Rev 151 | Rev 171 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 41 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
||
| 3 | /*#######################################################################################*/ |
||
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
||
| 6 | // + Nur für den privaten Gebrauch |
||
| 7 | // + FOR NON COMMERCIAL USE ONLY |
||
| 8 | // + www.MikroKopter.com |
||
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
||
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
||
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
||
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
||
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
||
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
||
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
||
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
||
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
| 22 | // + eindeutig als Ursprung verlinkt werden |
||
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
| 25 | // + Benutzung auf eigene Gefahr |
||
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
||
| 29 | // + mit unserer Zustimmung zulässig |
||
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
||
| 34 | // + this list of conditions and the following disclaimer. |
||
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
||
| 36 | // + from this software without specific prior written permission. |
||
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
||
| 38 | // + for non-commercial use (directly or indirectly) |
||
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
||
| 40 | // + with our written permission |
||
| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
||
| 42 | // + clearly linked as origin |
||
| 43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
||
| 44 | // |
||
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
||
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
||
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
||
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 57 | |||
| 58 | #include <string.h> |
||
| 59 | #include "91x_lib.h" |
||
| 60 | #include "waypoints.h" |
||
| 61 | #include "uart1.h" |
||
| 62 | |||
| 63 | // the waypoints list |
||
| 64 | #define WPLISTLEN 20 |
||
| 65 | Waypoint_t WPList[WPLISTLEN]; |
||
| 66 | u8 WPIndex = 0; |
||
| 67 | u8 WPNumber = 0; |
||
| 68 | |||
| 69 | |||
| 70 | u8 WPList_Init(void) |
||
| 71 | { |
||
| 72 | return WPList_Clear(); |
||
| 73 | } |
||
| 74 | |||
| 75 | u8 WPList_Clear(void) |
||
| 76 | { |
||
| 77 | u8 i; |
||
| 78 | WPIndex = 0; |
||
| 79 | WPNumber = 0; |
||
| 80 | NaviData.WaypointNumber = WPNumber; |
||
| 81 | NaviData.WaypointIndex = WPIndex; |
||
| 82 | |||
| 83 | for(i = 0; i < WPLISTLEN; i++) |
||
| 84 | { |
||
| 92 | killagreg | 85 | WPList[i].Position.Status = INVALID; |
| 86 | WPList[i].Position.Latitude = 0; |
||
| 87 | WPList[i].Position.Longitude = 0; |
||
| 88 | WPList[i].Position.Altitude = 0; |
||
| 89 | WPList[i].Heading = -1; |
||
| 90 | WPList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
||
| 91 | WPList[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 |
||
| 151 | killagreg | 92 | WPList[i].Event_Flag = 0; // future implementation |
| 41 | ingob | 93 | } |
| 94 | return TRUE; |
||
| 95 | } |
||
| 96 | |||
| 97 | u8 WPList_GetCount(void) |
||
| 98 | { |
||
| 99 | return WPNumber; |
||
| 100 | } |
||
| 101 | |||
| 102 | u8 WPList_Append(Waypoint_t* pwp) |
||
| 103 | { |
||
| 104 | if(WPNumber < WPLISTLEN) // id there is still some space in the list |
||
| 105 | { |
||
| 106 | memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry |
||
| 107 | WPList[WPNumber].Position.Status = NEWDATA; // mark as new data |
||
| 108 | WPNumber++; // increment list length |
||
| 109 | NaviData.WaypointNumber = WPNumber; |
||
| 110 | return TRUE; |
||
| 111 | } |
||
| 112 | else return FALSE; |
||
| 113 | } |
||
| 114 | |||
| 115 | // rewind to the begin of the list, and returns the first waypoint |
||
| 116 | Waypoint_t* WPList_Begin(void) |
||
| 117 | { |
||
| 118 | WPIndex = 0; // reset list index |
||
| 151 | killagreg | 119 | NaviData.WaypointIndex = WPIndex + 1; |
| 152 | killagreg | 120 | if(WPNumber > 0) |
| 121 | { |
||
| 122 | NaviData.WaypointIndex = WPIndex + 1; |
||
| 123 | return(&(WPList[WPIndex])); // if list is not empty return pointer to first waypoint in the list |
||
| 124 | } |
||
| 125 | else |
||
| 126 | { |
||
| 127 | NaviData.WaypointIndex = 0; |
||
| 128 | return NULL; // else return NULL |
||
| 129 | } |
||
| 41 | ingob | 130 | |
| 131 | } |
||
| 132 | |||
| 151 | killagreg | 133 | // jump to the end of the list, and returns the last waypoint |
| 134 | Waypoint_t* WPList_End(void) |
||
| 135 | { |
||
| 136 | if(WPNumber > 0) |
||
| 137 | { |
||
| 138 | NaviData.WaypointIndex = WPNumber; |
||
| 139 | WPIndex = WPNumber - 1; |
||
| 140 | return(&(WPList[WPIndex])); // if list is not empty return pointer to first waypoint in the list |
||
| 141 | } |
||
| 142 | else |
||
| 143 | { |
||
| 144 | return NULL; // else return NULL |
||
| 145 | } |
||
| 146 | |||
| 147 | } |
||
| 148 | |||
| 41 | ingob | 149 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
| 150 | Waypoint_t* WPList_Next(void) |
||
| 151 | { |
||
| 152 | if((WPIndex + 1) < WPNumber) // if the next WPIndex exist |
||
| 153 | { |
||
| 154 | WPIndex++; // goto next |
||
| 151 | killagreg | 155 | NaviData.WaypointIndex = WPIndex + 1; |
| 41 | ingob | 156 | return(&(WPList[WPIndex])); // return pointer to this waypoint |
| 157 | } |
||
| 92 | killagreg | 158 | else return(NULL); |
| 41 | ingob | 159 | } |
| 160 | |||
| 92 | killagreg | 161 | Waypoint_t* WPList_GetAt(u8 index) |
| 162 | { |
||
| 163 | if(index < WPNumber) return(&(WPList[index])); // return pointer to this waypoint |
||
| 164 | else return(NULL); |
||
| 165 | } |