Rev 108 | Only display areas with differences | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 108 | Rev 143 | ||
---|---|---|---|
- | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 2 | // Peter Muehlenbrock |
|
- | 3 | // Definitionen fuer Modul GPS |
|
- | 4 | ||
- | 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
1 | extern signed int GPS_Nick; |
6 | extern signed int GPS_Nick; |
2 | extern signed int GPS_Roll; |
7 | extern signed int GPS_Roll; |
3 | extern void GPS_Neutral(void); |
8 | extern void GPS_Neutral(void); |
- | 9 | ||
- | 10 | extern void Get_Ublox_Msg(uint8_t rx) ; |
|
4 | extern void GPS_BerechneZielrichtung(void); |
11 | extern void Get_GPS_data(void); |
- | 12 | ||
- | 13 | typedef struct { |
|
- | 14 | unsigned long utm_itow; // time of week |
|
- | 15 | long utm_east; // UTM Ost in cm |
|
- | 16 | long utm_north; // UTM Nord in cm |
|
- | 17 | long utm_alt; // hoehe in cm |
|
- | 18 | uint8_t utm_zone; // |
|
- | 19 | uint8_t utm_hem; // Hemisphere Indicator |
|
- | 20 | uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
|
- | 21 | } NAV_POSUTM_t; |
|
- | 22 | ||
- | 23 | typedef struct { |
|
- | 24 | unsigned long itow; // time of week |
|
- | 25 | uint8_t gpsfix_type;// 3=3D Fix |
|
- | 26 | uint8_t nav_status_flag; |
|
- | 27 | uint8_t nav_diff_status; |
|
- | 28 | uint8_t nav_resevd; |
|
- | 29 | long nav_tff; // Time to First Fix in ms |
|
- | 30 | long nav_msss; // ms since startup |
|
- | 31 | uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
|
- | 32 | } NAV_STATUS_t; |
|
- | 33 | ||
- | 34 | typedef struct { |
|
- | 35 | unsigned long itow; |
|
- | 36 | long speed_n; // in cm/s |
|
- | 37 | long speed_e; // in cm/s |
|
- | 38 | long speed_alt; // in cm/s |
|
- | 39 | unsigned long speed_3d; // in cm/s |
|
- | 40 | unsigned long speed_gnd; // V ueber Grund in cm/s |
|
- | 41 | long heading; // Richtung in deg/10000 |
|
- | 42 | unsigned long sacc; // Speed Genauigkeit in cm/s |
|
- | 43 | unsigned long cacc; // Richtungsgenauigkeit in deg |
|
- | 44 | uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
|
- | 45 | } NAV_VELNED_t; |
|
- | 46 | ||
- | 47 | ||
- | 48 | typedef struct { |
|
- | 49 | long utm_east; // UTM Ost in 10 cm |
|
- | 50 | long utm_north; // UTM Nord in 10 cm |
|
- | 51 | long utm_alt; // hoehe in 10 cm |
|
- | 52 | unsigned long speed_gnd; // V ueber Grund in 10cm/s |
|
- | 53 | unsigned heading; // Richtung in Grad |
|
- | 54 | uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
|
- | 55 | ||
- | 56 | } GPS_POSITION_t; |
|
- | 57 | ||
- | 58 | ||
- | 59 | ||
- | 60 | /* |
|
- | 61 | extern NAV_VELNED_t actual_speed; |
|
- | 62 | extern NAV_STATUS_t actual_status; |
|
- | 63 | extern NAV_POSUTM_t actual_position; |
|
- | 64 | */ |
|
- | 65 | extern GPS_POSITION_t gps_act_position; |
|
- | 66 | extern unsigned int cnt0,cnt1,cnt2; |
|
5 | 67 |