/* $Id: italk.h 4208 2006-12-29 04:45:00Z ckuethe $ */

/* 0 and 1 are responses to the <?> ping for iTalk and NMEA respectively */
#define PROTO_ITALK 0
#define PROTO_NMEA 1

/*
 * Assistance from Timo Ylhainen of Fastrax is acknowledged and appreciated.
 *
 * iTalk is a messaging system which communicates between tasks, which may
 * be running on different devices (nodes). For our purposes (receiver
 * configuration), we will probably be sending to the SYSTEM task.
 */

#define TASK_MASK	0x1f	/* 5 low bits of src/dst fields */
#define NODE_MASK	0xe0	/* 3 high bits of src/dst fields */
#define NODE_UNDEF	0x00	/* Used in message routing */
#define NODE_ITRAX	0x20	/* The receiver */
#define NODE_HOST	0x40	/* Software on your computer */
#define NODE_GPSWB	0x60	/* GPSWorkbench seems to be HOST|ITRAX */

/* XXX These defines will likely be replaced by an enum
 * once I map every message to the task that sent it.
 */
/* System controller on the receiver */
#define TASK_SYSTEM	0
/* Acquisition & Tracking messages (PD) */
#define TASK_TRACK1	2
#define TASK_TRACK2	3
/* Data decoding messages (PD) */
#define TASK_DATA	4
/* Navigation messages are sent by these tasks (PD) */
#define TASK_NAV1	7
#define TASK_NAV2	8
#define TASK_NAV3	9
/* Host controller software (PD) */
#define TASK_HOST	31

/* iTalk Message IDs - isuite.fastrax.fi/sdk/331/Protocols/PRO_MsgId.html */
#define ITALK_ACQ_DATA		1
#define ITALK_PRN_STATUS	2
#define ITALK_TRACK		3
#define ITALK_PSEUDO		4
#define ITALK_AGC		6
#define ITALK_NAV_FIX		7
#define ITALK_RAW_ALMANAC	9
#define ITALK_RAW_EPHEMERIS	10
#define ITALK_SV_HEALTH		11
#define ITALK_UTC_IONO_MODEL	12
#define ITALK_PRN_PRED		13
#define ITALK_FREQ_PRED		14
#define ITALK_SUBFRAME		15
#define ITALK_BIT_STREAM	18
#define ITALK_DBGTRACE		19
#define ITALK_START		64
#define ITALK_STOP		65
#define ITALK_SLEEP		66
#define ITALK_STATUS		67
#define ITALK_ITALK_CONF	68
#define ITALK_SYSINFO		69
#define ITALK_ITALK_TASK_ROUTE	70
#define ITALK_PARAM_CTRL	71
#define ITALK_PARAMS_CHANGED	72
#define ITALK_START_COMPLETED	73
#define ITALK_STOP_COMPLETED	74
#define ITALK_LOG_CMD		75
#define ITALK_SYSTEM_START	76
#define ITALK_STOP_SEARCH	79
#define ITALK_SEARCH		80
#define ITALK_PRED_SEARCH	81
#define ITALK_SEARCH_DONE	82
#define ITALK_TRACK_DROP	88
#define ITALK_TRACK_STATUS	90
#define ITALK_HANDOVER_DATA	92
#define ITALK_CORE_SYNC		93
#define ITALK_WAAS_RAWDATA	96
#define ITALK_ASSISTANCE	98
#define ITALK_PULL_FIX		99
#define ITALK_MEMCTRL		112
#define ITALK_STOP_TASK		255

/* NAV_FIX */
#define FIX_CONV_VEL_VALID		0x0002
#define FIX_CONV_ACC_VALID		0x0004
#define FIX_CONV_DOP_VALID		0x0010
#define FIX_CONV_ERR_VALID		0x0020
#define FIX_CONV_UTC_VALID		0x0040
#define FIX_CONV_UND_VALID		0x0080
#define FIX_CONV_MAG_VALID		0x0100
#define FIX_CONV_GRID_VALID		0x0200
#define FIX_CONV_VEL_ESTIMATED		0x0400

#define FIX_FLAG_POS_REJECT_FOM		0x0003
#define FIX_FLAG_POS_REJECT_DOP		0x0004
#define FIX_FLAG_POS_PINNING		0x0020

#define FIX_FLAG_VEL_REJECT_RES		0x0003
#define FIX_FLAG_ACCELERATION		0x4000
#define FIX_FLAG_VEL_RELIABLE		0x0020
#define FIX_FLAG_VEL_RELIABLE_3D	0x0040

#define FIX_FLAG_MASK_INVALID		0x0007
#define FIX_FLAG_REJECT_NUM_SV		0x0001
#define FIX_FLAG_REJECT_POSTRAIM	0x0002
#define FIX_FLAG_REJECT_OTHER		0x0007
#define FIX_FLAG_RELIABLE		0x0008
#define FIX_FLAG_PF_RAIM		0x0010
#define FIX_FLAG_3DFIX			0x0100
#define FIX_FLAG_DGPS_CORRECTION	0x0200
#define FIX_FLAG_TROPO			0x0400
#define FIX_FLAG_IONO			0x0800
#define FIX_FLAG_INS			0x2000

#define FIXINFO_FLAG_VALID		0x0002
#define FIXINFO_FLAG_NEW_FIX		0x0004
#define FIXINFO_FLAG_SKY_FIX		0x0008
#define FIXINFO_FLAG_AID_GPSTIME	0x0010
#define FIXINFO_FLAG_AID_TIMESTAMP	0x0020
#define FIXINFO_FLAG_AID_EPHEMERIS	0x0040
#define FIXINFO_FLAG_AID_ALTITUDE	0x0080
#define FIXINFO_FLAG_KALMAN		0x1000
#define FIXINFO_FLAG_INTERNAL		0x2000
#define FIXINFO_FLAG_FIRSTFIX		0x4000

/* PRN_STATUS */
#define PRN_FLAG_FOUND  		0x0001
#define PRN_FLAG_TRACKING 		0x0002
#define PRN_FLAG_USE_IN_NAV 		0x0004

/* UTC_IONO_MODEL */
#define UTC_IONO_MODEL_UTCVALID  	0x0001
#define UTC_IONO_MODEL_IONOVALID 	0x0002


/* MEMCTRL */
#define MEM_WRITE		0x0002
#define MEM_READD		0x0003
#define MEM_BOOT		0x0004
#define MEM_ERASE		0x0006
#define MEM_XTAL_CALIBRATE	0x000a
/* BOOT flags based on isuite.fastrax.fi/sdk/331/Protocols/PRO_NMEA.html */
#define MEM_BOOT_NORMAL		0x0000
#define MEM_BOOT_INT_FWLOADER	0x0001
#define MEM_BOOT_DL_FWLOADER	0x0002
#define MEM_BOOT_RELOC_ALTFW	0x0003

/* Config Parameters - isuite.fastrax.fi/sdk/331/System/SYS_Parameters.html */
/* System parameters */
#define SYS_SET_ID			0x0001
#define SYS_FACTORY_SET_ID		0x0002
#define SYS_AUTOSTART			0x0380
#define START_MODE_AUTO			0x0301
#define SYS_LKG_SAVE_TIME_LIMIT		0x0008
#define SYS_LKG_SAVE_DIST_LIMIT		0x0009
#define SYS_LKG_SAVE_STOP_TIME_LIMIT	0x000a
#define SYS_WATCHDOG			0x0028
#define SYS_WATCHDOG_TIMEOUT		0x0029
#define SYS_BOOT_ERASE_PARAMS		0x0080
#define SYS_ENABLE_UI_LEDS		0x0081

/* Protocols parameters */
#define SYS_ITALK_PORT			0x0010
#define SYS_ITALK_SPEED			0x0011
#define SYS_ITALK_MASK			0x0012
#define SYS_NMEA_PORT			0x0020
#define SYS_NMEA_SPEED			0x0021
#define SYS_NMEA_MASK			0x0022
#define TRACK_ALT_MSG_ROUTING		0x047f
#define OBS_ALT_MSG_ROUTING		0x047e

/* Fix Conversion parameters */
#define NAV_DATUM_ID			0x0b08
#define NAV_GRID_ID			0x0b09
#define NAV_GRID_NUMBER			0x0b0a
#define NAV_HEAD_VEL_THR		0x0b0b
#define NAV_HEAD_VEL_FILTER		0x0b0c
#define NAV_HEAD_VEL_THRMAX		0x0b0d
#define NAV_HEAD_VEL_THR_PLL		0x0b0e
#define NAV_HEAD_VEL_THRMAX_PLL		0x0b0f
#define NAV_HOLD_HEADING_IF_NO_FIX	0x0bd0

/* General navigation parameters */
#define NAV_MODE			0x0b01
#define NAV_FIX_INTERVAL		0x0b02
#define NAV_OUTPUT_INTERVAL		0x0b03
#define NAV_FOM_LIMIT			0x0b10
#define NAV_VEL_FOM_LIMIT		0x0b15
#define NAV_HDOP_LIMIT			0x0b11
#define NAV_VDOP_LIMIT			0x0b12
#define NAV_ALT_LIMIT			0x0b13
#define NAV_VEL_LIMIT			0x0b14
#define NAV_EXT_AIDING_ALT		0x0b20
#define NAV_CS_INIT_VAR			0x0b30
#define NAV_CS_PROC_VAR			0x0b31
#define NAV_CS_MEAS_VAR			0x0b32
#define NAV_FILTER_VEL_LOW		0x0b33
#define NAV_FILTER_VEL_HIGH		0x0b34
#define NAV_MAX_LKGAGE			0x0b40
#define NAV_MAX_2D_FIX_SEC		0x0b41
#define NAV_CARRIERSMOOTHING_ENA	0x0b81
#define NAV_OLD_DATA_ENA		0x0b82
#define NAV_SNR_WEIGHTING_ENA		0x0b83
#define NAV_NORMAL_ENV_ENA		0x0b84
#define NAV_IONO_ENA			0x0b85
#define NAV_TROPO_ENA			0x0b87
#define NAV_DGPS_ENA			0x0b88
#define NAV_VEL_FILTER_ENA		0x0b8b
#define NAV_ALT_LIMIT_ENA		0x0b8c
#define NAV_VEL_LIMIT_ENA		0x0b8d
#define NAV_EXT_AIDING_ALT_ENA		0x0b8e
#define NAV_FOM_ENA			0x0b8f
#define NAV_HDOP_ENA			0x0b90
#define NAV_VDOP_ENA			0x0b91
#define NAV_TENTATIVE_ENA		0x0b96
#define NAV_PULLFIX_ENA			0x0b97
#define NAV_2D_FIX_ENA			0x0ba0
#define NAV_RESERVED_001		0x0ba1
#define NAV_OUTPUT_LAST_POS_IF_NO_FIX	0x0bb0
#define NAV_ESTIMATE_VEL_WITHOUT_PLL	0x0bb1
#define NAV_OUTPUT_LAST_VEL_IF_NO_FIX	0x0bb2

/* Position pinning parameters */
#define NAV_PIN_VEL			0x0b35
#define NAV_PIN_DRIFT_ERR		0x0b36
#define NAV_PIN_XYZ_ERR			0x0b37
#define NAV_PIN_TIMEOUT			0x0b38
#define NAV_PIN_START_DELAY		0x0b39
#define NAV_PINNING_ENA			0x0b8a

/* Interval mode parameters */
#define NAV_INTMODE_NBR_FIXES		0x0b22
#define NAV_INTMODE_FIX_INTERVAL	0x0b23
#define NAV_INTMODE_TRY_FIND_SV		0x0b24
#define NAV_INTMODE_TRY_GET_FIX		0x0b25
#define NAV_INTMODE_MAX_STAY_UP		0x0b26
#define NAV_INTMODE_NUM_IGNORED_FIXES	0x0b27
#define NAV_INTERVAL_MODE_ENA		0x0ba2

/* Kalman navigation parameters */
#define KLM_MODE			0x0801
#define KLM_MAX_NUM_STATES		0x0802
#define KLM_START_FLAGS			0x0803
#define KLM_OUTPUT_FLAGS		0x0804
#define KLM_NUM_OBS_LIMIT		0x0805
#define KLM_MEAS_FLAGS			0x0806
#define KLM_COV_LIMIT			0x0807
#define KLM_DOPPLER_NOISE		0x0810
#define KLM_RANGE_NOISE			0x0811
#define KLM_DOPPLER_NOISE_LOW		0x0812
#define KLM_RANGE_NOISE_LOW		0x0813
#define KLM_NOISE_SNR_LOW		0x0814
#define KLM_DOPPLER_NOISE_PLL		0x0815
#define KLM_RANGE_NOISE_PLL		0x0816
#define KLM_CLOCK_OFFSET_NOISE		0x0820
#define KLM_CLOCK_DRIFT_NOISE		0x0821
#define KLM_POS_NOISE			0x0822
#define KLM_POS_NOISE_VERT		0x0823
#define KLM_VEL_NOISE			0x0824
#define KLM_VEL_NOISE_VERT		0x0825
#define KLM_ACC_NOISE			0x0826
#define KLM_ACC_NOISE_VERT		0x0827
#define KLM_ACC_NOISE_PARAM		0x0828
#define KLM_POS_INIT_UNC		0x0830
#define KLM_VEL_INIT_UNC		0x0831
#define KLM_CLOCK_OFFSET_INIT_UNC	0x0832
#define KLM_CLOCK_DRIFT_INIT_UNC	0x0833
#define KLM_RESERVED_001		0x0841
#define KLM_RESERVED_002		0x0842
#define KLM_RESERVED_003		0x0843
#define KLM_RESERVED_004		0x0844
#define KLM_RESERVED_005		0x0845
#define KLM_RESERVED_006		0x0846
#define KLM_RESERVED_007		0x0847
#define KLM_RESERVED_008		0x0848

/* Observation parameters */
#define TRACK_MEAS_INTERVAL		0x0420
#define TRACK_CHANNELS			0x041d
#define OBS_ELEV_LIMIT			0x0101
#define OBS_SNR_LIMIT			0x0102
#define OBS_SNR_RAIM_LIMIT		0x0103
#define OBS_CROSS_CORR_SNR_DIFF		0x0120
#define OBS_MAX_SNR			0x0121
#define OBS_PLL_CROSS_CORR_THR		0x0122
#define OBS_FLL_CROSS_CORR_THR		0x0123
#define OBS_FREQ_CROSS_CORR_THR		0x0124
#define OBS_EPOCH_LIMIT			0x0130
#define OBS_ELEV_LIMIT_ENA		0x0181
#define OBS_SNR_LIMIT_ENA		0x0182
#define OBS_SNR_RAIM_ENA		0x0183
#define SAT_ORBIT_FIT_UPDATE		0x0203
#define SAT_FIRST_WEEK			0x0204
#define SAT_NUM_LEAP			0x0205
#define SAT_PRED_MAX_LKGAGE		0x0220
#define SAT_PRED_PHASE_TIMEOUT		0x0221
#define SAT_PRED_LKG_TIMEOUT		0x0222
#define SAT_ORBIT_CHECK			0x0281

/* Unav Tracking parameters */
#define TRACK_DLL_ALPHA			0x0401
#define TRACK_DLL_BETA			0x0402
#define TRACK_DLL_THR_HIGH		0x0403
#define TRACK_DLL_THR_LOW		0x0404
#define TRACK_DLL_POW_NARROW		0x0405
#define TRACK_DLL_POW_WIDE		0x0406
#define TRACK_FLL_RESPONSE_TIME		0x0407
#define TRACK_POW_CALIBRATION		0x0408
#define TRACK_FLL_THR			0x0409
#define TRACK_FLL_POW_NARROW		0x040b
#define TRACK_FLL_POW_WIDE		0x040c
#define TRACK_PLL_CTH			0x040d
#define TRACK_PLL_CDTH			0x040e
#define TRACK_PLL_CD2TH			0x040f
#define TRACK_RESERVED_000		0x0410
#define TRACK_RESERVED_001		0x0411
#define TRACK_RESERVED_002		0x0412
#define TRACK_RESERVED_003		0x0413
#define TRACK_RESERVED_004		0x0414
#define TRACK_RESERVED_005		0x0415
#define TRACK_RESERVED_006		0x0416
#define TRACK_RESERVED_007		0x0417
#define TRACK_RESERVED_008		0x0418
#define TRACK_RESERVED_009		0x0419
#define TRACK_RESERVED_010		0x0425
#define TRACK_RESERVED_011		0x0426
#define TRACK_RESERVED_012		0x0427
#define TRACK_RESERVED_013		0x0428
#define TRACK_RESERVED_014		0x0429
#define TRACK_RESERVED_016		0x042a
#define TRACK_RESERVED_017		0x042b
#define TRACK_RESERVED_015		0x0483
#define SUBF_CHECK_FLAGS		0x0432

/* Unav Track task parameters */
#define TRACK_GROUP_1			0x041a
#define TRACK_GROUP_2			0x041b
#define TRACK_GROUP_2_DELAY		0x041c
#define TRACK_CC_DELAY			0x041e
#define TRACK_CC_THR			0x041f
#define TRACK_PLL_ENA			0x0480
#define TRACK_NAVAID_ENA		0x0482
#define TRACK_SHIFT_REG			0x0421

/* Agc config parameters */
#define TRACK_AGC_LO			0x0422
#define TRACK_AGC_HI			0x0423
#define TRACK_AGC_MAX_HI		0x0424
#define TRACK_AGC_ENA			0x0481

/* PPS parameters */
#define PPS_DUTYCYCLE			0x0440
#define PPS_FREQ			0x0441
#define PPS_DELAY			0x0442
#define PPS_SURVEYLEN			0x0443
#define PPS_MEAS_MS			0x0444
#define PPS_ENA				0x0490
#define PPS_SYNC_TRACK			0x0491
#define PPS_ENA_PRED			0x0492
#define PPS_INVERT			0x0493

/* Frequency plan parameters */
#define FREQ_XTAL			0x0501
#define FREQ_MCLK_NOM			0x0502
#define FREQ_MCLK_DENOM			0x0503
#define FREQ_RF_NOM			0x0504
#define FREQ_RF_DENOM			0x0505
#define FREQ_MIXER_OFFSET		0x0506
#define FREQ_TME2			0x0507
#define FREQ_PARAM_ENA			0x0581

/* Search parameters */
#define SEARCH_XTAL_UNC			0x0701
#define SEARCH_DOPPLER_UNC		0x0702
#define SEARCH_WIN_PRED_EVEN		0x0703
#define SEARCH_WIN_PRED_ODD		0x0704
#define SEARCH_SENS_FULL_R1		0x0705
#define SEARCH_SENS_FULL_R2		0x0706
#define SEARCH_SENS_FULL_R3		0x0707
#define SEARCH_SENS_PRED_EVEN		0x0708
#define SEARCH_SENS_PRED_ODD		0x0709
#define SEARCH_PRED_ROUNDS		0x070a
#define SEARCH_BACK_PRNS		0x070b
#define SEARCH_GPS_MASK			0x070c
#define SEARCH_WAAS_MASK		0x070d
#define SEARCH_AUTO_PD_ROUNDS		0x070e
#define SEARCH_FLAGS			0x070f
#define SEARCH_PREC_PRED_TIMEOUT	0x0710
#define SEARCH_PRED_TIMEOUT		0x0711
#define SEARCH_FERRY_COND		0x0712
#define SEARCH_IFFERRY_PRED_COND	0x0713
#define SEARCH_TUNNEL_IN_SNR		0x0714
#define SEARCH_TUNNEL_OUT_SNR		0x0715
#define SEARCH_PRED_ENA			0x0781
#define SEARCH_BITSYNC_ENA		0x0782
#define SEARCH_AUTO_PRED_ENA		0x0783
#define SEARCH_AUTO_PD_ENA		0x0784
#define SEARCH_SE_PD			0x0785

/* Unav Acquisition parameters */
#define ACQ_SENS_9_COH			0x0901
#define ACQ_SENS_9_NONCOH		0x0902
#define ACQ_SENS_9_THR			0x0903
#define ACQ_SENS_9_BIN			0x0904
#define ACQ_SENS_10_COH			0x0905
#define ACQ_SENS_10_NONCOH		0x0906
#define ACQ_SENS_10_THR			0x0907
#define ACQ_SENS_10_BIN			0x0908
#define ACQ_MSG_ENA			0x0981
#define ACQ_QUICK_SEARCH_ENA		0x0982
#define SE_NONCOH_SHIFT			0x0940
#define SE_IR_SHIFT			0x0941
#define SE_THR				0x0942
#define SE_INT_ENA			0x09a0

/* Logging parameters */
#define LOG_MODE			0x0d01
#define LOG_INTERVAL_MIN		0x0d02
#define LOG_INTERVAL_MAX		0x0d03
#define LOG_MOVE_MIN			0x0d04
#define LOG_MOVE_MAX			0x0d05
#define LOG_VELOCITY_MIN		0x0d06
#define LOG_VELOCITY_MAX		0x0d07
#define LOG_MAXITEMS			0x0d08
#define LOG_STORE_LAT_LONG		0x0d80
#define LOG_STORE_ALT			0x0d81
#define LOG_STORE_ALT_FULL		0x0d82
#define LOG_STORE_GPSTIME		0x0d83
#define LOG_STORE_GPSTIME_MS		0x0d84
#define LOG_STORE_DIRECTION		0x0d85
#define LOG_STORE_VEL			0x0d86
#define LOG_STORE_VEL_VERT		0x0d87
#define LOG_STORE_FIXINFO		0x0d88

/* SBAS parameters */
#define WAAS_TIMEOUT_MODE		0x0b60
#define WAAS_MAX_CHANNELS		0x0b61
#define WAAS_ENA			0x0bc0
#define WAAS_MSG_0_ENA			0x0bc1
#define WAAS_STRICT_ENA			0x0bc2

/* Sony Track parameters */
#define TRACK_DLL_COEFF_GPS		0x0f01
#define TRACK_DLL_COEFF_DISCR		0x0f02
#define TRACK_DLL_LIM_GPS		0x0f03
#define TRACK_DLL4_COEFF_A		0x0f04
#define TRACK_DLL4_COEFF_B		0x0f05
#define TRACK_DLL4_COEFF_C		0x0f06
#define TRACK_DLL4_COEFF_D		0x0f07
#define TRACK_DLL4_FASTADJ_THRES	0x0f08
#define TRACK_ELGATE_NARROW		0x0f09
#define TRACK_COSTASLF_GPS		0x0f0a
#define TRACK_COSTASLF_WAAS		0x0f0b
#define TRACK_LPF_GPS_ACQ		0x0f0c
#define TRACK_LPF_GPS_LOCK		0x0f0d
#define TRACK_LPF_WAAS_LOCK		0x0f0e
#define TRACK_LPF_NOISE			0x0f0f
#define TRACK_SIGDETECT_TH		0x0f10
#define TRACK_SIGDETECT_TH_HS		0x0f11
#define TRACK_TIMEOUT_ACQ		0x0f12
#define TRACK_TIMEOUT_ACQHS		0x0f13
#define TRACK_TIMEOUT_REACQ		0x0f14
#define TRACK_HANDOVER_OFFSET		0x0f15
#define TRACK_CROSSCORR_THRES		0x0f16
#define TRACK_DLLCTRL_INTERVAL		0x0f17
#define TRACK_BITEXTRACT		0x0f18
#define TRACK_RESERVED001		0x0f19
#define TRACK_RESERVED002		0x0f1a
#define TRACK_WAAS_PRN_BITSTREAM	0x0f1b
#define TRACK_COSTAS_ERROR_TH		0x0f1d
#define TRACK_CARRFLT_OUT_TH		0x0f1e
#define TRACK_CARRFLT_MIDDLE_TH		0x0f1f
#define TRACK_CARRFLT_OUT_DIV		0x0f20
#define TRACK_CARRFLT_MIDDLE_DIV	0x0f21
#define TRACK_CARRFLT_INBAND_DIV	0x0f22
#define TRACK_LATCHTIME_OFFSET		0x0f23
#define TRACK_DIRECTHANDOVER_OFFSET	0x0f24
#define TRACK_EN_HS			0x0f80
#define TRACK_CARR_AID			0x0f81
#define WAAS_EN_DECODE			0x0f82
#define TRACK_CARRCHKATLOCK		0x0f83
#define TRACK_BL_REACQ			0x0f84

/* Sony Test parameters */
#define SONYTEST_DISABLE_PORTS		0x0f85

/* Sony Acq parameters */
#define SACQ_SEARCH_CH_NUM		0x0f30
#define SACQ_NOISE_COUNT_NUM		0x0f31
#define SACQ_NOISE_VALID_TIME		0x0f32
#define SACQ_NOISE_K			0x0f33
#define SACQ_PEAK_FD			0x0f34
#define SACQ_PEAK_NFD			0x0f35
#define SACQ_RESERVE			0x0f36
#define SACQ_SEARCH_CH_NUM_VALID	0x0f96