/* #include <stdio.h> */
#include <stdlib.h>
#include <stddef.h>
#include <inttypes.h>
#include "xil_printf.h"
#include "process_GPS_data.h"

#define TEST_data /* Zakomentovanim vypnuty vypisy */

/* lokalni promenne */
uint8_t decoded_array[30]; /* ulozeni dekodovaneho podramce */

/* globalni promenne */
uint8_t new_data_subframe; /* promennou znacena aktualizace struktur */

/* efemeridy - data z jednotlivych druzic */
extern struct subframe1 sub1[30]; /* pracovní struktury, data se porovnávají s aktuálními  */
extern struct subframe1 sub1_act[30]; /* aktuální data */
extern struct subframe1 sub1_2act[30]; /* druhá aktuální data */

extern struct subframe2 sub2[30];
extern struct subframe2 sub2_act[30];
extern struct subframe2 sub2_2act[30];

extern struct subframe3 sub3[30];
extern struct subframe3 sub3_act[30];
extern struct subframe3 sub3_2act[30];

/* almanachy - spolecna data ze vsech druzic */
extern struct subframe4and5 sub4and5;
extern struct subframe4and5 sub4and5_act;
extern struct subframe4and5 sub4and5_2act;

extern struct subframe4page18 sub4p18;
extern struct subframe4page18 sub4p18_act;
extern struct subframe4page18 sub4p18_2act;

extern struct subframe4page25 sub4p25;
extern struct subframe4page25 sub4p25_act;
extern struct subframe4page25 sub4p25_2act;

extern struct subframe5page25 sub5p25;
extern struct subframe5page25 sub5p25_act;
extern struct subframe5page25 sub5p25_2act;

/* vypocet promennych klasicky - bez znamenka */
double calculate(uint8_t position, uint8_t bit_number, int MSB){ /*par: prvni bit promenne (pole zacina 0), pocet bitu promenne, exponent u nejvyssiho bitu */
double total_result = 0;
double result = 0;
uint8_t i;
uint8_t index = (position/8);
uint8_t mask = 0x80;
mask >>= (position%8);
int exponent;
for(i = 0; i < bit_number; i++){
    if((((position+i)%8) == 0) && (i != 0)){
        mask = 0x80;
        index++;
    }
    exponent = MSB - i;

    if(exponent == 0){ /* exponent roven nule */
        if((decoded_array[index]&mask) == 0){
            result = 0;
        }else{
            result = 1;
        }
    }
    else if(exponent > 0){ /* kladny exponent */
        if((decoded_array[index]&mask) == 0){
            result = 0;
        }else{
            result = 2;
            while(exponent > 1){
                result = result * 2;
                exponent--;
        }
    }
    }
    else{ /* zaporny exponent */
        if((decoded_array[index]&mask) == 0){
            result = 0;
        }else{
            exponent = exponent*(-1);
            result = 2;
            while(exponent > 1){
                result = result * 2;
                exponent--;
            }
            result = 1/result;
    }
    }
    total_result = total_result + result;
    mask >>= 1;
}
return total_result;
}

/* vypocet promennych pres dvojkovy doplnek - se znamenkem */
double calculate_binary(uint8_t position, uint8_t bit_number, int MSB){ /*par: prvni bit promenne (pole zacina 0), pocet bitu promenne, exponent u nejvyssiho bitu */
double total_result = 0;
uint8_t i;
uint8_t index = (position/8);
uint8_t mask = 0x80;
mask >>= (position%8);

if((decoded_array[index]&mask) == 0){ /* prvni bit promenne je nulovy (cislo je kladne) -> klasicke reseni */
    total_result = calculate(position, bit_number, MSB);
}else{ /* prvni bit pole je nenulovy (cislo je zaporne) -> binarni doplnek */
    index = ((position+bit_number-1)/8);
    mask = 0x80;
    mask >>= ((position+bit_number-1)%8);
    while((decoded_array[index]&mask) == 0){ /* odecteni jednicky od daneho binarniho cisla */
        decoded_array[index] = (decoded_array[index]|mask);
        mask <<= 1;
        if(mask == 0){
            mask = 0x01;
            index--;
        }
    }
    decoded_array[index] = (decoded_array[index]^mask);

    index = (position/8);
    mask = 0x80;
    mask >>= (position%8);
    for(i = 0; i < bit_number; i++){ /* prepis pole na inverzni */
        decoded_array[index] = (decoded_array[index]^mask);
        mask >>= 1;
        if(mask == 0){
            mask = 0x80;
            index++;
        }
    }
    total_result = calculate(position, bit_number, MSB); /* prepocet binarniho cisla na dekadicke */
    total_result = total_result*(-1); /* zaporne znamenko */
}
return total_result;
}

/* hledani preambule */
int find_preamble(uint64_t * buffer){ /* par: ukazatel na buffer predany do fce process_GPS_data */
int is_pream = 0;
uint8_t preamble_normal = 0x8b; /* normalni preambule, binarne 10001011 */
uint8_t preamble_invers = 0x74; /* inverzni preambule, binarne 01110100 */
uint8_t preamble1;
uint8_t preamble2;
uint8_t mask = 0xff;
uint64_t buffer4 = buffer[4];
preamble1 = mask&buffer[0];
buffer4>>=44;
preamble2 = mask&buffer4;

if(preamble1 == preamble_normal){ /* hledani posledni preambule v bufferu (p. v normalni forme) */
    if(preamble2 == preamble_normal) /* hledani predposledni preambule v bufferu (p. v normalni forme) */
        is_pream = 1;
    if(preamble2 == preamble_invers) /* hledani predposledni preambule v bufferu (p. v inverzni forme) */
        is_pream = 1;
}
if(preamble1 == preamble_invers){ /* hledani posledni preambule v bufferu (p. v inverzni forme) */
    if(preamble2 == preamble_normal) /* hledani predposledni preambule v bufferu (p. v normalni forme) */
        is_pream = 1;
    if(preamble2 == preamble_invers) /* hledani predposledni preambule v bufferu (p. v inverzni forme) */
        is_pream = 1;
}

return is_pream; /* is_pream = 0 -> nezasynchronizovan podramec, is_pream = 1 -> pravdepodobne zasynchronizovan podramec */
}

/* dekodovani a pripadna oprava jednoho zasynchronizovaneho podramce */
uint8_t decode(uint64_t * coded_array){ /* par: odkaz na kodovany podramec */
uint8_t parity_received;
uint8_t parity_calculated;
uint64_t bits, y64;
uint64_t mask64;
uint32_t coded_word;
uint32_t mask32 = 0xffffffff;
uint8_t mask8;
uint8_t i,j,x,y,check;
uint8_t position_array;
uint8_t position_bit;
uint8_t error_word = 0;

for(i = 0; i < 10; i++){ /* kopirovani jednoho kodoveho slova do promenne coded_word */
    coded_word = 0;
    mask64 = 0x00000000ffffffff;
    if(i == 0){ /* prvni slovo */
        bits = coded_array[0];
        bits >>= 32;
        coded_word = (bits&mask64);
    }else if((i%2) == 1){ /* suda slova */
        bits = coded_array[(30*i/64)];
        bits >>= (2*i);
        coded_word = (bits&mask64);
    }else{ /* licha slova */
        bits = coded_array[(30*i/64)];
        bits <<= (32-2*i);
        coded_word = (bits&mask64);
        bits = coded_array[(30*i/64)+1];
        bits >>= (32+2*i);
        coded_word = (coded_word|bits);
    }
    mask32 = 0x0000003f;
    parity_received = (coded_word&mask32); /* ulozeni prijate parity */
    mask32 = 0x40000000;
    mask8 = 0xff;
    if((coded_word&mask32) == 0){ /* dekodovani slova pro pripad D30* = 0 */
        coded_word >>= 6;
        for(j = 3; j > 0; j--){
            decoded_array[j-1+(i*3)] = coded_word&mask8;
            coded_word >>= 8;
        }
    }else{ /* dekodovani slova pro pripad D30* = 1 */
        coded_word >>= 6;
        for(j = 3; j > 0; j--){
            decoded_array[j-1+(i*3)] = ~(coded_word&mask8);
            coded_word >>= 8;
        }
    }
    /* vypocet parity z dekodovaneho slova */
    parity_calculated = 0;
    j = (((decoded_array[i*3]&0x80)>>7)+((decoded_array[i*3]&0x40)>>6)+((decoded_array[i*3]&0x20)>>5)+((decoded_array[i*3]&0x08)>>3)+((decoded_array[i*3]&0x04)>>2)+((decoded_array[i*3+1]&0x40)>>6)+((decoded_array[i*3+1]&0x20)>>5)+((decoded_array[i*3+1]&0x10)>>4)+((decoded_array[i*3+1]&0x08)>>3)+((decoded_array[i*3+1]&0x04)>>2)+((decoded_array[i*3+2]&0x80)>>7)+((decoded_array[i*3+2]&0x40)>>6)+((decoded_array[i*3+2]&0x10)>>4)+((decoded_array[i*3+2]&0x02)>>1)+((coded_word&0x02)>>1))%2;
    j <<= 5;
    parity_calculated = (parity_calculated|j);
    j = (((decoded_array[i*3]&0x40)>>6)+((decoded_array[i*3]&0x20)>>5)+((decoded_array[i*3]&0x10)>>4)+((decoded_array[i*3]&0x04)>>2)+((decoded_array[i*3]&0x02)>>1)+((decoded_array[i*3+1]&0x20)>>5)+((decoded_array[i*3+1]&0x10)>>4)+((decoded_array[i*3+1]&0x08)>>3)+((decoded_array[i*3+1]&0x04)>>2)+((decoded_array[i*3+1]&0x02)>>1)+((decoded_array[i*3+2]&0x40)>>6)+((decoded_array[i*3+2]&0x20)>>5)+((decoded_array[i*3+2]&0x08)>>3)+(decoded_array[i*3+2]&0x01)+(coded_word&0x01))%2;
    j <<= 4;
    parity_calculated = (parity_calculated|j);
    j = (((decoded_array[i*3]&0x80)>>7)+((decoded_array[i*3]&0x20)>>5)+((decoded_array[i*3]&0x10)>>4)+((decoded_array[i*3]&0x08)>>3)+((decoded_array[i*3]&0x02)>>1)+(decoded_array[i*3]&0x01)+((decoded_array[i*3+1]&0x10)>>4)+((decoded_array[i*3+1]&0x08)>>3)+((decoded_array[i*3+1]&0x04)>>2)+((decoded_array[i*3+1]&0x02)>>1)+(decoded_array[i*3+1]&0x01)+((decoded_array[i*3+2]&0x20)>>5)+((decoded_array[i*3+2]&0x10)>>4)+((decoded_array[i*3+2]&0x04)>>2)+((coded_word&0x02)>>1))%2;
    j <<= 3;
    parity_calculated = (parity_calculated|j);
    j = (((decoded_array[i*3]&0x40)>>6)+((decoded_array[i*3]&0x10)>>4)+((decoded_array[i*3]&0x08)>>3)+((decoded_array[i*3]&0x04)>>2)+(decoded_array[i*3]&0x01)+((decoded_array[i*3+1]&0x80)>>7)+((decoded_array[i*3+1]&0x08)>>3)+((decoded_array[i*3+1]&0x04)>>2)+((decoded_array[i*3+1]&0x02)>>1)+(decoded_array[i*3+1]&0x01)+((decoded_array[i*3+2]&0x80)>>7)+((decoded_array[i*3+2]&0x10)>>4)+((decoded_array[i*3+2]&0x08)>>3)+((decoded_array[i*3+2]&0x02)>>1)+(coded_word&0x01))%2;
    j <<= 2;
    parity_calculated = (parity_calculated|j);
    j = (((decoded_array[i*3]&0x80)>>7)+((decoded_array[i*3]&0x20)>>5)+((decoded_array[i*3]&0x08)>>3)+((decoded_array[i*3]&0x04)>>2)+((decoded_array[i*3]&0x02)>>1)+((decoded_array[i*3+1]&0x80)>>7)+((decoded_array[i*3+1]&0x40)>>6)+((decoded_array[i*3+1]&0x04)>>2)+((decoded_array[i*3+1]&0x02)>>1)+(decoded_array[i*3+1]&0x01)+((decoded_array[i*3+2]&0x80)>>7)+((decoded_array[i*3+2]&0x40)>>6)+((decoded_array[i*3+2]&0x08)>>3)+((decoded_array[i*3+2]&0x04)>>2)+(decoded_array[i*3+2]&0x01)+(coded_word&0x01))%2;
    j <<= 1;
    parity_calculated = (parity_calculated|j);
    j = (((decoded_array[i*3]&0x20)>>5)+((decoded_array[i*3]&0x08)>>3)+((decoded_array[i*3]&0x04)>>2)+(decoded_array[i*3]&0x01)+((decoded_array[i*3+1]&0x80)>>7)+((decoded_array[i*3+1]&0x40)>>6)+((decoded_array[i*3+1]&0x20)>>5)+((decoded_array[i*3+1]&0x08)>>3)+((decoded_array[i*3+1]&0x02)>>1)+((decoded_array[i*3+2]&0x20)>>5)+((decoded_array[i*3+2]&0x04)>>2)+((decoded_array[i*3+2]&0x02)>>1)+(decoded_array[i*3+2]&0x01)+((coded_word&0x02)>>1))%2;
    parity_calculated = (parity_calculated|j);

    if(parity_calculated != parity_received){ /* porovnani vypoctene a prijate parity, pokud se lisi, dochazi k oprave dekodovaneho slova */
        x = 0;
        x = (parity_calculated^parity_received);
        if(x == 1){ /* oprava bitu D30 v kodovanem poli (dulezite pro dekodovani dalsiho slova) */
            mask64 = 0x8000000000000000;
            position_array = ((i+1)*30+1)/64;
            position_bit = ((i+1)*30+1)%64;
            mask64 >>= position_bit;
            y64 = ((~coded_array[position_array])&mask64);
            coded_array[position_array] = (coded_array[position_array]&(~mask64));
            coded_array[position_array] = (coded_array[position_array]|y64);
        }else{
            mask8 = 0x01;
            check = 0;
            for(j = 0; j < 6; j++){
                check = check + (x&mask8);
                x >>= 1;
            }
            if((check%2) == 0){ /* sudy pocet chyb v parite */
                error_word = 1;
            }else{ /* lichy pocet chyb v parite */
                x = (parity_calculated^parity_received);
                x >>= 1;
                switch(x){ /* oprava dekodovaneho slova dle tabulky viz bakalarska prace */
                case 1: /* bit D29 */
                    mask64 = 0x8000000000000000;
                    position_array = ((i+1)*30)/64;
                    position_bit = ((i+1)*30)%64;
                    mask64 >>= position_bit;
                    y64 = ((~coded_array[position_array])&mask64);
                    coded_array[position_array] = (coded_array[position_array]&(~mask64));
                    coded_array[position_array] = (coded_array[position_array]|y64);
                    break;
                case 2: /* bit D28 */
                    break;
                case 3: /* bit d9 */
                    mask8 = 0x80;
                    y = ((~decoded_array[i*3+1])&mask8);
                    decoded_array[i*3+1] = (decoded_array[i*3+1]&(~mask8));
                    decoded_array[i*3+1] = (decoded_array[i*3+1]|y);
                    break;
                case 4: /* bit D27 */
                    break;
                case 5: /* bit d22 */
                    mask8 = 0x04;
                    y = ((~decoded_array[i*3+2])&mask8);
                    decoded_array[i*3+2] = (decoded_array[i*3+2]&(~mask8));
                    decoded_array[i*3+2] = (decoded_array[i*3+2]|y);
                    break;
                case 6: /* bit d8 */
                    mask8 = 0x01;
                    y = ((~decoded_array[i*3])&mask8);
                    decoded_array[i*3] = (decoded_array[i*3]&(~mask8));
                    decoded_array[i*3] = (decoded_array[i*3]|y);
                    break;
                case 7: /* bit d16 */
                    mask8 = 0x01;
                    y = ((~decoded_array[i*3+1])&mask8);
                    decoded_array[i*3+1] = (decoded_array[i*3+1]&(~mask8));
                    decoded_array[i*3+1] = (decoded_array[i*3+1]|y);
                    break;
                case 8: /* bit D26 */
                    break;
                case 9: /* bit d24 */
                    mask8 = 0x01;
                    y = ((~decoded_array[i*3+2])&mask8);
                    decoded_array[i*3+2] = (decoded_array[i*3+2]&(~mask8));
                    decoded_array[i*3+2] = (decoded_array[i*3+2]|y);
                    break;
                case 11: /* bit d21 */
                    mask8 = 0x08;
                    y = ((~decoded_array[i*3+2])&mask8);
                    decoded_array[i*3+2] = (decoded_array[i*3+2]&(~mask8));
                    decoded_array[i*3+2] = (decoded_array[i*3+2]|y);
                    break;
                case 12: /* bit d19 */
                    mask8 = 0x20;
                    y = ((~decoded_array[i*3+2])&mask8);
                    decoded_array[i*3+2] = (decoded_array[i*3+2]&(~mask8));
                    decoded_array[i*3+2] = (decoded_array[i*3+2]|y);
                    break;
                case 13: /* bit d7 */
                    mask8 = 0x02;
                    y = ((~decoded_array[i*3])&mask8);
                    decoded_array[i*3] = (decoded_array[i*3]&(~mask8));
                    decoded_array[i*3] = (decoded_array[i*3]|y);
                    break;
                case 14: /* bit d4 */
                    mask8 = 0x10;
                    y = ((~decoded_array[i*3])&mask8);
                    decoded_array[i*3] = (decoded_array[i*3]&(~mask8));
                    decoded_array[i*3] = (decoded_array[i*3]|y);
                    break;
                case 15: /* bit d15 */
                    mask8 = 0x02;
                    y = ((~decoded_array[i*3+1])&mask8);
                    decoded_array[i*3+1] = (decoded_array[i*3+1]&(~mask8));
                    decoded_array[i*3+1] = (decoded_array[i*3+1]|y);
                    break;
                case 16: /* bit D25 */
                    break;
                case 17: /* bit d10 */
                    mask8 = 0x40;
                    y = ((~decoded_array[i*3+1])&mask8);
                    decoded_array[i*3+1] = (decoded_array[i*3+1]&(~mask8));
                    decoded_array[i*3+1] = (decoded_array[i*3+1]|y);
                    break;
                case 18: /* bit d23 */
                    mask8 = 0x02;
                    y = ((~decoded_array[i*3+2])&mask8);
                    decoded_array[i*3+2] = (decoded_array[i*3+2]&(~mask8));
                    decoded_array[i*3+2] = (decoded_array[i*3+2]|y);
                    break;
                case 19: /* bit d17 */
                    mask8 = 0x80;
                    y = ((~decoded_array[i*3+2])&mask8);
                    decoded_array[i*3+2] = (decoded_array[i*3+2]&(~mask8));
                    decoded_array[i*3+2] = (decoded_array[i*3+2]|y);
                    break;
                case 21: /* bit d1 */
                    mask8 = 0x80;
                    y = ((~decoded_array[i*3])&mask8);
                    decoded_array[i*3] = (decoded_array[i*3]&(~mask8));
                    decoded_array[i*3] = (decoded_array[i*3]|y);
                    break;
                case 22: /* bit d20 */
                    mask8 = 0x10;
                    y = ((~decoded_array[i*3+2])&mask8);
                    decoded_array[i*3+2] = (decoded_array[i*3+2]&(~mask8));
                    decoded_array[i*3+2] = (decoded_array[i*3+2]|y);
                    break;
                case 23: /* bit d5 */
                    mask8 = 0x08;
                    y = ((~decoded_array[i*3])&mask8);
                    decoded_array[i*3] = (decoded_array[i*3]&(~mask8));
                    decoded_array[i*3] = (decoded_array[i*3]|y);
                    break;
                case 24: /* bit d11 */
                    mask8 = 0x20;
                    y = ((~decoded_array[i*3+1])&mask8);
                    decoded_array[i*3+1] = (decoded_array[i*3+1]&(~mask8));
                    decoded_array[i*3+1] = (decoded_array[i*3+1]|y);
                    break;
                case 25: /* bit d18 */
                    mask8 = 0x40;
                    y = ((~decoded_array[i*3+2])&mask8);
                    decoded_array[i*3+2] = (decoded_array[i*3+2]&(~mask8));
                    decoded_array[i*3+2] = (decoded_array[i*3+2]|y);
                    break;
                case 26: /* bit d2 */
                    mask8 = 0x40;
                    y = ((~decoded_array[i*3])&mask8);
                    decoded_array[i*3] = (decoded_array[i*3]&(~mask8));
                    decoded_array[i*3] = (decoded_array[i*3]|y);
                    break;
                case 27: /* bit d6 */
                    mask8 = 0x04;
                    y = ((~decoded_array[i*3])&mask8);
                    decoded_array[i*3] = (decoded_array[i*3]&(~mask8));
                    decoded_array[i*3] = (decoded_array[i*3]|y);
                    break;
                case 28: /* bit d12 */
                    mask8 = 0x10;
                    y = ((~decoded_array[i*3+1])&mask8);
                    decoded_array[i*3+1] = (decoded_array[i*3+1]&(~mask8));
                    decoded_array[i*3+1] = (decoded_array[i*3+1]|y);
                    break;
                case 29: /* bit d3 */
                    mask8 = 0x20;
                    y = ((~decoded_array[i*3])&mask8);
                    decoded_array[i*3] = (decoded_array[i*3]&(~mask8));
                    decoded_array[i*3] = (decoded_array[i*3]|y);
                    break;
                case 30: /* bit d13 */
                    mask8 = 0x08;
                    y = ((~decoded_array[i*3+1])&mask8);
                    decoded_array[i*3+1] = (decoded_array[i*3+1]&(~mask8));
                    decoded_array[i*3+1] = (decoded_array[i*3+1]|y);
                    break;
                case 31: /* bit d14 */
                    mask8 = 0x04;
                    y = ((~decoded_array[i*3+1])&mask8);
                    decoded_array[i*3+1] = (decoded_array[i*3+1]&(~mask8));
                    decoded_array[i*3+1] = (decoded_array[i*3+1]|y);
                    break;
                default: /* v dekodovanem slove je vic nez 1 chyba */
                    error_word = 1;
                }
            }
        }
    }
}

return error_word; /* error_word = 1 -> v podramci se nachazi minimalne jedno chybove slovo */
}

/* vypocet promennych v jednotlivych podramcich (strukturach) */
void data_subframe1(uint8_t SV_number){ /* par: promenna SV_number predana do fce process_GPS_data */
sub1[SV_number-1].WN = calculate(48,10,9);
sub1[SV_number-1].kod_L2 = calculate(58,2,1);
sub1[SV_number-1].URA_index = calculate(60,4,3);
sub1[SV_number-1].SV_health = calculate(64,6,5);
sub1[SV_number-1].IODC = (calculate(70,2,9) + calculate(168,8,7));
sub1[SV_number-1].L2 = calculate(72,1,0);
sub1[SV_number-1].TGD = calculate_binary(160,8,-24);
sub1[SV_number-1].toc = calculate(176,16,19);
sub1[SV_number-1].af2 = calculate_binary(192,8,-48);
sub1[SV_number-1].af1 = calculate_binary(200,16,-28);
sub1[SV_number-1].af0 = calculate_binary(216,22,-10);
}

void data_subframe2(uint8_t SV_number){ /* par: promenna SV_number predana do fce process_GPS_data */
sub2[SV_number-1].IODE = calculate(48,8,7);
sub2[SV_number-1].Crs = calculate_binary(56,16,10);
sub2[SV_number-1].delta_n = calculate_binary(72,16,-28);
sub2[SV_number-1].M0 = calculate_binary(88,32,0);
sub2[SV_number-1].Cuc = calculate_binary(120,16,-14);
sub2[SV_number-1].e = calculate(136,32,-2);
sub2[SV_number-1].Cus = calculate_binary(168,16,-14);
sub2[SV_number-1].odm_A = calculate(184,32,12);
sub2[SV_number-1].toe = calculate(216,16,19);
sub2[SV_number-1].fit_interval_flag = calculate(232,1,0);
sub2[SV_number-1].AODO = calculate(233,5,4);
}

void data_subframe3(uint8_t SV_number){ /* par: promenna SV_number predana do fce process_GPS_data */
sub3[SV_number-1].Cic = calculate_binary(48,16,-14);
sub3[SV_number-1].OMG0 = calculate_binary(64,32,0);
sub3[SV_number-1].Cis = calculate_binary(96,16,-14);
sub3[SV_number-1].i0 = calculate_binary(112,32,0);
sub3[SV_number-1].Crc = calculate_binary(144,16,10);
sub3[SV_number-1].omg = calculate_binary(160,32,0);
sub3[SV_number-1].OMGd = calculate_binary(192,24,-20);
sub3[SV_number-1].IODE = calculate(216,8,7);
sub3[SV_number-1].idot = calculate_binary(224,14,-30);
}

void data_subframe4and5(){
sub4and5.data_ID = calculate(48,2,1);
sub4and5.SV_ID = calculate(50,6,5);
sub4and5.e = calculate(56,16,-6);
sub4and5.toa = calculate(72,8,19);
sub4and5.delta_i = calculate_binary(80,16,-4);
sub4and5.OMGd = calculate_binary(96,16,-23);
sub4and5.SV_health = calculate(112,8,7);
sub4and5.odm_A = calculate(120,24,12);
sub4and5.OMG0 = calculate_binary(144,24,0);
sub4and5.omg = calculate_binary(168,24,0);
sub4and5.M0 = calculate_binary(192,24,0);
sub4and5.af0 = (calculate_binary(216,8,-10) + calculate(235,3,-18));
sub4and5.af1 = calculate_binary(224,11,-28);
}

void data_subframe4page18(){
sub4p18.data_ID = calculate(48,2,1);
sub4p18.SV_ID = calculate(50,6,5);
sub4p18.alfa0 = calculate_binary(56,8,-23);
sub4p18.alfa1 = calculate_binary(64,8,-20);
sub4p18.alfa2 = calculate_binary(72,8,-17);
sub4p18.alfa3 = calculate_binary(80,8,-17);
sub4p18.beta0 = calculate_binary(88,8,18);
sub4p18.beta1 = calculate_binary(96,8,21);
sub4p18.beta2 = calculate_binary(104,8,23);
sub4p18.beta3 = calculate_binary(112,8,23);
sub4p18.A1 = calculate_binary(120,24,-27);
sub4p18.A0 = calculate_binary(144,32,1);
sub4p18.tot = calculate(176,8,19);
sub4p18.WNt = calculate(184,8,7);
sub4p18.delta_tLS = calculate_binary(192,8,7);
sub4p18.WNLSF = calculate(200,8,7);
sub4p18.DN = calculate(208,8,7);
sub4p18.delta_tLSF = calculate_binary(216,8,7);
}

void data_subframe4page25(){
uint8_t i;
sub4p25.data_ID = calculate(48,2,1);
sub4p25.SV_ID = calculate(50,6,5);
for(i = 0; i < 32; i++){
    sub4p25.AS_config[i] = calculate((56+i*4),4,3);
}
for(i = 0; i < 8; i++){
    sub4p25.SV_health[i] = calculate((186+i*6),6,5);
}
}

void data_subframe5page25(){
uint8_t i;
sub5p25.data_ID = calculate(48,2,1);
sub5p25.SV_ID = calculate(50,6,5);
sub5p25.toa = calculate(56,8,19);
sub5p25.WNa = calculate(64,8,7);
for(i = 0; i < 24; i++){
    sub5p25.SV_health[i] = calculate((72+i*6),6,5);
}
}

/* aktualizace promennych v jednotlivych podramcich (strukturach) */
void compare_subframe1(uint8_t SV_number){ /* par: promenna SV_number predana do fce process_GPS_data */
uint8_t x = 0;
if(sub1[SV_number-1].WN == sub1_act[SV_number-1].WN)
    x++;
if(sub1[SV_number-1].kod_L2 == sub1_act[SV_number-1].kod_L2)
    x++;
if(sub1[SV_number-1].URA_index == sub1_act[SV_number-1].URA_index)
    x++;
if(sub1[SV_number-1].SV_health == sub1_act[SV_number-1].SV_health)
    x++;
if(sub1[SV_number-1].IODC == sub1_act[SV_number-1].IODC)
    x++;
if(sub1[SV_number-1].L2 == sub1_act[SV_number-1].L2)
    x++;
if(sub1[SV_number-1].TGD == sub1_act[SV_number-1].TGD)
    x++;
if(sub1[SV_number-1].toc == sub1_act[SV_number-1].toc)
    x++;
if(sub1[SV_number-1].af0 == sub1_act[SV_number-1].af0)
    x++;
if(sub1[SV_number-1].af1 == sub1_act[SV_number-1].af1)
    x++;
if(sub1[SV_number-1].af2 == sub1_act[SV_number-1].af2)
    x++;
if(x < 11){
    sub1_2act[SV_number-1].WN = sub1_act[SV_number-1].WN;
    sub1_2act[SV_number-1].kod_L2 = sub1_act[SV_number-1].kod_L2;
    sub1_2act[SV_number-1].URA_index = sub1_act[SV_number-1].URA_index;
    sub1_2act[SV_number-1].SV_health = sub1_act[SV_number-1].SV_health;
    sub1_2act[SV_number-1].IODC = sub1_act[SV_number-1].IODC;
    sub1_2act[SV_number-1].L2 = sub1_act[SV_number-1].L2;
    sub1_2act[SV_number-1].TGD = sub1_act[SV_number-1].TGD;
    sub1_2act[SV_number-1].toc = sub1_act[SV_number-1].toc;
    sub1_2act[SV_number-1].af0 = sub1_act[SV_number-1].af0;
    sub1_2act[SV_number-1].af1 = sub1_act[SV_number-1].af1;
    sub1_2act[SV_number-1].af2 = sub1_act[SV_number-1].af2;
    sub1_act[SV_number-1].WN = sub1[SV_number-1].WN;
    sub1_act[SV_number-1].kod_L2 = sub1[SV_number-1].kod_L2;
    sub1_act[SV_number-1].URA_index = sub1[SV_number-1].URA_index;
    sub1_act[SV_number-1].SV_health = sub1[SV_number-1].SV_health;
    sub1_act[SV_number-1].IODC = sub1[SV_number-1].IODC;
    sub1_act[SV_number-1].L2 = sub1[SV_number-1].L2;
    sub1_act[SV_number-1].TGD = sub1[SV_number-1].TGD;
    sub1_act[SV_number-1].toc = sub1[SV_number-1].toc;
    sub1_act[SV_number-1].af0 = sub1[SV_number-1].af0;
    sub1_act[SV_number-1].af1 = sub1[SV_number-1].af1;
    sub1_act[SV_number-1].af2 = sub1[SV_number-1].af2;

    new_data_subframe = 1;
}
}

void compare_subframe2(uint8_t SV_number){ /* par: promenna SV_number predana do fce process_GPS_data */
uint8_t x = 0;
if(sub2[SV_number-1].IODE == sub2_act[SV_number-1].IODE)
    x++;
if(sub2[SV_number-1].Crs == sub2_act[SV_number-1].Crs)
    x++;
if(sub2[SV_number-1].delta_n == sub2_act[SV_number-1].delta_n)
    x++;
if(sub2[SV_number-1].M0 == sub2_act[SV_number-1].M0)
    x++;
if(sub2[SV_number-1].Cuc == sub2_act[SV_number-1].Cuc)
    x++;
if(sub2[SV_number-1].e == sub2_act[SV_number-1].e)
    x++;
if(sub2[SV_number-1].Cus == sub2_act[SV_number-1].Cus)
    x++;
if(sub2[SV_number-1].odm_A == sub2_act[SV_number-1].odm_A)
    x++;
if(sub2[SV_number-1].toe == sub2_act[SV_number-1].toe)
    x++;
if(sub2[SV_number-1].fit_interval_flag == sub2_act[SV_number-1].fit_interval_flag)
    x++;
if(sub2[SV_number-1].AODO == sub2_act[SV_number-1].AODO)
    x++;
if(x < 11){
    sub2_2act[SV_number-1].IODE = sub2_act[SV_number-1].IODE;
    sub2_2act[SV_number-1].Crs = sub2_act[SV_number-1].Crs;
    sub2_2act[SV_number-1].delta_n = sub2_act[SV_number-1].delta_n;
    sub2_2act[SV_number-1].M0 = sub2_act[SV_number-1].M0;
    sub2_2act[SV_number-1].Cuc = sub2_act[SV_number-1].Cuc;
    sub2_2act[SV_number-1].e = sub2_act[SV_number-1].e;
    sub2_2act[SV_number-1].Cus = sub2_act[SV_number-1].Cus;
    sub2_2act[SV_number-1].odm_A = sub2_act[SV_number-1].odm_A;
    sub2_2act[SV_number-1].toe = sub2_act[SV_number-1].toe;
    sub2_2act[SV_number-1].fit_interval_flag = sub2_act[SV_number-1].fit_interval_flag;
    sub2_2act[SV_number-1].AODO = sub2_act[SV_number-1].AODO;
    sub2_act[SV_number-1].IODE = sub2[SV_number-1].IODE;
    sub2_act[SV_number-1].Crs = sub2[SV_number-1].Crs;
    sub2_act[SV_number-1].delta_n = sub2[SV_number-1].delta_n;
    sub2_act[SV_number-1].M0 = sub2[SV_number-1].M0;
    sub2_act[SV_number-1].Cuc = sub2[SV_number-1].Cuc;
    sub2_act[SV_number-1].e = sub2[SV_number-1].e;
    sub2_act[SV_number-1].Cus = sub2[SV_number-1].Cus;
    sub2_act[SV_number-1].odm_A = sub2[SV_number-1].odm_A;
    sub2_act[SV_number-1].toe = sub2[SV_number-1].toe;
    sub2_act[SV_number-1].fit_interval_flag = sub2[SV_number-1].fit_interval_flag;
    sub2_act[SV_number-1].AODO = sub2[SV_number-1].AODO;

    new_data_subframe = 2;
}
}

void compare_subframe3(uint8_t SV_number){ /* par: promenna SV_number predana do fce process_GPS_data */
uint8_t x = 0;
if(sub3[SV_number-1].Cic == sub3_act[SV_number-1].Cic)
    x++;
if(sub3[SV_number-1].OMG0 == sub3_act[SV_number-1].OMG0)
    x++;
if(sub3[SV_number-1].Cis == sub3_act[SV_number-1].Cis)
    x++;
if(sub3[SV_number-1].i0 == sub3_act[SV_number-1].i0)
    x++;
if(sub3[SV_number-1].Crc == sub3_act[SV_number-1].Crc)
    x++;
if(sub3[SV_number-1].omg == sub3_act[SV_number-1].omg)
    x++;
if(sub3[SV_number-1].OMGd == sub3_act[SV_number-1].OMGd)
    x++;
if(sub3[SV_number-1].IODE == sub3_act[SV_number-1].IODE)
    x++;
if(sub3[SV_number-1].idot == sub3_act[SV_number-1].idot)
    x++;
if(x < 9){
    sub3_2act[SV_number-1].Cic = sub3_act[SV_number-1].Cic;
    sub3_2act[SV_number-1].OMG0 = sub3_act[SV_number-1].OMG0;
    sub3_2act[SV_number-1].Cis = sub3_act[SV_number-1].Cis;
    sub3_2act[SV_number-1].i0 = sub3_act[SV_number-1].i0;
    sub3_2act[SV_number-1].Crc = sub3_act[SV_number-1].Crc;
    sub3_2act[SV_number-1].omg = sub3_act[SV_number-1].omg;
    sub3_2act[SV_number-1].OMGd = sub3_act[SV_number-1].OMGd;
    sub3_2act[SV_number-1].IODE = sub3_act[SV_number-1].IODE;
    sub3_2act[SV_number-1].idot = sub3_act[SV_number-1].idot;
    sub3_act[SV_number-1].Cic = sub3[SV_number-1].Cic;
    sub3_act[SV_number-1].OMG0 = sub3[SV_number-1].OMG0;
    sub3_act[SV_number-1].Cis = sub3[SV_number-1].Cis;
    sub3_act[SV_number-1].i0 = sub3[SV_number-1].i0;
    sub3_act[SV_number-1].Crc = sub3[SV_number-1].Crc;
    sub3_act[SV_number-1].omg = sub3[SV_number-1].omg;
    sub3_act[SV_number-1].OMGd = sub3[SV_number-1].OMGd;
    sub3_act[SV_number-1].IODE = sub3[SV_number-1].IODE;
    sub3_act[SV_number-1].idot = sub3[SV_number-1].idot;

    new_data_subframe = 3;
}
}

void compare_subframe4and5(){
uint8_t x = 0;
if(sub4and5.data_ID == sub4and5_act.data_ID)
    x++;
if(sub4and5.SV_ID == sub4and5_act.SV_ID)
    x++;
if(sub4and5.e == sub4and5_act.e)
    x++;
if(sub4and5.toa == sub4and5_act.toa)
    x++;
if(sub4and5.delta_i == sub4and5_act.delta_i)
    x++;
if(sub4and5.OMGd == sub4and5_act.OMGd)
    x++;
if(sub4and5.SV_health == sub4and5_act.SV_health)
    x++;
if(sub4and5.odm_A == sub4and5_act.odm_A)
    x++;
if(sub4and5.OMG0 == sub4and5_act.OMG0)
    x++;
if(sub4and5.omg == sub4and5_act.omg)
    x++;
if(sub4and5.M0 == sub4and5_act.M0)
    x++;
if(sub4and5.af0 == sub4and5_act.af0)
    x++;
if(sub4and5.af1 == sub4and5_act.af1)
    x++;
if(x < 13){
    sub4and5_2act.data_ID = sub4and5_act.data_ID;
    sub4and5_2act.SV_ID = sub4and5_act.SV_ID;
    sub4and5_2act.e = sub4and5_act.e;
    sub4and5_2act.toa = sub4and5_act.toa;
    sub4and5_2act.delta_i = sub4and5_act.delta_i;
    sub4and5_2act.OMGd = sub4and5_act.OMGd;
    sub4and5_2act.SV_health = sub4and5_act.SV_health;
    sub4and5_2act.odm_A = sub4and5_act.odm_A;
    sub4and5_2act.OMG0 = sub4and5_act.OMG0;
    sub4and5_2act.omg = sub4and5_act.omg;
    sub4and5_2act.M0 = sub4and5_act.M0;
    sub4and5_2act.af0 = sub4and5_act.af0;
    sub4and5_2act.af1 = sub4and5_act.af1;
    sub4and5_act.data_ID = sub4and5.data_ID;
    sub4and5_act.SV_ID = sub4and5.SV_ID;
    sub4and5_act.e = sub4and5.e;
    sub4and5_act.toa = sub4and5.toa;
    sub4and5_act.delta_i = sub4and5.delta_i;
    sub4and5_act.OMGd = sub4and5.OMGd;
    sub4and5_act.SV_health = sub4and5.SV_health;
    sub4and5_act.odm_A = sub4and5.odm_A;
    sub4and5_act.OMG0 = sub4and5.OMG0;
    sub4and5_act.omg = sub4and5.omg;
    sub4and5_act.M0 = sub4and5.M0;
    sub4and5_act.af0 = sub4and5.af0;
    sub4and5_act.af1 = sub4and5.af1;

    new_data_subframe = 4;
}
}

void compare_subframe4page18(){
uint8_t x = 0;
if(sub4p18.data_ID == sub4p18_act.data_ID)
    x++;
if(sub4p18.SV_ID == sub4p18_act.SV_ID)
    x++;
if(sub4p18.alfa0 == sub4p18_act.alfa0)
    x++;
if(sub4p18.alfa1 == sub4p18_act.alfa1)
    x++;
if(sub4p18.alfa2 == sub4p18_act.alfa2)
    x++;
if(sub4p18.alfa3 == sub4p18_act.alfa3)
    x++;
if(sub4p18.beta0 == sub4p18_act.beta0)
    x++;
if(sub4p18.beta1 == sub4p18_act.beta1)
    x++;
if(sub4p18.beta2 == sub4p18_act.beta2)
    x++;
if(sub4p18.beta3 == sub4p18_act.beta3)
    x++;
if(sub4p18.A1 == sub4p18_act.A1)
    x++;
if(sub4p18.A0 == sub4p18_act.A0)
    x++;
if(sub4p18.tot == sub4p18_act.tot)
    x++;
if(sub4p18.WNt == sub4p18_act.WNt)
    x++;
if(sub4p18.delta_tLS == sub4p18_act.delta_tLS)
    x++;
if(sub4p18.WNLSF == sub4p18_act.WNLSF)
    x++;
if(sub4p18.DN == sub4p18_act.DN)
    x++;
if(sub4p18.delta_tLSF == sub4p18_act.delta_tLSF)
    x++;
if(x < 18){
    sub4p18_2act.data_ID = sub4p18_act.data_ID;
    sub4p18_2act.SV_ID = sub4p18_act.SV_ID;
    sub4p18_2act.alfa0 = sub4p18_act.alfa0;
    sub4p18_2act.alfa1 = sub4p18_act.alfa1;
    sub4p18_2act.alfa2 = sub4p18_act.alfa2;
    sub4p18_2act.alfa3 = sub4p18_act.alfa3;
    sub4p18_2act.beta0 = sub4p18_act.beta0;
    sub4p18_2act.beta1 = sub4p18_act.beta1;
    sub4p18_2act.beta2 = sub4p18_act.beta2;
    sub4p18_2act.beta3 = sub4p18_act.beta3;
    sub4p18_2act.A1 = sub4p18_act.A1;
    sub4p18_2act.A0 = sub4p18_act.A0;
    sub4p18_2act.tot = sub4p18_act.tot;
    sub4p18_2act.WNt = sub4p18_act.WNt;
    sub4p18_2act.delta_tLS = sub4p18_act.delta_tLS;
    sub4p18_2act.WNLSF = sub4p18_act.WNLSF;
    sub4p18_2act.DN = sub4p18_act.DN;
    sub4p18_2act.delta_tLSF = sub4p18_act.delta_tLSF;
    sub4p18_act.data_ID = sub4p18.data_ID;
    sub4p18_act.SV_ID = sub4p18.SV_ID;
    sub4p18_act.alfa0 = sub4p18.alfa0;
    sub4p18_act.alfa1 = sub4p18.alfa1;
    sub4p18_act.alfa2 = sub4p18.alfa2;
    sub4p18_act.alfa3 = sub4p18.alfa3;
    sub4p18_act.beta0 = sub4p18.beta0;
    sub4p18_act.beta1 = sub4p18.beta1;
    sub4p18_act.beta2 = sub4p18.beta2;
    sub4p18_act.beta3 = sub4p18.beta3;
    sub4p18_act.A1 = sub4p18.A1;
    sub4p18_act.A0 = sub4p18.A0;
    sub4p18_act.tot = sub4p18.tot;
    sub4p18_act.WNt = sub4p18.WNt;
    sub4p18_act.delta_tLS = sub4p18.delta_tLS;
    sub4p18_act.WNLSF = sub4p18.WNLSF;
    sub4p18_act.DN = sub4p18.DN;
    sub4p18_act.delta_tLSF = sub4p18.delta_tLSF;

    new_data_subframe = 5;
}
}

void compare_subframe4page25(){
uint8_t x = 0;
uint8_t i;
if(sub4p25.data_ID == sub4p25_act.data_ID)
    x++;
if(sub4p25.SV_ID == sub4p25_act.SV_ID)
    x++;
for(i = 0; i < 32; i++){
    if(sub4p25.AS_config[i] == sub4p25_act.AS_config[i])
        x++;
}
for(i = 0; i < 8; i++){
    if(sub4p25.SV_health[i] == sub4p25_act.SV_health[i])
        x++;
}
if(x < 42){
    sub4p25_2act.data_ID = sub4p25_act.data_ID;
    sub4p25_2act.SV_ID = sub4p25_act.SV_ID;
    for(i = 0; i < 32; i++)
        sub4p25_2act.AS_config[i] = sub4p25_act.AS_config[i];
    for(i = 0; i > 8; i++)
        sub4p25_2act.SV_health[i] = sub4p25_act.SV_health[i];
    sub4p25_act.data_ID = sub4p25.data_ID;
    sub4p25_act.SV_ID = sub4p25.SV_ID;
    for(i = 0; i < 32; i++)
        sub4p25_act.AS_config[i] = sub4p25.AS_config[i];
    for(i = 0; i < 8; i++)
        sub4p25_act.SV_health[i] = sub4p25.SV_health[i];

    new_data_subframe = 6;
}
}

void compare_subframe5page25(){
uint8_t x = 0;
uint8_t i;
if(sub5p25.data_ID == sub5p25_act.data_ID)
    x++;
if(sub5p25.SV_ID == sub5p25_act.SV_ID)
    x++;
if(sub5p25.toa == sub5p25_act.toa)
    x++;
if(sub5p25.WNa == sub5p25_act.WNa)
    x++;
for(i = 0; i < 24; i++){
    if(sub5p25.SV_health[i] == sub5p25_act.SV_health[i])
        x++;
}
if(x < 28){
    sub5p25_2act.data_ID = sub5p25_act.data_ID;
    sub5p25_2act.SV_ID = sub5p25_act.SV_ID;
    sub5p25_2act.toa = sub5p25_act.toa;
    sub5p25_2act.WNa = sub5p25_act.WNa;
    for(i = 0; i < 24; i++)
        sub5p25_2act.SV_health[i] = sub5p25_act.SV_health[i];
    sub5p25_act.data_ID = sub5p25.data_ID;
    sub5p25_act.SV_ID = sub5p25.SV_ID;
    sub5p25_act.toa = sub5p25.toa;
    sub5p25_act.WNa = sub5p25.WNa;
    for(i = 0; i < 24; i++)
        sub5p25_act.SV_health[i] = sub5p25.SV_health[i];

    new_data_subframe = 7;
}
}

/* trideni podramcu (dat) */
void separate(uint8_t SV_number){ /* par: promenna SV_number predana do fce process_GPS_data */
uint8_t switch_case;
uint8_t subframe;
uint8_t SV_ID;

subframe = calculate(43,3,2); /* vypocet cisla podramce */
SV_ID = calculate(50,6,5); /* vypocet SV_ID */

if(subframe <= 3){ /* podramce 1, 2 a 3 */
    switch_case = subframe;
}
else if(subframe == 4){ /* podramec 4 */
    if(SV_ID == 63){ /* 25. stranka */
        switch_case = 6;
    }
    else if(SV_ID == 56){ /* 18. stranka */
        switch_case = 5;
    }
    else if(SV_ID >= 52 && SV_ID <= 62 && SV_ID != 56){
        switch_case = 8;
    }
    else{ /* stranky 2 - 5 a 7 - 10 */
        switch_case = 4;
    }
}
else if(subframe == 5){ /* podramec 5 */
    if(SV_ID == 51){
        switch_case = 7; /* 25. stranka */
    }else{
        switch_case = 4; /* 1. - 24. stranka */
    }
}
else{ /* jina, chybna varianta */
    switch_case = 9;
}

switch(switch_case){
case 0:
    #ifdef TEST_data
    xil_printf("Neplatny vstup! \n");
    #endif
    break;
case 1:
    data_subframe1(SV_number);
    compare_subframe1(SV_number);
    break;
case 2:
    data_subframe2(SV_number);
    compare_subframe2(SV_number);
    break;
case 3:
    data_subframe3(SV_number);
    compare_subframe3(SV_number);
    break;
case 4:
    data_subframe4and5();
    compare_subframe4and5();
    break;
case 5:
    data_subframe4page18();
    compare_subframe4page18();
    break;
case 6:
    data_subframe4page25();
    compare_subframe4page25();
    break;
case 7:
    data_subframe5page25();
    compare_subframe5page25();
    break;
case 8:
    #ifdef TEST_data
    xil_printf("Tento podramec obsahuje pouze rezervovane nebo nevyuzite bity, tj. neobsahuje data. \n");
    #endif
    break;
default:
    #ifdef TEST_data
    xil_printf("Neplatny vstup! \n");
    #endif
}
}

/* zpracovani dat z nav. zpravy GPS */
int32_t process_GPS_data(uint64_t * buffer, uint8_t SV_number){ /* par: odkaz na buffer s demodulovanymi bity, cislo druzice */
uint8_t is_preamble;
int32_t zcount;
is_preamble = find_preamble(buffer); /* vyhledavani preambule */
if(is_preamble == 1){
    uint64_t memory[5]; /* definice mezipameti */
    uint64_t bits;
    uint8_t i, error_word;
    uint8_t mask = 0x80;
    uint8_t zcount_array[3];
    for(i = 0; i < 5; i++){ /* naplneni mezipameti kodovanym podramcem */
        memory[i] = buffer[4-i];
        memory[i] <<= 10;
        if(i != 4){
            bits = buffer[4-i-1];
            bits >>= 54;
            memory[i] = (memory[i]|bits);
        }
    }
    error_word = decode(memory); /* dekodovani podramce */

    zcount = calculate(24,17,16); /* vypocet z-countu */

    if(error_word == 0){ /* trideni podramce, pokud neobsahuje chybove slovo */
        separate(SV_number);
        }
}else{
    zcount = -1;
}
return zcount; /* z-count = -1 -> nezasynchronizovan podramec, z-count >= 0 -> pravdepodobne zasynchronizovan podramec */
}