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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
| 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 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 |
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 |
| 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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. |
37 | // + The Software may only be used with the Licensor's products. |
| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| 40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
| 43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| 53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 56 | #include <ctype.h> |
56 | #include <ctype.h> |
| 57 | #include <stdio.h> |
57 | #include <stdio.h> |
| 58 | #include <stdlib.h> |
58 | #include <stdlib.h> |
| 59 | #include <string.h> |
59 | #include <string.h> |
| 60 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
| 61 | #include "waypoints.h" |
61 | #include "waypoints.h" |
| 62 | #include "uart1.h" |
62 | #include "uart1.h" |
| 63 | #include "fat16.h" |
63 | #include "fat16.h" |
| 64 | #include "main.h" |
64 | #include "main.h" |
| 65 | #include "spi_slave.h" |
65 | #include "spi_slave.h" |
| 66 | 66 | ||
| 67 | 67 | ||
| 68 | WPL_Store_t WPL_Store; |
68 | WPL_Store_t WPL_Store; |
| 69 | 69 | ||
| 70 | Point_t PointList[MAX_LIST_LEN]; |
70 | Point_t PointList[MAX_LIST_LEN]; |
| 71 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
71 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
| 72 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
72 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
| 73 | u8 WPCount = 0; // number of waypoints |
73 | u8 WPCount = 0; // number of waypoints |
| 74 | u8 PointCount = 0; // number of points in the list can be maximal equal to MAX_LIST_LEN |
74 | u8 PointCount = 0; // number of points in the list can be maximal equal to MAX_LIST_LEN |
| 75 | u8 POICount = 0; // number of point of interest in the list |
75 | u8 POICount = 0; // number of point of interest in the list |
| 76 | u8 FsPointCnt = 0; |
76 | u8 FsPointCnt = 0; |
| 77 | s16 HeadingOld = -1; |
77 | s16 HeadingOld = -1; |
| 78 | u32 SD_WaypointTimeout = 5; // Setting on SD-Card |
78 | u32 SD_WaypointTimeout = 5; // Setting on SD-Card |
| 79 | 79 | ||
| 80 | u8 WPActive = FALSE; |
80 | u8 WPActive = FALSE; |
| 81 | 81 | ||
| 82 | u8 PointList_Init(void) |
82 | u8 PointList_Init(void) |
| 83 | { |
83 | { |
| 84 | return PointList_Clear(); |
84 | return PointList_Clear(); |
| 85 | } |
85 | } |
| 86 | 86 | ||
| 87 | u8 PointList_Clear(void) |
87 | u8 PointList_Clear(void) |
| 88 | { |
88 | { |
| 89 | u8 i; |
89 | u8 i; |
| 90 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
90 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
| 91 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
91 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
| 92 | WPCount = 0; // no waypoints |
92 | WPCount = 0; // no waypoints |
| 93 | FsPointCnt = 0; |
93 | FsPointCnt = 0; |
| 94 | POICount = 0; |
94 | POICount = 0; |
| 95 | PointCount = 0; // no contents |
95 | PointCount = 0; // no contents |
| 96 | WPActive = FALSE; |
96 | WPActive = FALSE; |
| 97 | NaviData.WaypointNumber = WPCount; |
97 | NaviData.WaypointNumber = WPCount; |
| 98 | NaviData.WaypointIndex = 0; |
98 | NaviData.WaypointIndex = 0; |
| 99 | for(i = 0; i < MAX_LIST_LEN; i++) |
99 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 100 | { |
100 | { |
| 101 | PointList[i].Position.Status = INVALID; |
101 | PointList[i].Position.Status = INVALID; |
| 102 | PointList[i].Position.Latitude = 0; |
102 | PointList[i].Position.Latitude = 0; |
| 103 | PointList[i].Position.Longitude = 0; |
103 | PointList[i].Position.Longitude = 0; |
| 104 | PointList[i].Position.Altitude = 0; |
104 | PointList[i].Position.Altitude = 0; |
| 105 | PointList[i].Heading = 361; // invalid value |
105 | PointList[i].Heading = 361; // invalid value |
| 106 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
106 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
| 107 | 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 |
107 | 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 |
| 108 | PointList[i].Event_Flag = 0; // future implementation |
108 | PointList[i].Event_Flag = 0; // future implementation |
| 109 | PointList[i].Index = 0; |
109 | PointList[i].Index = 0; |
| 110 | PointList[i].Type = POINT_TYPE_INVALID; |
110 | PointList[i].Type = POINT_TYPE_INVALID; |
| 111 | PointList[i].WP_EventChannelValue = 0; |
111 | PointList[i].WP_EventChannelValue = 0; |
| 112 | PointList[i].AltitudeRate = 0; // no change of setpoint |
112 | PointList[i].AltitudeRate = 0; // no change of setpoint |
| 113 | PointList[i].Speed = 0; |
113 | PointList[i].Speed = 0; |
| 114 | PointList[i].CamAngle = 0; |
114 | PointList[i].CamAngle = 0; |
| 115 | PointList[i].Name[0] = 0; |
115 | PointList[i].Name[0] = 0; |
| 116 | } |
116 | } |
| 117 | ClearWLP_Name(); |
117 | ClearWLP_Name(); |
| 118 | return TRUE; |
118 | return TRUE; |
| 119 | } |
119 | } |
| 120 | 120 | ||
| 121 | u8 PointList_GetCount(void) |
121 | u8 PointList_GetCount(void) |
| 122 | { |
122 | { |
| 123 | return PointCount; // number of points in the list |
123 | return PointCount; // number of points in the list |
| 124 | } |
124 | } |
| 125 | 125 | ||
| 126 | Point_t* PointList_GetAt(u8 index) |
126 | Point_t* PointList_GetAt(u8 index) |
| 127 | { |
127 | { |
| 128 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
128 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
| 129 | else return(NULL); |
129 | else return(NULL); |
| 130 | } |
130 | } |
| 131 | 131 | ||
| 132 | u8 PointList_SetAt(Point_t* pPoint) |
132 | u8 PointList_SetAt(Point_t* pPoint) |
| 133 | { |
133 | { |
| 134 | // if index is in range |
134 | // if index is in range |
| 135 | if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
135 | if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
| 136 | { |
136 | { |
| 137 | // check list entry before update |
137 | // check list entry before update |
| 138 | switch(PointList[pPoint->Index-1].Type) |
138 | switch(PointList[pPoint->Index-1].Type) |
| 139 | { |
139 | { |
| 140 | case POINT_TYPE_INVALID: // was invalid |
140 | case POINT_TYPE_INVALID: // was invalid |
| 141 | switch(pPoint->Type) |
141 | switch(pPoint->Type) |
| 142 | { |
142 | { |
| 143 | default: |
143 | default: |
| 144 | case POINT_TYPE_INVALID: |
144 | case POINT_TYPE_INVALID: |
| 145 | // nothing to do |
145 | // nothing to do |
| 146 | break; |
146 | break; |
| 147 | 147 | ||
| 148 | case POINT_TYPE_WP: |
148 | case POINT_TYPE_WP: |
| 149 | WPCount++; |
149 | WPCount++; |
| 150 | PointCount++; |
150 | PointCount++; |
| 151 | break; |
151 | break; |
| 152 | 152 | ||
| 153 | case POINT_TYPE_POI: |
153 | case POINT_TYPE_POI: |
| 154 | POICount++; |
154 | POICount++; |
| 155 | PointCount++; |
155 | PointCount++; |
| 156 | break; |
156 | break; |
| 157 | case POINT_TYPE_FS: |
157 | case POINT_TYPE_FS: |
| 158 | FsPointCnt++; |
158 | FsPointCnt++; |
| 159 | PointCount++; |
159 | PointCount++; |
| 160 | break; |
160 | break; |
| 161 | } |
161 | } |
| 162 | break; |
162 | break; |
| 163 | 163 | ||
| 164 | case POINT_TYPE_WP: // was a waypoint |
164 | case POINT_TYPE_WP: // was a waypoint |
| 165 | switch(pPoint->Type) |
165 | switch(pPoint->Type) |
| 166 | { |
166 | { |
| 167 | case POINT_TYPE_INVALID: |
167 | case POINT_TYPE_INVALID: |
| 168 | WPCount--; |
168 | WPCount--; |
| 169 | PointCount--; |
169 | PointCount--; |
| 170 | break; |
170 | break; |
| 171 | 171 | ||
| 172 | default: |
172 | default: |
| 173 | case POINT_TYPE_WP: |
173 | case POINT_TYPE_WP: |
| 174 | //nothing to do |
174 | //nothing to do |
| 175 | break; |
175 | break; |
| 176 | case POINT_TYPE_FS: |
176 | case POINT_TYPE_FS: |
| 177 | FsPointCnt++; |
177 | FsPointCnt++; |
| 178 | WPCount--; |
178 | WPCount--; |
| 179 | break; |
179 | break; |
| 180 | case POINT_TYPE_POI: |
180 | case POINT_TYPE_POI: |
| 181 | POICount++; |
181 | POICount++; |
| 182 | WPCount--; |
182 | WPCount--; |
| 183 | break; |
183 | break; |
| 184 | } |
184 | } |
| 185 | break; |
185 | break; |
| 186 | 186 | ||
| 187 | case POINT_TYPE_POI: // was a poi |
187 | case POINT_TYPE_POI: // was a poi |
| 188 | switch(pPoint->Type) |
188 | switch(pPoint->Type) |
| 189 | { |
189 | { |
| 190 | case POINT_TYPE_INVALID: |
190 | case POINT_TYPE_INVALID: |
| 191 | POICount--; |
191 | POICount--; |
| 192 | PointCount--; |
192 | PointCount--; |
| 193 | break; |
193 | break; |
| 194 | 194 | ||
| 195 | case POINT_TYPE_WP: |
195 | case POINT_TYPE_WP: |
| 196 | WPCount++; |
196 | WPCount++; |
| 197 | POICount--; |
197 | POICount--; |
| 198 | break; |
198 | break; |
| 199 | 199 | ||
| 200 | case POINT_TYPE_FS: |
200 | case POINT_TYPE_FS: |
| 201 | FsPointCnt++; |
201 | FsPointCnt++; |
| 202 | POICount--; |
202 | POICount--; |
| 203 | break; |
203 | break; |
| 204 | 204 | ||
| 205 | case POINT_TYPE_POI: |
205 | case POINT_TYPE_POI: |
| 206 | default: |
206 | default: |
| 207 | // nothing to do |
207 | // nothing to do |
| 208 | break; |
208 | break; |
| 209 | } |
209 | } |
| 210 | case POINT_TYPE_FS: // was a Failsafe |
210 | case POINT_TYPE_FS: // was a Failsafe |
| 211 | switch(pPoint->Type) |
211 | switch(pPoint->Type) |
| 212 | { |
212 | { |
| 213 | case POINT_TYPE_INVALID: |
213 | case POINT_TYPE_INVALID: |
| 214 | FsPointCnt--; |
214 | FsPointCnt--; |
| 215 | PointCount--; |
215 | PointCount--; |
| 216 | break; |
216 | break; |
| 217 | 217 | ||
| 218 | case POINT_TYPE_WP: |
218 | case POINT_TYPE_WP: |
| 219 | WPCount++; |
219 | WPCount++; |
| 220 | FsPointCnt--; |
220 | FsPointCnt--; |
| 221 | break; |
221 | break; |
| 222 | 222 | ||
| 223 | case POINT_TYPE_POI: |
223 | case POINT_TYPE_POI: |
| 224 | POICount++; |
224 | POICount++; |
| 225 | FsPointCnt--; |
225 | FsPointCnt--; |
| 226 | break; |
226 | break; |
| 227 | 227 | ||
| 228 | case POINT_TYPE_FS: |
228 | case POINT_TYPE_FS: |
| 229 | break; |
229 | break; |
| 230 | default: |
230 | default: |
| 231 | // nothing to do |
231 | // nothing to do |
| 232 | break; |
232 | break; |
| 233 | } |
233 | } |
| 234 | break; |
234 | break; |
| 235 | } |
235 | } |
| 236 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
236 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
| 237 | NaviData.WaypointNumber = WPCount; |
237 | NaviData.WaypointNumber = WPCount; |
| 238 | return pPoint->Index; |
238 | return pPoint->Index; |
| 239 | } |
239 | } |
| 240 | else return(0); |
240 | else return(0); |
| 241 | } |
241 | } |
| 242 | 242 | ||
| 243 | // returns the pointer to the first waypoint within the list |
243 | // returns the pointer to the first waypoint within the list |
| 244 | Point_t* PointList_WPBegin(void) |
244 | Point_t* PointList_WPBegin(void) |
| 245 | { |
245 | { |
| 246 | u8 i; |
246 | u8 i; |
| 247 | WPIndex = 0; // set list position invalid |
247 | WPIndex = 0; // set list position invalid |
| 248 | 248 | ||
| 249 | if(WPActive == FALSE) return(NULL); |
249 | if(WPActive == FALSE) return(NULL); |
| 250 | 250 | ||
| 251 | POIIndex = 0; // set invalid POI |
251 | POIIndex = 0; // set invalid POI |
| 252 | if(PointCount > 0) |
252 | if(PointCount > 0) |
| 253 | { |
253 | { |
| 254 | // search for first wp in list |
254 | // search for first wp in list |
| 255 | for(i = 0; i <MAX_LIST_LEN; i++) |
255 | for(i = 0; i <MAX_LIST_LEN; i++) |
| 256 | { |
256 | { |
| 257 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs and FS-Positions |
257 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs and FS-Positions |
| 258 | { |
258 | { |
| 259 | WPIndex = i + 1; |
259 | WPIndex = i + 1; |
| 260 | break; |
260 | break; |
| 261 | } |
261 | } |
| 262 | /* |
262 | /* |
| 263 | else |
263 | else |
| 264 | if((PointList[i].Type == POINT_TYPE_FS) && (PointList[i].Position.Status != INVALID)) |
264 | if((PointList[i].Type == POINT_TYPE_FS) && (PointList[i].Position.Status != INVALID)) |
| 265 | { |
265 | { |
| 266 | GPSPos_Copy(&(PointList[i].Position), &GPS_FailsafePosition); |
266 | GPSPos_Copy(&(PointList[i].Position), &GPS_FailsafePosition); |
| 267 | } |
267 | } |
| 268 | */ |
268 | */ |
| 269 | } |
269 | } |
| 270 | if(WPIndex) // found a WP in the list |
270 | if(WPIndex) // found a WP in the list |
| 271 | { |
271 | { |
| 272 | NaviData.WaypointIndex = 1; |
272 | NaviData.WaypointIndex = 1; |
| 273 | NewWaypointsReceived = 1; // activates the Waypoint list as soon as CH is started |
273 | NewWaypointsReceived = 1; // activates the Waypoint list as soon as CH is started |
| 274 | // update index to POI |
274 | // update index to POI |
| 275 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
275 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 276 | else POIIndex = 0; |
276 | else POIIndex = 0; |
| 277 | } |
277 | } |
| 278 | else // some points in the list but no WP found |
278 | else // some points in the list but no WP found |
| 279 | { |
279 | { |
| 280 | NaviData.WaypointIndex = 0; |
280 | NaviData.WaypointIndex = 0; |
| 281 | //Check for an existing POI |
281 | //Check for an existing POI |
| 282 | for(i = 0; i < MAX_LIST_LEN; i++) |
282 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 283 | { |
283 | { |
| 284 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
284 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
| 285 | { |
285 | { |
| 286 | POIIndex = i + 1; |
286 | POIIndex = i + 1; |
| 287 | break; |
287 | break; |
| 288 | } |
288 | } |
| 289 | } |
289 | } |
| 290 | } |
290 | } |
| 291 | } |
291 | } |
| 292 | else // no point in the list |
292 | else // no point in the list |
| 293 | { |
293 | { |
| 294 | POIIndex = 0; |
294 | POIIndex = 0; |
| 295 | NaviData.WaypointIndex = 0; |
295 | NaviData.WaypointIndex = 0; |
| 296 | } |
296 | } |
| 297 | 297 | ||
| 298 | if(WPIndex) return(&(PointList[WPIndex-1])); |
298 | if(WPIndex) return(&(PointList[WPIndex-1])); |
| 299 | else return(NULL); |
299 | else return(NULL); |
| 300 | } |
300 | } |
| 301 | 301 | ||
| 302 | // returns the last waypoint |
302 | // returns the last waypoint |
| 303 | Point_t* PointList_WPEnd(void) |
303 | Point_t* PointList_WPEnd(void) |
| 304 | { |
304 | { |
| 305 | 305 | ||
| 306 | u8 i; |
306 | u8 i; |
| 307 | WPIndex = 0; // set list position invalid |
307 | WPIndex = 0; // set list position invalid |
| 308 | POIIndex = 0; // set invalid |
308 | POIIndex = 0; // set invalid |
| 309 | 309 | ||
| 310 | if(WPActive == FALSE) return(NULL); |
310 | if(WPActive == FALSE) return(NULL); |
| 311 | 311 | ||
| 312 | if(PointCount > 0) |
312 | if(PointCount > 0) |
| 313 | { |
313 | { |
| 314 | // search backward! |
314 | // search backward! |
| 315 | for(i = 1; i <= MAX_LIST_LEN; i++) |
315 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 316 | { |
316 | { |
| 317 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
317 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 318 | { |
318 | { |
| 319 | WPIndex = MAX_LIST_LEN - i + 1; |
319 | WPIndex = MAX_LIST_LEN - i + 1; |
| 320 | break; |
320 | break; |
| 321 | } |
321 | } |
| 322 | } |
322 | } |
| 323 | if(WPIndex) // found a WP within the list |
323 | if(WPIndex) // found a WP within the list |
| 324 | { |
324 | { |
| 325 | NaviData.WaypointIndex = WPCount; |
325 | NaviData.WaypointIndex = WPCount; |
| 326 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
326 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 327 | else POIIndex = 0; |
327 | else POIIndex = 0; |
| 328 | } |
328 | } |
| 329 | else // list contains some points but no WP in the list |
329 | else // list contains some points but no WP in the list |
| 330 | { |
330 | { |
| 331 | // search backward for a POI! |
331 | // search backward for a POI! |
| 332 | for(i = 1; i <= MAX_LIST_LEN; i++) |
332 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 333 | { |
333 | { |
| 334 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
334 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 335 | { |
335 | { |
| 336 | POIIndex = MAX_LIST_LEN - i + 1; |
336 | POIIndex = MAX_LIST_LEN - i + 1; |
| 337 | break; |
337 | break; |
| 338 | } |
338 | } |
| 339 | } |
339 | } |
| 340 | NaviData.WaypointIndex = 0; |
340 | NaviData.WaypointIndex = 0; |
| 341 | } |
341 | } |
| 342 | } |
342 | } |
| 343 | else // no point in the list |
343 | else // no point in the list |
| 344 | { |
344 | { |
| 345 | POIIndex = 0; |
345 | POIIndex = 0; |
| 346 | NaviData.WaypointIndex = 0; |
346 | NaviData.WaypointIndex = 0; |
| 347 | } |
347 | } |
| 348 | if(WPIndex) return(&(PointList[WPIndex-1])); |
348 | if(WPIndex) return(&(PointList[WPIndex-1])); |
| 349 | else return(NULL); |
349 | else return(NULL); |
| 350 | } |
350 | } |
| 351 | 351 | ||
| 352 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
352 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
| 353 | Point_t* PointList_WPNext(void) |
353 | Point_t* PointList_WPNext(void) |
| 354 | { |
354 | { |
| 355 | u8 wp_found = 0; |
355 | u8 wp_found = 0; |
| 356 | if(WPActive == FALSE) return(NULL); |
356 | if(WPActive == FALSE) return(NULL); |
| 357 | 357 | ||
| 358 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
358 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
| 359 | { |
359 | { |
| 360 | u8 i; |
360 | u8 i; |
| 361 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
361 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
| 362 | { |
362 | { |
| 363 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs and FS-Positions |
363 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs and FS-Positions |
| 364 | { |
364 | { |
| 365 | wp_found = i+1; |
365 | wp_found = i+1; |
| 366 | break; |
366 | break; |
| 367 | } |
367 | } |
| 368 | /* |
368 | /* |
| 369 | else |
369 | else |
| 370 | if((PointList[i].Type == POINT_TYPE_FS) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
370 | if((PointList[i].Type == POINT_TYPE_FS) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
| 371 | { |
371 | { |
| 372 | GPSPos_Copy(&(PointList[i].Position), &GPS_FailsafePosition); |
372 | GPSPos_Copy(&(PointList[i].Position), &GPS_FailsafePosition); |
| 373 | } |
373 | } |
| 374 | */ |
374 | */ |
| 375 | } |
375 | } |
| 376 | } |
376 | } |
| 377 | if(wp_found) |
377 | if(wp_found) |
| 378 | { |
378 | { |
| 379 | WPIndex = wp_found; // update list position |
379 | WPIndex = wp_found; // update list position |
| 380 | NaviData.WaypointIndex++; |
380 | NaviData.WaypointIndex++; |
| 381 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
381 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 382 | else POIIndex = 0; |
382 | else POIIndex = 0; |
| 383 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
383 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
| 384 | } |
384 | } |
| 385 | else |
385 | else |
| 386 | { // no next wp found |
386 | { // no next wp found |
| 387 | NaviData.WaypointIndex = 0; |
387 | NaviData.WaypointIndex = 0; |
| 388 | POIIndex = 0; |
388 | POIIndex = 0; |
| 389 | return(NULL); |
389 | return(NULL); |
| 390 | } |
390 | } |
| 391 | } |
391 | } |
| 392 | 392 | ||
| 393 | void PointList_WPActive(u8 set) |
393 | void PointList_WPActive(u8 set) |
| 394 | { |
394 | { |
| 395 | if(set) |
395 | if(set) |
| 396 | { |
396 | { |
| 397 | WPActive = TRUE; |
397 | WPActive = TRUE; |
| 398 | PointList_WPBegin(); // updates POI index |
398 | PointList_WPBegin(); // updates POI index |
| 399 | } |
399 | } |
| 400 | else |
400 | else |
| 401 | { |
401 | { |
| 402 | WPActive = FALSE; |
402 | WPActive = FALSE; |
| 403 | POIIndex = 0; // disable POI also |
403 | POIIndex = 0; // disable POI also |
| 404 | } |
404 | } |
| 405 | } |
405 | } |
| 406 | 406 | ||
| 407 | Point_t* PointList_GetPOI(void) |
407 | Point_t* PointList_GetPOI(void) |
| 408 | { |
408 | { |
| 409 | return PointList_GetAt(POIIndex); |
409 | return PointList_GetAt(POIIndex); |
| 410 | } |
410 | } |
| 411 | 411 | ||
| 412 | 412 | ||
| 413 | #define LINE_MAX 70 |
413 | #define LINE_MAX 70 |
| 414 | #define WP_FILE_VERSION_COMPATIBLE 3 |
414 | #define WP_FILE_VERSION_COMPATIBLE 3 |
| 415 | 415 | ||
| 416 | u8 PointList_Save(u8 * filename, u8* listname, u8 overwride) |
416 | u8 PointList_Save(u8 * filename, u8* listname, u8 overwride) |
| 417 | { |
417 | { |
| 418 | File_t *fp; |
418 | File_t *fp; |
| 419 | s8 wpline[LINE_MAX]; |
419 | s8 wpline[LINE_MAX]; |
| 420 | u8 retval = WPL_ERROR; |
420 | u8 retval = WPL_ERROR; |
| 421 | 421 | ||
| 422 | UART1_PutString("\n\r Save WPL..."); |
422 | UART1_PutString("\n\r Save WPL..."); |
| 423 | 423 | ||
| 424 | if(Fat16_IsValid()) |
424 | if(Fat16_IsValid()) |
| 425 | { // check if wpl file is existing |
425 | { // check if wpl file is existing |
| 426 | if(fexist_(filename)) |
426 | if(fexist_(filename)) |
| 427 | { //file is existent |
427 | { //file is existent |
| 428 | if(!(overwride)) |
428 | if(!(overwride)) |
| 429 | { |
429 | { |
| 430 | UART1_PutString("Error: file exist!\r\n"); |
430 | UART1_PutString("Error: file exist!\r\n"); |
| 431 | return(WPL_FILEEXIST); |
431 | return(WPL_FILEEXIST); |
| 432 | } |
432 | } |
| 433 | } |
433 | } |
| 434 | fp = fopen_(filename, 'w'); // try to open the file |
434 | fp = fopen_(filename, 'w'); // try to open the file |
| 435 | if(fp == NULL) |
435 | if(fp == NULL) |
| 436 | { |
436 | { |
| 437 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
437 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
| 438 | return(retval); |
438 | return(retval); |
| 439 | } |
439 | } |
| 440 | // Create general section and key entries |
440 | // Create general section and key entries |
| 441 | fputs_("[General]\r\n", fp); |
441 | fputs_("[General]\r\n", fp); |
| 442 | sprintf(wpline, "Name=%s\r\n", listname); |
442 | sprintf(wpline, "Name=%s\r\n", listname); |
| 443 | fputs_(wpline, fp); |
443 | fputs_(wpline, fp); |
| 444 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
444 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
| 445 | fputs_(wpline, fp); |
445 | fputs_(wpline, fp); |
| 446 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
446 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
| 447 | fputs_(wpline, fp); |
447 | fputs_(wpline, fp); |
| 448 | // dump all points if existent |
448 | // dump all points if existent |
| 449 | if(PointCount) |
449 | if(PointCount) |
| 450 | { |
450 | { |
| 451 | u8 i, u8_1; |
451 | u8 i, u8_1; |
| 452 | s32 i32_1, i32_2; |
452 | s32 i32_1, i32_2; |
| 453 | NewWPL_Name = 1; |
453 | NewWPL_Name = 1; |
| 454 | for (i = 0; i < PointCount; i++) |
454 | for (i = 0; i < PointCount; i++) |
| 455 | { |
455 | { |
| 456 | sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
456 | sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
| 457 | fputs_(wpline, fp); |
457 | fputs_(wpline, fp); |
| 458 | // write latitude in deg |
458 | // write latitude in deg |
| 459 | if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
459 | if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
| 460 | else u8_1 = '+'; |
460 | else u8_1 = '+'; |
| 461 | i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
461 | i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
| 462 | i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
462 | i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
| 463 | sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
463 | sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
| 464 | fputs_(wpline, fp); |
464 | fputs_(wpline, fp); |
| 465 | // write longitude in deg |
465 | // write longitude in deg |
| 466 | if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
466 | if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
| 467 | else u8_1 = '+'; |
467 | else u8_1 = '+'; |
| 468 | i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
468 | i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
| 469 | i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
469 | i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
| 470 | sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
470 | sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
| 471 | fputs_(wpline, fp); |
471 | fputs_(wpline, fp); |
| 472 | // write tolerace radius in m |
472 | // write tolerace radius in m |
| 473 | sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
473 | sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
| 474 | fputs_(wpline, fp); |
474 | fputs_(wpline, fp); |
| 475 | // write altitude in m |
475 | // write altitude in m |
| 476 | if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
476 | if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
| 477 | else u8_1 = '+'; |
477 | else u8_1 = '+'; |
| 478 | if(PointList[i].Type == POINT_TYPE_POI) |
478 | if(PointList[i].Type == POINT_TYPE_POI) |
| 479 | { |
479 | { |
| 480 | i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
480 | i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
| 481 | i32_2 = abs(PointList[i].Position.Altitude)%100L; |
481 | i32_2 = abs(PointList[i].Position.Altitude)%100L; |
| 482 | } |
482 | } |
| 483 | else |
483 | else |
| 484 | { |
484 | { |
| 485 | i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
485 | i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
| 486 | i32_2 = abs(PointList[i].Position.Altitude)%10L; |
486 | i32_2 = abs(PointList[i].Position.Altitude)%10L; |
| 487 | } |
487 | } |
| 488 | sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
488 | sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
| 489 | fputs_(wpline, fp); |
489 | fputs_(wpline, fp); |
| 490 | // write climb rate in 0.1 m/s |
490 | // write climb rate in 0.1 m/s |
| 491 | sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
491 | sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
| 492 | fputs_(wpline, fp); |
492 | fputs_(wpline, fp); |
| 493 | // write hold time in s |
493 | // write hold time in s |
| 494 | sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
494 | sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
| 495 | fputs_(wpline, fp); |
495 | fputs_(wpline, fp); |
| 496 | // write event channel value |
496 | // write event channel value |
| 497 | sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
497 | sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
| 498 | fputs_(wpline, fp); |
498 | fputs_(wpline, fp); |
| 499 | // write heading in deg (0= nothing, neg. values index to poi) |
499 | // write heading in deg (0= nothing, neg. values index to poi) |
| 500 | sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
500 | sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
| 501 | fputs_(wpline, fp); |
501 | fputs_(wpline, fp); |
| 502 | // write speed in 0.1 m/s |
502 | // write speed in 0.1 m/s |
| 503 | sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
503 | sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
| 504 | fputs_(wpline, fp); |
504 | fputs_(wpline, fp); |
| 505 | // write cam angle in degree (255 -> POI-Automatic) |
505 | // write cam angle in degree (255 -> POI-Automatic) |
| 506 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
506 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
| 507 | fputs_(wpline, fp); |
507 | fputs_(wpline, fp); |
| 508 | // write point type |
508 | // write point type |
| 509 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
509 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
| 510 | fputs_(wpline, fp); |
510 | fputs_(wpline, fp); |
| 511 | // write prefix |
511 | // write prefix |
| 512 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
512 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
| 513 | fputs_(wpline, fp); |
513 | fputs_(wpline, fp); |
| 514 | sprintf(wpline, "AutoTrigger=%d\r\n", PointList[i].AutoPhotoDistance); |
514 | sprintf(wpline, "AutoTrigger=%d\r\n", PointList[i].AutoPhotoDistance); |
| 515 | fputs_(wpline, fp); |
515 | fputs_(wpline, fp); |
| 516 | } // EOF loop over all points |
516 | } // EOF loop over all points |
| 517 | } // EOF if(PointCount) |
517 | } // EOF if(PointCount) |
| 518 | if(EOF == fclose_(fp)) |
518 | if(EOF == fclose_(fp)) |
| 519 | { |
519 | { |
| 520 | UART1_PutString("failed!\r\n"); |
520 | UART1_PutString("failed!\r\n"); |
| 521 | } |
521 | } |
| 522 | else |
522 | else |
| 523 | { |
523 | { |
| 524 | UART1_PutString("ok\r\n"); |
524 | UART1_PutString("ok\r\n"); |
| 525 | retval = WPL_OK; |
525 | retval = WPL_OK; |
| 526 | } |
526 | } |
| 527 | } // EOF if(Fat16_IsValid()) |
527 | } // EOF if(Fat16_IsValid()) |
| 528 | else |
528 | else |
| 529 | { |
529 | { |
| 530 | UART1_PutString("no file system found!\r\n"); |
530 | UART1_PutString("no file system found!\r\n"); |
| 531 | retval = WPL_NO_SDCARD_FOUND; |
531 | retval = WPL_NO_SDCARD_FOUND; |
| 532 | } |
532 | } |
| 533 | return(retval); |
533 | return(retval); |
| 534 | } |
534 | } |
| 535 | 535 | ||
| 536 | u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen, u8 use_preset_speed) |
536 | u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen, u8 use_preset_speed) |
| 537 | { |
537 | { |
| 538 | File_t *fp; |
538 | File_t *fp; |
| 539 | s8 wpline[LINE_MAX]; |
539 | s8 wpline[LINE_MAX]; |
| 540 | u8 retval = WPL_ERROR; |
540 | u8 retval = WPL_ERROR; |
| 541 | 541 | ||
| 542 | s8 *name, *value; |
542 | s8 *name, *value; |
| 543 | u8 i; |
543 | u8 i; |
| 544 | 544 | ||
| 545 | u8 IsGeneralSection = 0; |
545 | u8 IsGeneralSection = 0; |
| 546 | u8 IsPointSection = 0; |
546 | u8 IsPointSection = 0; |
| 547 | u8 WPNumber = 0; |
547 | u8 WPNumber = 0; |
| 548 | 548 | ||
| 549 | // clear point list first |
549 | // clear point list first |
| 550 | PointList_Clear(); |
550 | PointList_Clear(); |
| 551 | HeadingOld = -1; // updates the direction if the new direction is the same like last time |
551 | HeadingOld = -1; // updates the direction if the new direction is the same like last time |
| 552 | UART1_PutString("\n\r Read "); |
552 | UART1_PutString("\n\r Read "); |
| 553 | UART1_PutString(filename); |
553 | UART1_PutString(filename); |
| 554 | UART1_PutString("..."); |
554 | UART1_PutString("..."); |
| 555 | 555 | ||
| 556 | if(Fat16_IsValid()) |
556 | if(Fat16_IsValid()) |
| 557 | { // check if wpl file is existing |
557 | { // check if wpl file is existing |
| 558 | fp = fopen_(filename, 'r'); // try to open the file |
558 | fp = fopen_(filename, 'r'); // try to open the file |
| 559 | if(fp == NULL) |
559 | if(fp == NULL) |
| 560 | { |
560 | { |
| 561 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
561 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
| 562 | return(retval); |
562 | return(retval); |
| 563 | } |
563 | } |
| 564 | // read all lines from file |
564 | // read all lines from file |
| 565 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
565 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
| 566 | { |
566 | { |
| 567 | if ( // ignorelines starting with \r,\n,' ',';','#' |
567 | if ( // ignorelines starting with \r,\n,' ',';','#' |
| 568 | (wpline[0] != '\n') && |
568 | (wpline[0] != '\n') && |
| 569 | (wpline[0] != '\r') && |
569 | (wpline[0] != '\r') && |
| 570 | (wpline[0] != ' ' ) && |
570 | (wpline[0] != ' ' ) && |
| 571 | (wpline[0] != ';' ) && |
571 | (wpline[0] != ';' ) && |
| 572 | (wpline[0] != '#' ) |
572 | (wpline[0] != '#' ) |
| 573 | ) |
573 | ) |
| 574 | { |
574 | { |
| 575 | // check for section line found |
575 | // check for section line found |
| 576 | if(wpline[0] == '[') |
576 | if(wpline[0] == '[') |
| 577 | { |
577 | { |
| 578 | // next section found |
578 | // next section found |
| 579 | IsGeneralSection = 0; |
579 | IsGeneralSection = 0; |
| 580 | IsPointSection = 0; |
580 | IsPointSection = 0; |
| 581 | 581 | ||
| 582 | name = strtok(&wpline[1], "]"); |
582 | name = strtok(&wpline[1], "]"); |
| 583 | if(name != NULL) // if section name |
583 | if(name != NULL) // if section name |
| 584 | { |
584 | { |
| 585 | // check section type |
585 | // check section type |
| 586 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
586 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
| 587 | 587 | ||
| 588 | if(strncmp(name, "POINT", 5) == 0) |
588 | if(strncmp(name, "POINT", 5) == 0) |
| 589 | { |
589 | { |
| 590 | IsPointSection = (u8)atoi(&name[5]); |
590 | IsPointSection = (u8)atoi(&name[5]); |
| 591 | PointCount++; |
591 | PointCount++; |
| 592 | } |
592 | } |
| 593 | else if(strcmp(name, "GENERAL") == 0) |
593 | else if(strcmp(name, "GENERAL") == 0) |
| 594 | { |
594 | { |
| 595 | IsGeneralSection = 1; |
595 | IsGeneralSection = 1; |
| 596 | } |
596 | } |
| 597 | else |
597 | else |
| 598 | { |
598 | { |
| 599 | UART1_PutString("Unknown section: "); |
599 | UART1_PutString("Unknown section: "); |
| 600 | UART1_PutString(name); |
600 | UART1_PutString(name); |
| 601 | UART1_PutString("\r\n"); |
601 | UART1_PutString("\r\n"); |
| 602 | } |
602 | } |
| 603 | } |
603 | } |
| 604 | } // EOF section line |
604 | } // EOF section line |
| 605 | else |
605 | else |
| 606 | { // look for key entrys of each sections |
606 | { // look for key entrys of each sections |
| 607 | name = strtok(wpline, "="); // get name |
607 | name = strtok(wpline, "="); // get name |
| 608 | value = strtok(NULL, "="); // get value |
608 | value = strtok(NULL, "="); // get value |
| 609 | if ((name != NULL) && (value != NULL)) |
609 | if ((name != NULL) && (value != NULL)) |
| 610 | { |
610 | { |
| 611 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
611 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
| 612 | if(IsPointSection && (IsPointSection <= WPNumber)) |
612 | if(IsPointSection && (IsPointSection <= WPNumber)) |
| 613 | { |
613 | { |
| 614 | if(strcmp(name, "LATITUDE") == 0) |
614 | if(strcmp(name, "LATITUDE") == 0) |
| 615 | { |
615 | { |
| 616 | PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
616 | PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
| 617 | } |
617 | } |
| 618 | else if(strcmp(name, "LONGITUDE") == 0) |
618 | else if(strcmp(name, "LONGITUDE") == 0) |
| 619 | { |
619 | { |
| 620 | PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
620 | PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
| 621 | } |
621 | } |
| 622 | else if(strcmp(name, "RADIUS") == 0) |
622 | else if(strcmp(name, "RADIUS") == 0) |
| 623 | { |
623 | { |
| 624 | PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
624 | PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
| 625 | } |
625 | } |
| 626 | else if(strcmp(name, "ALTITUDE") == 0) |
626 | else if(strcmp(name, "ALTITUDE") == 0) |
| 627 | { |
627 | { |
| 628 | PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
628 | PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
| 629 | PointList[IsPointSection-1].Position.Status = NEWDATA; |
629 | PointList[IsPointSection-1].Position.Status = NEWDATA; |
| 630 | } |
630 | } |
| 631 | else if(strcmp(name, "CLIMBRATE") == 0) |
631 | else if(strcmp(name, "CLIMBRATE") == 0) |
| 632 | { |
632 | { |
| 633 | PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
633 | PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
| 634 | } |
634 | } |
| 635 | else if(strcmp(name, "DELAYTIME") == 0) |
635 | else if(strcmp(name, "DELAYTIME") == 0) |
| 636 | { |
636 | { |
| 637 | PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
637 | PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
| 638 | } |
638 | } |
| 639 | else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
639 | else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
| 640 | { |
640 | { |
| 641 | PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
641 | PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
| 642 | } |
642 | } |
| 643 | else if(strcmp(name, "HEADING") == 0) |
643 | else if(strcmp(name, "HEADING") == 0) |
| 644 | { |
644 | { |
| 645 | PointList[IsPointSection-1].Heading = (s16)atoi(value); |
645 | PointList[IsPointSection-1].Heading = (s16)atoi(value); |
| 646 | } |
646 | } |
| 647 | else if(strcmp(name, "SPEED") == 0) |
647 | else if(strcmp(name, "SPEED") == 0) |
| 648 | { |
648 | { |
| 649 | if(use_preset_speed) PointList[IsPointSection-1].Speed = use_preset_speed; |
649 | if(use_preset_speed) PointList[IsPointSection-1].Speed = use_preset_speed; |
| 650 | else PointList[IsPointSection-1].Speed = (u8)atoi(value); |
650 | else PointList[IsPointSection-1].Speed = (u8)atoi(value); |
| 651 | } |
651 | } |
| 652 | else if(strcmp(name, "CAM-NICK") == 0) |
652 | else if(strcmp(name, "CAM-NICK") == 0) |
| 653 | { |
653 | { |
| 654 | PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
654 | PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
| 655 | } |
655 | } |
| 656 | else if(strcmp(name, "TYPE") == 0) |
656 | else if(strcmp(name, "TYPE") == 0) |
| 657 | { |
657 | { |
| 658 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
658 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
| 659 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
659 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
| 660 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
660 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
| 661 | 661 | ||
| 662 | switch(PointList[IsPointSection-1].Type) |
662 | switch(PointList[IsPointSection-1].Type) |
| 663 | { |
663 | { |
| 664 | case POINT_TYPE_WP: |
664 | case POINT_TYPE_WP: |
| 665 | // this works only if altitude key is set before point type key in WPL file !! |
665 | // this works only if altitude key is set before point type key in WPL file !! |
| 666 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
666 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
| 667 | WPCount++; |
667 | WPCount++; |
| 668 | break; |
668 | break; |
| 669 | case POINT_TYPE_FS: |
669 | case POINT_TYPE_FS: |
| 670 | FsPointCnt++; |
670 | FsPointCnt++; |
| 671 | break; |
671 | break; |
| 672 | case POINT_TYPE_POI: |
672 | case POINT_TYPE_POI: |
| 673 | POICount++; |
673 | POICount++; |
| 674 | break; |
674 | break; |
| 675 | } |
675 | } |
| 676 | } |
676 | } |
| 677 | else if(strcmp(name, "PREFIX") == 0) |
677 | else if(strcmp(name, "PREFIX") == 0) |
| 678 | { |
678 | { |
| 679 | strncpy(PointList[IsPointSection-1].Name, value, 4); |
679 | strncpy(PointList[IsPointSection-1].Name, value, 4); |
| 680 | PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
680 | PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
| 681 | } |
681 | } |
| 682 | else if(strcmp(name, "AUTOTRIGGER") == 0) |
682 | else if(strcmp(name, "AUTOTRIGGER") == 0) |
| 683 | { |
683 | { |
| 684 | PointList[IsPointSection-1].AutoPhotoDistance = (u8)atoi(value); |
684 | PointList[IsPointSection-1].AutoPhotoDistance = (u8)atoi(value); |
| 685 | } |
685 | } |
| 686 | else |
686 | else |
| 687 | { |
687 | { |
| 688 | UART1_PutString("Unknown key: "); |
688 | UART1_PutString("Unknown key: "); |
| 689 | UART1_PutString(name); |
689 | UART1_PutString(name); |
| 690 | UART1_PutString("\r\n"); |
690 | UART1_PutString("\r\n"); |
| 691 | } |
691 | } |
| 692 | } // EOF point section |
692 | } // EOF point section |
| 693 | else if(IsGeneralSection) |
693 | else if(IsGeneralSection) |
| 694 | { |
694 | { |
| 695 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
695 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
| 696 | { |
696 | { |
| 697 | WPNumber = (u8)atoi(value); |
697 | WPNumber = (u8)atoi(value); |
| 698 | if(!WPNumber) // no waypoints in file |
698 | if(!WPNumber) // no waypoints in file |
| 699 | { |
699 | { |
| 700 | return(WPL_NO_WAYPOINTS); // we are done here |
700 | return(WPL_NO_WAYPOINTS); // we are done here |
| 701 | } |
701 | } |
| 702 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
702 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
| 703 | { |
703 | { |
| 704 | UART1_PutString("To many points!"); |
704 | UART1_PutString("To many points!"); |
| 705 | return(WPL_ERROR); |
705 | return(WPL_ERROR); |
| 706 | } |
706 | } |
| 707 | } |
707 | } |
| 708 | else if (strcmp(name, "FILEVERSION") == 0) |
708 | else if (strcmp(name, "FILEVERSION") == 0) |
| 709 | { |
709 | { |
| 710 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
710 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
| 711 | { |
711 | { |
| 712 | PointList_Clear(); |
712 | PointList_Clear(); |
| 713 | UART1_PutString("Bad file version!\r\n"); |
713 | UART1_PutString("Bad file version!\r\n"); |
| 714 | return(WPL_ERROR); |
714 | return(WPL_ERROR); |
| 715 | } |
715 | } |
| 716 | } |
716 | } |
| 717 | else if (strcmp(name, "NAME") == 0) |
717 | else if (strcmp(name, "NAME") == 0) |
| 718 | { |
718 | { |
| 719 | if(listname) |
719 | if(listname) |
| 720 | { |
720 | { |
| 721 | u8 len = strlen(value); |
721 | u8 len = strlen(value); |
| 722 | if(len) |
722 | if(len) |
| 723 | { |
723 | { |
| 724 | if(value[len-1] == '\r') |
724 | if(value[len-1] == '\r') |
| 725 | { |
725 | { |
| 726 | value[len-1] = 0; |
726 | value[len-1] = 0; |
| 727 | // len--; |
727 | // len--; |
| 728 | } |
728 | } |
| 729 | } |
729 | } |
| 730 | if(len > listnamelen) len = listnamelen; |
730 | if(len > listnamelen) len = listnamelen; |
| 731 | if(len) |
731 | if(len) |
| 732 | { |
732 | { |
| 733 | value[len-1] = 0; // terminate string |
733 | value[len-1] = 0; // terminate string |
| 734 | if(listname) memcpy(listname, value, len); |
734 | if(listname) memcpy(listname, value, len); |
| 735 | } |
735 | } |
| 736 | NewWPL_Name = 1; |
736 | NewWPL_Name = 1; |
| 737 | } |
737 | } |
| 738 | } |
738 | } |
| 739 | else |
739 | else |
| 740 | { |
740 | { |
| 741 | UART1_PutString("Unknown key: "); |
741 | UART1_PutString("Unknown key: "); |
| 742 | UART1_PutString(name); |
742 | UART1_PutString(name); |
| 743 | UART1_PutString("\r\n"); |
743 | UART1_PutString("\r\n"); |
| 744 | } |
744 | } |
| 745 | } // EOF general section |
745 | } // EOF general section |
| 746 | } // EOF valid key entry |
746 | } // EOF valid key entry |
| 747 | } // EOF key entry line |
747 | } // EOF key entry line |
| 748 | } // valid line |
748 | } // valid line |
| 749 | } // EOF loop over all lines |
749 | } // EOF loop over all lines |
| 750 | fclose_(fp); |
750 | fclose_(fp); |
| 751 | NaviData.WaypointNumber = WPCount; |
751 | NaviData.WaypointNumber = WPCount; |
| 752 | retval = WPL_OK; |
752 | retval = WPL_OK; |
| 753 | UART1_PutString("ok\r\n"); |
753 | UART1_PutString("ok\r\n"); |
| 754 | } // EOF if(Fat16_IsValid()) |
754 | } // EOF if(Fat16_IsValid()) |
| 755 | else |
755 | else |
| 756 | { |
756 | { |
| 757 | UART1_PutString("no file system found!\r\n"); |
757 | UART1_PutString("no file system found!\r\n"); |
| 758 | retval = WPL_NO_SDCARD_FOUND; |
758 | retval = WPL_NO_SDCARD_FOUND; |
| 759 | } |
759 | } |
| 760 | return(retval); |
760 | return(retval); |
| 761 | } |
761 | } |
| 762 | 762 | ||
| 763 | // load actual point list from SD card |
763 | // load actual point list from SD card |
| 764 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
764 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
| 765 | { |
765 | { |
| 766 | u8 filename[30]; |
766 | u8 filename[30]; |
| 767 | 767 | ||
| 768 | pWPL_Store->Name[0] = 0; // clear current list name |
768 | pWPL_Store->Name[0] = 0; // clear current list name |
| 769 | 769 | ||
| 770 | // user absolute path, i.e. leading / |
770 | // user absolute path, i.e. leading / |
| 771 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
771 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
| 772 | { |
772 | { |
| 773 | sprintf(filename, "/default.wpl"); |
773 | sprintf(filename, "/default.wpl"); |
| 774 | } |
774 | } |
| 775 | else |
775 | else |
| 776 | { |
776 | { |
| 777 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
777 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
| 778 | } |
778 | } |
| 779 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),0); |
779 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),0); |
| 780 | } |
780 | } |
| 781 | 781 | ||
| 782 | // save actual point list to SD card |
782 | // save actual point list to SD card |
| 783 | u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
783 | u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
| 784 | { |
784 | { |
| 785 | u8 filename[30]; |
785 | u8 filename[30]; |
| 786 | 786 | ||
| 787 | 787 | ||
| 788 | if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
788 | if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
| 789 | // user absolute path, i.e. leading / |
789 | // user absolute path, i.e. leading / |
| 790 | if(pWPL_Store->Index == 0) |
790 | if(pWPL_Store->Index == 0) |
| 791 | { |
791 | { |
| 792 | sprintf(filename, "/default.wpl"); |
792 | sprintf(filename, "/default.wpl"); |
| 793 | } |
793 | } |
| 794 | else |
794 | else |
| 795 | { |
795 | { |
| 796 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
796 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
| 797 | } |
797 | } |
| 798 | return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
798 | return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
| 799 | } |
799 | } |
| 800 | 800 | ||
| 801 | 801 | ||
| 802 | // save actual gps positiin and heading to file |
802 | // save actual gps positiin and heading to file |
| 803 | u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
803 | u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
| 804 | { |
804 | { |
| 805 | u8 retval = WPL_ERROR; |
805 | u8 retval = WPL_ERROR; |
| 806 | u8 filename[30]; |
806 | u8 filename[30]; |
| 807 | Point_t WP; |
807 | Point_t WP; |
| 808 | 808 | ||
| 809 | UART1_PutString("\n\r write single point\n\r"); |
809 | UART1_PutString("\n\r write single point\n\r"); |
| 810 | if(GPSData.Position.Status == INVALID) |
810 | if(GPSData.Position.Status == INVALID) |
| 811 | { |
811 | { |
| 812 | UART1_PutString("ERROR: No GPS - Fix\n\r"); |
812 | UART1_PutString("ERROR: No GPS - Fix\n\r"); |
| 813 | return(retval); |
813 | return(retval); |
| 814 | } |
814 | } |
| 815 | 815 | ||
| 816 | // clear current point list |
816 | // clear current point list |
| 817 | PointList_Clear(); |
817 | PointList_Clear(); |
| 818 | // prepare WP at current position |
818 | // prepare WP at current position |
| 819 | 819 | ||
| 820 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
820 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance_dm > 7*10) |
| 821 | { // take actual position |
821 | { // take actual position |
| 822 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
822 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
| 823 | } |
823 | } |
| 824 | else |
824 | else |
| 825 | { // take last target position |
825 | { // take last target position |
| 826 | GPSPos_Copy(&NaviData.TargetPosition, &(WP.Position)); |
826 | GPSPos_Copy(&NaviData.TargetPosition, &(WP.Position)); |
| 827 | } |
827 | } |
| 828 | 828 | ||
| 829 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
829 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
| 830 | // set heading |
830 | // set heading |
| 831 | WP.Heading = (CompassSetpointCorrected/10 + Parameter.CamOrientation * 15) % 360; |
831 | WP.Heading = (CompassSetpointCorrected/10 + Parameter.CamOrientation * 15) % 360; |
| 832 | if(WP.Heading == 0) WP.Heading = 360; |
832 | if(WP.Heading == 0) WP.Heading = 360; |
| 833 | WP.ToleranceRadius = 120; // 12m |
833 | WP.ToleranceRadius = 120; // 12m |
| 834 | WP.HoldTime = 2; |
834 | WP.HoldTime = 2; |
| 835 | WP.Index = 1; |
835 | WP.Index = 1; |
| 836 | WP.Type = POINT_TYPE_WP; |
836 | WP.Type = POINT_TYPE_WP; |
| 837 | WP.WP_EventChannelValue = 100; |
837 | WP.WP_EventChannelValue = 100; |
| 838 | if(FC.StatusFlags & FC_STATUS_FLY && ((FromFC_VarioCharacter != ' ') || (SimulationFlags & SIMULATION_ACTIVE))) // only in flight and if the Altitude control is enabled |
838 | if(FC.StatusFlags & FC_STATUS_FLY && ((FromFC_VarioCharacter != ' ') || (SimulationFlags & SIMULATION_ACTIVE))) // only in flight and if the Altitude control is enabled |
| 839 | { |
839 | { |
| 840 | WP.AltitudeRate = 255; // Auto |
840 | WP.AltitudeRate = 255; // Auto |
| 841 | WP.Position.Altitude = NaviData.SetpointAltitude / 2; |
841 | WP.Position.Altitude = NaviData.SetpointAltitude / 2; |
| 842 | } |
842 | } |
| 843 | else |
843 | else |
| 844 | { |
844 | { |
| 845 | WP.AltitudeRate = 0; |
845 | WP.AltitudeRate = 0; |
| 846 | WP.Position.Altitude = 0; |
846 | WP.Position.Altitude = 0; |
| 847 | } |
847 | } |
| 848 | WP.Speed = 50; // beim Laden wird der Wert nochmal neu gesetzt |
848 | WP.Speed = 50; // beim Laden wird der Wert nochmal neu gesetzt |
| 849 | WP.CamAngle = 0; |
849 | WP.CamAngle = 0; |
| 850 | WP.Name[0] = 'S'; |
850 | WP.Name[0] = 'S'; |
| 851 | WP.Name[1] = 'P'; |
851 | WP.Name[1] = 'P'; |
| 852 | WP.Name[2] = 'T'; |
852 | WP.Name[2] = 'T'; |
| 853 | WP.Name[3] = 0; |
853 | WP.Name[3] = 0; |
| 854 | // add this point to wp list |
854 | // add this point to wp list |
| 855 | PointList_SetAt(&WP); |
855 | PointList_SetAt(&WP); |
| 856 | 856 | ||
| 857 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
857 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
| 858 | UART1_PutString(filename); |
858 | UART1_PutString(filename); |
| 859 | sprintf(pWPL_Store->Name, "POINT%03d ", pWPL_Store->Index); |
859 | sprintf(pWPL_Store->Name, "POINT%03d ", pWPL_Store->Index); |
| 860 | retval = PointList_Save(filename, pWPL_Store->Name, 1); |
860 | retval = PointList_Save(filename, pWPL_Store->Name, 1); |
| 861 | 861 | ||
| 862 | // clear current point list |
862 | // clear current point list |
| 863 | if((NC_GPS_ModeCharacter != 'w') && (NC_GPS_ModeCharacter != 'W')) PointList_Clear(); |
863 | if((NC_GPS_ModeCharacter != 'w') && (NC_GPS_ModeCharacter != 'W')) PointList_Clear(); |
| 864 | else // es ist gearde ein Wegpunktflug aktiv -> updaten |
864 | else // es ist gearde ein Wegpunktflug aktiv -> updaten |
| 865 | { |
865 | { |
| 866 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
866 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
| 867 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
867 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
| 868 | } |
868 | } |
| 869 | 869 | ||
| 870 | return(retval); |
870 | return(retval); |
| 871 | } |
871 | } |
| 872 | // load target gps posititon and heading from file |
872 | // load target gps posititon and heading from file |
| 873 | u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store) |
873 | u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store) |
| 874 | { |
874 | { |
| 875 | u8 filename[30], result = 0; |
875 | u8 filename[30], result = 0; |
| 876 | 876 | ||
| 877 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
877 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
| 878 | pWPL_Store->Name[0] = 0; // clear current list name |
878 | pWPL_Store->Name[0] = 0; // clear current list name |
| 879 | result = PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),Parameter.SingleWpSpeed); |
879 | result = PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),Parameter.SingleWpSpeed); |
| 880 | if(result) UART1_Request_ReadPoint = 1; // Sends Point 1 to the PC |
880 | if(result) UART1_Request_ReadPoint = 1; // Sends Point 1 to the PC |
| 881 | return(result); |
881 | return(result); |
| 882 | } |
882 | } |
| 883 | 883 | ||
| 884 | 884 | ||
| 885 | 885 | ||
| 886 | void ClearWLP_Name(void) |
886 | void ClearWLP_Name(void) |
| 887 | { |
887 | { |
| 888 | u8 i; |
888 | u8 i; |
| 889 | for(i=0; i<sizeof(WPL_Store.Name);i++) WPL_Store.Name[i] = 0; |
889 | for(i=0; i<sizeof(WPL_Store.Name);i++) WPL_Store.Name[i] = 0; |
| 890 | NewWPL_Name = 1; |
890 | NewWPL_Name = 1; |
| 891 | } |
891 | } |
| 892 | 892 | ||
| 893 | // move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards |
893 | // move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards |
| 894 | u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle) |
894 | u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle) |
| 895 | { |
895 | { |
| 896 | u8 retval = 0; |
896 | u8 retval = 0; |
| 897 | s32 altitude; |
897 | s32 altitude; |
| 898 | GPS_Pos_t OldRefPos; |
898 | GPS_Pos_t OldRefPos; |
| 899 | GPS_Pos_Deviation_t RefDeviation; |
899 | GPS_Pos_Deviation_t RefDeviation; |
| 900 | 900 | ||
| 901 | // check inputs for plausibility; |
901 | // check inputs for plausibility; |
| 902 | if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
902 | if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
| 903 | if(pRefPos == NULL) return(retval); |
903 | if(pRefPos == NULL) return(retval); |
| 904 | if(pRefPos->Status == INVALID) return(retval); |
904 | if(pRefPos->Status == INVALID) return(retval); |
| 905 | 905 | ||
| 906 | if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &OldRefPos)) // backup old reference position |
906 | if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &OldRefPos)) // backup old reference position |
| 907 | { |
907 | { |
| 908 | u8 i; |
908 | u8 i; |
| 909 | // iterate the position list |
909 | // iterate the position list |
| 910 | for(i = 0; i < PointCount; i++) |
910 | for(i = 0; i < PointCount; i++) |
| 911 | { |
911 | { |
| 912 | retval = 0; |
912 | retval = 0; |
| 913 | // backup altitude of this point |
913 | // backup altitude of this point |
| 914 | altitude = PointList[i].Position.Altitude; |
914 | altitude = PointList[i].Position.Altitude; |
| 915 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
915 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
| 916 | if(!GPSPos_Deviation(&(PointList[i].Position), &OldRefPos, &RefDeviation)) break; |
916 | if(!GPSPos_Deviation(&(PointList[i].Position), &OldRefPos, &RefDeviation)) break; |
| 917 | // copy of the new reference position into this list place |
917 | // copy of the new reference position into this list place |
| 918 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
918 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
| 919 | // restore former altitude |
919 | // restore former altitude |
| 920 | PointList[i].Position.Altitude = altitude; |
920 | PointList[i].Position.Altitude = altitude; |
| 921 | // move new reference according to the deviation of the old reference |
921 | // move new reference according to the deviation of the old reference |
| 922 | if(RotationAngle > 0) |
922 | if(RotationAngle > 0) |
| 923 | { |
923 | { |
| 924 | retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360, RefDeviation.Distance ); |
924 | retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360, RefDeviation.Distance_cm ); |
| 925 | // Now rotate the heading positions if they are fixed angles |
925 | // Now rotate the heading positions if they are fixed angles |
| 926 | if(PointList[i].Heading >= 0 && PointList[i].Heading <= 360) PointList[i].Heading = (PointList[i].Heading + RotationAngle) % 360; |
926 | if(PointList[i].Heading >= 0 && PointList[i].Heading <= 360) PointList[i].Heading = (PointList[i].Heading + RotationAngle) % 360; |
| 927 | } |
927 | } |
| 928 | else // no rotation |
928 | else // no rotation |
| 929 | { |
929 | { |
| 930 | // move new reference according to the deviation of the old reference |
930 | // move new reference according to the deviation of the old reference |
| 931 | retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
931 | retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
| 932 | } |
932 | } |
| 933 | if(!retval) break; |
933 | if(!retval) break; |
| 934 | } |
934 | } |
| 935 | } // else ref pos old not copied! |
935 | } // else ref pos old not copied! |
| 936 | if(!retval) PointList_Clear(); |
936 | if(!retval) PointList_Clear(); |
| 937 | return(retval); |
937 | return(retval); |
| 938 | } |
938 | } |
| 939 | 939 | ||
| 940 | 940 | ||
| 941 | 941 | ||
| 942 | 942 | ||