Header file for VN300

Autopilot/Inc/VN300.hpp

@@ -0,0 +1,103 @@
+/**
+ * VN300 Class to support the IMU and GPS drivers
+ */
+
+#ifndef VN300_HPP
+#define VN300_HPP
+
+template <typename Sensor>
+class VN300 {
+
+    public:
+        Sensor getSensorInstance(){
+
+            // If instance is null, get it and set it
+            if (s_instance == nullptr){
+                s_instance = Sensor::getInstance();
+            }
+
+            //return
+            return s_instance;
+        }
+
+    private:
+
+        //A pointer to the existing class instance - nullptr if it doesnt exist
+        Sensor* s_instance;
+
+};
+
+
+struct VN300_GPSData{
+
+    //Position defining variables
+    double latitude; //in deg
+    double longitude; //in deg
+    double altitude; //in meters
+
+    //Velocity defining variables - they are defined as north, east and downwards positive
+    //All in m/s
+    float northVel;
+    float eastVel;
+    float downVel;
+
+    //Position accuracy estimates - indicate how accurate the position readings are
+    //All in meters
+    float northAcc;
+    float eastAcc;
+    float downAcc;
+
+    //Other useful accuracy variables
+    float speedAcc; //m/s
+    float timeAcc; //sec
+
+    //Other useful variables:
+
+    //Time of the GPS weeks in seconds
+    double time;
+
+    //The GPS week (1 GPS calendar is 1023 weeks)
+    uint16_t week;
+
+    //GNSS Fix type - consult user manual for more info
+    uint8_t gnssFix;
+
+    //Number of GNSS satellites being used
+    uint8_t numSats;
+};
+
+
+class VN300_GPS {
+
+    public:
+
+        //added to make sure people dont accidentally initialize
+        VN300_GPS(const VN300_GPS*) = delete;
+
+        //Pulls new gps data from the VN300
+        void setGPSData();
+
+        //Returns GPS data struct 
+        VN300_GPSData getGPSData();
+
+        /*
+        * Called to either get the existing instance of the class, or create a new one if 
+        * one currently does not exist
+        */
+        static VN300_GPS* GetInstance();
+
+    private:
+
+        //Private constructor to prevent multiple instances
+        VN300_GPS();
+
+        int registerID;
+
+        //A pointer to the existing class instance - nullptr if it doesnt exist
+        VN300_GPS* instance;
+
+        //Instance of struct to hold the gps data
+        VN300_GPSData data;
+
+};
+#endif