tracking.h

/*
 * Copyright (C) 2015-2018 Swift Navigation Inc.
 * Contact: Swift Navigation <dev@swiftnav.com>
 *
 * This source is subject to the license found in the file 'LICENSE' which must
 * be be distributed together with this source. All other rights reserved.
 *
 * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
 * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 */

/*****************************************************************************
 * Automatically generated from yaml/swiftnav/sbp/tracking.yaml
 * with generate.py. Please do not hand edit!
 *****************************************************************************/

/** \defgroup tracking Tracking
 *
 *  * Satellite code and carrier-phase tracking messages from the device.
 * \{ */

#ifndef LIBSBP_TRACKING_MESSAGES_H
#define LIBSBP_TRACKING_MESSAGES_H

#include "common.h"
#include "gnss.h"

/** Detailed signal tracking channel states. DEPRECATED.
 *
 * The tracking message returns a set tracking channel parameters for a
 * single tracking channel useful for debugging issues.
 */
#define SBP_MSG_TRACKING_STATE_DETAILED_DEP_A 0x0021

typedef struct {
        u64 recv_time; /**< Receiver clock time. [ns] */
        sbp_gps_time_t
            tot; /**< Time of transmission of signal from satellite. TOW only valid when
TOW status is decoded or propagated. WN only valid when week
number valid flag is set.
*/
        u32 P; /**< Pseudorange observation. Valid only when pseudorange valid flag is
  set.
   [2 cm] */
        u16 P_std; /**< Pseudorange observation standard deviation. Valid only when
  pseudorange valid flag is set.
   [2 cm] */
        carrier_phase_t
            L; /**< Carrier phase observation with typical sign convention. Valid only
when PLL pessimistic lock is achieved.
[cycles] */
        u8 cn0; /**< Carrier-to-Noise density [dB Hz / 4] */
        u16 lock; /**< Lock time. It is encoded according to DF402 from the RTCM 10403.2
  Amendment 2 specification. Valid values range from 0 to 15.
   */
        sbp_gnss_signal_t sid; /**< GNSS signal identifier. */
        s32 doppler; /**< Carrier Doppler frequency. [Hz / 16] */
        u16 doppler_std; /**< Carrier Doppler frequency standard deviation. [Hz / 16] */
        u32 uptime; /**< Number of seconds of continuous tracking. Specifies how much time
  signal is in continuous track.
   [s] */
        s16 clock_offset; /**< TCXO clock offset. Valid only when valid clock valid flag is set.
   [s / (2 ^ 20)] */
        s16 clock_drift; /**< TCXO clock drift. Valid only when valid clock valid flag is set.
   [(s / s) / (2 ^ 31)] */
        u16 corr_spacing; /**< Early-Prompt (EP) and Prompt-Late (PL) correlators spacing. [ns] */
        s8 acceleration; /**< Acceleration. Valid only when acceleration valid flag is set. [g / 8] */
        u8 sync_flags; /**< Synchronization status flags. */
        u8 tow_flags; /**< TOW status flags. */
        u8 track_flags; /**< Tracking loop status flags. */
        u8 nav_flags; /**< Navigation data status flags. */
        u8 pset_flags; /**< Parameters sets flags. */
        u8 misc_flags; /**< Miscellaneous flags. */
} msg_tracking_state_detailed_dep_a_t;

/** Deprecated
 *
 * Deprecated.
 */
#define SBP_MSG_TRACKING_STATE_DETAILED_DEP 0x0011

typedef struct {
        u64 recv_time; /**< Receiver clock time. [ns] */
        gps_time_dep_t
            tot; /**< Time of transmission of signal from satellite. TOW only valid when
TOW status is decoded or propagated. WN only valid when week
number valid flag is set.
*/
        u32 P; /**< Pseudorange observation. Valid only when pseudorange valid flag is
  set.
   [2 cm] */
        u16 P_std; /**< Pseudorange observation standard deviation. Valid only when
  pseudorange valid flag is set.
   [2 cm] */
        carrier_phase_t
            L; /**< Carrier phase observation with typical sign convention. Valid only
when PLL pessimistic lock is achieved.
[cycles] */
        u8 cn0; /**< Carrier-to-Noise density [dB Hz / 4] */
        u16 lock; /**< Lock time. It is encoded according to DF402 from the RTCM 10403.2
  Amendment 2 specification. Valid values range from 0 to 15.
   */
        gnss_signal_dep_t sid; /**< GNSS signal identifier. */
        s32 doppler; /**< Carrier Doppler frequency. [Hz / 16] */
        u16 doppler_std; /**< Carrier Doppler frequency standard deviation. [Hz / 16] */
        u32 uptime; /**< Number of seconds of continuous tracking. Specifies how much time
  signal is in continuous track.
   [s] */
        s16 clock_offset; /**< TCXO clock offset. Valid only when valid clock valid flag is set.
   [s / (2 ^ 20)] */
        s16 clock_drift; /**< TCXO clock drift. Valid only when valid clock valid flag is set.
   [(s / s) / (2 ^ 31)] */
        u16 corr_spacing; /**< Early-Prompt (EP) and Prompt-Late (PL) correlators spacing. [ns] */
        s8 acceleration; /**< Acceleration. Valid only when acceleration valid flag is set. [g / 8] */
        u8 sync_flags; /**< Synchronization status flags. */
        u8 tow_flags; /**< TOW status flags. */
        u8 track_flags; /**< Tracking loop status flags. */
        u8 nav_flags; /**< Navigation data status flags. */
        u8 pset_flags; /**< Parameters sets flags. */
        u8 misc_flags; /**< Miscellaneous flags. */
} msg_tracking_state_detailed_dep_t;

/** Signal tracking channel state
 *
 * Tracking channel state for a specific satellite signal and
 * measured signal power.
 */
typedef struct {
        sbp_gnss_signal_t sid; /**< GNSS signal being tracked */
        u8 fcn; /**< Frequency channel number (GLONASS only) */
        u8 cn0; /**< Carrier-to-Noise density.  Zero implies invalid cn0. [dB Hz / 4] */
} tracking_channel_state_t;

/** Signal tracking channel states
 *
 * The tracking message returns a variable-length array of tracking
 * channel states. It reports status and carrier-to-noise density
 * measurements for all tracked satellites.
 */
#define SBP_MSG_TRACKING_STATE 0x0041

typedef struct {
        tracking_channel_state_t
            states[0]; /**< Signal tracking channel state */
} msg_tracking_state_t;

/** Complex correlation structure
 *
 * Structure containing in-phase and quadrature correlation components.
 */
typedef struct {
        s32 I; /**< In-phase correlation */
        s32 Q; /**< Quadrature correlation */
} tracking_channel_correlation_t;

/** Tracking channel correlations
 *
 * When enabled, a tracking channel can output the correlations at each
 * update interval.
 */
#define SBP_MSG_TRACKING_IQ 0x002C

typedef struct {
        u8 channel; /**< Tracking channel of origin */
        sbp_gnss_signal_t sid; /**< GNSS signal identifier */
        tracking_channel_correlation_t
            corrs[3]; /**< Early, Prompt and Late correlations */
} msg_tracking_iq_t;

/** Deprecated
 *
 * Deprecated.
 */
#define SBP_MSG_TRACKING_IQ_DEP 0x001C

typedef struct {
        u8 channel; /**< Tracking channel of origin */
        gnss_signal_dep_t sid; /**< GNSS signal identifier */
        tracking_channel_correlation_t
            corrs[3]; /**< Early, Prompt and Late correlations */
} msg_tracking_iq_dep_t;

/** Deprecated
 *
 * Deprecated.
 */
typedef struct {
        u8 state; /**< Status of tracking channel */
        u8 prn; /**< PRN-1 being tracked */
        float cn0; /**< Carrier-to-noise density [dB Hz] */
} tracking_channel_state_dep_a_t;

/** Deprecated
 *
 * Deprecated.
 */
#define SBP_MSG_TRACKING_STATE_DEP_A 0x0016

typedef struct {
        tracking_channel_state_dep_a_t
            states[0]; /**< Satellite tracking channel state */
} msg_tracking_state_dep_a_t;

/** Deprecated.
 *
 * Deprecated.
 */
typedef struct {
        u8 state; /**< Status of tracking channel */
        gnss_signal_dep_t sid; /**< GNSS signal being tracked */
        float cn0; /**< Carrier-to-noise density [dB Hz] */
} tracking_channel_state_dep_b_t;

/** Deprecated.
 *
 * Deprecated.
 */
#define SBP_MSG_TRACKING_STATE_DEP_B 0x0013

typedef struct {
        tracking_channel_state_dep_b_t
            states[0]; /**< Signal tracking channel state */
} msg_tracking_state_dep_b_t;

/** \} */

#endif /* LIBSBP_TRACKING_MESSAGES_H */