/****************************************************************************/
/* Copyright 1992 to 1996 MBARI                                             */
/****************************************************************************/
/* Summary  : Vehicle Emergency Functions                                   */
/* Filename : rovnav.h                                                      */
/* Author   : Andy Pearce                                                   */
/* Project  : Tiburon ROV                                                   */
/* Version  : Version 1.0                                                   */
/* Created  : 09/17/97                                                      */
/* Modified : 09/17/97                                                      */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/* 06jul92 akp - created                                                    */
/****************************************************************************/

#ifndef _rovnav_h
#define _rovnav_h 1

typedef enum
{
    ROVNAV_PPM_MODE,
    ROVNAV_FSK_MODE
} rovnavTelemMode;

#define ROVNAV_CMD_LEN    4
#define ROVNAV_REPLY_LEN  4
#define ROVNAV_BUF_LEN	 32

#define ROVNAV_TERM "\015\012"

#define ROVNAV_ADDR_STRING       "AD101" 	        /* ROVNAV Address 101*/
#define ROVNAV_FSK_FILL_STRING   "K07148800000000"      /* FSK base string */
#define ROVNAV_FSK_CMD_STRING    "G72,1,4,1,20,50,1,2"  /* Send FSK Data   */
#define ROVNAV_PPM_FILL_STRING   "G00,1,4,1,10,50,1,2"  /* PPM base string */
#define ROVNAV_COMS_TEST_STRING	 "ANDY"
#define ROVNAV_VB_ARM_CONFIRM    "VBAM"
#define ROVNAV_VB_FILL_CONFIRM   "VBFL"
#define ROVNAV_VB_FILL_NOT_ARMED "VBNA"

#define ROVNAV_CMD_1 	"$AA"
#define ROVNAV_CMD_2 	"$AB"
#define ROVNAV_CMD_3 	"$AC"
#define ROVNAV_CMD_4 	"$AD"
#define ROVNAV_CMD_5 	"$AE"
#define ROVNAV_CMD_6 	"$AF"
#define ROVNAV_CMD_7 	"$AG"
#define ROVNAV_CMD_8	"$AH"

/* Map ROVNAV Commands to MBARI defined functions */
#define TEST_ERS_COMS_LINK_CMD  ROVNAV_CMD_1 
#define FLOOD_VB_ARM_CMD        ROVNAV_CMD_2
#define FLOOD_VB_RUN_CMD        ROVNAV_CMD_3
#define REPORT_VB_LEVEL_CMD     ROVNAV_CMD_4
#define REPORT_ERS_BATTERY_CMD  ROVNAV_CMD_5
#define REPORT_ERS_PRESSURE_CMD ROVNAV_CMD_6

#endif /* _rovnav_h */