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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 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 41 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 41 | ingob | 29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 41 | ingob | 44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 57 | |||
| 58 | #include <string.h> |
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| 59 | #include "91x_lib.h" |
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| 60 | #include "waypoints.h" |
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| 61 | #include "uart1.h" |
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| 62 | |||
| 63 | // the waypoints list |
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| 224 | killagreg | 64 | #define WPLISTLEN 21 |
| 227 | killagreg | 65 | |
| 41 | ingob | 66 | Waypoint_t WPList[WPLISTLEN]; |
| 227 | killagreg | 67 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPNumber |
| 68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPNumber |
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| 69 | u8 WPNumber = 0; // number of wp in the list can be maximal equal to WPLISTLEN |
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| 41 | ingob | 70 | |
| 71 | u8 WPList_Init(void) |
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| 72 | { |
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| 73 | return WPList_Clear(); |
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| 74 | } |
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| 75 | |||
| 76 | u8 WPList_Clear(void) |
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| 77 | { |
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| 78 | u8 i; |
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| 227 | killagreg | 79 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
| 80 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
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| 225 | killagreg | 81 | WPNumber = 0; // no contents |
| 41 | ingob | 82 | NaviData.WaypointNumber = WPNumber; |
| 83 | NaviData.WaypointIndex = WPIndex; |
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| 84 | |||
| 225 | killagreg | 85 | for(i = 0; i < WPLISTLEN; i++) |
| 41 | ingob | 86 | { |
| 92 | killagreg | 87 | WPList[i].Position.Status = INVALID; |
| 88 | WPList[i].Position.Latitude = 0; |
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| 89 | WPList[i].Position.Longitude = 0; |
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| 90 | WPList[i].Position.Altitude = 0; |
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| 227 | killagreg | 91 | WPList[i].Heading = 361; // invalid value |
| 92 | killagreg | 92 | WPList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
| 93 | 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 |
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| 151 | killagreg | 94 | WPList[i].Event_Flag = 0; // future implementation |
| 227 | killagreg | 95 | WPList[i].Type = POINT_TYPE_WP; |
| 41 | ingob | 96 | } |
| 97 | return TRUE; |
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| 98 | } |
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| 99 | |||
| 100 | u8 WPList_GetCount(void) |
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| 101 | { |
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| 227 | killagreg | 102 | return WPNumber; // number of points in the list |
| 41 | ingob | 103 | } |
| 104 | |||
| 105 | u8 WPList_Append(Waypoint_t* pwp) |
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| 106 | { |
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| 227 | killagreg | 107 | if(WPNumber < WPLISTLEN) // there is still some space in the list |
| 41 | ingob | 108 | { |
| 227 | killagreg | 109 | memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry // increment list length |
| 225 | killagreg | 110 | WPNumber++; |
| 41 | ingob | 111 | NaviData.WaypointNumber = WPNumber; |
| 112 | return TRUE; |
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| 113 | } |
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| 114 | else return FALSE; |
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| 115 | } |
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| 116 | |||
| 227 | killagreg | 117 | // returns the pointer to the first waypoint within the list |
| 41 | ingob | 118 | Waypoint_t* WPList_Begin(void) |
| 119 | { |
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| 227 | killagreg | 120 | WPIndex = 0; // set list position invalid |
| 121 | |||
| 152 | killagreg | 122 | if(WPNumber > 0) |
| 123 | { |
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| 227 | killagreg | 124 | u8 i; |
| 225 | killagreg | 125 | // search for first wp in list |
| 126 | for(i = 0; i < WPNumber; i++) |
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| 127 | { |
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| 227 | killagreg | 128 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) |
| 225 | killagreg | 129 | { |
| 227 | killagreg | 130 | WPIndex = i + 1; |
| 225 | killagreg | 131 | break; |
| 132 | } |
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| 133 | } |
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| 152 | killagreg | 134 | } |
| 227 | killagreg | 135 | if(WPIndex) // found a WP in the list |
| 152 | killagreg | 136 | { |
| 227 | killagreg | 137 | NaviData.WaypointIndex = WPIndex; |
| 138 | // update index to POI |
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| 139 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
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| 140 | else POIIndex = 0; |
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| 141 | return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
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| 142 | } |
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| 143 | else |
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| 144 | { |
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| 225 | killagreg | 145 | POIIndex = 0; |
| 146 | NaviData.WaypointIndex = WPIndex; |
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| 147 | return NULL; |
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| 152 | killagreg | 148 | } |
| 41 | ingob | 149 | } |
| 150 | |||
| 225 | killagreg | 151 | // returns the last waypoint |
| 151 | killagreg | 152 | Waypoint_t* WPList_End(void) |
| 153 | { |
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| 227 | killagreg | 154 | WPIndex = 0; // set list position invalid |
| 151 | killagreg | 155 | if(WPNumber > 0) |
| 156 | { |
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| 227 | killagreg | 157 | // search backward! |
| 158 | u8 i; |
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| 225 | killagreg | 159 | for(i = 1; i <= WPNumber; i++) |
| 160 | { |
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| 227 | killagreg | 161 | if((WPList[WPNumber - i].Type == POINT_TYPE_WP) && (WPList[WPNumber - i].Position.Status != INVALID)) |
| 225 | killagreg | 162 | { |
| 227 | killagreg | 163 | WPIndex = WPNumber - i + 1; |
| 225 | killagreg | 164 | break; |
| 165 | } |
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| 166 | } |
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| 151 | killagreg | 167 | } |
| 227 | killagreg | 168 | if(WPIndex) // found a WP within the list |
| 169 | { |
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| 170 | NaviData.WaypointIndex = WPIndex; |
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| 171 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
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| 172 | else POIIndex = 0; |
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| 173 | return(&(WPList[WPIndex-1])); |
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| 174 | } |
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| 151 | killagreg | 175 | else |
| 176 | { |
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| 225 | killagreg | 177 | POIIndex = 0; |
| 224 | killagreg | 178 | NaviData.WaypointIndex = WPIndex; |
| 227 | killagreg | 179 | return NULL; |
| 151 | killagreg | 180 | } |
| 181 | } |
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| 182 | |||
| 41 | ingob | 183 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
| 184 | Waypoint_t* WPList_Next(void) |
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| 185 | { |
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| 227 | killagreg | 186 | u8 wp_found = 0; |
| 187 | |||
| 188 | if(WPIndex < WPNumber) // if there is a next entry in the list |
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| 41 | ingob | 189 | { |
| 227 | killagreg | 190 | u8 i; |
| 191 | for(i = WPIndex; i < WPNumber; i++) // start search for next at next list entry |
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| 225 | killagreg | 192 | { |
| 227 | killagreg | 193 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) // jump over POIs |
| 225 | killagreg | 194 | { |
| 227 | killagreg | 195 | wp_found = i+1; |
| 225 | killagreg | 196 | break; |
| 197 | } |
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| 198 | } |
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| 41 | ingob | 199 | } |
| 227 | killagreg | 200 | if(wp_found) |
| 201 | { |
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| 202 | WPIndex = wp_found; // update list position |
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| 203 | NaviData.WaypointIndex = WPIndex; |
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| 204 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
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| 205 | else POIIndex = 0; |
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| 206 | return(&(WPList[WPIndex-1])); // return pointer to this waypoint |
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| 207 | } |
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| 92 | killagreg | 208 | else return(NULL); |
| 41 | ingob | 209 | } |
| 210 | |||
| 92 | killagreg | 211 | Waypoint_t* WPList_GetAt(u8 index) |
| 212 | { |
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| 225 | killagreg | 213 | if((index > 0) && (index <= WPNumber)) return(&(WPList[index-1])); // return pointer to this waypoint |
| 92 | killagreg | 214 | else return(NULL); |
| 215 | } |
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| 224 | killagreg | 216 | |
| 217 | Waypoint_t* WPList_GetPOI(void) |
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| 218 | { |
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| 225 | killagreg | 219 | return WPList_GetAt(POIIndex); |
| 224 | killagreg | 220 | } |
| 221 |