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| Rev | Author | Line No. | Line |
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| 41 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + www.MikroKopter.com |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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| 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 41 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| 15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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| 22 | // + des Mitverschuldens offen. |
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| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 41 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 32 | // + Software LICENSING TERMS |
| 41 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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| 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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| 37 | // + The Software may only be used with the Licensor's products. |
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| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 40 | // + agreement shall be the property of the Licensor. |
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| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 43 | // + The customer shall be responsible for taking reasonable precautions |
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| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 53 | // + #### END OF LICENSING TERMS #### |
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| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 41 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 490 | killagreg | 56 | #include <ctype.h> |
| 57 | #include <stdio.h> |
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| 58 | #include <stdlib.h> |
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| 41 | ingob | 59 | #include <string.h> |
| 60 | #include "91x_lib.h" |
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| 61 | #include "waypoints.h" |
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| 62 | #include "uart1.h" |
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| 490 | killagreg | 63 | #include "fat16.h" |
| 41 | ingob | 64 | |
| 65 | // the waypoints list |
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| 351 | holgerb | 66 | #define MAX_LIST_LEN 101 |
| 227 | killagreg | 67 | |
| 280 | killagreg | 68 | Point_t PointList[MAX_LIST_LEN]; |
| 69 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
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| 70 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
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| 71 | u8 WPCount = 0; // number of waypoints |
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| 491 | killagreg | 72 | u8 PointCount = 0; // number of points in the list can be maximal equal to MAX_LIST_LEN |
| 73 | u8 POICount = 0; // number of point of interest in the list |
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| 41 | ingob | 74 | |
| 296 | killagreg | 75 | u8 WPActive = FALSE; |
| 280 | killagreg | 76 | |
| 77 | u8 PointList_Init(void) |
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| 41 | ingob | 78 | { |
| 280 | killagreg | 79 | return PointList_Clear(); |
| 41 | ingob | 80 | } |
| 81 | |||
| 280 | killagreg | 82 | u8 PointList_Clear(void) |
| 41 | ingob | 83 | { |
| 84 | u8 i; |
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| 227 | killagreg | 85 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
| 86 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
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| 280 | killagreg | 87 | WPCount = 0; // no waypoints |
| 283 | holgerb | 88 | POICount = 0; |
| 280 | killagreg | 89 | PointCount = 0; // no contents |
| 296 | killagreg | 90 | WPActive = FALSE; |
| 280 | killagreg | 91 | NaviData.WaypointNumber = WPCount; |
| 92 | NaviData.WaypointIndex = 0; |
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| 41 | ingob | 93 | |
| 280 | killagreg | 94 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 41 | ingob | 95 | { |
| 280 | killagreg | 96 | PointList[i].Position.Status = INVALID; |
| 97 | PointList[i].Position.Latitude = 0; |
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| 98 | PointList[i].Position.Longitude = 0; |
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| 99 | PointList[i].Position.Altitude = 0; |
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| 100 | PointList[i].Heading = 361; // invalid value |
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| 101 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
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| 102 | 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 |
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| 490 | killagreg | 103 | PointList[i].Event_Flag = 0; // future implementation |
| 104 | PointList[i].Index = 0; |
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| 286 | killagreg | 105 | PointList[i].Type = POINT_TYPE_INVALID; |
| 490 | killagreg | 106 | PointList[i].WP_EventChannelValue = 0; |
| 286 | killagreg | 107 | PointList[i].AltitudeRate = 0; // no change of setpoint |
| 490 | killagreg | 108 | PointList[i].Speed = 0; |
| 109 | PointList[i].CamAngle = 0; |
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| 110 | PointList[i].Name[0] = 0; |
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| 41 | ingob | 111 | } |
| 112 | return TRUE; |
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| 113 | } |
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| 114 | |||
| 280 | killagreg | 115 | u8 PointList_GetCount(void) |
| 41 | ingob | 116 | { |
| 280 | killagreg | 117 | return PointCount; // number of points in the list |
| 41 | ingob | 118 | } |
| 119 | |||
| 295 | killagreg | 120 | Point_t* PointList_GetAt(u8 index) |
| 41 | ingob | 121 | { |
| 295 | killagreg | 122 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
| 123 | else return(NULL); |
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| 124 | } |
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| 125 | |||
| 126 | u8 PointList_SetAt(Point_t* pPoint) |
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| 127 | { |
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| 128 | // if index is in range |
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| 296 | killagreg | 129 | if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
| 41 | ingob | 130 | { |
| 295 | killagreg | 131 | // check list entry before update |
| 132 | switch(PointList[pPoint->Index-1].Type) |
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| 277 | killagreg | 133 | { |
| 295 | killagreg | 134 | case POINT_TYPE_INVALID: // was invalid |
| 135 | switch(pPoint->Type) |
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| 136 | { |
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| 137 | default: |
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| 138 | case POINT_TYPE_INVALID: |
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| 139 | // nothing to do |
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| 140 | break; |
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| 141 | |||
| 142 | case POINT_TYPE_WP: |
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| 143 | WPCount++; |
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| 144 | PointCount++; |
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| 145 | break; |
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| 146 | |||
| 147 | case POINT_TYPE_POI: |
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| 148 | POICount++; |
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| 149 | PointCount++; |
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| 150 | break; |
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| 151 | } |
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| 152 | break; |
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| 277 | killagreg | 153 | |
| 490 | killagreg | 154 | case POINT_TYPE_WP: // was a waypoint |
| 295 | killagreg | 155 | switch(pPoint->Type) |
| 156 | { |
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| 157 | case POINT_TYPE_INVALID: |
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| 158 | WPCount--; |
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| 159 | PointCount--; |
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| 160 | break; |
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| 277 | killagreg | 161 | |
| 295 | killagreg | 162 | default: |
| 163 | case POINT_TYPE_WP: |
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| 164 | //nothing to do |
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| 165 | break; |
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| 166 | |||
| 167 | case POINT_TYPE_POI: |
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| 168 | POICount++; |
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| 169 | WPCount--; |
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| 170 | break; |
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| 171 | } |
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| 172 | break; |
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| 173 | |||
| 174 | case POINT_TYPE_POI: // was a poi |
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| 175 | switch(pPoint->Type) |
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| 176 | { |
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| 177 | case POINT_TYPE_INVALID: |
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| 178 | POICount--; |
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| 179 | PointCount--; |
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| 180 | break; |
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| 181 | |||
| 182 | case POINT_TYPE_WP: |
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| 183 | WPCount++; |
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| 184 | POICount--; |
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| 185 | break; |
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| 186 | |||
| 187 | case POINT_TYPE_POI: |
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| 188 | default: |
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| 189 | // nothing to do |
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| 190 | break; |
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| 191 | } |
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| 192 | break; |
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| 277 | killagreg | 193 | } |
| 295 | killagreg | 194 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
| 195 | NaviData.WaypointNumber = WPCount; |
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| 196 | return pPoint->Index; |
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| 41 | ingob | 197 | } |
| 296 | killagreg | 198 | else return(0); |
| 41 | ingob | 199 | } |
| 200 | |||
| 227 | killagreg | 201 | // returns the pointer to the first waypoint within the list |
| 280 | killagreg | 202 | Point_t* PointList_WPBegin(void) |
| 41 | ingob | 203 | { |
| 277 | killagreg | 204 | u8 i; |
| 227 | killagreg | 205 | WPIndex = 0; // set list position invalid |
| 295 | killagreg | 206 | |
| 283 | holgerb | 207 | if(WPActive == FALSE) return(NULL); |
| 295 | killagreg | 208 | |
| 277 | killagreg | 209 | POIIndex = 0; // set invalid POI |
| 280 | killagreg | 210 | if(PointCount > 0) |
| 152 | killagreg | 211 | { |
| 225 | killagreg | 212 | // search for first wp in list |
| 295 | killagreg | 213 | for(i = 0; i <MAX_LIST_LEN; i++) |
| 225 | killagreg | 214 | { |
| 280 | killagreg | 215 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
| 225 | killagreg | 216 | { |
| 227 | killagreg | 217 | WPIndex = i + 1; |
| 225 | killagreg | 218 | break; |
| 219 | } |
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| 220 | } |
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| 277 | killagreg | 221 | if(WPIndex) // found a WP in the list |
| 222 | { |
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| 280 | killagreg | 223 | NaviData.WaypointIndex = 1; |
| 277 | killagreg | 224 | // update index to POI |
| 280 | killagreg | 225 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 296 | killagreg | 226 | else POIIndex = 0; |
| 277 | killagreg | 227 | } |
| 228 | else // some points in the list but no WP found |
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| 229 | { |
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| 280 | killagreg | 230 | NaviData.WaypointIndex = 0; |
| 277 | killagreg | 231 | //Check for an existing POI |
| 295 | killagreg | 232 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 277 | killagreg | 233 | { |
| 280 | killagreg | 234 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
| 277 | killagreg | 235 | { |
| 236 | POIIndex = i + 1; |
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| 237 | break; |
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| 238 | } |
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| 239 | } |
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| 240 | } |
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| 152 | killagreg | 241 | } |
| 277 | killagreg | 242 | else // no point in the list |
| 152 | killagreg | 243 | { |
| 277 | killagreg | 244 | POIIndex = 0; |
| 295 | killagreg | 245 | NaviData.WaypointIndex = 0; |
| 227 | killagreg | 246 | } |
| 295 | killagreg | 247 | |
| 248 | if(WPIndex) return(&(PointList[WPIndex-1])); |
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| 249 | else return(NULL); |
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| 41 | ingob | 250 | } |
| 251 | |||
| 225 | killagreg | 252 | // returns the last waypoint |
| 280 | killagreg | 253 | Point_t* PointList_WPEnd(void) |
| 151 | killagreg | 254 | { |
| 277 | killagreg | 255 | |
| 256 | u8 i; |
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| 227 | killagreg | 257 | WPIndex = 0; // set list position invalid |
| 277 | killagreg | 258 | POIIndex = 0; // set invalid |
| 283 | holgerb | 259 | |
| 280 | killagreg | 260 | if(WPActive == FALSE) return(NULL); |
| 277 | killagreg | 261 | |
| 280 | killagreg | 262 | if(PointCount > 0) |
| 151 | killagreg | 263 | { |
| 227 | killagreg | 264 | // search backward! |
| 295 | killagreg | 265 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 225 | killagreg | 266 | { |
| 295 | killagreg | 267 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 225 | killagreg | 268 | { |
| 295 | killagreg | 269 | WPIndex = MAX_LIST_LEN - i + 1; |
| 225 | killagreg | 270 | break; |
| 271 | } |
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| 272 | } |
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| 277 | killagreg | 273 | if(WPIndex) // found a WP within the list |
| 274 | { |
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| 280 | killagreg | 275 | NaviData.WaypointIndex = WPCount; |
| 276 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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| 277 | killagreg | 277 | else POIIndex = 0; |
| 278 | } |
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| 278 | killagreg | 279 | else // list contains some points but no WP in the list |
| 277 | killagreg | 280 | { |
| 281 | // search backward for a POI! |
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| 295 | killagreg | 282 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 277 | killagreg | 283 | { |
| 295 | killagreg | 284 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 277 | killagreg | 285 | { |
| 295 | killagreg | 286 | POIIndex = MAX_LIST_LEN - i + 1; |
| 277 | killagreg | 287 | break; |
| 288 | } |
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| 289 | } |
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| 295 | killagreg | 290 | NaviData.WaypointIndex = 0; |
| 277 | killagreg | 291 | } |
| 151 | killagreg | 292 | } |
| 277 | killagreg | 293 | else // no point in the list |
| 227 | killagreg | 294 | { |
| 280 | killagreg | 295 | POIIndex = 0; |
| 296 | NaviData.WaypointIndex = 0; |
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| 227 | killagreg | 297 | } |
| 295 | killagreg | 298 | if(WPIndex) return(&(PointList[WPIndex-1])); |
| 299 | else return(NULL); |
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| 151 | killagreg | 300 | } |
| 301 | |||
| 41 | ingob | 302 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
| 280 | killagreg | 303 | Point_t* PointList_WPNext(void) |
| 41 | ingob | 304 | { |
| 227 | killagreg | 305 | u8 wp_found = 0; |
| 280 | killagreg | 306 | if(WPActive == FALSE) return(NULL); |
| 227 | killagreg | 307 | |
| 295 | killagreg | 308 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
| 41 | ingob | 309 | { |
| 227 | killagreg | 310 | u8 i; |
| 295 | killagreg | 311 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
| 225 | killagreg | 312 | { |
| 280 | killagreg | 313 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
| 225 | killagreg | 314 | { |
| 227 | killagreg | 315 | wp_found = i+1; |
| 225 | killagreg | 316 | break; |
| 317 | } |
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| 318 | } |
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| 41 | ingob | 319 | } |
| 227 | killagreg | 320 | if(wp_found) |
| 321 | { |
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| 322 | WPIndex = wp_found; // update list position |
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| 280 | killagreg | 323 | NaviData.WaypointIndex++; |
| 324 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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| 227 | killagreg | 325 | else POIIndex = 0; |
| 280 | killagreg | 326 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
| 227 | killagreg | 327 | } |
| 277 | killagreg | 328 | else |
| 280 | killagreg | 329 | { // no next wp found |
| 330 | NaviData.WaypointIndex = 0; |
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| 277 | killagreg | 331 | POIIndex = 0; |
| 332 | return(NULL); |
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| 333 | } |
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| 41 | ingob | 334 | } |
| 280 | killagreg | 335 | |
| 336 | void PointList_WPActive(u8 set) |
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| 337 | { |
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| 295 | killagreg | 338 | if(set) |
| 339 | { |
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| 340 | WPActive = TRUE; |
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| 491 | killagreg | 341 | PointList_WPBegin(); // updates POI index |
| 295 | killagreg | 342 | } |
| 343 | else |
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| 344 | { |
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| 345 | WPActive = FALSE; |
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| 346 | POIIndex = 0; // disable POI also |
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| 347 | } |
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| 280 | killagreg | 348 | } |
| 41 | ingob | 349 | |
| 280 | killagreg | 350 | Point_t* PointList_GetPOI(void) |
| 224 | killagreg | 351 | { |
| 280 | killagreg | 352 | return PointList_GetAt(POIIndex); |
| 224 | killagreg | 353 | } |
| 354 | |||
| 490 | killagreg | 355 | #define LINE_MAX 70 |
| 356 | #define WP_FILE_VERSION_COMPATIBLE 3 |
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| 357 | // save actual point list to SD card |
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| 358 | u8 PointList_SaveToFile(u8 place) |
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| 359 | { |
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| 360 | File_t *fp; |
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| 361 | s8 wpline[LINE_MAX], retval = 0; |
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| 362 | // user absolute path, i.e. leading / |
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| 363 | |||
| 364 | sprintf(wpline, "/list_%03d.wpl", place); |
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| 365 | |||
| 366 | UART1_PutString("\n\r Write "); |
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| 367 | UART1_PutString(wpline); |
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| 368 | UART1_PutString("..."); |
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| 369 | |||
| 370 | UART1_PutString("\n\r Save WPL..."); |
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| 371 | |||
| 372 | if(Fat16_IsValid()) |
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| 373 | { // check if wpl file is existing |
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| 374 | fp = fopen_(wpline, 'w'); // try to open the file |
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| 375 | if(fp == NULL) |
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| 376 | { |
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| 377 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
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| 378 | return(retval); |
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| 379 | } |
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| 380 | // Create general section and key entries |
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| 381 | fputs_("[General]\r\n", fp); |
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| 382 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
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| 383 | fputs_(wpline, fp); |
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| 384 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
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| 385 | fputs_(wpline, fp); |
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| 386 | // dump all points if existent |
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| 387 | if(PointCount) |
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| 388 | { |
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| 389 | u8 i, u8_1; |
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| 390 | s32 i32_1, i32_2; |
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| 391 | |||
| 392 | for (i = 0; i < PointCount; i++) |
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| 393 | { |
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| 394 | sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
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| 395 | fputs_(wpline, fp); |
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| 396 | // write latitude in deg |
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| 397 | if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
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| 398 | else u8_1 = '+'; |
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| 399 | i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
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| 400 | i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
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| 401 | sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
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| 402 | fputs_(wpline, fp); |
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| 403 | // write longitude in deg |
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| 404 | if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
||
| 405 | else u8_1 = '+'; |
||
| 406 | i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
||
| 407 | i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
||
| 408 | sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
||
| 409 | fputs_(wpline, fp); |
||
| 410 | // write tolerace radius in m |
||
| 411 | sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
||
| 412 | fputs_(wpline, fp); |
||
| 413 | // write altitude in m |
||
| 414 | if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
||
| 415 | else u8_1 = '+'; |
||
| 416 | if(PointList[i].Type == POINT_TYPE_POI) |
||
| 417 | { |
||
| 418 | i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
||
| 419 | i32_2 = abs(PointList[i].Position.Altitude)%100L; |
||
| 420 | } |
||
| 421 | else |
||
| 422 | { |
||
| 423 | i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
||
| 424 | i32_2 = abs(PointList[i].Position.Altitude)%10L; |
||
| 425 | } |
||
| 426 | sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
||
| 427 | fputs_(wpline, fp); |
||
| 428 | // write climb rate in 0.1 m/s |
||
| 429 | sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
||
| 430 | fputs_(wpline, fp); |
||
| 431 | // write hold time in s |
||
| 432 | sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
||
| 433 | fputs_(wpline, fp); |
||
| 434 | // write event channel value |
||
| 435 | sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
||
| 436 | fputs_(wpline, fp); |
||
| 437 | // write heading in deg (0= nothing, neg. values index to poi) |
||
| 438 | sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
||
| 439 | fputs_(wpline, fp); |
||
| 440 | // write speed in 0.1 m/s |
||
| 441 | sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
||
| 442 | fputs_(wpline, fp); |
||
| 443 | // write cam angle in degree (255 -> POI-Automatic) |
||
| 444 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
||
| 445 | fputs_(wpline, fp); |
||
| 446 | // write point type |
||
| 447 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
||
| 448 | fputs_(wpline, fp); |
||
| 449 | // write prefix |
||
| 450 | //if(PointList[i].Type == POINT_TYPE_WP) u8_1 = 'P'; |
||
| 451 | //else u8_1 = '0'; |
||
| 452 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
||
| 453 | fputs_(wpline, fp); |
||
| 454 | } // EOF loop over all points |
||
| 455 | } // EOF if(PointCount) |
||
| 456 | if(EOF == fclose_(fp)) |
||
| 457 | { |
||
| 458 | UART1_PutString("failed!\r\n"); |
||
| 459 | } |
||
| 460 | else |
||
| 461 | { |
||
| 462 | UART1_PutString("ok\r\n"); |
||
| 463 | retval = 1; |
||
| 464 | } |
||
| 465 | } // EOF if(Fat16_IsValid()) |
||
| 466 | UART1_PutString("no file system found!\r\n"); |
||
| 467 | return(retval); |
||
| 468 | } |
||
| 469 | |||
| 470 | // load actual point list from SD card |
||
| 471 | u8 PointList_ReadFromFile(u8 place) |
||
| 472 | { |
||
| 473 | File_t *fp; |
||
| 474 | s8 wpline[LINE_MAX], retval = 0; |
||
| 475 | |||
| 476 | s8 *name, *value; |
||
| 477 | u8 i; |
||
| 478 | |||
| 479 | u8 IsGeneralSection = 0; |
||
| 480 | u8 IsPointSection = 0; |
||
| 481 | u8 WPNumber = 0; |
||
| 482 | |||
| 483 | // user absolute path, i.e. leading / |
||
| 484 | sprintf(wpline, "/list_%03d.wpl", place); |
||
| 485 | |||
| 486 | UART1_PutString("\n\r Read "); |
||
| 487 | UART1_PutString(wpline); |
||
| 488 | UART1_PutString("..."); |
||
| 489 | |||
| 490 | if(Fat16_IsValid()) |
||
| 491 | { // check if wpl file is existing |
||
| 492 | fp = fopen_(wpline, 'r'); // try to open the file |
||
| 493 | if(fp == NULL) |
||
| 494 | { |
||
| 495 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
||
| 496 | return(0); |
||
| 497 | } |
||
| 498 | // clear point list first |
||
| 499 | PointList_Clear(); |
||
| 500 | // read all lines from file |
||
| 501 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
||
| 502 | { |
||
| 503 | if ( // ignorelines starting with \r,\n,' ',';','#' |
||
| 504 | (wpline[0] != '\n') && |
||
| 505 | (wpline[0] != '\r') && |
||
| 506 | (wpline[0] != ' ' ) && |
||
| 507 | (wpline[0] != ';' ) && |
||
| 508 | (wpline[0] != '#' ) |
||
| 509 | ) |
||
| 510 | { |
||
| 511 | // check for section line found |
||
| 512 | if(wpline[0] == '[') |
||
| 513 | { |
||
| 514 | // next section found |
||
| 515 | IsGeneralSection = 0; |
||
| 516 | IsPointSection = 0; |
||
| 517 | |||
| 518 | name = strtok(&wpline[1], "]"); |
||
| 519 | if(name != NULL) // if section name |
||
| 520 | { |
||
| 521 | // check section type |
||
| 522 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
||
| 523 | |||
| 524 | if(strncmp(name, "POINT", 5) == 0) |
||
| 525 | { |
||
| 526 | IsPointSection = (u8)atoi(&name[5]); |
||
| 527 | PointCount++; |
||
| 528 | } |
||
| 529 | else if(strcmp(name, "GENERAL") == 0) |
||
| 530 | { |
||
| 531 | IsGeneralSection = 1; |
||
| 532 | } |
||
| 533 | else |
||
| 534 | { |
||
| 535 | UART1_PutString("Unknown section: "); |
||
| 536 | UART1_PutString(name); |
||
| 537 | UART1_PutString("\r\n"); |
||
| 538 | } |
||
| 539 | } |
||
| 540 | } // EOF section line |
||
| 541 | else |
||
| 542 | { // look for key entrys of each sections |
||
| 543 | name = strtok(wpline, "="); // get name |
||
| 544 | value = strtok(NULL, "="); // get value |
||
| 545 | if ((name != NULL) && (value != NULL)) |
||
| 546 | { |
||
| 547 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
||
| 548 | if(IsPointSection && (IsPointSection <= WPNumber)) |
||
| 549 | { |
||
| 550 | if(strcmp(name, "LATITUDE") == 0) |
||
| 551 | { |
||
| 552 | PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
||
| 553 | } |
||
| 554 | else if(strcmp(name, "LONGITUDE") == 0) |
||
| 555 | { |
||
| 556 | PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
||
| 557 | } |
||
| 558 | else if(strcmp(name, "RADIUS") == 0) |
||
| 559 | { |
||
| 560 | PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
||
| 561 | } |
||
| 562 | else if(strcmp(name, "ALTITUDE") == 0) |
||
| 563 | { |
||
| 564 | PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
||
| 565 | PointList[IsPointSection-1].Position.Status = NEWDATA; |
||
| 566 | } |
||
| 567 | else if(strcmp(name, "CLIMBRATE") == 0) |
||
| 568 | { |
||
| 569 | PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
||
| 570 | } |
||
| 571 | else if(strcmp(name, "DELAYTIME") == 0) |
||
| 572 | { |
||
| 573 | PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
||
| 574 | } |
||
| 575 | else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
||
| 576 | { |
||
| 577 | PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
||
| 578 | } |
||
| 579 | else if(strcmp(name, "HEADING") == 0) |
||
| 580 | { |
||
| 581 | PointList[IsPointSection-1].Heading = (s16)atoi(value); |
||
| 582 | } |
||
| 583 | else if(strcmp(name, "SPEED") == 0) |
||
| 584 | { |
||
| 585 | PointList[IsPointSection-1].Speed = (u8)atoi(value); |
||
| 586 | } |
||
| 587 | else if(strcmp(name, "CAM-NICK") == 0) |
||
| 588 | { |
||
| 589 | PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
||
| 590 | } |
||
| 591 | else if(strcmp(name, "TYPE") == 0) |
||
| 592 | { |
||
| 593 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
||
| 594 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
||
| 595 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
||
| 596 | |||
| 597 | switch(PointList[IsPointSection-1].Type) |
||
| 598 | { |
||
| 599 | case POINT_TYPE_WP: |
||
| 600 | // this works only if altitude key is set before point type key in WPL file !! |
||
| 601 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
||
| 602 | WPCount++; |
||
| 603 | break; |
||
| 604 | |||
| 605 | case POINT_TYPE_POI: |
||
| 606 | POICount++; |
||
| 607 | break; |
||
| 608 | } |
||
| 609 | } |
||
| 610 | else if(strcmp(name, "PREFIX") == 0) |
||
| 611 | { |
||
| 612 | strncpy(PointList[IsPointSection-1].Name, value, 4); |
||
| 613 | PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
||
| 614 | } |
||
| 615 | else |
||
| 616 | { |
||
| 617 | UART1_PutString("Unknown key: "); |
||
| 618 | UART1_PutString(name); |
||
| 619 | UART1_PutString("\r\n"); |
||
| 620 | } |
||
| 621 | } // EOF point section |
||
| 622 | else if(IsGeneralSection) |
||
| 623 | { |
||
| 624 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
||
| 625 | { |
||
| 626 | WPNumber = (u8)atoi(value); |
||
| 627 | if(!WPNumber) // no waypoints in file |
||
| 628 | { |
||
| 629 | return(1); // we are done here |
||
| 630 | } |
||
| 631 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
||
| 632 | { |
||
| 633 | UART1_PutString("To much points!"); |
||
| 634 | return(0); |
||
| 635 | } |
||
| 636 | } |
||
| 637 | else if (strcmp(name, "FILEVERSION") == 0) |
||
| 638 | { |
||
| 639 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
||
| 640 | { |
||
| 641 | UART1_PutString("Bad file version!\r\n"); |
||
| 642 | return(0); |
||
| 643 | } |
||
| 644 | } |
||
| 645 | else |
||
| 646 | { |
||
| 647 | UART1_PutString("Unknown key: "); |
||
| 648 | UART1_PutString(name); |
||
| 649 | UART1_PutString("\r\n"); |
||
| 650 | } |
||
| 651 | } // EOF general section |
||
| 652 | } // EOF valid key entry |
||
| 653 | } // EOF key entry line |
||
| 654 | } // valid line |
||
| 655 | } // EOF loop over all lines |
||
| 656 | fclose_(fp); |
||
| 657 | NaviData.WaypointNumber = WPCount; |
||
| 658 | UART1_PutString("ok\r\n"); |
||
| 659 | retval = 1; |
||
| 660 | } // EOF if(Fat16_IsValid()) |
||
| 661 | else UART1_PutString("no file system found!\r\n"); |
||
| 662 | return(retval); |
||
| 491 | killagreg | 663 | } |
| 490 | killagreg | 664 | |
| 491 | killagreg | 665 | // move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards |
| 666 | u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos) |
||
| 667 | { |
||
| 668 | u8 retval = 0; |
||
| 669 | GPS_Pos_t RefPos_old; |
||
| 670 | GPS_Pos_Deviation_t RefDeviation; |
||
| 671 | |||
| 672 | // check inputs for plausibility; |
||
| 673 | if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
||
| 674 | if(pRefPos == NULL) return(retval); |
||
| 675 | if(pRefPos->Status == INVALID) return(retval); |
||
| 676 | |||
| 677 | // try to copy the old reference in point list to a local buffer |
||
| 678 | if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &RefPos_old)) |
||
| 679 | { |
||
| 680 | u8 i; |
||
| 681 | // for each point position in the list |
||
| 682 | for(i = 0; i < PointCount; i++) |
||
| 683 | { |
||
| 684 | retval = 0; |
||
| 685 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
||
| 686 | if(!GPSPos_Deviation(&(PointList[i].Position), &RefPos_old, &RefDeviation)) break; |
||
| 687 | // copy of the new reference position into this list place |
||
| 688 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
||
| 689 | // move new reference according to the deviation of the old reference |
||
| 690 | retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
||
| 691 | if(!retval) break; |
||
| 692 | } |
||
| 693 | } // else ref pos old not copied! |
||
| 694 | if(!retval) PointList_Clear(); |
||
| 695 | return(retval); |
||
| 696 | } |
||
| 697 | |||
| 698 | |||
| 699 |