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/*! \file gps.h \brief GPS position storage and processing library. */
//*****************************************************************************
//
// File Name    : 'gps.h'
// Title                : GPS position storage and processing function library
// Author               : Pascal Stang - Copyright (C) 2002
// Created              : 2002.08.29
// Revised              : 2002.08.29
// Version              : 0.1
// Target MCU   : Atmel AVR Series
// Editor Tabs  : 4
//
// NOTE: This code is currently below version 1.0, and therefore is considered
// to be lacking in some functionality or documentation, or may not be fully
// tested.  Nonetheless, you can expect most functions to work.
//
///     \ingroup driver_hw
/// \defgroup gps GPS Positioning and Navigation Function Library (gps.c)
/// \code #include "gps.h" \endcode
/// \par Overview
///             This library provides a generic way to store and process information
///     received from a GPS receiver.  Currently the library only stores the most
/// recent set of GPS data (position, velocity, time) from a GPS receiver.
/// Future revisions will include navigation functions like calculate
///     heading/distance to a waypoint.  The processing of incoming serial data
///     packets from GPS hardware is not done in this library.  The libraries
///     tsip.c and nmea.c do the packet processing for Trimble Standard Interface
/// Protocol and NMEA-0813 repectively, and store the results in this library.
//
// This code is distributed under the GNU Public License
//              which can be found at http://www.gnu.org/licenses/gpl.txt
//
//*****************************************************************************

#ifndef GPS_H
#define GPS_H

#include "global.h"

// constants/macros/typdefs
typedef union union_float_u32
{
        float f;
        unsigned long i;
        unsigned char b[4];
} float_u32;

typedef union union_double_u64
{
        double f;
        unsigned long long i;
        unsigned char b[8];
} double_u64;

struct PositionLLA
{
        float_u32 lat;
        float_u32 lon;
        float_u32 alt;
        float_u32 TimeOfFix;
        u16 updates;
};

struct VelocityENU
{
        float_u32 east;
        float_u32 north;
        float_u32 up;
        float_u32 TimeOfFix;
        u16 updates;
};

struct VelocityHS
{
        float_u32 heading;
        float_u32 speed;
        float_u32 TimeOfFix;
        u16 updates;
};

struct PositionECEF
{
        float_u32 x;
        float_u32 y;
        float_u32 z;
        float_u32 TimeOfFix;
        u16 updates;
};

struct VelocityECEF
{
        float_u32 x;
        float_u32 y;
        float_u32 z;
        float_u32 TimeOfFix;
        u16 updates;
};

typedef struct struct_GpsInfo
{       
        float_u32 TimeOfWeek;
        u16 WeekNum;
        float_u32 UtcOffset;
        u08 numSVs;
        
        struct PositionLLA PosLLA;
        struct PositionECEF PosECEF;
        struct VelocityECEF VelECEF;
        struct VelocityENU VelENU;
        struct VelocityHS VelHS;

} GpsInfoType;

// functions
void gpsInit(void);
GpsInfoType* gpsGetInfo(void);
void gpsInfoPrint(void);

#endif