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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 143 | salvo | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // Peter Muehlenbrock |
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| 3 | // Definitionen fuer Modul GPS |
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| 4 | |||
| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1 | ingob | 6 | extern signed int GPS_Nick; |
| 7 | extern signed int GPS_Roll; |
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| 8 | extern void GPS_Neutral(void); |
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| 143 | salvo | 9 | |
| 10 | extern void Get_Ublox_Msg(uint8_t rx) ; |
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| 156 | salvo | 11 | //extern short int Get_GPS_data(void); |
| 12 | extern short int Get_Rel_Position(void); |
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| 13 | extern void GPS_Save_Home(void); |
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| 143 | salvo | 14 | |
| 15 | typedef struct { |
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| 16 | unsigned long utm_itow; // time of week |
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| 17 | long utm_east; // UTM Ost in cm |
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| 18 | long utm_north; // UTM Nord in cm |
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| 19 | long utm_alt; // hoehe in cm |
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| 20 | uint8_t utm_zone; // |
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| 21 | uint8_t utm_hem; // Hemisphere Indicator |
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| 22 | uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
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| 23 | } NAV_POSUTM_t; |
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| 24 | |||
| 25 | typedef struct { |
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| 26 | unsigned long itow; // time of week |
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| 27 | uint8_t gpsfix_type;// 3=3D Fix |
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| 28 | uint8_t nav_status_flag; |
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| 29 | uint8_t nav_diff_status; |
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| 30 | uint8_t nav_resevd; |
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| 31 | long nav_tff; // Time to First Fix in ms |
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| 32 | long nav_msss; // ms since startup |
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| 33 | uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
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| 34 | } NAV_STATUS_t; |
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| 35 | |||
| 36 | typedef struct { |
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| 37 | unsigned long itow; |
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| 38 | long speed_n; // in cm/s |
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| 39 | long speed_e; // in cm/s |
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| 40 | long speed_alt; // in cm/s |
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| 41 | unsigned long speed_3d; // in cm/s |
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| 42 | unsigned long speed_gnd; // V ueber Grund in cm/s |
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| 43 | long heading; // Richtung in deg/10000 |
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| 44 | unsigned long sacc; // Speed Genauigkeit in cm/s |
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| 45 | unsigned long cacc; // Richtungsgenauigkeit in deg |
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| 46 | uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
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| 47 | } NAV_VELNED_t; |
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| 48 | |||
| 49 | |||
| 50 | typedef struct { |
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| 51 | long utm_east; // UTM Ost in 10 cm |
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| 52 | long utm_north; // UTM Nord in 10 cm |
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| 53 | long utm_alt; // hoehe in 10 cm |
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| 54 | unsigned long speed_gnd; // V ueber Grund in 10cm/s |
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| 55 | unsigned heading; // Richtung in Grad |
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| 56 | uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
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| 57 | |||
| 156 | salvo | 58 | } GPS_ABS_POSITION_t; |
| 143 | salvo | 59 | |
| 60 | |||
| 156 | salvo | 61 | typedef struct { // Struktur fuer Relative GPS Daten (bezogen z.B. auf Home Position) |
| 62 | int utm_east; // UTM Ost in m |
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| 63 | int utm_north; // UTM Nord in m |
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| 64 | uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
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| 143 | salvo | 65 | |
| 156 | salvo | 66 | } GPS_REL_POSITION_t; |
| 67 | |||
| 68 | |||
| 69 | extern GPS_ABS_POSITION_t gps_act_position; |
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| 70 | extern GPS_ABS_POSITION_t gps_home_position; |
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| 71 | extern GPS_REL_POSITION_t gps_rel_act_position; |
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| 143 | salvo | 72 | extern unsigned int cnt0,cnt1,cnt2; |