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41 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
41 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
41 | ingob | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
41 | ingob | 44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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57 | |||
58 | #include <string.h> |
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59 | #include "91x_lib.h" |
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60 | #include "waypoints.h" |
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61 | #include "uart1.h" |
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62 | |||
63 | // the waypoints list |
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224 | killagreg | 64 | #define WPLISTLEN 21 |
65 | #define MAXWPNUMBER (WPLISTLEN-1) |
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41 | ingob | 66 | Waypoint_t WPList[WPLISTLEN]; |
67 | u8 WPIndex = 0; |
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68 | u8 WPNumber = 0; |
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69 | |||
70 | |||
71 | u8 WPList_Init(void) |
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72 | { |
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73 | return WPList_Clear(); |
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74 | } |
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75 | |||
76 | u8 WPList_Clear(void) |
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77 | { |
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78 | u8 i; |
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224 | killagreg | 79 | WPIndex = 0; // invalid index |
80 | WPNumber = 0; // no contents |
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41 | ingob | 81 | NaviData.WaypointNumber = WPNumber; |
82 | NaviData.WaypointIndex = WPIndex; |
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83 | |||
224 | killagreg | 84 | for(i = 1; i < WPLISTLEN; i++) |
41 | ingob | 85 | { |
92 | killagreg | 86 | WPList[i].Position.Status = INVALID; |
87 | WPList[i].Position.Latitude = 0; |
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88 | WPList[i].Position.Longitude = 0; |
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89 | WPList[i].Position.Altitude = 0; |
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90 | WPList[i].Heading = -1; |
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91 | WPList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
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92 | WPList[i].HoldTime = 0; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
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151 | killagreg | 93 | WPList[i].Event_Flag = 0; // future implementation |
41 | ingob | 94 | } |
95 | return TRUE; |
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96 | } |
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97 | |||
98 | u8 WPList_GetCount(void) |
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99 | { |
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100 | return WPNumber; |
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101 | } |
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102 | |||
103 | u8 WPList_Append(Waypoint_t* pwp) |
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104 | { |
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224 | killagreg | 105 | if(WPNumber < MAXWPNUMBER) // there is still some space in the list |
41 | ingob | 106 | { |
224 | killagreg | 107 | WPNumber++; |
41 | ingob | 108 | memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry |
224 | killagreg | 109 | WPList[WPNumber].Position.Status = NEWDATA; // mark as new data // increment list length |
41 | ingob | 110 | NaviData.WaypointNumber = WPNumber; |
111 | return TRUE; |
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112 | } |
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113 | else return FALSE; |
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114 | } |
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115 | |||
116 | // rewind to the begin of the list, and returns the first waypoint |
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117 | Waypoint_t* WPList_Begin(void) |
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118 | { |
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152 | killagreg | 119 | if(WPNumber > 0) |
120 | { |
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224 | killagreg | 121 | WPIndex = 1; // reset list index |
122 | NaviData.WaypointIndex = WPIndex; |
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152 | killagreg | 123 | return(&(WPList[WPIndex])); // if list is not empty return pointer to first waypoint in the list |
124 | } |
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125 | else |
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126 | { |
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224 | killagreg | 127 | WPIndex = 0; // invalid index |
152 | killagreg | 128 | NaviData.WaypointIndex = 0; |
129 | return NULL; // else return NULL |
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130 | } |
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41 | ingob | 131 | |
132 | } |
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133 | |||
151 | killagreg | 134 | // jump to the end of the list, and returns the last waypoint |
135 | Waypoint_t* WPList_End(void) |
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136 | { |
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137 | if(WPNumber > 0) |
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138 | { |
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224 | killagreg | 139 | WPIndex = WPNumber; |
140 | NaviData.WaypointIndex = WPIndex; |
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151 | killagreg | 141 | return(&(WPList[WPIndex])); // if list is not empty return pointer to first waypoint in the list |
142 | } |
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143 | else |
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144 | { |
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224 | killagreg | 145 | WPIndex = 0; |
146 | NaviData.WaypointIndex = WPIndex; |
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151 | killagreg | 147 | return NULL; // else return NULL |
148 | } |
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149 | |||
150 | } |
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151 | |||
41 | ingob | 152 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
153 | Waypoint_t* WPList_Next(void) |
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154 | { |
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224 | killagreg | 155 | if(WPIndex < WPNumber) // if the next WPIndex exist |
41 | ingob | 156 | { |
157 | WPIndex++; // goto next |
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224 | killagreg | 158 | NaviData.WaypointIndex = WPIndex; |
41 | ingob | 159 | return(&(WPList[WPIndex])); // return pointer to this waypoint |
160 | } |
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92 | killagreg | 161 | else return(NULL); |
41 | ingob | 162 | } |
163 | |||
92 | killagreg | 164 | Waypoint_t* WPList_GetAt(u8 index) |
165 | { |
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224 | killagreg | 166 | if(index <= WPNumber) return(&(WPList[index])); // return pointer to this waypoint |
92 | killagreg | 167 | else return(NULL); |
168 | } |
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224 | killagreg | 169 | |
170 | Waypoint_t* WPList_GetPOI(void) |
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171 | { |
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172 | if(WPList[0].Position.Status == INVALID) return(NULL); |
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173 | else return(&(WPList[0])); |
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174 | } |
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175 | |||
176 | void WPList_SetPOI(Waypoint_t* pwp) |
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177 | { |
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178 | memcpy(&WPList[0], pwp, sizeof(Waypoint_t)); // copy wp data to list entry |
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179 | } |