WebSVN - NaviCtrl - Diff - Rev 495 and 496


#ifndef _WAYPOINTS_H
#define _WAYPOINTS_H
 
#include "ubx.h"
 
#define POINT_TYPE_INVALID 255
#define POINT_TYPE_WP   0
#define POINT_TYPE_POI  1
 
typedef struct
{
        GPS_Pos_t Position;             // the gps position of the waypoint, see ubx.h for details
        s16 Heading;                    // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List
        u8  ToleranceRadius;    // in meters, if the MK is within that range around the target, then the next target is triggered
        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
        u8  Event_Flag;                 // future implementation
        u8  Index;              // to indentify different waypoints, workaround for bad communications PC <-> NC
        u8  Type;                               // typeof Waypoint
        u8  WP_EventChannelValue;  // Will be transferred to the FC and can be used as Poti value there
        u8      AltitudeRate;           // rate to change the setpoint in steps of 0.1m/s
        u8      Speed;                          // rate to change the Position(0 = max) in steps of 0.1m/s
        u8      CamAngle;                       // Camera servo angle in degree (255 -> POI-Automatic)
        u8  Name[4];                // Name of that point (ASCII)
    u8  reserve[2];                 // reserve
} __attribute__((packed)) Point_t;
 
 
#define WPL_STORE_TYPE_REL 0
#define WPL_STORE_TYPE_ABS 1
 
typedef struct
{
        u8 Index;
        u8 Type;                  // 0 = rel, 1 = abs
        u8 OverwriteFile;         // 0 = no, 1 = yes
        u8 reserved[7];
        s8 Name[12];
} __attribute__((packed)) WPL_Store_t;
 
extern WPL_Store_t WPL_Store;
 
// Init List, return TRUE on success
u8 PointList_Init(void);
// Clear List, return TRUE on success
u8 PointList_Clear(void);
// Returns number of points in the list
u8 PointList_GetCount(void);
// return pointer to point at position
Point_t* PointList_GetAt(u8 index);
// set a point in the list at index, returns its index on success, else 0
u8 PointList_SetAt(Point_t* pPoint);
// goto the first WP in the list and return pointer to it
Point_t* PointList_WPBegin(void);
// goto the last WP in the list and return pointer to it
Point_t* PointList_WPEnd(void);
// goto next WP in the list and return pointer to it
Point_t* PointList_WPNext(void);
// enables/disables waypoint function
void PointList_WPActive(u8 set);
// returns pointer to actual POI
Point_t* PointList_GetPOI(void);
// save actual point list to SD card
#define WPL_ERROR               0
#define WPL_OK                  1
#define WPL_FILEEXIST   2
u8 PointList_SaveToFile(WPL_Store_t * pWPL_Store);
// load actual point list from SD card
u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store);
// move actual point list to ref pos., the point in the list marked by RefIndex get the RefPos afterwards
u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos);
 
 
#endif // _WAYPOINTS_H
 

Subversion Repositories NaviCtrl

(root)/tags/V2.06f/waypoints.h @ 857 - Rev 495 → 496

Rev 495		Rev 496
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		9
10	typedef struct	10	typedef struct
11	{	11	{
12	GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details	12	GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details
13	s16 Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List	13	s16 Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List
14	u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered	14	u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered
15	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	15	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
16	u8 Event_Flag; // future implementation	16	u8 Event_Flag; // future implementation
17	u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC	17	u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC
18	u8 Type; // typeof Waypoint	18	u8 Type; // typeof Waypoint
19	u8 WP_EventChannelValue; // Will be transferred to the FC and can be used as Poti value there	19	u8 WP_EventChannelValue; // Will be transferred to the FC and can be used as Poti value there
20	u8 AltitudeRate; // rate to change the setpoint in steps of 0.1m/s	20	u8 AltitudeRate; // rate to change the setpoint in steps of 0.1m/s
21	u8 Speed; // rate to change the Position(0 = max) in steps of 0.1m/s	21	u8 Speed; // rate to change the Position(0 = max) in steps of 0.1m/s
22	u8 CamAngle; // Camera servo angle in degree (255 -> POI-Automatic)	22	u8 CamAngle; // Camera servo angle in degree (255 -> POI-Automatic)
23	u8 Name[4]; // Name of that point (ASCII)	23	u8 Name[4]; // Name of that point (ASCII)
24	u8 reserve[2]; // reserve	24	u8 reserve[2]; // reserve
25	} __attribute__((packed)) Point_t;	25	} __attribute__((packed)) Point_t;
26		26
27		27
28	#define WPL_STORE_TYPE_REL 0	28	#define WPL_STORE_TYPE_REL 0
29	#define WPL_STORE_TYPE_ABS 1	29	#define WPL_STORE_TYPE_ABS 1
30		30
31	typedef struct	31	typedef struct
32	{	32	{
33	u8 Index;	33	u8 Index;
34	u8 Type; // 0 = rel, 1 = abs	34	u8 Type; // 0 = rel, 1 = abs
35	u8 OverwriteFile; // 0 = no, 1 = yes	35	u8 OverwriteFile; // 0 = no, 1 = yes
36	u8 reserved[7];	36	u8 reserved[7];
37	s8 Name[12];	37	s8 Name[12];
38	} __attribute__((packed)) WPL_Store_t;	38	} __attribute__((packed)) WPL_Store_t;
-		39
-		40	extern WPL_Store_t WPL_Store;
39		41
40	// Init List, return TRUE on success	42	// Init List, return TRUE on success
41	u8 PointList_Init(void);	43	u8 PointList_Init(void);
42	// Clear List, return TRUE on success	44	// Clear List, return TRUE on success
43	u8 PointList_Clear(void);	45	u8 PointList_Clear(void);
44	// Returns number of points in the list	46	// Returns number of points in the list
45	u8 PointList_GetCount(void);	47	u8 PointList_GetCount(void);
46	// return pointer to point at position	48	// return pointer to point at position
47	Point_t* PointList_GetAt(u8 index);	49	Point_t* PointList_GetAt(u8 index);
48	// set a point in the list at index, returns its index on success, else 0	50	// set a point in the list at index, returns its index on success, else 0
49	u8 PointList_SetAt(Point_t* pPoint);	51	u8 PointList_SetAt(Point_t* pPoint);
50	// goto the first WP in the list and return pointer to it	52	// goto the first WP in the list and return pointer to it
51	Point_t* PointList_WPBegin(void);	53	Point_t* PointList_WPBegin(void);
52	// goto the last WP in the list and return pointer to it	54	// goto the last WP in the list and return pointer to it
53	Point_t* PointList_WPEnd(void);	55	Point_t* PointList_WPEnd(void);
54	// goto next WP in the list and return pointer to it	56	// goto next WP in the list and return pointer to it
55	Point_t* PointList_WPNext(void);	57	Point_t* PointList_WPNext(void);
56	// enables/disables waypoint function	58	// enables/disables waypoint function
57	void PointList_WPActive(u8 set);	59	void PointList_WPActive(u8 set);
58	// returns pointer to actual POI	60	// returns pointer to actual POI
59	Point_t* PointList_GetPOI(void);	61	Point_t* PointList_GetPOI(void);
60	// save actual point list to SD card	62	// save actual point list to SD card
61	#define WPL_ERROR 0	63	#define WPL_ERROR 0
62	#define WPL_OK 1	64	#define WPL_OK 1
63	#define WPL_FILEEXIST 2	65	#define WPL_FILEEXIST 2
64	u8 PointList_SaveToFile(WPL_Store_t * pWPL_Store);	66	u8 PointList_SaveToFile(WPL_Store_t * pWPL_Store);
65	// load actual point list from SD card	67	// load actual point list from SD card
66	u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store);	68	u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store);
67	// move actual point list to ref pos., the point in the list marked by RefIndex get the RefPos afterwards	69	// move actual point list to ref pos., the point in the list marked by RefIndex get the RefPos afterwards
68	u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos);	70	u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos);
69		71
70		72
71	#endif // _WAYPOINTS_H	73	#endif // _WAYPOINTS_H
72		74