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#include "timer1.h"
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#include "timer1.h"
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#include "spi_slave.h"
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#include "spi_slave.h"
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#include "waypoints.h"
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#include "waypoints.h"
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#include "i2c.h"
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#include "i2c.h"
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#define M_PI_180        (M_PI / 180.0f)
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#define GPS_UPDATETIME_MS 200           // 200ms is 5 Hz
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#define GPS_UPDATETIME_MS 200           // 200ms is 5 Hz
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typedef enum
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typedef enum
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{
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{
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        GPS_FLIGHT_MODE_UNDEF,
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        GPS_FLIGHT_MODE_UNDEF,
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        GPS_FLIGHT_MODE_FREE,
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        GPS_FLIGHT_MODE_FREE,
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        float SpeedCompensation;
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        float SpeedCompensation;
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        s32 OperatingRadius;
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        s32 OperatingRadius;
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        GPS_FlightMode_t  FlightMode;
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        GPS_FlightMode_t  FlightMode;
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} __attribute__((packed)) GPS_Parameter_t;
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} __attribute__((packed)) GPS_Parameter_t;
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typedef struct
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{
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        u8  Status;             // invalid, newdata, processed
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        s32 North;              // in cm
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        s32 East;               // in cm
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        s32 Bearing;    // in deg
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        s32 Distance;   // in cm
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} __attribute__((packed)) GPS_Deviation_t;
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GPS_Deviation_t CurrentTargetDeviation;         // Deviation from Target
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GPS_Pos_Deviation_t CurrentTargetDeviation;             // Deviation from Target
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GPS_Deviation_t CurrentHomeDeviation;           // Deviation from Home
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GPS_Pos_Deviation_t CurrentHomeDeviation;               // Deviation from Home
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GPS_Deviation_t TargetHomeDeviation;            // Deviation from Target to Home
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GPS_Pos_Deviation_t TargetHomeDeviation;                // Deviation from Target to Home
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GPS_Stick_t             GPS_Stick;
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GPS_Stick_t             GPS_Stick;
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// the gps reference positions
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// the gps reference positions
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GPS_Pos_t GPS_HoldPosition      = {0,0,0, INVALID};                     // the hold position
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GPS_Pos_t GPS_HoldPosition      = {0,0,0, INVALID};                     // the hold position
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GPS_Pos_t GPS_HomePosition      = {0,0,0, INVALID};                     // the home position
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GPS_Pos_t GPS_HomePosition      = {0,0,0, INVALID};                     // the home position
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GPS_Pos_t * GPS_pTargetPosition = NULL;                             // pointer to the actual target position
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GPS_Pos_t * GPS_pTargetPosition = NULL;                             // pointer to the actual target position
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u32 GPS_TargetRadius = 0;                                                               // catch radius for target area
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u32 GPS_TargetRadius = 0;                                                               // catch radius for target area
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Point_t* GPS_pWaypoint = NULL;                                          // pointer to the actual waypoint
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Point_t* GPS_pWaypoint = NULL;                                                  // pointer to the actual waypoint
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//-------------------------------------------------------------
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//-------------------------------------------------------------
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// Update GPSParamter
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// Update GPSParamter
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void GPS_UpdateParameter(void)
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void GPS_UpdateParameter(void)
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u8 GPS_IsManuallyControlled(void)
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u8 GPS_IsManuallyControlled(void)
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{
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{
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        return 0;
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        return 0;
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}
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}
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//------------------------------------------------------------
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// copy GPS position from source position to target position
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u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt)
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{
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        return 0;
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}
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//------------------------------------------------------------
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// clear position data
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u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos)
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{
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        return 0;
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}
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//------------------------------------------------------------
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//------------------------------------------------------------
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void GPS_Neutral(void)
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void GPS_Neutral(void)
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void GPS_Init(void)
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void GPS_Init(void)
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{
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{
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}
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}
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//------------------------------------------------------------
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// calculate the bearing to target position from its deviation
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s32 DirectionToTarget_N_E(float northdev, float eastdev)
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{
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        return 0;
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}
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//------------------------------------------------------------
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// Rescale xy-vector length if length limit is violated
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// returns vector len after scaling
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s32 GPS_LimitXY(s32 *x, s32 *y, s32 limit)
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{
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        return 0;
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}
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//------------------------------------------------------------
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// transform the integer deg into float radians
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inline double RadiansFromGPS(s32 deg)
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{
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        return 0.0;
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}
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//------------------------------------------------------------
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// transform the integer deg into float deg
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inline double DegFromGPS(s32 deg)
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{
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        return 0.0;
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}
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//------------------------------------------------------------
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// calculate the deviation from the current position to the target position
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u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget)
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{
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        return 0;
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}
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//------------------------------------------------------------
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void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick)
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void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick)
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{
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{