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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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| 230 | holgerb | 64 | #define WPLISTLEN 31 |
| 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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| 277 | killagreg | 107 | if((WPNumber < WPLISTLEN) && (pwp->Index == (WPNumber + 1)) ) // there is still some space in the list and index points to next |
| 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; |
| 277 | killagreg | 112 | if(WPNumber == 1) // only for the first entry |
| 113 | { |
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| 114 | // update POI index |
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| 115 | switch(WPList[WPIndex-1].Type) |
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| 116 | { |
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| 117 | case POINT_TYPE_WP: |
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| 118 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
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| 119 | else POIIndex = 0; |
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| 120 | break; |
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| 121 | |||
| 122 | case POINT_TYPE_POI: |
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| 123 | POIIndex = 1; |
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| 124 | break; |
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| 125 | |||
| 126 | default: |
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| 127 | POIIndex = 0; |
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| 128 | break; |
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| 129 | } |
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| 130 | } |
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| 41 | ingob | 131 | return TRUE; |
| 132 | } |
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| 133 | else return FALSE; |
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| 134 | } |
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| 135 | |||
| 227 | killagreg | 136 | // returns the pointer to the first waypoint within the list |
| 41 | ingob | 137 | Waypoint_t* WPList_Begin(void) |
| 138 | { |
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| 277 | killagreg | 139 | u8 i; |
| 227 | killagreg | 140 | WPIndex = 0; // set list position invalid |
| 277 | killagreg | 141 | POIIndex = 0; // set invalid POI |
| 142 | |||
| 152 | killagreg | 143 | if(WPNumber > 0) |
| 144 | { |
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| 277 | killagreg | 145 | |
| 225 | killagreg | 146 | // search for first wp in list |
| 147 | for(i = 0; i < WPNumber; i++) |
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| 148 | { |
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| 227 | killagreg | 149 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) |
| 225 | killagreg | 150 | { |
| 227 | killagreg | 151 | WPIndex = i + 1; |
| 225 | killagreg | 152 | break; |
| 153 | } |
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| 154 | } |
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| 277 | killagreg | 155 | if(WPIndex) // found a WP in the list |
| 156 | { |
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| 157 | NaviData.WaypointIndex = WPIndex; |
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| 158 | // update index to POI |
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| 159 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
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| 160 | else POIIndex = 0; |
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| 161 | return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
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| 162 | } |
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| 163 | else // some points in the list but no WP found |
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| 164 | { |
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| 165 | NaviData.WaypointIndex = WPIndex; |
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| 166 | //Check for an existing POI |
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| 167 | for(i = 0; i < WPNumber; i++) |
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| 168 | { |
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| 169 | if((WPList[i].Type == POINT_TYPE_POI) && (WPList[i].Position.Status != INVALID)) |
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| 170 | { |
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| 171 | POIIndex = i + 1; |
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| 172 | break; |
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| 173 | } |
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| 174 | } |
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| 175 | return NULL; |
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| 176 | } |
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| 152 | killagreg | 177 | } |
| 277 | killagreg | 178 | else // no point in the list |
| 152 | killagreg | 179 | { |
| 277 | killagreg | 180 | POIIndex = 0; |
| 227 | killagreg | 181 | NaviData.WaypointIndex = WPIndex; |
| 277 | killagreg | 182 | return NULL; |
| 227 | killagreg | 183 | } |
| 41 | ingob | 184 | } |
| 185 | |||
| 225 | killagreg | 186 | // returns the last waypoint |
| 151 | killagreg | 187 | Waypoint_t* WPList_End(void) |
| 188 | { |
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| 277 | killagreg | 189 | |
| 190 | u8 i; |
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| 227 | killagreg | 191 | WPIndex = 0; // set list position invalid |
| 277 | killagreg | 192 | POIIndex = 0; // set invalid |
| 193 | |||
| 151 | killagreg | 194 | if(WPNumber > 0) |
| 195 | { |
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| 227 | killagreg | 196 | // search backward! |
| 225 | killagreg | 197 | for(i = 1; i <= WPNumber; i++) |
| 198 | { |
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| 227 | killagreg | 199 | if((WPList[WPNumber - i].Type == POINT_TYPE_WP) && (WPList[WPNumber - i].Position.Status != INVALID)) |
| 225 | killagreg | 200 | { |
| 227 | killagreg | 201 | WPIndex = WPNumber - i + 1; |
| 225 | killagreg | 202 | break; |
| 203 | } |
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| 204 | } |
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| 277 | killagreg | 205 | if(WPIndex) // found a WP within the list |
| 206 | { |
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| 207 | NaviData.WaypointIndex = WPIndex; |
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| 208 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
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| 209 | else POIIndex = 0; |
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| 210 | return(&(WPList[WPIndex-1])); |
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| 211 | } |
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| 212 | else // list conbtains some points but no WP in the list |
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| 213 | { |
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| 214 | // search backward for a POI! |
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| 215 | for(i = 1; i <= WPNumber; i++) |
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| 216 | { |
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| 217 | if((WPList[WPNumber - i].Type == POINT_TYPE_POI) && (WPList[WPNumber - i].Position.Status != INVALID)) |
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| 218 | { |
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| 219 | POIIndex = WPNumber - i + 1; |
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| 220 | break; |
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| 221 | } |
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| 222 | } |
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| 223 | NaviData.WaypointIndex = WPIndex; |
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| 224 | return NULL; |
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| 225 | } |
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| 151 | killagreg | 226 | } |
| 277 | killagreg | 227 | else // no point in the list |
| 227 | killagreg | 228 | { |
| 277 | killagreg | 229 | POIIndex = 0; |
| 230 | NaviData.WaypointIndex = WPIndex; |
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| 231 | return NULL; |
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| 227 | killagreg | 232 | } |
| 151 | killagreg | 233 | } |
| 234 | |||
| 41 | ingob | 235 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
| 236 | Waypoint_t* WPList_Next(void) |
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| 237 | { |
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| 227 | killagreg | 238 | u8 wp_found = 0; |
| 239 | |||
| 240 | if(WPIndex < WPNumber) // if there is a next entry in the list |
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| 41 | ingob | 241 | { |
| 227 | killagreg | 242 | u8 i; |
| 243 | for(i = WPIndex; i < WPNumber; i++) // start search for next at next list entry |
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| 225 | killagreg | 244 | { |
| 227 | killagreg | 245 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) // jump over POIs |
| 225 | killagreg | 246 | { |
| 227 | killagreg | 247 | wp_found = i+1; |
| 225 | killagreg | 248 | break; |
| 249 | } |
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| 250 | } |
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| 41 | ingob | 251 | } |
| 227 | killagreg | 252 | if(wp_found) |
| 253 | { |
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| 254 | WPIndex = wp_found; // update list position |
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| 255 | NaviData.WaypointIndex = WPIndex; |
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| 256 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
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| 257 | else POIIndex = 0; |
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| 258 | return(&(WPList[WPIndex-1])); // return pointer to this waypoint |
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| 259 | } |
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| 277 | killagreg | 260 | else |
| 261 | { |
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| 262 | NaviData.WaypointIndex = WPIndex; |
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| 263 | POIIndex = 0; |
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| 264 | return(NULL); |
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| 265 | } |
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| 41 | ingob | 266 | } |
| 267 | |||
| 92 | killagreg | 268 | Waypoint_t* WPList_GetAt(u8 index) |
| 269 | { |
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| 225 | killagreg | 270 | if((index > 0) && (index <= WPNumber)) return(&(WPList[index-1])); // return pointer to this waypoint |
| 92 | killagreg | 271 | else return(NULL); |
| 272 | } |
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| 224 | killagreg | 273 | |
| 274 | Waypoint_t* WPList_GetPOI(void) |
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| 275 | { |
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| 225 | killagreg | 276 | return WPList_GetAt(POIIndex); |
| 224 | killagreg | 277 | } |
| 278 |