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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1515 | - | 1 | #ifndef _WAYPOINTS_H |
| 2 | #define _WAYPOINTS_H |
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| 3 | |||
| 4 | //#include "ubx.h" |
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| 5 | |||
| 6 | #define POINT_TYPE_INVALID 255 |
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| 7 | #define POINT_TYPE_WP 0 |
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| 8 | #define POINT_TYPE_POI 1 |
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| 9 | |||
| 10 | |||
| 11 | typedef struct |
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| 12 | { |
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| 13 | s32 Longitude; // in 1E-7 deg |
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| 14 | s32 Latitude; // in 1E-7 deg |
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| 15 | s32 Altitude; // in mm |
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| 16 | u8 Status;// validity of data |
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| 17 | } __attribute__((packed)) GPS_Pos_t; |
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| 18 | |||
| 19 | |||
| 20 | typedef struct |
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| 21 | { |
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| 22 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
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| 23 | s16 Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List |
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| 24 | u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
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| 25 | u8 HoldTime; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
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| 26 | u8 Event_Flag; // future implementation |
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| 27 | u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC |
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| 28 | u8 Type; // typeof Waypoint |
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| 29 | u8 WP_EventChannelValue; // |
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| 30 | u8 AltitudeRate; // rate to change the setpoint |
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| 31 | u8 reserve[8]; // reserve |
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| 32 | } __attribute__((packed)) Point_t; |
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| 33 | |||
| 34 | // Init List, return TRUE on success |
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| 35 | u8 PointList_Init(void); |
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| 36 | // Clear List, return TRUE on success |
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| 37 | u8 PointList_Clear(void); |
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| 38 | // Returns number of points in the list |
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| 39 | u8 PointList_GetCount(void); |
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| 40 | // return pointer to point at position |
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| 41 | Point_t* PointList_GetAt(u8 index); |
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| 42 | // set a point in the list at index, returns its index on success, else 0 |
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| 43 | u8 PointList_SetAt(Point_t* pPoint); |
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| 44 | // goto the first WP in the list and return pointer to it |
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| 45 | Point_t* PointList_WPBegin(void); |
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| 46 | // goto the last WP in the list and return pointer to it |
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| 47 | Point_t* PointList_WPEnd(void); |
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| 48 | // goto next WP in the list and return pointer to it |
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| 49 | Point_t* PointList_WPNext(void); |
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| 50 | // enables/disables waypoint function |
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| 51 | void PointList_WPActive(u8 set); |
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| 52 | // returns pointer to actual POI |
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| 53 | Point_t* PointList_GetPOI(void); |
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| 54 | |||
| 55 | |||
| 56 | #endif // _WAYPOINTS_H |