{-# OPTIONS_GHC -fno-warn-unused-imports #-} -- | -- Module: SwiftNav.SBP.Tracking -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. -- License: LGPL-3 -- Maintainer: Mark Fine -- Stability: experimental -- Portability: portable -- -- Satellite code and carrier-phase tracking messages from the device. module SwiftNav.SBP.Tracking where import BasicPrelude as P import Control.Lens import Control.Monad.Loops import Data.Aeson.TH (defaultOptions, deriveJSON, fieldLabelModifier) import Data.Binary import Data.Binary.Get import Data.Binary.IEEE754 import Data.Binary.Put import Data.ByteString import Data.ByteString.Lazy hiding (ByteString) import Data.Int import Data.Word import SwiftNav.SBP.Encoding import SwiftNav.SBP.TH import SwiftNav.SBP.Types import SwiftNav.SBP.Gnss msgTrackingStateDetailed :: Word16 msgTrackingStateDetailed = 0x0011 -- | SBP class for message MSG_TRACKING_STATE_DETAILED (0x0011). -- -- The tracking message returns a set tracking channel parameters for a single -- tracking channel useful for debugging issues. data MsgTrackingStateDetailed = MsgTrackingStateDetailed { _msgTrackingStateDetailed_recv_time :: Word64 -- ^ Receiver clock time. , _msgTrackingStateDetailed_tot :: GpsTime -- ^ 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. , _msgTrackingStateDetailed_P :: Word32 -- ^ Pseudorange observation. Valid only when pseudorange valid flag is set. , _msgTrackingStateDetailed_P_std :: Word16 -- ^ Pseudorange observation standard deviation. Valid only when pseudorange -- valid flag is set. , _msgTrackingStateDetailed_L :: CarrierPhase -- ^ Carrier phase observation with typical sign convention. Valid only when -- PLL pessimistic lock is achieved. , _msgTrackingStateDetailed_cn0 :: Word8 -- ^ Carrier-to-Noise density , _msgTrackingStateDetailed_lock :: Word16 -- ^ Lock time. It is encoded according to DF402 from the RTCM 10403.2 -- Amendment 2 specification. Valid values range from 0 to 15. , _msgTrackingStateDetailed_sid :: GnssSignal -- ^ GNSS signal identifier. , _msgTrackingStateDetailed_doppler :: Int32 -- ^ Carrier Doppler frequency. , _msgTrackingStateDetailed_doppler_std :: Word16 -- ^ Carrier Doppler frequency standard deviation. , _msgTrackingStateDetailed_uptime :: Word32 -- ^ Number of seconds of continuous tracking. Specifies how much time signal -- is in continuous track. , _msgTrackingStateDetailed_clock_offset :: Int16 -- ^ TCXO clock offset. Valid only when valid clock valid flag is set. , _msgTrackingStateDetailed_clock_drift :: Int16 -- ^ TCXO clock drift. Valid only when valid clock valid flag is set. , _msgTrackingStateDetailed_corr_spacing :: Word16 -- ^ Early-Prompt (EP) and Prompt-Late (PL) correlators spacing. , _msgTrackingStateDetailed_acceleration :: Int8 -- ^ Acceleration. Valid only when acceleration valid flag is set. , _msgTrackingStateDetailed_sync_flags :: Word8 -- ^ Synchronization status flags. , _msgTrackingStateDetailed_tow_flags :: Word8 -- ^ TOW status flags. , _msgTrackingStateDetailed_track_flags :: Word8 -- ^ Tracking loop status flags. , _msgTrackingStateDetailed_nav_flags :: Word8 -- ^ Navigation data status flags. , _msgTrackingStateDetailed_pset_flags :: Word8 -- ^ Parameters sets flags. , _msgTrackingStateDetailed_misc_flags :: Word8 -- ^ Miscellaneous flags. } deriving ( Show, Read, Eq ) instance Binary MsgTrackingStateDetailed where get = do _msgTrackingStateDetailed_recv_time <- getWord64le _msgTrackingStateDetailed_tot <- get _msgTrackingStateDetailed_P <- getWord32le _msgTrackingStateDetailed_P_std <- getWord16le _msgTrackingStateDetailed_L <- get _msgTrackingStateDetailed_cn0 <- getWord8 _msgTrackingStateDetailed_lock <- getWord16le _msgTrackingStateDetailed_sid <- get _msgTrackingStateDetailed_doppler <- fromIntegral <$> getWord32le _msgTrackingStateDetailed_doppler_std <- getWord16le _msgTrackingStateDetailed_uptime <- getWord32le _msgTrackingStateDetailed_clock_offset <- fromIntegral <$> getWord16le _msgTrackingStateDetailed_clock_drift <- fromIntegral <$> getWord16le _msgTrackingStateDetailed_corr_spacing <- getWord16le _msgTrackingStateDetailed_acceleration <- fromIntegral <$> getWord8 _msgTrackingStateDetailed_sync_flags <- getWord8 _msgTrackingStateDetailed_tow_flags <- getWord8 _msgTrackingStateDetailed_track_flags <- getWord8 _msgTrackingStateDetailed_nav_flags <- getWord8 _msgTrackingStateDetailed_pset_flags <- getWord8 _msgTrackingStateDetailed_misc_flags <- getWord8 return MsgTrackingStateDetailed {..} put MsgTrackingStateDetailed {..} = do putWord64le _msgTrackingStateDetailed_recv_time put _msgTrackingStateDetailed_tot putWord32le _msgTrackingStateDetailed_P putWord16le _msgTrackingStateDetailed_P_std put _msgTrackingStateDetailed_L putWord8 _msgTrackingStateDetailed_cn0 putWord16le _msgTrackingStateDetailed_lock put _msgTrackingStateDetailed_sid putWord32le $ fromIntegral _msgTrackingStateDetailed_doppler putWord16le _msgTrackingStateDetailed_doppler_std putWord32le _msgTrackingStateDetailed_uptime putWord16le $ fromIntegral _msgTrackingStateDetailed_clock_offset putWord16le $ fromIntegral _msgTrackingStateDetailed_clock_drift putWord16le _msgTrackingStateDetailed_corr_spacing putWord8 $ fromIntegral _msgTrackingStateDetailed_acceleration putWord8 _msgTrackingStateDetailed_sync_flags putWord8 _msgTrackingStateDetailed_tow_flags putWord8 _msgTrackingStateDetailed_track_flags putWord8 _msgTrackingStateDetailed_nav_flags putWord8 _msgTrackingStateDetailed_pset_flags putWord8 _msgTrackingStateDetailed_misc_flags $(deriveSBP 'msgTrackingStateDetailed ''MsgTrackingStateDetailed) $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgTrackingStateDetailed_" . P.stripPrefix "_msgTrackingStateDetailed_"} ''MsgTrackingStateDetailed) $(makeLenses ''MsgTrackingStateDetailed) -- | TrackingChannelState. -- -- Tracking channel state for a specific satellite signal and measured signal -- power. data TrackingChannelState = TrackingChannelState { _trackingChannelState_state :: Word8 -- ^ Status of tracking channel , _trackingChannelState_sid :: GnssSignal -- ^ GNSS signal being tracked , _trackingChannelState_cn0 :: Float -- ^ Carrier-to-noise density } deriving ( Show, Read, Eq ) instance Binary TrackingChannelState where get = do _trackingChannelState_state <- getWord8 _trackingChannelState_sid <- get _trackingChannelState_cn0 <- getFloat32le return TrackingChannelState {..} put TrackingChannelState {..} = do putWord8 _trackingChannelState_state put _trackingChannelState_sid putFloat32le _trackingChannelState_cn0 $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_trackingChannelState_" . P.stripPrefix "_trackingChannelState_"} ''TrackingChannelState) $(makeLenses ''TrackingChannelState) msgTrackingState :: Word16 msgTrackingState = 0x0013 -- | SBP class for message MSG_TRACKING_STATE (0x0013). -- -- The tracking message returns a variable-length array of tracking channel -- states. It reports status and carrier-to-noise density measurements for all -- tracked satellites. data MsgTrackingState = MsgTrackingState { _msgTrackingState_states :: [TrackingChannelState] -- ^ Signal tracking channel state } deriving ( Show, Read, Eq ) instance Binary MsgTrackingState where get = do _msgTrackingState_states <- whileM (not <$> isEmpty) get return MsgTrackingState {..} put MsgTrackingState {..} = do mapM_ put _msgTrackingState_states $(deriveSBP 'msgTrackingState ''MsgTrackingState) $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgTrackingState_" . P.stripPrefix "_msgTrackingState_"} ''MsgTrackingState) $(makeLenses ''MsgTrackingState) -- | TrackingChannelCorrelation. -- -- Structure containing in-phase and quadrature correlation components. data TrackingChannelCorrelation = TrackingChannelCorrelation { _trackingChannelCorrelation_I :: Int32 -- ^ In-phase correlation , _trackingChannelCorrelation_Q :: Int32 -- ^ Quadrature correlation } deriving ( Show, Read, Eq ) instance Binary TrackingChannelCorrelation where get = do _trackingChannelCorrelation_I <- fromIntegral <$> getWord32le _trackingChannelCorrelation_Q <- fromIntegral <$> getWord32le return TrackingChannelCorrelation {..} put TrackingChannelCorrelation {..} = do putWord32le $ fromIntegral _trackingChannelCorrelation_I putWord32le $ fromIntegral _trackingChannelCorrelation_Q $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_trackingChannelCorrelation_" . P.stripPrefix "_trackingChannelCorrelation_"} ''TrackingChannelCorrelation) $(makeLenses ''TrackingChannelCorrelation) msgTrackingIq :: Word16 msgTrackingIq = 0x001C -- | SBP class for message MSG_TRACKING_IQ (0x001C). -- -- When enabled, a tracking channel can output the correlations at each update -- interval. data MsgTrackingIq = MsgTrackingIq { _msgTrackingIq_channel :: Word8 -- ^ Tracking channel of origin , _msgTrackingIq_sid :: GnssSignal -- ^ GNSS signal identifier , _msgTrackingIq_corrs :: [TrackingChannelCorrelation] -- ^ Early, Prompt and Late correlations } deriving ( Show, Read, Eq ) instance Binary MsgTrackingIq where get = do _msgTrackingIq_channel <- getWord8 _msgTrackingIq_sid <- get _msgTrackingIq_corrs <- replicateM 3 get return MsgTrackingIq {..} put MsgTrackingIq {..} = do putWord8 _msgTrackingIq_channel put _msgTrackingIq_sid mapM_ put _msgTrackingIq_corrs $(deriveSBP 'msgTrackingIq ''MsgTrackingIq) $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgTrackingIq_" . P.stripPrefix "_msgTrackingIq_"} ''MsgTrackingIq) $(makeLenses ''MsgTrackingIq) -- | TrackingChannelStateDepA. -- -- Deprecated. data TrackingChannelStateDepA = TrackingChannelStateDepA { _trackingChannelStateDepA_state :: Word8 -- ^ Status of tracking channel , _trackingChannelStateDepA_prn :: Word8 -- ^ PRN-1 being tracked , _trackingChannelStateDepA_cn0 :: Float -- ^ Carrier-to-noise density } deriving ( Show, Read, Eq ) instance Binary TrackingChannelStateDepA where get = do _trackingChannelStateDepA_state <- getWord8 _trackingChannelStateDepA_prn <- getWord8 _trackingChannelStateDepA_cn0 <- getFloat32le return TrackingChannelStateDepA {..} put TrackingChannelStateDepA {..} = do putWord8 _trackingChannelStateDepA_state putWord8 _trackingChannelStateDepA_prn putFloat32le _trackingChannelStateDepA_cn0 $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_trackingChannelStateDepA_" . P.stripPrefix "_trackingChannelStateDepA_"} ''TrackingChannelStateDepA) $(makeLenses ''TrackingChannelStateDepA) msgTrackingStateDepA :: Word16 msgTrackingStateDepA = 0x0016 -- | SBP class for message MSG_TRACKING_STATE_DEP_A (0x0016). -- -- Deprecated. data MsgTrackingStateDepA = MsgTrackingStateDepA { _msgTrackingStateDepA_states :: [TrackingChannelStateDepA] -- ^ Satellite tracking channel state } deriving ( Show, Read, Eq ) instance Binary MsgTrackingStateDepA where get = do _msgTrackingStateDepA_states <- whileM (not <$> isEmpty) get return MsgTrackingStateDepA {..} put MsgTrackingStateDepA {..} = do mapM_ put _msgTrackingStateDepA_states $(deriveSBP 'msgTrackingStateDepA ''MsgTrackingStateDepA) $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgTrackingStateDepA_" . P.stripPrefix "_msgTrackingStateDepA_"} ''MsgTrackingStateDepA) $(makeLenses ''MsgTrackingStateDepA)