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| 1 | #ifndef TYPEDEFS_H |
1 | #ifndef TYPEDEFS_H |
| 2 | #define TYPEDEFS_H |
2 | #define TYPEDEFS_H |
| 3 | 3 | ||
| 4 | #define INVALID 0x00 |
4 | #define INVALID 0x00 |
| 5 | #define NEWDATA 0x01 |
5 | #define NEWDATA 0x01 |
| 6 | #define PROCESSED 0x02 |
6 | #define PROCESSED 0x02 |
| - | 7 | ||
| - | 8 | #include <stdint.h> |
|
| 7 | 9 | ||
| 8 | typedef struct |
10 | typedef struct |
| 9 | { |
11 | { |
| 10 | int32_t Longitude; // in 1E-7 deg |
12 | int32_t Longitude; // in 1E-7 deg |
| 11 | int32_t Latitude; // in 1E-7 deg |
13 | int32_t Latitude; // in 1E-7 deg |
| 12 | int32_t Altitude; // in mm |
14 | int32_t Altitude; // in mm |
| 13 | uint8_t Status; // validity of data |
15 | uint8_t Status; // validity of data |
| 14 | } __attribute__((packed)) GPS_Pos_t; |
16 | } __attribute__((packed)) GPS_Pos_t; |
| 15 | 17 | ||
| 16 | 18 | ||
| 17 | typedef struct |
19 | typedef struct |
| 18 | { |
20 | { |
| 19 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
21 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
| 20 | int16_t Heading; // orientation, future implementation |
22 | int16_t Heading; // orientation, future implementation |
| 21 | uint8_t ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
23 | uint8_t ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
| 22 | uint8_t HoldTime; // in seconds, if the was once in the tolerance area around a WP, this time defies the delay before the next WP is triggered |
24 | uint8_t HoldTime; // in seconds, if the was once in the tolerance area around a WP, this time defies the delay before the next WP is triggered |
| 23 | uint8_t Event_Flag; // future emplementation |
25 | uint8_t Event_Flag; // future emplementation |
| 24 | uint8_t reserve[12]; // reserve |
26 | uint8_t reserve[12]; // reserve |
| 25 | } __attribute__((packed)) Waypoint_t; |
27 | } __attribute__((packed)) Waypoint_t; |
| 26 | 28 | ||
| 27 | typedef struct |
29 | typedef struct |
| 28 | { |
30 | { |
| 29 | char Revision; |
31 | char Revision; |
| 30 | char Name[12]; |
32 | char Name[12]; |
| 31 | signed char Motor[16][4]; |
33 | signed char Motor[16][4]; |
| 32 | } Mixer_t; |
34 | } Mixer_t; |
| 33 | 35 | ||
| 34 | #endif // TYPEDEFS_H |
36 | #endif // TYPEDEFS_H |
| 35 | 37 | ||