diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 4.10.0 +version: 4.11.0 synopsis: SwiftNav's SBP Library homepage: https://github.com/swift-nav/libsbp license: MIT @@ -47,6 +47,7 @@ , SwiftNav.SBP.SolutionMeta , SwiftNav.SBP.Ssr , SwiftNav.SBP.System + , SwiftNav.SBP.Telemetry , SwiftNav.SBP.Tracking , SwiftNav.SBP.User , SwiftNav.SBP.Vehicle diff --git a/src/SwiftNav/SBP.hs b/src/SwiftNav/SBP.hs --- a/src/SwiftNav/SBP.hs +++ b/src/SwiftNav/SBP.hs @@ -36,6 +36,7 @@ import SwiftNav.SBP.SolutionMeta as Exports import SwiftNav.SBP.Ssr as Exports import SwiftNav.SBP.System as Exports +import SwiftNav.SBP.Telemetry as Exports import SwiftNav.SBP.Tracking as Exports import SwiftNav.SBP.User as Exports import SwiftNav.SBP.Vehicle as Exports diff --git a/src/SwiftNav/SBP/Msg.hs b/src/SwiftNav/SBP/Msg.hs --- a/src/SwiftNav/SBP/Msg.hs +++ b/src/SwiftNav/SBP/Msg.hs @@ -46,6 +46,7 @@ import SwiftNav.SBP.SolutionMeta import SwiftNav.SBP.Ssr import SwiftNav.SBP.System +import SwiftNav.SBP.Telemetry import SwiftNav.SBP.Tracking import SwiftNav.SBP.User import SwiftNav.SBP.Vehicle @@ -239,11 +240,13 @@ | SBPMsgSsrOrbitClockDepA MsgSsrOrbitClockDepA Msg | SBPMsgSsrPhaseBiases MsgSsrPhaseBiases Msg | SBPMsgSsrSatelliteApc MsgSsrSatelliteApc Msg + | SBPMsgSsrSatelliteApcDep MsgSsrSatelliteApcDep Msg | SBPMsgSsrStecCorrection MsgSsrStecCorrection Msg | SBPMsgSsrStecCorrectionDep MsgSsrStecCorrectionDep Msg | SBPMsgSsrStecCorrectionDepA MsgSsrStecCorrectionDepA Msg | SBPMsgSsrTileDefinition MsgSsrTileDefinition Msg - | SBPMsgSsrTileDefinitionDep MsgSsrTileDefinitionDep Msg + | SBPMsgSsrTileDefinitionDepA MsgSsrTileDefinitionDepA Msg + | SBPMsgSsrTileDefinitionDepB MsgSsrTileDefinitionDepB Msg | SBPMsgStartup MsgStartup Msg | SBPMsgStatusJournal MsgStatusJournal Msg | SBPMsgStatusReport MsgStatusReport Msg @@ -253,6 +256,7 @@ | SBPMsgStmUniqueIdResp MsgStmUniqueIdResp Msg | SBPMsgSvAzEl MsgSvAzEl Msg | SBPMsgSvConfigurationGpsDep MsgSvConfigurationGpsDep Msg + | SBPMsgTelSv MsgTelSv Msg | SBPMsgThreadState MsgThreadState Msg | SBPMsgTrackingIq MsgTrackingIq Msg | SBPMsgTrackingIqDepA MsgTrackingIqDepA Msg @@ -476,11 +480,13 @@ | _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 == msgSsrSatelliteApcDep = SBPMsgSsrSatelliteApcDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSsrStecCorrection = SBPMsgSsrStecCorrection (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSsrStecCorrectionDep = SBPMsgSsrStecCorrectionDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSsrStecCorrectionDepA = SBPMsgSsrStecCorrectionDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSsrTileDefinition = SBPMsgSsrTileDefinition (decode (fromStrict (unBytes _msgSBPPayload))) m - | _msgSBPType == msgSsrTileDefinitionDep = SBPMsgSsrTileDefinitionDep (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSsrTileDefinitionDepA = SBPMsgSsrTileDefinitionDepA (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSsrTileDefinitionDepB = SBPMsgSsrTileDefinitionDepB (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgStartup = SBPMsgStartup (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgStatusJournal = SBPMsgStatusJournal (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgStatusReport = SBPMsgStatusReport (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -490,6 +496,7 @@ | _msgSBPType == msgStmUniqueIdResp = SBPMsgStmUniqueIdResp (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSvAzEl = SBPMsgSvAzEl (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSvConfigurationGpsDep = SBPMsgSvConfigurationGpsDep (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgTelSv = SBPMsgTelSv (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgThreadState = SBPMsgThreadState (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgTrackingIq = SBPMsgTrackingIq (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgTrackingIqDepA = SBPMsgTrackingIqDepA (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -705,11 +712,13 @@ encoder (SBPMsgSsrOrbitClockDepA _ m) = put m encoder (SBPMsgSsrPhaseBiases _ m) = put m encoder (SBPMsgSsrSatelliteApc _ m) = put m + encoder (SBPMsgSsrSatelliteApcDep _ m) = put m encoder (SBPMsgSsrStecCorrection _ m) = put m encoder (SBPMsgSsrStecCorrectionDep _ m) = put m encoder (SBPMsgSsrStecCorrectionDepA _ m) = put m encoder (SBPMsgSsrTileDefinition _ m) = put m - encoder (SBPMsgSsrTileDefinitionDep _ m) = put m + encoder (SBPMsgSsrTileDefinitionDepA _ m) = put m + encoder (SBPMsgSsrTileDefinitionDepB _ m) = put m encoder (SBPMsgStartup _ m) = put m encoder (SBPMsgStatusJournal _ m) = put m encoder (SBPMsgStatusReport _ m) = put m @@ -719,6 +728,7 @@ encoder (SBPMsgStmUniqueIdResp _ m) = put m encoder (SBPMsgSvAzEl _ m) = put m encoder (SBPMsgSvConfigurationGpsDep _ m) = put m + encoder (SBPMsgTelSv _ m) = put m encoder (SBPMsgThreadState _ m) = put m encoder (SBPMsgTrackingIq _ m) = put m encoder (SBPMsgTrackingIqDepA _ m) = put m @@ -938,11 +948,13 @@ | msgType == msgSsrOrbitClockDepA = SBPMsgSsrOrbitClockDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSsrPhaseBiases = SBPMsgSsrPhaseBiases <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSsrSatelliteApc = SBPMsgSsrSatelliteApc <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSsrSatelliteApcDep = SBPMsgSsrSatelliteApcDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSsrStecCorrection = SBPMsgSsrStecCorrection <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSsrStecCorrectionDep = SBPMsgSsrStecCorrectionDep <$> 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 == msgSsrTileDefinitionDep = SBPMsgSsrTileDefinitionDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSsrTileDefinitionDepA = SBPMsgSsrTileDefinitionDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSsrTileDefinitionDepB = SBPMsgSsrTileDefinitionDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgStartup = SBPMsgStartup <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgStatusJournal = SBPMsgStatusJournal <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgStatusReport = SBPMsgStatusReport <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -952,6 +964,7 @@ | msgType == msgStmUniqueIdResp = SBPMsgStmUniqueIdResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSvAzEl = SBPMsgSvAzEl <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSvConfigurationGpsDep = SBPMsgSvConfigurationGpsDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgTelSv = SBPMsgTelSv <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgThreadState = SBPMsgThreadState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgTrackingIq = SBPMsgTrackingIq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgTrackingIqDepA = SBPMsgTrackingIqDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -1172,11 +1185,13 @@ toJSON (SBPMsgSsrOrbitClockDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSsrPhaseBiases n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSsrSatelliteApc n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSsrSatelliteApcDep n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSsrStecCorrection n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSsrStecCorrectionDep n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSsrStecCorrectionDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSsrTileDefinition n m) = toJSON n <<>> toJSON m - toJSON (SBPMsgSsrTileDefinitionDep n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSsrTileDefinitionDepA n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSsrTileDefinitionDepB n m) = toJSON n <<>> toJSON m toJSON (SBPMsgStartup n m) = toJSON n <<>> toJSON m toJSON (SBPMsgStatusJournal n m) = toJSON n <<>> toJSON m toJSON (SBPMsgStatusReport n m) = toJSON n <<>> toJSON m @@ -1186,6 +1201,7 @@ toJSON (SBPMsgStmUniqueIdResp n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSvAzEl n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSvConfigurationGpsDep n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgTelSv n m) = toJSON n <<>> toJSON m toJSON (SBPMsgThreadState n m) = toJSON n <<>> toJSON m toJSON (SBPMsgTrackingIq n m) = toJSON n <<>> toJSON m toJSON (SBPMsgTrackingIqDepA n m) = toJSON n <<>> toJSON m @@ -1400,11 +1416,13 @@ msg f (SBPMsgSsrOrbitClockDepA n m) = SBPMsgSsrOrbitClockDepA n <$> f m msg f (SBPMsgSsrPhaseBiases n m) = SBPMsgSsrPhaseBiases n <$> f m msg f (SBPMsgSsrSatelliteApc n m) = SBPMsgSsrSatelliteApc n <$> f m + msg f (SBPMsgSsrSatelliteApcDep n m) = SBPMsgSsrSatelliteApcDep n <$> f m msg f (SBPMsgSsrStecCorrection n m) = SBPMsgSsrStecCorrection n <$> f m msg f (SBPMsgSsrStecCorrectionDep n m) = SBPMsgSsrStecCorrectionDep n <$> f m msg f (SBPMsgSsrStecCorrectionDepA n m) = SBPMsgSsrStecCorrectionDepA n <$> f m msg f (SBPMsgSsrTileDefinition n m) = SBPMsgSsrTileDefinition n <$> f m - msg f (SBPMsgSsrTileDefinitionDep n m) = SBPMsgSsrTileDefinitionDep n <$> f m + msg f (SBPMsgSsrTileDefinitionDepA n m) = SBPMsgSsrTileDefinitionDepA n <$> f m + msg f (SBPMsgSsrTileDefinitionDepB n m) = SBPMsgSsrTileDefinitionDepB n <$> f m msg f (SBPMsgStartup n m) = SBPMsgStartup n <$> f m msg f (SBPMsgStatusJournal n m) = SBPMsgStatusJournal n <$> f m msg f (SBPMsgStatusReport n m) = SBPMsgStatusReport n <$> f m @@ -1414,6 +1432,7 @@ msg f (SBPMsgStmUniqueIdResp n m) = SBPMsgStmUniqueIdResp n <$> f m msg f (SBPMsgSvAzEl n m) = SBPMsgSvAzEl n <$> f m msg f (SBPMsgSvConfigurationGpsDep n m) = SBPMsgSvConfigurationGpsDep n <$> f m + msg f (SBPMsgTelSv n m) = SBPMsgTelSv n <$> f m msg f (SBPMsgThreadState n m) = SBPMsgThreadState n <$> f m msg f (SBPMsgTrackingIq n m) = SBPMsgTrackingIq n <$> f m msg f (SBPMsgTrackingIqDepA n m) = SBPMsgTrackingIqDepA n <$> f m 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 @@ -759,10 +759,10 @@ $(makeJSON "_msgSsrGriddedCorrectionBounds_" ''MsgSsrGriddedCorrectionBounds) $(makeLenses ''MsgSsrGriddedCorrectionBounds) -msgSsrTileDefinitionDep :: Word16 -msgSsrTileDefinitionDep = 0x05F6 +msgSsrTileDefinitionDepA :: Word16 +msgSsrTileDefinitionDepA = 0x05F6 --- | SBP class for message MSG_SSR_TILE_DEFINITION_DEP (0x05F6). +-- | SBP class for message MSG_SSR_TILE_DEFINITION_DEP_A (0x05F6). -- -- Provides the correction point coordinates for the atmospheric correction -- values in the MSG_SSR_STEC_CORRECTION_DEP and MSG_SSR_GRIDDED_CORRECTION @@ -771,13 +771,13 @@ -- 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 MsgSsrTileDefinitionDep = MsgSsrTileDefinitionDep - { _msgSsrTileDefinitionDep_tile_set_id :: !Word16 +data MsgSsrTileDefinitionDepA = MsgSsrTileDefinitionDepA + { _msgSsrTileDefinitionDepA_tile_set_id :: !Word16 -- ^ Unique identifier of the tile set this tile belongs to. - , _msgSsrTileDefinitionDep_tile_id :: !Word16 + , _msgSsrTileDefinitionDepA_tile_id :: !Word16 -- ^ Unique identifier of this tile in the tile set. -- See GNSS-SSR-ArrayOfCorrectionPoints field correctionPointSetID. - , _msgSsrTileDefinitionDep_corner_nw_lat :: !Int16 + , _msgSsrTileDefinitionDepA_corner_nw_lat :: !Int16 -- ^ North-West corner correction point latitude. -- -- The relation between the latitude X in the range [-90, 90] and the @@ -786,7 +786,7 @@ -- N = floor((X / 90) * 2^14) -- -- See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLatitude. - , _msgSsrTileDefinitionDep_corner_nw_lon :: !Int16 + , _msgSsrTileDefinitionDepA_corner_nw_lon :: !Int16 -- ^ North-West corner correction point longitude. -- -- The relation between the longitude X in the range [-180, 180] and the @@ -795,23 +795,23 @@ -- N = floor((X / 180) * 2^15) -- -- See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLongitude. - , _msgSsrTileDefinitionDep_spacing_lat :: !Word16 + , _msgSsrTileDefinitionDepA_spacing_lat :: !Word16 -- ^ Spacing of the correction points in the latitude direction. -- -- See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLatitude. - , _msgSsrTileDefinitionDep_spacing_lon :: !Word16 + , _msgSsrTileDefinitionDepA_spacing_lon :: !Word16 -- ^ Spacing of the correction points in the longitude direction. -- -- See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLongitude. - , _msgSsrTileDefinitionDep_rows :: !Word16 + , _msgSsrTileDefinitionDepA_rows :: !Word16 -- ^ Number of steps in the latitude direction. -- -- See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLatitude. - , _msgSsrTileDefinitionDep_cols :: !Word16 + , _msgSsrTileDefinitionDepA_cols :: !Word16 -- ^ Number of steps in the longitude direction. -- -- See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLongitude. - , _msgSsrTileDefinitionDep_bitmask :: !Word64 + , _msgSsrTileDefinitionDepA_bitmask :: !Word64 -- ^ Specifies the availability of correction data at the correction points -- in the array. -- @@ -829,38 +829,38 @@ -- definition of the bits is inverted. } deriving ( Show, Read, Eq ) -instance Binary MsgSsrTileDefinitionDep where +instance Binary MsgSsrTileDefinitionDepA where get = do - _msgSsrTileDefinitionDep_tile_set_id <- getWord16le - _msgSsrTileDefinitionDep_tile_id <- getWord16le - _msgSsrTileDefinitionDep_corner_nw_lat <- (fromIntegral <$> getWord16le) - _msgSsrTileDefinitionDep_corner_nw_lon <- (fromIntegral <$> getWord16le) - _msgSsrTileDefinitionDep_spacing_lat <- getWord16le - _msgSsrTileDefinitionDep_spacing_lon <- getWord16le - _msgSsrTileDefinitionDep_rows <- getWord16le - _msgSsrTileDefinitionDep_cols <- getWord16le - _msgSsrTileDefinitionDep_bitmask <- getWord64le - pure MsgSsrTileDefinitionDep {..} + _msgSsrTileDefinitionDepA_tile_set_id <- getWord16le + _msgSsrTileDefinitionDepA_tile_id <- getWord16le + _msgSsrTileDefinitionDepA_corner_nw_lat <- (fromIntegral <$> getWord16le) + _msgSsrTileDefinitionDepA_corner_nw_lon <- (fromIntegral <$> getWord16le) + _msgSsrTileDefinitionDepA_spacing_lat <- getWord16le + _msgSsrTileDefinitionDepA_spacing_lon <- getWord16le + _msgSsrTileDefinitionDepA_rows <- getWord16le + _msgSsrTileDefinitionDepA_cols <- getWord16le + _msgSsrTileDefinitionDepA_bitmask <- getWord64le + pure MsgSsrTileDefinitionDepA {..} - put MsgSsrTileDefinitionDep {..} = do - putWord16le _msgSsrTileDefinitionDep_tile_set_id - putWord16le _msgSsrTileDefinitionDep_tile_id - (putWord16le . fromIntegral) _msgSsrTileDefinitionDep_corner_nw_lat - (putWord16le . fromIntegral) _msgSsrTileDefinitionDep_corner_nw_lon - putWord16le _msgSsrTileDefinitionDep_spacing_lat - putWord16le _msgSsrTileDefinitionDep_spacing_lon - putWord16le _msgSsrTileDefinitionDep_rows - putWord16le _msgSsrTileDefinitionDep_cols - putWord64le _msgSsrTileDefinitionDep_bitmask + put MsgSsrTileDefinitionDepA {..} = do + putWord16le _msgSsrTileDefinitionDepA_tile_set_id + putWord16le _msgSsrTileDefinitionDepA_tile_id + (putWord16le . fromIntegral) _msgSsrTileDefinitionDepA_corner_nw_lat + (putWord16le . fromIntegral) _msgSsrTileDefinitionDepA_corner_nw_lon + putWord16le _msgSsrTileDefinitionDepA_spacing_lat + putWord16le _msgSsrTileDefinitionDepA_spacing_lon + putWord16le _msgSsrTileDefinitionDepA_rows + putWord16le _msgSsrTileDefinitionDepA_cols + putWord64le _msgSsrTileDefinitionDepA_bitmask -$(makeSBP 'msgSsrTileDefinitionDep ''MsgSsrTileDefinitionDep) -$(makeJSON "_msgSsrTileDefinitionDep_" ''MsgSsrTileDefinitionDep) -$(makeLenses ''MsgSsrTileDefinitionDep) +$(makeSBP 'msgSsrTileDefinitionDepA ''MsgSsrTileDefinitionDepA) +$(makeJSON "_msgSsrTileDefinitionDepA_" ''MsgSsrTileDefinitionDepA) +$(makeLenses ''MsgSsrTileDefinitionDepA) -msgSsrTileDefinition :: Word16 -msgSsrTileDefinition = 0x05F7 +msgSsrTileDefinitionDepB :: Word16 +msgSsrTileDefinitionDepB = 0x05F7 --- | SBP class for message MSG_SSR_TILE_DEFINITION (0x05F7). +-- | SBP class for message MSG_SSR_TILE_DEFINITION_DEP_B (0x05F7). -- -- Provides the correction point coordinates for the atmospheric correction -- values in the MSG_SSR_STEC_CORRECTION and MSG_SSR_GRIDDED_CORRECTION @@ -869,15 +869,15 @@ -- 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_ssr_sol_id :: !Word8 +data MsgSsrTileDefinitionDepB = MsgSsrTileDefinitionDepB + { _msgSsrTileDefinitionDepB_ssr_sol_id :: !Word8 -- ^ SSR Solution ID. - , _msgSsrTileDefinition_tile_set_id :: !Word16 + , _msgSsrTileDefinitionDepB_tile_set_id :: !Word16 -- ^ Unique identifier of the tile set this tile belongs to. - , _msgSsrTileDefinition_tile_id :: !Word16 + , _msgSsrTileDefinitionDepB_tile_id :: !Word16 -- ^ Unique identifier of this tile in the tile set. -- See GNSS-SSR-ArrayOfCorrectionPoints field correctionPointSetID. - , _msgSsrTileDefinition_corner_nw_lat :: !Int16 + , _msgSsrTileDefinitionDepB_corner_nw_lat :: !Int16 -- ^ North-West corner correction point latitude. -- -- The relation between the latitude X in the range [-90, 90] and the @@ -886,7 +886,7 @@ -- N = floor((X / 90) * 2^14) -- -- See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLatitude. - , _msgSsrTileDefinition_corner_nw_lon :: !Int16 + , _msgSsrTileDefinitionDepB_corner_nw_lon :: !Int16 -- ^ North-West corner correction point longitude. -- -- The relation between the longitude X in the range [-180, 180] and the @@ -895,23 +895,23 @@ -- N = floor((X / 180) * 2^15) -- -- See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLongitude. - , _msgSsrTileDefinition_spacing_lat :: !Word16 + , _msgSsrTileDefinitionDepB_spacing_lat :: !Word16 -- ^ Spacing of the correction points in the latitude direction. -- -- See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLatitude. - , _msgSsrTileDefinition_spacing_lon :: !Word16 + , _msgSsrTileDefinitionDepB_spacing_lon :: !Word16 -- ^ Spacing of the correction points in the longitude direction. -- -- See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLongitude. - , _msgSsrTileDefinition_rows :: !Word16 + , _msgSsrTileDefinitionDepB_rows :: !Word16 -- ^ Number of steps in the latitude direction. -- -- See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLatitude. - , _msgSsrTileDefinition_cols :: !Word16 + , _msgSsrTileDefinitionDepB_cols :: !Word16 -- ^ Number of steps in the longitude direction. -- -- See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLongitude. - , _msgSsrTileDefinition_bitmask :: !Word64 + , _msgSsrTileDefinitionDepB_bitmask :: !Word64 -- ^ Specifies the availability of correction data at the correction points -- in the array. -- @@ -929,9 +929,116 @@ -- definition of the bits is inverted. } deriving ( Show, Read, Eq ) +instance Binary MsgSsrTileDefinitionDepB where + get = do + _msgSsrTileDefinitionDepB_ssr_sol_id <- getWord8 + _msgSsrTileDefinitionDepB_tile_set_id <- getWord16le + _msgSsrTileDefinitionDepB_tile_id <- getWord16le + _msgSsrTileDefinitionDepB_corner_nw_lat <- (fromIntegral <$> getWord16le) + _msgSsrTileDefinitionDepB_corner_nw_lon <- (fromIntegral <$> getWord16le) + _msgSsrTileDefinitionDepB_spacing_lat <- getWord16le + _msgSsrTileDefinitionDepB_spacing_lon <- getWord16le + _msgSsrTileDefinitionDepB_rows <- getWord16le + _msgSsrTileDefinitionDepB_cols <- getWord16le + _msgSsrTileDefinitionDepB_bitmask <- getWord64le + pure MsgSsrTileDefinitionDepB {..} + + put MsgSsrTileDefinitionDepB {..} = do + putWord8 _msgSsrTileDefinitionDepB_ssr_sol_id + putWord16le _msgSsrTileDefinitionDepB_tile_set_id + putWord16le _msgSsrTileDefinitionDepB_tile_id + (putWord16le . fromIntegral) _msgSsrTileDefinitionDepB_corner_nw_lat + (putWord16le . fromIntegral) _msgSsrTileDefinitionDepB_corner_nw_lon + putWord16le _msgSsrTileDefinitionDepB_spacing_lat + putWord16le _msgSsrTileDefinitionDepB_spacing_lon + putWord16le _msgSsrTileDefinitionDepB_rows + putWord16le _msgSsrTileDefinitionDepB_cols + putWord64le _msgSsrTileDefinitionDepB_bitmask + +$(makeSBP 'msgSsrTileDefinitionDepB ''MsgSsrTileDefinitionDepB) +$(makeJSON "_msgSsrTileDefinitionDepB_" ''MsgSsrTileDefinitionDepB) +$(makeLenses ''MsgSsrTileDefinitionDepB) + +msgSsrTileDefinition :: Word16 +msgSsrTileDefinition = 0x05F8 + +-- | SBP class for message MSG_SSR_TILE_DEFINITION (0x05F8). +-- +-- 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_time :: !GpsTimeSec + -- ^ GNSS reference time of the correction + , _msgSsrTileDefinition_update_interval :: !Word8 + -- ^ Update interval between consecutive corrections. Encoded following RTCM + -- DF391 specification. + , _msgSsrTileDefinition_sol_id :: !Word8 + -- ^ SSR Solution ID. Similar to RTCM DF415. + , _msgSsrTileDefinition_iod_atmo :: !Word8 + -- ^ IOD of the SSR atmospheric correction. + , _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 absence of correction data at the correction points in + -- the array (grid). + -- + -- Only the first rows * cols bits are used, and if a specific bit is + -- enabled (set to 1), the correction is not available. If there are more + -- than 64 correction points the remaining corrections are always + -- available. + -- + -- The correction points are packed by rows, starting with the northwest + -- corner of the array (top-left on a north oriented map), with each row + -- spanning 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_ssr_sol_id <- getWord8 + _msgSsrTileDefinition_time <- get + _msgSsrTileDefinition_update_interval <- getWord8 + _msgSsrTileDefinition_sol_id <- getWord8 + _msgSsrTileDefinition_iod_atmo <- getWord8 _msgSsrTileDefinition_tile_set_id <- getWord16le _msgSsrTileDefinition_tile_id <- getWord16le _msgSsrTileDefinition_corner_nw_lat <- (fromIntegral <$> getWord16le) @@ -944,7 +1051,10 @@ pure MsgSsrTileDefinition {..} put MsgSsrTileDefinition {..} = do - putWord8 _msgSsrTileDefinition_ssr_sol_id + put _msgSsrTileDefinition_time + putWord8 _msgSsrTileDefinition_update_interval + putWord8 _msgSsrTileDefinition_sol_id + putWord8 _msgSsrTileDefinition_iod_atmo putWord16le _msgSsrTileDefinition_tile_set_id putWord16le _msgSsrTileDefinition_tile_id (putWord16le . fromIntegral) _msgSsrTileDefinition_corner_nw_lat @@ -998,20 +1108,58 @@ $(makeJSON "_satelliteAPC_" ''SatelliteAPC) $(makeLenses ''SatelliteAPC) +msgSsrSatelliteApcDep :: Word16 +msgSsrSatelliteApcDep = 0x0604 + +data MsgSsrSatelliteApcDep = MsgSsrSatelliteApcDep + { _msgSsrSatelliteApcDep_apc :: ![SatelliteAPC] + -- ^ Satellite antenna phase center corrections + } deriving ( Show, Read, Eq ) + +instance Binary MsgSsrSatelliteApcDep where + get = do + _msgSsrSatelliteApcDep_apc <- whileM (not <$> isEmpty) get + pure MsgSsrSatelliteApcDep {..} + + put MsgSsrSatelliteApcDep {..} = do + mapM_ put _msgSsrSatelliteApcDep_apc + +$(makeSBP 'msgSsrSatelliteApcDep ''MsgSsrSatelliteApcDep) +$(makeJSON "_msgSsrSatelliteApcDep_" ''MsgSsrSatelliteApcDep) +$(makeLenses ''MsgSsrSatelliteApcDep) + msgSsrSatelliteApc :: Word16 -msgSsrSatelliteApc = 0x0604 +msgSsrSatelliteApc = 0x0605 data MsgSsrSatelliteApc = MsgSsrSatelliteApc - { _msgSsrSatelliteApc_apc :: ![SatelliteAPC] + { _msgSsrSatelliteApc_time :: !GpsTimeSec + -- ^ GNSS reference time of the correction + , _msgSsrSatelliteApc_update_interval :: !Word8 + -- ^ Update interval between consecutive corrections. Encoded following RTCM + -- DF391 specification. + , _msgSsrSatelliteApc_sol_id :: !Word8 + -- ^ SSR Solution ID. Similar to RTCM DF415. + , _msgSsrSatelliteApc_iod_ssr :: !Word8 + -- ^ IOD of the SSR correction. A change of Issue Of Data SSR is used to + -- indicate a change in the SSR generating configuration + , _msgSsrSatelliteApc_apc :: ![SatelliteAPC] -- ^ Satellite antenna phase center corrections } deriving ( Show, Read, Eq ) instance Binary MsgSsrSatelliteApc where get = do + _msgSsrSatelliteApc_time <- get + _msgSsrSatelliteApc_update_interval <- getWord8 + _msgSsrSatelliteApc_sol_id <- getWord8 + _msgSsrSatelliteApc_iod_ssr <- getWord8 _msgSsrSatelliteApc_apc <- whileM (not <$> isEmpty) get pure MsgSsrSatelliteApc {..} put MsgSsrSatelliteApc {..} = do + put _msgSsrSatelliteApc_time + putWord8 _msgSsrSatelliteApc_update_interval + putWord8 _msgSsrSatelliteApc_sol_id + putWord8 _msgSsrSatelliteApc_iod_ssr mapM_ put _msgSsrSatelliteApc_apc $(makeSBP 'msgSsrSatelliteApc ''MsgSsrSatelliteApc) diff --git a/src/SwiftNav/SBP/Telemetry.hs b/src/SwiftNav/SBP/Telemetry.hs new file mode 100644 --- /dev/null +++ b/src/SwiftNav/SBP/Telemetry.hs @@ -0,0 +1,129 @@ +{-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + +-- | +-- Module: SwiftNav.SBP.Telemetry +-- Copyright: Copyright (C) 2015-2021 Swift Navigation, Inc. +-- License: MIT +-- Contact: https://support.swiftnav.com +-- Stability: experimental +-- Portability: portable +-- +-- \< Telemetry messages reported by Starling engine. The messages include +-- various byproducts of state estimation and other logic across Starling and +-- are aimed at efficient issue diagnostics. \> + +module SwiftNav.SBP.Telemetry + ( module SwiftNav.SBP.Telemetry + ) where + +import BasicPrelude +import Control.Lens +import Control.Monad.Loops +import Data.Binary +import Data.Binary.Get +import Data.Binary.IEEE754 +import Data.Binary.Put +import Data.ByteString.Lazy hiding (ByteString) +import Data.Int +import Data.Word +import SwiftNav.SBP.TH +import SwiftNav.SBP.Gnss + +{-# ANN module ("HLint: ignore Use camelCase"::String) #-} +{-# ANN module ("HLint: ignore Redundant do"::String) #-} +{-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-} + + +data TelemetrySV = TelemetrySV + { _telemetrySV_az :: !Word8 + -- ^ Azimuth angle (range 0..179) + , _telemetrySV_el :: !Int8 + -- ^ Elevation angle (range -90..90) + , _telemetrySV_availability_flags :: !Word8 + -- ^ Observation availability at filter update + , _telemetrySV_pseudorange_residual :: !Int16 + -- ^ Pseudorange observation residual + , _telemetrySV_phase_residual :: !Int16 + -- ^ Carrier-phase or carrier-phase-derived observation residual + , _telemetrySV_outlier_flags :: !Word8 + -- ^ Reports if observation is marked as an outlier and is excluded from the + -- update + , _telemetrySV_ephemeris_flags :: !Word8 + -- ^ Ephemeris metadata + , _telemetrySV_correction_flags :: !Word8 + -- ^ Reserved + , _telemetrySV_sid :: !GnssSignal + -- ^ GNSS signal identifier (16 bit) + } deriving ( Show, Read, Eq ) + +instance Binary TelemetrySV where + get = do + _telemetrySV_az <- getWord8 + _telemetrySV_el <- (fromIntegral <$> getWord8) + _telemetrySV_availability_flags <- getWord8 + _telemetrySV_pseudorange_residual <- (fromIntegral <$> getWord16le) + _telemetrySV_phase_residual <- (fromIntegral <$> getWord16le) + _telemetrySV_outlier_flags <- getWord8 + _telemetrySV_ephemeris_flags <- getWord8 + _telemetrySV_correction_flags <- getWord8 + _telemetrySV_sid <- get + pure TelemetrySV {..} + + put TelemetrySV {..} = do + putWord8 _telemetrySV_az + (putWord8 . fromIntegral) _telemetrySV_el + putWord8 _telemetrySV_availability_flags + (putWord16le . fromIntegral) _telemetrySV_pseudorange_residual + (putWord16le . fromIntegral) _telemetrySV_phase_residual + putWord8 _telemetrySV_outlier_flags + putWord8 _telemetrySV_ephemeris_flags + putWord8 _telemetrySV_correction_flags + put _telemetrySV_sid + +$(makeJSON "_telemetrySV_" ''TelemetrySV) +$(makeLenses ''TelemetrySV) + +msgTelSv :: Word16 +msgTelSv = 0x0120 + +-- | SBP class for message MSG_TEL_SV (0x0120). +-- +-- This message includes telemetry pertinent to satellite signals available to +-- Starling. +data MsgTelSv = MsgTelSv + { _msgTelSv_wn :: !Word16 + -- ^ GPS week number + , _msgTelSv_tow :: !Word32 + -- ^ GPS Time of Week + , _msgTelSv_n_obs :: !Word8 + -- ^ Total number of observations. First nibble is the size of the sequence + -- (n), second nibble is the zero-indexed counter (ith packet of n) + , _msgTelSv_origin_flags :: !Word8 + -- ^ Flags to identify the filter type from which the telemetry is reported + -- from + , _msgTelSv_sv_tel :: ![TelemetrySV] + -- ^ Array of per-signal telemetry entries + } deriving ( Show, Read, Eq ) + +instance Binary MsgTelSv where + get = do + _msgTelSv_wn <- getWord16le + _msgTelSv_tow <- getWord32le + _msgTelSv_n_obs <- getWord8 + _msgTelSv_origin_flags <- getWord8 + _msgTelSv_sv_tel <- whileM (not <$> isEmpty) get + pure MsgTelSv {..} + + put MsgTelSv {..} = do + putWord16le _msgTelSv_wn + putWord32le _msgTelSv_tow + putWord8 _msgTelSv_n_obs + putWord8 _msgTelSv_origin_flags + mapM_ put _msgTelSv_sv_tel + +$(makeSBP 'msgTelSv ''MsgTelSv) +$(makeJSON "_msgTelSv_" ''MsgTelSv) +$(makeLenses ''MsgTelSv)