Rev 296 | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
41 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
||
3 | /*#######################################################################################*/ |
||
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
||
171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
41 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
||
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
||
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
||
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
||
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
||
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
||
15 | // + Verkauf von Luftbildaufnahmen, usw. |
||
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
||
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
||
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
22 | // + eindeutig als Ursprung verlinkt werden |
||
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
25 | // + Benutzung auf eigene Gefahr |
||
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
||
34 | // + this list of conditions and the following disclaimer. |
||
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
||
36 | // + from this software without specific prior written permission. |
||
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
||
38 | // + for non-commercial use (directly or indirectly) |
||
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
||
40 | // + with our written permission |
||
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
||
42 | // + clearly linked as origin |
||
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" |
||
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
||
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
55 | // + POSSIBILITY OF SUCH DAMAGE. |
||
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
57 | |||
58 | #include <string.h> |
||
59 | #include "91x_lib.h" |
||
60 | #include "waypoints.h" |
||
61 | #include "uart1.h" |
||
62 | |||
63 | // the waypoints list |
||
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 |
||
68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
||
69 | u8 WPCount = 0; // number of waypoints |
||
70 | u8 PointCount = 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN |
||
283 | holgerb | 71 | u8 POICount = 0; |
41 | ingob | 72 | |
296 | killagreg | 73 | u8 WPActive = FALSE; |
280 | killagreg | 74 | |
75 | u8 PointList_Init(void) |
||
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; |
||
227 | killagreg | 83 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
84 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
||
280 | killagreg | 85 | WPCount = 0; // no waypoints |
283 | holgerb | 86 | POICount = 0; |
280 | killagreg | 87 | PointCount = 0; // no contents |
296 | killagreg | 88 | WPActive = FALSE; |
280 | killagreg | 89 | NaviData.WaypointNumber = WPCount; |
90 | NaviData.WaypointIndex = 0; |
||
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; |
||
96 | PointList[i].Position.Longitude = 0; |
||
97 | PointList[i].Position.Altitude = 0; |
||
98 | PointList[i].Heading = 361; // invalid value |
||
99 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
||
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 |
||
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; |
||
106 | } |
||
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); |
||
117 | } |
||
118 | |||
119 | u8 PointList_SetAt(Point_t* pPoint) |
||
120 | { |
||
121 | // if index is in range |
||
296 | killagreg | 122 | if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
41 | ingob | 123 | { |
295 | killagreg | 124 | // check list entry before update |
125 | switch(PointList[pPoint->Index-1].Type) |
||
277 | killagreg | 126 | { |
295 | killagreg | 127 | case POINT_TYPE_INVALID: // was invalid |
128 | switch(pPoint->Type) |
||
129 | { |
||
130 | default: |
||
131 | case POINT_TYPE_INVALID: |
||
132 | // nothing to do |
||
133 | break; |
||
134 | |||
135 | case POINT_TYPE_WP: |
||
136 | WPCount++; |
||
137 | PointCount++; |
||
138 | break; |
||
139 | |||
140 | case POINT_TYPE_POI: |
||
141 | POICount++; |
||
142 | PointCount++; |
||
143 | break; |
||
144 | } |
||
145 | break; |
||
277 | killagreg | 146 | |
295 | killagreg | 147 | case POINT_TYPE_WP: // was a waypoint |
148 | switch(pPoint->Type) |
||
149 | { |
||
150 | case POINT_TYPE_INVALID: |
||
151 | WPCount--; |
||
152 | PointCount--; |
||
153 | break; |
||
277 | killagreg | 154 | |
295 | killagreg | 155 | default: |
156 | case POINT_TYPE_WP: |
||
157 | //nothing to do |
||
158 | break; |
||
159 | |||
160 | case POINT_TYPE_POI: |
||
161 | POICount++; |
||
162 | WPCount--; |
||
163 | break; |
||
164 | } |
||
165 | break; |
||
166 | |||
167 | case POINT_TYPE_POI: // was a poi |
||
168 | switch(pPoint->Type) |
||
169 | { |
||
170 | case POINT_TYPE_INVALID: |
||
171 | POICount--; |
||
172 | PointCount--; |
||
173 | break; |
||
174 | |||
175 | case POINT_TYPE_WP: |
||
176 | WPCount++; |
||
177 | POICount--; |
||
178 | break; |
||
179 | |||
180 | case POINT_TYPE_POI: |
||
181 | default: |
||
182 | // nothing to do |
||
183 | break; |
||
184 | } |
||
185 | break; |
||
277 | killagreg | 186 | } |
295 | killagreg | 187 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
188 | NaviData.WaypointNumber = WPCount; |
||
189 | return pPoint->Index; |
||
41 | ingob | 190 | } |
296 | killagreg | 191 | else return(0); |
41 | ingob | 192 | } |
193 | |||
227 | killagreg | 194 | // returns the pointer to the first waypoint within the list |
280 | killagreg | 195 | Point_t* PointList_WPBegin(void) |
41 | ingob | 196 | { |
277 | killagreg | 197 | u8 i; |
227 | killagreg | 198 | WPIndex = 0; // set list position invalid |
295 | killagreg | 199 | |
283 | holgerb | 200 | if(WPActive == FALSE) return(NULL); |
295 | killagreg | 201 | |
277 | killagreg | 202 | POIIndex = 0; // set invalid POI |
280 | killagreg | 203 | if(PointCount > 0) |
152 | killagreg | 204 | { |
225 | killagreg | 205 | // search for first wp in list |
295 | killagreg | 206 | for(i = 0; i <MAX_LIST_LEN; i++) |
225 | killagreg | 207 | { |
280 | killagreg | 208 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
225 | killagreg | 209 | { |
227 | killagreg | 210 | WPIndex = i + 1; |
225 | killagreg | 211 | break; |
212 | } |
||
213 | } |
||
277 | killagreg | 214 | if(WPIndex) // found a WP in the list |
215 | { |
||
280 | killagreg | 216 | NaviData.WaypointIndex = 1; |
277 | killagreg | 217 | // update index to POI |
280 | killagreg | 218 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
296 | killagreg | 219 | else POIIndex = 0; |
277 | killagreg | 220 | } |
221 | else // some points in the list but no WP found |
||
222 | { |
||
280 | killagreg | 223 | NaviData.WaypointIndex = 0; |
277 | killagreg | 224 | //Check for an existing POI |
295 | killagreg | 225 | for(i = 0; i < MAX_LIST_LEN; i++) |
277 | killagreg | 226 | { |
280 | killagreg | 227 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
277 | killagreg | 228 | { |
229 | POIIndex = i + 1; |
||
230 | break; |
||
231 | } |
||
232 | } |
||
233 | } |
||
152 | killagreg | 234 | } |
277 | killagreg | 235 | else // no point in the list |
152 | killagreg | 236 | { |
277 | killagreg | 237 | POIIndex = 0; |
295 | killagreg | 238 | NaviData.WaypointIndex = 0; |
227 | killagreg | 239 | } |
295 | killagreg | 240 | |
241 | if(WPIndex) return(&(PointList[WPIndex-1])); |
||
242 | else return(NULL); |
||
41 | ingob | 243 | } |
244 | |||
225 | killagreg | 245 | // returns the last waypoint |
280 | killagreg | 246 | Point_t* PointList_WPEnd(void) |
151 | killagreg | 247 | { |
277 | killagreg | 248 | |
249 | u8 i; |
||
227 | killagreg | 250 | WPIndex = 0; // set list position invalid |
277 | killagreg | 251 | POIIndex = 0; // set invalid |
283 | holgerb | 252 | |
280 | killagreg | 253 | if(WPActive == FALSE) return(NULL); |
277 | killagreg | 254 | |
280 | killagreg | 255 | if(PointCount > 0) |
151 | killagreg | 256 | { |
227 | killagreg | 257 | // search backward! |
295 | killagreg | 258 | for(i = 1; i <= MAX_LIST_LEN; i++) |
225 | killagreg | 259 | { |
295 | killagreg | 260 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
225 | killagreg | 261 | { |
295 | killagreg | 262 | WPIndex = MAX_LIST_LEN - i + 1; |
225 | killagreg | 263 | break; |
264 | } |
||
265 | } |
||
277 | killagreg | 266 | if(WPIndex) // found a WP within the list |
267 | { |
||
280 | killagreg | 268 | NaviData.WaypointIndex = WPCount; |
269 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
||
277 | killagreg | 270 | else POIIndex = 0; |
271 | } |
||
278 | killagreg | 272 | else // list contains some points but no WP in the list |
277 | killagreg | 273 | { |
274 | // search backward for a POI! |
||
295 | killagreg | 275 | for(i = 1; i <= MAX_LIST_LEN; i++) |
277 | killagreg | 276 | { |
295 | killagreg | 277 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
277 | killagreg | 278 | { |
295 | killagreg | 279 | POIIndex = MAX_LIST_LEN - i + 1; |
277 | killagreg | 280 | break; |
281 | } |
||
282 | } |
||
295 | killagreg | 283 | NaviData.WaypointIndex = 0; |
277 | killagreg | 284 | } |
151 | killagreg | 285 | } |
277 | killagreg | 286 | else // no point in the list |
227 | killagreg | 287 | { |
280 | killagreg | 288 | POIIndex = 0; |
289 | NaviData.WaypointIndex = 0; |
||
227 | killagreg | 290 | } |
295 | killagreg | 291 | if(WPIndex) return(&(PointList[WPIndex-1])); |
292 | else return(NULL); |
||
151 | killagreg | 293 | } |
294 | |||
41 | ingob | 295 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
280 | killagreg | 296 | Point_t* PointList_WPNext(void) |
41 | ingob | 297 | { |
227 | killagreg | 298 | u8 wp_found = 0; |
280 | killagreg | 299 | if(WPActive == FALSE) return(NULL); |
227 | killagreg | 300 | |
295 | killagreg | 301 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
41 | ingob | 302 | { |
227 | killagreg | 303 | u8 i; |
295 | killagreg | 304 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
225 | killagreg | 305 | { |
280 | killagreg | 306 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
225 | killagreg | 307 | { |
227 | killagreg | 308 | wp_found = i+1; |
225 | killagreg | 309 | break; |
310 | } |
||
311 | } |
||
41 | ingob | 312 | } |
227 | killagreg | 313 | if(wp_found) |
314 | { |
||
315 | WPIndex = wp_found; // update list position |
||
280 | killagreg | 316 | NaviData.WaypointIndex++; |
317 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
||
227 | killagreg | 318 | else POIIndex = 0; |
280 | killagreg | 319 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
227 | killagreg | 320 | } |
277 | killagreg | 321 | else |
280 | killagreg | 322 | { // no next wp found |
323 | NaviData.WaypointIndex = 0; |
||
277 | killagreg | 324 | POIIndex = 0; |
325 | return(NULL); |
||
326 | } |
||
41 | ingob | 327 | } |
280 | killagreg | 328 | |
329 | void PointList_WPActive(u8 set) |
||
330 | { |
||
295 | killagreg | 331 | if(set) |
332 | { |
||
333 | WPActive = TRUE; |
||
334 | PointList_WPBegin(); // uopdates POI index |
||
335 | } |
||
336 | else |
||
337 | { |
||
338 | WPActive = FALSE; |
||
339 | POIIndex = 0; // disable POI also |
||
340 | } |
||
280 | killagreg | 341 | } |
41 | ingob | 342 | |
280 | killagreg | 343 | Point_t* PointList_GetPOI(void) |
224 | killagreg | 344 | { |
280 | killagreg | 345 | return PointList_GetAt(POIIndex); |
224 | killagreg | 346 | } |
347 |