diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 4.6.0 +version: 4.7.0 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 @@ -79,6 +79,33 @@ msgSsrFlagHighLevel :: Word16 msgSsrFlagHighLevel = 0x0BB9 +-- | SBP class for message MSG_SSR_FLAG_HIGH_LEVEL (0x0BB9). +-- +-- Integrity monitoring flags for multiple aggregated elements. An element +-- could be a satellite, SSR grid point, or SSR tile. A group of aggregated +-- elements being monitored for integrity could refer to: +-- +-- - Satellites in a particular {GPS, GAL, BDS} constellation. +-- +-- - Satellites in the line-of-sight of a particular SSR tile. +-- +-- - Satellites in the line-of-sight of a particular SSR grid point. +-- +-- The integrity usage for a group of aggregated elements varies according to +-- the integrity flag of the satellites comprising that group. +-- +-- SSR_INTEGRITY_USAGE_NOMINAL: All satellites received passed the integrity +-- check and have flag INTEGRITY_FLAG_OK. +-- +-- SSR_INTEGRITY_USAGE_WARNING: A limited number of elements in the group +-- failed the integrity check. Refer to more granular integrity messages for +-- details on the specific failing elements. +-- +-- SSR_INTEGRITY_USAGE_ALERT: Most elements in the group failed the integrity +-- check, do not use for positioning. +-- +-- SSR_INTEGRITY_USAGE_NOT_MONITORED: Unable to verify the integrity flag of +-- elements in the group. data MsgSsrFlagHighLevel = MsgSsrFlagHighLevel { _msgSsrFlagHighLevel_obs_time :: !GpsTimeSec -- ^ GNSS reference time of the observation used to generate the flag. 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 @@ -2309,52 +2309,49 @@ -- | SBP class for message MSG_UTC_LEAP_SECOND (0x023A). -- --- Emulates the GPS CNAV message, reserving bytes for future broadcast of the --- drift model parameters. +-- UTC-GPST leap seconds before and after the most recent (past, or future, +-- for announced insertions) UTC leap second insertion. data MsgUtcLeapSecond = MsgUtcLeapSecond - { _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 + { _msgUtcLeapSecond_reserved_0 :: !Int16 + -- ^ Reserved. + , _msgUtcLeapSecond_reserved_1 :: !Int16 + -- ^ Reserved. + , _msgUtcLeapSecond_reserved_2 :: !Int8 + -- ^ Reserved. + , _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 + , _msgUtcLeapSecond_reserved_3 :: !Word16 + -- ^ Reserved. + , _msgUtcLeapSecond_reserved_4 :: !Word16 + -- ^ Reserved. + , _msgUtcLeapSecond_ref_wn :: !Word16 + -- ^ Leap second reference GPS week number. + , _msgUtcLeapSecond_ref_dn :: !Word8 -- ^ Leap second reference day number. - , _msgUtcLeapSecond_count_after :: !Int8 + , _msgUtcLeapSecond_count_after :: !Int8 -- ^ Leap second count after insertion. } deriving ( Show, Read, Eq ) instance Binary MsgUtcLeapSecond where get = do - _msgUtcLeapSecond_bias_coeff <- (fromIntegral <$> getWord16le) - _msgUtcLeapSecond_drift_coeff <- (fromIntegral <$> getWord16le) - _msgUtcLeapSecond_drift_rate_coeff <- (fromIntegral <$> getWord8) + _msgUtcLeapSecond_reserved_0 <- (fromIntegral <$> getWord16le) + _msgUtcLeapSecond_reserved_1 <- (fromIntegral <$> getWord16le) + _msgUtcLeapSecond_reserved_2 <- (fromIntegral <$> getWord8) _msgUtcLeapSecond_count_before <- (fromIntegral <$> getWord8) - _msgUtcLeapSecond_tow_s <- getWord16le - _msgUtcLeapSecond_wn <- getWord16le + _msgUtcLeapSecond_reserved_3 <- getWord16le + _msgUtcLeapSecond_reserved_4 <- getWord16le _msgUtcLeapSecond_ref_wn <- getWord16le _msgUtcLeapSecond_ref_dn <- getWord8 _msgUtcLeapSecond_count_after <- (fromIntegral <$> getWord8) pure MsgUtcLeapSecond {..} put MsgUtcLeapSecond {..} = do - (putWord16le . fromIntegral) _msgUtcLeapSecond_bias_coeff - (putWord16le . fromIntegral) _msgUtcLeapSecond_drift_coeff - (putWord8 . fromIntegral) _msgUtcLeapSecond_drift_rate_coeff + (putWord16le . fromIntegral) _msgUtcLeapSecond_reserved_0 + (putWord16le . fromIntegral) _msgUtcLeapSecond_reserved_1 + (putWord8 . fromIntegral) _msgUtcLeapSecond_reserved_2 (putWord8 . fromIntegral) _msgUtcLeapSecond_count_before - putWord16le _msgUtcLeapSecond_tow_s - putWord16le _msgUtcLeapSecond_wn + putWord16le _msgUtcLeapSecond_reserved_3 + putWord16le _msgUtcLeapSecond_reserved_4 putWord16le _msgUtcLeapSecond_ref_wn putWord8 _msgUtcLeapSecond_ref_dn (putWord8 . fromIntegral) _msgUtcLeapSecond_count_after diff --git a/src/SwiftNav/SBP/Signing.hs b/src/SwiftNav/SBP/Signing.hs --- a/src/SwiftNav/SBP/Signing.hs +++ b/src/SwiftNav/SBP/Signing.hs @@ -40,16 +40,25 @@ msgEd25519Signature = 0x0C01 data MsgEd25519Signature = MsgEd25519Signature - { _msgEd25519Signature_stub :: ![Word8] + { _msgEd25519Signature_signature :: ![Word8] + -- ^ ED25519 signature for messages. + , _msgEd25519Signature_fingerprint :: ![Word8] + -- ^ SHA-1 fingerprint of the associated certificate. + , _msgEd25519Signature_signed_messages :: ![Word32] + -- ^ CRCs of signed messages. } deriving ( Show, Read, Eq ) instance Binary MsgEd25519Signature where get = do - _msgEd25519Signature_stub <- whileM (not <$> isEmpty) getWord8 + _msgEd25519Signature_signature <- replicateM 64 getWord8 + _msgEd25519Signature_fingerprint <- replicateM 20 getWord8 + _msgEd25519Signature_signed_messages <- whileM (not <$> isEmpty) getWord32le pure MsgEd25519Signature {..} put MsgEd25519Signature {..} = do - mapM_ putWord8 _msgEd25519Signature_stub + mapM_ putWord8 _msgEd25519Signature_signature + mapM_ putWord8 _msgEd25519Signature_fingerprint + mapM_ putWord32le _msgEd25519Signature_signed_messages $(makeSBP 'msgEd25519Signature ''MsgEd25519Signature) $(makeJSON "_msgEd25519Signature_" ''MsgEd25519Signature) @@ -59,16 +68,27 @@ msgEd25519Certificate = 0x0C02 data MsgEd25519Certificate = MsgEd25519Certificate - { _msgEd25519Certificate_stub :: ![Word8] + { _msgEd25519Certificate_n_msg :: !Word8 + -- ^ Total number messages that make up the certificate. First nibble is the + -- size of the sequence (n), second nibble is the zero-indexed counter + -- (ith packet of n) + , _msgEd25519Certificate_fingerprint :: ![Word8] + -- ^ SHA-1 fingerprint of the associated certificate. + , _msgEd25519Certificate_certificate_bytes :: ![Word8] + -- ^ ED25519 certificate bytes. } deriving ( Show, Read, Eq ) instance Binary MsgEd25519Certificate where get = do - _msgEd25519Certificate_stub <- whileM (not <$> isEmpty) getWord8 + _msgEd25519Certificate_n_msg <- getWord8 + _msgEd25519Certificate_fingerprint <- replicateM 20 getWord8 + _msgEd25519Certificate_certificate_bytes <- whileM (not <$> isEmpty) getWord8 pure MsgEd25519Certificate {..} put MsgEd25519Certificate {..} = do - mapM_ putWord8 _msgEd25519Certificate_stub + putWord8 _msgEd25519Certificate_n_msg + mapM_ putWord8 _msgEd25519Certificate_fingerprint + mapM_ putWord8 _msgEd25519Certificate_certificate_bytes $(makeSBP 'msgEd25519Certificate ''MsgEd25519Certificate) $(makeJSON "_msgEd25519Certificate_" ''MsgEd25519Certificate)