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| - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 2 | // Peter Muehlenbrock |
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| - | 3 | // Definitionen fuer Modul GPS |
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| - | 4 | ||
| - | 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 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) ; |
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| 4 | extern void GPS_BerechneZielrichtung(void); |
11 | extern void Get_GPS_data(void); |
| - | 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; |
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