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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 | // + 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; |
549 | holgerb | 230 | NewWaypointsReceived = 1; // activates the Waypoint list as soon as CH is started |
277 | killagreg | 231 | // update index to POI |
280 | killagreg | 232 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
516 | holgerb | 233 | else POIIndex = 0; |
277 | killagreg | 234 | } |
235 | else // some points in the list but no WP found |
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236 | { |
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280 | killagreg | 237 | NaviData.WaypointIndex = 0; |
277 | killagreg | 238 | //Check for an existing POI |
295 | killagreg | 239 | for(i = 0; i < MAX_LIST_LEN; i++) |
277 | killagreg | 240 | { |
280 | killagreg | 241 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
277 | killagreg | 242 | { |
243 | POIIndex = i + 1; |
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244 | break; |
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245 | } |
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246 | } |
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247 | } |
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152 | killagreg | 248 | } |
277 | killagreg | 249 | else // no point in the list |
152 | killagreg | 250 | { |
516 | holgerb | 251 | POIIndex = 0; |
252 | NaviData.WaypointIndex = 0; |
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227 | killagreg | 253 | } |
295 | killagreg | 254 | |
255 | if(WPIndex) return(&(PointList[WPIndex-1])); |
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256 | else return(NULL); |
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41 | ingob | 257 | } |
258 | |||
225 | killagreg | 259 | // returns the last waypoint |
280 | killagreg | 260 | Point_t* PointList_WPEnd(void) |
151 | killagreg | 261 | { |
516 | holgerb | 262 | |
277 | killagreg | 263 | u8 i; |
227 | killagreg | 264 | WPIndex = 0; // set list position invalid |
277 | killagreg | 265 | POIIndex = 0; // set invalid |
283 | holgerb | 266 | |
280 | killagreg | 267 | if(WPActive == FALSE) return(NULL); |
277 | killagreg | 268 | |
280 | killagreg | 269 | if(PointCount > 0) |
151 | killagreg | 270 | { |
227 | killagreg | 271 | // search backward! |
295 | killagreg | 272 | for(i = 1; i <= MAX_LIST_LEN; i++) |
225 | killagreg | 273 | { |
295 | killagreg | 274 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
516 | holgerb | 275 | { |
295 | killagreg | 276 | WPIndex = MAX_LIST_LEN - i + 1; |
225 | killagreg | 277 | break; |
278 | } |
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279 | } |
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277 | killagreg | 280 | if(WPIndex) // found a WP within the list |
281 | { |
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280 | killagreg | 282 | NaviData.WaypointIndex = WPCount; |
283 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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516 | holgerb | 284 | else POIIndex = 0; |
277 | killagreg | 285 | } |
278 | killagreg | 286 | else // list contains some points but no WP in the list |
277 | killagreg | 287 | { |
288 | // search backward for a POI! |
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295 | killagreg | 289 | for(i = 1; i <= MAX_LIST_LEN; i++) |
277 | killagreg | 290 | { |
295 | killagreg | 291 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
516 | holgerb | 292 | { |
295 | killagreg | 293 | POIIndex = MAX_LIST_LEN - i + 1; |
277 | killagreg | 294 | break; |
295 | } |
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296 | } |
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516 | holgerb | 297 | NaviData.WaypointIndex = 0; |
277 | killagreg | 298 | } |
151 | killagreg | 299 | } |
277 | killagreg | 300 | else // no point in the list |
227 | killagreg | 301 | { |
280 | killagreg | 302 | POIIndex = 0; |
303 | NaviData.WaypointIndex = 0; |
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227 | killagreg | 304 | } |
295 | killagreg | 305 | if(WPIndex) return(&(PointList[WPIndex-1])); |
306 | else return(NULL); |
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151 | killagreg | 307 | } |
308 | |||
41 | ingob | 309 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
280 | killagreg | 310 | Point_t* PointList_WPNext(void) |
41 | ingob | 311 | { |
227 | killagreg | 312 | u8 wp_found = 0; |
280 | killagreg | 313 | if(WPActive == FALSE) return(NULL); |
516 | holgerb | 314 | |
295 | killagreg | 315 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
41 | ingob | 316 | { |
227 | killagreg | 317 | u8 i; |
295 | killagreg | 318 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
225 | killagreg | 319 | { |
280 | killagreg | 320 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
225 | killagreg | 321 | { |
227 | killagreg | 322 | wp_found = i+1; |
225 | killagreg | 323 | break; |
324 | } |
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325 | } |
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41 | ingob | 326 | } |
227 | killagreg | 327 | if(wp_found) |
328 | { |
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329 | WPIndex = wp_found; // update list position |
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280 | killagreg | 330 | NaviData.WaypointIndex++; |
331 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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227 | killagreg | 332 | else POIIndex = 0; |
280 | killagreg | 333 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
227 | killagreg | 334 | } |
516 | holgerb | 335 | else |
280 | killagreg | 336 | { // no next wp found |
516 | holgerb | 337 | NaviData.WaypointIndex = 0; |
277 | killagreg | 338 | POIIndex = 0; |
339 | return(NULL); |
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340 | } |
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516 | holgerb | 341 | } |
280 | killagreg | 342 | |
343 | void PointList_WPActive(u8 set) |
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344 | { |
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295 | killagreg | 345 | if(set) |
516 | holgerb | 346 | { |
295 | killagreg | 347 | WPActive = TRUE; |
491 | killagreg | 348 | PointList_WPBegin(); // updates POI index |
295 | killagreg | 349 | } |
350 | else |
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351 | { |
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352 | WPActive = FALSE; |
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353 | POIIndex = 0; // disable POI also |
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354 | } |
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280 | killagreg | 355 | } |
516 | holgerb | 356 | |
280 | killagreg | 357 | Point_t* PointList_GetPOI(void) |
224 | killagreg | 358 | { |
516 | holgerb | 359 | return PointList_GetAt(POIIndex); |
224 | killagreg | 360 | } |
361 | |||
513 | killagreg | 362 | |
490 | killagreg | 363 | #define LINE_MAX 70 |
364 | #define WP_FILE_VERSION_COMPATIBLE 3 |
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513 | killagreg | 365 | |
366 | u8 PointList_Save(u8 * filename, u8* listname, u8 overwride) |
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490 | killagreg | 367 | { |
368 | File_t *fp; |
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495 | killagreg | 369 | s8 wpline[LINE_MAX]; |
370 | u8 retval = WPL_ERROR; |
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513 | killagreg | 371 | |
490 | killagreg | 372 | UART1_PutString("\n\r Save WPL..."); |
373 | |||
374 | if(Fat16_IsValid()) |
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375 | { // check if wpl file is existing |
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513 | killagreg | 376 | if(fexist_(filename)) |
495 | killagreg | 377 | { //file is existent |
516 | holgerb | 378 | if(!(overwride)) |
495 | killagreg | 379 | { |
380 | UART1_PutString("Error: file exist!\r\n"); |
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381 | return(WPL_FILEEXIST); |
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516 | holgerb | 382 | } |
495 | killagreg | 383 | } |
513 | killagreg | 384 | fp = fopen_(filename, 'w'); // try to open the file |
490 | killagreg | 385 | if(fp == NULL) |
386 | { |
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387 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
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388 | return(retval); |
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389 | } |
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390 | // Create general section and key entries |
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391 | fputs_("[General]\r\n", fp); |
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516 | holgerb | 392 | sprintf(wpline, "Name=%s\r\n", listname); |
494 | killagreg | 393 | fputs_(wpline, fp); |
516 | holgerb | 394 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
490 | killagreg | 395 | fputs_(wpline, fp); |
396 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
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397 | fputs_(wpline, fp); |
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398 | // dump all points if existent |
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399 | if(PointCount) |
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400 | { |
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401 | u8 i, u8_1; |
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402 | s32 i32_1, i32_2; |
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504 | holgerb | 403 | NewWPL_Name = 1; |
490 | killagreg | 404 | for (i = 0; i < PointCount; i++) |
405 | { |
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406 | sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
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407 | fputs_(wpline, fp); |
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408 | // write latitude in deg |
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409 | if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
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410 | else u8_1 = '+'; |
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411 | i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
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412 | i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
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413 | sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
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414 | fputs_(wpline, fp); |
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415 | // write longitude in deg |
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416 | if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
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417 | else u8_1 = '+'; |
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418 | i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
||
419 | i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
||
420 | sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
||
421 | fputs_(wpline, fp); |
||
422 | // write tolerace radius in m |
||
423 | sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
||
424 | fputs_(wpline, fp); |
||
425 | // write altitude in m |
||
426 | if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
||
427 | else u8_1 = '+'; |
||
428 | if(PointList[i].Type == POINT_TYPE_POI) |
||
429 | { |
||
430 | i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
||
431 | i32_2 = abs(PointList[i].Position.Altitude)%100L; |
||
432 | } |
||
433 | else |
||
434 | { |
||
435 | i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
||
436 | i32_2 = abs(PointList[i].Position.Altitude)%10L; |
||
437 | } |
||
438 | sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
||
439 | fputs_(wpline, fp); |
||
440 | // write climb rate in 0.1 m/s |
||
441 | sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
||
442 | fputs_(wpline, fp); |
||
443 | // write hold time in s |
||
444 | sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
||
445 | fputs_(wpline, fp); |
||
446 | // write event channel value |
||
447 | sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
||
448 | fputs_(wpline, fp); |
||
449 | // write heading in deg (0= nothing, neg. values index to poi) |
||
450 | sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
||
451 | fputs_(wpline, fp); |
||
452 | // write speed in 0.1 m/s |
||
453 | sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
||
454 | fputs_(wpline, fp); |
||
455 | // write cam angle in degree (255 -> POI-Automatic) |
||
456 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
||
457 | fputs_(wpline, fp); |
||
458 | // write point type |
||
459 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
||
516 | holgerb | 460 | fputs_(wpline, fp); |
461 | // write prefix |
||
490 | killagreg | 462 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
463 | fputs_(wpline, fp); |
||
464 | } // EOF loop over all points |
||
465 | } // EOF if(PointCount) |
||
466 | if(EOF == fclose_(fp)) |
||
467 | { |
||
468 | UART1_PutString("failed!\r\n"); |
||
469 | } |
||
470 | else |
||
471 | { |
||
472 | UART1_PutString("ok\r\n"); |
||
495 | killagreg | 473 | retval = WPL_OK; |
516 | holgerb | 474 | } |
490 | killagreg | 475 | } // EOF if(Fat16_IsValid()) |
516 | holgerb | 476 | else |
497 | killagreg | 477 | { |
478 | UART1_PutString("no file system found!\r\n"); |
||
479 | retval = WPL_NO_SDCARD_FOUND; |
||
480 | } |
||
490 | killagreg | 481 | return(retval); |
482 | } |
||
483 | |||
519 | holgerb | 484 | u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen, u8 use_preset_speed) |
490 | killagreg | 485 | { |
486 | File_t *fp; |
||
496 | killagreg | 487 | s8 wpline[LINE_MAX]; |
488 | u8 retval = WPL_ERROR; |
||
516 | holgerb | 489 | |
490 | killagreg | 490 | s8 *name, *value; |
491 | u8 i; |
||
492 | |||
493 | u8 IsGeneralSection = 0; |
||
494 | u8 IsPointSection = 0; |
||
495 | u8 WPNumber = 0; |
||
498 | killagreg | 496 | |
497 | // clear point list first |
||
498 | PointList_Clear(); |
||
517 | holgerb | 499 | HeadingOld = -1; // updates the direction if the new direction is the same like last time |
490 | killagreg | 500 | UART1_PutString("\n\r Read "); |
516 | holgerb | 501 | UART1_PutString(filename); |
490 | killagreg | 502 | UART1_PutString("..."); |
503 | |||
504 | if(Fat16_IsValid()) |
||
505 | { // check if wpl file is existing |
||
513 | killagreg | 506 | fp = fopen_(filename, 'r'); // try to open the file |
490 | killagreg | 507 | if(fp == NULL) |
508 | { |
||
509 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
||
496 | killagreg | 510 | return(retval); |
490 | killagreg | 511 | } |
512 | // read all lines from file |
||
513 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
||
514 | { |
||
515 | if ( // ignorelines starting with \r,\n,' ',';','#' |
||
516 | (wpline[0] != '\n') && |
||
517 | (wpline[0] != '\r') && |
||
518 | (wpline[0] != ' ' ) && |
||
519 | (wpline[0] != ';' ) && |
||
520 | (wpline[0] != '#' ) |
||
521 | ) |
||
522 | { |
||
523 | // check for section line found |
||
524 | if(wpline[0] == '[') |
||
525 | { |
||
526 | // next section found |
||
527 | IsGeneralSection = 0; |
||
528 | IsPointSection = 0; |
||
529 | |||
530 | name = strtok(&wpline[1], "]"); |
||
531 | if(name != NULL) // if section name |
||
532 | { |
||
533 | // check section type |
||
534 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
||
535 | |||
536 | if(strncmp(name, "POINT", 5) == 0) |
||
537 | { |
||
538 | IsPointSection = (u8)atoi(&name[5]); |
||
539 | PointCount++; |
||
540 | } |
||
541 | else if(strcmp(name, "GENERAL") == 0) |
||
542 | { |
||
543 | IsGeneralSection = 1; |
||
544 | } |
||
545 | else |
||
546 | { |
||
547 | UART1_PutString("Unknown section: "); |
||
548 | UART1_PutString(name); |
||
549 | UART1_PutString("\r\n"); |
||
550 | } |
||
551 | } |
||
552 | } // EOF section line |
||
553 | else |
||
554 | { // look for key entrys of each sections |
||
555 | name = strtok(wpline, "="); // get name |
||
556 | value = strtok(NULL, "="); // get value |
||
557 | if ((name != NULL) && (value != NULL)) |
||
558 | { |
||
559 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
||
560 | if(IsPointSection && (IsPointSection <= WPNumber)) |
||
561 | { |
||
562 | if(strcmp(name, "LATITUDE") == 0) |
||
563 | { |
||
564 | PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
||
565 | } |
||
566 | else if(strcmp(name, "LONGITUDE") == 0) |
||
567 | { |
||
568 | PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
||
569 | } |
||
570 | else if(strcmp(name, "RADIUS") == 0) |
||
571 | { |
||
572 | PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
||
573 | } |
||
574 | else if(strcmp(name, "ALTITUDE") == 0) |
||
575 | { |
||
576 | PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
||
577 | PointList[IsPointSection-1].Position.Status = NEWDATA; |
||
578 | } |
||
579 | else if(strcmp(name, "CLIMBRATE") == 0) |
||
580 | { |
||
581 | PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
||
582 | } |
||
583 | else if(strcmp(name, "DELAYTIME") == 0) |
||
584 | { |
||
585 | PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
||
586 | } |
||
587 | else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
||
588 | { |
||
589 | PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
||
590 | } |
||
591 | else if(strcmp(name, "HEADING") == 0) |
||
592 | { |
||
593 | PointList[IsPointSection-1].Heading = (s16)atoi(value); |
||
594 | } |
||
595 | else if(strcmp(name, "SPEED") == 0) |
||
596 | { |
||
519 | holgerb | 597 | if(use_preset_speed) PointList[IsPointSection-1].Speed = use_preset_speed; |
598 | else PointList[IsPointSection-1].Speed = (u8)atoi(value); |
||
490 | killagreg | 599 | } |
600 | else if(strcmp(name, "CAM-NICK") == 0) |
||
601 | { |
||
602 | PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
||
603 | } |
||
604 | else if(strcmp(name, "TYPE") == 0) |
||
605 | { |
||
606 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
||
607 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
||
608 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
||
516 | holgerb | 609 | |
490 | killagreg | 610 | switch(PointList[IsPointSection-1].Type) |
611 | { |
||
612 | case POINT_TYPE_WP: |
||
613 | // this works only if altitude key is set before point type key in WPL file !! |
||
516 | holgerb | 614 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
490 | killagreg | 615 | WPCount++; |
616 | break; |
||
617 | |||
618 | case POINT_TYPE_POI: |
||
619 | POICount++; |
||
620 | break; |
||
621 | } |
||
622 | } |
||
623 | else if(strcmp(name, "PREFIX") == 0) |
||
624 | { |
||
625 | strncpy(PointList[IsPointSection-1].Name, value, 4); |
||
626 | PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
||
627 | } |
||
628 | else |
||
629 | { |
||
630 | UART1_PutString("Unknown key: "); |
||
631 | UART1_PutString(name); |
||
632 | UART1_PutString("\r\n"); |
||
516 | holgerb | 633 | } |
490 | killagreg | 634 | } // EOF point section |
635 | else if(IsGeneralSection) |
||
636 | { |
||
637 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
||
516 | holgerb | 638 | { |
490 | killagreg | 639 | WPNumber = (u8)atoi(value); |
640 | if(!WPNumber) // no waypoints in file |
||
641 | { |
||
516 | holgerb | 642 | return(WPL_NO_WAYPOINTS); // we are done here |
490 | killagreg | 643 | } |
644 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
||
645 | { |
||
514 | holgerb | 646 | UART1_PutString("To many points!"); |
497 | killagreg | 647 | return(WPL_ERROR); |
516 | holgerb | 648 | } |
490 | killagreg | 649 | } |
650 | else if (strcmp(name, "FILEVERSION") == 0) |
||
651 | { |
||
652 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
||
653 | { |
||
496 | killagreg | 654 | PointList_Clear(); |
490 | killagreg | 655 | UART1_PutString("Bad file version!\r\n"); |
516 | holgerb | 656 | return(WPL_ERROR); |
490 | killagreg | 657 | } |
658 | } |
||
495 | killagreg | 659 | else if (strcmp(name, "NAME") == 0) |
660 | { |
||
513 | killagreg | 661 | if(listname) |
498 | killagreg | 662 | { |
513 | killagreg | 663 | u8 len = strlen(value); |
664 | if(len) |
||
665 | { |
||
666 | if(value[len-1] == '\r') |
||
667 | { |
||
668 | value[len-1] = 0; |
||
540 | holgerb | 669 | // len--; |
513 | killagreg | 670 | } |
671 | } |
||
672 | if(len > listnamelen) len = listnamelen; |
||
673 | if(len) |
||
674 | { |
||
675 | value[len-1] = 0; // terminate string |
||
676 | if(listname) memcpy(listname, value, len); |
||
677 | } |
||
678 | NewWPL_Name = 1; |
||
498 | killagreg | 679 | } |
495 | killagreg | 680 | } |
490 | killagreg | 681 | else |
682 | { |
||
683 | UART1_PutString("Unknown key: "); |
||
684 | UART1_PutString(name); |
||
685 | UART1_PutString("\r\n"); |
||
686 | } |
||
687 | } // EOF general section |
||
688 | } // EOF valid key entry |
||
689 | } // EOF key entry line |
||
690 | } // valid line |
||
691 | } // EOF loop over all lines |
||
692 | fclose_(fp); |
||
693 | NaviData.WaypointNumber = WPCount; |
||
516 | holgerb | 694 | retval = WPL_OK; |
695 | UART1_PutString("ok\r\n"); |
||
490 | killagreg | 696 | } // EOF if(Fat16_IsValid()) |
516 | holgerb | 697 | else |
497 | killagreg | 698 | { |
699 | UART1_PutString("no file system found!\r\n"); |
||
700 | retval = WPL_NO_SDCARD_FOUND; |
||
516 | holgerb | 701 | } |
490 | killagreg | 702 | return(retval); |
491 | killagreg | 703 | } |
490 | killagreg | 704 | |
513 | killagreg | 705 | // load actual point list from SD card |
706 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
||
707 | { |
||
516 | holgerb | 708 | u8 filename[30]; |
513 | killagreg | 709 | |
710 | pWPL_Store->Name[0] = 0; // clear current list name |
||
711 | |||
712 | // user absolute path, i.e. leading / |
||
713 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
||
714 | { |
||
516 | holgerb | 715 | sprintf(filename, "/default.wpl"); |
513 | killagreg | 716 | } |
717 | else |
||
718 | { |
||
719 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
||
720 | } |
||
519 | holgerb | 721 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),0); |
513 | killagreg | 722 | } |
723 | |||
724 | // save actual point list to SD card |
||
725 | u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
||
726 | { |
||
727 | u8 filename[30]; |
||
516 | holgerb | 728 | |
729 | |||
513 | killagreg | 730 | if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
516 | holgerb | 731 | // user absolute path, i.e. leading / |
513 | killagreg | 732 | if(pWPL_Store->Index == 0) |
733 | { |
||
734 | sprintf(filename, "/default.wpl"); |
||
735 | } |
||
736 | else |
||
737 | { |
||
738 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
||
739 | } |
||
740 | return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
||
741 | } |
||
742 | |||
743 | |||
516 | holgerb | 744 | // save actual gps positiin and heading to file |
513 | killagreg | 745 | u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
746 | { |
||
747 | u8 retval = WPL_ERROR; |
||
748 | u8 filename[30]; |
||
749 | Point_t WP; |
||
750 | |||
514 | holgerb | 751 | UART1_PutString("\n\r write single point\n\r"); |
516 | holgerb | 752 | if(GPSData.Position.Status == INVALID) |
753 | { |
||
514 | holgerb | 754 | UART1_PutString("ERROR: No GPS - Fix\n\r"); |
755 | return(retval); |
||
516 | holgerb | 756 | } |
513 | killagreg | 757 | |
758 | // clear current point list |
||
759 | PointList_Clear(); |
||
760 | // prepare WP at current position |
||
519 | holgerb | 761 | |
762 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
||
763 | { // take actual position |
||
764 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
||
765 | } |
||
766 | else |
||
767 | { // take last target position |
||
768 | GPSPos_Copy(&NaviData.TargetPosition, &(WP.Position)); |
||
769 | } |
||
770 | |||
513 | killagreg | 771 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
772 | // set heading |
||
545 | holgerb | 773 | WP.Heading = (CompassSetpointCorrected/10 + Parameter.CamOrientation * 15) % 360; |
513 | killagreg | 774 | if(WP.Heading == 0) WP.Heading = 360; |
519 | holgerb | 775 | WP.ToleranceRadius = 120; // 12m |
776 | WP.HoldTime = 2; |
||
513 | killagreg | 777 | WP.Index = 1; |
778 | WP.Type = POINT_TYPE_WP; |
||
779 | WP.WP_EventChannelValue = 0; |
||
519 | holgerb | 780 | if(FC.StatusFlags & FC_STATUS_FLY && (FromFC_VarioCharacter != ' ')) // only in flight and if the Altitude control is enabled |
516 | holgerb | 781 | { |
519 | holgerb | 782 | WP.AltitudeRate = 255; // Auto |
783 | // WP.Position.Altitude = NaviData.Altimeter / 2; |
||
784 | WP.Position.Altitude = NaviData.SetpointAltitude / 2; |
||
516 | holgerb | 785 | } |
786 | else |
||
514 | holgerb | 787 | { |
516 | holgerb | 788 | WP.AltitudeRate = 0; |
789 | WP.Position.Altitude = 0; |
||
514 | holgerb | 790 | } |
519 | holgerb | 791 | WP.Speed = 50; // beim Laden wird der Wert nochmal neu gesetzt |
513 | killagreg | 792 | WP.CamAngle = 0; |
521 | holgerb | 793 | WP.Name[0] = 'S'; |
794 | WP.Name[1] = 'P'; |
||
795 | WP.Name[2] = 'T'; |
||
796 | WP.Name[3] = 0; |
||
513 | killagreg | 797 | // add this point to wp list |
798 | PointList_SetAt(&WP); |
||
514 | holgerb | 799 | |
800 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
||
516 | holgerb | 801 | UART1_PutString(filename); |
514 | holgerb | 802 | sprintf(pWPL_Store->Name, "POINT%03d ", pWPL_Store->Index); |
513 | killagreg | 803 | retval = PointList_Save(filename, pWPL_Store->Name, 1); |
514 | holgerb | 804 | |
805 | // clear current point list |
||
519 | holgerb | 806 | if((NC_GPS_ModeCharacter != 'w') && (NC_GPS_ModeCharacter != 'W')) PointList_Clear(); |
549 | holgerb | 807 | else // es ist gearde ein Wegpunktflug aktiv -> updaten |
519 | holgerb | 808 | { |
809 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
810 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
||
811 | } |
||
812 | |||
513 | killagreg | 813 | return(retval); |
814 | } |
||
815 | // load target gps posititon and heading from file |
||
816 | u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store) |
||
817 | { |
||
519 | holgerb | 818 | u8 filename[30], result = 0; |
516 | holgerb | 819 | |
514 | holgerb | 820 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
513 | killagreg | 821 | pWPL_Store->Name[0] = 0; // clear current list name |
519 | holgerb | 822 | result = PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),Parameter.SingleWpSpeed); |
823 | if(result) UART1_Request_ReadPoint = 1; // Sends Point 1 to the PC |
||
824 | return(result); |
||
513 | killagreg | 825 | } |
826 | |||
827 | |||
516 | holgerb | 828 | |
504 | holgerb | 829 | void ClearWLP_Name(void) |
830 | { |
||
513 | killagreg | 831 | u8 i; |
832 | for(i=0; i<sizeof(WPL_Store.Name);i++) WPL_Store.Name[i] = 0; |
||
833 | NewWPL_Name = 1; |
||
504 | holgerb | 834 | } |
513 | killagreg | 835 | |
491 | killagreg | 836 | // move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards |
503 | holgerb | 837 | u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle) |
491 | killagreg | 838 | { |
839 | u8 retval = 0; |
||
513 | killagreg | 840 | s32 altitude; |
841 | GPS_Pos_t OldRefPos; |
||
491 | killagreg | 842 | GPS_Pos_Deviation_t RefDeviation; |
516 | holgerb | 843 | |
491 | killagreg | 844 | // check inputs for plausibility; |
516 | holgerb | 845 | if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
491 | killagreg | 846 | if(pRefPos == NULL) return(retval); |
847 | if(pRefPos->Status == INVALID) return(retval); |
||
848 | |||
513 | killagreg | 849 | if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &OldRefPos)) // backup old reference position |
491 | killagreg | 850 | { |
851 | u8 i; |
||
513 | killagreg | 852 | // iterate the position list |
491 | killagreg | 853 | for(i = 0; i < PointCount; i++) |
854 | { |
||
855 | retval = 0; |
||
513 | killagreg | 856 | // backup altitude of this point |
857 | altitude = PointList[i].Position.Altitude; |
||
858 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
||
859 | if(!GPSPos_Deviation(&(PointList[i].Position), &OldRefPos, &RefDeviation)) break; |
||
491 | killagreg | 860 | // copy of the new reference position into this list place |
861 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
||
516 | holgerb | 862 | // restore former altitude |
513 | killagreg | 863 | PointList[i].Position.Altitude = altitude; |
491 | killagreg | 864 | // move new reference according to the deviation of the old reference |
513 | killagreg | 865 | if(RotationAngle > 0) |
866 | { |
||
867 | retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360, RefDeviation.Distance ); |
||
868 | // Now rotate the heading positions if they are fixed angles |
||
869 | if(PointList[i].Heading >= 0 && PointList[i].Heading <= 360) PointList[i].Heading = (PointList[i].Heading + RotationAngle) % 360; |
||
870 | } |
||
871 | else // no rotation |
||
872 | { |
||
873 | // move new reference according to the deviation of the old reference |
||
874 | retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
||
875 | } |
||
516 | holgerb | 876 | if(!retval) break; |
491 | killagreg | 877 | } |
878 | } // else ref pos old not copied! |
||
879 | if(!retval) PointList_Clear(); |
||
880 | return(retval); |
||
881 | } |
||
882 | |||
516 | holgerb | 883 | |
491 | killagreg | 884 |