/*
 * gnss.h
 *
 *  Created on: Dec 29, 2014
 *      Author: aras
 */

#ifndef LIBTE_GNSS_H_
#define LIBTE_GNSS_H_

#include "te_structs.h"

//pin ports to GNSS
#define PPS      2       /*!< PE4 AVR <> 2 Arduino */
#define ENB      5       /*!< PE3 AVR <> 5 Arduino */
#define RX0_GNSS RX0
#define TX0_GNSS TX0 PE1

uint16_t bauds[]{4800,9600};

#define BAUDRATE(x) bauds[x]
#define BAUD_IDX_MAX 5
#define LOCK_IDX_MAX 100

#define GNSS_PORT  0x01
#define RBP_PORT   0x02

class te_gnss{

public:
	bool configure(gnss_config_struct &gcs);
	bool activate();
	bool deactivate();
	bool sync_pps();
	bool set_baudrate(uint16_t baud);
	bool wait_to_be_locked();
	bool get_pps_data(bool raw);
	bool set_position(fix32 lat,fix32 lon);
	bool activate_nmea_frames(uint16_t mask);

	inline void ISR_pps();
	inline void ISR_pps_at();

private:
	void process_frame(const char* fr);

	void scan_baudrate();
	void scan_baud_func();
	void scan_lock_func();
	void get_pps_data_func();


	void push(void (*pfunc)()){
		if(stk_ptr >= 5) return;
		stack[stk_ptr++]=pfunc;
	}
	void pop(void (*pfunc)()){
		if(stk_ptr == 0) return;
		pfunc = stack[--stk_ptr];
		stack[stk_ptr]=nullptr;
	}


	void write_baud(uint8_t port, uint16_t baud);
	void open(uint8_t port);
	void writeline(uint8_t port, char* frame);// abre y cierra puerto
	char* readline(uint8_t port);
	void close(uint8_t port);
	bool is_gnss_frame_valid();
	bool is_locked();




	volatile bool scan_baud_success;
	volatile bool scan_baud_finish;
	volatile bool scan_lock_success;
	volatile bool scan_lock_finish;

	volatile uint8_t baud_idx;
	volatile uint8_t lock_idx;
	void (*pfunc_pps)();

	uint8_t stk_ptr;
	void (*stack)()[5];

	bool is_raw;



};

#endif /* LIBTE_GNSS_H_ */