Michael Ernst Peter
/
Test_GPS
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Diff: NEOM9N_thread.h
- Revision:
- 71:4bc51407bff0
- Parent:
- 69:2cda20c51989
--- a/NEOM9N_thread.h Thu Jun 16 14:03:22 2022 +0200
+++ b/NEOM9N_thread.h Sat Jun 18 18:36:19 2022 +0200
@@ -5,6 +5,7 @@
#include "Eigen/Dense.h"
#include "ThreadFlag.h"
+//#include "data_structs.h"
/**
* notes:
@@ -42,76 +43,77 @@
#define UBX_PVT_CLASS 0x01
#define UBX_PVT_ID 0x07
+//extern DATA_Xchange data;
+//extern Timer global_timer;
+
class NEOM9N
-{
- public:
- NEOM9N(PinName TX, PinName RX);
- virtual ~NEOM9N();
+{
+public:
+ NEOM9N(PinName TX, PinName RX);
+ virtual ~NEOM9N();
- typedef struct ubxNavPVT_s {
- uint32_t iTOW; // 0 - ms GPS time of week of the navigation epoch
- uint16_t year; // 4 - - Year (UTC)
- uint8_t month; // 6 - - Month, range 1..12 (UTC)
- uint8_t day; // 7 - - Day of month, range 1..31 (UTC)
- uint8_t hour; // 8 - - Hour of day, range 0..23 (UTC)
- uint8_t min; // 9 - - Minute of hour, range 0..59 (UTC)
- uint8_t sec; // 10 - - Seconds of minute, range 0..60 (UTC)
- uint8_t fixType; // 20 - - GNSSfix Type
- uint8_t numSV; // 23 - - Number of satellites used in Nav Solution
- int32_t lon; // 24 1e-7 deg Longitude
- int32_t lat; // 28 1e-7 deg Latitude
- int32_t height; // 32 - mm Height above ellipsoid
- uint32_t hAcc; // 40 - mm Horizontal accuracy estimate
- uint32_t vAcc; // 44 - mm Vertical accuracy estimate
- int32_t velN; // 48 - mm/s NED north velocity
- int32_t velE; // 52 - mm/s NED east velocity
- int32_t velD; // 56 - mm/s NED down velocity
- int32_t gSpeed; // 60 - mm/s Ground Speed (2-D)
- int32_t headMot; // 64 1e-5 deg Heading of motion (2-D)
- uint32_t sAcc; // 68 - mm/s Speed accuracy estimate
- uint32_t headAcc; // 72 1e-5 deg Heading accuracy estimate (both motion and vehicle)
- //int16_t magDec; // 88 1e-2 deg Magnetic declination.
- //uint16_t magAcc; // 90 1e-2 deg Magnetic declination accuracy
- } ubxNavPVT_t;
+ typedef struct ubxNavPVT_s {
+ uint32_t iTOW; // 0 - ms GPS time of week of the navigation epoch
+ uint16_t year; // 4 - - Year (UTC)
+ uint8_t month; // 6 - - Month, range 1..12 (UTC)
+ uint8_t day; // 7 - - Day of month, range 1..31 (UTC)
+ uint8_t hour; // 8 - - Hour of day, range 0..23 (UTC)
+ uint8_t min; // 9 - - Minute of hour, range 0..59 (UTC)
+ uint8_t sec; // 10 - - Seconds of minute, range 0..60 (UTC)
+ uint8_t fixType; // 20 - - GNSSfix Type
+ uint8_t numSV; // 23 - - Number of satellites used in Nav Solution
+ int32_t lon; // 24 1e-7 deg Longitude
+ int32_t lat; // 28 1e-7 deg Latitude
+ int32_t height; // 32 - mm Height above ellipsoid
+ uint32_t hAcc; // 40 - mm Horizontal accuracy estimate
+ uint32_t vAcc; // 44 - mm Vertical accuracy estimate
+ int32_t velN; // 48 - mm/s NED north velocity
+ int32_t velE; // 52 - mm/s NED east velocity
+ int32_t velD; // 56 - mm/s NED down velocity
+ int32_t gSpeed; // 60 - mm/s Ground Speed (2-D)
+ int32_t headMot; // 64 1e-5 deg Heading of motion (2-D)
+ uint32_t sAcc; // 68 - mm/s Speed accuracy estimate
+ uint32_t headAcc; // 72 1e-5 deg Heading accuracy estimate (both motion and vehicle)
+ //int16_t magDec; // 88 1e-2 deg Magnetic declination.
+ //uint16_t magAcc; // 90 1e-2 deg Magnetic declination accuracy
+ } ubxNavPVT_t;
- void StartThread();
- void ZeroLocal();
- ubxNavPVT_t GetUbxNavPVT();
- bool CheckAndToggleHasNewData();
- Eigen::Vector3f GetPosECEF();
- Eigen::Vector3f GetPosENU();
- Eigen::Vector3f GetVelENU();
- uint8_t GetFixType();
- uint8_t GetNumSV();
- uint8_t GetGPSTimeOfWeek();
- float GetHeadMot();
- float GetHeadAcc();
- float GethAcc();
- float GetvAcc();
- float GetsAcc();
+ void start_loop();
+ void reset_local();
+ ubxNavPVT_t GetUbxNavPVT();
+ Eigen::Vector3f GetPosECEF();
+ Eigen::Vector3f GetPosENU();
+ Eigen::Vector3f GetVelENU();
+ uint8_t GetFixType();
+ uint8_t GetNumSV();
+ uint8_t GetGPSTimeOfWeek();
+ float GetHeadMot();
+ float GetHeadAcc();
+ float GethAcc();
+ float GetvAcc();
+ float GetsAcc();
- private:
- float m_Ts;
- BufferedSerial m_bufferedSerial;
- bool m_has_new_data = false;
- ubxNavPVT_t m_ubxNavPVT;
+private:
+ float m_Ts = 0.005f; // GNSS runs at 25 Hz := 0.04 sec, make sure that modulo(0.04 / m_Ts) = 0 e.g. m_Ts = 0.02, 0.01, 0.005
+ BufferedSerial m_bufferedSerial;
+ ubxNavPVT_t m_ubxNavPVT;
#if PRINT_FOR_DEBUG
- Timer m_run_timer;
+ Timer m_run_timer;
#endif
- Eigen::Vector3d m_pos_ecef_0;
- Eigen::Vector3d m_pos_ecef;
- Eigen::Vector3d m_pos_enu;
- Eigen::Matrix3d m_R_ecefToLocal_0;
+ Eigen::Vector3d m_pos_ecef_0;
+ Eigen::Vector3d m_pos_ecef;
+ Eigen::Vector3d m_pos_enu;
+ Eigen::Matrix3d m_R_ecefToLocal_0;
- ThreadFlag threadFlag;
- Thread thread;
- Ticker ticker;
+ ThreadFlag threadFlag;
+ Thread thread;
+ Ticker ticker;
- void update();
- Eigen::Vector3d transformWGS84ToECEF(const ubxNavPVT_t& ubxNavPVT);
- Eigen::Matrix3d getR_ECEFToLocal(const ubxNavPVT_t& ubxNavPVT);
- ubxNavPVT_t decodeUbxNavPVTmsg(const char *buf);
- void sendThreadFlag();
+ void update();
+ Eigen::Vector3d transformWGS84ToECEF(const ubxNavPVT_t& ubxNavPVT);
+ Eigen::Matrix3d getR_ECEFToLocal(const ubxNavPVT_t& ubxNavPVT);
+ ubxNavPVT_t decodeUbxNavPVTmsg(const char *buf);
+ void sendThreadFlag();
};
#endif /* NEOM9N_THREAD_H */