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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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280 | killagreg | 64 | #define MAX_LIST_LEN 31 |
227 | killagreg | 65 | |
280 | killagreg | 66 | Point_t PointList[MAX_LIST_LEN]; |
67 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
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68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
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69 | u8 WPCount = 0; // number of waypoints |
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70 | u8 PointCount = 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN |
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283 | holgerb | 71 | u8 POICount = 0; |
41 | ingob | 72 | |
280 | killagreg | 73 | u8 WPActive = TRUE; |
74 | |||
75 | u8 PointList_Init(void) |
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41 | ingob | 76 | { |
280 | killagreg | 77 | return PointList_Clear(); |
41 | ingob | 78 | } |
79 | |||
280 | killagreg | 80 | u8 PointList_Clear(void) |
41 | ingob | 81 | { |
82 | u8 i; |
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227 | killagreg | 83 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
84 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
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280 | killagreg | 85 | WPCount = 0; // no waypoints |
283 | holgerb | 86 | POICount = 0; |
280 | killagreg | 87 | PointCount = 0; // no contents |
88 | WPActive = TRUE; |
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89 | NaviData.WaypointNumber = WPCount; |
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90 | NaviData.WaypointIndex = 0; |
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41 | ingob | 91 | |
280 | killagreg | 92 | for(i = 0; i < MAX_LIST_LEN; i++) |
41 | ingob | 93 | { |
280 | killagreg | 94 | PointList[i].Position.Status = INVALID; |
95 | PointList[i].Position.Latitude = 0; |
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96 | PointList[i].Position.Longitude = 0; |
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97 | PointList[i].Position.Altitude = 0; |
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98 | PointList[i].Heading = 361; // invalid value |
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99 | PointList[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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100 | 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 |
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286 | killagreg | 101 | PointList[i].Type = POINT_TYPE_INVALID; |
280 | killagreg | 102 | PointList[i].Event_Flag = 0; // future implementation |
286 | killagreg | 103 | PointList[i].AltitudeRate = 0; // no change of setpoint |
41 | ingob | 104 | } |
105 | return TRUE; |
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106 | } |
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107 | |||
280 | killagreg | 108 | u8 PointList_GetCount(void) |
41 | ingob | 109 | { |
280 | killagreg | 110 | return PointCount; // number of points in the list |
41 | ingob | 111 | } |
112 | |||
295 | killagreg | 113 | Point_t* PointList_GetAt(u8 index) |
41 | ingob | 114 | { |
295 | killagreg | 115 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
116 | else return(NULL); |
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117 | } |
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118 | |||
119 | u8 PointList_SetAt(Point_t* pPoint) |
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120 | { |
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121 | // if index is in range |
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122 | if((pPoint->Index > 0) && (pPoint->Index < MAX_LIST_LEN)) |
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41 | ingob | 123 | { |
295 | killagreg | 124 | // check list entry before update |
125 | if(PointList[pPoint->Index-1].Type) |
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126 | switch(PointList[pPoint->Index-1].Type) |
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277 | killagreg | 127 | { |
295 | killagreg | 128 | case POINT_TYPE_INVALID: // was invalid |
129 | switch(pPoint->Type) |
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130 | { |
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131 | default: |
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132 | case POINT_TYPE_INVALID: |
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133 | // nothing to do |
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134 | break; |
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135 | |||
136 | case POINT_TYPE_WP: |
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137 | WPCount++; |
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138 | PointCount++; |
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139 | break; |
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140 | |||
141 | case POINT_TYPE_POI: |
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142 | POICount++; |
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143 | PointCount++; |
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144 | break; |
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145 | } |
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146 | break; |
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277 | killagreg | 147 | |
295 | killagreg | 148 | case POINT_TYPE_WP: // was a waypoint |
149 | switch(pPoint->Type) |
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150 | { |
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151 | case POINT_TYPE_INVALID: |
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152 | WPCount--; |
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153 | PointCount--; |
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154 | break; |
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277 | killagreg | 155 | |
295 | killagreg | 156 | default: |
157 | case POINT_TYPE_WP: |
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158 | //nothing to do |
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159 | break; |
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160 | |||
161 | case POINT_TYPE_POI: |
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162 | POICount++; |
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163 | WPCount--; |
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164 | break; |
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165 | } |
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166 | break; |
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167 | |||
168 | case POINT_TYPE_POI: // was a poi |
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169 | switch(pPoint->Type) |
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170 | { |
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171 | case POINT_TYPE_INVALID: |
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172 | POICount--; |
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173 | PointCount--; |
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174 | break; |
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175 | |||
176 | case POINT_TYPE_WP: |
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177 | WPCount++; |
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178 | POICount--; |
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179 | break; |
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180 | |||
181 | case POINT_TYPE_POI: |
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182 | default: |
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183 | // nothing to do |
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184 | break; |
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185 | } |
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186 | break; |
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277 | killagreg | 187 | } |
295 | killagreg | 188 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
189 | NaviData.WaypointNumber = WPCount; |
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190 | return pPoint->Index; |
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41 | ingob | 191 | } |
295 | killagreg | 192 | else return 0; |
41 | ingob | 193 | } |
194 | |||
227 | killagreg | 195 | // returns the pointer to the first waypoint within the list |
280 | killagreg | 196 | Point_t* PointList_WPBegin(void) |
41 | ingob | 197 | { |
277 | killagreg | 198 | u8 i; |
227 | killagreg | 199 | WPIndex = 0; // set list position invalid |
295 | killagreg | 200 | |
283 | holgerb | 201 | if(WPActive == FALSE) return(NULL); |
295 | killagreg | 202 | |
277 | killagreg | 203 | POIIndex = 0; // set invalid POI |
280 | killagreg | 204 | if(PointCount > 0) |
152 | killagreg | 205 | { |
225 | killagreg | 206 | // search for first wp in list |
295 | killagreg | 207 | for(i = 0; i <MAX_LIST_LEN; i++) |
225 | killagreg | 208 | { |
280 | killagreg | 209 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
225 | killagreg | 210 | { |
227 | killagreg | 211 | WPIndex = i + 1; |
225 | killagreg | 212 | break; |
213 | } |
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214 | } |
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277 | killagreg | 215 | if(WPIndex) // found a WP in the list |
216 | { |
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280 | killagreg | 217 | NaviData.WaypointIndex = 1; |
277 | killagreg | 218 | // update index to POI |
280 | killagreg | 219 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
277 | killagreg | 220 | else POIIndex = 0; |
280 | killagreg | 221 | return(&(PointList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
277 | killagreg | 222 | } |
223 | else // some points in the list but no WP found |
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224 | { |
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280 | killagreg | 225 | NaviData.WaypointIndex = 0; |
277 | killagreg | 226 | //Check for an existing POI |
295 | killagreg | 227 | for(i = 0; i < MAX_LIST_LEN; i++) |
277 | killagreg | 228 | { |
280 | killagreg | 229 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
277 | killagreg | 230 | { |
231 | POIIndex = i + 1; |
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232 | break; |
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233 | } |
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234 | } |
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235 | } |
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152 | killagreg | 236 | } |
277 | killagreg | 237 | else // no point in the list |
152 | killagreg | 238 | { |
277 | killagreg | 239 | POIIndex = 0; |
295 | killagreg | 240 | NaviData.WaypointIndex = 0; |
227 | killagreg | 241 | } |
295 | killagreg | 242 | |
243 | if(WPIndex) return(&(PointList[WPIndex-1])); |
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244 | else return(NULL); |
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41 | ingob | 245 | } |
246 | |||
225 | killagreg | 247 | // returns the last waypoint |
280 | killagreg | 248 | Point_t* PointList_WPEnd(void) |
151 | killagreg | 249 | { |
277 | killagreg | 250 | |
251 | u8 i; |
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227 | killagreg | 252 | WPIndex = 0; // set list position invalid |
277 | killagreg | 253 | POIIndex = 0; // set invalid |
283 | holgerb | 254 | |
280 | killagreg | 255 | if(WPActive == FALSE) return(NULL); |
277 | killagreg | 256 | |
280 | killagreg | 257 | if(PointCount > 0) |
151 | killagreg | 258 | { |
227 | killagreg | 259 | // search backward! |
295 | killagreg | 260 | for(i = 1; i <= MAX_LIST_LEN; i++) |
225 | killagreg | 261 | { |
295 | killagreg | 262 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
225 | killagreg | 263 | { |
295 | killagreg | 264 | WPIndex = MAX_LIST_LEN - i + 1; |
225 | killagreg | 265 | break; |
266 | } |
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267 | } |
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277 | killagreg | 268 | if(WPIndex) // found a WP within the list |
269 | { |
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280 | killagreg | 270 | NaviData.WaypointIndex = WPCount; |
271 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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277 | killagreg | 272 | else POIIndex = 0; |
273 | } |
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278 | killagreg | 274 | else // list contains some points but no WP in the list |
277 | killagreg | 275 | { |
276 | // search backward for a POI! |
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295 | killagreg | 277 | for(i = 1; i <= MAX_LIST_LEN; i++) |
277 | killagreg | 278 | { |
295 | killagreg | 279 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
277 | killagreg | 280 | { |
295 | killagreg | 281 | POIIndex = MAX_LIST_LEN - i + 1; |
277 | killagreg | 282 | break; |
283 | } |
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284 | } |
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295 | killagreg | 285 | NaviData.WaypointIndex = 0; |
277 | killagreg | 286 | } |
151 | killagreg | 287 | } |
277 | killagreg | 288 | else // no point in the list |
227 | killagreg | 289 | { |
280 | killagreg | 290 | POIIndex = 0; |
291 | NaviData.WaypointIndex = 0; |
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227 | killagreg | 292 | } |
295 | killagreg | 293 | if(WPIndex) return(&(PointList[WPIndex-1])); |
294 | else return(NULL); |
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151 | killagreg | 295 | } |
296 | |||
41 | ingob | 297 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
280 | killagreg | 298 | Point_t* PointList_WPNext(void) |
41 | ingob | 299 | { |
227 | killagreg | 300 | u8 wp_found = 0; |
280 | killagreg | 301 | if(WPActive == FALSE) return(NULL); |
227 | killagreg | 302 | |
295 | killagreg | 303 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
41 | ingob | 304 | { |
227 | killagreg | 305 | u8 i; |
295 | killagreg | 306 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
225 | killagreg | 307 | { |
280 | killagreg | 308 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
225 | killagreg | 309 | { |
227 | killagreg | 310 | wp_found = i+1; |
225 | killagreg | 311 | break; |
312 | } |
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313 | } |
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41 | ingob | 314 | } |
227 | killagreg | 315 | if(wp_found) |
316 | { |
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317 | WPIndex = wp_found; // update list position |
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280 | killagreg | 318 | NaviData.WaypointIndex++; |
319 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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227 | killagreg | 320 | else POIIndex = 0; |
280 | killagreg | 321 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
227 | killagreg | 322 | } |
277 | killagreg | 323 | else |
280 | killagreg | 324 | { // no next wp found |
325 | NaviData.WaypointIndex = 0; |
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277 | killagreg | 326 | POIIndex = 0; |
327 | return(NULL); |
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328 | } |
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41 | ingob | 329 | } |
280 | killagreg | 330 | |
331 | void PointList_WPActive(u8 set) |
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332 | { |
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295 | killagreg | 333 | if(set) |
334 | { |
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335 | WPActive = TRUE; |
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336 | PointList_WPBegin(); // uopdates POI index |
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337 | } |
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338 | else |
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339 | { |
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340 | WPActive = FALSE; |
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341 | POIIndex = 0; // disable POI also |
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342 | } |
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280 | killagreg | 343 | } |
41 | ingob | 344 | |
280 | killagreg | 345 | Point_t* PointList_GetPOI(void) |
224 | killagreg | 346 | { |
280 | killagreg | 347 | return PointList_GetAt(POIIndex); |
224 | killagreg | 348 | } |
349 |