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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; |
577 | holgerb | 80 | u32 SD_WaypointTimeout = 5; // Setting on SD-Card |
41 | ingob | 81 | |
296 | killagreg | 82 | u8 WPActive = FALSE; |
280 | killagreg | 83 | |
84 | u8 PointList_Init(void) |
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41 | ingob | 85 | { |
516 | holgerb | 86 | return PointList_Clear(); |
41 | ingob | 87 | } |
88 | |||
280 | killagreg | 89 | u8 PointList_Clear(void) |
41 | ingob | 90 | { |
91 | u8 i; |
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227 | killagreg | 92 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
93 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
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280 | killagreg | 94 | WPCount = 0; // no waypoints |
516 | holgerb | 95 | POICount = 0; |
280 | killagreg | 96 | PointCount = 0; // no contents |
296 | killagreg | 97 | WPActive = FALSE; |
280 | killagreg | 98 | NaviData.WaypointNumber = WPCount; |
99 | NaviData.WaypointIndex = 0; |
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100 | for(i = 0; i < MAX_LIST_LEN; i++) |
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41 | ingob | 101 | { |
280 | killagreg | 102 | PointList[i].Position.Status = INVALID; |
103 | PointList[i].Position.Latitude = 0; |
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104 | PointList[i].Position.Longitude = 0; |
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105 | PointList[i].Position.Altitude = 0; |
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106 | PointList[i].Heading = 361; // invalid value |
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107 | 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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108 | 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 | 109 | PointList[i].Event_Flag = 0; // future implementation |
110 | PointList[i].Index = 0; |
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286 | killagreg | 111 | PointList[i].Type = POINT_TYPE_INVALID; |
490 | killagreg | 112 | PointList[i].WP_EventChannelValue = 0; |
286 | killagreg | 113 | PointList[i].AltitudeRate = 0; // no change of setpoint |
490 | killagreg | 114 | PointList[i].Speed = 0; |
115 | PointList[i].CamAngle = 0; |
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116 | PointList[i].Name[0] = 0; |
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41 | ingob | 117 | } |
504 | holgerb | 118 | ClearWLP_Name(); |
516 | holgerb | 119 | return TRUE; |
41 | ingob | 120 | } |
121 | |||
280 | killagreg | 122 | u8 PointList_GetCount(void) |
41 | ingob | 123 | { |
280 | killagreg | 124 | return PointCount; // number of points in the list |
41 | ingob | 125 | } |
126 | |||
295 | killagreg | 127 | Point_t* PointList_GetAt(u8 index) |
41 | ingob | 128 | { |
295 | killagreg | 129 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
130 | else return(NULL); |
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131 | } |
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132 | |||
133 | u8 PointList_SetAt(Point_t* pPoint) |
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134 | { |
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135 | // if index is in range |
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296 | killagreg | 136 | if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
41 | ingob | 137 | { |
295 | killagreg | 138 | // check list entry before update |
139 | switch(PointList[pPoint->Index-1].Type) |
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277 | killagreg | 140 | { |
295 | killagreg | 141 | case POINT_TYPE_INVALID: // was invalid |
142 | switch(pPoint->Type) |
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143 | { |
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144 | default: |
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145 | case POINT_TYPE_INVALID: |
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146 | // nothing to do |
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147 | break; |
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148 | |||
149 | case POINT_TYPE_WP: |
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150 | WPCount++; |
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151 | PointCount++; |
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152 | break; |
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516 | holgerb | 153 | |
295 | killagreg | 154 | case POINT_TYPE_POI: |
155 | POICount++; |
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156 | PointCount++; |
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157 | break; |
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158 | } |
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516 | holgerb | 159 | break; |
160 | |||
490 | killagreg | 161 | case POINT_TYPE_WP: // was a waypoint |
295 | killagreg | 162 | switch(pPoint->Type) |
163 | { |
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164 | case POINT_TYPE_INVALID: |
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165 | WPCount--; |
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166 | PointCount--; |
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167 | break; |
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277 | killagreg | 168 | |
295 | killagreg | 169 | default: |
170 | case POINT_TYPE_WP: |
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171 | //nothing to do |
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172 | break; |
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516 | holgerb | 173 | |
295 | killagreg | 174 | case POINT_TYPE_POI: |
175 | POICount++; |
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176 | WPCount--; |
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177 | break; |
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178 | } |
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179 | break; |
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516 | holgerb | 180 | |
295 | killagreg | 181 | case POINT_TYPE_POI: // was a poi |
182 | switch(pPoint->Type) |
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183 | { |
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184 | case POINT_TYPE_INVALID: |
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185 | POICount--; |
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186 | PointCount--; |
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187 | break; |
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188 | |||
189 | case POINT_TYPE_WP: |
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190 | WPCount++; |
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191 | POICount--; |
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192 | break; |
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516 | holgerb | 193 | |
295 | killagreg | 194 | case POINT_TYPE_POI: |
195 | default: |
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196 | // nothing to do |
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197 | break; |
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198 | } |
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516 | holgerb | 199 | break; |
277 | killagreg | 200 | } |
516 | holgerb | 201 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
295 | killagreg | 202 | NaviData.WaypointNumber = WPCount; |
203 | return pPoint->Index; |
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41 | ingob | 204 | } |
296 | killagreg | 205 | else return(0); |
41 | ingob | 206 | } |
207 | |||
227 | killagreg | 208 | // returns the pointer to the first waypoint within the list |
280 | killagreg | 209 | Point_t* PointList_WPBegin(void) |
41 | ingob | 210 | { |
277 | killagreg | 211 | u8 i; |
227 | killagreg | 212 | WPIndex = 0; // set list position invalid |
295 | killagreg | 213 | |
283 | holgerb | 214 | if(WPActive == FALSE) return(NULL); |
295 | killagreg | 215 | |
277 | killagreg | 216 | POIIndex = 0; // set invalid POI |
516 | holgerb | 217 | if(PointCount > 0) |
152 | killagreg | 218 | { |
225 | killagreg | 219 | // search for first wp in list |
295 | killagreg | 220 | for(i = 0; i <MAX_LIST_LEN; i++) |
225 | killagreg | 221 | { |
280 | killagreg | 222 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
225 | killagreg | 223 | { |
227 | killagreg | 224 | WPIndex = i + 1; |
225 | killagreg | 225 | break; |
226 | } |
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227 | } |
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277 | killagreg | 228 | if(WPIndex) // found a WP in the list |
229 | { |
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280 | killagreg | 230 | NaviData.WaypointIndex = 1; |
549 | holgerb | 231 | NewWaypointsReceived = 1; // activates the Waypoint list as soon as CH is started |
277 | killagreg | 232 | // update index to POI |
280 | killagreg | 233 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
516 | holgerb | 234 | else POIIndex = 0; |
277 | killagreg | 235 | } |
236 | else // some points in the list but no WP found |
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237 | { |
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280 | killagreg | 238 | NaviData.WaypointIndex = 0; |
277 | killagreg | 239 | //Check for an existing POI |
295 | killagreg | 240 | for(i = 0; i < MAX_LIST_LEN; i++) |
277 | killagreg | 241 | { |
280 | killagreg | 242 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
277 | killagreg | 243 | { |
244 | POIIndex = i + 1; |
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245 | break; |
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246 | } |
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247 | } |
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248 | } |
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152 | killagreg | 249 | } |
277 | killagreg | 250 | else // no point in the list |
152 | killagreg | 251 | { |
516 | holgerb | 252 | POIIndex = 0; |
253 | NaviData.WaypointIndex = 0; |
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227 | killagreg | 254 | } |
295 | killagreg | 255 | |
256 | if(WPIndex) return(&(PointList[WPIndex-1])); |
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257 | else return(NULL); |
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41 | ingob | 258 | } |
259 | |||
225 | killagreg | 260 | // returns the last waypoint |
280 | killagreg | 261 | Point_t* PointList_WPEnd(void) |
151 | killagreg | 262 | { |
516 | holgerb | 263 | |
277 | killagreg | 264 | u8 i; |
227 | killagreg | 265 | WPIndex = 0; // set list position invalid |
277 | killagreg | 266 | POIIndex = 0; // set invalid |
283 | holgerb | 267 | |
280 | killagreg | 268 | if(WPActive == FALSE) return(NULL); |
277 | killagreg | 269 | |
280 | killagreg | 270 | if(PointCount > 0) |
151 | killagreg | 271 | { |
227 | killagreg | 272 | // search backward! |
295 | killagreg | 273 | for(i = 1; i <= MAX_LIST_LEN; i++) |
225 | killagreg | 274 | { |
295 | killagreg | 275 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
516 | holgerb | 276 | { |
295 | killagreg | 277 | WPIndex = MAX_LIST_LEN - i + 1; |
225 | killagreg | 278 | break; |
279 | } |
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280 | } |
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277 | killagreg | 281 | if(WPIndex) // found a WP within the list |
282 | { |
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280 | killagreg | 283 | NaviData.WaypointIndex = WPCount; |
284 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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516 | holgerb | 285 | else POIIndex = 0; |
277 | killagreg | 286 | } |
278 | killagreg | 287 | else // list contains some points but no WP in the list |
277 | killagreg | 288 | { |
289 | // search backward for a POI! |
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295 | killagreg | 290 | for(i = 1; i <= MAX_LIST_LEN; i++) |
277 | killagreg | 291 | { |
295 | killagreg | 292 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
516 | holgerb | 293 | { |
295 | killagreg | 294 | POIIndex = MAX_LIST_LEN - i + 1; |
277 | killagreg | 295 | break; |
296 | } |
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297 | } |
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516 | holgerb | 298 | NaviData.WaypointIndex = 0; |
277 | killagreg | 299 | } |
151 | killagreg | 300 | } |
277 | killagreg | 301 | else // no point in the list |
227 | killagreg | 302 | { |
280 | killagreg | 303 | POIIndex = 0; |
304 | NaviData.WaypointIndex = 0; |
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227 | killagreg | 305 | } |
295 | killagreg | 306 | if(WPIndex) return(&(PointList[WPIndex-1])); |
307 | else return(NULL); |
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151 | killagreg | 308 | } |
309 | |||
41 | ingob | 310 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
280 | killagreg | 311 | Point_t* PointList_WPNext(void) |
41 | ingob | 312 | { |
227 | killagreg | 313 | u8 wp_found = 0; |
280 | killagreg | 314 | if(WPActive == FALSE) return(NULL); |
516 | holgerb | 315 | |
295 | killagreg | 316 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
41 | ingob | 317 | { |
227 | killagreg | 318 | u8 i; |
295 | killagreg | 319 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
225 | killagreg | 320 | { |
280 | killagreg | 321 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
225 | killagreg | 322 | { |
227 | killagreg | 323 | wp_found = i+1; |
225 | killagreg | 324 | break; |
325 | } |
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326 | } |
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41 | ingob | 327 | } |
227 | killagreg | 328 | if(wp_found) |
329 | { |
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330 | WPIndex = wp_found; // update list position |
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280 | killagreg | 331 | NaviData.WaypointIndex++; |
332 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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227 | killagreg | 333 | else POIIndex = 0; |
280 | killagreg | 334 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
227 | killagreg | 335 | } |
516 | holgerb | 336 | else |
280 | killagreg | 337 | { // no next wp found |
516 | holgerb | 338 | NaviData.WaypointIndex = 0; |
277 | killagreg | 339 | POIIndex = 0; |
340 | return(NULL); |
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341 | } |
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516 | holgerb | 342 | } |
280 | killagreg | 343 | |
344 | void PointList_WPActive(u8 set) |
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345 | { |
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295 | killagreg | 346 | if(set) |
516 | holgerb | 347 | { |
295 | killagreg | 348 | WPActive = TRUE; |
491 | killagreg | 349 | PointList_WPBegin(); // updates POI index |
295 | killagreg | 350 | } |
351 | else |
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352 | { |
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353 | WPActive = FALSE; |
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354 | POIIndex = 0; // disable POI also |
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355 | } |
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280 | killagreg | 356 | } |
516 | holgerb | 357 | |
280 | killagreg | 358 | Point_t* PointList_GetPOI(void) |
224 | killagreg | 359 | { |
516 | holgerb | 360 | return PointList_GetAt(POIIndex); |
224 | killagreg | 361 | } |
362 | |||
513 | killagreg | 363 | |
490 | killagreg | 364 | #define LINE_MAX 70 |
365 | #define WP_FILE_VERSION_COMPATIBLE 3 |
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513 | killagreg | 366 | |
367 | u8 PointList_Save(u8 * filename, u8* listname, u8 overwride) |
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490 | killagreg | 368 | { |
369 | File_t *fp; |
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495 | killagreg | 370 | s8 wpline[LINE_MAX]; |
371 | u8 retval = WPL_ERROR; |
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513 | killagreg | 372 | |
490 | killagreg | 373 | UART1_PutString("\n\r Save WPL..."); |
374 | |||
375 | if(Fat16_IsValid()) |
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376 | { // check if wpl file is existing |
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513 | killagreg | 377 | if(fexist_(filename)) |
495 | killagreg | 378 | { //file is existent |
516 | holgerb | 379 | if(!(overwride)) |
495 | killagreg | 380 | { |
381 | UART1_PutString("Error: file exist!\r\n"); |
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382 | return(WPL_FILEEXIST); |
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516 | holgerb | 383 | } |
495 | killagreg | 384 | } |
513 | killagreg | 385 | fp = fopen_(filename, 'w'); // try to open the file |
490 | killagreg | 386 | if(fp == NULL) |
387 | { |
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388 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
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389 | return(retval); |
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390 | } |
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391 | // Create general section and key entries |
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392 | fputs_("[General]\r\n", fp); |
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516 | holgerb | 393 | sprintf(wpline, "Name=%s\r\n", listname); |
494 | killagreg | 394 | fputs_(wpline, fp); |
516 | holgerb | 395 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
490 | killagreg | 396 | fputs_(wpline, fp); |
397 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
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398 | fputs_(wpline, fp); |
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399 | // dump all points if existent |
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400 | if(PointCount) |
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401 | { |
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402 | u8 i, u8_1; |
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403 | s32 i32_1, i32_2; |
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504 | holgerb | 404 | NewWPL_Name = 1; |
490 | killagreg | 405 | for (i = 0; i < PointCount; i++) |
406 | { |
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407 | sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
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408 | fputs_(wpline, fp); |
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409 | // write latitude in deg |
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410 | if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
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411 | else u8_1 = '+'; |
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412 | i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
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413 | i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
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414 | sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
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415 | fputs_(wpline, fp); |
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416 | // write longitude in deg |
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417 | if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
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418 | else u8_1 = '+'; |
||
419 | i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
||
420 | i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
||
421 | sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
||
422 | fputs_(wpline, fp); |
||
423 | // write tolerace radius in m |
||
424 | sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
||
425 | fputs_(wpline, fp); |
||
426 | // write altitude in m |
||
427 | if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
||
428 | else u8_1 = '+'; |
||
429 | if(PointList[i].Type == POINT_TYPE_POI) |
||
430 | { |
||
431 | i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
||
432 | i32_2 = abs(PointList[i].Position.Altitude)%100L; |
||
433 | } |
||
434 | else |
||
435 | { |
||
436 | i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
||
437 | i32_2 = abs(PointList[i].Position.Altitude)%10L; |
||
438 | } |
||
439 | sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
||
440 | fputs_(wpline, fp); |
||
441 | // write climb rate in 0.1 m/s |
||
442 | sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
||
443 | fputs_(wpline, fp); |
||
444 | // write hold time in s |
||
445 | sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
||
446 | fputs_(wpline, fp); |
||
447 | // write event channel value |
||
448 | sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
||
449 | fputs_(wpline, fp); |
||
450 | // write heading in deg (0= nothing, neg. values index to poi) |
||
451 | sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
||
452 | fputs_(wpline, fp); |
||
453 | // write speed in 0.1 m/s |
||
454 | sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
||
455 | fputs_(wpline, fp); |
||
456 | // write cam angle in degree (255 -> POI-Automatic) |
||
457 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
||
458 | fputs_(wpline, fp); |
||
459 | // write point type |
||
460 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
||
516 | holgerb | 461 | fputs_(wpline, fp); |
462 | // write prefix |
||
490 | killagreg | 463 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
464 | fputs_(wpline, fp); |
||
465 | } // EOF loop over all points |
||
466 | } // EOF if(PointCount) |
||
467 | if(EOF == fclose_(fp)) |
||
468 | { |
||
469 | UART1_PutString("failed!\r\n"); |
||
470 | } |
||
471 | else |
||
472 | { |
||
473 | UART1_PutString("ok\r\n"); |
||
495 | killagreg | 474 | retval = WPL_OK; |
516 | holgerb | 475 | } |
490 | killagreg | 476 | } // EOF if(Fat16_IsValid()) |
516 | holgerb | 477 | else |
497 | killagreg | 478 | { |
479 | UART1_PutString("no file system found!\r\n"); |
||
480 | retval = WPL_NO_SDCARD_FOUND; |
||
481 | } |
||
490 | killagreg | 482 | return(retval); |
483 | } |
||
484 | |||
519 | holgerb | 485 | u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen, u8 use_preset_speed) |
490 | killagreg | 486 | { |
487 | File_t *fp; |
||
496 | killagreg | 488 | s8 wpline[LINE_MAX]; |
489 | u8 retval = WPL_ERROR; |
||
516 | holgerb | 490 | |
490 | killagreg | 491 | s8 *name, *value; |
492 | u8 i; |
||
493 | |||
494 | u8 IsGeneralSection = 0; |
||
495 | u8 IsPointSection = 0; |
||
496 | u8 WPNumber = 0; |
||
498 | killagreg | 497 | |
498 | // clear point list first |
||
499 | PointList_Clear(); |
||
517 | holgerb | 500 | HeadingOld = -1; // updates the direction if the new direction is the same like last time |
490 | killagreg | 501 | UART1_PutString("\n\r Read "); |
516 | holgerb | 502 | UART1_PutString(filename); |
490 | killagreg | 503 | UART1_PutString("..."); |
504 | |||
505 | if(Fat16_IsValid()) |
||
506 | { // check if wpl file is existing |
||
513 | killagreg | 507 | fp = fopen_(filename, 'r'); // try to open the file |
490 | killagreg | 508 | if(fp == NULL) |
509 | { |
||
510 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
||
496 | killagreg | 511 | return(retval); |
490 | killagreg | 512 | } |
513 | // read all lines from file |
||
514 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
||
515 | { |
||
516 | if ( // ignorelines starting with \r,\n,' ',';','#' |
||
517 | (wpline[0] != '\n') && |
||
518 | (wpline[0] != '\r') && |
||
519 | (wpline[0] != ' ' ) && |
||
520 | (wpline[0] != ';' ) && |
||
521 | (wpline[0] != '#' ) |
||
522 | ) |
||
523 | { |
||
524 | // check for section line found |
||
525 | if(wpline[0] == '[') |
||
526 | { |
||
527 | // next section found |
||
528 | IsGeneralSection = 0; |
||
529 | IsPointSection = 0; |
||
530 | |||
531 | name = strtok(&wpline[1], "]"); |
||
532 | if(name != NULL) // if section name |
||
533 | { |
||
534 | // check section type |
||
535 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
||
536 | |||
537 | if(strncmp(name, "POINT", 5) == 0) |
||
538 | { |
||
539 | IsPointSection = (u8)atoi(&name[5]); |
||
540 | PointCount++; |
||
541 | } |
||
542 | else if(strcmp(name, "GENERAL") == 0) |
||
543 | { |
||
544 | IsGeneralSection = 1; |
||
545 | } |
||
546 | else |
||
547 | { |
||
548 | UART1_PutString("Unknown section: "); |
||
549 | UART1_PutString(name); |
||
550 | UART1_PutString("\r\n"); |
||
551 | } |
||
552 | } |
||
553 | } // EOF section line |
||
554 | else |
||
555 | { // look for key entrys of each sections |
||
556 | name = strtok(wpline, "="); // get name |
||
557 | value = strtok(NULL, "="); // get value |
||
558 | if ((name != NULL) && (value != NULL)) |
||
559 | { |
||
560 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
||
561 | if(IsPointSection && (IsPointSection <= WPNumber)) |
||
562 | { |
||
563 | if(strcmp(name, "LATITUDE") == 0) |
||
564 | { |
||
565 | PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
||
566 | } |
||
567 | else if(strcmp(name, "LONGITUDE") == 0) |
||
568 | { |
||
569 | PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
||
570 | } |
||
571 | else if(strcmp(name, "RADIUS") == 0) |
||
572 | { |
||
573 | PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
||
574 | } |
||
575 | else if(strcmp(name, "ALTITUDE") == 0) |
||
576 | { |
||
577 | PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
||
578 | PointList[IsPointSection-1].Position.Status = NEWDATA; |
||
579 | } |
||
580 | else if(strcmp(name, "CLIMBRATE") == 0) |
||
581 | { |
||
582 | PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
||
583 | } |
||
584 | else if(strcmp(name, "DELAYTIME") == 0) |
||
585 | { |
||
586 | PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
||
587 | } |
||
588 | else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
||
589 | { |
||
590 | PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
||
591 | } |
||
592 | else if(strcmp(name, "HEADING") == 0) |
||
593 | { |
||
594 | PointList[IsPointSection-1].Heading = (s16)atoi(value); |
||
595 | } |
||
596 | else if(strcmp(name, "SPEED") == 0) |
||
597 | { |
||
519 | holgerb | 598 | if(use_preset_speed) PointList[IsPointSection-1].Speed = use_preset_speed; |
599 | else PointList[IsPointSection-1].Speed = (u8)atoi(value); |
||
490 | killagreg | 600 | } |
601 | else if(strcmp(name, "CAM-NICK") == 0) |
||
602 | { |
||
603 | PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
||
604 | } |
||
605 | else if(strcmp(name, "TYPE") == 0) |
||
606 | { |
||
607 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
||
608 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
||
609 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
||
516 | holgerb | 610 | |
490 | killagreg | 611 | switch(PointList[IsPointSection-1].Type) |
612 | { |
||
613 | case POINT_TYPE_WP: |
||
614 | // this works only if altitude key is set before point type key in WPL file !! |
||
516 | holgerb | 615 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
490 | killagreg | 616 | WPCount++; |
617 | break; |
||
618 | |||
619 | case POINT_TYPE_POI: |
||
620 | POICount++; |
||
621 | break; |
||
622 | } |
||
623 | } |
||
624 | else if(strcmp(name, "PREFIX") == 0) |
||
625 | { |
||
626 | strncpy(PointList[IsPointSection-1].Name, value, 4); |
||
627 | PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
||
628 | } |
||
629 | else |
||
630 | { |
||
631 | UART1_PutString("Unknown key: "); |
||
632 | UART1_PutString(name); |
||
633 | UART1_PutString("\r\n"); |
||
516 | holgerb | 634 | } |
490 | killagreg | 635 | } // EOF point section |
636 | else if(IsGeneralSection) |
||
637 | { |
||
638 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
||
516 | holgerb | 639 | { |
490 | killagreg | 640 | WPNumber = (u8)atoi(value); |
641 | if(!WPNumber) // no waypoints in file |
||
642 | { |
||
516 | holgerb | 643 | return(WPL_NO_WAYPOINTS); // we are done here |
490 | killagreg | 644 | } |
645 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
||
646 | { |
||
514 | holgerb | 647 | UART1_PutString("To many points!"); |
497 | killagreg | 648 | return(WPL_ERROR); |
516 | holgerb | 649 | } |
490 | killagreg | 650 | } |
651 | else if (strcmp(name, "FILEVERSION") == 0) |
||
652 | { |
||
653 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
||
654 | { |
||
496 | killagreg | 655 | PointList_Clear(); |
490 | killagreg | 656 | UART1_PutString("Bad file version!\r\n"); |
516 | holgerb | 657 | return(WPL_ERROR); |
490 | killagreg | 658 | } |
659 | } |
||
495 | killagreg | 660 | else if (strcmp(name, "NAME") == 0) |
661 | { |
||
513 | killagreg | 662 | if(listname) |
498 | killagreg | 663 | { |
513 | killagreg | 664 | u8 len = strlen(value); |
665 | if(len) |
||
666 | { |
||
667 | if(value[len-1] == '\r') |
||
668 | { |
||
669 | value[len-1] = 0; |
||
540 | holgerb | 670 | // len--; |
513 | killagreg | 671 | } |
672 | } |
||
673 | if(len > listnamelen) len = listnamelen; |
||
674 | if(len) |
||
675 | { |
||
676 | value[len-1] = 0; // terminate string |
||
677 | if(listname) memcpy(listname, value, len); |
||
678 | } |
||
679 | NewWPL_Name = 1; |
||
498 | killagreg | 680 | } |
495 | killagreg | 681 | } |
490 | killagreg | 682 | else |
683 | { |
||
684 | UART1_PutString("Unknown key: "); |
||
685 | UART1_PutString(name); |
||
686 | UART1_PutString("\r\n"); |
||
687 | } |
||
688 | } // EOF general section |
||
689 | } // EOF valid key entry |
||
690 | } // EOF key entry line |
||
691 | } // valid line |
||
692 | } // EOF loop over all lines |
||
693 | fclose_(fp); |
||
694 | NaviData.WaypointNumber = WPCount; |
||
516 | holgerb | 695 | retval = WPL_OK; |
696 | UART1_PutString("ok\r\n"); |
||
490 | killagreg | 697 | } // EOF if(Fat16_IsValid()) |
516 | holgerb | 698 | else |
497 | killagreg | 699 | { |
700 | UART1_PutString("no file system found!\r\n"); |
||
701 | retval = WPL_NO_SDCARD_FOUND; |
||
516 | holgerb | 702 | } |
490 | killagreg | 703 | return(retval); |
491 | killagreg | 704 | } |
490 | killagreg | 705 | |
513 | killagreg | 706 | // load actual point list from SD card |
707 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
||
708 | { |
||
516 | holgerb | 709 | u8 filename[30]; |
513 | killagreg | 710 | |
711 | pWPL_Store->Name[0] = 0; // clear current list name |
||
712 | |||
713 | // user absolute path, i.e. leading / |
||
714 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
||
715 | { |
||
516 | holgerb | 716 | sprintf(filename, "/default.wpl"); |
513 | killagreg | 717 | } |
718 | else |
||
719 | { |
||
720 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
||
721 | } |
||
519 | holgerb | 722 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),0); |
513 | killagreg | 723 | } |
724 | |||
725 | // save actual point list to SD card |
||
726 | u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
||
727 | { |
||
728 | u8 filename[30]; |
||
516 | holgerb | 729 | |
730 | |||
513 | killagreg | 731 | if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
516 | holgerb | 732 | // user absolute path, i.e. leading / |
513 | killagreg | 733 | if(pWPL_Store->Index == 0) |
734 | { |
||
735 | sprintf(filename, "/default.wpl"); |
||
736 | } |
||
737 | else |
||
738 | { |
||
739 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
||
740 | } |
||
741 | return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
||
742 | } |
||
743 | |||
744 | |||
516 | holgerb | 745 | // save actual gps positiin and heading to file |
513 | killagreg | 746 | u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
747 | { |
||
748 | u8 retval = WPL_ERROR; |
||
749 | u8 filename[30]; |
||
750 | Point_t WP; |
||
751 | |||
514 | holgerb | 752 | UART1_PutString("\n\r write single point\n\r"); |
516 | holgerb | 753 | if(GPSData.Position.Status == INVALID) |
754 | { |
||
514 | holgerb | 755 | UART1_PutString("ERROR: No GPS - Fix\n\r"); |
756 | return(retval); |
||
516 | holgerb | 757 | } |
513 | killagreg | 758 | |
759 | // clear current point list |
||
760 | PointList_Clear(); |
||
761 | // prepare WP at current position |
||
519 | holgerb | 762 | |
763 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
||
764 | { // take actual position |
||
765 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
||
766 | } |
||
767 | else |
||
768 | { // take last target position |
||
769 | GPSPos_Copy(&NaviData.TargetPosition, &(WP.Position)); |
||
770 | } |
||
771 | |||
513 | killagreg | 772 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
773 | // set heading |
||
545 | holgerb | 774 | WP.Heading = (CompassSetpointCorrected/10 + Parameter.CamOrientation * 15) % 360; |
513 | killagreg | 775 | if(WP.Heading == 0) WP.Heading = 360; |
519 | holgerb | 776 | WP.ToleranceRadius = 120; // 12m |
777 | WP.HoldTime = 2; |
||
513 | killagreg | 778 | WP.Index = 1; |
779 | WP.Type = POINT_TYPE_WP; |
||
780 | WP.WP_EventChannelValue = 0; |
||
576 | holgerb | 781 | if(FC.StatusFlags & FC_STATUS_FLY && ((FromFC_VarioCharacter != ' ') || (SimulationFlags & SIMULATION_ACTIVE))) // only in flight and if the Altitude control is enabled |
516 | holgerb | 782 | { |
519 | holgerb | 783 | WP.AltitudeRate = 255; // Auto |
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 |