Diff: GPSUBX_UART.hpp

Revision:

19:ae1a294cb30b

Parent:

13:facd8e54f2eb

--- a/GPSUBX_UART.hpp	Mon Nov 29 12:32:42 2021 +0000
+++ b/GPSUBX_UART.hpp	Wed Dec 01 05:29:32 2021 +0000
@@ -18,25 +18,19 @@
 
 //extern Serial twelite;
 
-//// 0x01 0x01
-//union POSECEF
-//{
-//    char byte_data[POSECEF_LEN+8];
-//    struct
-//    {
-//        unsigned short sync;
-//        char m_class;
-//        char m_id;
-//        unsigned short pay_len;
-//        unsigned int iTOW;
-//        int ecefX;
-//        int ecefY;
-//        int ecefZ;
-//        unsigned int pAcc;
-//        char check_a;
-//        char check_b;
-//    } data;
-//};
+// 0x01 0x01
+union POSECEF
+{
+    char byte_data[POSECEF_LEN];
+    struct
+    {
+        unsigned int iTOW;
+        int ecefX;
+        int ecefY;
+        int ecefZ;
+        unsigned int pAcc;
+    } data;
+};
 
 // 0x01 0x02
 union POSLLH
@@ -192,6 +186,10 @@
     /**Height [m]*/
     volatile float Height;
     /**iTOW of POSLLH [ms]*/
+    volatile int iTOW_POSECEF;
+    /**Velocity NED [m/s]*/
+    volatile Vector3 PositionECEF;
+    /**Speed [m/s]*/
     volatile int iTOW_POSLLH;
     /**Velocity NED [m/s]*/
     volatile Vector3 VelocityNED;
@@ -214,10 +212,11 @@
     volatile int TimeZone;
         
     Vector3 UniversalZeroPosition;
-    Vector3 UniversalZeroUnitN;
-    Vector3 UniversalZeroUnitE;
-    Vector3 UniversalZeroUnitD;
-    Vector3 UniversalPosition;
+    float UniversalLatitude;
+    float UniversalLongitude;
+    Vector3 UniversalZeroUnit1;
+    Vector3 UniversalZeroUnit2;
+    Vector3 UniversalZeroUnit3;
     /**Position NED [m]*/
     Vector3 PositionNED;
     
@@ -235,13 +234,13 @@
     */
     void Attach();
     
-    Vector3 ToUniversalUnit();
-    Vector3 ToUniversal();
+    //Vector3 ToUniversalUnit();
+    //Vector3 ToUniversal();
     void CalculateUnit();
     /**call Calculate() before calculating PositionNED
     */
     void Calculate();
-    Vector3 Calculate(Vector3 position);
+    //Vector3 Calculate(Vector3 position);
     
     static void Checksum(char payload[], int n, char* ck_a, char* ck_b);
 };