GNSSComputer Class Reference

#include <gnss_computer.h>

Public Member Functions
	GNSSComputer (TwoWire *userWire=&GPS_I2C)
	~GNSSComputer ()
	GNSSComputer (const GNSSComputer &)=delete
GNSSComputer &	operator= (const GNSSComputer &)=delete
bool	ConfigureDevice (GNSSNetworks_t userNetwork=GNSS_NET_GPS, GNSSDynamics_t userDynModel=GNSS_DYNAMICS_PEDESTRIAN, GNSSNavRate_t userODR=GNSS_NAVRATE_10HZ)
	Configure the GPS sensor. More...
bool	WaitForSatellites (uint32_t nSats=GNSS_MIN_SATS)
	Wait for satellites to be received by the GPS. More...
bool	ListenForData ()
	Read data from GPS I2C port and feed the TinyGPS NMEA parser data. More...

Static Public Member Functions
static GNSSComputer &	GetInstance ()

Public Attributes
TinyGPSPlus	NMEAParser

Private Member Functions
void	SendUBXConfigMessage (const uint8_t *msg, size_t len)
	Send UBX configuration message over I2C. More...

Private Attributes
Vectord	PosLLA
Vectorf	PosECEF
Vectorf	VelECEF
bool	isConfigured
uint32_t	lastDataCheck
uint32_t	dataPollWait
int32_t	gpsBaud
float	navTs
float	navRate
GNSSNetworks_t	network
GNSSDynamics_t	dynamicModel
GNSSNavRate_t	updateRate
TwoWire *	gpsWire

Constructor & Destructor Documentation

GNSSComputer() [1/2]

GNSSComputer::GNSSComputer

(

TwoWire *

userWire = &GPS_I2C

)

~GNSSComputer()

GNSSComputer::~GNSSComputer ( )

inline

GNSSComputer() [2/2]

GNSSComputer::GNSSComputer ( const GNSSComputer &  )

delete

Member Function Documentation

ConfigureDevice()

bool GNSSComputer::ConfigureDevice	(	GNSSNetworks_t	userNetwork = GNSS_NET_GPS,
		GNSSDynamics_t	userDynModel = GNSS_DYNAMICS_PEDESTRIAN,
		GNSSNavRate_t	userODR = GNSS_NAVRATE_10HZ
	)

Configure the GPS sensor.

Sends config. commands over I2C. Configures port settings, satellite network/s, GPS dynamic model, enables/disables NMEA messages, and sets output data rate.

Parameters

userNetwork	Network to connect to. GPS, GLONASS, or GPS+GLONASS
userDynModel	GPS's internal fusion algorithm dynamic model. Pedestrian, portable, and airborne <1G.
userODR	[Hz] Output navigation rate. 5Hz or 10Hz

Returns

True if successfully configured, false if not

GetInstance()

GNSSComputer & GNSSComputer::GetInstance ( )

static

ListenForData()

bool GNSSComputer::ListenForData

(

)

Read data from GPS I2C port and feed the TinyGPS NMEA parser data.

Also includes checks to ensure data integrity.

Returns

True if success, false if not.

Limit bytes to read to device I2C buffer size, 32 bytes for Arduino boards and Teensy 4.1

bytesToRead = bytesAvail; if (bytesToRead > 32) bytesToRead = 32;

operator=()

GNSSComputer& GNSSComputer::operator= ( const GNSSComputer &  )

delete

SendUBXConfigMessage()

void GNSSComputer::SendUBXConfigMessage ( const uint8_t *  msg, size_t  len  )

private

Send UBX configuration message over I2C.

Parameters

msg	uint8_t array of bytes to send.
len	Length of message

WaitForSatellites()

bool GNSSComputer::WaitForSatellites

(

uint32_t

minSats = GNSS_MIN_SATS

)

Wait for satellites to be received by the GPS.

If the min. number of satellies are not aquired by a certain time period, the function returns false. Also contains aquisition checks.

Parameters

minSats

Minimum number of satellites to signal a valiid fix.

Returns

True if success, false if not

Member Data Documentation

dataPollWait

uint32_t GNSSComputer::dataPollWait

private

dynamicModel

GNSSDynamics_t GNSSComputer::dynamicModel

private

gpsBaud

int32_t GNSSComputer::gpsBaud

private

gpsWire

TwoWire* GNSSComputer::gpsWire

private

isConfigured

bool GNSSComputer::isConfigured

private

lastDataCheck

uint32_t GNSSComputer::lastDataCheck

private

navRate

float GNSSComputer::navRate

private

navTs

float GNSSComputer::navTs

private

network

GNSSNetworks_t GNSSComputer::network

private

NMEAParser

TinyGPSPlus GNSSComputer::NMEAParser

PosECEF

Vectorf GNSSComputer::PosECEF

private

PosLLA

Vectord GNSSComputer::PosLLA

private

updateRate

GNSSNavRate_t GNSSComputer::updateRate

private

VelECEF

Vectorf GNSSComputer::VelECEF

private

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The documentation for this class was generated from the following files:

• include/sensor_systems/gnss_computer.h
• src/sensor_systems/gnss_computer.cpp