#ifndef __GPS_NOVATEL_H
#define __GPS_NOVATEL_H

#include "stm32f7xx.h"
#include "stm32f7xx_hal.h"
#include <FreeRTOS.h>
#include "libcmn.h"

#define B10_P1 (1.0E+1) /* B: base, P: positive */
#define B10_P2 (1.0E+2)
#define B10_P3 (1.0E+3)
#define B10_P4 (1.0E+4)
#define B10_P5 (1.0E+5)
#define B10_P6 (1.0E+6)
#define B10_P7 (1.0E+7)
#define B10_P8 (1.0E+8)
#define B10_P9 (1.0E+9)

#define B10_N1 (1.0E-1) /* B: base, N: negative */
#define B10_N2 (1.0E-2)
#define B10_N3 (1.0E-3)
#define B10_N4 (1.0E-4)
#define B10_N5 (1.0E-5)
#define B10_N6 (1.0E-6)
#define B10_N7 (1.0E-7)
#define B10_N8 (1.0E-8)
#define B10_N9 (1.0E-9)

/** novatel message id & length */
#define ID_TIME       (101) // 0x65
#define ID_BESTPOS    (42)  // 0x2A
#define ID_BESTVEL    (99)  
#define ID_HEADING    (971)  
#define ID_PSRDOP     (174)  
  

#define LEN_TIME     (28+44+4) /** header length + body length + crc check length */
#define LEN_BESTPOS  (28+72+4)
#define LEN_BESTVEL  (28+44+4)
#define LEN_HEADING  (28+44+4)

#define NOVATEL_HEADER_LENGTH  (28)
#define MIN_NOVATEL_MSG_LENGTH (LEN_TIME)   /** ref LEN_TIME/LEN_BESTPOS/LEN_BESTVEL */
#define MAX_NOVATEL_MSG_LENGTH (LEN_SATMSG)

typedef enum
{
  Configing,
  ConfigDone

}FlagConfig;

typedef enum
{
  NOVATEL_FIXTYPE_NONE = 0,
  NOVATEL_FIXTYPE_FIXEDPOS = 1,
  NOVATEL_FIXTYPE_FIXEDHEIGHT = 2,
  NOVATEL_FIXTYPE_DOPPLER_VELOCITY = 8,
  NOVATEL_FIXTYPE_SMOOTED_SINGLE= 9,
  NOVATEL_FIXTYPE_SINGLE = 16,
  NOVATEL_FIXTYPE_PSRDIFF = 17,
  NOVATEL_FIXTYPE_WAAS = 18,
  NOVATEL_FIXTYPE_PROPAGATED = 19,
  NOVATEL_FIXTYPE_OMNISTAR = 20,
  NOVATEL_FIXTYPE_L1_FLOAT = 32,
  NOVATEL_FIXTYPE_IONOFREE_FLOAT = 33,
  NOVATEL_FIXTYPE_NARROR_FLAOT = 34,
  NOVATEL_FIXTYPE_FIXED_RECKON = 35,
  NOVATEL_FIXTYPE_L1_INT = 48,
  NOVATEL_FIXTYPE_NARROW_INT = 50,
  NOVATEL_FIXTYPE_OMNISTAR_HP = 64,
  NOVATEL_FIXTYPE_OMNISTAR_XP = 65,
  NOVATEL_FIXTYPE_PPP_CONVERGING = 68,
  NOVATEL_FIXTYPE_PPP = 69,
  NOVATEL_FIXTYPE_OPERATIONAL = 70,
  NOVATEL_FIXTYPE_WARNING = 71,
  NOVATEL_FIXTYPE_OUT_OF_BOUNDS = 72
} NovatelFixtypeEnum;

typedef struct
{
  float velN,velE,velD;
  /** time */
  uint16_t HeaderWeekOfTime;
  uint32_t HeaderMsecOfTime;
  uint8_t time_valid;
  UtcStruct utc;

  /** bestpos */
  uint8_t flgPosUpd;
  uint16_t HeaderWeekOfBestpos;
  uint32_t HeaderMsecOfBestpos;
  double LatDeg,LonDeg,hgt;
  float diffage;
  uint8_t SolnSv;
  uint32_t baseid;
  GnssFixtypeEnum fix_type;
  NovatelFixtypeEnum PosType; // NovatelFixtypeEnum
  float LatSigma;
  float LonSigma;
  float HightSigma;

  /** srdop */
  uint8_t flgDopUpd;
  float gdop;
  float Pdop;
  float Hdop;

  /** bestvel */
  uint8_t flgVelUpd;
  uint16_t HeaderWeekOfBestvel;
  uint32_t HeaderMsecOfBestvel;
  uint32_t V_valid;
  double HorSpd; // m/s
  double TrkGnd; // degree
  double VertSpd; // m/s, up(+)

  /** heading */
  uint8_t aAngHz;
  uint8_t flgAttUpd;
  NovatelFixtypeEnum NovatelAttType; // NovatelFixtypeEnum
  uint8_t      att_type;    /** 0: fixed ambiguity 1: float ambiguity */
  uint8_t      ang_sv_num;
  float		heading;		/** degree,0-360 */
  float		pitch;			/** degree,+-90 */
  float		roll;			/** degree,+-90 */

  int CntNovatelTime;
  int CntNovatelBestpos;
  int CntNovatelBestvel;
  int CntNovatelHeading;
  int CntNovatelPsrdop;
  int LastCntNovatelTime;
  int LastCntNovatelBestpos;
  int LastCntNovatelBestvel;
  int LastCntNovatelHeading;
  int LastCntNovatelPsrdop;
  int PpsNovatelTime;
  int PpsNovatelBestpos;
  int PpsNovatelBestvel;
  int PpsNovatelHeading;
  int PpsNovatelPsrdop;

} NovatelStruct;

extern void NovatelDecodeTime(NovatelStruct *sol,uint8_t frame[]);
extern void NovatelDecodeBestvel(NovatelStruct *sol,uint8_t frame[]);
extern void NovatelDecodeHeading(NovatelStruct *sol,uint8_t frame[]);
extern void NovatelDecodeBestpos(NovatelStruct *sol,uint8_t frame[]);
extern void NovatelDecodePsrdop(NovatelStruct *sol,uint8_t frame[]);

extern void NovatelDecodeInit(NovatelStruct *sol);
extern void NovatelDecodeStats(NovatelStruct *sol);

#endif