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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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| 11 | extern void Get_GPS_data(void); |
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| 12 | |||
| 13 | typedef struct { |
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| 14 | unsigned long utm_itow; // time of week |
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| 15 | long utm_east; // UTM Ost in cm |
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| 16 | long utm_north; // UTM Nord in cm |
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| 17 | long utm_alt; // hoehe in cm |
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| 18 | uint8_t utm_zone; // |
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| 19 | uint8_t utm_hem; // Hemisphere Indicator |
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| 20 | uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
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| 21 | } NAV_POSUTM_t; |
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| 22 | |||
| 23 | typedef struct { |
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| 24 | unsigned long itow; // time of week |
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| 25 | uint8_t gpsfix_type;// 3=3D Fix |
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| 26 | uint8_t nav_status_flag; |
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| 27 | uint8_t nav_diff_status; |
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| 28 | uint8_t nav_resevd; |
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| 29 | long nav_tff; // Time to First Fix in ms |
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| 30 | long nav_msss; // ms since startup |
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| 31 | uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
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| 32 | } NAV_STATUS_t; |
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| 33 | |||
| 34 | typedef struct { |
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| 35 | unsigned long itow; |
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| 36 | long speed_n; // in cm/s |
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| 37 | long speed_e; // in cm/s |
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| 38 | long speed_alt; // in cm/s |
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| 39 | unsigned long speed_3d; // in cm/s |
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| 40 | unsigned long speed_gnd; // V ueber Grund in cm/s |
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| 41 | long heading; // Richtung in deg/10000 |
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| 42 | unsigned long sacc; // Speed Genauigkeit in cm/s |
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| 43 | unsigned long cacc; // Richtungsgenauigkeit in deg |
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| 44 | uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
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| 45 | } NAV_VELNED_t; |
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| 46 | |||
| 47 | |||
| 48 | typedef struct { |
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| 49 | long utm_east; // UTM Ost in 10 cm |
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| 50 | long utm_north; // UTM Nord in 10 cm |
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| 51 | long utm_alt; // hoehe in 10 cm |
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| 52 | unsigned long speed_gnd; // V ueber Grund in 10cm/s |
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| 53 | unsigned heading; // Richtung in Grad |
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| 54 | uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
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| 55 | |||
| 56 | } GPS_POSITION_t; |
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| 57 | |||
| 58 | |||
| 59 | |||
| 60 | /* |
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| 61 | extern NAV_VELNED_t actual_speed; |
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| 62 | extern NAV_STATUS_t actual_status; |
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| 63 | extern NAV_POSUTM_t actual_position; |
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| 64 | */ |
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| 65 | extern GPS_POSITION_t gps_act_position; |
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| 66 | extern unsigned int cnt0,cnt1,cnt2; |