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sbp 3.4.12 → 4.0.3

raw patch · 36 files changed

+116/−213 lines, 36 files

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README.md view
@@ -51,6 +51,6 @@  # LICENSE -Copyright © 2015 Swift Navigation Inc.+Copyright © 2015-2021 Swift Navigation Inc.  [1]: https://github.com/swift-nav/libsbp/tree/master/haskell
main/JSON2JSON.hs view
@@ -4,8 +4,8 @@  -- | -- Module:      JSON2JSON--- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.--- License:     LGPL-3+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc.+-- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental -- Portability: portable
main/JSON2SBP.hs view
@@ -3,8 +3,8 @@  -- | -- Module:      JSON2SBP--- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.--- License:     LGPL-3+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc.+-- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental -- Portability: portable
main/SBP2JSON.hs view
@@ -3,8 +3,8 @@  -- | -- Module:      SBP2JSON--- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.--- License:     LGPL-3+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc.+-- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental -- Portability: portable
main/SBP2NMEA.hs view
@@ -3,8 +3,8 @@  -- | -- Module:      SBP2JNMEA--- Copyright:   Copyright (C) 2020 Swift Navigation, Inc.--- License:     LGPL-3+-- Copyright:   Copyright (C) 2020-2021 Swift Navigation, Inc.+-- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental -- Portability: portable
main/SBP2PRETTYJSON.hs view
@@ -5,9 +5,9 @@  -- | -- Module:      SBP2PRETTYJSON--- Copyright:   Copyright (C) 2019 Swift Navigation, Inc.--- License:     LGPL-3--- Maintainer:  Pasi Miettinen <dev@swiftnav.com>+-- Copyright:   Copyright (C) 2019-2021 Swift Navigation, Inc.+-- License:     MIT+-- Contact:     https://support.swiftnav.com -- Stability:   experimental -- Portability: portable --
main/SBP2YAML.hs view
@@ -2,8 +2,8 @@  -- | -- Module:      SBP2YAML--- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.--- License:     LGPL-3+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc.+-- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental -- Portability: portable
sbp.cabal view
@@ -1,11 +1,11 @@ name:                  sbp-version:               3.4.12+version:               4.0.3 synopsis:              SwiftNav's SBP Library homepage:              https://github.com/swift-nav/libsbp license:               MIT author:                Swift Navigation Inc. maintainer:            Swift Navigation <dev@swiftnav.com>-copyright:             Copyright (C) 2015-2018 Swift Navigation, Inc.+copyright:             Copyright (C) 2015-2021 Swift Navigation, Inc. category:              Network build-type:            Simple cabal-version:         >= 1.22
src/SwiftNav/CRC16.hs view
@@ -2,8 +2,8 @@  -- | -- Module:      SwiftNav.SBP--- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.--- License:     LGPL-3+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc.+-- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental -- Portability: portable
src/SwiftNav/SBP.hs view
@@ -1,6 +1,6 @@ -- | -- Module:      SwiftNav.SBP--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental
src/SwiftNav/SBP/Acquisition.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Acquisition--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental@@ -153,8 +153,8 @@ -- Deprecated. data MsgAcqResultDepA = MsgAcqResultDepA   { _msgAcqResultDepA_snr :: !Float-    -- ^ SNR of best point. Currently dimensonless, but will have units of dB Hz-    -- in the revision of this message.+    -- ^ SNR of best point. Currently dimensionless, but will have units of dB+    -- Hz in the revision of this message.   , _msgAcqResultDepA_cp :: !Float     -- ^ Code phase of best point   , _msgAcqResultDepA_cf :: !Float
src/SwiftNav/SBP/Bootload.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Bootload--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental@@ -145,7 +145,7 @@ -- 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 messagage with the device ID in the payload. Note+-- 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 MsgNapDeviceDnaResp = MsgNapDeviceDnaResp
src/SwiftNav/SBP/ExtEvents.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.ExtEvents--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental
src/SwiftNav/SBP/FileIo.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.FileIo--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental@@ -49,8 +49,8 @@ -- -- 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.+-- where the message length field indicates how many bytes were successfully+-- 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.@@ -90,7 +90,7 @@ -- -- 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 message where the message--- length field indicates how many bytes were succesfully read. The sequence+-- length field indicates how many bytes were successfully read. The sequence -- number in the response is preserved from the request. data MsgFileioReadResp = MsgFileioReadResp   { _msgFileioReadResp_sequence :: !Word32
src/SwiftNav/SBP/Flash.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Flash--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental@@ -259,7 +259,7 @@  -- | SBP class for message MSG_STM_UNIQUE_ID_REQ (0x00E8). ----- This message reads the device's hardcoded unique ID. The host requests the+-- This message reads the device's hard-coded 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. data MsgStmUniqueIdReq = MsgStmUniqueIdReq@@ -280,7 +280,7 @@  -- | SBP class for message MSG_STM_UNIQUE_ID_RESP (0x00E5). ----- This message reads the device's hardcoded unique ID. The host requests the+-- This message reads the device's hard-coded 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. data MsgStmUniqueIdResp = MsgStmUniqueIdResp
src/SwiftNav/SBP/Gnss.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Gnss--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental
src/SwiftNav/SBP/Imu.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Imu--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental
src/SwiftNav/SBP/Linux.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Linux--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental
src/SwiftNav/SBP/Logging.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Logging--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental
src/SwiftNav/SBP/Mag.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Mag--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental
src/SwiftNav/SBP/Msg.hs view
@@ -6,7 +6,7 @@  -- | -- Module:      SwiftNav.SBP.Msg--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental@@ -246,7 +246,6 @@    | SBPMsgUtcTime MsgUtcTime Msg    | SBPMsgUtcTimeGnss MsgUtcTimeGnss Msg    | SBPMsgVelBody MsgVelBody Msg-   | SBPMsgVelCog MsgVelCog Msg    | SBPMsgVelEcef MsgVelEcef Msg    | SBPMsgVelEcefCov MsgVelEcefCov Msg    | SBPMsgVelEcefCovGnss MsgVelEcefCovGnss Msg@@ -462,7 +461,6 @@           | _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@@ -670,7 +668,6 @@       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@@ -882,7 +879,6 @@         | 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 <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj@@ -1095,7 +1091,6 @@   toJSON (SBPMsgUtcTime n m) = toJSON n <<>> toJSON m   toJSON (SBPMsgUtcTimeGnss n m) = toJSON n <<>> toJSON m   toJSON (SBPMsgVelBody n m) = toJSON n <<>> toJSON m-  toJSON (SBPMsgVelCog n m) = toJSON n <<>> toJSON m   toJSON (SBPMsgVelEcef n m) = toJSON n <<>> toJSON m   toJSON (SBPMsgVelEcefCov n m) = toJSON n <<>> toJSON m   toJSON (SBPMsgVelEcefCovGnss n m) = toJSON n <<>> toJSON m@@ -1302,7 +1297,6 @@   msg f (SBPMsgUtcTime n m) = SBPMsgUtcTime n <$> 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
src/SwiftNav/SBP/Navigation.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Navigation--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental@@ -1612,64 +1612,6 @@ $(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
src/SwiftNav/SBP/Ndb.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Ndb--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental
src/SwiftNav/SBP/Observation.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Observation--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental@@ -95,7 +95,7 @@ -- -- 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.+-- performed. data PackedObsContent = PackedObsContent   { _packedObsContent_P   :: !Word32     -- ^ Pseudorange observation@@ -274,7 +274,7 @@ -- in an error in the pseudo-absolute position output. data MsgBasePosEcef = MsgBasePosEcef   { _msgBasePosEcef_x :: !Double-    -- ^ ECEF X coodinate+    -- ^ ECEF X coordinate   , _msgBasePosEcef_y :: !Double     -- ^ ECEF Y coordinate   , _msgBasePosEcef_z :: !Double@@ -2379,7 +2379,7 @@ -- This observation message has been deprecated in favor of observations that -- are more interoperable. This message should be used for observations -- referenced to a nominal pseudorange which are not interoperable with most--- 3rd party GNSS receievers or typical RTCMv3 observations.+-- 3rd party GNSS receivers or typical RTCMv3 observations. data MsgObsDepB = MsgObsDepB   { _msgObsDepB_header :: !ObservationHeaderDep     -- ^ Header of a GPS observation message@@ -2445,7 +2445,7 @@ -- Please see ICD-GPS-200 (Chapter 20.3.3.5.1.7) for more details. data MsgIono = MsgIono   { _msgIono_t_nmct :: !GpsTimeSec-    -- ^ Navigation Message Correction Table Valitidy Time+    -- ^ Navigation Message Correction Table Validity Time   , _msgIono_a0   :: !Double   , _msgIono_a1   :: !Double   , _msgIono_a2   :: !Double@@ -2492,7 +2492,7 @@ -- Please see ICD-GPS-200 (Chapter 20.3.3.5.1.4) for more details. data MsgSvConfigurationGpsDep = MsgSvConfigurationGpsDep   { _msgSvConfigurationGpsDep_t_nmct :: !GpsTimeSec-    -- ^ Navigation Message Correction Table Valitidy Time+    -- ^ Navigation Message Correction Table Validity Time   , _msgSvConfigurationGpsDep_l2c_mask :: !Word32     -- ^ L2C capability mask, SV32 bit being MSB, SV1 bit being LSB   } deriving ( Show, Read, Eq )
src/SwiftNav/SBP/Orientation.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Orientation--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental
src/SwiftNav/SBP/Piksi.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Piksi--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental
src/SwiftNav/SBP/Sbas.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Sbas--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental
src/SwiftNav/SBP/Settings.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Settings--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental@@ -177,7 +177,7 @@  -- | SBP class for message MSG_SETTINGS_READ_RESP (0x00A5). ----- The setting message wich which the device responds after a+-- The setting message with which the device responds after a -- MSG_SETTING_READ_REQ is sent to device. The string field is a NULL- -- terminated and NULL-delimited string with contents -- "SECTION_SETTING\0SETTING\0VALUE\0" where the '\0' escape sequence denotes
src/SwiftNav/SBP/SolutionMeta.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.SolutionMeta--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental@@ -73,8 +73,8 @@ -- 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.+-- in computing the Fuzed Solution. It focuses primarily, but not only, on+-- GNSS metadata. data MsgSolnMetaDepA = MsgSolnMetaDepA   { _msgSolnMetaDepA_pdop                 :: !Word16     -- ^ Position Dilution of Precision as per last available DOPS from PVT@@ -138,11 +138,11 @@ -- | 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,+-- in computing the sensorfusion solution. It focuses primarily, 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+-- known as time of validity) If it can, subtract '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.
src/SwiftNav/SBP/Ssr.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Ssr--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental@@ -147,7 +147,7 @@ -- | GriddedCorrectionHeader. -- -- The LPP message contains nested variable length arrays which are not--- suppported in SBP, so each grid point will be identified by the index.+-- supported in SBP, so each grid point will be identified by the index. data GriddedCorrectionHeader = GriddedCorrectionHeader   { _griddedCorrectionHeader_tile_set_id           :: !Word16     -- ^ Unique identifier of the tile set this tile belongs to.@@ -204,7 +204,7 @@     -- ^ 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 in the order of C00, C01, C10, C11+    -- ^ Coefficients of the STEC polynomial in the order of C00, C01, C10, C11   } deriving ( Show, Read, Eq )  instance Binary STECSatElement where@@ -324,62 +324,6 @@ $(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 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-  , _gridElement_tropo_delay_correction :: !TroposphericDelayCorrection-    -- ^ 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 <$> isEmpty) get-    pure GridElement {..}--  put GridElement {..} = do-    putWord16le _gridElement_index-    put _gridElement_tropo_delay_correction-    mapM_ put _gridElement_stec_residuals--$(makeJSON "_gridElement_" ''GridElement)-$(makeLenses ''GridElement)- msgSsrOrbitClock :: Word16 msgSsrOrbitClock = 0x05DD @@ -576,9 +520,9 @@ -- It is typically equivalent to the QZSS CLAS Sub Type 8 messages. data MsgSsrStecCorrection = MsgSsrStecCorrection   { _msgSsrStecCorrection_header      :: !STECHeader-    -- ^ Header of a STEC polynomial coeffcient message.+    -- ^ Header of a STEC polynomial coefficient message.   , _msgSsrStecCorrection_stec_sat_list :: ![STECSatElement]-    -- ^ Array of STEC polynomial coeffcients for each space vehicle.+    -- ^ Array of STEC polynomial coefficients for each space vehicle.   } deriving ( Show, Read, Eq )  instance Binary MsgSsrStecCorrection where@@ -604,21 +548,29 @@ -- -- It is typically equivalent to the QZSS CLAS Sub Type 9 messages. data MsgSsrGriddedCorrection = MsgSsrGriddedCorrection-  { _msgSsrGriddedCorrection_header :: !GriddedCorrectionHeader+  { _msgSsrGriddedCorrection_header               :: !GriddedCorrectionHeader     -- ^ Header of a gridded correction message-  , _msgSsrGriddedCorrection_element :: !GridElement-    -- ^ Tropo and STEC residuals for the given grid point.+  , _msgSsrGriddedCorrection_index                :: !Word16+    -- ^ Index of the grid point.+  , _msgSsrGriddedCorrection_tropo_delay_correction :: !TroposphericDelayCorrection+    -- ^ Wet and hydrostatic vertical delays (mean, stddev).+  , _msgSsrGriddedCorrection_stec_residuals       :: ![STECResidual]+    -- ^ STEC residuals for each satellite (mean, stddev).   } deriving ( Show, Read, Eq )  instance Binary MsgSsrGriddedCorrection where   get = do     _msgSsrGriddedCorrection_header <- get-    _msgSsrGriddedCorrection_element <- get+    _msgSsrGriddedCorrection_index <- getWord16le+    _msgSsrGriddedCorrection_tropo_delay_correction <- get+    _msgSsrGriddedCorrection_stec_residuals <- whileM (not <$> isEmpty) get     pure MsgSsrGriddedCorrection {..}    put MsgSsrGriddedCorrection {..} = do     put _msgSsrGriddedCorrection_header-    put _msgSsrGriddedCorrection_element+    putWord16le _msgSsrGriddedCorrection_index+    put _msgSsrGriddedCorrection_tropo_delay_correction+    mapM_ put _msgSsrGriddedCorrection_stec_residuals  $(makeSBP 'msgSsrGriddedCorrection ''MsgSsrGriddedCorrection) $(makeJSON "_msgSsrGriddedCorrection_" ''MsgSsrGriddedCorrection)@@ -734,7 +686,7 @@   , _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+    -- ^ Mean phase center offset, X Y and Z axes. See IGS ANTEX file format     -- description for coordinate system definition.   , _satelliteAPC_pcv    :: ![Int8]     -- ^ Elevation dependent phase center variations. First element is 0 degrees@@ -896,7 +848,7 @@ -- | 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.+-- supported in SBP, so each grid point will be identified by the index. data GriddedCorrectionHeaderDepA = GriddedCorrectionHeaderDepA   { _griddedCorrectionHeaderDepA_time                  :: !GpsTimeSec     -- ^ GNSS reference time of the correction@@ -911,7 +863,7 @@     -- ^ 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.+    -- specification in units of m.   } deriving ( Show, Read, Eq )  instance Binary GriddedCorrectionHeaderDepA where@@ -953,7 +905,7 @@   , _gridDefinitionHeaderDepA_num_msgs          :: !Word8     -- ^ Number of messages in the dataset   , _gridDefinitionHeaderDepA_seq_num           :: !Word8-    -- ^ Postion of this message in the dataset+    -- ^ Position of this message in the dataset   } deriving ( Show, Read, Eq )  instance Binary GridDefinitionHeaderDepA where@@ -1005,21 +957,29 @@ msgSsrGriddedCorrectionNoStdDepA = 0x05F0  data MsgSsrGriddedCorrectionNoStdDepA = MsgSsrGriddedCorrectionNoStdDepA-  { _msgSsrGriddedCorrectionNoStdDepA_header :: !GriddedCorrectionHeaderDepA+  { _msgSsrGriddedCorrectionNoStdDepA_header               :: !GriddedCorrectionHeaderDepA     -- ^ Header of a Gridded Correction message-  , _msgSsrGriddedCorrectionNoStdDepA_element :: !GridElementNoStd-    -- ^ Tropo and STEC residuals for the given grid point+  , _msgSsrGriddedCorrectionNoStdDepA_index                :: !Word16+    -- ^ Index of the grid point+  , _msgSsrGriddedCorrectionNoStdDepA_tropo_delay_correction :: !TroposphericDelayCorrectionNoStd+    -- ^ Wet and hydrostatic vertical delays+  , _msgSsrGriddedCorrectionNoStdDepA_stec_residuals       :: ![STECResidualNoStd]+    -- ^ STEC residuals for each satellite   } deriving ( Show, Read, Eq )  instance Binary MsgSsrGriddedCorrectionNoStdDepA where   get = do     _msgSsrGriddedCorrectionNoStdDepA_header <- get-    _msgSsrGriddedCorrectionNoStdDepA_element <- get+    _msgSsrGriddedCorrectionNoStdDepA_index <- getWord16le+    _msgSsrGriddedCorrectionNoStdDepA_tropo_delay_correction <- get+    _msgSsrGriddedCorrectionNoStdDepA_stec_residuals <- whileM (not <$> isEmpty) get     pure MsgSsrGriddedCorrectionNoStdDepA {..}    put MsgSsrGriddedCorrectionNoStdDepA {..} = do     put _msgSsrGriddedCorrectionNoStdDepA_header-    put _msgSsrGriddedCorrectionNoStdDepA_element+    putWord16le _msgSsrGriddedCorrectionNoStdDepA_index+    put _msgSsrGriddedCorrectionNoStdDepA_tropo_delay_correction+    mapM_ put _msgSsrGriddedCorrectionNoStdDepA_stec_residuals  $(makeSBP 'msgSsrGriddedCorrectionNoStdDepA ''MsgSsrGriddedCorrectionNoStdDepA) $(makeJSON "_msgSsrGriddedCorrectionNoStdDepA_" ''MsgSsrGriddedCorrectionNoStdDepA)@@ -1029,22 +989,29 @@ msgSsrGriddedCorrectionDepA = 0x05FA  data MsgSsrGriddedCorrectionDepA = MsgSsrGriddedCorrectionDepA-  { _msgSsrGriddedCorrectionDepA_header :: !GriddedCorrectionHeaderDepA+  { _msgSsrGriddedCorrectionDepA_header               :: !GriddedCorrectionHeaderDepA     -- ^ Header of a Gridded Correction message-  , _msgSsrGriddedCorrectionDepA_element :: !GridElement-    -- ^ Tropo and STEC residuals for the given grid point (mean and standard-    -- deviation)+  , _msgSsrGriddedCorrectionDepA_index                :: !Word16+    -- ^ Index of the grid point+  , _msgSsrGriddedCorrectionDepA_tropo_delay_correction :: !TroposphericDelayCorrection+    -- ^ Wet and hydrostatic vertical delays (mean, stddev)+  , _msgSsrGriddedCorrectionDepA_stec_residuals       :: ![STECResidual]+    -- ^ STEC residuals for each satellite (mean, stddev)   } deriving ( Show, Read, Eq )  instance Binary MsgSsrGriddedCorrectionDepA where   get = do     _msgSsrGriddedCorrectionDepA_header <- get-    _msgSsrGriddedCorrectionDepA_element <- get+    _msgSsrGriddedCorrectionDepA_index <- getWord16le+    _msgSsrGriddedCorrectionDepA_tropo_delay_correction <- get+    _msgSsrGriddedCorrectionDepA_stec_residuals <- whileM (not <$> isEmpty) get     pure MsgSsrGriddedCorrectionDepA {..}    put MsgSsrGriddedCorrectionDepA {..} = do     put _msgSsrGriddedCorrectionDepA_header-    put _msgSsrGriddedCorrectionDepA_element+    putWord16le _msgSsrGriddedCorrectionDepA_index+    put _msgSsrGriddedCorrectionDepA_tropo_delay_correction+    mapM_ put _msgSsrGriddedCorrectionDepA_stec_residuals  $(makeSBP 'msgSsrGriddedCorrectionDepA ''MsgSsrGriddedCorrectionDepA) $(makeJSON "_msgSsrGriddedCorrectionDepA_" ''MsgSsrGriddedCorrectionDepA)
src/SwiftNav/SBP/System.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.System--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental@@ -244,7 +244,7 @@ -- 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+    -- ^ Index representing the type of telemetry in use.  It is implementation     -- defined.   , _msgCsacTelemetry_telemetry :: !Text     -- ^ Comma separated list of values as defined by the index@@ -274,7 +274,7 @@ -- lower rate than the MSG_CSAC_TELEMETRY. data MsgCsacTelemetryLabels = MsgCsacTelemetryLabels   { _msgCsacTelemetryLabels_id             :: !Word8-    -- ^ Index representing the type of telemetry in use.  It is implemention+    -- ^ Index representing the type of telemetry in use.  It is implementation     -- defined.   , _msgCsacTelemetryLabels_telemetry_labels :: !Text     -- ^ Comma separated list of telemetry field values@@ -299,7 +299,7 @@  -- | SBP class for message MSG_INS_UPDATES (0xFF06). ----- The INS update status message contains informations about executed and+-- The INS update status message contains information 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@@ -433,7 +433,7 @@   , _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,+    -- ^ An in-order list of message types included in the Solution Group,     -- including GROUP_META itself   } deriving ( Show, Read, Eq )
src/SwiftNav/SBP/TH.hs view
@@ -3,8 +3,8 @@  -- | -- Module:      SwiftNav.SBP.TH--- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.--- License:     LGPL-3+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc.+-- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental -- Portability: portable
src/SwiftNav/SBP/Tracking.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Tracking--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental
src/SwiftNav/SBP/Types.hs view
@@ -5,8 +5,8 @@  -- | -- Module:      SwiftNav.SBP.Types--- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.--- License:     LGPL-3+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc.+-- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental -- Portability: portable
src/SwiftNav/SBP/User.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.User--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental
src/SwiftNav/SBP/Vehicle.hs view
@@ -5,7 +5,7 @@  -- | -- Module:      SwiftNav.SBP.Vehicle--- Copyright:   Copyright (C) 2015-2018 Swift Navigation, Inc.+-- Copyright:   Copyright (C) 2015-2021 Swift Navigation, Inc. -- License:     MIT -- Contact:     https://support.swiftnav.com -- Stability:   experimental