/*
 * GNSS.h
 *
 *  Created on: 03.10.2020
 *      Author: SimpleMethod
 *
 *Copyright 2020 SimpleMethod
 *
 *Permission is hereby granted, free of charge, to any person obtaining a copy of
 *this software and associated documentation files (the "Software"), to deal in
 *the Software without restriction, including without limitation the rights to
 *use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
 *of the Software, and to permit persons to whom the Software is furnished to do
 *so, subject to the following conditions:
 *
 *The above copyright notice and this permission notice shall be included in all
 *copies or substantial portions of the Software.
 *
 *THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 *IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 *FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 *AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 *LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 *OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 *THE SOFTWARE.
 ******************************************************************************
 */

#ifndef INC_GNSS_H_
#define INC_GNSS_H_

#include "stm32f4xx_hal.h"

union u_Short
{
	uint8_t bytes[2];
	unsigned short uShort;
};

union i_Short
{
	uint8_t bytes[2];
	signed short iShort;
};

union u_Long
{
	uint8_t bytes[4];
	unsigned long uLong;
};

union i_Long
{
	uint8_t bytes[4];
	signed long iLong;
};

typedef struct
{
	UART_HandleTypeDef *huart;

	uint8_t uniqueID[4];
	uint8_t uartWorkingBuffer[255];

	unsigned short year;
	uint8_t yearBytes[2];
	uint8_t month;
	uint8_t day;
	uint8_t hour;
	uint8_t min;
	uint8_t sec;
	uint8_t fixType;

	signed long lon;
	uint8_t lonBytes[4];
	signed long lat;
	uint8_t latBytes[4];
	float fLon;
	float fLat;

	signed long height;
	signed long hMSL;
	uint8_t hMSLBytes[4];
	unsigned long hAcc;
	unsigned long vAcc;

	signed long gSpeed;
	uint8_t gSpeedBytes[4];
	signed long headMot;

	uint8_t numSat;
	uint8_t statSat[4];

	uint8_t alive;

	float last_fLon;	/* last known position storage and time stamp */
	float last_fLat;
	float last_hour;

}GNSS_StateHandle;

GNSS_StateHandle GNSS_Handle;

typedef struct {
	uint8_t header1;
	uint8_t header2;
    uint8_t msgClass;
    uint8_t msgID;
    uint16_t length;
    uint8_t type;
    uint8_t version;
    uint8_t ref;
    uint8_t leapsec;
    uint16_t year;
    uint8_t month;
    uint8_t day;
    uint8_t hour;
    uint8_t minute;
    uint8_t second;
    uint8_t flags;
    uint32_t nanoseconds;
    uint16_t accuracy_seconds;
    uint16_t reserved;
    uint32_t accuracy_nano;
}  __attribute__((packed)) UBX_MGA_INI_TIME_UTC_t;

typedef struct {
    uint8_t header1;
    uint8_t header2;
    uint8_t class_id;
    uint8_t msg_id;
    uint16_t length;
    uint8_t type;
    uint8_t version;
    uint16_t reserved;
    int32_t latitude;
    int32_t longitude;
    int32_t altitude;
    uint32_t accuracy;
} __attribute__((packed)) UBX_MGA_INI_POS_LLH_t;


enum GNSSMode{Portable=0, Stationary=1, Pedestrian=2, Automotiv=3, Airbone1G=5, Airbone2G=6,Airbone4G=7,Wirst=8,Bike=9};

static const uint8_t configUBX[]={0xB5,0x62,0x06,0x00,0x14,0x00,0x01,0x00,0x00,0x00,0xD0,0x08,0x00,0x00,0x80,0x25,0x00,0x00,0x01,0x00,0x01,0x00,0x00,0x00,0x00,0x00};

static const uint8_t setNMEA410[]={0xB5,0x62,0x06,0x17,0x14,0x00,0x00,0x41,0x00,0x02,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};

//Activation of navigation system: Galileo, Glonass, GPS, SBAS, IMES
static const uint8_t setGNSS[]={0xB5,0x62,0x06,0x3E,0x24,0x00,0x00,0x00,0x20,0x04,0x00,0x08,0x10,0x00,0x01,0x00,0x01,0x01,0x01,0x01,0x03,0x00,0x01,0x00,0x01,0x01,0x02,0x04,0x08,0x00,0x01,0x00,0x01,0x01,0x06,0x08,0x0E,0x00,0x01,0x00,0x01,0x01};

static const uint8_t getDeviceID[]={0xB5,0x62,0x27,0x03,0x00,0x00};

static const uint8_t getNavigatorData[]={0xB5,0x62,0x01,0x21,0x00,0x00};

static const uint8_t getPOSLLHData[]={0xB5,0x62,0x01,0x02,0x00,0x00};

static const uint8_t getPVTData[]={0xB5,0x62,0x01,0x07,0x00,0x00};

static const uint8_t getNavSat[]={0xB5,0x62,0x01,0x35,0x00,0x00};

static const uint8_t setPowerLow[]={0xB5,0x62,0x06,0x86,0x08,0x00,0x00,0x02,0x10,0x0E,0x14,0x00,0x00,0x00};

static const uint8_t setPowerNormal[]={0xB5,0x62,0x06,0x86,0x08,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};

/* UBX-CFG-NAV5 */
static const uint8_t setPortableMode[]={0xB5,0x62,0x06,0x24,0x24,0x00,0xFF,0xFF,0x00,0x03,0x00,0x00,0x00,0x00,0x10,0x27,0x00,0x00,0x05,0x00,0xFA,0x00,0xFA,0x00,0x64,0x00,0x5E,0x01,0x00,0x3C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
static const uint8_t setPedestrianMode[]={0xB5,0x62,0x06,0x24,0x24,0x00,0xFF,0xFF,0x03,0x03,0x00,0x00,0x00,0x00,0x10,0x27,0x00,0x00,0x05,0x00,0xFA,0x00,0xFA,0x00,0x64,0x00,0x5E,0x01,0x00,0x3C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};

static const uint8_t setConfig[]={0xB5,0x62,0x06,0x09,0x0D,0x00, 0x00,0x00,0x00,0x00, 0x18,0x00,0x00,0x00, 0x00,0x00,0x00,0x00, 0x01};
/* UBX-MGA-INI-TIME_UTC */
static const uint8_t setDateTime[] = {0xB5,0x62,0x13,0x40,0x18,0x00,0x10,0x00,0x00,0x80,0x07,0xE9,0x01,0x02,0x03,0x04,0x05,0x00,0x01,0x02,0x03,0x04,0x00,0x3C,0x00,0x00,0x00,0x00,0x00,0x00};

static const uint8_t setPortableType[]={};
void GNSS_Init(GNSS_StateHandle *GNSS, UART_HandleTypeDef *huart);
void GNSS_LoadConfig(GNSS_StateHandle *GNSS);
uint8_t GNSS_ParseBuffer(GNSS_StateHandle *GNSS);

void GNSS_GetUniqID(GNSS_StateHandle *GNSS);
void GNSS_ParseUniqID(GNSS_StateHandle *GNSS);

void GNSS_GetNavigatorData(GNSS_StateHandle *GNSS);
void GNSS_ParseNavigatorData(GNSS_StateHandle *GNSS);
void GNSS_ParseNavSatData(GNSS_StateHandle *GNSS);

void GNSS_GetPOSLLHData(GNSS_StateHandle *GNSS);
void GNSS_ParsePOSLLHData(GNSS_StateHandle *GNSS);

void GNSS_GetPVTData(GNSS_StateHandle *GNSS);
void GNSS_ParsePVTData(GNSS_StateHandle *GNSS);

void GNSS_SetMode(GNSS_StateHandle *GNSS, short gnssMode);
#endif /* INC_GNSS_H_ */