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