dc.h

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/*
 * Copyright (C) 2010 The Paparazzi Team
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */


#ifndef DC_H
#define DC_H

#include "float.h"
#include "std.h"
#include "state.h"
#include "generated/airframe.h"
#include "subsystems/gps.h"

extern uint16_t dc_photo_nr;

extern uint16_t dc_gps_count;


/*
 * Variables for PERIODIC mode.
 */
extern float dc_autoshoot_period;


/*
 * Variables for DISTANCE mode.
 */
extern float dc_distance_interval;


/*
 * Variables for SURVEY mode.
 */
extern float dc_survey_interval;

extern float dc_gps_x, dc_gps_y;

extern float dc_gps_next_dist;


/*
 * Variables for CIRCLE mode.
 */
extern float dc_circle_start_angle;

extern float dc_circle_interval;

extern float dc_circle_max_blocks;
extern float dc_circle_last_block;


extern float dc_cam_angle;
extern uint8_t dc_cam_tracing;

typedef enum {
  DC_GET_STATUS = 0,

  DC_HOLD = 13,
  DC_SHOOT = 32,

  DC_WIDER = 'w',
  DC_TALLER = 't',

  DC_UP = 'u',
  DC_DOWN = 'd',
  DC_CENTER = 'c',
  DC_LEFT = 'l',
  DC_RIGHT = 'r',

  DC_MENU = 'm',
  DC_HOME = 'h',
  DC_PLAY = 'p',

  DC_ON = 'O',
  DC_OFF = 'o',

} dc_command_type;

extern void dc_send_command(uint8_t cmd);

typedef enum {
  DC_AUTOSHOOT_STOP = 0,
  DC_AUTOSHOOT_PERIODIC = 1,
  DC_AUTOSHOOT_DISTANCE = 2,
  DC_AUTOSHOOT_EXT_TRIG = 3,
  DC_AUTOSHOOT_SURVEY = 4,
  DC_AUTOSHOOT_CIRCLE = 5
} dc_autoshoot_type;
extern dc_autoshoot_type dc_autoshoot;

void dc_send_shot_position(void);

/* Macro value used to indicate a discardable argument */
#ifndef DC_IGNORE
#define DC_IGNORE FLT_MAX
#endif

/* Default values for buffer control */
#ifndef DC_IMAGE_BUFFER
#define DC_IMAGE_BUFFER 65535
#endif

/******************************************************************
 * FUNCTIONS
 *****************************************************************/

extern void dc_init(void);

extern void dc_periodic(void);

extern uint8_t dc_distance(float interval);

extern uint8_t dc_circle(float interval, float start);

#define dc_Circle(interval) dc_circle(interval, DC_IGNORE)

extern uint8_t dc_survey(float interval, float x, float y);

#define dc_Survey(interval) dc_survey(interval, DC_IGNORE, DC_IGNORE)


extern uint8_t dc_stop(void);

#define dc_Stop(_) dc_stop()

extern uint8_t dc_info(void);


#endif // DC_H