File content as of revision 2:6218fe8e54f4:

#ifndef __GPSUBX_UART_HPP__
#define __GPSUBX_UART_HPP__

#include "mbed.h"
#include "Vector3.hpp"

#define POSECEF_LEN 20
#define POSLLH_LEN 28
#define TIMEUTC_LEN 20
#define VELECEF_LEN 20
#define VELNED_LEN 36

#define UBX_SYNC 0x62 << 8 | 0xb5

#define RECEIVE_SIZE 1024
#define SENTENCE_SIZE 64

extern Serial pc;

//// 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 0x02
union POSLLH
{
    char byte_data[POSLLH_LEN];
    struct
    {
        unsigned int iTOW;
        int lon;
        int lat;
        int height;
        int hMSL;
        unsigned int hAcc;
        unsigned int vAcc;
    } data;
};

// 0x01 0x21
union TIMEUTC
{
    char byte_data[TIMEUTC_LEN];
    struct
    {
        unsigned int iTOW;
        unsigned int tAcc;
        int nano;
        unsigned short year;
        unsigned char month;
        unsigned char day;
        unsigned char hour;
        unsigned char min;
        unsigned char sec;
        unsigned char valid;
    } data;
};

//// 0x01 0x11
//union VELECEF
//{
//    char byte_data[VELECEF_LEN];
//    struct
//    {
//        unsigned int iTOW;
//        int ecefVX;
//        int ecefVY;
//        int ecefVZ;
//        unsigned int sAcc;
//    } data;  
//};

// 0x01 0x12
union VELNED
{
    char byte_data[VELNED_LEN];
    struct
    {
        unsigned int iTOW;
        int velN;
        int velE;
        int velD;
        unsigned int speed;
        unsigned int gSpeed;
        signed int heading;
        unsigned int sAcc;
        unsigned int cAcc;
    } data;
};

class GPSUBX_UART
{
private:

    RawSerial serial;
    char receive_buffer[RECEIVE_SIZE];
    char sentence_buffer[SENTENCE_SIZE];
    static const float Radius = 6378136.6f;
    volatile int receive_index;
    
    void Receive();
    void Decode(char buffer[], int mc, int mi);
    
public:

    int dummy; // Compiler bug? If "dummy" does not exist, the value of "Year" (under "public:") may include bugs.
    volatile int Year;
    volatile int Month;
    volatile int Day;
    volatile int Hours;
    volatile int Minutes;
    volatile int Seconds;
    volatile float Latitude;
    volatile float Longitude;
    volatile float Height;
    volatile int iTOW_POSLLH;
    volatile Vector3 VelocityNED;
    volatile float Speed;
    volatile float GroundSpeed;
    volatile float Heading;
    volatile int iTOW_VELNED;
    
    volatile int TimeZone;
        
    Vector3 UniversalZeroPosition;
    Vector3 UniversalZeroUnitN;
    Vector3 UniversalZeroUnitE;
    Vector3 UniversalZeroUnitD;
    Vector3 UniversalPosition;
    Vector3 PositionNED;

    GPSUBX_UART(PinName tx, PinName rx, int baud = 38400, int timezone = 9);
    void Update();
    void Attach();
    
    Vector3 ToUniversalUnit();
    Vector3 ToUniversal();
    void CalculateUnit();
    void Calculate();
    Vector3 Calculate(Vector3 position);
    
    static void Checksum(char payload[], int n, char* ck_a, char* ck_b);
};
#endif