#ifndef UBX_H
#define UBX_H

/*============================ INCLUDES ======================================*/
#include "libcmn.h"
#include "ParsePackUbx.h"

/*============================ MACROS =========================================*/
#define GET_BYTE_FLAG(byte, index) (((byte) & (0x01 << (index))) >> index)

#define UBX_MAX_LEN           (1024)
#define UBX_MIN_LEN           (7)

#define F9P_PROTOCOL_VER_27   (0x00)
#define F9P_PROTOCOL_VER_27_1 (0x01)

#define UBX_NAV               (0x01)
#define UBX_ACK               (0x05)
#define UBX_MON               (0x0A)

#define UBX_ACK_ID            (0x01)
#define UBX_NAV_PVT           (0x07)
#define UBX_NAV_NED           (0x3C)
#define UBX_NAV_SAT           (0x35)
#define UBX_MON_HW            (0x09)

typedef struct
{ 
  /*================================================== pvt ============================================*/
  UtcStruct utc;

  uint8_t SvNum;
  uint8_t TimeFlag, DateValid, TimeValid, TimeFullyResolved;
  uint8_t GpsType, RtkType;
  uint32_t towms;

  int LatDeg, LonDeg;   // degree 1e-7
  int hgt, msl;  // mm
  int hacc, vacc, sacc;   // hacc: horizontal accuracy estimate(mm), vacc: vertical accuracy estimate(mm), sacc: speed acc(mm/s)
  
  float ve, vn, vd;    // 1mm/s
  float GroundSpeed;      // m/s
  float pdop;

  float cacc;       // sacc: speed accuracy estimate(m), cacc: course/heading accuracy estimate(deg)
  float HeadingMotionDeg;    // heading of motion, degree
  float HeadingVehichleDeg;  // heading of vehicle, degree

  int CntNavPvt;
  int LastCntNavPvt;
  int PpsNavPvt;
  uint8_t seq;
}UbxStruct;

extern void UbxDecodeNavPvt(UbxStruct *sol, uint8_t frame[]);

extern void UbxDecodeInit(UbxStruct *sol);
extern void UbxDecodeStats(UbxStruct *sol);


#endif