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Rev | Author | Line No. | Line |
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41 | ingob | 1 | #ifndef _WAYPOINTS_H |
2 | #define _WAYPOINTS_H |
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3 | |||
4 | #include "ubx.h" |
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5 | |||
277 | killagreg | 6 | #define POINT_TYPE_INVALID 255 |
225 | killagreg | 7 | #define POINT_TYPE_WP 0 |
8 | #define POINT_TYPE_POI 1 |
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291 | holgerb | 9 | #define POINT_TYPE_BOTH 2 // only command 's' |
225 | killagreg | 10 | |
291 | holgerb | 11 | extern u8 WPIndex; // list index of GPS point representig the current WP, can be maximal WPCount |
283 | holgerb | 12 | extern u8 POIIndex; // list index of GPS Point representing the current POI, can be maximal WPCount |
291 | holgerb | 13 | extern u8 WPCount; // number of waypoints |
14 | extern u8 PointCount; // number of wp in the list can be maximal equal to MAX_LIST_LEN |
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15 | extern u8 POICount; |
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283 | holgerb | 16 | |
41 | ingob | 17 | typedef struct |
18 | { |
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19 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
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277 | killagreg | 20 | s16 Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List |
41 | ingob | 21 | u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
88 | killagreg | 22 | 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 |
23 | u8 Event_Flag; // future implementation |
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162 | ingob | 24 | u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC |
225 | killagreg | 25 | u8 Type; // typeof Waypoint |
277 | killagreg | 26 | u8 WP_EventChannelValue; // |
286 | killagreg | 27 | u8 AltitudeRate; // rate to change the setpoint |
28 | u8 reserve[8]; // reserve |
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280 | killagreg | 29 | } __attribute__((packed)) Point_t; |
41 | ingob | 30 | |
283 | holgerb | 31 | extern Point_t* GPS_pPoi; // pointer to the actual point of interrest |
32 | extern u8 POICount; |
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33 | |||
34 | |||
277 | killagreg | 35 | // Init List, return TRUE on success |
280 | killagreg | 36 | u8 PointList_Init(void); |
277 | killagreg | 37 | // Clear List, return TRUE on success |
280 | killagreg | 38 | u8 PointList_Clear(void); |
277 | killagreg | 39 | // Returns number of points in the list |
280 | killagreg | 40 | u8 PointList_GetCount(void); |
41 | // return pointer to point at position |
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42 | Point_t* PointList_GetAt(u8 index); |
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277 | killagreg | 43 | // appends a point to the list, returns TRUE on success |
280 | killagreg | 44 | u8 PointList_Append(Point_t* pwp); |
277 | killagreg | 45 | // goto the first WP in the list and return pointer to it |
280 | killagreg | 46 | Point_t* PointList_WPBegin(void); |
277 | killagreg | 47 | // goto the last WP in the list and return pointer to it |
280 | killagreg | 48 | Point_t* PointList_WPEnd(void); |
277 | killagreg | 49 | // goto next WP in the list and return pointer to it |
280 | killagreg | 50 | Point_t* PointList_WPNext(void); |
51 | // disables waypoint function |
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52 | void PointList_WPActive(u8 set); |
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277 | killagreg | 53 | // returns pointer to actual POI |
280 | killagreg | 54 | Point_t* PointList_GetPOI(void); |
41 | ingob | 55 | |
280 | killagreg | 56 | |
41 | ingob | 57 | #endif // _WAYPOINTS_H |