Subversion Repositories NaviCtrl

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/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */

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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 2008 Ingo Busker, Holger Buss

// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY

// + FOR NON COMMERCIAL USE ONLY

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt werden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed

//

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <string.h>

#include "91x_lib.h"

#include "waypoints.h"

#include "uart1.h"

// the waypoints list

#define MAX_LIST_LEN 31

Point_t PointList[MAX_LIST_LEN];

u8 WPIndex = 0;         // list index of GPS point representig the current WP, can be maximal WPCount

u8 POIIndex = 0;        // list index of GPS Point representing the current POI, can be maximal WPCount

u8 WPCount = 0;         // number of waypoints

u8 PointCount = 0;              // number of wp in the list can be maximal equal to MAX_LIST_LEN

u8 POICount = 0;

u8 WPActive = TRUE;

u8 PointList_Init(void)

{

        return PointList_Clear();

}

u8 PointList_Clear(void)

{

        u8 i;

        WPIndex = 0;    // real list position are 1 ,2, 3 ...

        POIIndex = 0;   // real list position are 1 ,2, 3 ...

        WPCount = 0;    // no waypoints

    POICount = 0;

        PointCount = 0; // no contents

        WPActive = TRUE;

        NaviData.WaypointNumber = WPCount;

        NaviData.WaypointIndex = 0;

        for(i = 0; i < MAX_LIST_LEN; i++)

        {

                PointList[i].Position.Status = INVALID;

                PointList[i].Position.Latitude = 0;

                PointList[i].Position.Longitude = 0;

                PointList[i].Position.Altitude = 0;

                PointList[i].Heading = 361;             // invalid value

                PointList[i].ToleranceRadius = 0;       // in meters, if the MK is within that range around the target, then the next target is triggered

                PointList[i].HoldTime = 0;                      // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered

                PointList[i].Type = POINT_TYPE_INVALID;

                PointList[i].Event_Flag = 0;            // future implementation

                PointList[i].AltitudeRate = 0;          // no change of setpoint

        }

        return TRUE;           

}

u8 PointList_GetCount(void)

{

        return PointCount; // number of points in the list

}

u8 PointList_Append(Point_t* pPoint)

{

        if((PointCount < MAX_LIST_LEN) && (pPoint->Index == (PointCount + 1)) ) // there is still some space in the list and index points to next

        {

                memcpy(&PointList[PointCount], pPoint, sizeof(Point_t)); // copy data to list entry                                                                             // increment list length

                if(PointList[PointCount].Type == POINT_TYPE_WP) WPCount++;

                if(PointList[PointCount].Type == POINT_TYPE_POI) POICount++;

                NaviData.WaypointNumber = WPCount;

                PointCount++;

                if(PointCount == 1) // only for the first entry

                {

                        // update POI index

                        switch(PointList[WPIndex-1].Type)

                        {

                                case POINT_TYPE_WP:

                                        if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading);

                                        else POIIndex = 0;

                                        break;

                                case POINT_TYPE_POI:

                                        POIIndex = 1;

                                        POICount = 1;

                                        break;

                                default:

                                        POIIndex = 0;

                                        break;

                        }              

                }

                return TRUE;

        }

        else return FALSE;

}

// returns the pointer to the first waypoint within the list

Point_t* PointList_WPBegin(void)

{

        u8 i;

        WPIndex = 0; // set list position invalid

        if(WPActive == FALSE) return(NULL);

        POIIndex = 0; // set invalid POI

        if(PointCount > 0)

        {

                // search for first wp in list

                for(i = 0; i <PointCount; i++)

                {

                        if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID))

                        {

                                WPIndex = i + 1;

                                break;

                        }

                }

                if(WPIndex) // found a WP in the list

                {

                        NaviData.WaypointIndex = 1;

                        // update index to POI

                        if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading);

                        else POIIndex = 0;     

                        return(&(PointList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list           

                }

                else // some points in the list but no WP found

                {

                        NaviData.WaypointIndex = 0;

                        //Check for an existing POI

                        for(i = 0; i < PointCount; i++)

                        {

                                if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID))

                                {

                                        POIIndex = i + 1;

                                        break;

                                }

                        }

                        return NULL;

                }

        }

        else // no point in the list

        {

                POIIndex = 0;

                NaviData.WaypointIndex = 0;

                return NULL;   

        }

}

// returns the last waypoint

Point_t* PointList_WPEnd(void)

{

        u8 i;

        WPIndex = 0; // set list position invalid

        POIIndex = 0; // set invalid

        if(WPActive == FALSE) return(NULL);

        if(PointCount > 0)

        {

                // search backward!

                for(i = 1; i <= PointCount; i++)

                {

                        if((PointList[PointCount - i].Type == POINT_TYPE_WP) && (PointList[PointCount - i].Position.Status != INVALID))

                        {      

                                WPIndex = PointCount - i + 1;

                                break;

                        }

                }

                if(WPIndex) // found a WP within the list

                {

                        NaviData.WaypointIndex = WPCount;

                        if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading);

                        else POIIndex = 0;     

                        return(&(PointList[WPIndex-1]));

                }

                else // list contains some points but no WP in the list

                {

                        // search backward for a POI!

                        for(i = 1; i <= PointCount; i++)

                        {

                                if((PointList[PointCount - i].Type == POINT_TYPE_POI) && (PointList[PointCount - i].Position.Status != INVALID))

                                {      

                                        POIIndex = PointCount - i + 1;

                                        break;

                                }

                        }

                        NaviData.WaypointIndex = 0;

                        return NULL;   

                }

        }

        else // no point in the list

        {

                POIIndex = 0;

                NaviData.WaypointIndex = 0;

                return NULL;

        }

}

// returns a pointer to the next waypoint or NULL if the end of the list has been reached

Point_t* PointList_WPNext(void)

{

        u8 wp_found = 0;

        if(WPActive == FALSE) return(NULL);

        if(WPIndex < PointCount) // if there is a next entry in the list

        {

                u8 i;

                for(i = WPIndex; i < PointCount; i++)   // start search for next at next list entry

                {

                        if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs

                        {

                                wp_found = i+1;

                                break;

                        }

                }

        }

        if(wp_found)

        {

                WPIndex = wp_found; // update list position

                NaviData.WaypointIndex++;

                if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading);

                else POIIndex = 0;

                return(&(PointList[WPIndex-1]));        // return pointer to this waypoint

        }

        else

        {  // no next wp found

                NaviData.WaypointIndex = 0;    

                POIIndex = 0;

                return(NULL);

        }

}      

void PointList_WPActive(u8 set)

{

        if(set) WPActive = TRUE;

        else WPActive = FALSE;

}

Point_t* PointList_GetAt(u8 index)

{

        if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint

        else return(NULL);

}

Point_t* PointList_GetPOI(void)

{

        return PointList_GetAt(POIIndex);      

}