GPStracker/soft/common.h

#pragma once

/* Needs time_t already defined (embedded: stime.h's typedef; PC: <time.h>) -
 * include this only after whichever of those this build already includes. */

/*
 * Definitions shared byte-for-byte between the embedded build (soft/) and
 * the PC test tool (gps-test-tool/): struct layouts that cross the boundary
 * between translation units compiled for each side (System/location/
 * auto_pause, all real logic - gpx.c/nmea.c/syslog.c/autopause.c compile
 * unmodified into both), and the value constants those structs' fields hold.
 *
 * Kept deliberately minimal: this is not "the" shared header, just the part
 * that must never drift, because a mismatch here is a silent ABI mismatch
 * between translation units rather than a compile error. Includes, pin/
 * hardware definitions, and anything embedded-only or PC-only stay in each
 * side's own main.h.
 */

/* System.location_valid values */
#define LOC_INVALID	0
#define LOC_VALID	1
#define LOC_VALID_NEW	2

/* System.fix_type values (from GSA) */
#define FIX_TYPE_UNKNOWN	0
#define FIX_TYPE_2D		2
#define FIX_TYPE_3D		3

/* GNSS modes (System.conf.gnss_mode) */
#define GNSS_MODE_GPS_GLONASS_GALILEO	0
#define GNSS_MODE_GPS			1
#define GNSS_MODE_GPS_GALILEO		2
#define GNSS_MODE_GALILEO		3
#define GNSS_MODE_GPS_BEIDOU		4
#define GNSS_MODE_BEIDOU		5

/* UART log mode values (System.conf.uart_log_mode) */
#define UART_LOG_MODE_MIXED	0	/* NMEA and system log interleaved (default) */
#define UART_LOG_MODE_NMEA	1	/* NMEA only */
#define UART_LOG_MODE_SYSTEM	2	/* system log only */

/* Reasons a candidate point can be rejected before being written (see
 * soft/syslog.h's reject_reason_names[], indexed by these) */
#define REJECT_REASON_KALMAN	0	/* Kalman-filtered position error too large */
#define REJECT_REASON_DISTDIFF	1	/* distance jump inconsistent with recent history */
#define REJECT_REASON_MINDIST	2	/* too small a position change since last saved point */
#define REJECT_REASON_ALTDIFF	3	/* altitude jump inconsistent with recent history */
#define REJECT_REASON_QUALITY	4	/* low satellite count, poor HDOP, or non-3D fix */

/* System.conf.flags bit indices, read/set via get_flag(index)/set_flag(index,
 * val) - both sides index the same way (a bit position within a flags byte
 * array), not a pre-shifted bitmask, so these constants and the get_flag()
 * call sites are interchangeable between builds. */
#define CONFFLAG_DISABLE_FILTERS	0
#define CONFFLAG_ENABLE_SBAS		1
#define CONFFLAG_LOGGING_AFTER_BOOT	2
#define CONFFLAG_AUTO_PAUSE		3
#define CONFFLAG_RESET_ON_NEW_FILE	4
#define CONFFLAG_VERBOSE_LOG		5

#define CONFFLAG_LAST			5

struct config_s {
	union {
		unsigned char conf_u8[16];
		struct {
			unsigned char gnss_mode;	// 0
			unsigned char skip_points;	// 1
			unsigned char auto_pause_time;	// 2
			unsigned char auto_pause_dist;	// 3
			unsigned char min_sats;		// 4
			unsigned char auto_pause_speed;	// 5
			unsigned char uart_log_mode;	// 6
		};
	};
	unsigned char flags[4];
};

struct location_s {
	float lon;
	float lat;
	float alt;
	time_t time;
};

#ifndef PC_BUILD
/* Real hardware-timer-backed countdowns (set_timer()/timer_expired() in
 * soft/main.h), driven by an ISR via atomic_set_uint()/atomic_get_uint().
 * Embedded-only: the PC build's set_timer()/timer_expired() are plain no-op
 * functions that never reference System.timers, so struct system_s doesn't
 * carry it there - dead weight, and a stray cli()/sei() dependency, for a
 * build with no such ISR. */
struct timers {
	unsigned int owire;
	unsigned int beep;
	unsigned int recv_timeout;
	unsigned int status_log;
	unsigned int lcd;
	unsigned int backlight;
};
#endif

struct system_s {
#ifndef PC_BUILD
	struct timers timers;
#endif
	struct config_s conf;
	unsigned long int distance; // cm
	unsigned long int elevation_gain; // dm (decimeters, 0.1m resolution); filtered (dead-band+smoothed)
	unsigned long int elevation_loss; // dm; filtered (dead-band+smoothed)
	unsigned long int elevation_gain_raw; // dm; unfiltered, for log comparison only
	unsigned long int elevation_loss_raw; // dm; unfiltered, for log comparison only
	unsigned long int alt_max; // dm; highest smoothed altitude seen this session
	unsigned long int speed_accum_x100; // sum of instantaneous NMEA speed samples (km/h * 100) while not paused
	unsigned long int speed_sample_count; // number of samples in speed_accum_x100
	unsigned long int points_written; // count of accepted/written track points this session
	unsigned long int rejected_count; // count of rejected candidate points this session (unsigned long: a poor-fix session can reject far more than 65535 times)
	unsigned long int points_paused; // count of candidate points seen while tracking_is_paused(), this session
	unsigned long int points_skipped; // count of candidate points dropped by the skip_points warm-up (after boot or a fix gap), this session
	unsigned long int points_accepted; // count of candidate points that passed every reject check, this session; with filters enabled, points_accepted - points_written*AVG_COUNT is "averaged out, not yet flushed".
		// points_paused + points_skipped + rejected_count + points_accepted may fall a couple short of the true candidate-point total: the sliding window used for the distance/altitude spike checks needs a couple of points to refill after each reset (boot, or a fix gap) before it can even decide reject-vs-accept, and those few points aren't tallied anywhere.
	unsigned int hdop_x100; // HDOP * 100, from GSA
	unsigned char fix_type; // FIX_TYPE_* from GSA
	unsigned int speed_x10; // instantaneous NMEA speed, km/h * 10 - see nmea.c's speed_sample_process()
		// for why whole km/h is too coarse for the auto-pause speed threshold
	time_t time_start;
	time_t current_pause_start;
	time_t pause_time;
	float bat_volt;
	float bat_volt_min; // lowest battery voltage seen this session
	float temperature;
	unsigned temperature_ok:1;
	unsigned satellites_used:5;
	unsigned location_valid:2;
	unsigned dgps:1; /* GGA reports a DGPS-quality fix - the receiver's own doing, not CONFFLAG_ENABLE_SBAS (our SBAS-search request) */
	unsigned gps_initialized:2;
	unsigned gps_only:1;
	unsigned tracking_paused:1;
	unsigned tracking_auto_paused:1;
	unsigned open_new_file:1;
	unsigned sat_count_low:1;
	unsigned int global_error;
	unsigned char status;
	unsigned char display_state;
	unsigned char working_mode;
	unsigned char keypress; // bitmask of K_* (main.h); needs full width, not a bitfield bit
};

/* Auto-pause state (soft/autopause.c, compiled unmodified into both builds -
 * see soft/autopause.h). */
struct auto_pause_s {
	unsigned char point_counter;
	unsigned long int prev_distance;
	unsigned char speed_counter;
	struct location_s pause_anchor; /* running average position while paused */
	unsigned int anchor_sample_count;
	unsigned char resume_high_history; /* bit history: was the anchor-distance/speed resume condition met */
	struct location_s prev_location; /* last sample seen while paused, for step-to-step bearing */
	unsigned char prev_location_valid:1;
	unsigned char prev_bearing_valid:1;
	float prev_bearing;
	unsigned char heading_consistent_history; /* bit history: did this step's bearing agree with the last */
};