/*
 * neo_m8_ubx_structs.h
 *
 *  Created on: Jul 17, 2018
 *      Author: alexis
 */

#ifndef NEO_M8_UBX_STRUCTS_H_
#define NEO_M8_UBX_STRUCTS_H_

#include <stdint.h>
#include <stdbool.h>

/* See the page 309 of UBX-13003221 - R15 for details */
typedef enum
{
	PSM_NOT_ACTIVE = 0,
	PSM_ENABLED = 1,
	PSM_ACQUISITION = 2,
	PSM_TRACKING = 3,
	PSM_OPT_TRACKING = 4,
	PSM_INACTIVE = 5
} ubx_power_save_mode;

/* See the page 309 of UBX-13003221 - R15 for details */
typedef enum
{
	NO_CARRIER_PHASE_RANGE_SOLUTION = 0,
	FLOAT_SOLUTION = 1,
	FIXED_SOLUTION = 2
} ubx_carrier_phase_range;

/* See the page 307 of UBX-13003221 - R15 for the units and scalings */
typedef struct
{
	unsigned long iTOW;				/*(ms) GPS time of week of the navigation epoch. */
	unsigned short year;			/* Year (UTC) */
	unsigned char month;			/* Month, range 1..12 (UTC) */
	unsigned char day;				/* Day of month, range 1..31 (UTC) */
	unsigned char hour;				/* Hour of day, range 0..23 (UTC) */
	unsigned char min;				/* Minute of hour, range 0..59 (UTC) */
	unsigned char sec;				/* Seconds of minute, range 0..60 (UTC) */
	unsigned char valid;			/* Validity flags */
	unsigned long tAcc;				/* GPS time of week of the navigation epoch. */
	signed long nano;				/* Fraction of second, range -1e9 .. 1e9 (UTC) */
	unsigned char fixType;			/* GNSSfix Type: 0: no fix ; 1: dead reckoning only 2: 2D-fix
												 3: 3D-fix   4: GNSS + dead reckoning combined
												 5: time only fix */
	unsigned char flags;			/* Fix status flags (see graphic below) */
	unsigned char flags2;			/* Additional flags (see graphic below) */
	unsigned char numSV;			/* Number of satellites used in Nav Solution */
	signed long lon;				/* Longitude */
	signed long lat;				/* Latitude (deg) */
	signed long height;				/* Height above ellipsoid */
	signed long hMSL;				/* Height above mean sea level */
	signed long hAcc;				/* Horizontal accuracy estimate */
	unsigned long vAcc;				/* Vertical accuracy estimate */
	signed long velN;				/* NED north velocity */
	signed long velE;				/* NED east velocity */
	signed long velD;				/* NED down velocity */
	signed long gSpeed;				/* Ground Speed (2-D) */
	signed long headMot;			/* Heading of motion (2-D) */
	unsigned long sAcc;				/* Speed accuracy estimate */
	unsigned long headAcc;			/* Heading accuracy estimate (both motion and vehicle) */
	unsigned short pDOP;			/* Position DOP */
	/*  unsigned char	reserved;*/ /* Byte offset 78 is reserved, this is only here to indicate it */
	signed long headVeh;			/* Heading of vehicle (2-D) */
	signed short magDec;			/* Magnetic declination */
	unsigned short magAcc;			/* Magnetic declination accuracy */

	/* Bitfield valid */
	bool validDate;		/* 1 = valid UTC Date (see Time Validity section for details) */
	bool validTime;		/* 1 = valid UTC Time of Day (see Time Validity section for details) */
	bool fullyResolved; /* 1 = UTC Time of Day has been fully resolved (no seconds uncertainty) */
	bool validMag;		/* 1 = valid Magnetic declination */

	/*	Bitfield flags */
	bool gnssFixOK;					  /* 1 = valid fix (i.e within DOP & accuracy masks) */
	bool diffSoln;					  /* 1 = differential corrections were applied */
	bool headVehValid;				  /* 1 = heading of vehicle is valid */
	ubx_power_save_mode psmState;	  /* Power Save Mode state (see Power Management) */
	ubx_carrier_phase_range carrSoln; /* Carrier phase range solution status */

	/* Bitfield flags2 */
	bool confirmedAvai; /* 1 = information about UTC Date and Time of Day validity confirmation is available */
	bool confirmedDate; /* 1 = UTC Date validity could be confirmed (see Time Validity section for details) */
	bool confirmedTime; /* 1 = UTC Time of Day could be confirmed (see Time Validity section for details) */

} ubx_nav_pvt_msg_t;

/* See the page 296 of UBX-13003221 - R15 for the units and scalings */
typedef struct
{
	unsigned long iTOW;	   /*(ms) GPS time of week of the navigation epoch. */
	unsigned char version; /* Message version (0 for this version) */
	/* unsigned char reserved1[3]; */

	signed long roll;	 /* Vehicle roll. */
	signed long pitch;	 /* Vehicle pitch */
	signed long heading; /* Vehicle heading */

	unsigned long accRoll;	  /* Vehicle roll accuracy */
	unsigned long accPitch;	  /* Vehicle pitch accuracy */
	unsigned long accHeading; /* Vehicle heading accuracy */

} ubx_nav_att_msg_t;

/* See the page 298 and 299 of UBX-13003221 - R15 for the units and scalings */
/* Description Dilution of precision */
/* Comment:
 * 	• DOP values are dimensionless.
 *  • All DOP values are scaled by a factor of 100. If the unit transmits a value of e.g. 156, the
		DOP value is 1.56
 */
typedef struct
{
	unsigned long iTOW;	 /*(ms) GPS time of week of the navigation epoch. */
	unsigned short gDOP; /* Geometric DOP */
	unsigned short pDOP; /* Position DOP */
	unsigned short tDOP; /* Time DOP */
	unsigned short vDOP; /* Vertical DOP */
	unsigned short hDOP; /* Horizontal DOP */
	unsigned short nDOP; /* Northing DOP */
	unsigned short eDOP; /* Easting DOP */
} ubx_nav_dop_msg_t;

/* NAV-ODO: Odometer Solution */
/* See the page 302 of UBX-13003221 - R15 for the units and scalings */
/* Comment:
 * 	This message outputs the traveled distance since last reset (see NAV-RESETODO) together
 *  with an associated estimated accuracy and the total cumulated ground distance (can only
 *  be reset by a cold start of the receiver).
 */
typedef struct
{
	unsigned char version;		 /* Message version (0 for this version) */
								 /* unsigned char reserved1[3]; */
	unsigned long iTOW;			 /*(ms) GPS time of week of the navigation epoch. */
	unsigned long distance;		 /* Ground distance since last reset */
	unsigned long totalDistance; /* Total cumulative ground distance */
	unsigned long distanceStd;	 /* Ground distance accuracy (1-sigma) */

} ubx_nav_odo_msg_t;

#endif /* NEO_M8_UBX_STRUCTS_H_ */