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| 1 | #ifndef _WAYPOINTS_H |
1 | #ifndef _WAYPOINTS_H |
| 2 | #define _WAYPOINTS_H |
2 | #define _WAYPOINTS_H |
| 3 | 3 | ||
| 4 | #include "ubx.h" |
4 | #include "ubx.h" |
| 5 | 5 | ||
| 6 | #define POINT_TYPE_INVALID 255 |
6 | #define POINT_TYPE_INVALID 255 |
| 7 | #define POINT_TYPE_WP 0 |
7 | #define POINT_TYPE_WP 0 |
| 8 | #define POINT_TYPE_POI 1 |
8 | #define POINT_TYPE_POI 1 |
| - | 9 | #define POINT_TYPE_BOTH 2 // only command 's' |
|
| - | 10 | ||
| 9 | 11 | extern u8 WPIndex; // list index of GPS point representig the current WP, can be maximal WPCount |
|
| - | 12 | extern u8 POIIndex; // list index of GPS Point representing the current POI, can be maximal WPCount |
|
| - | 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 |
|
| 10 | extern u8 POIIndex; // list index of GPS Point representing the current POI, can be maximal WPCount |
15 | extern u8 POICount; |
| 11 | 16 | ||
| 12 | typedef struct |
17 | typedef struct |
| 13 | { |
18 | { |
| 14 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
19 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
| 15 | s16 Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List |
20 | s16 Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List |
| 16 | u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
21 | u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
| 17 | 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 |
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 |
| 18 | u8 Event_Flag; // future implementation |
23 | u8 Event_Flag; // future implementation |
| 19 | u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC |
24 | u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC |
| 20 | u8 Type; // typeof Waypoint |
25 | u8 Type; // typeof Waypoint |
| 21 | u8 WP_EventChannelValue; // |
26 | u8 WP_EventChannelValue; // |
| 22 | u8 AltitudeRate; // rate to change the setpoint |
27 | u8 AltitudeRate; // rate to change the setpoint |
| 23 | u8 reserve[8]; // reserve |
28 | u8 reserve[8]; // reserve |
| 24 | } __attribute__((packed)) Point_t; |
29 | } __attribute__((packed)) Point_t; |
| 25 | 30 | ||
| 26 | extern Point_t* GPS_pPoi; // pointer to the actual point of interrest |
31 | extern Point_t* GPS_pPoi; // pointer to the actual point of interrest |
| 27 | extern u8 POICount; |
32 | extern u8 POICount; |
| 28 | 33 | ||
| 29 | 34 | ||
| 30 | // Init List, return TRUE on success |
35 | // Init List, return TRUE on success |
| 31 | u8 PointList_Init(void); |
36 | u8 PointList_Init(void); |
| 32 | // Clear List, return TRUE on success |
37 | // Clear List, return TRUE on success |
| 33 | u8 PointList_Clear(void); |
38 | u8 PointList_Clear(void); |
| 34 | // Returns number of points in the list |
39 | // Returns number of points in the list |
| 35 | u8 PointList_GetCount(void); |
40 | u8 PointList_GetCount(void); |
| 36 | // return pointer to point at position |
41 | // return pointer to point at position |
| 37 | Point_t* PointList_GetAt(u8 index); |
42 | Point_t* PointList_GetAt(u8 index); |
| 38 | // appends a point to the list, returns TRUE on success |
43 | // appends a point to the list, returns TRUE on success |
| 39 | u8 PointList_Append(Point_t* pwp); |
44 | u8 PointList_Append(Point_t* pwp); |
| 40 | // goto the first WP in the list and return pointer to it |
45 | // goto the first WP in the list and return pointer to it |
| 41 | Point_t* PointList_WPBegin(void); |
46 | Point_t* PointList_WPBegin(void); |
| 42 | // goto the last WP in the list and return pointer to it |
47 | // goto the last WP in the list and return pointer to it |
| 43 | Point_t* PointList_WPEnd(void); |
48 | Point_t* PointList_WPEnd(void); |
| 44 | // goto next WP in the list and return pointer to it |
49 | // goto next WP in the list and return pointer to it |
| 45 | Point_t* PointList_WPNext(void); |
50 | Point_t* PointList_WPNext(void); |
| 46 | // disables waypoint function |
51 | // disables waypoint function |
| 47 | void PointList_WPActive(u8 set); |
52 | void PointList_WPActive(u8 set); |
| 48 | // returns pointer to actual POI |
53 | // returns pointer to actual POI |
| 49 | Point_t* PointList_GetPOI(void); |
54 | Point_t* PointList_GetPOI(void); |
| 50 | 55 | ||
| 51 | 56 | ||
| 52 | #endif // _WAYPOINTS_H |
57 | #endif // _WAYPOINTS_H |
| 53 | 58 | ||