sbp 6.1.0 → 6.2.0

raw patch · 3 files changed

+62/−1 lines, 3 filesPVP ok

version bump matches the API change (PVP)

API changes (from Hackage documentation)

Files

• sbp.cabal +1/−1
• src/SwiftNav/SBP/Imu.hs +55/−0
• src/SwiftNav/SBP/Msg.hs +6/−0

@@ -1,5 +1,5 @@ name:                  sbp-version:               6.1.0+version:               6.2.0 synopsis:              SwiftNav's SBP Library homepage:              https://github.com/swift-nav/libsbp license:               MIT

@@ -127,3 +127,58 @@ $(makeSBP 'msgImuAux ''MsgImuAux) $(makeJSON "_msgImuAux_" ''MsgImuAux) $(makeLenses ''MsgImuAux)++msgImuComp :: Word16+msgImuComp = 0x0905++-- | SBP class for message MSG_IMU_COMP (0x0905).+--+-- Data from the Inertial Measurement Unit, containing accelerometer and+-- gyroscope readings compensated for estimated errors and constant  physical+-- effects. The output is valid for inertially referenced center  of+-- navigation (IMU body frame) represented in vehicle body frame.+data MsgImuComp = MsgImuComp+  { _msgImuComp_time     :: !Word64+    -- ^ Microseconds since reference epoch+  , _msgImuComp_flags    :: !Word16+    -- ^ Contains the applied compensation parameters and time synchronization+    -- mode+  , _msgImuComp_acc_comp_x :: !Int32+    -- ^ Compensated acceleration X axis+  , _msgImuComp_acc_comp_y :: !Int32+    -- ^ Compensated acceleration Y axis+  , _msgImuComp_acc_comp_z :: !Int32+    -- ^ Compensated acceleration Z axis+  , _msgImuComp_gyr_comp_x :: !Int32+    -- ^ Compensated angular rate X axis+  , _msgImuComp_gyr_comp_y :: !Int32+    -- ^ Compensated angular rate Y axis+  , _msgImuComp_gyr_comp_z :: !Int32+    -- ^ Compensated angular rate Z axis+  } deriving ( Show, Read, Eq )++instance Binary MsgImuComp where+  get = do+    _msgImuComp_time <- getWord64le+    _msgImuComp_flags <- getWord16le+    _msgImuComp_acc_comp_x <- (fromIntegral <$> getWord32le)+    _msgImuComp_acc_comp_y <- (fromIntegral <$> getWord32le)+    _msgImuComp_acc_comp_z <- (fromIntegral <$> getWord32le)+    _msgImuComp_gyr_comp_x <- (fromIntegral <$> getWord32le)+    _msgImuComp_gyr_comp_y <- (fromIntegral <$> getWord32le)+    _msgImuComp_gyr_comp_z <- (fromIntegral <$> getWord32le)+    pure MsgImuComp {..}++  put MsgImuComp {..} = do+    putWord64le _msgImuComp_time+    putWord16le _msgImuComp_flags+    (putWord32le . fromIntegral) _msgImuComp_acc_comp_x+    (putWord32le . fromIntegral) _msgImuComp_acc_comp_y+    (putWord32le . fromIntegral) _msgImuComp_acc_comp_z+    (putWord32le . fromIntegral) _msgImuComp_gyr_comp_x+    (putWord32le . fromIntegral) _msgImuComp_gyr_comp_y+    (putWord32le . fromIntegral) _msgImuComp_gyr_comp_z++$(makeSBP 'msgImuComp ''MsgImuComp)+$(makeJSON "_msgImuComp_" ''MsgImuComp)+$(makeLenses ''MsgImuComp)

@@ -156,6 +156,7 @@    | SBPMsgHeartbeat MsgHeartbeat Msg    | SBPMsgIarState MsgIarState Msg    | SBPMsgImuAux MsgImuAux Msg+   | SBPMsgImuComp MsgImuComp Msg    | SBPMsgImuRaw MsgImuRaw Msg    | SBPMsgInitBaseDep MsgInitBaseDep Msg    | SBPMsgInsStatus MsgInsStatus Msg@@ -407,6 +408,7 @@           | _msgSBPType == msgHeartbeat = SBPMsgHeartbeat (decode (fromStrict (unBytes _msgSBPPayload))) m           | _msgSBPType == msgIarState = SBPMsgIarState (decode (fromStrict (unBytes _msgSBPPayload))) m           | _msgSBPType == msgImuAux = SBPMsgImuAux (decode (fromStrict (unBytes _msgSBPPayload))) m+          | _msgSBPType == msgImuComp = SBPMsgImuComp (decode (fromStrict (unBytes _msgSBPPayload))) m           | _msgSBPType == msgImuRaw = SBPMsgImuRaw (decode (fromStrict (unBytes _msgSBPPayload))) m           | _msgSBPType == msgInitBaseDep = SBPMsgInitBaseDep (decode (fromStrict (unBytes _msgSBPPayload))) m           | _msgSBPType == msgInsStatus = SBPMsgInsStatus (decode (fromStrict (unBytes _msgSBPPayload))) m@@ -650,6 +652,7 @@       encoder (SBPMsgHeartbeat _ m) = put m       encoder (SBPMsgIarState _ m) = put m       encoder (SBPMsgImuAux _ m) = put m+      encoder (SBPMsgImuComp _ m) = put m       encoder (SBPMsgImuRaw _ m) = put m       encoder (SBPMsgInitBaseDep _ m) = put m       encoder (SBPMsgInsStatus _ m) = put m@@ -897,6 +900,7 @@         | msgType == msgHeartbeat = SBPMsgHeartbeat <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj         | msgType == msgIarState = SBPMsgIarState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj         | msgType == msgImuAux = SBPMsgImuAux <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj+        | msgType == msgImuComp = SBPMsgImuComp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj         | msgType == msgImuRaw = SBPMsgImuRaw <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj         | msgType == msgInitBaseDep = SBPMsgInitBaseDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj         | msgType == msgInsStatus = SBPMsgInsStatus <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj@@ -1145,6 +1149,7 @@   toJSON (SBPMsgHeartbeat n m) = toJSON n <<>> toJSON m   toJSON (SBPMsgIarState n m) = toJSON n <<>> toJSON m   toJSON (SBPMsgImuAux n m) = toJSON n <<>> toJSON m+  toJSON (SBPMsgImuComp n m) = toJSON n <<>> toJSON m   toJSON (SBPMsgImuRaw n m) = toJSON n <<>> toJSON m   toJSON (SBPMsgInitBaseDep _ m) = toJSON m   toJSON (SBPMsgInsStatus n m) = toJSON n <<>> toJSON m@@ -1387,6 +1392,7 @@   msg f (SBPMsgHeartbeat n m) = SBPMsgHeartbeat n <$> f m   msg f (SBPMsgIarState n m) = SBPMsgIarState n <$> f m   msg f (SBPMsgImuAux n m) = SBPMsgImuAux n <$> f m+  msg f (SBPMsgImuComp n m) = SBPMsgImuComp n <$> f m   msg f (SBPMsgImuRaw n m) = SBPMsgImuRaw n <$> f m   msg f (SBPMsgInitBaseDep n m) = SBPMsgInitBaseDep n <$> f m   msg f (SBPMsgInsStatus n m) = SBPMsgInsStatus n <$> f m