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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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| 516 | holgerb | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 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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| 516 | holgerb | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 360 | holgerb | 22 | // + des Mitverschuldens offen. |
| 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 - |
| 516 | holgerb | 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 |
| 360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| 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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| 516 | holgerb | 58 | #include <stdlib.h> |
| 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" |
| 504 | holgerb | 64 | #include "main.h" |
| 513 | killagreg | 65 | #include "spi_slave.h" |
| 41 | ingob | 66 | |
| 496 | killagreg | 67 | |
| 68 | WPL_Store_t WPL_Store; |
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| 69 | |||
| 41 | ingob | 70 | // the waypoints list |
| 351 | holgerb | 71 | #define MAX_LIST_LEN 101 |
| 227 | killagreg | 72 | |
| 280 | killagreg | 73 | Point_t PointList[MAX_LIST_LEN]; |
| 74 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
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| 75 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
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| 76 | u8 WPCount = 0; // number of waypoints |
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| 491 | killagreg | 77 | u8 PointCount = 0; // number of points in the list can be maximal equal to MAX_LIST_LEN |
| 78 | u8 POICount = 0; // number of point of interest in the list |
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| 517 | holgerb | 79 | s16 HeadingOld = -1; |
| 41 | ingob | 80 | |
| 296 | killagreg | 81 | u8 WPActive = FALSE; |
| 280 | killagreg | 82 | |
| 83 | u8 PointList_Init(void) |
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| 41 | ingob | 84 | { |
| 516 | holgerb | 85 | return PointList_Clear(); |
| 41 | ingob | 86 | } |
| 87 | |||
| 280 | killagreg | 88 | u8 PointList_Clear(void) |
| 41 | ingob | 89 | { |
| 90 | u8 i; |
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| 227 | killagreg | 91 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
| 92 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
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| 280 | killagreg | 93 | WPCount = 0; // no waypoints |
| 516 | holgerb | 94 | POICount = 0; |
| 280 | killagreg | 95 | PointCount = 0; // no contents |
| 296 | killagreg | 96 | WPActive = FALSE; |
| 280 | killagreg | 97 | NaviData.WaypointNumber = WPCount; |
| 98 | NaviData.WaypointIndex = 0; |
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| 517 | holgerb | 99 | |
| 280 | killagreg | 100 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 41 | ingob | 101 | { |
| 280 | killagreg | 102 | PointList[i].Position.Status = INVALID; |
| 103 | PointList[i].Position.Latitude = 0; |
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| 104 | PointList[i].Position.Longitude = 0; |
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| 105 | PointList[i].Position.Altitude = 0; |
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| 106 | PointList[i].Heading = 361; // invalid value |
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| 107 | 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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| 108 | 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 | 109 | PointList[i].Event_Flag = 0; // future implementation |
| 110 | PointList[i].Index = 0; |
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| 286 | killagreg | 111 | PointList[i].Type = POINT_TYPE_INVALID; |
| 490 | killagreg | 112 | PointList[i].WP_EventChannelValue = 0; |
| 286 | killagreg | 113 | PointList[i].AltitudeRate = 0; // no change of setpoint |
| 490 | killagreg | 114 | PointList[i].Speed = 0; |
| 115 | PointList[i].CamAngle = 0; |
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| 116 | PointList[i].Name[0] = 0; |
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| 41 | ingob | 117 | } |
| 504 | holgerb | 118 | ClearWLP_Name(); |
| 516 | holgerb | 119 | return TRUE; |
| 41 | ingob | 120 | } |
| 121 | |||
| 280 | killagreg | 122 | u8 PointList_GetCount(void) |
| 41 | ingob | 123 | { |
| 280 | killagreg | 124 | return PointCount; // number of points in the list |
| 41 | ingob | 125 | } |
| 126 | |||
| 295 | killagreg | 127 | Point_t* PointList_GetAt(u8 index) |
| 41 | ingob | 128 | { |
| 295 | killagreg | 129 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
| 130 | else return(NULL); |
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| 131 | } |
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| 132 | |||
| 133 | u8 PointList_SetAt(Point_t* pPoint) |
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| 134 | { |
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| 135 | // if index is in range |
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| 296 | killagreg | 136 | if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
| 41 | ingob | 137 | { |
| 295 | killagreg | 138 | // check list entry before update |
| 139 | switch(PointList[pPoint->Index-1].Type) |
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| 277 | killagreg | 140 | { |
| 295 | killagreg | 141 | case POINT_TYPE_INVALID: // was invalid |
| 142 | switch(pPoint->Type) |
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| 143 | { |
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| 144 | default: |
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| 145 | case POINT_TYPE_INVALID: |
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| 146 | // nothing to do |
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| 147 | break; |
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| 148 | |||
| 149 | case POINT_TYPE_WP: |
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| 150 | WPCount++; |
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| 151 | PointCount++; |
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| 152 | break; |
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| 516 | holgerb | 153 | |
| 295 | killagreg | 154 | case POINT_TYPE_POI: |
| 155 | POICount++; |
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| 156 | PointCount++; |
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| 157 | break; |
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| 158 | } |
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| 516 | holgerb | 159 | break; |
| 160 | |||
| 490 | killagreg | 161 | case POINT_TYPE_WP: // was a waypoint |
| 295 | killagreg | 162 | switch(pPoint->Type) |
| 163 | { |
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| 164 | case POINT_TYPE_INVALID: |
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| 165 | WPCount--; |
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| 166 | PointCount--; |
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| 167 | break; |
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| 277 | killagreg | 168 | |
| 295 | killagreg | 169 | default: |
| 170 | case POINT_TYPE_WP: |
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| 171 | //nothing to do |
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| 172 | break; |
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| 516 | holgerb | 173 | |
| 295 | killagreg | 174 | case POINT_TYPE_POI: |
| 175 | POICount++; |
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| 176 | WPCount--; |
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| 177 | break; |
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| 178 | } |
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| 179 | break; |
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| 516 | holgerb | 180 | |
| 295 | killagreg | 181 | case POINT_TYPE_POI: // was a poi |
| 182 | switch(pPoint->Type) |
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| 183 | { |
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| 184 | case POINT_TYPE_INVALID: |
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| 185 | POICount--; |
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| 186 | PointCount--; |
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| 187 | break; |
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| 188 | |||
| 189 | case POINT_TYPE_WP: |
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| 190 | WPCount++; |
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| 191 | POICount--; |
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| 192 | break; |
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| 516 | holgerb | 193 | |
| 295 | killagreg | 194 | case POINT_TYPE_POI: |
| 195 | default: |
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| 196 | // nothing to do |
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| 197 | break; |
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| 198 | } |
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| 516 | holgerb | 199 | break; |
| 277 | killagreg | 200 | } |
| 516 | holgerb | 201 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
| 295 | killagreg | 202 | NaviData.WaypointNumber = WPCount; |
| 203 | return pPoint->Index; |
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| 41 | ingob | 204 | } |
| 296 | killagreg | 205 | else return(0); |
| 41 | ingob | 206 | } |
| 207 | |||
| 227 | killagreg | 208 | // returns the pointer to the first waypoint within the list |
| 280 | killagreg | 209 | Point_t* PointList_WPBegin(void) |
| 41 | ingob | 210 | { |
| 277 | killagreg | 211 | u8 i; |
| 227 | killagreg | 212 | WPIndex = 0; // set list position invalid |
| 295 | killagreg | 213 | |
| 283 | holgerb | 214 | if(WPActive == FALSE) return(NULL); |
| 295 | killagreg | 215 | |
| 277 | killagreg | 216 | POIIndex = 0; // set invalid POI |
| 516 | holgerb | 217 | if(PointCount > 0) |
| 152 | killagreg | 218 | { |
| 225 | killagreg | 219 | // search for first wp in list |
| 295 | killagreg | 220 | for(i = 0; i <MAX_LIST_LEN; i++) |
| 225 | killagreg | 221 | { |
| 280 | killagreg | 222 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
| 225 | killagreg | 223 | { |
| 227 | killagreg | 224 | WPIndex = i + 1; |
| 225 | killagreg | 225 | break; |
| 226 | } |
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| 227 | } |
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| 277 | killagreg | 228 | if(WPIndex) // found a WP in the list |
| 229 | { |
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| 280 | killagreg | 230 | NaviData.WaypointIndex = 1; |
| 277 | killagreg | 231 | // update index to POI |
| 280 | killagreg | 232 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 516 | holgerb | 233 | else POIIndex = 0; |
| 277 | killagreg | 234 | } |
| 235 | else // some points in the list but no WP found |
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| 236 | { |
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| 280 | killagreg | 237 | NaviData.WaypointIndex = 0; |
| 277 | killagreg | 238 | //Check for an existing POI |
| 295 | killagreg | 239 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 277 | killagreg | 240 | { |
| 280 | killagreg | 241 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
| 277 | killagreg | 242 | { |
| 243 | POIIndex = i + 1; |
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| 244 | break; |
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| 245 | } |
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| 246 | } |
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| 247 | } |
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| 152 | killagreg | 248 | } |
| 277 | killagreg | 249 | else // no point in the list |
| 152 | killagreg | 250 | { |
| 516 | holgerb | 251 | POIIndex = 0; |
| 252 | NaviData.WaypointIndex = 0; |
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| 227 | killagreg | 253 | } |
| 295 | killagreg | 254 | |
| 255 | if(WPIndex) return(&(PointList[WPIndex-1])); |
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| 256 | else return(NULL); |
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| 41 | ingob | 257 | } |
| 258 | |||
| 225 | killagreg | 259 | // returns the last waypoint |
| 280 | killagreg | 260 | Point_t* PointList_WPEnd(void) |
| 151 | killagreg | 261 | { |
| 516 | holgerb | 262 | |
| 277 | killagreg | 263 | u8 i; |
| 227 | killagreg | 264 | WPIndex = 0; // set list position invalid |
| 277 | killagreg | 265 | POIIndex = 0; // set invalid |
| 283 | holgerb | 266 | |
| 280 | killagreg | 267 | if(WPActive == FALSE) return(NULL); |
| 277 | killagreg | 268 | |
| 280 | killagreg | 269 | if(PointCount > 0) |
| 151 | killagreg | 270 | { |
| 227 | killagreg | 271 | // search backward! |
| 295 | killagreg | 272 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 225 | killagreg | 273 | { |
| 295 | killagreg | 274 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 516 | holgerb | 275 | { |
| 295 | killagreg | 276 | WPIndex = MAX_LIST_LEN - i + 1; |
| 225 | killagreg | 277 | break; |
| 278 | } |
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| 279 | } |
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| 277 | killagreg | 280 | if(WPIndex) // found a WP within the list |
| 281 | { |
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| 280 | killagreg | 282 | NaviData.WaypointIndex = WPCount; |
| 283 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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| 516 | holgerb | 284 | else POIIndex = 0; |
| 277 | killagreg | 285 | } |
| 278 | killagreg | 286 | else // list contains some points but no WP in the list |
| 277 | killagreg | 287 | { |
| 288 | // search backward for a POI! |
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| 295 | killagreg | 289 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 277 | killagreg | 290 | { |
| 295 | killagreg | 291 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 516 | holgerb | 292 | { |
| 295 | killagreg | 293 | POIIndex = MAX_LIST_LEN - i + 1; |
| 277 | killagreg | 294 | break; |
| 295 | } |
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| 296 | } |
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| 516 | holgerb | 297 | NaviData.WaypointIndex = 0; |
| 277 | killagreg | 298 | } |
| 151 | killagreg | 299 | } |
| 277 | killagreg | 300 | else // no point in the list |
| 227 | killagreg | 301 | { |
| 280 | killagreg | 302 | POIIndex = 0; |
| 303 | NaviData.WaypointIndex = 0; |
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| 227 | killagreg | 304 | } |
| 295 | killagreg | 305 | if(WPIndex) return(&(PointList[WPIndex-1])); |
| 306 | else return(NULL); |
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| 151 | killagreg | 307 | } |
| 308 | |||
| 41 | ingob | 309 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
| 280 | killagreg | 310 | Point_t* PointList_WPNext(void) |
| 41 | ingob | 311 | { |
| 227 | killagreg | 312 | u8 wp_found = 0; |
| 280 | killagreg | 313 | if(WPActive == FALSE) return(NULL); |
| 516 | holgerb | 314 | |
| 295 | killagreg | 315 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
| 41 | ingob | 316 | { |
| 227 | killagreg | 317 | u8 i; |
| 295 | killagreg | 318 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
| 225 | killagreg | 319 | { |
| 280 | killagreg | 320 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
| 225 | killagreg | 321 | { |
| 227 | killagreg | 322 | wp_found = i+1; |
| 225 | killagreg | 323 | break; |
| 324 | } |
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| 325 | } |
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| 41 | ingob | 326 | } |
| 227 | killagreg | 327 | if(wp_found) |
| 328 | { |
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| 329 | WPIndex = wp_found; // update list position |
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| 280 | killagreg | 330 | NaviData.WaypointIndex++; |
| 331 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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| 227 | killagreg | 332 | else POIIndex = 0; |
| 280 | killagreg | 333 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
| 227 | killagreg | 334 | } |
| 516 | holgerb | 335 | else |
| 280 | killagreg | 336 | { // no next wp found |
| 516 | holgerb | 337 | NaviData.WaypointIndex = 0; |
| 277 | killagreg | 338 | POIIndex = 0; |
| 339 | return(NULL); |
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| 340 | } |
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| 516 | holgerb | 341 | } |
| 280 | killagreg | 342 | |
| 343 | void PointList_WPActive(u8 set) |
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| 344 | { |
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| 295 | killagreg | 345 | if(set) |
| 516 | holgerb | 346 | { |
| 295 | killagreg | 347 | WPActive = TRUE; |
| 491 | killagreg | 348 | PointList_WPBegin(); // updates POI index |
| 295 | killagreg | 349 | } |
| 350 | else |
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| 351 | { |
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| 352 | WPActive = FALSE; |
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| 353 | POIIndex = 0; // disable POI also |
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| 354 | } |
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| 280 | killagreg | 355 | } |
| 516 | holgerb | 356 | |
| 280 | killagreg | 357 | Point_t* PointList_GetPOI(void) |
| 224 | killagreg | 358 | { |
| 516 | holgerb | 359 | return PointList_GetAt(POIIndex); |
| 224 | killagreg | 360 | } |
| 361 | |||
| 513 | killagreg | 362 | |
| 490 | killagreg | 363 | #define LINE_MAX 70 |
| 364 | #define WP_FILE_VERSION_COMPATIBLE 3 |
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| 513 | killagreg | 365 | |
| 366 | u8 PointList_Save(u8 * filename, u8* listname, u8 overwride) |
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| 490 | killagreg | 367 | { |
| 368 | File_t *fp; |
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| 495 | killagreg | 369 | s8 wpline[LINE_MAX]; |
| 370 | u8 retval = WPL_ERROR; |
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| 513 | killagreg | 371 | |
| 490 | killagreg | 372 | UART1_PutString("\n\r Save WPL..."); |
| 373 | |||
| 374 | if(Fat16_IsValid()) |
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| 375 | { // check if wpl file is existing |
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| 513 | killagreg | 376 | if(fexist_(filename)) |
| 495 | killagreg | 377 | { //file is existent |
| 516 | holgerb | 378 | if(!(overwride)) |
| 495 | killagreg | 379 | { |
| 380 | UART1_PutString("Error: file exist!\r\n"); |
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| 381 | return(WPL_FILEEXIST); |
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| 516 | holgerb | 382 | } |
| 495 | killagreg | 383 | } |
| 513 | killagreg | 384 | fp = fopen_(filename, 'w'); // try to open the file |
| 490 | killagreg | 385 | if(fp == NULL) |
| 386 | { |
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| 387 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
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| 388 | return(retval); |
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| 389 | } |
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| 390 | // Create general section and key entries |
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| 391 | fputs_("[General]\r\n", fp); |
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| 516 | holgerb | 392 | sprintf(wpline, "Name=%s\r\n", listname); |
| 494 | killagreg | 393 | fputs_(wpline, fp); |
| 516 | holgerb | 394 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
| 490 | killagreg | 395 | fputs_(wpline, fp); |
| 396 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
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| 397 | fputs_(wpline, fp); |
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| 398 | // dump all points if existent |
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| 399 | if(PointCount) |
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| 400 | { |
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| 401 | u8 i, u8_1; |
||
| 402 | s32 i32_1, i32_2; |
||
| 504 | holgerb | 403 | NewWPL_Name = 1; |
| 490 | killagreg | 404 | for (i = 0; i < PointCount; i++) |
| 405 | { |
||
| 406 | sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
||
| 407 | fputs_(wpline, fp); |
||
| 408 | // write latitude in deg |
||
| 409 | if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
||
| 410 | else u8_1 = '+'; |
||
| 411 | i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
||
| 412 | i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
||
| 413 | sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
||
| 414 | fputs_(wpline, fp); |
||
| 415 | // write longitude in deg |
||
| 416 | if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
||
| 417 | else u8_1 = '+'; |
||
| 418 | i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
||
| 419 | i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
||
| 420 | sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
||
| 421 | fputs_(wpline, fp); |
||
| 422 | // write tolerace radius in m |
||
| 423 | sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
||
| 424 | fputs_(wpline, fp); |
||
| 425 | // write altitude in m |
||
| 426 | if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
||
| 427 | else u8_1 = '+'; |
||
| 428 | if(PointList[i].Type == POINT_TYPE_POI) |
||
| 429 | { |
||
| 430 | i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
||
| 431 | i32_2 = abs(PointList[i].Position.Altitude)%100L; |
||
| 432 | } |
||
| 433 | else |
||
| 434 | { |
||
| 435 | i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
||
| 436 | i32_2 = abs(PointList[i].Position.Altitude)%10L; |
||
| 437 | } |
||
| 438 | sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
||
| 439 | fputs_(wpline, fp); |
||
| 440 | // write climb rate in 0.1 m/s |
||
| 441 | sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
||
| 442 | fputs_(wpline, fp); |
||
| 443 | // write hold time in s |
||
| 444 | sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
||
| 445 | fputs_(wpline, fp); |
||
| 446 | // write event channel value |
||
| 447 | sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
||
| 448 | fputs_(wpline, fp); |
||
| 449 | // write heading in deg (0= nothing, neg. values index to poi) |
||
| 450 | sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
||
| 451 | fputs_(wpline, fp); |
||
| 452 | // write speed in 0.1 m/s |
||
| 453 | sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
||
| 454 | fputs_(wpline, fp); |
||
| 455 | // write cam angle in degree (255 -> POI-Automatic) |
||
| 456 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
||
| 457 | fputs_(wpline, fp); |
||
| 458 | // write point type |
||
| 459 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
||
| 516 | holgerb | 460 | fputs_(wpline, fp); |
| 461 | // write prefix |
||
| 490 | killagreg | 462 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
| 463 | fputs_(wpline, fp); |
||
| 464 | } // EOF loop over all points |
||
| 465 | } // EOF if(PointCount) |
||
| 466 | if(EOF == fclose_(fp)) |
||
| 467 | { |
||
| 468 | UART1_PutString("failed!\r\n"); |
||
| 469 | } |
||
| 470 | else |
||
| 471 | { |
||
| 472 | UART1_PutString("ok\r\n"); |
||
| 495 | killagreg | 473 | retval = WPL_OK; |
| 516 | holgerb | 474 | } |
| 490 | killagreg | 475 | } // EOF if(Fat16_IsValid()) |
| 516 | holgerb | 476 | else |
| 497 | killagreg | 477 | { |
| 478 | UART1_PutString("no file system found!\r\n"); |
||
| 479 | retval = WPL_NO_SDCARD_FOUND; |
||
| 480 | } |
||
| 490 | killagreg | 481 | return(retval); |
| 482 | } |
||
| 483 | |||
| 513 | killagreg | 484 | u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen) |
| 490 | killagreg | 485 | { |
| 486 | File_t *fp; |
||
| 496 | killagreg | 487 | s8 wpline[LINE_MAX]; |
| 488 | u8 retval = WPL_ERROR; |
||
| 516 | holgerb | 489 | |
| 490 | killagreg | 490 | s8 *name, *value; |
| 491 | u8 i; |
||
| 492 | |||
| 493 | u8 IsGeneralSection = 0; |
||
| 494 | u8 IsPointSection = 0; |
||
| 495 | u8 WPNumber = 0; |
||
| 498 | killagreg | 496 | |
| 497 | // clear point list first |
||
| 498 | PointList_Clear(); |
||
| 517 | holgerb | 499 | HeadingOld = -1; // updates the direction if the new direction is the same like last time |
| 490 | killagreg | 500 | UART1_PutString("\n\r Read "); |
| 516 | holgerb | 501 | UART1_PutString(filename); |
| 490 | killagreg | 502 | UART1_PutString("..."); |
| 503 | |||
| 504 | if(Fat16_IsValid()) |
||
| 505 | { // check if wpl file is existing |
||
| 513 | killagreg | 506 | fp = fopen_(filename, 'r'); // try to open the file |
| 490 | killagreg | 507 | if(fp == NULL) |
| 508 | { |
||
| 509 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
||
| 496 | killagreg | 510 | return(retval); |
| 490 | killagreg | 511 | } |
| 512 | // read all lines from file |
||
| 513 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
||
| 514 | { |
||
| 515 | if ( // ignorelines starting with \r,\n,' ',';','#' |
||
| 516 | (wpline[0] != '\n') && |
||
| 517 | (wpline[0] != '\r') && |
||
| 518 | (wpline[0] != ' ' ) && |
||
| 519 | (wpline[0] != ';' ) && |
||
| 520 | (wpline[0] != '#' ) |
||
| 521 | ) |
||
| 522 | { |
||
| 523 | // check for section line found |
||
| 524 | if(wpline[0] == '[') |
||
| 525 | { |
||
| 526 | // next section found |
||
| 527 | IsGeneralSection = 0; |
||
| 528 | IsPointSection = 0; |
||
| 529 | |||
| 530 | name = strtok(&wpline[1], "]"); |
||
| 531 | if(name != NULL) // if section name |
||
| 532 | { |
||
| 533 | // check section type |
||
| 534 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
||
| 535 | |||
| 536 | if(strncmp(name, "POINT", 5) == 0) |
||
| 537 | { |
||
| 538 | IsPointSection = (u8)atoi(&name[5]); |
||
| 539 | PointCount++; |
||
| 540 | } |
||
| 541 | else if(strcmp(name, "GENERAL") == 0) |
||
| 542 | { |
||
| 543 | IsGeneralSection = 1; |
||
| 544 | } |
||
| 545 | else |
||
| 546 | { |
||
| 547 | UART1_PutString("Unknown section: "); |
||
| 548 | UART1_PutString(name); |
||
| 549 | UART1_PutString("\r\n"); |
||
| 550 | } |
||
| 551 | } |
||
| 552 | } // EOF section line |
||
| 553 | else |
||
| 554 | { // look for key entrys of each sections |
||
| 555 | name = strtok(wpline, "="); // get name |
||
| 556 | value = strtok(NULL, "="); // get value |
||
| 557 | if ((name != NULL) && (value != NULL)) |
||
| 558 | { |
||
| 559 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
||
| 560 | if(IsPointSection && (IsPointSection <= WPNumber)) |
||
| 561 | { |
||
| 562 | if(strcmp(name, "LATITUDE") == 0) |
||
| 563 | { |
||
| 564 | PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
||
| 565 | } |
||
| 566 | else if(strcmp(name, "LONGITUDE") == 0) |
||
| 567 | { |
||
| 568 | PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
||
| 569 | } |
||
| 570 | else if(strcmp(name, "RADIUS") == 0) |
||
| 571 | { |
||
| 572 | PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
||
| 573 | } |
||
| 574 | else if(strcmp(name, "ALTITUDE") == 0) |
||
| 575 | { |
||
| 576 | PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
||
| 577 | PointList[IsPointSection-1].Position.Status = NEWDATA; |
||
| 578 | } |
||
| 579 | else if(strcmp(name, "CLIMBRATE") == 0) |
||
| 580 | { |
||
| 581 | PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
||
| 582 | } |
||
| 583 | else if(strcmp(name, "DELAYTIME") == 0) |
||
| 584 | { |
||
| 585 | PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
||
| 586 | } |
||
| 587 | else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
||
| 588 | { |
||
| 589 | PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
||
| 590 | } |
||
| 591 | else if(strcmp(name, "HEADING") == 0) |
||
| 592 | { |
||
| 593 | PointList[IsPointSection-1].Heading = (s16)atoi(value); |
||
| 594 | } |
||
| 595 | else if(strcmp(name, "SPEED") == 0) |
||
| 596 | { |
||
| 597 | PointList[IsPointSection-1].Speed = (u8)atoi(value); |
||
| 598 | } |
||
| 599 | else if(strcmp(name, "CAM-NICK") == 0) |
||
| 600 | { |
||
| 601 | PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
||
| 602 | } |
||
| 603 | else if(strcmp(name, "TYPE") == 0) |
||
| 604 | { |
||
| 605 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
||
| 606 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
||
| 607 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
||
| 516 | holgerb | 608 | |
| 490 | killagreg | 609 | switch(PointList[IsPointSection-1].Type) |
| 610 | { |
||
| 611 | case POINT_TYPE_WP: |
||
| 612 | // this works only if altitude key is set before point type key in WPL file !! |
||
| 516 | holgerb | 613 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
| 490 | killagreg | 614 | WPCount++; |
| 615 | break; |
||
| 616 | |||
| 617 | case POINT_TYPE_POI: |
||
| 618 | POICount++; |
||
| 619 | break; |
||
| 620 | } |
||
| 621 | } |
||
| 622 | else if(strcmp(name, "PREFIX") == 0) |
||
| 623 | { |
||
| 624 | strncpy(PointList[IsPointSection-1].Name, value, 4); |
||
| 625 | PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
||
| 626 | } |
||
| 627 | else |
||
| 628 | { |
||
| 629 | UART1_PutString("Unknown key: "); |
||
| 630 | UART1_PutString(name); |
||
| 631 | UART1_PutString("\r\n"); |
||
| 516 | holgerb | 632 | } |
| 490 | killagreg | 633 | } // EOF point section |
| 634 | else if(IsGeneralSection) |
||
| 635 | { |
||
| 636 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
||
| 516 | holgerb | 637 | { |
| 490 | killagreg | 638 | WPNumber = (u8)atoi(value); |
| 639 | if(!WPNumber) // no waypoints in file |
||
| 640 | { |
||
| 516 | holgerb | 641 | return(WPL_NO_WAYPOINTS); // we are done here |
| 490 | killagreg | 642 | } |
| 643 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
||
| 644 | { |
||
| 514 | holgerb | 645 | UART1_PutString("To many points!"); |
| 497 | killagreg | 646 | return(WPL_ERROR); |
| 516 | holgerb | 647 | } |
| 490 | killagreg | 648 | } |
| 649 | else if (strcmp(name, "FILEVERSION") == 0) |
||
| 650 | { |
||
| 651 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
||
| 652 | { |
||
| 496 | killagreg | 653 | PointList_Clear(); |
| 490 | killagreg | 654 | UART1_PutString("Bad file version!\r\n"); |
| 516 | holgerb | 655 | return(WPL_ERROR); |
| 490 | killagreg | 656 | } |
| 657 | } |
||
| 495 | killagreg | 658 | else if (strcmp(name, "NAME") == 0) |
| 659 | { |
||
| 513 | killagreg | 660 | if(listname) |
| 498 | killagreg | 661 | { |
| 513 | killagreg | 662 | u8 len = strlen(value); |
| 663 | if(len) |
||
| 664 | { |
||
| 665 | if(value[len-1] == '\r') |
||
| 666 | { |
||
| 667 | value[len-1] = 0; |
||
| 668 | len--; |
||
| 669 | } |
||
| 670 | } |
||
| 671 | if(len > listnamelen) len = listnamelen; |
||
| 672 | if(len) |
||
| 673 | { |
||
| 674 | value[len-1] = 0; // terminate string |
||
| 675 | if(listname) memcpy(listname, value, len); |
||
| 676 | } |
||
| 677 | NewWPL_Name = 1; |
||
| 498 | killagreg | 678 | } |
| 495 | killagreg | 679 | } |
| 490 | killagreg | 680 | else |
| 681 | { |
||
| 682 | UART1_PutString("Unknown key: "); |
||
| 683 | UART1_PutString(name); |
||
| 684 | UART1_PutString("\r\n"); |
||
| 685 | } |
||
| 686 | } // EOF general section |
||
| 687 | } // EOF valid key entry |
||
| 688 | } // EOF key entry line |
||
| 689 | } // valid line |
||
| 690 | } // EOF loop over all lines |
||
| 691 | fclose_(fp); |
||
| 692 | NaviData.WaypointNumber = WPCount; |
||
| 516 | holgerb | 693 | retval = WPL_OK; |
| 694 | UART1_PutString("ok\r\n"); |
||
| 490 | killagreg | 695 | } // EOF if(Fat16_IsValid()) |
| 516 | holgerb | 696 | else |
| 497 | killagreg | 697 | { |
| 698 | UART1_PutString("no file system found!\r\n"); |
||
| 699 | retval = WPL_NO_SDCARD_FOUND; |
||
| 516 | holgerb | 700 | } |
| 490 | killagreg | 701 | return(retval); |
| 491 | killagreg | 702 | } |
| 490 | killagreg | 703 | |
| 513 | killagreg | 704 | // load actual point list from SD card |
| 705 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
||
| 706 | { |
||
| 516 | holgerb | 707 | u8 filename[30]; |
| 513 | killagreg | 708 | |
| 709 | pWPL_Store->Name[0] = 0; // clear current list name |
||
| 710 | |||
| 711 | // user absolute path, i.e. leading / |
||
| 712 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
||
| 713 | { |
||
| 516 | holgerb | 714 | sprintf(filename, "/default.wpl"); |
| 513 | killagreg | 715 | } |
| 716 | else |
||
| 717 | { |
||
| 718 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
||
| 719 | } |
||
| 720 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name)); |
||
| 721 | } |
||
| 722 | |||
| 723 | // save actual point list to SD card |
||
| 724 | u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
||
| 725 | { |
||
| 726 | u8 filename[30]; |
||
| 516 | holgerb | 727 | |
| 728 | |||
| 513 | killagreg | 729 | if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
| 516 | holgerb | 730 | // user absolute path, i.e. leading / |
| 513 | killagreg | 731 | if(pWPL_Store->Index == 0) |
| 732 | { |
||
| 733 | sprintf(filename, "/default.wpl"); |
||
| 734 | } |
||
| 735 | else |
||
| 736 | { |
||
| 737 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
||
| 738 | } |
||
| 739 | return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
||
| 740 | } |
||
| 741 | |||
| 742 | |||
| 516 | holgerb | 743 | // save actual gps positiin and heading to file |
| 513 | killagreg | 744 | u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
| 745 | { |
||
| 746 | u8 retval = WPL_ERROR; |
||
| 747 | u8 filename[30]; |
||
| 748 | Point_t WP; |
||
| 749 | |||
| 514 | holgerb | 750 | UART1_PutString("\n\r write single point\n\r"); |
| 516 | holgerb | 751 | if(GPSData.Position.Status == INVALID) |
| 752 | { |
||
| 514 | holgerb | 753 | UART1_PutString("ERROR: No GPS - Fix\n\r"); |
| 754 | return(retval); |
||
| 516 | holgerb | 755 | } |
| 513 | killagreg | 756 | |
| 757 | // clear current point list |
||
| 758 | PointList_Clear(); |
||
| 759 | // prepare WP at current position |
||
| 760 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
||
| 761 | // set heading |
||
| 762 | WP.Heading = CompassSetpointCorrected/10; |
||
| 763 | if(WP.Heading == 0) WP.Heading = 360; |
||
| 514 | holgerb | 764 | WP.ToleranceRadius = 15; |
| 765 | WP.HoldTime = 5; |
||
| 513 | killagreg | 766 | WP.Index = 1; |
| 767 | WP.Type = POINT_TYPE_WP; |
||
| 768 | WP.WP_EventChannelValue = 0; |
||
| 516 | holgerb | 769 | if(FC.StatusFlags & FC_STATUS_FLY) |
| 770 | { |
||
| 771 | WP.AltitudeRate = 15; |
||
| 772 | WP.Position.Altitude = NaviData.Altimeter / 2; |
||
| 773 | } |
||
| 774 | else |
||
| 514 | holgerb | 775 | { |
| 516 | holgerb | 776 | WP.AltitudeRate = 0; |
| 777 | WP.Position.Altitude = 0; |
||
| 514 | holgerb | 778 | } |
| 779 | WP.Speed = SD_ComingHomeSpeed; |
||
| 513 | killagreg | 780 | WP.CamAngle = 0; |
| 781 | WP.Name[0] = 'P'; |
||
| 782 | WP.Name[1] = 0; |
||
| 783 | // add this point to wp list |
||
| 784 | PointList_SetAt(&WP); |
||
| 514 | holgerb | 785 | |
| 786 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
||
| 516 | holgerb | 787 | UART1_PutString(filename); |
| 514 | holgerb | 788 | sprintf(pWPL_Store->Name, "POINT%03d ", pWPL_Store->Index); |
| 513 | killagreg | 789 | retval = PointList_Save(filename, pWPL_Store->Name, 1); |
| 514 | holgerb | 790 | |
| 791 | // clear current point list |
||
| 792 | PointList_Clear(); |
||
| 513 | killagreg | 793 | return(retval); |
| 794 | } |
||
| 795 | // load target gps posititon and heading from file |
||
| 796 | u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store) |
||
| 797 | { |
||
| 798 | u8 filename[30]; |
||
| 516 | holgerb | 799 | |
| 514 | holgerb | 800 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
| 513 | killagreg | 801 | pWPL_Store->Name[0] = 0; // clear current list name |
| 802 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name)); |
||
| 803 | } |
||
| 804 | |||
| 805 | |||
| 516 | holgerb | 806 | |
| 504 | holgerb | 807 | void ClearWLP_Name(void) |
| 808 | { |
||
| 513 | killagreg | 809 | u8 i; |
| 810 | for(i=0; i<sizeof(WPL_Store.Name);i++) WPL_Store.Name[i] = 0; |
||
| 811 | NewWPL_Name = 1; |
||
| 504 | holgerb | 812 | } |
| 513 | killagreg | 813 | |
| 491 | killagreg | 814 | // move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards |
| 503 | holgerb | 815 | u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle) |
| 491 | killagreg | 816 | { |
| 817 | u8 retval = 0; |
||
| 513 | killagreg | 818 | s32 altitude; |
| 819 | GPS_Pos_t OldRefPos; |
||
| 491 | killagreg | 820 | GPS_Pos_Deviation_t RefDeviation; |
| 516 | holgerb | 821 | |
| 491 | killagreg | 822 | // check inputs for plausibility; |
| 516 | holgerb | 823 | if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
| 491 | killagreg | 824 | if(pRefPos == NULL) return(retval); |
| 825 | if(pRefPos->Status == INVALID) return(retval); |
||
| 826 | |||
| 513 | killagreg | 827 | if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &OldRefPos)) // backup old reference position |
| 491 | killagreg | 828 | { |
| 829 | u8 i; |
||
| 513 | killagreg | 830 | // iterate the position list |
| 491 | killagreg | 831 | for(i = 0; i < PointCount; i++) |
| 832 | { |
||
| 833 | retval = 0; |
||
| 513 | killagreg | 834 | // backup altitude of this point |
| 835 | altitude = PointList[i].Position.Altitude; |
||
| 836 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
||
| 837 | if(!GPSPos_Deviation(&(PointList[i].Position), &OldRefPos, &RefDeviation)) break; |
||
| 491 | killagreg | 838 | // copy of the new reference position into this list place |
| 839 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
||
| 516 | holgerb | 840 | // restore former altitude |
| 513 | killagreg | 841 | PointList[i].Position.Altitude = altitude; |
| 491 | killagreg | 842 | // move new reference according to the deviation of the old reference |
| 513 | killagreg | 843 | if(RotationAngle > 0) |
| 844 | { |
||
| 845 | retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360, RefDeviation.Distance ); |
||
| 846 | // Now rotate the heading positions if they are fixed angles |
||
| 847 | if(PointList[i].Heading >= 0 && PointList[i].Heading <= 360) PointList[i].Heading = (PointList[i].Heading + RotationAngle) % 360; |
||
| 848 | } |
||
| 849 | else // no rotation |
||
| 850 | { |
||
| 851 | // move new reference according to the deviation of the old reference |
||
| 852 | retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
||
| 853 | } |
||
| 516 | holgerb | 854 | if(!retval) break; |
| 491 | killagreg | 855 | } |
| 856 | } // else ref pos old not copied! |
||
| 857 | if(!retval) PointList_Clear(); |
||
| 858 | return(retval); |
||
| 859 | } |
||
| 860 | |||
| 516 | holgerb | 861 | |
| 491 | killagreg | 862 |