| 0,0 → 1,941 |
|---|
| /*#######################################################################################*/ |
| /* !!! 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 <ctype.h> |
| #include <stdio.h> |
| #include <stdlib.h> |
| #include <string.h> |
| #include "91x_lib.h" |
| #include "waypoints.h" |
| #include "uart1.h" |
| #include "fat16.h" |
| #include "main.h" |
| #include "spi_slave.h" |
| |
| |
| WPL_Store_t WPL_Store; |
| |
| 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 points in the list can be maximal equal to MAX_LIST_LEN |
| u8 POICount = 0; // number of point of interest in the list |
| u8 FsPointCnt = 0; |
| s16 HeadingOld = -1; |
| u32 SD_WaypointTimeout = 5; // Setting on SD-Card |
| |
| 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 |
| FsPointCnt = 0; |
| 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].Event_Flag = 0; // future implementation |
| PointList[i].Index = 0; |
| PointList[i].Type = POINT_TYPE_INVALID; |
| PointList[i].WP_EventChannelValue = 0; |
| PointList[i].AltitudeRate = 0; // no change of setpoint |
| PointList[i].Speed = 0; |
| PointList[i].CamAngle = 0; |
| PointList[i].Name[0] = 0; |
| } |
| ClearWLP_Name(); |
| 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; |
| case POINT_TYPE_FS: |
| FsPointCnt++; |
| 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_FS: |
| FsPointCnt++; |
| WPCount--; |
| 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_FS: |
| FsPointCnt++; |
| POICount--; |
| break; |
| |
| case POINT_TYPE_POI: |
| default: |
| // nothing to do |
| break; |
| } |
| case POINT_TYPE_FS: // was a Failsafe |
| switch(pPoint->Type) |
| { |
| case POINT_TYPE_INVALID: |
| FsPointCnt--; |
| PointCount--; |
| break; |
| |
| case POINT_TYPE_WP: |
| WPCount++; |
| FsPointCnt--; |
| break; |
| |
| case POINT_TYPE_POI: |
| POICount++; |
| FsPointCnt--; |
| break; |
| |
| case POINT_TYPE_FS: |
| break; |
| 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)) // jump over POIs and FS-Positions |
| { |
| WPIndex = i + 1; |
| break; |
| } |
| /* |
| else |
| if((PointList[i].Type == POINT_TYPE_FS) && (PointList[i].Position.Status != INVALID)) |
| { |
| GPSPos_Copy(&(PointList[i].Position), &GPS_FailsafePosition); |
| } |
| */ |
| } |
| if(WPIndex) // found a WP in the list |
| { |
| NaviData.WaypointIndex = 1; |
| NewWaypointsReceived = 1; // activates the Waypoint list as soon as CH is started |
| // 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 and FS-Positions |
| { |
| wp_found = i+1; |
| break; |
| } |
| /* |
| else |
| if((PointList[i].Type == POINT_TYPE_FS) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
| { |
| GPSPos_Copy(&(PointList[i].Position), &GPS_FailsafePosition); |
| } |
| */ |
| } |
| } |
| 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(); // updates POI index |
| } |
| else |
| { |
| WPActive = FALSE; |
| POIIndex = 0; // disable POI also |
| } |
| } |
| |
| Point_t* PointList_GetPOI(void) |
| { |
| return PointList_GetAt(POIIndex); |
| } |
| |
| |
| #define LINE_MAX 70 |
| #define WP_FILE_VERSION_COMPATIBLE 3 |
| |
| u8 PointList_Save(u8 * filename, u8* listname, u8 overwride) |
| { |
| File_t *fp; |
| s8 wpline[LINE_MAX]; |
| u8 retval = WPL_ERROR; |
| |
| UART1_PutString("\n\r Save WPL..."); |
| |
| if(Fat16_IsValid()) |
| { // check if wpl file is existing |
| if(fexist_(filename)) |
| { //file is existent |
| if(!(overwride)) |
| { |
| UART1_PutString("Error: file exist!\r\n"); |
| return(WPL_FILEEXIST); |
| } |
| } |
| fp = fopen_(filename, 'w'); // try to open the file |
| if(fp == NULL) |
| { |
| UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
| return(retval); |
| } |
| // Create general section and key entries |
| fputs_("[General]\r\n", fp); |
| sprintf(wpline, "Name=%s\r\n", listname); |
| fputs_(wpline, fp); |
| sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
| fputs_(wpline, fp); |
| sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
| fputs_(wpline, fp); |
| // dump all points if existent |
| if(PointCount) |
| { |
| u8 i, u8_1; |
| s32 i32_1, i32_2; |
| NewWPL_Name = 1; |
| for (i = 0; i < PointCount; i++) |
| { |
| sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
| fputs_(wpline, fp); |
| // write latitude in deg |
| if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
| else u8_1 = '+'; |
| i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
| i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
| sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
| fputs_(wpline, fp); |
| // write longitude in deg |
| if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
| else u8_1 = '+'; |
| i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
| i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
| sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
| fputs_(wpline, fp); |
| // write tolerace radius in m |
| sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
| fputs_(wpline, fp); |
| // write altitude in m |
| if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
| else u8_1 = '+'; |
| if(PointList[i].Type == POINT_TYPE_POI) |
| { |
| i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
| i32_2 = abs(PointList[i].Position.Altitude)%100L; |
| } |
| else |
| { |
| i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
| i32_2 = abs(PointList[i].Position.Altitude)%10L; |
| } |
| sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
| fputs_(wpline, fp); |
| // write climb rate in 0.1 m/s |
| sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
| fputs_(wpline, fp); |
| // write hold time in s |
| sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
| fputs_(wpline, fp); |
| // write event channel value |
| sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
| fputs_(wpline, fp); |
| // write heading in deg (0= nothing, neg. values index to poi) |
| sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
| fputs_(wpline, fp); |
| // write speed in 0.1 m/s |
| sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
| fputs_(wpline, fp); |
| // write cam angle in degree (255 -> POI-Automatic) |
| sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
| fputs_(wpline, fp); |
| // write point type |
| sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
| fputs_(wpline, fp); |
| // write prefix |
| sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
| fputs_(wpline, fp); |
| sprintf(wpline, "AutoTrigger=%d\r\n", PointList[i].AutoPhotoDistance); |
| fputs_(wpline, fp); |
| } // EOF loop over all points |
| } // EOF if(PointCount) |
| if(EOF == fclose_(fp)) |
| { |
| UART1_PutString("failed!\r\n"); |
| } |
| else |
| { |
| UART1_PutString("ok\r\n"); |
| retval = WPL_OK; |
| } |
| } // EOF if(Fat16_IsValid()) |
| else |
| { |
| UART1_PutString("no file system found!\r\n"); |
| retval = WPL_NO_SDCARD_FOUND; |
| } |
| return(retval); |
| } |
| |
| u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen, u8 use_preset_speed) |
| { |
| File_t *fp; |
| s8 wpline[LINE_MAX]; |
| u8 retval = WPL_ERROR; |
| |
| s8 *name, *value; |
| u8 i; |
| |
| u8 IsGeneralSection = 0; |
| u8 IsPointSection = 0; |
| u8 WPNumber = 0; |
| |
| // clear point list first |
| PointList_Clear(); |
| HeadingOld = -1; // updates the direction if the new direction is the same like last time |
| UART1_PutString("\n\r Read "); |
| UART1_PutString(filename); |
| UART1_PutString("..."); |
| |
| if(Fat16_IsValid()) |
| { // check if wpl file is existing |
| fp = fopen_(filename, 'r'); // try to open the file |
| if(fp == NULL) |
| { |
| UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
| return(retval); |
| } |
| // read all lines from file |
| while(fgets_(wpline, LINE_MAX, fp) != 0) |
| { |
| if ( // ignorelines starting with \r,\n,' ',';','#' |
| (wpline[0] != '\n') && |
| (wpline[0] != '\r') && |
| (wpline[0] != ' ' ) && |
| (wpline[0] != ';' ) && |
| (wpline[0] != '#' ) |
| ) |
| { |
| // check for section line found |
| if(wpline[0] == '[') |
| { |
| // next section found |
| IsGeneralSection = 0; |
| IsPointSection = 0; |
| |
| name = strtok(&wpline[1], "]"); |
| if(name != NULL) // if section name |
| { |
| // check section type |
| for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
| |
| if(strncmp(name, "POINT", 5) == 0) |
| { |
| IsPointSection = (u8)atoi(&name[5]); |
| PointCount++; |
| } |
| else if(strcmp(name, "GENERAL") == 0) |
| { |
| IsGeneralSection = 1; |
| } |
| else |
| { |
| UART1_PutString("Unknown section: "); |
| UART1_PutString(name); |
| UART1_PutString("\r\n"); |
| } |
| } |
| } // EOF section line |
| else |
| { // look for key entrys of each sections |
| name = strtok(wpline, "="); // get name |
| value = strtok(NULL, "="); // get value |
| if ((name != NULL) && (value != NULL)) |
| { |
| for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
| if(IsPointSection && (IsPointSection <= WPNumber)) |
| { |
| if(strcmp(name, "LATITUDE") == 0) |
| { |
| PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
| } |
| else if(strcmp(name, "LONGITUDE") == 0) |
| { |
| PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
| } |
| else if(strcmp(name, "RADIUS") == 0) |
| { |
| PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
| } |
| else if(strcmp(name, "ALTITUDE") == 0) |
| { |
| PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
| PointList[IsPointSection-1].Position.Status = NEWDATA; |
| } |
| else if(strcmp(name, "CLIMBRATE") == 0) |
| { |
| PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
| } |
| else if(strcmp(name, "DELAYTIME") == 0) |
| { |
| PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
| } |
| else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
| { |
| PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
| } |
| else if(strcmp(name, "HEADING") == 0) |
| { |
| PointList[IsPointSection-1].Heading = (s16)atoi(value); |
| } |
| else if(strcmp(name, "SPEED") == 0) |
| { |
| if(use_preset_speed) PointList[IsPointSection-1].Speed = use_preset_speed; |
| else PointList[IsPointSection-1].Speed = (u8)atoi(value); |
| } |
| else if(strcmp(name, "CAM-NICK") == 0) |
| { |
| PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
| } |
| else if(strcmp(name, "TYPE") == 0) |
| { |
| PointList[IsPointSection-1].Type = (u8)atoi(value); |
| if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
| else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
| |
| switch(PointList[IsPointSection-1].Type) |
| { |
| case POINT_TYPE_WP: |
| // this works only if altitude key is set before point type key in WPL file !! |
| PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
| WPCount++; |
| break; |
| case POINT_TYPE_FS: |
| FsPointCnt++; |
| break; |
| case POINT_TYPE_POI: |
| POICount++; |
| break; |
| } |
| } |
| else if(strcmp(name, "PREFIX") == 0) |
| { |
| strncpy(PointList[IsPointSection-1].Name, value, 4); |
| PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
| } |
| else if(strcmp(name, "AUTOTRIGGER") == 0) |
| { |
| PointList[IsPointSection-1].AutoPhotoDistance = (u8)atoi(value); |
| } |
| else |
| { |
| UART1_PutString("Unknown key: "); |
| UART1_PutString(name); |
| UART1_PutString("\r\n"); |
| } |
| } // EOF point section |
| else if(IsGeneralSection) |
| { |
| if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
| { |
| WPNumber = (u8)atoi(value); |
| if(!WPNumber) // no waypoints in file |
| { |
| return(WPL_NO_WAYPOINTS); // we are done here |
| } |
| else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
| { |
| UART1_PutString("To many points!"); |
| return(WPL_ERROR); |
| } |
| } |
| else if (strcmp(name, "FILEVERSION") == 0) |
| { |
| if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
| { |
| PointList_Clear(); |
| UART1_PutString("Bad file version!\r\n"); |
| return(WPL_ERROR); |
| } |
| } |
| else if (strcmp(name, "NAME") == 0) |
| { |
| if(listname) |
| { |
| u8 len = strlen(value); |
| if(len) |
| { |
| if(value[len-1] == '\r') |
| { |
| value[len-1] = 0; |
| // len--; |
| } |
| } |
| if(len > listnamelen) len = listnamelen; |
| if(len) |
| { |
| value[len-1] = 0; // terminate string |
| if(listname) memcpy(listname, value, len); |
| } |
| NewWPL_Name = 1; |
| } |
| } |
| else |
| { |
| UART1_PutString("Unknown key: "); |
| UART1_PutString(name); |
| UART1_PutString("\r\n"); |
| } |
| } // EOF general section |
| } // EOF valid key entry |
| } // EOF key entry line |
| } // valid line |
| } // EOF loop over all lines |
| fclose_(fp); |
| NaviData.WaypointNumber = WPCount; |
| retval = WPL_OK; |
| UART1_PutString("ok\r\n"); |
| } // EOF if(Fat16_IsValid()) |
| else |
| { |
| UART1_PutString("no file system found!\r\n"); |
| retval = WPL_NO_SDCARD_FOUND; |
| } |
| return(retval); |
| } |
| |
| // load actual point list from SD card |
| u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
| { |
| u8 filename[30]; |
| |
| pWPL_Store->Name[0] = 0; // clear current list name |
| |
| // user absolute path, i.e. leading / |
| if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
| { |
| sprintf(filename, "/default.wpl"); |
| } |
| else |
| { |
| sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
| } |
| return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),0); |
| } |
| |
| // save actual point list to SD card |
| u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
| { |
| u8 filename[30]; |
| |
| |
| if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
| // user absolute path, i.e. leading / |
| if(pWPL_Store->Index == 0) |
| { |
| sprintf(filename, "/default.wpl"); |
| } |
| else |
| { |
| sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
| } |
| return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
| } |
| |
| |
| // save actual gps positiin and heading to file |
| u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
| { |
| u8 retval = WPL_ERROR; |
| u8 filename[30]; |
| Point_t WP; |
| |
| UART1_PutString("\n\r write single point\n\r"); |
| if(GPSData.Position.Status == INVALID) |
| { |
| UART1_PutString("ERROR: No GPS - Fix\n\r"); |
| return(retval); |
| } |
| |
| // clear current point list |
| PointList_Clear(); |
| // prepare WP at current position |
| |
| if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance_dm > 7*10) |
| { // take actual position |
| GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
| } |
| else |
| { // take last target position |
| GPSPos_Copy(&NaviData.TargetPosition, &(WP.Position)); |
| } |
| |
| GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
| // set heading |
| WP.Heading = (CompassSetpointCorrected/10 + Parameter.CamOrientation * 15) % 360; |
| if(WP.Heading == 0) WP.Heading = 360; |
| WP.ToleranceRadius = 120; // 12m |
| WP.HoldTime = 2; |
| WP.Index = 1; |
| WP.Type = POINT_TYPE_WP; |
| WP.WP_EventChannelValue = 100; |
| if(FC.StatusFlags & FC_STATUS_FLY && ((FromFC_VarioCharacter != ' ') || (SimulationFlags & SIMULATION_ACTIVE))) // only in flight and if the Altitude control is enabled |
| { |
| WP.AltitudeRate = 255; // Auto |
| WP.Position.Altitude = NaviData.SetpointAltitude / 2; |
| } |
| else |
| { |
| WP.AltitudeRate = 0; |
| WP.Position.Altitude = 0; |
| } |
| WP.Speed = 50; // beim Laden wird der Wert nochmal neu gesetzt |
| WP.CamAngle = 0; |
| WP.Name[0] = 'S'; |
| WP.Name[1] = 'P'; |
| WP.Name[2] = 'T'; |
| WP.Name[3] = 0; |
| // add this point to wp list |
| PointList_SetAt(&WP); |
| |
| sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
| UART1_PutString(filename); |
| sprintf(pWPL_Store->Name, "POINT%03d ", pWPL_Store->Index); |
| retval = PointList_Save(filename, pWPL_Store->Name, 1); |
| |
| // clear current point list |
| if((NC_GPS_ModeCharacter != 'w') && (NC_GPS_ModeCharacter != 'W')) PointList_Clear(); |
| else // es ist gearde ein Wegpunktflug aktiv -> updaten |
| { |
| if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
| GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
| } |
| |
| return(retval); |
| } |
| // load target gps posititon and heading from file |
| u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store) |
| { |
| u8 filename[30], result = 0; |
| |
| sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
| pWPL_Store->Name[0] = 0; // clear current list name |
| result = PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),Parameter.SingleWpSpeed); |
| if(result) UART1_Request_ReadPoint = 1; // Sends Point 1 to the PC |
| return(result); |
| } |
| |
| |
| |
| void ClearWLP_Name(void) |
| { |
| u8 i; |
| for(i=0; i<sizeof(WPL_Store.Name);i++) WPL_Store.Name[i] = 0; |
| NewWPL_Name = 1; |
| } |
| |
| // move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards |
| u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle) |
| { |
| u8 retval = 0; |
| s32 altitude; |
| GPS_Pos_t OldRefPos; |
| GPS_Pos_Deviation_t RefDeviation; |
| |
| // check inputs for plausibility; |
| if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
| if(pRefPos == NULL) return(retval); |
| if(pRefPos->Status == INVALID) return(retval); |
| |
| if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &OldRefPos)) // backup old reference position |
| { |
| u8 i; |
| // iterate the position list |
| for(i = 0; i < PointCount; i++) |
| { |
| retval = 0; |
| // backup altitude of this point |
| altitude = PointList[i].Position.Altitude; |
| // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
| if(!GPSPos_Deviation(&(PointList[i].Position), &OldRefPos, &RefDeviation)) break; |
| // copy of the new reference position into this list place |
| if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
| // restore former altitude |
| PointList[i].Position.Altitude = altitude; |
| // move new reference according to the deviation of the old reference |
| if(RotationAngle > 0) |
| { |
| retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360, RefDeviation.Distance_cm ); |
| // Now rotate the heading positions if they are fixed angles |
| if(PointList[i].Heading >= 0 && PointList[i].Heading <= 360) PointList[i].Heading = (PointList[i].Heading + RotationAngle) % 360; |
| } |
| else // no rotation |
| { |
| // move new reference according to the deviation of the old reference |
| retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
| } |
| if(!retval) break; |
| } |
| } // else ref pos old not copied! |
| if(!retval) PointList_Clear(); |
| return(retval); |
| } |
| |
| |
| |