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| 10 | extern void Get_Ublox_Msg(uint8_t rx) ; |
10 | extern void Get_Ublox_Msg(uint8_t rx) ; |
| 11 | //extern short int Get_GPS_data(void); |
11 | //extern short int Get_GPS_data(void); |
| 12 | extern short int Get_Rel_Position(void); |
12 | extern short int Get_Rel_Position(void); |
| - | 13 | extern void GPS_Save_Home(void); |
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| Line 13... | Line 14... | ||
| 13 | extern void GPS_Save_Home(void); |
14 | extern short int GPS_CRTL(short int cmd); |
| 14 | 15 | ||
| 15 | typedef struct { |
16 | typedef struct { |
| 16 | unsigned long utm_itow; // time of week |
17 | unsigned long utm_itow; // time of week |
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| 67 | 68 | ||
| 68 | 69 | ||
| 69 | extern GPS_ABS_POSITION_t gps_act_position; |
70 | extern GPS_ABS_POSITION_t gps_act_position; |
| - | 71 | extern GPS_ABS_POSITION_t gps_home_position; |
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| 70 | extern GPS_ABS_POSITION_t gps_home_position; |
72 | extern GPS_REL_POSITION_t gps_rel_act_position; |
| - | 73 | extern GPS_REL_POSITION_t gps_rel_hold_position; |
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| - | 74 | extern unsigned int cnt0,cnt1,cnt2; |
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| - | 75 | extern short int gps_state; |
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| - | 76 | extern signed int GPS_hdng_abs_2trgt; |
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| - | 77 | extern signed int GPS_hdng_rel_2trgt; |
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| - | 78 | extern signed int GPS_dist_2trgt; |
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| - | 79 | ||
| - | 80 | // Zustaende der zentralen GPS statemachine |
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| - | 81 | #define GPS_CRTL_IDLE 0 // |
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| - | 82 | ||
| - | 83 | // Kommandokonstanten fuer die zentrale GPS statemachine |
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| - | 84 | #define GPS_CMD_REQ_INIT 0 // Initialisierung |
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| - | 85 | #define GPS_CMD_REQ_HOLD 1 // Lageregelung soll aktiviert werden |
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| - | 86 | #define GPS_CMD_STOP_HOLD 2 // Lageregelung soll deaktiviert werden |
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| - | 87 | #define GPS_CMD_WAIT 4 // nix tun, nur Status abfragen |
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| - | 88 | ||
| - | 89 | // Statusmeldungen der zentralen GPS statemachine |
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| - | 90 | #define GPS_STST_OK 0 // Kommando erfolgreich und abgeschlossen |
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| - | 91 | #define GPS_STST_PEND 1 // Kommando noch nicht komplett durchgefuehrt |
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