Issue Of Data SSR is used to -- indicate a change in the SSR generating configuration @@ -361,15 +428,15 @@ _msgSsrOrbitClock_update_interval <- getWord8 _msgSsrOrbitClock_iod_ssr <- getWord8 _msgSsrOrbitClock_iod <- getWord32le - _msgSsrOrbitClock_radial <- fromIntegral <$> getWord32le - _msgSsrOrbitClock_along <- fromIntegral <$> getWord32le - _msgSsrOrbitClock_cross <- fromIntegral <$> getWord32le - _msgSsrOrbitClock_dot_radial <- fromIntegral <$> getWord32le - _msgSsrOrbitClock_dot_along <- fromIntegral <$> getWord32le - _msgSsrOrbitClock_dot_cross <- fromIntegral <$> getWord32le - _msgSsrOrbitClock_c0 <- fromIntegral <$> getWord32le - _msgSsrOrbitClock_c1 <- fromIntegral <$> getWord32le - _msgSsrOrbitClock_c2 <- fromIntegral <$> getWord32le + _msgSsrOrbitClock_radial <- (fromIntegral <$> getWord32le) + _msgSsrOrbitClock_along <- (fromIntegral <$> getWord32le) + _msgSsrOrbitClock_cross <- (fromIntegral <$> getWord32le) + _msgSsrOrbitClock_dot_radial <- (fromIntegral <$> getWord32le) + _msgSsrOrbitClock_dot_along <- (fromIntegral <$> getWord32le) + _msgSsrOrbitClock_dot_cross <- (fromIntegral <$> getWord32le) + _msgSsrOrbitClock_c0 <- (fromIntegral <$> getWord32le) + _msgSsrOrbitClock_c1 <- (fromIntegral <$> getWord32le) + _msgSsrOrbitClock_c2 <- (fromIntegral <$> getWord32le) pure MsgSsrOrbitClock {..} put MsgSsrOrbitClock {..} = do @@ -392,99 +459,22 @@ $(makeJSON "_msgSsrOrbitClock_" ''MsgSsrOrbitClock) $(makeLenses ''MsgSsrOrbitClock) -msgSsrOrbitClockDepA :: Word16 -msgSsrOrbitClockDepA = 0x05DC - --- | SBP class for message MSG_SSR_ORBIT_CLOCK_DEP_A (0x05DC). --- --- The precise orbit and clock correction message is to be applied as a delta --- correction to broadcast ephemeris and is typically an equivalent to the 1060 --- and 1066 RTCM message types -data MsgSsrOrbitClockDepA = MsgSsrOrbitClockDepA - { _msgSsrOrbitClockDepA_time :: !GpsTimeSec - -- ^ GNSS reference time of the correction - , _msgSsrOrbitClockDepA_sid :: !GnssSignal - -- ^ GNSS signal identifier (16 bit) - , _msgSsrOrbitClockDepA_update_interval :: !Word8 - -- ^ Update interval between consecutive corrections - , _msgSsrOrbitClockDepA_iod_ssr :: !Word8 - -- ^ IOD of the SSR correction. A change of Issue Of Data SSR is used to - -- indicate a change in the SSR generating configuration - , _msgSsrOrbitClockDepA_iod :: !Word8 - -- ^ Issue of broadcast ephemeris data - , _msgSsrOrbitClockDepA_radial :: !Int32 - -- ^ Orbit radial delta correction - , _msgSsrOrbitClockDepA_along :: !Int32 - -- ^ Orbit along delta correction - , _msgSsrOrbitClockDepA_cross :: !Int32 - -- ^ Orbit along delta correction - , _msgSsrOrbitClockDepA_dot_radial :: !Int32 - -- ^ Velocity of orbit radial delta correction - , _msgSsrOrbitClockDepA_dot_along :: !Int32 - -- ^ Velocity of orbit along delta correction - , _msgSsrOrbitClockDepA_dot_cross :: !Int32 - -- ^ Velocity of orbit cross delta correction - , _msgSsrOrbitClockDepA_c0 :: !Int32 - -- ^ C0 polynomial coefficient for correction of broadcast satellite clock - , _msgSsrOrbitClockDepA_c1 :: !Int32 - -- ^ C1 polynomial coefficient for correction of broadcast satellite clock - , _msgSsrOrbitClockDepA_c2 :: !Int32 - -- ^ C2 polynomial coefficient for correction of broadcast satellite clock - } deriving ( Show, Read, Eq ) - -instance Binary MsgSsrOrbitClockDepA where - get = do - _msgSsrOrbitClockDepA_time <- get - _msgSsrOrbitClockDepA_sid <- get - _msgSsrOrbitClockDepA_update_interval <- getWord8 - _msgSsrOrbitClockDepA_iod_ssr <- getWord8 - _msgSsrOrbitClockDepA_iod <- getWord8 - _msgSsrOrbitClockDepA_radial <- fromIntegral <$> getWord32le - _msgSsrOrbitClockDepA_along <- fromIntegral <$> getWord32le - _msgSsrOrbitClockDepA_cross <- fromIntegral <$> getWord32le - _msgSsrOrbitClockDepA_dot_radial <- fromIntegral <$> getWord32le - _msgSsrOrbitClockDepA_dot_along <- fromIntegral <$> getWord32le - _msgSsrOrbitClockDepA_dot_cross <- fromIntegral <$> getWord32le - _msgSsrOrbitClockDepA_c0 <- fromIntegral <$> getWord32le - _msgSsrOrbitClockDepA_c1 <- fromIntegral <$> getWord32le - _msgSsrOrbitClockDepA_c2 <- fromIntegral <$> getWord32le - pure MsgSsrOrbitClockDepA {..} - - put MsgSsrOrbitClockDepA {..} = do - put _msgSsrOrbitClockDepA_time - put _msgSsrOrbitClockDepA_sid - putWord8 _msgSsrOrbitClockDepA_update_interval - putWord8 _msgSsrOrbitClockDepA_iod_ssr - putWord8 _msgSsrOrbitClockDepA_iod - (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_radial - (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_along - (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_cross - (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_dot_radial - (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_dot_along - (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_dot_cross - (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_c0 - (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_c1 - (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_c2 - -$(makeSBP 'msgSsrOrbitClockDepA ''MsgSsrOrbitClockDepA) -$(makeJSON "_msgSsrOrbitClockDepA_" ''MsgSsrOrbitClockDepA) -$(makeLenses ''MsgSsrOrbitClockDepA) - msgSsrCodeBiases :: Word16 msgSsrCodeBiases = 0x05E1 -- | SBP class for message MSG_SSR_CODE_BIASES (0x05E1). -- -- The precise code biases message is to be added to the pseudorange of the --- corresponding signal to get corrected pseudorange. It is typically an --- equivalent to the 1059 and 1065 RTCM message types +-- corresponding signal to get corrected pseudorange. It is an equivalent to +-- the 1059 / 1065 RTCM message types. data MsgSsrCodeBiases = MsgSsrCodeBiases { _msgSsrCodeBiases_time :: !GpsTimeSec -- ^ GNSS reference time of the correction , _msgSsrCodeBiases_sid :: !GnssSignal -- ^ GNSS signal identifier (16 bit) , _msgSsrCodeBiases_update_interval :: !Word8 - -- ^ Update interval between consecutive corrections + -- ^ Update interval between consecutive corrections. Encoded following RTCM + -- DF391 specification. , _msgSsrCodeBiases_iod_ssr :: !Word8 -- ^ IOD of the SSR correction. A change of Issue Of Data SSR is used to -- indicate a change in the SSR generating configuration @@ -519,16 +509,17 @@ -- -- The precise phase biases message contains the biases to be added to the -- carrier phase of the corresponding signal to get corrected carrier phase --- measurement, as well as the satellite yaw angle to be applied to compute the --- phase wind-up correction. It is typically an equivalent to the 1265 RTCM --- message types +-- measurement, as well as the satellite yaw angle to be applied to compute +-- the phase wind-up correction. It is typically an equivalent to the 1265 +-- RTCM message types. data MsgSsrPhaseBiases = MsgSsrPhaseBiases { _msgSsrPhaseBiases_time :: !GpsTimeSec -- ^ GNSS reference time of the correction , _msgSsrPhaseBiases_sid :: !GnssSignal -- ^ GNSS signal identifier (16 bit) , _msgSsrPhaseBiases_update_interval :: !Word8 - -- ^ Update interval between consecutive corrections + -- ^ Update interval between consecutive corrections. Encoded following RTCM + -- DF391 specification. , _msgSsrPhaseBiases_iod_ssr :: !Word8 -- ^ IOD of the SSR correction. A change of Issue Of Data SSR is used to -- indicate a change in the SSR generating configuration @@ -553,7 +544,7 @@ _msgSsrPhaseBiases_dispersive_bias <- getWord8 _msgSsrPhaseBiases_mw_consistency <- getWord8 _msgSsrPhaseBiases_yaw <- getWord16le - _msgSsrPhaseBiases_yaw_rate <- fromIntegral <$> getWord8 + _msgSsrPhaseBiases_yaw_rate <- (fromIntegral <$> getWord8) _msgSsrPhaseBiases_biases <- whileM (not <$> isEmpty) get pure MsgSsrPhaseBiases {..} @@ -573,18 +564,21 @@ $(makeLenses ''MsgSsrPhaseBiases) msgSsrStecCorrection :: Word16 -msgSsrStecCorrection = 0x05EB +msgSsrStecCorrection = 0x05FB --- | SBP class for message MSG_SSR_STEC_CORRECTION (0x05EB). +-- | SBP class for message MSG_SSR_STEC_CORRECTION (0x05FB). -- --- The STEC per space vehicle, given as polynomial approximation for a given --- grid. This should be combined with SSR-GriddedCorrection message to get the --- state space representation of the atmospheric delay. +-- The Slant Total Electron Content per space vehicle, given as polynomial +-- approximation for a given tile. This should be combined with the +-- MSG_SSR_GRIDDED_CORRECTION message to get the state space representation of +-- the atmospheric delay. +-- +-- It is typically equivalent to the QZSS CLAS Sub Type 8 messages. data MsgSsrStecCorrection = MsgSsrStecCorrection { _msgSsrStecCorrection_header :: !STECHeader - -- ^ Header of a STEC message + -- ^ Header of a STEC polynomial coeffcient message. , _msgSsrStecCorrection_stec_sat_list :: ![STECSatElement] - -- ^ Array of STEC information for each space vehicle + -- ^ Array of STEC polynomial coeffcients for each space vehicle. } deriving ( Show, Read, Eq ) instance Binary MsgSsrStecCorrection where @@ -602,16 +596,18 @@ $(makeLenses ''MsgSsrStecCorrection) msgSsrGriddedCorrection :: Word16 -msgSsrGriddedCorrection = 0x05F0 +msgSsrGriddedCorrection = 0x05FC --- | SBP class for message MSG_SSR_GRIDDED_CORRECTION (0x05F0). +-- | SBP class for message MSG_SSR_GRIDDED_CORRECTION (0x05FC). -- --- STEC residuals are per space vehicle, tropo is not. +-- STEC residuals are per space vehicle, troposphere is not. +-- +-- It is typically equivalent to the QZSS CLAS Sub Type 9 messages. data MsgSsrGriddedCorrection = MsgSsrGriddedCorrection { _msgSsrGriddedCorrection_header :: !GriddedCorrectionHeader - -- ^ Header of a Gridded Correction message + -- ^ Header of a gridded correction message , _msgSsrGriddedCorrection_element :: !GridElement - -- ^ Tropo and STEC residuals for the given grid point + -- ^ Tropo and STEC residuals for the given grid point. } deriving ( Show, Read, Eq ) instance Binary MsgSsrGriddedCorrection where @@ -628,32 +624,455 @@ $(makeJSON "_msgSsrGriddedCorrection_" ''MsgSsrGriddedCorrection) $(makeLenses ''MsgSsrGriddedCorrection) -msgSsrGridDefinition :: Word16 -msgSsrGridDefinition = 0x05F5 +msgSsrTileDefinition :: Word16 +msgSsrTileDefinition = 0x05F6 --- | SBP class for message MSG_SSR_GRID_DEFINITION (0x05F5). +-- | SBP class for message MSG_SSR_TILE_DEFINITION (0x05F6). -- --- Definition of the grid for STEC and tropo messages -data MsgSsrGridDefinition = MsgSsrGridDefinition - { _msgSsrGridDefinition_header :: !GridDefinitionHeader +-- Provides the correction point coordinates for the atmospheric correction +-- values in the MSG_SSR_STEC_CORRECTION and MSG_SSR_GRIDDED_CORRECTION +-- messages. +-- +-- Based on ETSI TS 137 355 V16.1.0 (LTE Positioning Protocol) information +-- element GNSS-SSR-CorrectionPoints. SBP only supports gridded arrays of +-- correction points, not lists of points. +data MsgSsrTileDefinition = MsgSsrTileDefinition + { _msgSsrTileDefinition_tile_set_id :: !Word16 + -- ^ Unique identifier of the tile set this tile belongs to. + , _msgSsrTileDefinition_tile_id :: !Word16 + -- ^ Unique identifier of this tile in the tile set. + -- See GNSS-SSR-ArrayOfCorrectionPoints field correctionPointSetID. + , _msgSsrTileDefinition_corner_nw_lat :: !Int16 + -- ^ North-West corner correction point latitude. + -- + -- The relation between the latitude X in the range [-90, 90] and the + -- coded number N is: + -- + -- N = floor((X / 90) * 2^14) + -- + -- See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLatitude. + , _msgSsrTileDefinition_corner_nw_lon :: !Int16 + -- ^ North-West corner correction point longitude. + -- + -- The relation between the longitude X in the range [-180, 180] and the + -- coded number N is: + -- + -- N = floor((X / 180) * 2^15) + -- + -- See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLongitude. + , _msgSsrTileDefinition_spacing_lat :: !Word16 + -- ^ Spacing of the correction points in the latitude direction. + -- + -- See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLatitude. + , _msgSsrTileDefinition_spacing_lon :: !Word16 + -- ^ Spacing of the correction points in the longitude direction. + -- + -- See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLongitude. + , _msgSsrTileDefinition_rows :: !Word16 + -- ^ Number of steps in the latitude direction. + -- + -- See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLatitude. + , _msgSsrTileDefinition_cols :: !Word16 + -- ^ Number of steps in the longitude direction. + -- + -- See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLongitude. + , _msgSsrTileDefinition_bitmask :: !Word64 + -- ^ Specifies the availability of correction data at the correction points + -- in the array. + -- + -- If a specific bit is enabled (set to 1), the correction is not + -- available. Only the first rows * cols bits are used, the remainder are + -- set to 0. If there are more then 64 correction points the remaining + -- corrections are always available. + -- + -- Starting with the northwest corner of the array (top left on a north + -- oriented map) the correction points are enumerated with row precedence + -- - first row west to east, second row west to east, until last row west + -- to east - ending with the southeast corner of the array. + -- + -- See GNSS-SSR-ArrayOfCorrectionPoints field bitmaskOfGrids but note the + -- definition of the bits is inverted. + } deriving ( Show, Read, Eq ) + +instance Binary MsgSsrTileDefinition where + get = do + _msgSsrTileDefinition_tile_set_id <- getWord16le + _msgSsrTileDefinition_tile_id <- getWord16le + _msgSsrTileDefinition_corner_nw_lat <- (fromIntegral <$> getWord16le) + _msgSsrTileDefinition_corner_nw_lon <- (fromIntegral <$> getWord16le) + _msgSsrTileDefinition_spacing_lat <- getWord16le + _msgSsrTileDefinition_spacing_lon <- getWord16le + _msgSsrTileDefinition_rows <- getWord16le + _msgSsrTileDefinition_cols <- getWord16le + _msgSsrTileDefinition_bitmask <- getWord64le + pure MsgSsrTileDefinition {..} + + put MsgSsrTileDefinition {..} = do + putWord16le _msgSsrTileDefinition_tile_set_id + putWord16le _msgSsrTileDefinition_tile_id + (putWord16le . fromIntegral) _msgSsrTileDefinition_corner_nw_lat + (putWord16le . fromIntegral) _msgSsrTileDefinition_corner_nw_lon + putWord16le _msgSsrTileDefinition_spacing_lat + putWord16le _msgSsrTileDefinition_spacing_lon + putWord16le _msgSsrTileDefinition_rows + putWord16le _msgSsrTileDefinition_cols + putWord64le _msgSsrTileDefinition_bitmask + +$(makeSBP 'msgSsrTileDefinition ''MsgSsrTileDefinition) +$(makeJSON "_msgSsrTileDefinition_" ''MsgSsrTileDefinition) +$(makeLenses ''MsgSsrTileDefinition) + +-- | SatelliteAPC. +-- +-- Contains phase center offset and elevation variation corrections for one +-- signal on a satellite. +data SatelliteAPC = SatelliteAPC + { _satelliteAPC_sid :: !GnssSignal + -- ^ GNSS signal identifier (16 bit) + , _satelliteAPC_sat_info :: !Word8 + -- ^ Additional satellite information + , _satelliteAPC_svn :: !Word16 + -- ^ Satellite Code, as defined by IGS. Typically the space vehicle number. + , _satelliteAPC_pco :: ![Int16] + -- ^ Mean phase center offset, X Y and Z axises. See IGS ANTEX file format + -- description for coordinate system definition. + , _satelliteAPC_pcv :: ![Int8] + -- ^ Elevation dependent phase center variations. First element is 0 degrees + -- separation from the Z axis, subsequent elements represent elevation + -- variations in 1 degree increments. + } deriving ( Show, Read, Eq ) + +instance Binary SatelliteAPC where + get = do + _satelliteAPC_sid <- get + _satelliteAPC_sat_info <- getWord8 + _satelliteAPC_svn <- getWord16le + _satelliteAPC_pco <- replicateM 3 (fromIntegral <$> getWord16le) + _satelliteAPC_pcv <- replicateM 21 (fromIntegral <$> getWord8) + pure SatelliteAPC {..} + + put SatelliteAPC {..} = do + put _satelliteAPC_sid + putWord8 _satelliteAPC_sat_info + putWord16le _satelliteAPC_svn + mapM_ (putWord16le . fromIntegral) _satelliteAPC_pco + mapM_ (putWord8 . fromIntegral) _satelliteAPC_pcv + +$(makeJSON "_satelliteAPC_" ''SatelliteAPC) +$(makeLenses ''SatelliteAPC) + +msgSsrSatelliteApc :: Word16 +msgSsrSatelliteApc = 0x0604 + +data MsgSsrSatelliteApc = MsgSsrSatelliteApc + { _msgSsrSatelliteApc_apc :: ![SatelliteAPC] + -- ^ Satellite antenna phase center corrections + } deriving ( Show, Read, Eq ) + +instance Binary MsgSsrSatelliteApc where + get = do + _msgSsrSatelliteApc_apc <- whileM (not <$> isEmpty) get + pure MsgSsrSatelliteApc {..} + + put MsgSsrSatelliteApc {..} = do + mapM_ put _msgSsrSatelliteApc_apc + +$(makeSBP 'msgSsrSatelliteApc ''MsgSsrSatelliteApc) +$(makeJSON "_msgSsrSatelliteApc_" ''MsgSsrSatelliteApc) +$(makeLenses ''MsgSsrSatelliteApc) + +msgSsrOrbitClockDepA :: Word16 +msgSsrOrbitClockDepA = 0x05DC + +data MsgSsrOrbitClockDepA = MsgSsrOrbitClockDepA + { _msgSsrOrbitClockDepA_time :: !GpsTimeSec + -- ^ GNSS reference time of the correction + , _msgSsrOrbitClockDepA_sid :: !GnssSignal + -- ^ GNSS signal identifier (16 bit) + , _msgSsrOrbitClockDepA_update_interval :: !Word8 + -- ^ Update interval between consecutive corrections. Encoded following RTCM + -- DF391 specification. + , _msgSsrOrbitClockDepA_iod_ssr :: !Word8 + -- ^ IOD of the SSR correction. A change of Issue Of Data SSR is used to + -- indicate a change in the SSR generating configuration + , _msgSsrOrbitClockDepA_iod :: !Word8 + -- ^ Issue of broadcast ephemeris data + , _msgSsrOrbitClockDepA_radial :: !Int32 + -- ^ Orbit radial delta correction + , _msgSsrOrbitClockDepA_along :: !Int32 + -- ^ Orbit along delta correction + , _msgSsrOrbitClockDepA_cross :: !Int32 + -- ^ Orbit along delta correction + , _msgSsrOrbitClockDepA_dot_radial :: !Int32 + -- ^ Velocity of orbit radial delta correction + , _msgSsrOrbitClockDepA_dot_along :: !Int32 + -- ^ Velocity of orbit along delta correction + , _msgSsrOrbitClockDepA_dot_cross :: !Int32 + -- ^ Velocity of orbit cross delta correction + , _msgSsrOrbitClockDepA_c0 :: !Int32 + -- ^ C0 polynomial coefficient for correction of broadcast satellite clock + , _msgSsrOrbitClockDepA_c1 :: !Int32 + -- ^ C1 polynomial coefficient for correction of broadcast satellite clock + , _msgSsrOrbitClockDepA_c2 :: !Int32 + -- ^ C2 polynomial coefficient for correction of broadcast satellite clock + } deriving ( Show, Read, Eq ) + +instance Binary MsgSsrOrbitClockDepA where + get = do + _msgSsrOrbitClockDepA_time <- get + _msgSsrOrbitClockDepA_sid <- get + _msgSsrOrbitClockDepA_update_interval <- getWord8 + _msgSsrOrbitClockDepA_iod_ssr <- getWord8 + _msgSsrOrbitClockDepA_iod <- getWord8 + _msgSsrOrbitClockDepA_radial <- (fromIntegral <$> getWord32le) + _msgSsrOrbitClockDepA_along <- (fromIntegral <$> getWord32le) + _msgSsrOrbitClockDepA_cross <- (fromIntegral <$> getWord32le) + _msgSsrOrbitClockDepA_dot_radial <- (fromIntegral <$> getWord32le) + _msgSsrOrbitClockDepA_dot_along <- (fromIntegral <$> getWord32le) + _msgSsrOrbitClockDepA_dot_cross <- (fromIntegral <$> getWord32le) + _msgSsrOrbitClockDepA_c0 <- (fromIntegral <$> getWord32le) + _msgSsrOrbitClockDepA_c1 <- (fromIntegral <$> getWord32le) + _msgSsrOrbitClockDepA_c2 <- (fromIntegral <$> getWord32le) + pure MsgSsrOrbitClockDepA {..} + + put MsgSsrOrbitClockDepA {..} = do + put _msgSsrOrbitClockDepA_time + put _msgSsrOrbitClockDepA_sid + putWord8 _msgSsrOrbitClockDepA_update_interval + putWord8 _msgSsrOrbitClockDepA_iod_ssr + putWord8 _msgSsrOrbitClockDepA_iod + (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_radial + (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_along + (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_cross + (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_dot_radial + (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_dot_along + (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_dot_cross + (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_c0 + (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_c1 + (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_c2 + +$(makeSBP 'msgSsrOrbitClockDepA ''MsgSsrOrbitClockDepA) +$(makeJSON "_msgSsrOrbitClockDepA_" ''MsgSsrOrbitClockDepA) +$(makeLenses ''MsgSsrOrbitClockDepA) + +-- | STECHeaderDepA. +-- +-- A full set of STEC information will likely span multiple SBP messages, +-- since SBP message a limited to 255 bytes. The header is used to tie +-- multiple SBP messages into a sequence. +data STECHeaderDepA = STECHeaderDepA + { _sTECHeaderDepA_time :: !GpsTimeSec + -- ^ GNSS reference time of the correction + , _sTECHeaderDepA_num_msgs :: !Word8 + -- ^ Number of messages in the dataset + , _sTECHeaderDepA_seq_num :: !Word8 + -- ^ Position of this message in the dataset + , _sTECHeaderDepA_update_interval :: !Word8 + -- ^ Update interval between consecutive corrections. Encoded following RTCM + -- DF391 specification. + , _sTECHeaderDepA_iod_atmo :: !Word8 + -- ^ IOD of the SSR atmospheric correction + } deriving ( Show, Read, Eq ) + +instance Binary STECHeaderDepA where + get = do + _sTECHeaderDepA_time <- get + _sTECHeaderDepA_num_msgs <- getWord8 + _sTECHeaderDepA_seq_num <- getWord8 + _sTECHeaderDepA_update_interval <- getWord8 + _sTECHeaderDepA_iod_atmo <- getWord8 + pure STECHeaderDepA {..} + + put STECHeaderDepA {..} = do + put _sTECHeaderDepA_time + putWord8 _sTECHeaderDepA_num_msgs + putWord8 _sTECHeaderDepA_seq_num + putWord8 _sTECHeaderDepA_update_interval + putWord8 _sTECHeaderDepA_iod_atmo + +$(makeJSON "_sTECHeaderDepA_" ''STECHeaderDepA) +$(makeLenses ''STECHeaderDepA) + +-- | GriddedCorrectionHeaderDepA. +-- +-- The 3GPP message contains nested variable length arrays which are not +-- suppported in SBP, so each grid point will be identified by the index. +data GriddedCorrectionHeaderDepA = GriddedCorrectionHeaderDepA + { _griddedCorrectionHeaderDepA_time :: !GpsTimeSec + -- ^ GNSS reference time of the correction + , _griddedCorrectionHeaderDepA_num_msgs :: !Word16 + -- ^ Number of messages in the dataset + , _griddedCorrectionHeaderDepA_seq_num :: !Word16 + -- ^ Position of this message in the dataset + , _griddedCorrectionHeaderDepA_update_interval :: !Word8 + -- ^ Update interval between consecutive corrections. Encoded following RTCM + -- DF391 specification. + , _griddedCorrectionHeaderDepA_iod_atmo :: !Word8 + -- ^ IOD of the SSR atmospheric correction + , _griddedCorrectionHeaderDepA_tropo_quality_indicator :: !Word8 + -- ^ Quality of the troposphere data. Encoded following RTCM DF389 + -- specifcation in units of m. + } deriving ( Show, Read, Eq ) + +instance Binary GriddedCorrectionHeaderDepA where + get = do + _griddedCorrectionHeaderDepA_time <- get + _griddedCorrectionHeaderDepA_num_msgs <- getWord16le + _griddedCorrectionHeaderDepA_seq_num <- getWord16le + _griddedCorrectionHeaderDepA_update_interval <- getWord8 + _griddedCorrectionHeaderDepA_iod_atmo <- getWord8 + _griddedCorrectionHeaderDepA_tropo_quality_indicator <- getWord8 + pure GriddedCorrectionHeaderDepA {..} + + put GriddedCorrectionHeaderDepA {..} = do + put _griddedCorrectionHeaderDepA_time + putWord16le _griddedCorrectionHeaderDepA_num_msgs + putWord16le _griddedCorrectionHeaderDepA_seq_num + putWord8 _griddedCorrectionHeaderDepA_update_interval + putWord8 _griddedCorrectionHeaderDepA_iod_atmo + putWord8 _griddedCorrectionHeaderDepA_tropo_quality_indicator + +$(makeJSON "_griddedCorrectionHeaderDepA_" ''GriddedCorrectionHeaderDepA) +$(makeLenses ''GriddedCorrectionHeaderDepA) + +-- | GridDefinitionHeaderDepA. +-- +-- Defines the grid for MSG_SSR_GRIDDED_CORRECTION messages. Also includes an +-- RLE encoded validity list. +data GridDefinitionHeaderDepA = GridDefinitionHeaderDepA + { _gridDefinitionHeaderDepA_region_size_inverse :: !Word8 + -- ^ region_size (deg) = 10 / region_size_inverse 0 is an invalid value. + , _gridDefinitionHeaderDepA_area_width :: !Word16 + -- ^ grid height (deg) = grid width (deg) = area_width / region_size 0 is an + -- invalid value. + , _gridDefinitionHeaderDepA_lat_nw_corner_enc :: !Word16 + -- ^ North-West corner latitude (deg) = region_size * lat_nw_corner_enc - 90 + , _gridDefinitionHeaderDepA_lon_nw_corner_enc :: !Word16 + -- ^ North-West corner longitude (deg) = region_size * lon_nw_corner_enc - + -- 180 + , _gridDefinitionHeaderDepA_num_msgs :: !Word8 + -- ^ Number of messages in the dataset + , _gridDefinitionHeaderDepA_seq_num :: !Word8 + -- ^ Postion of this message in the dataset + } deriving ( Show, Read, Eq ) + +instance Binary GridDefinitionHeaderDepA where + get = do + _gridDefinitionHeaderDepA_region_size_inverse <- getWord8 + _gridDefinitionHeaderDepA_area_width <- getWord16le + _gridDefinitionHeaderDepA_lat_nw_corner_enc <- getWord16le + _gridDefinitionHeaderDepA_lon_nw_corner_enc <- getWord16le + _gridDefinitionHeaderDepA_num_msgs <- getWord8 + _gridDefinitionHeaderDepA_seq_num <- getWord8 + pure GridDefinitionHeaderDepA {..} + + put GridDefinitionHeaderDepA {..} = do + putWord8 _gridDefinitionHeaderDepA_region_size_inverse + putWord16le _gridDefinitionHeaderDepA_area_width + putWord16le _gridDefinitionHeaderDepA_lat_nw_corner_enc + putWord16le _gridDefinitionHeaderDepA_lon_nw_corner_enc + putWord8 _gridDefinitionHeaderDepA_num_msgs + putWord8 _gridDefinitionHeaderDepA_seq_num + +$(makeJSON "_gridDefinitionHeaderDepA_" ''GridDefinitionHeaderDepA) +$(makeLenses ''GridDefinitionHeaderDepA) + +msgSsrStecCorrectionDepA :: Word16 +msgSsrStecCorrectionDepA = 0x05EB + +data MsgSsrStecCorrectionDepA = MsgSsrStecCorrectionDepA + { _msgSsrStecCorrectionDepA_header :: !STECHeaderDepA + -- ^ Header of a STEC message + , _msgSsrStecCorrectionDepA_stec_sat_list :: ![STECSatElement] + -- ^ Array of STEC information for each space vehicle + } deriving ( Show, Read, Eq ) + +instance Binary MsgSsrStecCorrectionDepA where + get = do + _msgSsrStecCorrectionDepA_header <- get + _msgSsrStecCorrectionDepA_stec_sat_list <- whileM (not <$> isEmpty) get + pure MsgSsrStecCorrectionDepA {..} + + put MsgSsrStecCorrectionDepA {..} = do + put _msgSsrStecCorrectionDepA_header + mapM_ put _msgSsrStecCorrectionDepA_stec_sat_list + +$(makeSBP 'msgSsrStecCorrectionDepA ''MsgSsrStecCorrectionDepA) +$(makeJSON "_msgSsrStecCorrectionDepA_" ''MsgSsrStecCorrectionDepA) +$(makeLenses ''MsgSsrStecCorrectionDepA) + +msgSsrGriddedCorrectionNoStdDepA :: Word16 +msgSsrGriddedCorrectionNoStdDepA = 0x05F0 + +data MsgSsrGriddedCorrectionNoStdDepA = MsgSsrGriddedCorrectionNoStdDepA + { _msgSsrGriddedCorrectionNoStdDepA_header :: !GriddedCorrectionHeaderDepA -- ^ Header of a Gridded Correction message - , _msgSsrGridDefinition_rle_list :: ![Word8] + , _msgSsrGriddedCorrectionNoStdDepA_element :: !GridElementNoStd + -- ^ Tropo and STEC residuals for the given grid point + } deriving ( Show, Read, Eq ) + +instance Binary MsgSsrGriddedCorrectionNoStdDepA where + get = do + _msgSsrGriddedCorrectionNoStdDepA_header <- get + _msgSsrGriddedCorrectionNoStdDepA_element <- get + pure MsgSsrGriddedCorrectionNoStdDepA {..} + + put MsgSsrGriddedCorrectionNoStdDepA {..} = do + put _msgSsrGriddedCorrectionNoStdDepA_header + put _msgSsrGriddedCorrectionNoStdDepA_element + +$(makeSBP 'msgSsrGriddedCorrectionNoStdDepA ''MsgSsrGriddedCorrectionNoStdDepA) +$(makeJSON "_msgSsrGriddedCorrectionNoStdDepA_" ''MsgSsrGriddedCorrectionNoStdDepA) +$(makeLenses ''MsgSsrGriddedCorrectionNoStdDepA) + +msgSsrGriddedCorrectionDepA :: Word16 +msgSsrGriddedCorrectionDepA = 0x05FA + +data MsgSsrGriddedCorrectionDepA = MsgSsrGriddedCorrectionDepA + { _msgSsrGriddedCorrectionDepA_header :: !GriddedCorrectionHeaderDepA + -- ^ Header of a Gridded Correction message + , _msgSsrGriddedCorrectionDepA_element :: !GridElement + -- ^ Tropo and STEC residuals for the given grid point (mean and standard + -- deviation) + } deriving ( Show, Read, Eq ) + +instance Binary MsgSsrGriddedCorrectionDepA where + get = do + _msgSsrGriddedCorrectionDepA_header <- get + _msgSsrGriddedCorrectionDepA_element <- get + pure MsgSsrGriddedCorrectionDepA {..} + + put MsgSsrGriddedCorrectionDepA {..} = do + put _msgSsrGriddedCorrectionDepA_header + put _msgSsrGriddedCorrectionDepA_element + +$(makeSBP 'msgSsrGriddedCorrectionDepA ''MsgSsrGriddedCorrectionDepA) +$(makeJSON "_msgSsrGriddedCorrectionDepA_" ''MsgSsrGriddedCorrectionDepA) +$(makeLenses ''MsgSsrGriddedCorrectionDepA) + +msgSsrGridDefinitionDepA :: Word16 +msgSsrGridDefinitionDepA = 0x05F5 + +data MsgSsrGridDefinitionDepA = MsgSsrGridDefinitionDepA + { _msgSsrGridDefinitionDepA_header :: !GridDefinitionHeaderDepA + -- ^ Header of a Gridded Correction message + , _msgSsrGridDefinitionDepA_rle_list :: ![Word8] -- ^ Run Length Encode list of quadrants that contain valid data. The spec -- describes the encoding scheme in detail, but essentially the index of -- the quadrants that contain transitions between valid and invalid (and -- vice versa) are encoded as u8 integers. } deriving ( Show, Read, Eq ) -instance Binary MsgSsrGridDefinition where +instance Binary MsgSsrGridDefinitionDepA where get = do - _msgSsrGridDefinition_header <- get - _msgSsrGridDefinition_rle_list <- whileM (not <$> isEmpty) getWord8 - pure MsgSsrGridDefinition {..} + _msgSsrGridDefinitionDepA_header <- get + _msgSsrGridDefinitionDepA_rle_list <- whileM (not <$> isEmpty) getWord8 + pure MsgSsrGridDefinitionDepA {..} - put MsgSsrGridDefinition {..} = do - put _msgSsrGridDefinition_header - mapM_ putWord8 _msgSsrGridDefinition_rle_list + put MsgSsrGridDefinitionDepA {..} = do + put _msgSsrGridDefinitionDepA_header + mapM_ putWord8 _msgSsrGridDefinitionDepA_rle_list -$(makeSBP 'msgSsrGridDefinition ''MsgSsrGridDefinition) -$(makeJSON "_msgSsrGridDefinition_" ''MsgSsrGridDefinition) -$(makeLenses ''MsgSsrGridDefinition) +$(makeSBP 'msgSsrGridDefinitionDepA ''MsgSsrGridDefinitionDepA) +$(makeJSON "_msgSsrGridDefinitionDepA_" ''MsgSsrGridDefinitionDepA) +$(makeLenses ''MsgSsrGridDefinitionDepA) 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 @@ -6,12 +6,12 @@ -- | -- Module: SwiftNav.SBP.System -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Standardized system messages from Swift Navigation devices. +-- \< Standardized system messages from Swift Navigation devices. \> module SwiftNav.SBP.System ( module SwiftNav.SBP.System @@ -40,9 +40,9 @@ -- | SBP class for message MSG_STARTUP (0xFF00). -- --- The system start-up message is sent once on system start-up. It notifies the --- host or other attached devices that the system has started and is now ready --- to respond to commands or configuration requests. +-- The system start-up message is sent once on system start-up. It notifies +-- the 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 -- ^ Cause of startup @@ -114,9 +114,11 @@ -- attached devices that the system is running. It is used to monitor system -- malfunctions. It also contains status flags that indicate to the host the -- status of the system and whether it is operating correctly. Currently, the --- expected heartbeat interval is 1 sec. The system error flag is used to --- indicate that an error has occurred in the system. To determine the source --- of the error, the remaining error flags should be inspected. +-- expected heartbeat interval is 1 sec. +-- +-- The system error flag is used to 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 -- ^ Status flags @@ -134,6 +136,80 @@ $(makeJSON "_msgHeartbeat_" ''MsgHeartbeat) $(makeLenses ''MsgHeartbeat) +-- | SubSystemReport. +-- +-- Report the general and specific state of a sub-system. If the generic +-- state is reported as initializing, the specific state should be ignored. +data SubSystemReport = SubSystemReport + { _subSystemReport_component :: !Word16 + -- ^ Identity of reporting subsystem + , _subSystemReport_generic :: !Word8 + -- ^ Generic form status report + , _subSystemReport_specific :: !Word8 + -- ^ Subsystem specific status code + } deriving ( Show, Read, Eq ) + +instance Binary SubSystemReport where + get = do + _subSystemReport_component <- getWord16le + _subSystemReport_generic <- getWord8 + _subSystemReport_specific <- getWord8 + pure SubSystemReport {..} + + put SubSystemReport {..} = do + putWord16le _subSystemReport_component + putWord8 _subSystemReport_generic + putWord8 _subSystemReport_specific + +$(makeJSON "_subSystemReport_" ''SubSystemReport) +$(makeLenses ''SubSystemReport) + +msgStatusReport :: Word16 +msgStatusReport = 0xFFFE + +-- | SBP class for message MSG_STATUS_REPORT (0xFFFE). +-- +-- The status report is sent periodically to inform the host or other attached +-- devices that the system is running. It is used to monitor system +-- malfunctions. It contains status reports that indicate to the host the +-- status of each sub-system and whether it is operating correctly. +-- +-- Interpretation of the subsystem specific status code is product dependent, +-- but if the generic status code is initializing, it should be ignored. +-- Refer to product documentation for details. +data MsgStatusReport = MsgStatusReport + { _msgStatusReport_reporting_system :: !Word16 + -- ^ Identity of reporting system + , _msgStatusReport_sbp_version :: !Word16 + -- ^ SBP protocol version + , _msgStatusReport_sequence :: !Word32 + -- ^ Increments on each status report sent + , _msgStatusReport_uptime :: !Word32 + -- ^ Number of seconds since system start-up + , _msgStatusReport_status :: ![SubSystemReport] + -- ^ Reported status of individual subsystems + } deriving ( Show, Read, Eq ) + +instance Binary MsgStatusReport where + get = do + _msgStatusReport_reporting_system <- getWord16le + _msgStatusReport_sbp_version <- getWord16le + _msgStatusReport_sequence <- getWord32le + _msgStatusReport_uptime <- getWord32le + _msgStatusReport_status <- whileM (not <$> isEmpty) get + pure MsgStatusReport {..} + + put MsgStatusReport {..} = do + putWord16le _msgStatusReport_reporting_system + putWord16le _msgStatusReport_sbp_version + putWord32le _msgStatusReport_sequence + putWord32le _msgStatusReport_uptime + mapM_ put _msgStatusReport_status + +$(makeSBP 'msgStatusReport ''MsgStatusReport) +$(makeJSON "_msgStatusReport_" ''MsgStatusReport) +$(makeLenses ''MsgStatusReport) + msgInsStatus :: Word16 msgInsStatus = 0xFF03 @@ -164,8 +240,8 @@ -- | SBP class for message MSG_CSAC_TELEMETRY (0xFF04). -- -- The CSAC telemetry message has an implementation defined telemetry string --- from a device. It is not produced or available on general Swift Products. It --- is intended to be a low rate message for status purposes. +-- from a device. It is not produced or available on general Swift Products. +-- It is intended to be a low rate message for status purposes. data MsgCsacTelemetry = MsgCsacTelemetry { _msgCsacTelemetry_id :: !Word8 -- ^ Index representing the type of telemetry in use. It is implemention @@ -194,8 +270,8 @@ -- | SBP class for message MSG_CSAC_TELEMETRY_LABELS (0xFF05). -- -- The CSAC telemetry message provides labels for each member of the string --- produced by MSG_CSAC_TELEMETRY. It should be provided by a device at a lower --- rate than the MSG_CSAC_TELEMETRY. +-- produced by MSG_CSAC_TELEMETRY. It should be provided by a device at a +-- lower rate than the MSG_CSAC_TELEMETRY. data MsgCsacTelemetryLabels = MsgCsacTelemetryLabels { _msgCsacTelemetryLabels_id :: !Word8 -- ^ Index representing the type of telemetry in use. It is implemention @@ -217,3 +293,164 @@ $(makeSBP 'msgCsacTelemetryLabels ''MsgCsacTelemetryLabels) $(makeJSON "_msgCsacTelemetryLabels_" ''MsgCsacTelemetryLabels) $(makeLenses ''MsgCsacTelemetryLabels) + +msgInsUpdates :: Word16 +msgInsUpdates = 0xFF06 + +-- | SBP class for message MSG_INS_UPDATES (0xFF06). +-- +-- The INS update status message contains informations about executed and +-- rejected INS updates. This message is expected to be extended in the future +-- as new types of measurements are being added. +data MsgInsUpdates = MsgInsUpdates + { _msgInsUpdates_tow :: !Word32 + -- ^ GPS Time of Week + , _msgInsUpdates_gnsspos :: !Word8 + -- ^ GNSS position update status flags + , _msgInsUpdates_gnssvel :: !Word8 + -- ^ GNSS velocity update status flags + , _msgInsUpdates_wheelticks :: !Word8 + -- ^ Wheelticks update status flags + , _msgInsUpdates_speed :: !Word8 + -- ^ Wheelticks update status flags + , _msgInsUpdates_nhc :: !Word8 + -- ^ NHC update status flags + , _msgInsUpdates_zerovel :: !Word8 + -- ^ Zero velocity update status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgInsUpdates where + get = do + _msgInsUpdates_tow <- getWord32le + _msgInsUpdates_gnsspos <- getWord8 + _msgInsUpdates_gnssvel <- getWord8 + _msgInsUpdates_wheelticks <- getWord8 + _msgInsUpdates_speed <- getWord8 + _msgInsUpdates_nhc <- getWord8 + _msgInsUpdates_zerovel <- getWord8 + pure MsgInsUpdates {..} + + put MsgInsUpdates {..} = do + putWord32le _msgInsUpdates_tow + putWord8 _msgInsUpdates_gnsspos + putWord8 _msgInsUpdates_gnssvel + putWord8 _msgInsUpdates_wheelticks + putWord8 _msgInsUpdates_speed + putWord8 _msgInsUpdates_nhc + putWord8 _msgInsUpdates_zerovel + +$(makeSBP 'msgInsUpdates ''MsgInsUpdates) +$(makeJSON "_msgInsUpdates_" ''MsgInsUpdates) +$(makeLenses ''MsgInsUpdates) + +msgGnssTimeOffset :: Word16 +msgGnssTimeOffset = 0xFF07 + +-- | SBP class for message MSG_GNSS_TIME_OFFSET (0xFF07). +-- +-- The GNSS time offset message contains the information that is needed to +-- translate messages tagged with a local timestamp (e.g. IMU or wheeltick +-- messages) to GNSS time for the sender producing this message. +data MsgGnssTimeOffset = MsgGnssTimeOffset + { _msgGnssTimeOffset_weeks :: !Int16 + -- ^ Weeks portion of the time offset + , _msgGnssTimeOffset_milliseconds :: !Int32 + -- ^ Milliseconds portion of the time offset + , _msgGnssTimeOffset_microseconds :: !Int16 + -- ^ Microseconds portion of the time offset + , _msgGnssTimeOffset_flags :: !Word8 + -- ^ Status flags (reserved) + } deriving ( Show, Read, Eq ) + +instance Binary MsgGnssTimeOffset where + get = do + _msgGnssTimeOffset_weeks <- (fromIntegral <$> getWord16le) + _msgGnssTimeOffset_milliseconds <- (fromIntegral <$> getWord32le) + _msgGnssTimeOffset_microseconds <- (fromIntegral <$> getWord16le) + _msgGnssTimeOffset_flags <- getWord8 + pure MsgGnssTimeOffset {..} + + put MsgGnssTimeOffset {..} = do + (putWord16le . fromIntegral) _msgGnssTimeOffset_weeks + (putWord32le . fromIntegral) _msgGnssTimeOffset_milliseconds + (putWord16le . fromIntegral) _msgGnssTimeOffset_microseconds + putWord8 _msgGnssTimeOffset_flags + +$(makeSBP 'msgGnssTimeOffset ''MsgGnssTimeOffset) +$(makeJSON "_msgGnssTimeOffset_" ''MsgGnssTimeOffset) +$(makeLenses ''MsgGnssTimeOffset) + +msgPpsTime :: Word16 +msgPpsTime = 0xFF08 + +-- | SBP class for message MSG_PPS_TIME (0xFF08). +-- +-- The PPS time message contains the value of the sender's local time in +-- microseconds at the moment a pulse is detected on the PPS input. This is to +-- be used for syncronisation of sensor data sampled with a local timestamp +-- (e.g. IMU or wheeltick messages) where GNSS time is unknown to the sender. +-- +-- The local time used to timestamp the PPS pulse must be generated by the +-- same clock which is used to timestamp the IMU/wheel sensor data and should +-- follow the same roll-over rules. A separate MSG_PPS_TIME message should be +-- sent for each source of sensor data which uses PPS-relative timestamping. +-- The sender ID for each of these MSG_PPS_TIME messages should match the +-- sender ID of the respective sensor data. +data MsgPpsTime = MsgPpsTime + { _msgPpsTime_time :: !Word64 + -- ^ Local time in microseconds + , _msgPpsTime_flags :: !Word8 + -- ^ Status flags + } deriving ( Show, Read, Eq ) + +instance Binary MsgPpsTime where + get = do + _msgPpsTime_time <- getWord64le + _msgPpsTime_flags <- getWord8 + pure MsgPpsTime {..} + + put MsgPpsTime {..} = do + putWord64le _msgPpsTime_time + putWord8 _msgPpsTime_flags + +$(makeSBP 'msgPpsTime ''MsgPpsTime) +$(makeJSON "_msgPpsTime_" ''MsgPpsTime) +$(makeLenses ''MsgPpsTime) + +msgGroupMeta :: Word16 +msgGroupMeta = 0xFF0A + +-- | SBP class for message MSG_GROUP_META (0xFF0A). +-- +-- This leading message lists the time metadata of the Solution Group. It also +-- lists the atomic contents (i.e. types of messages included) of the Solution +-- Group. +data MsgGroupMeta = MsgGroupMeta + { _msgGroupMeta_group_id :: !Word8 + -- ^ Id of the Msgs Group, 0 is Unknown, 1 is Bestpos, 2 is Gnss + , _msgGroupMeta_flags :: !Word8 + -- ^ Status flags (reserved) + , _msgGroupMeta_n_group_msgs :: !Word8 + -- ^ Size of list group_msgs + , _msgGroupMeta_group_msgs :: ![Word16] + -- ^ An inorder list of message types included in the Solution Group, + -- including GROUP_META itself + } deriving ( Show, Read, Eq ) + +instance Binary MsgGroupMeta where + get = do + _msgGroupMeta_group_id <- getWord8 + _msgGroupMeta_flags <- getWord8 + _msgGroupMeta_n_group_msgs <- getWord8 + _msgGroupMeta_group_msgs <- whileM (not <$> isEmpty) getWord16le + pure MsgGroupMeta {..} + + put MsgGroupMeta {..} = do + putWord8 _msgGroupMeta_group_id + putWord8 _msgGroupMeta_flags + putWord8 _msgGroupMeta_n_group_msgs + mapM_ putWord16le _msgGroupMeta_group_msgs + +$(makeSBP 'msgGroupMeta ''MsgGroupMeta) +$(makeJSON "_msgGroupMeta_" ''MsgGroupMeta) +$(makeLenses ''MsgGroupMeta) diff --git a/src/SwiftNav/SBP/TH.hs b/src/SwiftNav/SBP/TH.hs --- a/src/SwiftNav/SBP/TH.hs +++ b/src/SwiftNav/SBP/TH.hs @@ -5,7 +5,7 @@ -- Module: SwiftNav.SBP.TH -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- diff --git a/src/SwiftNav/SBP/Tracking.hs b/src/SwiftNav/SBP/Tracking.hs --- a/src/SwiftNav/SBP/Tracking.hs +++ b/src/SwiftNav/SBP/Tracking.hs @@ -6,12 +6,12 @@ -- | -- Module: SwiftNav.SBP.Tracking -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Satellite code and carrier-phase tracking messages from the device. +-- \< Satellite code and carrier-phase tracking messages from the device. \> module SwiftNav.SBP.Tracking ( module SwiftNav.SBP.Tracking @@ -70,8 +70,8 @@ , _msgTrackingStateDetailedDepA_doppler_std :: !Word16 -- ^ Carrier Doppler frequency standard deviation. , _msgTrackingStateDetailedDepA_uptime :: !Word32 - -- ^ Number of seconds of continuous tracking. Specifies how much time signal - -- is in continuous track. + -- ^ Number of seconds of continuous tracking. Specifies how much time + -- signal is in continuous track. , _msgTrackingStateDetailedDepA_clock_offset :: !Int16 -- ^ TCXO clock offset. Valid only when valid clock valid flag is set. , _msgTrackingStateDetailedDepA_clock_drift :: !Int16 @@ -104,13 +104,13 @@ _msgTrackingStateDetailedDepA_cn0 <- getWord8 _msgTrackingStateDetailedDepA_lock <- getWord16le _msgTrackingStateDetailedDepA_sid <- get - _msgTrackingStateDetailedDepA_doppler <- fromIntegral <$> getWord32le + _msgTrackingStateDetailedDepA_doppler <- (fromIntegral <$> getWord32le) _msgTrackingStateDetailedDepA_doppler_std <- getWord16le _msgTrackingStateDetailedDepA_uptime <- getWord32le - _msgTrackingStateDetailedDepA_clock_offset <- fromIntegral <$> getWord16le - _msgTrackingStateDetailedDepA_clock_drift <- fromIntegral <$> getWord16le + _msgTrackingStateDetailedDepA_clock_offset <- (fromIntegral <$> getWord16le) + _msgTrackingStateDetailedDepA_clock_drift <- (fromIntegral <$> getWord16le) _msgTrackingStateDetailedDepA_corr_spacing <- getWord16le - _msgTrackingStateDetailedDepA_acceleration <- fromIntegral <$> getWord8 + _msgTrackingStateDetailedDepA_acceleration <- (fromIntegral <$> getWord8) _msgTrackingStateDetailedDepA_sync_flags <- getWord8 _msgTrackingStateDetailedDepA_tow_flags <- getWord8 _msgTrackingStateDetailedDepA_track_flags <- getWord8 @@ -179,8 +179,8 @@ , _msgTrackingStateDetailedDep_doppler_std :: !Word16 -- ^ Carrier Doppler frequency standard deviation. , _msgTrackingStateDetailedDep_uptime :: !Word32 - -- ^ Number of seconds of continuous tracking. Specifies how much time signal - -- is in continuous track. + -- ^ Number of seconds of continuous tracking. Specifies how much time + -- signal is in continuous track. , _msgTrackingStateDetailedDep_clock_offset :: !Int16 -- ^ TCXO clock offset. Valid only when valid clock valid flag is set. , _msgTrackingStateDetailedDep_clock_drift :: !Int16 @@ -213,13 +213,13 @@ _msgTrackingStateDetailedDep_cn0 <- getWord8 _msgTrackingStateDetailedDep_lock <- getWord16le _msgTrackingStateDetailedDep_sid <- get - _msgTrackingStateDetailedDep_doppler <- fromIntegral <$> getWord32le + _msgTrackingStateDetailedDep_doppler <- (fromIntegral <$> getWord32le) _msgTrackingStateDetailedDep_doppler_std <- getWord16le _msgTrackingStateDetailedDep_uptime <- getWord32le - _msgTrackingStateDetailedDep_clock_offset <- fromIntegral <$> getWord16le - _msgTrackingStateDetailedDep_clock_drift <- fromIntegral <$> getWord16le + _msgTrackingStateDetailedDep_clock_offset <- (fromIntegral <$> getWord16le) + _msgTrackingStateDetailedDep_clock_drift <- (fromIntegral <$> getWord16le) _msgTrackingStateDetailedDep_corr_spacing <- getWord16le - _msgTrackingStateDetailedDep_acceleration <- fromIntegral <$> getWord8 + _msgTrackingStateDetailedDep_acceleration <- (fromIntegral <$> getWord8) _msgTrackingStateDetailedDep_sync_flags <- getWord8 _msgTrackingStateDetailedDep_tow_flags <- getWord8 _msgTrackingStateDetailedDep_track_flags <- getWord8 @@ -312,11 +312,11 @@ -- -- Measurement Engine tracking channel state for a specific satellite signal -- and measured signal power. The mesid field for Glonass can either carry the --- FCN as 100 + FCN where FCN is in [-7, +6] or the Slot ID (from 1 to 28) +-- FCN as 100 + FCN where FCN is in [-7, +6] or the Slot ID (from 1 to 28). data MeasurementState = MeasurementState { _measurementState_mesid :: !GnssSignal - -- ^ Measurement Engine GNSS signal being tracked (carries either Glonass FCN - -- or SLOT) + -- ^ Measurement Engine GNSS signal being tracked (carries either Glonass + -- FCN or SLOT) , _measurementState_cn0 :: !Word8 -- ^ Carrier-to-Noise density. Zero implies invalid cn0. } deriving ( Show, Read, Eq ) @@ -371,8 +371,8 @@ instance Binary TrackingChannelCorrelation where get = do - _trackingChannelCorrelation_I <- fromIntegral <$> getWord16le - _trackingChannelCorrelation_Q <- fromIntegral <$> getWord16le + _trackingChannelCorrelation_I <- (fromIntegral <$> getWord16le) + _trackingChannelCorrelation_Q <- (fromIntegral <$> getWord16le) pure TrackingChannelCorrelation {..} put TrackingChannelCorrelation {..} = do @@ -426,8 +426,8 @@ instance Binary TrackingChannelCorrelationDep where get = do - _trackingChannelCorrelationDep_I <- fromIntegral <$> getWord32le - _trackingChannelCorrelationDep_Q <- fromIntegral <$> getWord32le + _trackingChannelCorrelationDep_I <- (fromIntegral <$> getWord32le) + _trackingChannelCorrelationDep_Q <- (fromIntegral <$> getWord32le) pure TrackingChannelCorrelationDep {..} put TrackingChannelCorrelationDep {..} = do diff --git a/src/SwiftNav/SBP/Types.hs b/src/SwiftNav/SBP/Types.hs --- a/src/SwiftNav/SBP/Types.hs +++ b/src/SwiftNav/SBP/Types.hs @@ -7,7 +7,7 @@ -- Module: SwiftNav.SBP.Types -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. -- License: LGPL-3 --- Maintainer: Mark Fine +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- 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 @@ -6,12 +6,12 @@ -- | -- Module: SwiftNav.SBP.User -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Messages reserved for use by the user. +-- \< Messages reserved for use by the user. \> module SwiftNav.SBP.User ( module SwiftNav.SBP.User 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 @@ -6,12 +6,12 @@ -- | -- Module: SwiftNav.SBP.Vehicle -- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Swift Navigation +-- License: MIT +-- Contact: https://support.swiftnav.com -- Stability: experimental -- Portability: portable -- --- Messages from a vehicle. +-- \< Messages from a vehicle. \> module SwiftNav.SBP.Vehicle ( module SwiftNav.SBP.Vehicle @@ -40,16 +40,19 @@ -- | SBP class for message MSG_ODOMETRY (0x0903). -- -- Message representing the x component of vehicle velocity in the user frame --- at the odometry reference point(s) specified by the user. The offset for the --- odometry reference point and the definition and origin of the user frame --- are defined through the device settings interface. There are 4 possible --- user-defined sources of this message which are labeled arbitrarily source --- 0 through 3. +-- at the odometry reference point(s) specified by the user. The offset for +-- the odometry reference point and the definition and origin of the user +-- frame are defined through the device settings interface. There are 4 +-- possible user-defined sources of this message which are labeled arbitrarily +-- source 0 through 3. If using "processor time" time tags, the receiving end +-- will expect a `MSG_GNSS_TIME_OFFSET` when a PVT fix becomes available to +-- synchronise odometry measurements with GNSS. Processor time shall roll over +-- to zero after one week. data MsgOdometry = MsgOdometry { _msgOdometry_tow :: !Word32 - -- ^ Time field representing either milliseconds in the GPS Week or local CPU - -- time from the producing system in milliseconds. See the tow_source flag - -- for the exact source of this timestamp. + -- ^ Time field representing either milliseconds in the GPS Week or local + -- CPU time from the producing system in milliseconds. See the tow_source + -- flag for the exact source of this timestamp. , _msgOdometry_velocity :: !Int32 -- ^ The signed forward component of vehicle velocity. , _msgOdometry_flags :: !Word8 @@ -59,7 +62,7 @@ instance Binary MsgOdometry where get = do _msgOdometry_tow <- getWord32le - _msgOdometry_velocity <- fromIntegral <$> getWord32le + _msgOdometry_velocity <- (fromIntegral <$> getWord32le) _msgOdometry_flags <- getWord8 pure MsgOdometry {..} @@ -71,3 +74,53 @@ $(makeSBP 'msgOdometry ''MsgOdometry) $(makeJSON "_msgOdometry_" ''MsgOdometry) $(makeLenses ''MsgOdometry) + +msgWheeltick :: Word16 +msgWheeltick = 0x0904 + +-- | SBP class for message MSG_WHEELTICK (0x0904). +-- +-- Message containing the accumulated distance travelled by a wheel located at +-- an odometry reference point defined by the user. The offset for the +-- odometry reference point and the definition and origin of the user frame +-- are defined through the device settings interface. The source of this +-- message is identified by the source field, which is an integer ranging from +-- 0 to 255. The timestamp associated with this message should represent the +-- time when the accumulated tick count reached the value given by the +-- contents of this message as accurately as possible. If using "local CPU +-- time" time tags, the receiving end will expect a `MSG_GNSS_TIME_OFFSET` +-- when a PVT fix becomes available to synchronise wheeltick measurements with +-- GNSS. Local CPU time shall roll over to zero after one week. +data MsgWheeltick = MsgWheeltick + { _msgWheeltick_time :: !Word64 + -- ^ Time field representing either microseconds since the last PPS, + -- microseconds in the GPS Week or local CPU time from the producing + -- system in microseconds. See the synch_type field for the exact meaning + -- of this timestamp. + , _msgWheeltick_flags :: !Word8 + -- ^ Field indicating the type of timestamp contained in the time field. + , _msgWheeltick_source :: !Word8 + -- ^ ID of the sensor producing this message + , _msgWheeltick_ticks :: !Int32 + -- ^ Free-running counter of the accumulated distance for this sensor. The + -- counter should be incrementing if travelling into one direction and + -- decrementing when travelling in the opposite direction. + } deriving ( Show, Read, Eq ) + +instance Binary MsgWheeltick where + get = do + _msgWheeltick_time <- getWord64le + _msgWheeltick_flags <- getWord8 + _msgWheeltick_source <- getWord8 + _msgWheeltick_ticks <- (fromIntegral <$> getWord32le) + pure MsgWheeltick {..} + + put MsgWheeltick {..} = do + putWord64le _msgWheeltick_time + putWord8 _msgWheeltick_flags + putWord8 _msgWheeltick_source + (putWord32le . fromIntegral) _msgWheeltick_ticks + +$(makeSBP 'msgWheeltick ''MsgWheeltick) +$(makeJSON "_msgWheeltick_" ''MsgWheeltick) +$(makeLenses ''MsgWheeltick)