// bobcat1.h
// Structure definitions for BOBCAT-1 custom file format messages
// Ryan McKnight <rm249114@ohio.edu> and Brian C. Peters <bp908214@ohio.edu>
// Ohio University Avionics Engineering Center

#ifndef OHIO_BOBCAT1_H
#define OHIO_BOBCAT1_H

#include <stdint.h>
#include <stddef.h>

#define BOBCAT1_MAX_MSG_LEN 16384

#define BOBCAT1_MSG_ID_TEMP         15
#define BOBCAT1_MSG_ID_TORANGE      30
#define BOBCAT1_MSG_ID_TOBESTPOS    31
#define BOBCAT1_MSG_ID_TORANGEC     32
#define BOBCAT1_MSG_ID_ANTRANGE     40
#define BOBCAT1_MSG_ID_ANTBESTPOS   41
#define BOBCAT1_MSG_ID_ANTGYRO      42
#define BOBCAT1_MSG_ID_ANTSUN       43
#define BOBCAT1_MSG_ID_ANTMAG       44
#define BOBCAT1_MSG_ID_SPECRANGE    50
#define BOBCAT1_MSG_ID_SPECBESTPOS  51

// header -------------------------------
typedef struct __attribute__ ((packed)) {
    uint8_t sync[3];
    uint8_t msg_id;
    uint16_t msg_size;
} bobcat1_msg_header_t;
// --------------------------------------

typedef uint32_t bobcat1_msg_crc_t; // crc

typedef struct __attribute__ ((packed)) {
    bobcat1_msg_header_t header;
    uint8_t data[];
} bobcat1_msg_generic_t;

// TEMP ---------------------------------
typedef struct __attribute__ ((packed)) {
    bobcat1_msg_header_t header;
    uint8_t time_status;
    uint16_t week;
    uint32_t ms;
    uint8_t sensor_id;
    float temp;
} bobcat1_msg_temp_t;
// --------------------------------------

// TORANGE ------------------------------
typedef struct __attribute__ ((packed)) {
    uint16_t prn;
    uint32_t ch_tr_status;
    double psr;
    double adr;
    float cn0;
    float locktime;
} bobcat1_msg_torange_obs_t;

typedef struct __attribute__ ((packed)) {
    bobcat1_msg_header_t header;
    uint8_t time_status;
    uint16_t week;
    uint32_t ms;
    uint8_t idle_time;
    uint16_t num_obs;
    bobcat1_msg_torange_obs_t obs[];
} bobcat1_msg_torange_t;
// --------------------------------------

// TOBESTPOS ----------------------------
typedef struct __attribute__ ((packed)) {
    bobcat1_msg_header_t header;
    uint8_t time_status;
    uint16_t week;
    uint32_t ms;
    uint8_t idle_time;
    uint8_t sol_stat;
    uint8_t pos_type;
    double lat;
    double lon;
    double hgt;
    uint8_t num_SVs;
    uint8_t num_soln_SVs;
} bobcat1_msg_tobestpos_t;
// --------------------------------------

// TORANGEC -----------------------------
typedef struct __attribute__ ((packed)) {
    bobcat1_msg_header_t header;
    uint8_t time_status;
    uint16_t week;
    uint32_t ms;
    uint16_t num_obs;
    uint8_t pad;
    uint64_t obs[];
} bobcat1_msg_torangec_t;
// --------------------------------------

// ANTRANGE -----------------------------
typedef struct __attribute__ ((packed)) {
    uint16_t prn;
    uint32_t ch_tr_status;
    float cn0;
} bobcat1_msg_antrange_obs_t;

typedef struct __attribute__ ((packed)) {
    bobcat1_msg_header_t header;
    uint8_t time_status;
    uint16_t week;
    uint32_t ms;
    uint8_t idle_time;
    uint16_t num_obs;
    bobcat1_msg_antrange_obs_t obs[];
} bobcat1_msg_antrange_t;
// --------------------------------------

// ANTBESTPOS ---------------------------
typedef struct __attribute__ ((packed)) {
    bobcat1_msg_header_t header;
    uint8_t time_status;
    uint16_t week;
    uint32_t ms;
    uint8_t idle_time;
    uint8_t sol_stat;
    uint8_t pos_type;
    double lat;
    double lon;
    double hgt;
    uint8_t num_SVs;
    uint8_t num_soln_SVs;
} bobcat1_msg_antbestpos_t;
// --------------------------------------

// ANTGYRO ------------------------------
typedef struct __attribute__ ((packed)) {
    bobcat1_msg_header_t header;
    uint8_t time_status;
    uint16_t week;
    uint32_t ms;
    uint32_t a3200_time;
    int16_t gyro_x;
    int16_t gyro_y;
    int16_t gyro_z;
} bobcat1_msg_antgyro_t;
// --------------------------------------

// ANTSUN -------------------------------
typedef struct __attribute__ ((packed)) {
    bobcat1_msg_header_t header;
    uint8_t time_status;
    uint16_t week;
    uint32_t ms;
    uint32_t a3200_time;
    uint16_t sun_posx1;
    uint16_t sun_posx2;
    uint16_t sun_posy1;
    uint16_t sun_posy2;
    uint16_t sun_negx1;
    uint16_t sun_negx2;
    uint16_t sun_negy1;
    uint16_t sun_negy2;
    uint16_t sun_posz;
} bobcat1_msg_antsun_t;
// --------------------------------------

// ANTMAG -------------------------------
typedef struct __attribute__ ((packed)) {
    bobcat1_msg_header_t header;
    uint8_t time_status;
    uint16_t week;
    uint32_t ms;
    uint32_t a3200_time;
    float mag_x;
    float mag_y;
    float mag_z;
} bobcat1_msg_antmag_t;
// --------------------------------------

// SPECRANGE -----------------------------
typedef struct __attribute__ ((packed)) {
    uint16_t prn;
    uint32_t ch_tr_status;
    float cn0;
    float locktime;
} bobcat1_msg_specrange_obs_t;

typedef struct __attribute__ ((packed)) {
    bobcat1_msg_header_t header;
    uint8_t time_status;
    uint16_t week;
    uint32_t ms;
    uint8_t idle_time;
    uint16_t num_obs;
    bobcat1_msg_specrange_obs_t obs[];
} bobcat1_msg_specrange_t;
// --------------------------------------

// SPECBESTPOS --------------------------
typedef struct __attribute__ ((packed)) {
    bobcat1_msg_header_t header;
    uint8_t time_status;
    uint16_t week;
    uint32_t ms;
    uint8_t idle_time;
    uint8_t sol_stat;
    uint8_t pos_type;
    double lat;
    double lon;
    double hgt;
    uint8_t num_SVs;
    uint8_t num_soln_SVs;
} bobcat1_msg_specbestpos_t;
// ---------------------------------------

typedef union {
    uint8_t                     raw[BOBCAT1_MAX_MSG_LEN];

    bobcat1_msg_header_t        header;
    bobcat1_msg_generic_t       generic;

    bobcat1_msg_temp_t          temp;
    bobcat1_msg_torange_t       torange;
    bobcat1_msg_tobestpos_t     tobestpos;
    bobcat1_msg_torangec_t      torangec;
    bobcat1_msg_antrange_t      antrange;
    bobcat1_msg_antbestpos_t    antbestpos;
    bobcat1_msg_antgyro_t       antgyro;
    bobcat1_msg_antsun_t        antsun;
    bobcat1_msg_antmag_t        antmag;
    bobcat1_msg_specrange_t     specrange;
    bobcat1_msg_specbestpos_t   specbestpos;
} bobcat1_msg_t;

#endif