#ifndef NAVIGATION_H
#define NAVIGATION_H

	#define SC2RAD      3.1415926535898     /* semi-circle to radian (IS-GPS) */
	
	#define INT_SEC_IN_DAY  86400
	#define P2_5        0.03125             /* 2^-5 */
	#define P2_6        0.015625            /* 2^-6 */
	#define P2_11       4.882812500000000E-04 /* 2^-11 */
	#define P2_15       3.051757812500000E-05 /* 2^-15 */
	#define P2_17       7.629394531250000E-06 /* 2^-17 */
	#define P2_19       1.907348632812500E-06 /* 2^-19 */
	#define P2_20       9.536743164062500E-07 /* 2^-20 */
	#define P2_21       4.768371582031250E-07 /* 2^-21 */
	#define P2_23       1.192092895507810E-07 /* 2^-23 */
	#define P2_24       5.960464477539063E-08 /* 2^-24 */
	#define P2_27       7.450580596923828E-09 /* 2^-27 */
	#define P2_29       1.862645149230957E-09 /* 2^-29 */
	#define P2_30       9.313225746154785E-10 /* 2^-30 */
	#define P2_31       0.0000000004656612873077392578125 /* 2^-31 */
	#define P2_32       2.328306436538696E-10 /* 2^-32 */
	#define P2_33       1.164153218269348E-10 /* 2^-33 */
	#define P2_35       2.910383045673370E-11 /* 2^-35 */
	#define P2_38       3.637978807091710E-12 /* 2^-38 */
	#define P2_39       1.818989403545856E-12 /* 2^-39 */
	#define P2_40       9.094947017729280E-13 /* 2^-40 */
	#define P2_43       1.136868377216160297393798828125e-13 /* 2^-43 */
	#define P2_48       3.552713678800501E-15 /* 2^-48 */
	#define P2_50       8.881784197001252E-16 /* 2^-50 */
	#define P2_55       2.775557561562891E-17 /* 2^-55 */
	
	#define DAY_IN_WEEK 7
	#define DAY_IN_YEAR 365
	#define DAY_IN_MONTH 30
	#define MAX_22_BIT_INT  0x200000
	#define MAX_16_INT      0x8000
	#define WN_INDEX        2
	#define POSITION_VECTOR_COL 3
	#define MAX_24_BIT_INT  0x00800000
	// ADC sample frekansi
	#define SAMPLES_PER_CODE    16368.0

	#define CODE_FREQ_BASIS 1.023E+6
	
	// typedef unsigned short u16t_t ;
	
	typedef enum {
	    e_invalid_code,
	    e_CA_code,
	    e_P_code,
	    e_invalid_3
	}te_codeTypes;
	
	typedef struct
	{
	    unsigned int previousbit30 : 1;
	    unsigned int previousbit29 : 1;
	
	    unsigned int bit30 : 1;
	    unsigned int bit29 : 1;
	    unsigned int bit28 : 1;
	    unsigned int bit27 : 1;
	    unsigned int bit26 : 1;
	    unsigned int bit25 : 1;
	    unsigned int bit24 : 1;
	
	    unsigned int bit23 : 1;
	    unsigned int bit22 : 1;
	    unsigned int bit21 : 1;
	    unsigned int bit20 : 1;
	    unsigned int bit19 : 1;
	
	    unsigned int bit18 : 1;
	    unsigned int bit17 : 1;
	    unsigned int bit16 : 1;
	    unsigned int bit15 : 1;
	    unsigned int bit14 : 1;
	    unsigned int bit13 : 1;
	    unsigned int bit12 : 1;
	
	    unsigned int bit11 : 1;
	    unsigned int bit10 : 1;
	    unsigned int bit9 : 1;
	    unsigned int bit8 : 1;
	    unsigned int bit7 : 1;
	    unsigned int bit6 : 1;
	    unsigned int bit5 : 1;
	    unsigned int bit4 : 1;
	
	    unsigned int bit3 : 1;
	    unsigned int bit2 : 1;
	    unsigned int bit1 : 1;
	
	}ts_word;
	
	
	/**************************************64 bits TLM & HOW Word handling***************/
	
	typedef struct
	{
	    unsigned long how_32L;
	    unsigned long tlm_32H;
	}ts_TLMHOW;
	
	typedef struct
	{
	    unsigned int parity_1 : 6;
	    unsigned int intgrtySts : 1;
	    unsigned int rsdvdBit : 1;
	    unsigned int tlmMsg : 14;
	    unsigned int preamble : 8;
	    unsigned int reserved_1 : 2;
	
	    unsigned int parity_2 : 6;
	    unsigned int parityCheck : 2;  // non information bearing bits
	    unsigned int subframeID : 3;
	    unsigned int antispoof : 1;
	    unsigned int alertFlag : 1;
	    unsigned int countMsg : 17;
	    unsigned int reserved_2 : 2;
	
	}ts_tlmhowBits;
	
	typedef union
	{
	    unsigned long long llval;
	    ts_TLMHOW  TLMHOW;
	    ts_tlmhowBits bits;
	}tu_tlmHowWords;
	
	/**************************************WN Word handling*****************************/
	// Subframe 1 word 3
	typedef struct
	{
	    unsigned int parity : 6;
	    unsigned int IODC : 2;
	    unsigned int SV_Health : 6;
	    unsigned int URAindex : 4;
	    unsigned int CAorP : 2;
	    unsigned int WN : 10;
	    unsigned int reserved_1 : 2;
	
	}ts_WN;
	typedef union {
	    unsigned long WNword;
	    ts_WN    WN;
	}tu_WN;
	/**************************************GPS Word4 handling*****************************/
	// Subframe 1 word 4
	typedef struct {
	    unsigned int parity : 6;
	    unsigned int reserved : 23;
	    unsigned int PDataFlag : 1;
	    unsigned int reserved_1 : 2;
	}tsWord_4;
	
	typedef union {
	    unsigned int Word_4;
	    tsWord_4 w4bits;
	}tu_Word4;
	/**************************************GPS Word5 handling*****************************/
	// Subframe 1 word 5
	typedef struct {
	    unsigned int parity : 6;
	    unsigned int reserved : 24;
	    unsigned int reserved_1 : 2;
	}ts_Word5;
	typedef union {
	    unsigned int Word_5;
	    ts_Word5 w5bits;
	}tu_Word5;
	/**************************************GPS Word6 handling*****************************/
	// Subframe 1 word 6
	typedef struct {
	    unsigned int parity : 6;
	    unsigned int reserved : 24;
	    unsigned int reserved_1 : 2;
	}ts_Word6;
	
	typedef union {
	    unsigned int Word_6;
	    ts_Word6  w6bits;
	}tu_Word6;
	/**************************************GPS Word7 handling*****************************/
	// Subframe 1 word 7
	
	typedef struct {
	    unsigned int parity : 6;
	    unsigned int Tgd : 8;
	    unsigned int reserved : 16;
	    unsigned int reserved_1 : 2;
	}ts_Word7;
	typedef union {
	    unsigned int Word_7;
	    ts_Word7  w7bits;
	}tu_Word7;
	/**************************************GPS Word8 handling*****************************/
	// Subframe 1 word 8
	typedef struct {
	    unsigned int parity : 6;   /* TODO check bit numbers if 4? */
	    unsigned int Toc : 16;     /* TODO check bit numbers*/
	    unsigned int IODC : 8;    /* TODO check bit numbers*/
	    unsigned int reserved_1 : 2;
	}ts_Word8;
	typedef union {
	    unsigned int Word_8;
	    ts_Word8 w8bits;
	}tu_Word8;
	/**************************************GPS Word9 handling*****************************/
	// Subframe 1 word 9
	typedef struct {
	    unsigned int parity : 6;   /* TODO check bit numbers if 4? */
	    unsigned int af1 : 16;     /* TODO check bit numbers*/
	    unsigned int af2 : 8;      /* TODO check bit numbers*/
	    unsigned int reserved_1 : 2;
	}ts_Word9;
	
	typedef union {
	    unsigned int Word_9;
	    ts_Word9  w9bits;
	    // unsigned int reserved_1 : 2;
	}tu_Word9;
	/**************************************GPS Word10 handling*****************************/
	// Subframe 1 word 10
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int t : 2;       /* non information bearing bits*/
	    unsigned int af0 : 22;    /* TODO check bit numbers*/
	    unsigned int reserved_1 : 2;
	}ts_Word10;
	typedef union {
	    unsigned int Word_10;
	    ts_Word10  w10bits;
	}tu_Word10;
	
	/**************************************************************************************/
	
	typedef struct subframes {
	
	    tu_tlmHowWords s_tlmhow;
	    tu_WN          s_weekNumber;
	    tu_Word4       s_word4;
	    tu_Word5       s_word5;
	    tu_Word6       s_word6;
	
	    tu_Word7       s_word7;
	    tu_Word8       s_word8;
	    tu_Word9       s_word9;
	    tu_Word10      s_word10;
	
	}ts_subframes;
	
	// Subframe 2 word definitions:
	
	/**************************************GPS Word10 handling*****************************/
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int c_rs : 16;       /* non information bearing bits*/
	    unsigned int iode : 8;    /* TODO check bit numbers*/
	    unsigned int reserved_1 : 2;
	}ts_sf2Word3;
	typedef union {
	    unsigned int Word_23;
	    ts_sf2Word3  w23bits;
	}tu_Word23;
	
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int m0_msb : 8;       /* non information bearing bits*/
	    unsigned int delta_n : 16;    /* TODO check bit numbers*/
	    unsigned int reserved_1 : 2;
	}ts_sf2Word4;
	typedef union {
	    unsigned int Word_24;
	    ts_sf2Word4  w24bits;
	}tu_Word24;
	
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int m0_lsb : 24;       /* non information bearing bits*/
	    unsigned int reserved_1 : 2;
	}ts_sf2Word5;
	
	typedef union {
	    unsigned int Word_25;
	    ts_sf2Word5  w25bits;
	}tu_Word25;
	/* ************ word 6 ************* */
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int e_msb : 8;       /* non information bearing bits*/
	    unsigned int c_uc : 16;
	    unsigned int reserved_1 : 2;
	}ts_sf2Word6;
	
	typedef union {
	    unsigned int Word_26;
	    ts_sf2Word6  w26bits;
	}tu_Word26;
	
	/* ************ word 7 ************* */
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int e_lsb : 24;       /* non information bearing bits*/
	    unsigned int reserved_1 : 2;
	}ts_sf2Word7;
	
	typedef union {
	    unsigned int Word_27;
	    ts_sf2Word7  w27bits;
	}tu_Word27;
	
	
	/* ************ word 8 ************* */
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int sqrtA_msb : 8;
	    unsigned int c_us : 16;
	    unsigned int reserved_1 : 2;
	}ts_sf2Word8;
	
	typedef union {
	    unsigned int Word_28;
	    ts_sf2Word8  w28bits;
	}tu_Word28;
	
	/* ************ word 9 ************* */
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int sqrtA_lsb : 24;
	    unsigned int reserved_1 : 2;
	}ts_sf2Word9;
	
	typedef union {
	    unsigned int Word_29;
	    ts_sf2Word9  w29bits;
	}tu_Word29;
	
	/* ************ word 10 ************* */
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int nonInfoBearing : 2;
	    unsigned int aODO : 5;
	    unsigned int fitInterval : 1;
	    unsigned int toe : 16;
	    unsigned int reserved_1 : 2;
	}ts_sf2Word10;
	
	typedef union {
	    unsigned int Word_210;
	    ts_sf2Word10  w210bits;
	}tu_Word210;
	
	// Subframe 3 word definitions:
	
	/**************************************GPS SF3 Word3 handling*****************************/
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int omega_0_h: 8;       /* non information bearing bits*/
	    unsigned int cic : 16;    /* TODO check bit numbers*/
	    unsigned int reserved_1 : 2;
	}ts_sf3Word3;
	typedef union {
	    unsigned int Word_33;
	    ts_sf3Word3  w33bits;
	}tu_Word33;
	
	/**************************************GPS Word4 handling*****************************/
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int omega_0_l : 24;       /* non information bearing bits*/
	    unsigned int reserved_1 : 2;
	}ts_sf3Word4;
	typedef union {
	    unsigned int Word_34;
	    ts_sf3Word4  w34bits;
	}tu_Word34;
	
	/**************************************GPS Word5 handling*****************************/
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int i0_msb : 8;       /* non information bearing bits*/
	    unsigned int c_is : 16;       /* non information bearing bits*/
	    unsigned int reserved_1 : 2;
	}ts_sf3Word5;
	typedef union {
	    unsigned int Word_35;
	    ts_sf3Word5  w35bits;
	}tu_Word35;
	
	/**************************************GPS Word6 handling*****************************/
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int i0_lsb : 24;       /* non information bearing bits*/
	    unsigned int reserved_1 : 2;
	}ts_sf3Word6;
	typedef union {
	    unsigned int Word_36;
	    ts_sf3Word6  w36bits;
	}tu_Word36;
	
	/**************************************GPS Word7 handling*****************************/
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int w_h : 8;       /* non information bearing bits*/
	    unsigned int c_rc : 16;       /* non information bearing bits*/
	    unsigned int reserved_1 : 2;
	}ts_sf3Word7;
	
	typedef union {
	    unsigned int Word_37;
	    ts_sf3Word7  w37bits;
	}tu_Word37;
	
	/**************************************GPS Word8 handling*****************************/
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int w_l : 24;       /* non information bearing bits*/
	    unsigned int reserved_1 : 2;
	}ts_sf3Word8;
	
	typedef union {
	    unsigned int Word_38;
	    ts_sf3Word8  w38bits;
	}tu_Word38;
	
	/**************************************GPS Word9 handling*****************************/
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int omega_dot : 24;       /* non information bearing bits*/
	    unsigned int reserved_1 : 2;
	}ts_sf3Word9;
	
	typedef union {
	    unsigned int Word_39;
	    ts_sf3Word9  w39bits;
	}tu_Word39;
	
	/**************************************GPS Word10 handling*****************************/
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int t : 2;            /* non information bearing bits*/
	    unsigned int idot : 14;        
	    unsigned int iode : 8;       /* iode */
	    unsigned int reserved_1 : 2;
	}ts_sf3Word10;
	
	typedef union {
	    unsigned int Word_310;
	    ts_sf3Word10  w310bits;
	}tu_Word310;
	
	// Subframe 4 word definitions:
	
	/**************************************GPS SF4 Word4 handling*****************************/
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int alpha_1 : 8;
	    unsigned int alpha_0 : 8;
	    unsigned int svPageID : 6;       /* non information bearing bits*/
	    unsigned int dataID : 2;    /* TODO check bit numbers*/
	    unsigned int reserved_1 : 2;
	}ts_sf4Word3P18;
	typedef union {
	    unsigned int    Word_43_P18;
	    ts_sf4Word3P18  w43_P18bits;
	}tu_Word43_Page18;
	
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int beta_0 : 8;
	    unsigned int alpha_3 : 8;       /* non information bearing bits*/
	    unsigned int alpha_2 : 8;    /* TODO check bit numbers*/
	    unsigned int reserved_1 : 2;
	}ts_sf4Word4P18;
	typedef union {
	    unsigned int    Word_44_P18;
	    ts_sf4Word4P18  w44_P18bits;
	}tu_Word44_Page18;
	
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int beta_3 : 8;
	    unsigned int beta_2 : 8;       /* non information bearing bits*/
	    unsigned int beta_1 : 8;    /* TODO check bit numbers*/
	    unsigned int reserved_1 : 2;
	}ts_sf4Word5P18;
	typedef union {
	    unsigned int    Word_45_P18;
	    ts_sf4Word5P18  w45_P18bits;
	}tu_Word45_Page18;
	
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int A_1 : 24;    /* TODO check bit numbers*/
	    unsigned int reserved_1 : 2;
	}ts_sf4Word6P18;
	typedef union {
	    unsigned int    Word_46_P18;
	    ts_sf4Word6P18  w46_P18bits;
	}tu_Word46_Page18;
	
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int A_0_MSB : 24;    /* TODO check bit numbers*/
	    unsigned int reserved_1 : 2;
	}ts_sf4Word7P18;
	typedef union {
	    unsigned int    Word_47_P18;
	    ts_sf4Word7P18  w47_P18bits;
	}tu_Word47_Page18;
	
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int WNt : 8;
	    unsigned int tot: 8;
	    unsigned int A_0_LSB : 8;    /* TODO check bit numbers*/
	    unsigned int reserved_1 : 2;
	}ts_sf4Word8P18;
	typedef union {
	    unsigned int    Word_48_P18;
	    ts_sf4Word8P18  w48_P18bits;
	}tu_Word48_Page18;
	
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int DN : 8;
	    unsigned int WN_lsf : 8;
	    unsigned int delta_tls : 8;    /* TODO check bit numbers*/
	    unsigned int reserved_1 : 2;
	}ts_sf4Word9P18;
	typedef union {
	    unsigned int    Word_49_P18;
	    ts_sf4Word9P18  w49_P18bits;
	}tu_Word49_Page18;
	
	typedef struct {
	    unsigned int parity : 6;  /* TODO check bit numbers if 4? */
	    unsigned int bearingBits : 2;
	    unsigned int undef : 14;
	    unsigned int delta_t_lsf : 8;    /* TODO check bit numbers*/
	    unsigned int reserved_1 : 2;
	}ts_sf4Word10P18;
	typedef union {
	    unsigned int    Word_410_P18;
	    ts_sf4Word10P18  w410_P18bits;
	}tu_Word410_Page18;
	
	
	//union PACK {
	//    PACK(int a, int b = 0, int c = 0, int d = 0) { byte[3] = a, byte[2] = b, byte[1] = c, byte[0] = d; }
	//    char     byte[4];
	//    unsigned u32;
	//    signed   s32;
	//    unsigned u(int n) { return u32 >> (32 - n); }
	//    signed   s(int n) { return s32 >> (32 - n); }
	//};
	

#endif