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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; |