Copyright | Copyright (C) 2015-2018 Swift Navigation Inc. |
---|---|
License | LGPL-3 |
Maintainer | Swift Navigation <dev@swiftnav.com> |
Stability | experimental |
Portability | portable |
Safe Haskell | None |
Language | Haskell2010 |
System health, configuration, and diagnostic messages specific to the Piksi L1 receiver, including a variety of legacy messages that may no longer be used.
- msgAlmanac :: Word16
- data MsgAlmanac = MsgAlmanac
- msgSetTime :: Word16
- data MsgSetTime = MsgSetTime
- msgReset :: Word16
- data MsgReset = MsgReset {}
- msgReset_flags :: Iso' MsgReset Word32
- msgResetDep :: Word16
- data MsgResetDep = MsgResetDep
- msgCwResults :: Word16
- data MsgCwResults = MsgCwResults
- msgCwStart :: Word16
- data MsgCwStart = MsgCwStart
- msgResetFilters :: Word16
- data MsgResetFilters = MsgResetFilters {}
- msgResetFilters_filter :: Iso' MsgResetFilters Word8
- msgInitBase :: Word16
- data MsgInitBase = MsgInitBase
- msgThreadState :: Word16
- data MsgThreadState = MsgThreadState {}
- msgThreadState_stack_free :: Lens' MsgThreadState Word32
- msgThreadState_name :: Lens' MsgThreadState Text
- msgThreadState_cpu :: Lens' MsgThreadState Word16
- data UARTChannel = UARTChannel {}
- uARTChannel_tx_throughput :: Lens' UARTChannel Float
- uARTChannel_tx_buffer_level :: Lens' UARTChannel Word8
- uARTChannel_rx_throughput :: Lens' UARTChannel Float
- uARTChannel_rx_buffer_level :: Lens' UARTChannel Word8
- uARTChannel_io_error_count :: Lens' UARTChannel Word16
- uARTChannel_crc_error_count :: Lens' UARTChannel Word16
- data Period = Period {
- _period_avg :: !Int32
- _period_pmin :: !Int32
- _period_pmax :: !Int32
- _period_current :: !Int32
- period_pmin :: Lens' Period Int32
- period_pmax :: Lens' Period Int32
- period_current :: Lens' Period Int32
- period_avg :: Lens' Period Int32
- data Latency = Latency {
- _latency_avg :: !Int32
- _latency_lmin :: !Int32
- _latency_lmax :: !Int32
- _latency_current :: !Int32
- latency_lmin :: Lens' Latency Int32
- latency_lmax :: Lens' Latency Int32
- latency_current :: Lens' Latency Int32
- latency_avg :: Lens' Latency Int32
- msgUartState :: Word16
- data MsgUartState = MsgUartState {}
- msgUartState_uart_ftdi :: Lens' MsgUartState UARTChannel
- msgUartState_uart_b :: Lens' MsgUartState UARTChannel
- msgUartState_uart_a :: Lens' MsgUartState UARTChannel
- msgUartState_obs_period :: Lens' MsgUartState Period
- msgUartState_latency :: Lens' MsgUartState Latency
- msgUartStateDepa :: Word16
- data MsgUartStateDepa = MsgUartStateDepa {}
- msgUartStateDepa_uart_ftdi :: Lens' MsgUartStateDepa UARTChannel
- msgUartStateDepa_uart_b :: Lens' MsgUartStateDepa UARTChannel
- msgUartStateDepa_uart_a :: Lens' MsgUartStateDepa UARTChannel
- msgUartStateDepa_latency :: Lens' MsgUartStateDepa Latency
- msgIarState :: Word16
- data MsgIarState = MsgIarState {}
- msgIarState_num_hyps :: Iso' MsgIarState Word32
- msgMaskSatellite :: Word16
- data MsgMaskSatellite = MsgMaskSatellite {}
- msgMaskSatellite_sid :: Lens' MsgMaskSatellite GnssSignal
- msgMaskSatellite_mask :: Lens' MsgMaskSatellite Word8
- msgMaskSatelliteDep :: Word16
- data MsgMaskSatelliteDep = MsgMaskSatelliteDep {}
- msgMaskSatelliteDep_sid :: Lens' MsgMaskSatelliteDep GnssSignalDep
- msgMaskSatelliteDep_mask :: Lens' MsgMaskSatelliteDep Word8
- msgDeviceMonitor :: Word16
- data MsgDeviceMonitor = MsgDeviceMonitor {}
- msgDeviceMonitor_fe_temperature :: Lens' MsgDeviceMonitor Int16
- msgDeviceMonitor_dev_vin :: Lens' MsgDeviceMonitor Int16
- msgDeviceMonitor_cpu_vint :: Lens' MsgDeviceMonitor Int16
- msgDeviceMonitor_cpu_vaux :: Lens' MsgDeviceMonitor Int16
- msgDeviceMonitor_cpu_temperature :: Lens' MsgDeviceMonitor Int16
- msgCommandReq :: Word16
- data MsgCommandReq = MsgCommandReq {}
- msgCommandReq_sequence :: Lens' MsgCommandReq Word32
- msgCommandReq_command :: Lens' MsgCommandReq Text
- msgCommandResp :: Word16
- data MsgCommandResp = MsgCommandResp {}
- msgCommandResp_sequence :: Lens' MsgCommandResp Word32
- msgCommandResp_code :: Lens' MsgCommandResp Int32
- msgCommandOutput :: Word16
- data MsgCommandOutput = MsgCommandOutput {}
- msgCommandOutput_sequence :: Lens' MsgCommandOutput Word32
- msgCommandOutput_line :: Lens' MsgCommandOutput Text
- msgNetworkStateReq :: Word16
- data MsgNetworkStateReq = MsgNetworkStateReq
- msgNetworkStateResp :: Word16
- data MsgNetworkStateResp = MsgNetworkStateResp {
- _msgNetworkStateResp_ipv4_address :: ![Word8]
- _msgNetworkStateResp_ipv4_mask_size :: !Word8
- _msgNetworkStateResp_ipv6_address :: ![Word8]
- _msgNetworkStateResp_ipv6_mask_size :: !Word8
- _msgNetworkStateResp_rx_bytes :: !Word32
- _msgNetworkStateResp_tx_bytes :: !Word32
- _msgNetworkStateResp_interface_name :: !Text
- _msgNetworkStateResp_flags :: !Word32
- msgNetworkStateResp_tx_bytes :: Lens' MsgNetworkStateResp Word32
- msgNetworkStateResp_rx_bytes :: Lens' MsgNetworkStateResp Word32
- msgNetworkStateResp_ipv6_mask_size :: Lens' MsgNetworkStateResp Word8
- msgNetworkStateResp_ipv6_address :: Lens' MsgNetworkStateResp [Word8]
- msgNetworkStateResp_ipv4_mask_size :: Lens' MsgNetworkStateResp Word8
- msgNetworkStateResp_ipv4_address :: Lens' MsgNetworkStateResp [Word8]
- msgNetworkStateResp_interface_name :: Lens' MsgNetworkStateResp Text
- msgNetworkStateResp_flags :: Lens' MsgNetworkStateResp Word32
- data NetworkUsage = NetworkUsage {}
- networkUsage_tx_bytes :: Lens' NetworkUsage Word32
- networkUsage_total_bytes :: Lens' NetworkUsage Word64
- networkUsage_rx_bytes :: Lens' NetworkUsage Word32
- networkUsage_interface_name :: Lens' NetworkUsage Text
- networkUsage_duration :: Lens' NetworkUsage Word64
- msgNetworkBandwidthUsage :: Word16
- data MsgNetworkBandwidthUsage = MsgNetworkBandwidthUsage {}
- msgNetworkBandwidthUsage_interfaces :: Iso' MsgNetworkBandwidthUsage [NetworkUsage]
- msgCellModemStatus :: Word16
- data MsgCellModemStatus = MsgCellModemStatus {}
- msgCellModemStatus_signal_strength :: Lens' MsgCellModemStatus Int8
- msgCellModemStatus_signal_error_rate :: Lens' MsgCellModemStatus Float
- msgCellModemStatus_reserved :: Lens' MsgCellModemStatus [Word8]
- msgSpecanDep :: Word16
- data MsgSpecanDep = MsgSpecanDep {}
- msgSpecanDep_t :: Lens' MsgSpecanDep GpsTimeDep
- msgSpecanDep_freq_step :: Lens' MsgSpecanDep Float
- msgSpecanDep_freq_ref :: Lens' MsgSpecanDep Float
- msgSpecanDep_channel_tag :: Lens' MsgSpecanDep Word16
- msgSpecanDep_amplitude_value :: Lens' MsgSpecanDep [Word8]
- msgSpecanDep_amplitude_unit :: Lens' MsgSpecanDep Float
- msgSpecanDep_amplitude_ref :: Lens' MsgSpecanDep Float
- msgSpecan :: Word16
- data MsgSpecan = MsgSpecan {}
- msgSpecan_t :: Lens' MsgSpecan GpsTime
- msgSpecan_freq_step :: Lens' MsgSpecan Float
- msgSpecan_freq_ref :: Lens' MsgSpecan Float
- msgSpecan_channel_tag :: Lens' MsgSpecan Word16
- msgSpecan_amplitude_value :: Lens' MsgSpecan [Word8]
- msgSpecan_amplitude_unit :: Lens' MsgSpecan Float
- msgSpecan_amplitude_ref :: Lens' MsgSpecan Float
Documentation
msgAlmanac :: Word16 Source #
data MsgAlmanac Source #
SBP class for message MSG_ALMANAC (0x0069).
This is a legacy message for sending and loading a satellite alamanac onto the Piksi's flash memory from the host.
msgSetTime :: Word16 Source #
data MsgSetTime Source #
SBP class for message MSG_SET_TIME (0x0068).
This message sets up timing functionality using a coarse GPS time estimate sent by the host.
SBP class for message MSG_RESET (0x00B6).
This message from the host resets the Piksi back into the bootloader.
MsgReset | |
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msgResetDep :: Word16 Source #
data MsgResetDep Source #
SBP class for message MSG_RESET_DEP (0x00B2).
This message from the host resets the Piksi back into the bootloader.
data MsgCwResults Source #
SBP class for message MSG_CW_RESULTS (0x00C0).
This is an unused legacy message for result reporting from the CW interference channel on the SwiftNAP. This message will be removed in a future release.
msgCwStart :: Word16 Source #
data MsgCwStart Source #
SBP class for message MSG_CW_START (0x00C1).
This is an unused legacy message from the host for starting the CW interference channel on the SwiftNAP. This message will be removed in a future release.
data MsgResetFilters Source #
SBP class for message MSG_RESET_FILTERS (0x0022).
This message resets either the DGNSS Kalman filters or Integer Ambiguity Resolution (IAR) process.
MsgResetFilters | |
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msgInitBase :: Word16 Source #
data MsgInitBase Source #
SBP class for message MSG_INIT_BASE (0x0023).
This message initializes the integer ambiguity resolution (IAR) process on the Piksi to use an assumed baseline position between the base station and rover receivers. Warns via MSG_PRINT if there aren't a shared minimum number (4) of satellite observations between the two.
data MsgThreadState Source #
SBP class for message MSG_THREAD_STATE (0x0017).
The thread usage message from the device reports real-time operating system (RTOS) thread usage statistics for the named thread. The reported percentage values must be normalized.
MsgThreadState | |
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data UARTChannel Source #
UARTChannel.
Throughput, utilization, and error counts on the RX/TX buffers of this UART channel. The reported percentage values must be normalized.
UARTChannel | |
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Period.
Statistics on the period of observations received from the base station. As complete observation sets are received, their time of reception is compared with the prior set''s time of reception. This measurement provides a proxy for link quality as incomplete or missing sets will increase the period. Long periods can cause momentary RTK solution outages.
Period | |
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Latency.
Statistics on the latency of observations received from the base station. As observation packets are received their GPS time is compared to the current GPS time calculated locally by the receiver to give a precise measurement of the end-to-end communication latency in the system.
Latency | |
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data MsgUartState Source #
SBP class for message MSG_UART_STATE (0x001D).
The UART message reports data latency and throughput of the UART channels providing SBP I/O. On the default Piksi configuration, UARTs A and B are used for telemetry radios, but can also be host access ports for embedded hosts, or other interfaces in future. The reported percentage values must be normalized. Observations latency and period can be used to assess the health of the differential corrections link. Latency provides the timeliness of received base observations while the period indicates their likelihood of transmission.
MsgUartState | |
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data MsgUartStateDepa Source #
SBP class for message MSG_UART_STATE_DEPA (0x0018).
Deprecated
MsgUartStateDepa | |
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msgIarState :: Word16 Source #
data MsgIarState Source #
SBP class for message MSG_IAR_STATE (0x0019).
This message reports the state of the Integer Ambiguity Resolution (IAR) process, which resolves unknown integer ambiguities from double-differenced carrier-phase measurements from satellite observations.
MsgIarState | |
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data MsgMaskSatellite Source #
SBP class for message MSG_MASK_SATELLITE (0x002B).
This message allows setting a mask to prevent a particular satellite from being used in various Piksi subsystems.
MsgMaskSatellite | |
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data MsgMaskSatelliteDep Source #
SBP class for message MSG_MASK_SATELLITE_DEP (0x001B).
Deprecated.
MsgMaskSatelliteDep | |
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data MsgDeviceMonitor Source #
SBP class for message MSG_DEVICE_MONITOR (0x00B5).
This message contains temperature and voltage level measurements from the processor's monitoring system and the RF frontend die temperature if available.
MsgDeviceMonitor | |
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data MsgCommandReq Source #
SBP class for message MSG_COMMAND_REQ (0x00B8).
Request the recipient to execute an command. Output will be sent in MSG_LOG messages, and the exit code will be returned with MSG_COMMAND_RESP.
MsgCommandReq | |
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data MsgCommandResp Source #
SBP class for message MSG_COMMAND_RESP (0x00B9).
The response to MSG_COMMAND_REQ with the return code of the command. A return code of zero indicates success.
MsgCommandResp | |
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data MsgCommandOutput Source #
SBP class for message MSG_COMMAND_OUTPUT (0x00BC).
Returns the standard output and standard error of the command requested by MSG_COMMAND_REQ. The sequence number can be used to filter for filtering the correct command.
MsgCommandOutput | |
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data MsgNetworkStateReq Source #
SBP class for message MSG_NETWORK_STATE_REQ (0x00BA).
Request state of Piksi network interfaces. Output will be sent in MSG_NETWORK_STATE_RESP messages
data MsgNetworkStateResp Source #
SBP class for message MSG_NETWORK_STATE_RESP (0x00BB).
The state of a network interface on the Piksi. Data is made to reflect output of ifaddrs struct returned by getifaddrs in c.
MsgNetworkStateResp | |
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data NetworkUsage Source #
NetworkUsage.
The bandwidth usage for each interface can be reported within this struct and utilize multiple fields to fully specify the type of traffic that is being tracked. As either the interval of collection or the collection time may vary, both a timestamp and period field is provided, though may not necessarily be populated with a value.
NetworkUsage | |
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data MsgNetworkBandwidthUsage Source #
SBP class for message MSG_NETWORK_BANDWIDTH_USAGE (0x00BD).
The bandwidth usage, a list of usage by interface.
MsgNetworkBandwidthUsage | |
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data MsgCellModemStatus Source #
SBP class for message MSG_CELL_MODEM_STATUS (0x00BE).
If a cell modem is present on a piksi device, this message will be send periodically to update the host on the status of the modem and its various parameters.
MsgCellModemStatus | |
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data MsgSpecanDep Source #
SBP class for message MSG_SPECAN_DEP (0x0050).
Deprecated.
MsgSpecanDep | |
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SBP class for message MSG_SPECAN (0x0051).
Spectrum analyzer packet.
MsgSpecan | |
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