File content as of revision 66:4057e8e5c248:

#ifndef NEOM9N_THREAD_H
#define NEOM9N_THREAD_H

#include <mbed.h>

#include "Eigen/Dense.h"
#include "ThreadFlag.h"

/**
 * notes:
 * - you need to configure neo-m9n unit according to one note notes. basically flash 20220602_M9N_config_00.txt via u-center and save
 * - unit runs at 25 Hz, do not readout faster than the set update rate (config above) 
 */

#define PRINT_FOR_DEBUG false

#define M_PI 3.14159265358979323846

#define UBX_PAYLOAD_INDEX 2
#define UBX_PVT_HEADER_0  0xb5
#define UBX_PVT_HEADER_1  0x62
#define UBX_PVT_CLASS     0x01
#define UBX_PVT_ID        0x07

class NEOM9N
{   
    public:
        NEOM9N(PinName TX, PinName RX);
        virtual ~NEOM9N();

        typedef struct ubxNavPVT_s {
            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();

    private:
        float m_Ts;
        BufferedSerial m_bufferedSerial;
        bool m_has_fix = false;
        bool m_has_new_data = false;
        ubxNavPVT_t m_ubxNavPVT;
#if PRINT_FOR_DEBUG
        Timer m_run_timer;
#endif
        Eigen::Vector3d m_pos_ecef_0;
        Eigen::Matrix3d m_R_ecefToLocal_0;

        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();
};

#endif /* NEOM9N_THREAD_H */