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| 1 | #ifndef _WAYPOINTS_H |
1 | #ifndef _WAYPOINTS_H |
| 2 | #define _WAYPOINTS_H |
2 | #define _WAYPOINTS_H |
| Line 3... | Line 3... | ||
| 3 | 3 | ||
| Line 4... | Line 4... | ||
| 4 | #include "ubx.h" |
4 | #include "ubx.h" |
| 5 | 5 | ||
| 6 | //#define POINT_TYPE_INVALID |
6 | #define POINT_TYPE_INVALID 255 |
| Line 7... | Line 7... | ||
| 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, future implementation |
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 |
| Line -... | Line 19... | ||
| - | 19 | u8 WP_EventChannelValue; // |
|
| 19 | u8 WP_EventChannelValue; // |
20 | u8 reserve[9]; // reserve |
| - | 21 | } __attribute__((packed)) Waypoint_t; |
|
| 20 | u8 reserve[9]; // reserve |
22 | |
| - | 23 | // Init List, return TRUE on success |
|
| 21 | } __attribute__((packed)) Waypoint_t; |
24 | u8 WPList_Init(void); |
| - | 25 | // Clear List, return TRUE on success |
|
| 22 | 26 | u8 WPList_Clear(void); |
|
| - | 27 | // Returns number of points in the list |
|
| 23 | u8 WPList_Init(void); |
28 | u8 WPList_GetCount(void); |
| - | 29 | // appends a point to the list, returns TRUE on success |
|
| 24 | u8 WPList_Clear(void); |
30 | u8 WPList_Append(Waypoint_t* pwp); |
| - | 31 | // goto the first WP in the list and return pointer to it |
|
| 25 | u8 WPList_GetCount(void); |
32 | Waypoint_t* WPList_Begin(void); |
| - | 33 | // goto the last WP in the list and return pointer to it |
|
| 26 | u8 WPList_Append(Waypoint_t* pwp); |
34 | Waypoint_t* WPList_End(void); |
| - | 35 | // goto next WP in the list and return pointer to it |
|
| 27 | Waypoint_t* WPList_Begin(void); |
36 | Waypoint_t* WPList_Next(void); |
| Line 28... | Line 37... | ||
| 28 | Waypoint_t* WPList_End(void); |
37 | // return pointer to point at position |