gpstype.h

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/* 
 * File:   gpstype.h
 * Author: tbabb
 *
 * Created on October 7, 2013, 11:04 PM
 */

#ifndef GPSTYPE_H
#define GPSTYPE_H

#include <stdint.h>
#include <float.h>

class CopernicusGPS; // fwd decl

/***************************
 * enums                   *
 ***************************/

enum CommandID {
    CMD_IO_OPTIONS = 0x35
};

enum ReportType {
    RPT_ERROR = -1,
    RPT_NONE = 0x00,
    
    // position/velocity fixes
    
    RPT_FIX_POS_LLA_32 = 0x4A,
    RPT_FIX_POS_LLA_64 = 0x84,
    RPT_FIX_POS_XYZ_32 = 0x42,
    RPT_FIX_POS_XYZ_64 = 0x83,
    RPT_FIX_VEL_XYZ    = 0x43,
    RPT_FIX_VEL_ENU    = 0x56,
    
    // other auto-reports
    
    RPT_GPSTIME     = 0x41,
    RPT_HEALTH      = 0x46,
    RPT_ADDL_STATUS = 0x4B,
    RPT_SATELLITES  = 0x6d,
    RPT_SBAS_MODE   = 0x82,
    
    // replies
    
    RPT_IO_SETTINGS = 0x55,
};

enum GPSHealth {
    HLTH_UNKNOWN                   = 0xFF,
    HLTH_DOING_FIXES               = 0x00,
    HLTH_NO_GPSTIME                = 0x01,
    HLTH_PDOP_TOO_HIGH             = 0x03,
    HLTH_SV_UNAVAILABLE            = 0x04, 
    HLTH_SATELLITES_NONE           = 0x08,
    HLTH_SATELLITES_ONE            = 0x09,
    HLTH_SATELLITES_TWO            = 0x0A,
    HLTH_SATELLITES_THREE          = 0x0B,
    HLTH_SATELLITES_OVERDETERMINED = 0xBB,
};

enum PacketStatus {
    PKT_IGNORE,
    PKT_CONSUMED,
    PKT_ERROR,
    PKT_PARTIAL,
};

enum AltMode {
    ALT_HAE  = 0x00,
    ALT_MSL  = 0x01,
    ALT_NOCHANGE = 0xFF,
};

enum PPSMode {
    PPS_ALWAYS = 0x00,
    PPS_FIX    = 0x20,
    PPS_OFF    = 0x40,
    PPS_NOCHANGE   = 0x60,
};

enum GPSTimeMode {
    TME_GPSTIME  = 0x00,
    TME_UTCTIME  = 0x01,
    TME_NOCHANGE = 0xFF
};

/***************************
 * storage types           *
 ***************************/

// many/most arduino chipsets do not support 64 bit floats,
// but we still need to be able to store the bits of a 64-bit float somehow.

union Float32 {
    uint32_t bits;
#if FLT_MANT_DIG == 24 || defined(PARSING_DOXYGEN)

    float f;
#elif DBL_MANT_DIG == 24
    double f;
#endif
};

union Float64 {
    uint64_t bits;
#if DBL_MANT_DIG == 53 || defined(PARSING_DOXYGEN)

    double d;
#elif LDBL_MANT_DIG == 53
    long double d;
#endif
};

/***************************
 * datapoints              *
 ***************************/

// all angles are in radians.
// fix times are -1 if the fix is not valid.

template <typename T>
struct LLA_Fix {
    T lat;
    T lng;
    T alt;
    T bias;
    Float32 fixtime;
};

template <typename T>
struct XYZ_Fix {
    T x;
    T y;
    T z;
    T bias;
    Float32 fixtime;
};

struct XYZ_VFix {
    Float32 x;
    Float32 y;
    Float32 z;
    Float32 bias;
    Float32 fixtime;
};

struct ENU_VFix {
    Float32 e;
    Float32 n;
    Float32 u;
    Float32 bias;
    Float32 fixtime;
};

struct PosFix {
    
    ReportType type;
    
    PosFix();
    
    const LLA_Fix<Float32> *getLLA_32() const;
    const LLA_Fix<Float64> *getLLA_64() const;
    const XYZ_Fix<Float32> *getXYZ_32() const;
    const XYZ_Fix<Float64> *getXYZ_64() const;
    
protected:
    
    union {
        XYZ_Fix<Float32> xyz_32;
        XYZ_Fix<Float64> xyz_64;
        LLA_Fix<Float32> lla_32;
        LLA_Fix<Float64> lla_64;
    };
    
    friend class CopernicusGPS;
};

struct VelFix {
    ReportType type;
    
    VelFix();
    
    const XYZ_VFix *getXYZ() const;
    const ENU_VFix *getENU() const;
    
protected:
    
    union {
        XYZ_VFix xyz;
        ENU_VFix enu;
    };
    
    friend class CopernicusGPS;
};

struct GPSTime {
    Float32 time_of_week;
    int16_t week_no;
    Float32 utc_offs;
};

struct GPSStatus {
    GPSStatus();
    
    GPSHealth health;         // pkt 0x46
    int n_satellites;         // pkt 0x6d
    bool almanac_incomplete;  // pkt 0x4b
    bool rtclock_unavailable; // pkt 0x4b
    bool sbas_enabled;        // pkt 0x82
    bool sbas_corrected;      // pkt 0x82
};


#endif  /* GPSTYPE_H */