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| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + 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 |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #include <string.h> |
| #include "91x_lib.h" |
| #include "waypoints.h" |
| #include "uart1.h" |
| |
| // the waypoints list |
| #define MAX_LIST_LEN 101 |
| |
| Point_t PointList[MAX_LIST_LEN]; |
| u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
| u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
| u8 WPCount = 0; // number of waypoints |
| u8 PointCount = 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN |
| u8 POICount = 0; |
| |
| u8 WPActive = FALSE; |
| |
| u8 PointList_Init(void) |
| { |
| return PointList_Clear(); |
| } |
| |
| u8 PointList_Clear(void) |
| { |
| u8 i; |
| WPIndex = 0; // real list position are 1 ,2, 3 ... |
| POIIndex = 0; // real list position are 1 ,2, 3 ... |
| WPCount = 0; // no waypoints |
| POICount = 0; |
| PointCount = 0; // no contents |
| WPActive = FALSE; |
| NaviData.WaypointNumber = WPCount; |
| NaviData.WaypointIndex = 0; |
| |
| for(i = 0; i < MAX_LIST_LEN; i++) |
| { |
| PointList[i].Position.Status = INVALID; |
| PointList[i].Position.Latitude = 0; |
| PointList[i].Position.Longitude = 0; |
| PointList[i].Position.Altitude = 0; |
| PointList[i].Heading = 361; // invalid value |
| PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
| 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 |
| PointList[i].Type = POINT_TYPE_INVALID; |
| PointList[i].Event_Flag = 0; // future implementation |
| PointList[i].AltitudeRate = 0; // no change of setpoint |
| } |
| return TRUE; |
| } |
| |
| u8 PointList_GetCount(void) |
| { |
| return PointCount; // number of points in the list |
| } |
| |
| Point_t* PointList_GetAt(u8 index) |
| { |
| if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
| else return(NULL); |
| } |
| |
| u8 PointList_SetAt(Point_t* pPoint) |
| { |
| // if index is in range |
| if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
| { |
| // check list entry before update |
| switch(PointList[pPoint->Index-1].Type) |
| { |
| case POINT_TYPE_INVALID: // was invalid |
| switch(pPoint->Type) |
| { |
| default: |
| case POINT_TYPE_INVALID: |
| // nothing to do |
| break; |
| |
| case POINT_TYPE_WP: |
| WPCount++; |
| PointCount++; |
| break; |
| |
| case POINT_TYPE_POI: |
| POICount++; |
| PointCount++; |
| break; |
| } |
| break; |
| |
| case POINT_TYPE_WP: // was a waypoint |
| switch(pPoint->Type) |
| { |
| case POINT_TYPE_INVALID: |
| WPCount--; |
| PointCount--; |
| break; |
| |
| default: |
| case POINT_TYPE_WP: |
| //nothing to do |
| break; |
| |
| case POINT_TYPE_POI: |
| POICount++; |
| WPCount--; |
| break; |
| } |
| break; |
| |
| case POINT_TYPE_POI: // was a poi |
| switch(pPoint->Type) |
| { |
| case POINT_TYPE_INVALID: |
| POICount--; |
| PointCount--; |
| break; |
| |
| case POINT_TYPE_WP: |
| WPCount++; |
| POICount--; |
| break; |
| |
| case POINT_TYPE_POI: |
| default: |
| // nothing to do |
| break; |
| } |
| break; |
| } |
| memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
| NaviData.WaypointNumber = WPCount; |
| return pPoint->Index; |
| } |
| else return(0); |
| } |
| |
| // returns the pointer to the first waypoint within the list |
| Point_t* PointList_WPBegin(void) |
| { |
| u8 i; |
| WPIndex = 0; // set list position invalid |
| |
| if(WPActive == FALSE) return(NULL); |
| |
| POIIndex = 0; // set invalid POI |
| if(PointCount > 0) |
| { |
| // search for first wp in list |
| for(i = 0; i <MAX_LIST_LEN; i++) |
| { |
| if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
| { |
| WPIndex = i + 1; |
| break; |
| } |
| } |
| if(WPIndex) // found a WP in the list |
| { |
| NaviData.WaypointIndex = 1; |
| // update index to POI |
| if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| else POIIndex = 0; |
| } |
| else // some points in the list but no WP found |
| { |
| NaviData.WaypointIndex = 0; |
| //Check for an existing POI |
| for(i = 0; i < MAX_LIST_LEN; i++) |
| { |
| if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
| { |
| POIIndex = i + 1; |
| break; |
| } |
| } |
| } |
| } |
| else // no point in the list |
| { |
| POIIndex = 0; |
| NaviData.WaypointIndex = 0; |
| } |
| |
| if(WPIndex) return(&(PointList[WPIndex-1])); |
| else return(NULL); |
| } |
| |
| // returns the last waypoint |
| Point_t* PointList_WPEnd(void) |
| { |
| |
| u8 i; |
| WPIndex = 0; // set list position invalid |
| POIIndex = 0; // set invalid |
| |
| if(WPActive == FALSE) return(NULL); |
| |
| if(PointCount > 0) |
| { |
| // search backward! |
| for(i = 1; i <= MAX_LIST_LEN; i++) |
| { |
| if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| { |
| WPIndex = MAX_LIST_LEN - i + 1; |
| break; |
| } |
| } |
| if(WPIndex) // found a WP within the list |
| { |
| NaviData.WaypointIndex = WPCount; |
| if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| else POIIndex = 0; |
| } |
| else // list contains some points but no WP in the list |
| { |
| // search backward for a POI! |
| for(i = 1; i <= MAX_LIST_LEN; i++) |
| { |
| if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| { |
| POIIndex = MAX_LIST_LEN - i + 1; |
| break; |
| } |
| } |
| NaviData.WaypointIndex = 0; |
| } |
| } |
| else // no point in the list |
| { |
| POIIndex = 0; |
| NaviData.WaypointIndex = 0; |
| } |
| if(WPIndex) return(&(PointList[WPIndex-1])); |
| else return(NULL); |
| } |
| |
| // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
| Point_t* PointList_WPNext(void) |
| { |
| u8 wp_found = 0; |
| if(WPActive == FALSE) return(NULL); |
| |
| if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
| { |
| u8 i; |
| for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
| { |
| if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
| { |
| wp_found = i+1; |
| break; |
| } |
| } |
| } |
| if(wp_found) |
| { |
| WPIndex = wp_found; // update list position |
| NaviData.WaypointIndex++; |
| if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| else POIIndex = 0; |
| return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
| } |
| else |
| { // no next wp found |
| NaviData.WaypointIndex = 0; |
| POIIndex = 0; |
| return(NULL); |
| } |
| } |
| |
| void PointList_WPActive(u8 set) |
| { |
| if(set) |
| { |
| WPActive = TRUE; |
| PointList_WPBegin(); // uopdates POI index |
| } |
| else |
| { |
| WPActive = FALSE; |
| POIIndex = 0; // disable POI also |
| } |
| } |
| |
| Point_t* PointList_GetPOI(void) |
| { |
| return PointList_GetAt(POIIndex); |
| } |
| |