/branches/MicroMag3_Nick666/trunc/GPS.c |
---|
1,30 → 1,138 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + only for non-profit use |
// + www.MikroKopter.com |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
signed int GPS_Nick = 0; |
signed int GPS_Roll = 0; |
long GpsAktuell_X = 0; |
long GpsAktuell_Y = 0; |
long GpsZiel_X = 0; |
long GpsZiel_Y = 0; |
void GPS_Neutral(void) |
int16_t GPS_Nick = 0; |
int16_t GPS_Roll = 0; |
uint8_t GPS_P_Factor = 0; |
uint8_t GPS_D_Factor = 0; |
uint8_t flashtimer; |
typedef struct |
{ |
GpsZiel_X = GpsAktuell_X; |
GpsZiel_Y = GpsAktuell_Y; |
} |
int32_t Northing; |
int32_t Easting; |
uint8_t Status; |
void GPS_BerechneZielrichtung(void) |
} GPS_Pos_t; |
// GPS coordinates for hold position |
GPS_Pos_t GPSHoldPoint = {0,0, INVALID}; |
// --------------------------------------------------------------------------------- |
void GPS_Main(void) |
{ |
GPS_Nick = 0; |
GPS_Roll = 0; |
} |
int32_t coscompass, sincompass; |
int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0; |
int32_t PD_North = 0, PD_East = 0; |
int32_t GPSPosDev_North = 0, GPSPosDev_East = 0; |
// poti2 enables the gps feature |
if((Poti3 > 70) && (!Notlandung)) // run GPS function only if Poti 2 is larger than 70 (switch on) |
{ |
switch(GPSInfo.status) |
{ |
case INVALID: // invalid gps data |
GPS_Nick = 0; |
GPS_Roll = 0; |
GRN_OFF; |
break; |
case PROCESSED: // if gps data are already processed |
// downcount timeout |
if(GPSTimeout) GPSTimeout--; |
// if no new data arrived within timeout set current data invalid |
// and therefore disable GPS |
else |
{ |
GPS_Nick = 0; |
GPS_Roll = 0; |
GPSInfo.status = INVALID; |
} |
break; |
case VALID: // new valid data from gps device |
// if the gps data quality is sufficient |
if (GPSInfo.satfix == SATFIX_3D) |
{ |
GRN_ON; |
// if sticks are centered and hold position is valid enable position hold control |
if ((MaxStickNick < 20) && (MaxStickRoll < 20) && (GPSHoldPoint.Status == VALID)) |
{ |
// Calculate deviation from hold position |
GPSPosDev_North = GPSInfo.utmnorth - GPSHoldPoint.Northing; |
GPSPosDev_East = GPSInfo.utmeast - GPSHoldPoint.Easting; |
//Calculate PD-components of the controller (negative sign for compensation) |
P_North = -(GPS_P_Factor * GPSPosDev_North)/2048; |
D_North = -(GPS_D_Factor * GPSInfo.velnorth)/512; |
P_East = -(GPS_P_Factor * GPSPosDev_East)/2048; |
D_East = -(GPS_D_Factor * GPSInfo.veleast)/512; |
// PD-controller |
PD_North = P_North + D_North; |
PD_East = P_East + D_East; |
// GPS to pitch and roll settings |
//A positive pitch angle moves head downwards (flying forward). |
//A positive roll angle tilts left side downwards (flying left). |
// If compass heading is 0 the head of the copter is in north direction. |
// A positive pitch angle will fly to north and a positive roll angle will fly to west. |
// In case of a positive north deviation/velocity the |
// copter should fly to south (negative pitch). |
// In case of a positive east position deviation and a positive east velocity the |
// copter should fly to west (positive roll). |
// The influence of the GPS_Nick and GPS_Roll variable is contrarily to the stick values |
// in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
// GPS_Nick and a positive east deviation/velocity should result in a negative GPS_Roll. |
// rotation transformation to compass heading to match any copter orientation |
coscompass = (int32_t)cos_i(KompassValue); |
sincompass = (int32_t)sin_i(KompassValue); |
GPS_Roll = (int16_t)((PD_East * coscompass - PD_North * sincompass) / 1024); |
GPS_Nick = -1*(int16_t)((PD_East * sincompass + PD_North * coscompass) / 1024); |
// limit GPS controls |
#define GPS_CTRL_LIMIT 35 |
if (GPS_Nick > GPS_CTRL_LIMIT) GPS_Nick = GPS_CTRL_LIMIT; |
if (GPS_Nick < -GPS_CTRL_LIMIT) GPS_Nick = -GPS_CTRL_LIMIT; |
if (GPS_Roll > GPS_CTRL_LIMIT) GPS_Roll = GPS_CTRL_LIMIT; |
if (GPS_Roll < -GPS_CTRL_LIMIT) GPS_Roll = -GPS_CTRL_LIMIT; |
} |
else // MK controlled by user |
{ |
// update hold point to current gps position |
GPSHoldPoint.Northing = GPSInfo.utmnorth; |
GPSHoldPoint.Easting = GPSInfo.utmeast; |
GPSHoldPoint.Status = VALID; |
// disable gps control |
GPS_Nick = 0; |
GPS_Roll = 0; |
} |
} // eof 3D-FIX |
else // no 3D-SATFIX |
{ // diable gps control |
GPS_Nick = 0; |
GPS_Roll = 0; |
if (!flashtimer--) |
{ |
GRN_FLASH; |
flashtimer=5; |
} |
} |
// set current data as processed to avoid further calculations on the same gps data |
GPSInfo.status = PROCESSED; |
break; |
} // eof GPSInfo.status |
} |
else GRN_OFF; |
return; |
} |
/branches/MicroMag3_Nick666/trunc/compass.c |
---|
182,7 → 182,6 |
int heading_MM3(void) |
//############################################################################ |
{ |
uint16_t div_faktor; |
int16_t sin_nick, cos_nick, sin_roll, cos_roll; |
int16_t mm3_x_axis, mm3_y_axis, mm3_z_axis; |
int32_t Hx, Hy, Hz, x_corr, y_corr; |
208,6 → 207,7 |
cos_roll = cos_i(tilt); |
/* |
// Lage-Berechnung mittels Gyro-Integral |
uint16_t div_faktor; |
div_faktor = (uint16_t)EE_Parameter.UserParam3 *8; |
tilt = (IntegralNick /div_faktor); |
/branches/MicroMag3_Nick666/trunc/fc.c |
---|
200,7 → 200,6 |
HoeheD = 0; |
Mess_Integral_Hoch = 0; |
KompassStartwert = KompassValue; |
GPS_Neutral(); |
beeptime = 50; |
Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
432,7 → 431,7 |
Mittelwert(); |
GRN_ON; |
//GRN_ON; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gaswert ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
496,7 → 495,7 |
{ |
if(++delay_neutral > 200) // nicht sofort |
{ |
GRN_OFF; |
//GRN_OFF; |
MotorenEin = 0; |
delay_neutral = 0; |
modell_fliegt = 0; |
912,12 → 911,26 |
KompassStartwert = KompassValue; |
NeueKompassRichtungMerken = 0; |
} |
Mess_Integral_Gier += (KompassRichtung *Parameter_KompassWirkung); // nach Kompass ausrichten |
Mess_Integral_Gier += (KompassRichtung * Parameter_KompassWirkung); // nach Kompass ausrichten |
} |
else beeptime = 50; |
} |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// GPS |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
{ |
GPS_P_Factor = Parameter_UserParam5; |
GPS_D_Factor = Parameter_UserParam6; |
GPS_Main(); // updates GPS_Pitch and GPS_Roll on new GPS data |
} |
else |
{ |
GPS_Nick = 0; |
GPS_Roll = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Debugwerte zuordnen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
942,9 → 955,10 |
DebugOut.Analog[14] = Motor_Links; |
DebugOut.Analog[15] = Motor_Rechts; |
DebugOut.Analog[16] = Mittelwert_AccHoch; |
DebugOut.Analog[17] = Parameter_UserParam5; |
DebugOut.Analog[18] = Parameter_UserParam6; |
/* |
DebugOut.Analog[17] = IntegralAccNick / 26; |
DebugOut.Analog[18] = IntegralAccRoll / 26; |
DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
DebugOut.Analog[21] = MittelIntegralNick / 26; |
/branches/MicroMag3_Nick666/trunc/fc.h |
---|
39,6 → 39,8 |
void DefaultKonstanten1(void); |
void DefaultKonstanten2(void); |
extern int MaxStickNick,MaxStickRoll; |
extern unsigned char Notlandung; |
extern unsigned char h,m,s; |
extern volatile unsigned char Timeout ; |
extern volatile int DiffNick,DiffRoll; |
/branches/MicroMag3_Nick666/trunc/flight.pnproj |
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1,0 → 0,0 |
<Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File><File path="eeprom.c"></File><File path="compass.c"></File><File path="compass.h"></File><File path="mymath.c"></File><File path="mymath.h"></File></Project> |
<Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="gps.c"></File><File path="gps.h"></File><File path="License.txt"></File><File path="eeprom.c"></File><File path="compass.c"></File><File path="compass.h"></File><File path="mymath.c"></File><File path="mymath.h"></File><File path="ubx.c"></File><File path="ubx.h"></File></Project> |
/branches/MicroMag3_Nick666/trunc/gps.h |
---|
1,14 → 1,15 |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Roll; |
#ifndef _GPS_H |
#define _GPS_H |
void GPS_Neutral(void); |
void GPS_BerechneZielrichtung(void); |
#include <inttypes.h> |
extern int16_t GPS_Nick; |
extern int16_t GPS_Roll; |
extern uint8_t GPS_P_Factor; |
extern uint8_t GPS_D_Factor; |
extern void GPS_Main(void); |
#endif //_GPS_H |
/branches/MicroMag3_Nick666/trunc/main.h |
---|
75,8 → 75,8 |
#include "gps.h" |
#include "compass.h" |
#include "mymath.h" |
#include "ubx.h" |
#ifndef EEMEM |
#define EEMEM __attribute__ ((section (".eeprom"))) |
#endif |
/branches/MicroMag3_Nick666/trunc/makefile |
---|
75,7 → 75,7 |
########################################################################################################## |
# List C source files here. (C dependencies are automatically generated.) |
SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c |
SRC += twimaster.c rc.c fc.c GPS.c |
SRC += twimaster.c rc.c fc.c gps.c ubx.c |
SRC += compass.c mymath.c |
########################################################################################################## |
/branches/MicroMag3_Nick666/trunc/uart.c |
---|
101,7 → 101,10 |
static unsigned char UartState = 0; |
unsigned char SioTmp; |
SioTmp = UDR; |
SioTmp = UDR; |
if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) ubx_parser(SioTmp); // GPS UBX-Protokoll Parser |
if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
if(buf_ptr == 0) |
{ |
/branches/MicroMag3_Nick666/trunc/ubx.c |
---|
0,0 → 1,234 |
#include "main.h" |
// ubx protocol parser state machine |
#define UBXSTATE_IDLE 0 |
#define UBXSTATE_SYNC1 1 |
#define UBXSTATE_SYNC2 2 |
#define UBXSTATE_CLASS 3 |
#define UBXSTATE_LEN1 4 |
#define UBXSTATE_LEN2 5 |
#define UBXSTATE_DATA 6 |
#define UBXSTATE_CKA 7 |
#define UBXSTATE_CKB 8 |
// ublox protocoll identifier |
#define UBX_CLASS_NAV 0x01 |
#define UBX_ID_POSLLH 0x02 |
#define UBX_ID_POSUTM 0x08 |
#define UBX_ID_STATUS 0x03 |
#define UBX_ID_VELNED 0x12 |
#define UBX_SYNC1_CHAR 0xB5 |
#define UBX_SYNC2_CHAR 0x62 |
typedef struct { |
uint32_t ITOW; // ms GPS Millisecond Time of Week |
uint8_t GPSfix; // GPSfix Type, range 0..6 |
uint8_t Flags; // Navigation Status Flags |
uint8_t DiffS; // Differential Status |
uint8_t res; // reserved |
uint32_t TTFF; // Time to first fix (millisecond time tag) |
uint32_t MSSS; // Milliseconds since Startup / Reset |
uint8_t Status; |
} GPS_STATUS_t; |
typedef struct { |
uint32_t ITOW; // ms GPS Millisecond Time of Week |
int32_t LON; // 1e-07 deg Longitude |
int32_t LAT; // 1e-07 deg Latitude |
int32_t HEIGHT; // mm Height above Ellipsoid |
int32_t HMSL; // mm Height above mean sea level |
uint32_t Hacc; // mm Horizontal Accuracy Estimate |
uint32_t Vacc; // mm Vertical Accuracy Estimate |
uint8_t Status; |
} GPS_POSLLH_t; |
typedef struct { |
uint32_t ITOW; // ms GPS Millisecond Time of Week |
int32_t EAST; // cm UTM Easting |
int32_t NORTH; // cm UTM Nording |
int32_t ALT; // cm altitude |
uint8_t ZONE; // UTM zone number |
uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
uint8_t Status; |
} GPS_POSUTM_t; |
typedef struct { |
uint32_t ITOW; // ms GPS Millisecond Time of Week |
int32_t VEL_N; // cm/s NED north velocity |
int32_t VEL_E; // cm/s NED east velocity |
int32_t VEL_D; // cm/s NED down velocity |
uint32_t Speed; // cm/s Speed (3-D) |
uint32_t GSpeed; // cm/s Ground Speed (2-D) |
int32_t Heading; // 1e-05 deg Heading 2-D |
uint32_t SAcc; // cm/s Speed Accuracy Estimate |
uint32_t CAcc; // deg Course / Heading Accuracy Estimate |
uint8_t Status; |
} GPS_VELNED_t; |
GPS_STATUS_t GpsStatus = {0,0,0,0,0,0,0, INVALID}; |
GPS_POSLLH_t GpsPosLlh = {0,0,0,0,0,0,0, INVALID}; |
GPS_POSUTM_t GpsPosUtm = {0,0,0,0,0,0, INVALID}; |
GPS_VELNED_t GpsVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
GPS_INFO_t GPSInfo = {0,0,0,0,0,0,0,0,0,0, INVALID}; |
volatile uint8_t GPSTimeout = 0; |
void UpdateGPSInfo (void) |
{ |
if (GpsStatus.Status == VALID) // valid packet |
{ |
GPSInfo.satfix = GpsStatus.GPSfix; |
GpsStatus.Status = PROCESSED; // never update old data |
} |
if (GpsPosLlh.Status == VALID) // valid packet |
{ |
GPSInfo.longitude = GpsPosLlh.LON; |
GPSInfo.latitude = GpsPosLlh.LAT; |
GPSInfo.altitude = GpsPosLlh.HEIGHT; |
GpsPosLlh.Status = PROCESSED; // never update old data |
} |
if (GpsPosUtm.Status == VALID) // valid packet |
{ |
GPSInfo.utmeast = GpsPosUtm.EAST; |
GPSInfo.utmnorth = GpsPosUtm.NORTH; |
GPSInfo.utmalt = GpsPosUtm.ALT; |
GpsPosUtm.Status = PROCESSED; // never update old data |
} |
if (GpsVelNed.Status == VALID) // valid packet |
{ |
GPSInfo.veleast = GpsVelNed.VEL_E; |
GPSInfo.velnorth = GpsVelNed.VEL_N; |
GPSInfo.veltop = -GpsVelNed.VEL_D; |
GpsVelNed.Status = PROCESSED; // never update old data |
} |
if (GpsStatus.Status != INVALID) |
{ |
GPSInfo.status = VALID; // set valid if data are updated |
} |
} |
// this function should be called within the UART RX ISR |
void ubx_parser(uint8_t c) |
{ |
static uint8_t ubxstate = UBXSTATE_IDLE; |
static uint8_t cka, ckb; |
static uint16_t msglen; |
static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
switch(ubxstate) |
{ |
case UBXSTATE_IDLE: // check 1st sync byte |
if (c == UBX_SYNC1_CHAR) ubxstate = UBXSTATE_SYNC1; |
else ubxstate = UBXSTATE_IDLE; // out of synchronization |
break; |
case UBXSTATE_SYNC1: // check 2nd sync byte |
if (c == UBX_SYNC2_CHAR) ubxstate = UBXSTATE_SYNC2; |
else ubxstate = UBXSTATE_IDLE; // out of synchronization |
break; |
case UBXSTATE_SYNC2: // check msg class to be NAV |
if (c == UBX_CLASS_NAV) ubxstate = UBXSTATE_CLASS; |
else ubxstate = UBXSTATE_IDLE; // unsupported message class |
break; |
case UBXSTATE_CLASS: // check message identifier |
switch(c) |
{ |
case UBX_ID_POSUTM: // utm position |
ubxP = (int8_t *)&GpsPosUtm; // data start pointer |
ubxEp = (int8_t *)(&GpsPosUtm + sizeof(GPS_POSUTM_t)); // data end pointer |
ubxSp = (int8_t *)&GpsPosUtm.Status; // status pointer |
break; |
case UBX_ID_POSLLH: // geodetic position |
ubxP = (int8_t *)&GpsPosLlh; // data start pointer |
ubxEp = (int8_t *)(&GpsPosLlh + sizeof(GPS_POSLLH_t)); // data end pointer |
ubxSp = (int8_t *)&GpsPosLlh.Status; // status pointer |
break; |
case UBX_ID_STATUS: // receiver status |
ubxP = (int8_t *)&GpsStatus; // data start pointer |
ubxEp = (int8_t *)(&GpsStatus + sizeof(GPS_STATUS_t)); // data end pointer |
ubxSp = (int8_t *)&GpsStatus.Status; // status pointer |
break; |
case UBX_ID_VELNED: // velocity vector in tangent plane |
ubxP = (int8_t *)&GpsVelNed; // data start pointer |
ubxEp = (int8_t *)(&GpsVelNed + sizeof(GPS_VELNED_t)); // data end pointer |
ubxSp = (int8_t *)&GpsVelNed.Status; // status pointer |
break; |
default: // unsupported identifier |
ubxstate = UBXSTATE_IDLE; |
break; |
} |
if (ubxstate != UBXSTATE_IDLE) |
{ |
ubxstate = UBXSTATE_LEN1; |
cka = UBX_CLASS_NAV + c; |
ckb = UBX_CLASS_NAV + cka; |
} |
break; |
case UBXSTATE_LEN1: // 1st message length byte |
msglen = c; |
cka += c; |
ckb += cka; |
ubxstate = UBXSTATE_LEN2; |
break; |
case UBXSTATE_LEN2: // 2nd message length byte |
msglen += ((uint16_t)c)<<8; |
cka += c; |
ckb += cka; |
// if the old data are not processed so far then break parsing now |
// to avoid writing new data in ISR during reading by another function |
if ( *ubxSp == VALID ) ubxstate = UBXSTATE_IDLE; |
else // data invalid or allready processd |
{ |
*ubxSp = INVALID; |
ubxstate = UBXSTATE_DATA; |
} |
break; |
case UBXSTATE_DATA: |
if (ubxP < ubxEp) *ubxP++ = c; // copy curent data byte if any space is left |
cka += c; |
ckb += cka; |
if (--msglen == 0) ubxstate = UBXSTATE_CKA; // switch to next state if all data was read |
break; |
case UBXSTATE_CKA: |
if (c == cka) ubxstate = UBXSTATE_CKB; |
else |
{ |
*ubxSp = INVALID; |
ubxstate = UBXSTATE_IDLE; |
} |
break; |
case UBXSTATE_CKB: |
if (c == ckb) |
{ |
*ubxSp = VALID; // new data are valid |
ROT_FLASH; |
UpdateGPSInfo(); //update GPS info respectively |
GPSTimeout = 255; |
} |
else |
{ // if checksum not fit then set data invalid |
*ubxSp = INVALID; |
} |
ubxstate = UBXSTATE_IDLE; // ready to parse new data |
break; |
default: // unknown ubx state |
ubxstate = UBXSTATE_IDLE; |
break; |
} |
} |
/branches/MicroMag3_Nick666/trunc/ubx.h |
---|
0,0 → 1,53 |
#ifndef _UBX_H |
#define _UBX_H |
#include <inttypes.h> |
#define INVALID 0x00 |
#define VALID 0x01 |
#define PROCESSED 0x02 |
#define SATFIX_NONE 0x00 |
#define SATFIX_DEADRECKOING 0x01 |
#define SATFIX_2D 0x02 |
#define SATFIX_3D 0x03 |
#define SATFIX_GPS_DEADRECKOING 0x04 |
#define SATFIX_TIMEONLY 0x05 |
/* enable the UBX protocol at the gps receiver with the following messages enabled |
01-02 NAV - POSLLH |
01-03 NAV - STATUS |
01-08 NAV - POSUTM |
01-12 NAV - VELNED */ |
typedef struct |
{ |
uint8_t satfix; // type of satfix |
int32_t utmnorth; // in cm (+ = north) |
int32_t utmeast; // in cm (+ = east) |
int32_t utmalt; // in cm (+ = top) |
int32_t velnorth; // in cm/s |
int32_t veleast; // in cm/s |
int32_t veltop; // in cm/s |
int32_t longitude; // in 1e-07 deg |
int32_t latitude; // in 1e-07 deg |
int32_t altitude; // in mm |
uint8_t status; // status of data: invalid | valid |
} GPS_INFO_t; |
//here you will find the current gps info |
extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
// this variable should be decremted by the application |
extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received |
// initialized the upx parser |
extern void ubx_init(void); |
// this function should be called within the UART RX ISR |
extern void ubx_parser(uint8_t c); |
#endif //_UBX_H |