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| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + FOR NON COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #include <stdlib.h> |
| #include <avr/io.h> |
| #include <stdint.h> |
| #include <string.h> |
| #include <stdbool.h> |
| //#include "91x_lib.h" |
| #include "waypoints.h" |
| #include "../mk-data-structs.h" |
| #include "../uart/uart1.h" |
| #include "../eeprom/eeprom.h" |
| #include "../main.h" |
| |
| #include <util/delay.h> |
| |
| #ifdef USE_WAYPOINTS |
| |
| // the waypoints list |
| |
| |
| |
| NaviData_t *NaviData; |
| |
| //Point_t PointList[MAX_LIST_LEN]; |
| uint8_t WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
| uint8_t POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
| uint8_t WPCount = 0; // number of waypoints |
| uint8_t PointCount = 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN |
| uint8_t POICount = 0; |
| |
| uint8_t WPActive = false; |
| |
| uint8_t PointList_Init(void) |
| { |
| return PointList_Clear(); |
| } |
| |
| uint8_t PointList_Clear(void) |
| { |
| uint8_t 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++) |
| { |
| Config.PointList[i].Position.Status = INVALID; |
| Config.PointList[i].Position.Latitude = 0; |
| Config.PointList[i].Position.Longitude = 0; |
| Config.PointList[i].Position.Altitude = 0; |
| Config.PointList[i].Heading = 361; // invalid value |
| Config.PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
| Config.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 |
| Config.PointList[i].Type = POINT_TYPE_INVALID; |
| Config.PointList[i].Event_Flag = 0; // future implementation |
| Config.PointList[i].AltitudeRate = 0; // no change of setpoint |
| } |
| return true; |
| } |
| |
| uint8_t PointList_GetCount(void) |
| { |
| return PointCount; // number of points in the list |
| } |
| |
| Point_t* PointList_GetAt(uint8_t index) |
| { |
| if((index > 0) && (index <= PointCount)) return(&(Config.PointList[index-1])); // return pointer to this waypoint |
| else return(NULL); |
| } |
| |
| uint8_t 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(Config.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(&Config.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) |
| { |
| uint8_t 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((Config.PointList[i].Type == POINT_TYPE_WP) && (Config.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(Config.PointList[WPIndex-1].Heading < 0) POIIndex = (uint8_t)(-Config.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((Config.PointList[i].Type == POINT_TYPE_POI) && (Config.PointList[i].Position.Status != INVALID)) |
| { |
| POIIndex = i + 1; |
| break; |
| } |
| } |
| } |
| } |
| else // no point in the list |
| { |
| POIIndex = 0; |
| NaviData->WaypointIndex = 0; |
| } |
| |
| if(WPIndex) return(&(Config.PointList[WPIndex-1])); |
| else return(NULL); |
| } |
| |
| // returns the last waypoint |
| Point_t* PointList_WPEnd(void) |
| { |
| |
| uint8_t 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((Config.PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (Config.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(Config.PointList[WPIndex-1].Heading < 0) POIIndex = (uint8_t)(-Config.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((Config.PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (Config.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(&(Config.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) |
| { |
| uint8_t wp_found = 0; |
| if(WPActive == false) return(NULL); |
| |
| if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
| { |
| uint8_t i; |
| for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
| { |
| if((Config.PointList[i].Type == POINT_TYPE_WP) && (Config.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(Config.PointList[WPIndex-1].Heading < 0) POIIndex = (uint8_t)(-Config.PointList[WPIndex-1].Heading); |
| else POIIndex = 0; |
| return(&(Config.PointList[WPIndex-1])); // return pointer to this waypoint |
| } |
| else |
| { // no next wp found |
| NaviData->WaypointIndex = 0; |
| POIIndex = 0; |
| return(NULL); |
| } |
| } |
| |
| void PointList_WPActive(uint8_t 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); |
| } |
| |
| #endif |
| Property changes: |
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| Added: svn:mime-type |
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| +text/plain |
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