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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 | ||
| - | 6 | #define POINT_TYPE_WP 0 |
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| - | 7 | #define POINT_TYPE_POI 1 |
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| 5 | 8 | ||
| 6 | typedef struct |
9 | typedef struct |
| 7 | { |
10 | { |
| 8 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
11 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
| 9 | s16 Heading; // orientation, future implementation |
12 | s16 Heading; // orientation, future implementation |
| 10 | u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
13 | u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
| 11 | 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 |
14 | 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 |
| 12 | u8 Event_Flag; // future implementation |
15 | u8 Event_Flag; // future implementation |
| 13 | u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC |
16 | u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC |
| - | 17 | u8 Type; // typeof Waypoint |
|
| 14 | u8 reserve[11]; // reserve |
18 | u8 reserve[10]; // reserve |
| 15 | } __attribute__((packed)) Waypoint_t; |
19 | } __attribute__((packed)) Waypoint_t; |
| 16 | 20 | ||
| 17 | u8 WPList_Init(void); |
21 | u8 WPList_Init(void); |
| 18 | u8 WPList_Clear(void); |
22 | u8 WPList_Clear(void); |
| 19 | u8 WPList_GetCount(void); |
23 | u8 WPList_GetCount(void); |
| 20 | u8 WPList_Append(Waypoint_t* pwp); |
24 | u8 WPList_Append(Waypoint_t* pwp); |
| 21 | Waypoint_t* WPList_Begin(void); |
25 | Waypoint_t* WPList_Begin(void); |
| 22 | Waypoint_t* WPList_End(void); |
26 | Waypoint_t* WPList_End(void); |
| 23 | Waypoint_t* WPList_Next(void); |
27 | Waypoint_t* WPList_Next(void); |
| 24 | Waypoint_t* WPList_GetAt(u8 index); |
28 | Waypoint_t* WPList_GetAt(u8 index); |
| 25 | Waypoint_t* WPList_GetPOI(void); |
29 | Waypoint_t* WPList_GetPOI(void); |
| 26 | void WPList_SetPOI(Waypoint_t* pwp); |
- | |
| 27 | 30 | ||
| 28 | #endif // _WAYPOINTS_H |
31 | #endif // _WAYPOINTS_H |
| 29 | 32 | ||