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Rev 393 | Rev 459 | ||
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Line 29... | Line 29... | ||
29 | struct str_DebugOut DebugOut; |
29 | struct str_DebugOut DebugOut; |
30 | struct str_Debug DebugIn; |
30 | struct str_Debug DebugIn; |
31 | struct str_VersionInfo VersionInfo; |
31 | struct str_VersionInfo VersionInfo; |
32 | int Debug_Timer; |
32 | int Debug_Timer; |
Line -... | Line 33... | ||
- | 33 | ||
- | 34 | char newData_navPosUtm = 0; // Flag, wenn neue PosUtm-Daten vorliegen (211007Kr) |
|
33 | 35 | ||
34 | static uint8_t gpsState; |
36 | static uint8_t gpsState; |
35 | #define GPS_EMPTY 0 |
37 | #define GPS_EMPTY 0 |
36 | #define GPS_SYNC1 1 |
38 | #define GPS_SYNC1 1 |
37 | #define GPS_SYNC2 2 |
39 | #define GPS_SYNC2 2 |
38 | #define GPS_CLASS 3 |
40 | #define GPS_CLASS 3 |
39 | #define GPS_LEN1 4 |
41 | #define GPS_LEN1 4 |
40 | #define GPS_LEN2 5 |
42 | #define GPS_LEN2 5 |
41 | #define GPS_FILLING 6 |
43 | #define GPS_FILLING 6 |
42 | #define GPS_CKA 7 |
44 | #define GPS_CKA 7 |
- | 45 | #define GPS_CKB 8 |
|
43 | #define GPS_CKB 8 |
46 | |
Line 44... | Line 47... | ||
44 | gpsInfo_t actualPos; // measured position (last gps record) |
47 | gpsInfo_t actualPos; // measured position (last gps record) |
45 | 48 | ||
Line 67... | Line 70... | ||
67 | } NAV_STATUS_t; |
70 | } NAV_STATUS_t; |
Line 68... | Line 71... | ||
68 | 71 | ||
69 | 72 | ||
70 | typedef struct { |
- | |
71 | unsigned long ITOW; // time of week |
- | |
72 | long LON; // longitude in 1e-07 deg |
- | |
73 | long LAT; // lattitude |
- | |
74 | long HEIGHT; // height in mm |
- | |
75 | long HMSL; // height above mean sea level im mm |
- | |
76 | unsigned long Hacc; // horizontal accuracy in mm |
- | |
77 | unsigned long Vacc; // vertical accuracy in mm |
- | |
78 | uint8_t packetStatus; |
- | |
79 | } NAV_POSLLH_t; |
- | |
80 | - | ||
81 | - | ||
82 | typedef struct { |
73 | typedef struct { |
83 | unsigned long ITOW; // time of week |
74 | unsigned long ITOW; // time of week |
84 | long EAST; // cm UTM Easting |
75 | long EAST; // cm UTM Easting |
85 | long NORTH; // cm UTM Nording |
76 | long NORTH; // cm UTM Nording |
86 | long ALT; // cm altitude |
77 | long ALT; // cm altitude |
Line 134... | Line 125... | ||
134 | volatile unsigned short msgLen; |
125 | volatile unsigned short msgLen; |
135 | volatile uint8_t msgID; |
126 | volatile uint8_t msgID; |
136 | volatile uint8_t ignorePacket; // true when previous packet was not processed |
127 | volatile uint8_t ignorePacket; // true when previous packet was not processed |
Line 137... | Line -... | ||
137 | - | ||
138 | - | ||
139 | // distance to target position |
- | |
140 | long rollOffset; // in 10cm |
- | |
141 | long nickOffset; |
- | |
142 | - | ||
143 | #define GPS_INTCYCLES 100 |
- | |
144 | #define GPS_I_LIMIT (long)(40 * MAINLOOPS_PER_SEC) |
128 | |
145 | 129 | ||
146 | #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
130 | #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
147 | extern volatile uint8_t v24state; |
131 | extern volatile uint8_t v24state; |
148 | char buf[200]; |
132 | char buf[200]; |
Line 203... | Line 187... | ||
203 | { |
187 | { |
204 | actualPos.northing = navPosUtm.NORTH; |
188 | actualPos.northing = navPosUtm.NORTH; |
205 | actualPos.easting = navPosUtm.EAST; |
189 | actualPos.easting = navPosUtm.EAST; |
206 | actualPos.altitude = navPosUtm.ALT; |
190 | actualPos.altitude = navPosUtm.ALT; |
207 | navPosUtm.packetStatus = 0; |
191 | navPosUtm.packetStatus = 0; |
- | 192 | newData_navPosUtm = 1; // (211007Kr) |
|
208 | } |
193 | } |
Line 209... | Line 194... | ||
209 | 194 | ||
210 | 195 |