diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 4.4.0 +version: 4.5.0 synopsis: SwiftNav's SBP Library homepage: https://github.com/swift-nav/libsbp license: MIT diff --git a/src/SwiftNav/SBP/Integrity.hs b/src/SwiftNav/SBP/Integrity.hs --- a/src/SwiftNav/SBP/Integrity.hs +++ b/src/SwiftNav/SBP/Integrity.hs @@ -36,20 +36,113 @@ {-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-} +data IntegritySSRHeader = IntegritySSRHeader + { _integritySSRHeader_obs_time :: !GpsTimeSec + -- ^ GNSS reference time of the observation used to generate the flag. + , _integritySSRHeader_num_msgs :: !Word8 + -- ^ Number of messages in the dataset + , _integritySSRHeader_seq_num :: !Word8 + -- ^ Position of this message in the dataset + , _integritySSRHeader_ssr_sol_id :: !Word8 + -- ^ SSR Solution ID. + , _integritySSRHeader_tile_set_id :: !Word16 + -- ^ Unique identifier of the set this tile belongs to. + , _integritySSRHeader_tile_id :: !Word16 + -- ^ Unique identifier of this tile in the tile set. + , _integritySSRHeader_chain_id :: !Word8 + -- ^ Chain and type of flag. + } deriving ( Show, Read, Eq ) + +instance Binary IntegritySSRHeader where + get = do + _integritySSRHeader_obs_time <- get + _integritySSRHeader_num_msgs <- getWord8 + _integritySSRHeader_seq_num <- getWord8 + _integritySSRHeader_ssr_sol_id <- getWord8 + _integritySSRHeader_tile_set_id <- getWord16le + _integritySSRHeader_tile_id <- getWord16le + _integritySSRHeader_chain_id <- getWord8 + pure IntegritySSRHeader {..} + + put IntegritySSRHeader {..} = do + put _integritySSRHeader_obs_time + putWord8 _integritySSRHeader_num_msgs + putWord8 _integritySSRHeader_seq_num + putWord8 _integritySSRHeader_ssr_sol_id + putWord16le _integritySSRHeader_tile_set_id + putWord16le _integritySSRHeader_tile_id + putWord8 _integritySSRHeader_chain_id + +$(makeJSON "_integritySSRHeader_" ''IntegritySSRHeader) +$(makeLenses ''IntegritySSRHeader) + msgSsrFlagHighLevel :: Word16 msgSsrFlagHighLevel = 0x0BB9 data MsgSsrFlagHighLevel = MsgSsrFlagHighLevel - { _msgSsrFlagHighLevel_stub :: ![Word8] + { _msgSsrFlagHighLevel_obs_time :: !GpsTimeSec + -- ^ GNSS reference time of the observation used to generate the flag. + , _msgSsrFlagHighLevel_corr_time :: !GpsTimeSec + -- ^ GNSS reference time of the correction associated to the flag. + , _msgSsrFlagHighLevel_ssr_sol_id :: !Word8 + -- ^ SSR Solution ID. + , _msgSsrFlagHighLevel_tile_set_id :: !Word16 + -- ^ Unique identifier of the set this tile belongs to. + , _msgSsrFlagHighLevel_tile_id :: !Word16 + -- ^ Unique identifier of this tile in the tile set. + , _msgSsrFlagHighLevel_chain_id :: !Word8 + -- ^ Chain and type of flag. + , _msgSsrFlagHighLevel_use_gps_sat :: !Word8 + -- ^ Use GPS satellites. + , _msgSsrFlagHighLevel_use_gal_sat :: !Word8 + -- ^ Use GAL satellites. + , _msgSsrFlagHighLevel_use_bds_sat :: !Word8 + -- ^ Use BDS satellites. + , _msgSsrFlagHighLevel_reserved :: ![Word8] + -- ^ Reserved + , _msgSsrFlagHighLevel_use_tropo_grid_points :: !Word8 + -- ^ Use tropo grid points. + , _msgSsrFlagHighLevel_use_iono_grid_points :: !Word8 + -- ^ Use iono grid points. + , _msgSsrFlagHighLevel_use_iono_tile_sat_los :: !Word8 + -- ^ Use iono tile satellite LoS. + , _msgSsrFlagHighLevel_use_iono_grid_point_sat_los :: !Word8 + -- ^ Use iono grid point satellite LoS. } deriving ( Show, Read, Eq ) instance Binary MsgSsrFlagHighLevel where get = do - _msgSsrFlagHighLevel_stub <- whileM (not <$> isEmpty) getWord8 + _msgSsrFlagHighLevel_obs_time <- get + _msgSsrFlagHighLevel_corr_time <- get + _msgSsrFlagHighLevel_ssr_sol_id <- getWord8 + _msgSsrFlagHighLevel_tile_set_id <- getWord16le + _msgSsrFlagHighLevel_tile_id <- getWord16le + _msgSsrFlagHighLevel_chain_id <- getWord8 + _msgSsrFlagHighLevel_use_gps_sat <- getWord8 + _msgSsrFlagHighLevel_use_gal_sat <- getWord8 + _msgSsrFlagHighLevel_use_bds_sat <- getWord8 + _msgSsrFlagHighLevel_reserved <- replicateM 6 getWord8 + _msgSsrFlagHighLevel_use_tropo_grid_points <- getWord8 + _msgSsrFlagHighLevel_use_iono_grid_points <- getWord8 + _msgSsrFlagHighLevel_use_iono_tile_sat_los <- getWord8 + _msgSsrFlagHighLevel_use_iono_grid_point_sat_los <- getWord8 pure MsgSsrFlagHighLevel {..} put MsgSsrFlagHighLevel {..} = do - mapM_ putWord8 _msgSsrFlagHighLevel_stub + put _msgSsrFlagHighLevel_obs_time + put _msgSsrFlagHighLevel_corr_time + putWord8 _msgSsrFlagHighLevel_ssr_sol_id + putWord16le _msgSsrFlagHighLevel_tile_set_id + putWord16le _msgSsrFlagHighLevel_tile_id + putWord8 _msgSsrFlagHighLevel_chain_id + putWord8 _msgSsrFlagHighLevel_use_gps_sat + putWord8 _msgSsrFlagHighLevel_use_gal_sat + putWord8 _msgSsrFlagHighLevel_use_bds_sat + mapM_ putWord8 _msgSsrFlagHighLevel_reserved + putWord8 _msgSsrFlagHighLevel_use_tropo_grid_points + putWord8 _msgSsrFlagHighLevel_use_iono_grid_points + putWord8 _msgSsrFlagHighLevel_use_iono_tile_sat_los + putWord8 _msgSsrFlagHighLevel_use_iono_grid_point_sat_los $(makeSBP 'msgSsrFlagHighLevel ''MsgSsrFlagHighLevel) $(makeJSON "_msgSsrFlagHighLevel_" ''MsgSsrFlagHighLevel) @@ -59,16 +152,45 @@ msgSsrFlagSatellites = 0x0BBD data MsgSsrFlagSatellites = MsgSsrFlagSatellites - { _msgSsrFlagSatellites_stub :: ![Word8] + { _msgSsrFlagSatellites_obs_time :: !GpsTimeSec + -- ^ GNSS reference time of the observation used to generate the flag. + , _msgSsrFlagSatellites_num_msgs :: !Word8 + -- ^ Number of messages in the dataset + , _msgSsrFlagSatellites_seq_num :: !Word8 + -- ^ Position of this message in the dataset + , _msgSsrFlagSatellites_ssr_sol_id :: !Word8 + -- ^ SSR Solution ID. + , _msgSsrFlagSatellites_chain_id :: !Word8 + -- ^ Chain and type of flag. + , _msgSsrFlagSatellites_const_id :: !Word8 + -- ^ Constellation ID. + , _msgSsrFlagSatellites_n_faulty_sats :: !Word8 + -- ^ Number of faulty satellites. + , _msgSsrFlagSatellites_faulty_sats :: ![Word8] + -- ^ List of faulty satellites. } deriving ( Show, Read, Eq ) instance Binary MsgSsrFlagSatellites where get = do - _msgSsrFlagSatellites_stub <- whileM (not <$> isEmpty) getWord8 + _msgSsrFlagSatellites_obs_time <- get + _msgSsrFlagSatellites_num_msgs <- getWord8 + _msgSsrFlagSatellites_seq_num <- getWord8 + _msgSsrFlagSatellites_ssr_sol_id <- getWord8 + _msgSsrFlagSatellites_chain_id <- getWord8 + _msgSsrFlagSatellites_const_id <- getWord8 + _msgSsrFlagSatellites_n_faulty_sats <- getWord8 + _msgSsrFlagSatellites_faulty_sats <- whileM (not <$> isEmpty) getWord8 pure MsgSsrFlagSatellites {..} put MsgSsrFlagSatellites {..} = do - mapM_ putWord8 _msgSsrFlagSatellites_stub + put _msgSsrFlagSatellites_obs_time + putWord8 _msgSsrFlagSatellites_num_msgs + putWord8 _msgSsrFlagSatellites_seq_num + putWord8 _msgSsrFlagSatellites_ssr_sol_id + putWord8 _msgSsrFlagSatellites_chain_id + putWord8 _msgSsrFlagSatellites_const_id + putWord8 _msgSsrFlagSatellites_n_faulty_sats + mapM_ putWord8 _msgSsrFlagSatellites_faulty_sats $(makeSBP 'msgSsrFlagSatellites ''MsgSsrFlagSatellites) $(makeJSON "_msgSsrFlagSatellites_" ''MsgSsrFlagSatellites) @@ -78,16 +200,25 @@ msgSsrFlagTropoGridPoints = 0x0BC3 data MsgSsrFlagTropoGridPoints = MsgSsrFlagTropoGridPoints - { _msgSsrFlagTropoGridPoints_stub :: ![Word8] + { _msgSsrFlagTropoGridPoints_header :: !IntegritySSRHeader + -- ^ Header of an integrity message. + , _msgSsrFlagTropoGridPoints_n_faulty_points :: !Word8 + -- ^ Number of faulty grid points. + , _msgSsrFlagTropoGridPoints_faulty_points :: ![Word16] + -- ^ List of faulty grid points. } deriving ( Show, Read, Eq ) instance Binary MsgSsrFlagTropoGridPoints where get = do - _msgSsrFlagTropoGridPoints_stub <- whileM (not <$> isEmpty) getWord8 + _msgSsrFlagTropoGridPoints_header <- get + _msgSsrFlagTropoGridPoints_n_faulty_points <- getWord8 + _msgSsrFlagTropoGridPoints_faulty_points <- whileM (not <$> isEmpty) getWord16le pure MsgSsrFlagTropoGridPoints {..} put MsgSsrFlagTropoGridPoints {..} = do - mapM_ putWord8 _msgSsrFlagTropoGridPoints_stub + put _msgSsrFlagTropoGridPoints_header + putWord8 _msgSsrFlagTropoGridPoints_n_faulty_points + mapM_ putWord16le _msgSsrFlagTropoGridPoints_faulty_points $(makeSBP 'msgSsrFlagTropoGridPoints ''MsgSsrFlagTropoGridPoints) $(makeJSON "_msgSsrFlagTropoGridPoints_" ''MsgSsrFlagTropoGridPoints) @@ -97,16 +228,25 @@ msgSsrFlagIonoGridPoints = 0x0BC7 data MsgSsrFlagIonoGridPoints = MsgSsrFlagIonoGridPoints - { _msgSsrFlagIonoGridPoints_stub :: ![Word8] + { _msgSsrFlagIonoGridPoints_header :: !IntegritySSRHeader + -- ^ Header of an integrity message. + , _msgSsrFlagIonoGridPoints_n_faulty_points :: !Word8 + -- ^ Number of faulty grid points. + , _msgSsrFlagIonoGridPoints_faulty_points :: ![Word16] + -- ^ List of faulty grid points. } deriving ( Show, Read, Eq ) instance Binary MsgSsrFlagIonoGridPoints where get = do - _msgSsrFlagIonoGridPoints_stub <- whileM (not <$> isEmpty) getWord8 + _msgSsrFlagIonoGridPoints_header <- get + _msgSsrFlagIonoGridPoints_n_faulty_points <- getWord8 + _msgSsrFlagIonoGridPoints_faulty_points <- whileM (not <$> isEmpty) getWord16le pure MsgSsrFlagIonoGridPoints {..} put MsgSsrFlagIonoGridPoints {..} = do - mapM_ putWord8 _msgSsrFlagIonoGridPoints_stub + put _msgSsrFlagIonoGridPoints_header + putWord8 _msgSsrFlagIonoGridPoints_n_faulty_points + mapM_ putWord16le _msgSsrFlagIonoGridPoints_faulty_points $(makeSBP 'msgSsrFlagIonoGridPoints ''MsgSsrFlagIonoGridPoints) $(makeJSON "_msgSsrFlagIonoGridPoints_" ''MsgSsrFlagIonoGridPoints) @@ -116,16 +256,25 @@ msgSsrFlagIonoTileSatLos = 0x0BCD data MsgSsrFlagIonoTileSatLos = MsgSsrFlagIonoTileSatLos - { _msgSsrFlagIonoTileSatLos_stub :: ![Word8] + { _msgSsrFlagIonoTileSatLos_header :: !IntegritySSRHeader + -- ^ Header of an integrity message. + , _msgSsrFlagIonoTileSatLos_n_faulty_los :: !Word8 + -- ^ Number of faulty LOS. + , _msgSsrFlagIonoTileSatLos_faulty_los :: ![SvId] + -- ^ List of faulty LOS } deriving ( Show, Read, Eq ) instance Binary MsgSsrFlagIonoTileSatLos where get = do - _msgSsrFlagIonoTileSatLos_stub <- whileM (not <$> isEmpty) getWord8 + _msgSsrFlagIonoTileSatLos_header <- get + _msgSsrFlagIonoTileSatLos_n_faulty_los <- getWord8 + _msgSsrFlagIonoTileSatLos_faulty_los <- whileM (not <$> isEmpty) get pure MsgSsrFlagIonoTileSatLos {..} put MsgSsrFlagIonoTileSatLos {..} = do - mapM_ putWord8 _msgSsrFlagIonoTileSatLos_stub + put _msgSsrFlagIonoTileSatLos_header + putWord8 _msgSsrFlagIonoTileSatLos_n_faulty_los + mapM_ put _msgSsrFlagIonoTileSatLos_faulty_los $(makeSBP 'msgSsrFlagIonoTileSatLos ''MsgSsrFlagIonoTileSatLos) $(makeJSON "_msgSsrFlagIonoTileSatLos_" ''MsgSsrFlagIonoTileSatLos) @@ -135,16 +284,29 @@ msgSsrFlagIonoGridPointSatLos = 0x0BD1 data MsgSsrFlagIonoGridPointSatLos = MsgSsrFlagIonoGridPointSatLos - { _msgSsrFlagIonoGridPointSatLos_stub :: ![Word8] + { _msgSsrFlagIonoGridPointSatLos_header :: !IntegritySSRHeader + -- ^ Header of an integrity message. + , _msgSsrFlagIonoGridPointSatLos_grid_point_id :: !Word16 + -- ^ Index of the grid point. + , _msgSsrFlagIonoGridPointSatLos_n_faulty_los :: !Word8 + -- ^ Number of faulty LOS. + , _msgSsrFlagIonoGridPointSatLos_faulty_los :: ![SvId] + -- ^ List of faulty LOS } deriving ( Show, Read, Eq ) instance Binary MsgSsrFlagIonoGridPointSatLos where get = do - _msgSsrFlagIonoGridPointSatLos_stub <- whileM (not <$> isEmpty) getWord8 + _msgSsrFlagIonoGridPointSatLos_header <- get + _msgSsrFlagIonoGridPointSatLos_grid_point_id <- getWord16le + _msgSsrFlagIonoGridPointSatLos_n_faulty_los <- getWord8 + _msgSsrFlagIonoGridPointSatLos_faulty_los <- whileM (not <$> isEmpty) get pure MsgSsrFlagIonoGridPointSatLos {..} put MsgSsrFlagIonoGridPointSatLos {..} = do - mapM_ putWord8 _msgSsrFlagIonoGridPointSatLos_stub + put _msgSsrFlagIonoGridPointSatLos_header + putWord16le _msgSsrFlagIonoGridPointSatLos_grid_point_id + putWord8 _msgSsrFlagIonoGridPointSatLos_n_faulty_los + mapM_ put _msgSsrFlagIonoGridPointSatLos_faulty_los $(makeSBP 'msgSsrFlagIonoGridPointSatLos ''MsgSsrFlagIonoGridPointSatLos) $(makeJSON "_msgSsrFlagIonoGridPointSatLos_" ''MsgSsrFlagIonoGridPointSatLos) diff --git a/src/SwiftNav/SBP/Navigation.hs b/src/SwiftNav/SBP/Navigation.hs --- a/src/SwiftNav/SBP/Navigation.hs +++ b/src/SwiftNav/SBP/Navigation.hs @@ -2312,16 +2312,52 @@ -- Emulates the GPS CNAV message, reserving bytes for future broadcast of the -- drift model parameters. data MsgUtcLeapSecond = MsgUtcLeapSecond - { _msgUtcLeapSecond_stub :: ![Word8] + { _msgUtcLeapSecond_bias_coeff :: !Int16 + -- ^ Reserved. Bias coefficient of GPS time scale with respect to UTC drift + -- model. + , _msgUtcLeapSecond_drift_coeff :: !Int16 + -- ^ Reserved. Drift coefficient of GPS time scale with respect to UTC drift + -- model. + , _msgUtcLeapSecond_drift_rate_coeff :: !Int8 + -- ^ Reserved. Drift rate correction coefficient of GPS time scale with + -- respect to UTC drift model. + , _msgUtcLeapSecond_count_before :: !Int8 + -- ^ Leap second count before insertion. + , _msgUtcLeapSecond_tow_s :: !Word16 + -- ^ Reserved. Drift model reference week second. + , _msgUtcLeapSecond_wn :: !Word16 + -- ^ Reserved. Drift model reference week number. + , _msgUtcLeapSecond_ref_wn :: !Word16 + -- ^ Leap second reference week number. + , _msgUtcLeapSecond_ref_dn :: !Word8 + -- ^ Leap second reference day number. + , _msgUtcLeapSecond_count_after :: !Int8 + -- ^ Leap second count after insertion. } deriving ( Show, Read, Eq ) instance Binary MsgUtcLeapSecond where get = do - _msgUtcLeapSecond_stub <- whileM (not <$> isEmpty) getWord8 + _msgUtcLeapSecond_bias_coeff <- (fromIntegral <$> getWord16le) + _msgUtcLeapSecond_drift_coeff <- (fromIntegral <$> getWord16le) + _msgUtcLeapSecond_drift_rate_coeff <- (fromIntegral <$> getWord8) + _msgUtcLeapSecond_count_before <- (fromIntegral <$> getWord8) + _msgUtcLeapSecond_tow_s <- getWord16le + _msgUtcLeapSecond_wn <- getWord16le + _msgUtcLeapSecond_ref_wn <- getWord16le + _msgUtcLeapSecond_ref_dn <- getWord8 + _msgUtcLeapSecond_count_after <- (fromIntegral <$> getWord8) pure MsgUtcLeapSecond {..} put MsgUtcLeapSecond {..} = do - mapM_ putWord8 _msgUtcLeapSecond_stub + (putWord16le . fromIntegral) _msgUtcLeapSecond_bias_coeff + (putWord16le . fromIntegral) _msgUtcLeapSecond_drift_coeff + (putWord8 . fromIntegral) _msgUtcLeapSecond_drift_rate_coeff + (putWord8 . fromIntegral) _msgUtcLeapSecond_count_before + putWord16le _msgUtcLeapSecond_tow_s + putWord16le _msgUtcLeapSecond_wn + putWord16le _msgUtcLeapSecond_ref_wn + putWord8 _msgUtcLeapSecond_ref_dn + (putWord8 . fromIntegral) _msgUtcLeapSecond_count_after $(makeSBP 'msgUtcLeapSecond ''MsgUtcLeapSecond) $(makeJSON "_msgUtcLeapSecond_" ''MsgUtcLeapSecond) @@ -2331,16 +2367,94 @@ msgReferenceFrameParam = 0x0244 data MsgReferenceFrameParam = MsgReferenceFrameParam - { _msgReferenceFrameParam_stub :: ![Word8] + { _msgReferenceFrameParam_ssr_iod :: !Word8 + -- ^ SSR IOD parameter. + , _msgReferenceFrameParam_sn :: !Text + -- ^ Name of source coordinate-system using the EPSG identification code. + , _msgReferenceFrameParam_tn :: !Text + -- ^ Name of target coordinate-system using the EPSG identification code. + , _msgReferenceFrameParam_sin :: !Word8 + -- ^ System Identification Number. + , _msgReferenceFrameParam_utn :: !Word16 + -- ^ Utilized Transformation Message. + , _msgReferenceFrameParam_re_t0 :: !Word16 + -- ^ Reference Epoch t0 for transformation parameter set given as Modified + -- Julian Day (MJD) Number minus 44244 days. + , _msgReferenceFrameParam_delta_X0 :: !Int32 + -- ^ Translation in X for Reference Epoch t0. + , _msgReferenceFrameParam_delta_Y0 :: !Int32 + -- ^ Translation in Y for Reference Epoch t0. + , _msgReferenceFrameParam_delta_Z0 :: !Int32 + -- ^ Translation in Z for Reference Epoch t0. + , _msgReferenceFrameParam_theta_01 :: !Int32 + -- ^ Rotation around the X-axis for Reference Epoch t0. + , _msgReferenceFrameParam_theta_02 :: !Int32 + -- ^ Rotation around the Y-axis for Reference Epoch t0. + , _msgReferenceFrameParam_theta_03 :: !Int32 + -- ^ Rotation around the Z-axis for Reference Epoch t0. + , _msgReferenceFrameParam_scale :: !Int32 + -- ^ Scale correction for Reference Epoch t0. + , _msgReferenceFrameParam_dot_delta_X0 :: !Int32 + -- ^ Rate of change of translation in X. + , _msgReferenceFrameParam_dot_delta_Y0 :: !Int32 + -- ^ Rate of change of translation in Y. + , _msgReferenceFrameParam_dot_delta_Z0 :: !Int32 + -- ^ Rate of change of translation in Z. + , _msgReferenceFrameParam_dot_theta_01 :: !Int32 + -- ^ Rate of change of rotation around the X-axis. + , _msgReferenceFrameParam_dot_theta_02 :: !Int32 + -- ^ Rate of change of rotation around the Y-axis. + , _msgReferenceFrameParam_dot_theta_03 :: !Int32 + -- ^ Rate of change of rotation around the Z-axis. + , _msgReferenceFrameParam_dot_scale :: !Int16 + -- ^ Rate of change of scale correction. } deriving ( Show, Read, Eq ) instance Binary MsgReferenceFrameParam where get = do - _msgReferenceFrameParam_stub <- whileM (not <$> isEmpty) getWord8 + _msgReferenceFrameParam_ssr_iod <- getWord8 + _msgReferenceFrameParam_sn <- decodeUtf8 <$> getByteString 32 + _msgReferenceFrameParam_tn <- decodeUtf8 <$> getByteString 32 + _msgReferenceFrameParam_sin <- getWord8 + _msgReferenceFrameParam_utn <- getWord16le + _msgReferenceFrameParam_re_t0 <- getWord16le + _msgReferenceFrameParam_delta_X0 <- (fromIntegral <$> getWord32le) + _msgReferenceFrameParam_delta_Y0 <- (fromIntegral <$> getWord32le) + _msgReferenceFrameParam_delta_Z0 <- (fromIntegral <$> getWord32le) + _msgReferenceFrameParam_theta_01 <- (fromIntegral <$> getWord32le) + _msgReferenceFrameParam_theta_02 <- (fromIntegral <$> getWord32le) + _msgReferenceFrameParam_theta_03 <- (fromIntegral <$> getWord32le) + _msgReferenceFrameParam_scale <- (fromIntegral <$> getWord32le) + _msgReferenceFrameParam_dot_delta_X0 <- (fromIntegral <$> getWord32le) + _msgReferenceFrameParam_dot_delta_Y0 <- (fromIntegral <$> getWord32le) + _msgReferenceFrameParam_dot_delta_Z0 <- (fromIntegral <$> getWord32le) + _msgReferenceFrameParam_dot_theta_01 <- (fromIntegral <$> getWord32le) + _msgReferenceFrameParam_dot_theta_02 <- (fromIntegral <$> getWord32le) + _msgReferenceFrameParam_dot_theta_03 <- (fromIntegral <$> getWord32le) + _msgReferenceFrameParam_dot_scale <- (fromIntegral <$> getWord16le) pure MsgReferenceFrameParam {..} put MsgReferenceFrameParam {..} = do - mapM_ putWord8 _msgReferenceFrameParam_stub + putWord8 _msgReferenceFrameParam_ssr_iod + putByteString $ encodeUtf8 _msgReferenceFrameParam_sn + putByteString $ encodeUtf8 _msgReferenceFrameParam_tn + putWord8 _msgReferenceFrameParam_sin + putWord16le _msgReferenceFrameParam_utn + putWord16le _msgReferenceFrameParam_re_t0 + (putWord32le . fromIntegral) _msgReferenceFrameParam_delta_X0 + (putWord32le . fromIntegral) _msgReferenceFrameParam_delta_Y0 + (putWord32le . fromIntegral) _msgReferenceFrameParam_delta_Z0 + (putWord32le . fromIntegral) _msgReferenceFrameParam_theta_01 + (putWord32le . fromIntegral) _msgReferenceFrameParam_theta_02 + (putWord32le . fromIntegral) _msgReferenceFrameParam_theta_03 + (putWord32le . fromIntegral) _msgReferenceFrameParam_scale + (putWord32le . fromIntegral) _msgReferenceFrameParam_dot_delta_X0 + (putWord32le . fromIntegral) _msgReferenceFrameParam_dot_delta_Y0 + (putWord32le . fromIntegral) _msgReferenceFrameParam_dot_delta_Z0 + (putWord32le . fromIntegral) _msgReferenceFrameParam_dot_theta_01 + (putWord32le . fromIntegral) _msgReferenceFrameParam_dot_theta_02 + (putWord32le . fromIntegral) _msgReferenceFrameParam_dot_theta_03 + (putWord16le . fromIntegral) _msgReferenceFrameParam_dot_scale $(makeSBP 'msgReferenceFrameParam ''MsgReferenceFrameParam) $(makeJSON "_msgReferenceFrameParam_" ''MsgReferenceFrameParam) 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 @@ -204,7 +204,8 @@ -- ^ Quality of the STEC data. Encoded following RTCM DF389 specification -- but in units of TECU instead of m. , _sTECSatElement_stec_coeff :: ![Int16] - -- ^ Coefficients 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. + -- C00 = 0.05 TECU, C01/C10 = 0.02 TECU/deg, C11 0.02 TECU/deg^2 } deriving ( Show, Read, Eq ) instance Binary STECSatElement where @@ -251,11 +252,12 @@ -- point. data TroposphericDelayCorrection = TroposphericDelayCorrection { _troposphericDelayCorrection_hydro :: !Int16 - -- ^ Hydrostatic vertical delay + -- ^ Hydrostatic vertical delay. Add 2.3 m to get actual value. , _troposphericDelayCorrection_wet :: !Int8 - -- ^ Wet vertical delay + -- ^ Wet vertical delay. Add 0.252 m to get actual value. , _troposphericDelayCorrection_stddev :: !Word8 - -- ^ stddev + -- ^ Modified DF389 scale. Class is upper 3 bits, value is lower 5. stddev + -- <= (3^class * (1 + value/16) - 1) mm } deriving ( Show, Read, Eq ) instance Binary TroposphericDelayCorrection where @@ -306,7 +308,8 @@ , _sTECResidual_residual :: !Int16 -- ^ STEC residual , _sTECResidual_stddev :: !Word8 - -- ^ stddev + -- ^ Modified DF389 scale. Class is upper 3 bits, value is lower 5. stddev + -- <= (3^class * (1 + value/16) - 1) * 10 TECU } deriving ( Show, Read, Eq ) instance Binary STECResidual where @@ -539,20 +542,73 @@ $(makeJSON "_msgSsrStecCorrectionDep_" ''MsgSsrStecCorrectionDep) $(makeLenses ''MsgSsrStecCorrectionDep) +data BoundsHeader = BoundsHeader + { _boundsHeader_time :: !GpsTimeSec + -- ^ GNSS reference time of the bound + , _boundsHeader_num_msgs :: !Word8 + -- ^ Number of messages in the dataset + , _boundsHeader_seq_num :: !Word8 + -- ^ Position of this message in the dataset + , _boundsHeader_update_interval :: !Word8 + -- ^ Update interval between consecutive bounds. Similar to RTCM DF391. + , _boundsHeader_sol_id :: !Word8 + -- ^ SSR Solution ID. + } deriving ( Show, Read, Eq ) + +instance Binary BoundsHeader where + get = do + _boundsHeader_time <- get + _boundsHeader_num_msgs <- getWord8 + _boundsHeader_seq_num <- getWord8 + _boundsHeader_update_interval <- getWord8 + _boundsHeader_sol_id <- getWord8 + pure BoundsHeader {..} + + put BoundsHeader {..} = do + put _boundsHeader_time + putWord8 _boundsHeader_num_msgs + putWord8 _boundsHeader_seq_num + putWord8 _boundsHeader_update_interval + putWord8 _boundsHeader_sol_id + +$(makeJSON "_boundsHeader_" ''BoundsHeader) +$(makeLenses ''BoundsHeader) + msgSsrStecCorrection :: Word16 msgSsrStecCorrection = 0x05FD data MsgSsrStecCorrection = MsgSsrStecCorrection - { _msgSsrStecCorrection_stub :: ![Word8] + { _msgSsrStecCorrection_header :: !BoundsHeader + -- ^ Header of a STEC correction with bounds message. + , _msgSsrStecCorrection_ssr_iod_atmo :: !Word8 + -- ^ IOD of the SSR atmospheric correction + , _msgSsrStecCorrection_tile_set_id :: !Word16 + -- ^ Tile set ID + , _msgSsrStecCorrection_tile_id :: !Word16 + -- ^ Tile ID + , _msgSsrStecCorrection_n_sats :: !Word8 + -- ^ Number of satellites. + , _msgSsrStecCorrection_stec_sat_list :: ![STECSatElement] + -- ^ Array of STEC polynomial coefficients for each space vehicle. } deriving ( Show, Read, Eq ) instance Binary MsgSsrStecCorrection where get = do - _msgSsrStecCorrection_stub <- whileM (not <$> isEmpty) getWord8 + _msgSsrStecCorrection_header <- get + _msgSsrStecCorrection_ssr_iod_atmo <- getWord8 + _msgSsrStecCorrection_tile_set_id <- getWord16le + _msgSsrStecCorrection_tile_id <- getWord16le + _msgSsrStecCorrection_n_sats <- getWord8 + _msgSsrStecCorrection_stec_sat_list <- whileM (not <$> isEmpty) get pure MsgSsrStecCorrection {..} put MsgSsrStecCorrection {..} = do - mapM_ putWord8 _msgSsrStecCorrection_stub + put _msgSsrStecCorrection_header + putWord8 _msgSsrStecCorrection_ssr_iod_atmo + putWord16le _msgSsrStecCorrection_tile_set_id + putWord16le _msgSsrStecCorrection_tile_id + putWord8 _msgSsrStecCorrection_n_sats + mapM_ put _msgSsrStecCorrection_stec_sat_list $(makeSBP 'msgSsrStecCorrection ''MsgSsrStecCorrection) $(makeJSON "_msgSsrStecCorrection_" ''MsgSsrStecCorrection) @@ -595,20 +651,109 @@ $(makeJSON "_msgSsrGriddedCorrection_" ''MsgSsrGriddedCorrection) $(makeLenses ''MsgSsrGriddedCorrection) +-- | STECSatElementIntegrity. +-- +-- STEC polynomial and bounds for the given satellite. +data STECSatElementIntegrity = STECSatElementIntegrity + { _sTECSatElementIntegrity_stec_residual :: !STECResidual + -- ^ STEC residuals (mean, stddev) + , _sTECSatElementIntegrity_stec_bound_mu :: !Word8 + -- ^ Error Bound Mean. See Note 1. + , _sTECSatElementIntegrity_stec_bound_sig :: !Word8 + -- ^ Error Bound StDev. See Note 1. + , _sTECSatElementIntegrity_stec_bound_mu_dot :: !Word8 + -- ^ Error Bound Mean First derivative. + , _sTECSatElementIntegrity_stec_bound_sig_dot :: !Word8 + -- ^ Error Bound StDev First derivative. + } deriving ( Show, Read, Eq ) + +instance Binary STECSatElementIntegrity where + get = do + _sTECSatElementIntegrity_stec_residual <- get + _sTECSatElementIntegrity_stec_bound_mu <- getWord8 + _sTECSatElementIntegrity_stec_bound_sig <- getWord8 + _sTECSatElementIntegrity_stec_bound_mu_dot <- getWord8 + _sTECSatElementIntegrity_stec_bound_sig_dot <- getWord8 + pure STECSatElementIntegrity {..} + + put STECSatElementIntegrity {..} = do + put _sTECSatElementIntegrity_stec_residual + putWord8 _sTECSatElementIntegrity_stec_bound_mu + putWord8 _sTECSatElementIntegrity_stec_bound_sig + putWord8 _sTECSatElementIntegrity_stec_bound_mu_dot + putWord8 _sTECSatElementIntegrity_stec_bound_sig_dot + +$(makeJSON "_sTECSatElementIntegrity_" ''STECSatElementIntegrity) +$(makeLenses ''STECSatElementIntegrity) + msgSsrGriddedCorrectionBounds :: Word16 msgSsrGriddedCorrectionBounds = 0x05FE +-- | SBP class for message MSG_SSR_GRIDDED_CORRECTION_BOUNDS (0x05FE). +-- +-- Note 1: Range: 0-17.5 m. i<= 200, mean = 0.01i; 200230, mean=5+0.5(i-230). data MsgSsrGriddedCorrectionBounds = MsgSsrGriddedCorrectionBounds - { _msgSsrGriddedCorrectionBounds_stub :: ![Word8] + { _msgSsrGriddedCorrectionBounds_header :: !BoundsHeader + -- ^ Header of a bounds message. + , _msgSsrGriddedCorrectionBounds_ssr_iod_atmo :: !Word8 + -- ^ IOD of the correction. + , _msgSsrGriddedCorrectionBounds_tile_set_id :: !Word16 + -- ^ Set this tile belongs to. + , _msgSsrGriddedCorrectionBounds_tile_id :: !Word16 + -- ^ Unique identifier of this tile in the tile set. + , _msgSsrGriddedCorrectionBounds_tropo_qi :: !Word8 + -- ^ Tropo Quality Indicator. Similar to RTCM DF389. + , _msgSsrGriddedCorrectionBounds_grid_point_id :: !Word16 + -- ^ Index of the Grid Point. + , _msgSsrGriddedCorrectionBounds_tropo_delay_correction :: !TroposphericDelayCorrection + -- ^ Tropospheric delay at grid point. + , _msgSsrGriddedCorrectionBounds_tropo_v_hydro_bound_mu :: !Word8 + -- ^ Vertical Hydrostatic Error Bound Mean. + , _msgSsrGriddedCorrectionBounds_tropo_v_hydro_bound_sig :: !Word8 + -- ^ Vertical Hydrostatic Error Bound StDev. + , _msgSsrGriddedCorrectionBounds_tropo_v_wet_bound_mu :: !Word8 + -- ^ Vertical Wet Error Bound Mean. + , _msgSsrGriddedCorrectionBounds_tropo_v_wet_bound_sig :: !Word8 + -- ^ Vertical Wet Error Bound StDev. + , _msgSsrGriddedCorrectionBounds_n_sats :: !Word8 + -- ^ Number of satellites. + , _msgSsrGriddedCorrectionBounds_stec_sat_list :: ![STECSatElementIntegrity] + -- ^ Array of STEC polynomial coefficients and its bounds for each space + -- vehicle. } deriving ( Show, Read, Eq ) instance Binary MsgSsrGriddedCorrectionBounds where get = do - _msgSsrGriddedCorrectionBounds_stub <- whileM (not <$> isEmpty) getWord8 + _msgSsrGriddedCorrectionBounds_header <- get + _msgSsrGriddedCorrectionBounds_ssr_iod_atmo <- getWord8 + _msgSsrGriddedCorrectionBounds_tile_set_id <- getWord16le + _msgSsrGriddedCorrectionBounds_tile_id <- getWord16le + _msgSsrGriddedCorrectionBounds_tropo_qi <- getWord8 + _msgSsrGriddedCorrectionBounds_grid_point_id <- getWord16le + _msgSsrGriddedCorrectionBounds_tropo_delay_correction <- get + _msgSsrGriddedCorrectionBounds_tropo_v_hydro_bound_mu <- getWord8 + _msgSsrGriddedCorrectionBounds_tropo_v_hydro_bound_sig <- getWord8 + _msgSsrGriddedCorrectionBounds_tropo_v_wet_bound_mu <- getWord8 + _msgSsrGriddedCorrectionBounds_tropo_v_wet_bound_sig <- getWord8 + _msgSsrGriddedCorrectionBounds_n_sats <- getWord8 + _msgSsrGriddedCorrectionBounds_stec_sat_list <- whileM (not <$> isEmpty) get pure MsgSsrGriddedCorrectionBounds {..} put MsgSsrGriddedCorrectionBounds {..} = do - mapM_ putWord8 _msgSsrGriddedCorrectionBounds_stub + put _msgSsrGriddedCorrectionBounds_header + putWord8 _msgSsrGriddedCorrectionBounds_ssr_iod_atmo + putWord16le _msgSsrGriddedCorrectionBounds_tile_set_id + putWord16le _msgSsrGriddedCorrectionBounds_tile_id + putWord8 _msgSsrGriddedCorrectionBounds_tropo_qi + putWord16le _msgSsrGriddedCorrectionBounds_grid_point_id + put _msgSsrGriddedCorrectionBounds_tropo_delay_correction + putWord8 _msgSsrGriddedCorrectionBounds_tropo_v_hydro_bound_mu + putWord8 _msgSsrGriddedCorrectionBounds_tropo_v_hydro_bound_sig + putWord8 _msgSsrGriddedCorrectionBounds_tropo_v_wet_bound_mu + putWord8 _msgSsrGriddedCorrectionBounds_tropo_v_wet_bound_sig + putWord8 _msgSsrGriddedCorrectionBounds_n_sats + mapM_ put _msgSsrGriddedCorrectionBounds_stec_sat_list $(makeSBP 'msgSsrGriddedCorrectionBounds ''MsgSsrGriddedCorrectionBounds) $(makeJSON "_msgSsrGriddedCorrectionBounds_" ''MsgSsrGriddedCorrectionBounds) @@ -725,16 +870,90 @@ -- element GNSS-SSR-CorrectionPoints. SBP only supports gridded arrays of -- correction points, not lists of points. data MsgSsrTileDefinition = MsgSsrTileDefinition - { _msgSsrTileDefinition_stub :: ![Word8] + { _msgSsrTileDefinition_ssr_sol_id :: !Word8 + -- ^ SSR Solution ID. + , _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_stub <- whileM (not <$> isEmpty) getWord8 + _msgSsrTileDefinition_ssr_sol_id <- getWord8 + _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 - mapM_ putWord8 _msgSsrTileDefinition_stub + putWord8 _msgSsrTileDefinition_ssr_sol_id + 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) @@ -1110,58 +1329,258 @@ $(makeJSON "_msgSsrGridDefinitionDepA_" ''MsgSsrGridDefinitionDepA) $(makeLenses ''MsgSsrGridDefinitionDepA) +-- | OrbitClockBound. +-- +-- Orbit and clock bound. +data OrbitClockBound = OrbitClockBound + { _orbitClockBound_sat_id :: !Word8 + -- ^ Satellite ID. Similar to either RTCM DF068 (GPS), DF252 (Galileo), or + -- DF488 (BDS) depending on the constellation. + , _orbitClockBound_orb_radial_bound_mu :: !Word8 + -- ^ Mean Radial. See Note 1. + , _orbitClockBound_orb_along_bound_mu :: !Word8 + -- ^ Mean Along-Track. See Note 1. + , _orbitClockBound_orb_cross_bound_mu :: !Word8 + -- ^ Mean Cross-Track. See Note 1. + , _orbitClockBound_orb_radial_bound_sig :: !Word8 + -- ^ Standard Deviation Radial. See Note 2. + , _orbitClockBound_orb_along_bound_sig :: !Word8 + -- ^ Standard Deviation Along-Track. See Note 2. + , _orbitClockBound_orb_cross_bound_sig :: !Word8 + -- ^ Standard Deviation Cross-Track. See Note 2. + , _orbitClockBound_clock_bound_mu :: !Word8 + -- ^ Clock Bound Mean. See Note 1. + , _orbitClockBound_clock_bound_sig :: !Word8 + -- ^ Clock Bound Standard Deviation. See Note 2. + } deriving ( Show, Read, Eq ) + +instance Binary OrbitClockBound where + get = do + _orbitClockBound_sat_id <- getWord8 + _orbitClockBound_orb_radial_bound_mu <- getWord8 + _orbitClockBound_orb_along_bound_mu <- getWord8 + _orbitClockBound_orb_cross_bound_mu <- getWord8 + _orbitClockBound_orb_radial_bound_sig <- getWord8 + _orbitClockBound_orb_along_bound_sig <- getWord8 + _orbitClockBound_orb_cross_bound_sig <- getWord8 + _orbitClockBound_clock_bound_mu <- getWord8 + _orbitClockBound_clock_bound_sig <- getWord8 + pure OrbitClockBound {..} + + put OrbitClockBound {..} = do + putWord8 _orbitClockBound_sat_id + putWord8 _orbitClockBound_orb_radial_bound_mu + putWord8 _orbitClockBound_orb_along_bound_mu + putWord8 _orbitClockBound_orb_cross_bound_mu + putWord8 _orbitClockBound_orb_radial_bound_sig + putWord8 _orbitClockBound_orb_along_bound_sig + putWord8 _orbitClockBound_orb_cross_bound_sig + putWord8 _orbitClockBound_clock_bound_mu + putWord8 _orbitClockBound_clock_bound_sig + +$(makeJSON "_orbitClockBound_" ''OrbitClockBound) +$(makeLenses ''OrbitClockBound) + msgSsrOrbitClockBounds :: Word16 msgSsrOrbitClockBounds = 0x05DE +-- | SBP class for message MSG_SSR_ORBIT_CLOCK_BOUNDS (0x05DE). +-- +-- Note 1: Range: 0-17.5 m. i<=200, mean=0.01i; 200230, mean=5+0.5(i-230). +-- +-- Note 2: Range: 0-17.5 m. i<=200, std=0.01i; 200230, std=5+0.5(i-230). data MsgSsrOrbitClockBounds = MsgSsrOrbitClockBounds - { _msgSsrOrbitClockBounds_stub :: ![Word8] + { _msgSsrOrbitClockBounds_header :: !BoundsHeader + -- ^ Header of a bounds message. + , _msgSsrOrbitClockBounds_ssr_iod :: !Word8 + -- ^ IOD of the SSR bound. + , _msgSsrOrbitClockBounds_const_id :: !Word8 + -- ^ Constellation ID to which the SVs belong. + , _msgSsrOrbitClockBounds_n_sats :: !Word8 + -- ^ Number of satellites. + , _msgSsrOrbitClockBounds_orbit_clock_bounds :: ![OrbitClockBound] + -- ^ Orbit and Clock Bounds per Satellite } deriving ( Show, Read, Eq ) instance Binary MsgSsrOrbitClockBounds where get = do - _msgSsrOrbitClockBounds_stub <- whileM (not <$> isEmpty) getWord8 + _msgSsrOrbitClockBounds_header <- get + _msgSsrOrbitClockBounds_ssr_iod <- getWord8 + _msgSsrOrbitClockBounds_const_id <- getWord8 + _msgSsrOrbitClockBounds_n_sats <- getWord8 + _msgSsrOrbitClockBounds_orbit_clock_bounds <- whileM (not <$> isEmpty) get pure MsgSsrOrbitClockBounds {..} put MsgSsrOrbitClockBounds {..} = do - mapM_ putWord8 _msgSsrOrbitClockBounds_stub + put _msgSsrOrbitClockBounds_header + putWord8 _msgSsrOrbitClockBounds_ssr_iod + putWord8 _msgSsrOrbitClockBounds_const_id + putWord8 _msgSsrOrbitClockBounds_n_sats + mapM_ put _msgSsrOrbitClockBounds_orbit_clock_bounds $(makeSBP 'msgSsrOrbitClockBounds ''MsgSsrOrbitClockBounds) $(makeJSON "_msgSsrOrbitClockBounds_" ''MsgSsrOrbitClockBounds) $(makeLenses ''MsgSsrOrbitClockBounds) +data CodePhaseBiasesSatSig = CodePhaseBiasesSatSig + { _codePhaseBiasesSatSig_sat_id :: !Word8 + -- ^ Satellite ID. Similar to either RTCM DF068 (GPS), DF252 (Galileo), or + -- DF488 (BDS) depending on the constellation. + , _codePhaseBiasesSatSig_signal_id :: !Word8 + -- ^ Signal and Tracking Mode Identifier. Similar to either RTCM DF380 + -- (GPS), DF382 (Galileo) or DF467 (BDS) depending on the constellation. + , _codePhaseBiasesSatSig_code_bias_bound_mu :: !Word8 + -- ^ Code Bias Mean. Range: 0-1.275 m + , _codePhaseBiasesSatSig_code_bias_bound_sig :: !Word8 + -- ^ Code Bias Standard Deviation. Range: 0-1.275 m + , _codePhaseBiasesSatSig_phase_bias_bound_mu :: !Word8 + -- ^ Phase Bias Mean. Range: 0-1.275 m + , _codePhaseBiasesSatSig_phase_bias_bound_sig :: !Word8 + -- ^ Phase Bias Standard Deviation. Range: 0-1.275 m + } deriving ( Show, Read, Eq ) + +instance Binary CodePhaseBiasesSatSig where + get = do + _codePhaseBiasesSatSig_sat_id <- getWord8 + _codePhaseBiasesSatSig_signal_id <- getWord8 + _codePhaseBiasesSatSig_code_bias_bound_mu <- getWord8 + _codePhaseBiasesSatSig_code_bias_bound_sig <- getWord8 + _codePhaseBiasesSatSig_phase_bias_bound_mu <- getWord8 + _codePhaseBiasesSatSig_phase_bias_bound_sig <- getWord8 + pure CodePhaseBiasesSatSig {..} + + put CodePhaseBiasesSatSig {..} = do + putWord8 _codePhaseBiasesSatSig_sat_id + putWord8 _codePhaseBiasesSatSig_signal_id + putWord8 _codePhaseBiasesSatSig_code_bias_bound_mu + putWord8 _codePhaseBiasesSatSig_code_bias_bound_sig + putWord8 _codePhaseBiasesSatSig_phase_bias_bound_mu + putWord8 _codePhaseBiasesSatSig_phase_bias_bound_sig + +$(makeJSON "_codePhaseBiasesSatSig_" ''CodePhaseBiasesSatSig) +$(makeLenses ''CodePhaseBiasesSatSig) + msgSsrCodePhaseBiasesBounds :: Word16 msgSsrCodePhaseBiasesBounds = 0x05EC data MsgSsrCodePhaseBiasesBounds = MsgSsrCodePhaseBiasesBounds - { _msgSsrCodePhaseBiasesBounds_stub :: ![Word8] + { _msgSsrCodePhaseBiasesBounds_header :: !BoundsHeader + -- ^ Header of a bounds message. + , _msgSsrCodePhaseBiasesBounds_ssr_iod :: !Word8 + -- ^ IOD of the SSR bound. + , _msgSsrCodePhaseBiasesBounds_const_id :: !Word8 + -- ^ Constellation ID to which the SVs belong. + , _msgSsrCodePhaseBiasesBounds_n_sats_signals :: !Word8 + -- ^ Number of satellite-signal couples. + , _msgSsrCodePhaseBiasesBounds_satellites_signals :: ![CodePhaseBiasesSatSig] + -- ^ Code and Phase Biases Bounds per Satellite-Signal couple. } deriving ( Show, Read, Eq ) instance Binary MsgSsrCodePhaseBiasesBounds where get = do - _msgSsrCodePhaseBiasesBounds_stub <- whileM (not <$> isEmpty) getWord8 + _msgSsrCodePhaseBiasesBounds_header <- get + _msgSsrCodePhaseBiasesBounds_ssr_iod <- getWord8 + _msgSsrCodePhaseBiasesBounds_const_id <- getWord8 + _msgSsrCodePhaseBiasesBounds_n_sats_signals <- getWord8 + _msgSsrCodePhaseBiasesBounds_satellites_signals <- whileM (not <$> isEmpty) get pure MsgSsrCodePhaseBiasesBounds {..} put MsgSsrCodePhaseBiasesBounds {..} = do - mapM_ putWord8 _msgSsrCodePhaseBiasesBounds_stub + put _msgSsrCodePhaseBiasesBounds_header + putWord8 _msgSsrCodePhaseBiasesBounds_ssr_iod + putWord8 _msgSsrCodePhaseBiasesBounds_const_id + putWord8 _msgSsrCodePhaseBiasesBounds_n_sats_signals + mapM_ put _msgSsrCodePhaseBiasesBounds_satellites_signals $(makeSBP 'msgSsrCodePhaseBiasesBounds ''MsgSsrCodePhaseBiasesBounds) $(makeJSON "_msgSsrCodePhaseBiasesBounds_" ''MsgSsrCodePhaseBiasesBounds) $(makeLenses ''MsgSsrCodePhaseBiasesBounds) +-- | OrbitClockBoundDegradation. +-- +-- Orbit and clock bound degradation. +data OrbitClockBoundDegradation = OrbitClockBoundDegradation + { _orbitClockBoundDegradation_orb_radial_bound_mu_dot :: !Word8 + -- ^ Orbit Bound Mean Radial First derivative. Range: 0-0.255 m/s + , _orbitClockBoundDegradation_orb_along_bound_mu_dot :: !Word8 + -- ^ Orbit Bound Mean Along-Track First derivative. Range: 0-0.255 m/s + , _orbitClockBoundDegradation_orb_cross_bound_mu_dot :: !Word8 + -- ^ Orbit Bound Mean Cross-Track First derivative. Range: 0-0.255 m/s + , _orbitClockBoundDegradation_orb_radial_bound_sig_dot :: !Word8 + -- ^ Orbit Bound Standard Deviation Radial First derivative. Range: 0-0.255 + -- m/s + , _orbitClockBoundDegradation_orb_along_bound_sig_dot :: !Word8 + -- ^ Orbit Bound Standard Deviation Along-Track First derivative. Range: + -- 0-0.255 m/s + , _orbitClockBoundDegradation_orb_cross_bound_sig_dot :: !Word8 + -- ^ Orbit Bound Standard Deviation Cross-Track First derivative. Range: + -- 0-0.255 m/s + , _orbitClockBoundDegradation_clock_bound_mu_dot :: !Word8 + -- ^ Clock Bound Mean First derivative. Range: 0-0.255 m/s + , _orbitClockBoundDegradation_clock_bound_sig_dot :: !Word8 + -- ^ Clock Bound Standard Deviation First derivative. Range: 0-0.255 m/s + } deriving ( Show, Read, Eq ) + +instance Binary OrbitClockBoundDegradation where + get = do + _orbitClockBoundDegradation_orb_radial_bound_mu_dot <- getWord8 + _orbitClockBoundDegradation_orb_along_bound_mu_dot <- getWord8 + _orbitClockBoundDegradation_orb_cross_bound_mu_dot <- getWord8 + _orbitClockBoundDegradation_orb_radial_bound_sig_dot <- getWord8 + _orbitClockBoundDegradation_orb_along_bound_sig_dot <- getWord8 + _orbitClockBoundDegradation_orb_cross_bound_sig_dot <- getWord8 + _orbitClockBoundDegradation_clock_bound_mu_dot <- getWord8 + _orbitClockBoundDegradation_clock_bound_sig_dot <- getWord8 + pure OrbitClockBoundDegradation {..} + + put OrbitClockBoundDegradation {..} = do + putWord8 _orbitClockBoundDegradation_orb_radial_bound_mu_dot + putWord8 _orbitClockBoundDegradation_orb_along_bound_mu_dot + putWord8 _orbitClockBoundDegradation_orb_cross_bound_mu_dot + putWord8 _orbitClockBoundDegradation_orb_radial_bound_sig_dot + putWord8 _orbitClockBoundDegradation_orb_along_bound_sig_dot + putWord8 _orbitClockBoundDegradation_orb_cross_bound_sig_dot + putWord8 _orbitClockBoundDegradation_clock_bound_mu_dot + putWord8 _orbitClockBoundDegradation_clock_bound_sig_dot + +$(makeJSON "_orbitClockBoundDegradation_" ''OrbitClockBoundDegradation) +$(makeLenses ''OrbitClockBoundDegradation) + msgSsrOrbitClockBoundsDegradation :: Word16 msgSsrOrbitClockBoundsDegradation = 0x05DF data MsgSsrOrbitClockBoundsDegradation = MsgSsrOrbitClockBoundsDegradation - { _msgSsrOrbitClockBoundsDegradation_stub :: ![Word8] + { _msgSsrOrbitClockBoundsDegradation_header :: !BoundsHeader + -- ^ Header of a bounds message. + , _msgSsrOrbitClockBoundsDegradation_ssr_iod :: !Word8 + -- ^ IOD of the SSR bound degradation parameter. + , _msgSsrOrbitClockBoundsDegradation_const_id :: !Word8 + -- ^ Constellation ID to which the SVs belong. + , _msgSsrOrbitClockBoundsDegradation_sat_bitmask :: !Word64 + -- ^ Satellite Bit Mask. Put 1 for each satellite where the following + -- degradation parameters are applicable, 0 otherwise. Encoded following + -- RTCM DF394 specification. + , _msgSsrOrbitClockBoundsDegradation_orbit_clock_bounds_degradation :: !OrbitClockBoundDegradation + -- ^ Orbit and Clock Bounds Degradation Parameters } deriving ( Show, Read, Eq ) instance Binary MsgSsrOrbitClockBoundsDegradation where get = do - _msgSsrOrbitClockBoundsDegradation_stub <- whileM (not <$> isEmpty) getWord8 + _msgSsrOrbitClockBoundsDegradation_header <- get + _msgSsrOrbitClockBoundsDegradation_ssr_iod <- getWord8 + _msgSsrOrbitClockBoundsDegradation_const_id <- getWord8 + _msgSsrOrbitClockBoundsDegradation_sat_bitmask <- getWord64le + _msgSsrOrbitClockBoundsDegradation_orbit_clock_bounds_degradation <- get pure MsgSsrOrbitClockBoundsDegradation {..} put MsgSsrOrbitClockBoundsDegradation {..} = do - mapM_ putWord8 _msgSsrOrbitClockBoundsDegradation_stub + put _msgSsrOrbitClockBoundsDegradation_header + putWord8 _msgSsrOrbitClockBoundsDegradation_ssr_iod + putWord8 _msgSsrOrbitClockBoundsDegradation_const_id + putWord64le _msgSsrOrbitClockBoundsDegradation_sat_bitmask + put _msgSsrOrbitClockBoundsDegradation_orbit_clock_bounds_degradation $(makeSBP 'msgSsrOrbitClockBoundsDegradation ''MsgSsrOrbitClockBoundsDegradation) $(makeJSON "_msgSsrOrbitClockBoundsDegradation_" ''MsgSsrOrbitClockBoundsDegradation)