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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 | 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; // |
19 | u8 WP_EventChannelValue; // |
| 20 | u8 reserve[9]; // reserve |
20 | u8 reserve[9]; // reserve |
| 21 | } __attribute__((packed)) Waypoint_t; |
21 | } __attribute__((packed)) Point_t; |
| 22 | 22 | ||
| 23 | // Init List, return TRUE on success |
23 | // Init List, return TRUE on success |
| 24 | u8 WPList_Init(void); |
24 | u8 PointList_Init(void); |
| 25 | // Clear List, return TRUE on success |
25 | // Clear List, return TRUE on success |
| 26 | u8 WPList_Clear(void); |
26 | u8 PointList_Clear(void); |
| 27 | // Returns number of points in the list |
27 | // Returns number of points in the list |
| - | 28 | u8 PointList_GetCount(void); |
|
| - | 29 | // return pointer to point at position |
|
| 28 | u8 WPList_GetCount(void); |
30 | Point_t* PointList_GetAt(u8 index); |
| 29 | // appends a point to the list, returns TRUE on success |
31 | // appends a point to the list, returns TRUE on success |
| 30 | u8 WPList_Append(Waypoint_t* pwp); |
32 | u8 PointList_Append(Point_t* pwp); |
| 31 | // goto the first WP in the list and return pointer to it |
33 | // goto the first WP in the list and return pointer to it |
| 32 | Waypoint_t* WPList_Begin(void); |
34 | Point_t* PointList_WPBegin(void); |
| 33 | // goto the last WP in the list and return pointer to it |
35 | // goto the last WP in the list and return pointer to it |
| 34 | Waypoint_t* WPList_End(void); |
36 | Point_t* PointList_WPEnd(void); |
| 35 | // goto next WP in the list and return pointer to it |
37 | // goto next WP in the list and return pointer to it |
| 36 | Waypoint_t* WPList_Next(void); |
38 | Point_t* PointList_WPNext(void); |
| 37 | // return pointer to point at position |
39 | // disables waypoint function |
| 38 | Waypoint_t* WPList_GetAt(u8 index); |
40 | void PointList_WPActive(u8 set); |
| 39 | // returns pointer to actual POI |
41 | // returns pointer to actual POI |
| - | 42 | Point_t* PointList_GetPOI(void); |
|
| 40 | Waypoint_t* WPList_GetPOI(void); |
43 | |
| 41 | 44 | ||
| 42 | #endif // _WAYPOINTS_H |
45 | #endif // _WAYPOINTS_H |
| 43 | 46 | ||