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Rev | Author | Line No. | Line |
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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 | |||
280 | killagreg | 70 | Point_t PointList[MAX_LIST_LEN]; |
71 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
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72 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
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73 | u8 WPCount = 0; // number of waypoints |
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491 | killagreg | 74 | u8 PointCount = 0; // number of points in the list can be maximal equal to MAX_LIST_LEN |
75 | u8 POICount = 0; // number of point of interest in the list |
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601 | holgerb | 76 | u8 FsPointCnt = 0; |
517 | holgerb | 77 | s16 HeadingOld = -1; |
577 | holgerb | 78 | u32 SD_WaypointTimeout = 5; // Setting on SD-Card |
41 | ingob | 79 | |
296 | killagreg | 80 | u8 WPActive = FALSE; |
280 | killagreg | 81 | |
82 | u8 PointList_Init(void) |
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41 | ingob | 83 | { |
516 | holgerb | 84 | return PointList_Clear(); |
41 | ingob | 85 | } |
86 | |||
280 | killagreg | 87 | u8 PointList_Clear(void) |
41 | ingob | 88 | { |
89 | u8 i; |
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227 | killagreg | 90 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
91 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
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280 | killagreg | 92 | WPCount = 0; // no waypoints |
601 | holgerb | 93 | FsPointCnt = 0; |
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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601 | holgerb | 157 | case POINT_TYPE_FS: |
158 | FsPointCnt++; |
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159 | PointCount++; |
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160 | break; |
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295 | killagreg | 161 | } |
516 | holgerb | 162 | break; |
163 | |||
490 | killagreg | 164 | case POINT_TYPE_WP: // was a waypoint |
295 | killagreg | 165 | switch(pPoint->Type) |
166 | { |
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167 | case POINT_TYPE_INVALID: |
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168 | WPCount--; |
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169 | PointCount--; |
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170 | break; |
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277 | killagreg | 171 | |
295 | killagreg | 172 | default: |
173 | case POINT_TYPE_WP: |
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174 | //nothing to do |
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175 | break; |
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601 | holgerb | 176 | case POINT_TYPE_FS: |
177 | FsPointCnt++; |
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178 | WPCount--; |
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179 | break; |
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295 | killagreg | 180 | case POINT_TYPE_POI: |
181 | POICount++; |
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182 | WPCount--; |
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183 | break; |
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184 | } |
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185 | break; |
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516 | holgerb | 186 | |
295 | killagreg | 187 | case POINT_TYPE_POI: // was a poi |
188 | switch(pPoint->Type) |
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189 | { |
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190 | case POINT_TYPE_INVALID: |
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191 | POICount--; |
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192 | PointCount--; |
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193 | break; |
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194 | |||
195 | case POINT_TYPE_WP: |
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196 | WPCount++; |
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197 | POICount--; |
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198 | break; |
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601 | holgerb | 199 | |
200 | case POINT_TYPE_FS: |
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201 | FsPointCnt++; |
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202 | POICount--; |
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203 | break; |
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516 | holgerb | 204 | |
295 | killagreg | 205 | case POINT_TYPE_POI: |
206 | default: |
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207 | // nothing to do |
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208 | break; |
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209 | } |
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601 | holgerb | 210 | case POINT_TYPE_FS: // was a Failsafe |
211 | switch(pPoint->Type) |
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212 | { |
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213 | case POINT_TYPE_INVALID: |
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214 | FsPointCnt--; |
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215 | PointCount--; |
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216 | break; |
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217 | |||
218 | case POINT_TYPE_WP: |
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219 | WPCount++; |
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220 | FsPointCnt--; |
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221 | break; |
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222 | |||
223 | case POINT_TYPE_POI: |
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224 | POICount++; |
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225 | FsPointCnt--; |
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226 | break; |
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227 | |||
228 | case POINT_TYPE_FS: |
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229 | break; |
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230 | default: |
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231 | // nothing to do |
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232 | break; |
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233 | } |
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516 | holgerb | 234 | break; |
277 | killagreg | 235 | } |
516 | holgerb | 236 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
295 | killagreg | 237 | NaviData.WaypointNumber = WPCount; |
238 | return pPoint->Index; |
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41 | ingob | 239 | } |
296 | killagreg | 240 | else return(0); |
41 | ingob | 241 | } |
242 | |||
227 | killagreg | 243 | // returns the pointer to the first waypoint within the list |
280 | killagreg | 244 | Point_t* PointList_WPBegin(void) |
41 | ingob | 245 | { |
277 | killagreg | 246 | u8 i; |
227 | killagreg | 247 | WPIndex = 0; // set list position invalid |
295 | killagreg | 248 | |
283 | holgerb | 249 | if(WPActive == FALSE) return(NULL); |
295 | killagreg | 250 | |
277 | killagreg | 251 | POIIndex = 0; // set invalid POI |
516 | holgerb | 252 | if(PointCount > 0) |
152 | killagreg | 253 | { |
225 | killagreg | 254 | // search for first wp in list |
295 | killagreg | 255 | for(i = 0; i <MAX_LIST_LEN; i++) |
225 | killagreg | 256 | { |
601 | holgerb | 257 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs and FS-Positions |
225 | killagreg | 258 | { |
227 | killagreg | 259 | WPIndex = i + 1; |
225 | killagreg | 260 | break; |
261 | } |
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601 | holgerb | 262 | /* |
263 | else |
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264 | if((PointList[i].Type == POINT_TYPE_FS) && (PointList[i].Position.Status != INVALID)) |
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265 | { |
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266 | GPSPos_Copy(&(PointList[i].Position), &GPS_FailsafePosition); |
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267 | } |
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268 | */ |
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225 | killagreg | 269 | } |
277 | killagreg | 270 | if(WPIndex) // found a WP in the list |
271 | { |
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280 | killagreg | 272 | NaviData.WaypointIndex = 1; |
549 | holgerb | 273 | NewWaypointsReceived = 1; // activates the Waypoint list as soon as CH is started |
277 | killagreg | 274 | // update index to POI |
280 | killagreg | 275 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
516 | holgerb | 276 | else POIIndex = 0; |
277 | killagreg | 277 | } |
278 | else // some points in the list but no WP found |
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279 | { |
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280 | killagreg | 280 | NaviData.WaypointIndex = 0; |
277 | killagreg | 281 | //Check for an existing POI |
295 | killagreg | 282 | for(i = 0; i < MAX_LIST_LEN; i++) |
277 | killagreg | 283 | { |
280 | killagreg | 284 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
277 | killagreg | 285 | { |
286 | POIIndex = i + 1; |
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287 | break; |
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288 | } |
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289 | } |
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290 | } |
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152 | killagreg | 291 | } |
277 | killagreg | 292 | else // no point in the list |
152 | killagreg | 293 | { |
516 | holgerb | 294 | POIIndex = 0; |
295 | NaviData.WaypointIndex = 0; |
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227 | killagreg | 296 | } |
295 | killagreg | 297 | |
298 | if(WPIndex) return(&(PointList[WPIndex-1])); |
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299 | else return(NULL); |
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41 | ingob | 300 | } |
301 | |||
225 | killagreg | 302 | // returns the last waypoint |
280 | killagreg | 303 | Point_t* PointList_WPEnd(void) |
151 | killagreg | 304 | { |
516 | holgerb | 305 | |
277 | killagreg | 306 | u8 i; |
227 | killagreg | 307 | WPIndex = 0; // set list position invalid |
277 | killagreg | 308 | POIIndex = 0; // set invalid |
283 | holgerb | 309 | |
280 | killagreg | 310 | if(WPActive == FALSE) return(NULL); |
277 | killagreg | 311 | |
280 | killagreg | 312 | if(PointCount > 0) |
151 | killagreg | 313 | { |
227 | killagreg | 314 | // search backward! |
295 | killagreg | 315 | for(i = 1; i <= MAX_LIST_LEN; i++) |
225 | killagreg | 316 | { |
295 | killagreg | 317 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
516 | holgerb | 318 | { |
295 | killagreg | 319 | WPIndex = MAX_LIST_LEN - i + 1; |
225 | killagreg | 320 | break; |
321 | } |
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322 | } |
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277 | killagreg | 323 | if(WPIndex) // found a WP within the list |
324 | { |
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280 | killagreg | 325 | NaviData.WaypointIndex = WPCount; |
326 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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516 | holgerb | 327 | else POIIndex = 0; |
277 | killagreg | 328 | } |
278 | killagreg | 329 | else // list contains some points but no WP in the list |
277 | killagreg | 330 | { |
331 | // search backward for a POI! |
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295 | killagreg | 332 | for(i = 1; i <= MAX_LIST_LEN; i++) |
277 | killagreg | 333 | { |
295 | killagreg | 334 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
516 | holgerb | 335 | { |
295 | killagreg | 336 | POIIndex = MAX_LIST_LEN - i + 1; |
277 | killagreg | 337 | break; |
338 | } |
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339 | } |
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516 | holgerb | 340 | NaviData.WaypointIndex = 0; |
277 | killagreg | 341 | } |
151 | killagreg | 342 | } |
277 | killagreg | 343 | else // no point in the list |
227 | killagreg | 344 | { |
280 | killagreg | 345 | POIIndex = 0; |
346 | NaviData.WaypointIndex = 0; |
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227 | killagreg | 347 | } |
295 | killagreg | 348 | if(WPIndex) return(&(PointList[WPIndex-1])); |
349 | else return(NULL); |
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151 | killagreg | 350 | } |
351 | |||
41 | ingob | 352 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
280 | killagreg | 353 | Point_t* PointList_WPNext(void) |
41 | ingob | 354 | { |
227 | killagreg | 355 | u8 wp_found = 0; |
280 | killagreg | 356 | if(WPActive == FALSE) return(NULL); |
516 | holgerb | 357 | |
295 | killagreg | 358 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
41 | ingob | 359 | { |
227 | killagreg | 360 | u8 i; |
295 | killagreg | 361 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
225 | killagreg | 362 | { |
601 | holgerb | 363 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs and FS-Positions |
225 | killagreg | 364 | { |
227 | killagreg | 365 | wp_found = i+1; |
225 | killagreg | 366 | break; |
367 | } |
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601 | holgerb | 368 | /* |
369 | else |
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370 | if((PointList[i].Type == POINT_TYPE_FS) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
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371 | { |
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372 | GPSPos_Copy(&(PointList[i].Position), &GPS_FailsafePosition); |
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373 | } |
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374 | */ |
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225 | killagreg | 375 | } |
41 | ingob | 376 | } |
227 | killagreg | 377 | if(wp_found) |
378 | { |
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379 | WPIndex = wp_found; // update list position |
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280 | killagreg | 380 | NaviData.WaypointIndex++; |
381 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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227 | killagreg | 382 | else POIIndex = 0; |
280 | killagreg | 383 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
227 | killagreg | 384 | } |
516 | holgerb | 385 | else |
280 | killagreg | 386 | { // no next wp found |
516 | holgerb | 387 | NaviData.WaypointIndex = 0; |
277 | killagreg | 388 | POIIndex = 0; |
389 | return(NULL); |
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390 | } |
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516 | holgerb | 391 | } |
280 | killagreg | 392 | |
393 | void PointList_WPActive(u8 set) |
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394 | { |
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295 | killagreg | 395 | if(set) |
516 | holgerb | 396 | { |
295 | killagreg | 397 | WPActive = TRUE; |
491 | killagreg | 398 | PointList_WPBegin(); // updates POI index |
295 | killagreg | 399 | } |
400 | else |
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401 | { |
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402 | WPActive = FALSE; |
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403 | POIIndex = 0; // disable POI also |
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404 | } |
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280 | killagreg | 405 | } |
516 | holgerb | 406 | |
280 | killagreg | 407 | Point_t* PointList_GetPOI(void) |
224 | killagreg | 408 | { |
516 | holgerb | 409 | return PointList_GetAt(POIIndex); |
224 | killagreg | 410 | } |
411 | |||
513 | killagreg | 412 | |
490 | killagreg | 413 | #define LINE_MAX 70 |
414 | #define WP_FILE_VERSION_COMPATIBLE 3 |
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513 | killagreg | 415 | |
416 | u8 PointList_Save(u8 * filename, u8* listname, u8 overwride) |
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490 | killagreg | 417 | { |
418 | File_t *fp; |
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495 | killagreg | 419 | s8 wpline[LINE_MAX]; |
420 | u8 retval = WPL_ERROR; |
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513 | killagreg | 421 | |
490 | killagreg | 422 | UART1_PutString("\n\r Save WPL..."); |
423 | |||
424 | if(Fat16_IsValid()) |
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425 | { // check if wpl file is existing |
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513 | killagreg | 426 | if(fexist_(filename)) |
495 | killagreg | 427 | { //file is existent |
516 | holgerb | 428 | if(!(overwride)) |
495 | killagreg | 429 | { |
430 | UART1_PutString("Error: file exist!\r\n"); |
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431 | return(WPL_FILEEXIST); |
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516 | holgerb | 432 | } |
495 | killagreg | 433 | } |
513 | killagreg | 434 | fp = fopen_(filename, 'w'); // try to open the file |
490 | killagreg | 435 | if(fp == NULL) |
436 | { |
||
437 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
||
438 | return(retval); |
||
439 | } |
||
440 | // Create general section and key entries |
||
441 | fputs_("[General]\r\n", fp); |
||
516 | holgerb | 442 | sprintf(wpline, "Name=%s\r\n", listname); |
494 | killagreg | 443 | fputs_(wpline, fp); |
516 | holgerb | 444 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
490 | killagreg | 445 | fputs_(wpline, fp); |
446 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
||
447 | fputs_(wpline, fp); |
||
448 | // dump all points if existent |
||
449 | if(PointCount) |
||
450 | { |
||
451 | u8 i, u8_1; |
||
452 | s32 i32_1, i32_2; |
||
504 | holgerb | 453 | NewWPL_Name = 1; |
490 | killagreg | 454 | for (i = 0; i < PointCount; i++) |
455 | { |
||
456 | sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
||
457 | fputs_(wpline, fp); |
||
458 | // write latitude in deg |
||
459 | if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
||
460 | else u8_1 = '+'; |
||
461 | i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
||
462 | i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
||
463 | sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
||
464 | fputs_(wpline, fp); |
||
465 | // write longitude in deg |
||
466 | if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
||
467 | else u8_1 = '+'; |
||
468 | i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
||
469 | i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
||
470 | sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
||
471 | fputs_(wpline, fp); |
||
472 | // write tolerace radius in m |
||
473 | sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
||
474 | fputs_(wpline, fp); |
||
475 | // write altitude in m |
||
476 | if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
||
477 | else u8_1 = '+'; |
||
478 | if(PointList[i].Type == POINT_TYPE_POI) |
||
479 | { |
||
480 | i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
||
481 | i32_2 = abs(PointList[i].Position.Altitude)%100L; |
||
482 | } |
||
483 | else |
||
484 | { |
||
485 | i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
||
486 | i32_2 = abs(PointList[i].Position.Altitude)%10L; |
||
487 | } |
||
488 | sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
||
489 | fputs_(wpline, fp); |
||
490 | // write climb rate in 0.1 m/s |
||
491 | sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
||
492 | fputs_(wpline, fp); |
||
493 | // write hold time in s |
||
494 | sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
||
495 | fputs_(wpline, fp); |
||
496 | // write event channel value |
||
497 | sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
||
498 | fputs_(wpline, fp); |
||
499 | // write heading in deg (0= nothing, neg. values index to poi) |
||
500 | sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
||
501 | fputs_(wpline, fp); |
||
502 | // write speed in 0.1 m/s |
||
503 | sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
||
504 | fputs_(wpline, fp); |
||
505 | // write cam angle in degree (255 -> POI-Automatic) |
||
506 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
||
507 | fputs_(wpline, fp); |
||
508 | // write point type |
||
509 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
||
516 | holgerb | 510 | fputs_(wpline, fp); |
511 | // write prefix |
||
490 | killagreg | 512 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
513 | fputs_(wpline, fp); |
||
642 | holgerb | 514 | sprintf(wpline, "AutoTrigger=%d\r\n", PointList[i].AutoPhotoDistance); |
515 | fputs_(wpline, fp); |
||
490 | killagreg | 516 | } // EOF loop over all points |
517 | } // EOF if(PointCount) |
||
518 | if(EOF == fclose_(fp)) |
||
519 | { |
||
520 | UART1_PutString("failed!\r\n"); |
||
521 | } |
||
522 | else |
||
523 | { |
||
524 | UART1_PutString("ok\r\n"); |
||
495 | killagreg | 525 | retval = WPL_OK; |
516 | holgerb | 526 | } |
490 | killagreg | 527 | } // EOF if(Fat16_IsValid()) |
516 | holgerb | 528 | else |
497 | killagreg | 529 | { |
530 | UART1_PutString("no file system found!\r\n"); |
||
531 | retval = WPL_NO_SDCARD_FOUND; |
||
532 | } |
||
490 | killagreg | 533 | return(retval); |
534 | } |
||
535 | |||
519 | holgerb | 536 | u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen, u8 use_preset_speed) |
490 | killagreg | 537 | { |
538 | File_t *fp; |
||
496 | killagreg | 539 | s8 wpline[LINE_MAX]; |
540 | u8 retval = WPL_ERROR; |
||
516 | holgerb | 541 | |
490 | killagreg | 542 | s8 *name, *value; |
543 | u8 i; |
||
544 | |||
545 | u8 IsGeneralSection = 0; |
||
546 | u8 IsPointSection = 0; |
||
547 | u8 WPNumber = 0; |
||
498 | killagreg | 548 | |
549 | // clear point list first |
||
550 | PointList_Clear(); |
||
517 | holgerb | 551 | HeadingOld = -1; // updates the direction if the new direction is the same like last time |
490 | killagreg | 552 | UART1_PutString("\n\r Read "); |
516 | holgerb | 553 | UART1_PutString(filename); |
490 | killagreg | 554 | UART1_PutString("..."); |
555 | |||
556 | if(Fat16_IsValid()) |
||
557 | { // check if wpl file is existing |
||
513 | killagreg | 558 | fp = fopen_(filename, 'r'); // try to open the file |
490 | killagreg | 559 | if(fp == NULL) |
560 | { |
||
561 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
||
496 | killagreg | 562 | return(retval); |
490 | killagreg | 563 | } |
564 | // read all lines from file |
||
565 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
||
566 | { |
||
567 | if ( // ignorelines starting with \r,\n,' ',';','#' |
||
568 | (wpline[0] != '\n') && |
||
569 | (wpline[0] != '\r') && |
||
570 | (wpline[0] != ' ' ) && |
||
571 | (wpline[0] != ';' ) && |
||
572 | (wpline[0] != '#' ) |
||
573 | ) |
||
574 | { |
||
575 | // check for section line found |
||
576 | if(wpline[0] == '[') |
||
577 | { |
||
578 | // next section found |
||
579 | IsGeneralSection = 0; |
||
580 | IsPointSection = 0; |
||
581 | |||
582 | name = strtok(&wpline[1], "]"); |
||
583 | if(name != NULL) // if section name |
||
584 | { |
||
585 | // check section type |
||
586 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
||
587 | |||
588 | if(strncmp(name, "POINT", 5) == 0) |
||
589 | { |
||
590 | IsPointSection = (u8)atoi(&name[5]); |
||
591 | PointCount++; |
||
592 | } |
||
593 | else if(strcmp(name, "GENERAL") == 0) |
||
594 | { |
||
595 | IsGeneralSection = 1; |
||
596 | } |
||
597 | else |
||
598 | { |
||
599 | UART1_PutString("Unknown section: "); |
||
600 | UART1_PutString(name); |
||
601 | UART1_PutString("\r\n"); |
||
602 | } |
||
603 | } |
||
604 | } // EOF section line |
||
605 | else |
||
606 | { // look for key entrys of each sections |
||
607 | name = strtok(wpline, "="); // get name |
||
608 | value = strtok(NULL, "="); // get value |
||
609 | if ((name != NULL) && (value != NULL)) |
||
610 | { |
||
611 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
||
612 | if(IsPointSection && (IsPointSection <= WPNumber)) |
||
613 | { |
||
614 | if(strcmp(name, "LATITUDE") == 0) |
||
615 | { |
||
616 | PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
||
617 | } |
||
618 | else if(strcmp(name, "LONGITUDE") == 0) |
||
619 | { |
||
620 | PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
||
621 | } |
||
622 | else if(strcmp(name, "RADIUS") == 0) |
||
623 | { |
||
624 | PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
||
625 | } |
||
626 | else if(strcmp(name, "ALTITUDE") == 0) |
||
627 | { |
||
628 | PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
||
629 | PointList[IsPointSection-1].Position.Status = NEWDATA; |
||
630 | } |
||
631 | else if(strcmp(name, "CLIMBRATE") == 0) |
||
632 | { |
||
633 | PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
||
634 | } |
||
635 | else if(strcmp(name, "DELAYTIME") == 0) |
||
636 | { |
||
637 | PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
||
638 | } |
||
639 | else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
||
640 | { |
||
641 | PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
||
642 | } |
||
643 | else if(strcmp(name, "HEADING") == 0) |
||
644 | { |
||
645 | PointList[IsPointSection-1].Heading = (s16)atoi(value); |
||
646 | } |
||
647 | else if(strcmp(name, "SPEED") == 0) |
||
648 | { |
||
519 | holgerb | 649 | if(use_preset_speed) PointList[IsPointSection-1].Speed = use_preset_speed; |
650 | else PointList[IsPointSection-1].Speed = (u8)atoi(value); |
||
490 | killagreg | 651 | } |
652 | else if(strcmp(name, "CAM-NICK") == 0) |
||
653 | { |
||
654 | PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
||
655 | } |
||
656 | else if(strcmp(name, "TYPE") == 0) |
||
657 | { |
||
658 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
||
659 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
||
660 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
||
516 | holgerb | 661 | |
490 | killagreg | 662 | switch(PointList[IsPointSection-1].Type) |
663 | { |
||
664 | case POINT_TYPE_WP: |
||
665 | // this works only if altitude key is set before point type key in WPL file !! |
||
516 | holgerb | 666 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
490 | killagreg | 667 | WPCount++; |
668 | break; |
||
601 | holgerb | 669 | case POINT_TYPE_FS: |
670 | FsPointCnt++; |
||
671 | break; |
||
490 | killagreg | 672 | case POINT_TYPE_POI: |
673 | POICount++; |
||
674 | break; |
||
675 | } |
||
676 | } |
||
677 | else if(strcmp(name, "PREFIX") == 0) |
||
678 | { |
||
679 | strncpy(PointList[IsPointSection-1].Name, value, 4); |
||
680 | PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
||
681 | } |
||
642 | holgerb | 682 | else if(strcmp(name, "AUTOTRIGGER") == 0) |
683 | { |
||
684 | PointList[IsPointSection-1].AutoPhotoDistance = (u8)atoi(value); |
||
685 | } |
||
490 | killagreg | 686 | else |
687 | { |
||
688 | UART1_PutString("Unknown key: "); |
||
689 | UART1_PutString(name); |
||
690 | UART1_PutString("\r\n"); |
||
516 | holgerb | 691 | } |
490 | killagreg | 692 | } // EOF point section |
693 | else if(IsGeneralSection) |
||
694 | { |
||
695 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
||
516 | holgerb | 696 | { |
490 | killagreg | 697 | WPNumber = (u8)atoi(value); |
698 | if(!WPNumber) // no waypoints in file |
||
699 | { |
||
516 | holgerb | 700 | return(WPL_NO_WAYPOINTS); // we are done here |
490 | killagreg | 701 | } |
702 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
||
703 | { |
||
514 | holgerb | 704 | UART1_PutString("To many points!"); |
497 | killagreg | 705 | return(WPL_ERROR); |
516 | holgerb | 706 | } |
490 | killagreg | 707 | } |
708 | else if (strcmp(name, "FILEVERSION") == 0) |
||
709 | { |
||
710 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
||
711 | { |
||
496 | killagreg | 712 | PointList_Clear(); |
490 | killagreg | 713 | UART1_PutString("Bad file version!\r\n"); |
516 | holgerb | 714 | return(WPL_ERROR); |
490 | killagreg | 715 | } |
716 | } |
||
495 | killagreg | 717 | else if (strcmp(name, "NAME") == 0) |
718 | { |
||
513 | killagreg | 719 | if(listname) |
498 | killagreg | 720 | { |
513 | killagreg | 721 | u8 len = strlen(value); |
722 | if(len) |
||
723 | { |
||
724 | if(value[len-1] == '\r') |
||
725 | { |
||
726 | value[len-1] = 0; |
||
540 | holgerb | 727 | // len--; |
513 | killagreg | 728 | } |
729 | } |
||
730 | if(len > listnamelen) len = listnamelen; |
||
731 | if(len) |
||
732 | { |
||
733 | value[len-1] = 0; // terminate string |
||
734 | if(listname) memcpy(listname, value, len); |
||
735 | } |
||
736 | NewWPL_Name = 1; |
||
498 | killagreg | 737 | } |
495 | killagreg | 738 | } |
490 | killagreg | 739 | else |
740 | { |
||
741 | UART1_PutString("Unknown key: "); |
||
742 | UART1_PutString(name); |
||
743 | UART1_PutString("\r\n"); |
||
744 | } |
||
745 | } // EOF general section |
||
746 | } // EOF valid key entry |
||
747 | } // EOF key entry line |
||
748 | } // valid line |
||
749 | } // EOF loop over all lines |
||
750 | fclose_(fp); |
||
751 | NaviData.WaypointNumber = WPCount; |
||
516 | holgerb | 752 | retval = WPL_OK; |
753 | UART1_PutString("ok\r\n"); |
||
490 | killagreg | 754 | } // EOF if(Fat16_IsValid()) |
516 | holgerb | 755 | else |
497 | killagreg | 756 | { |
757 | UART1_PutString("no file system found!\r\n"); |
||
758 | retval = WPL_NO_SDCARD_FOUND; |
||
516 | holgerb | 759 | } |
490 | killagreg | 760 | return(retval); |
491 | killagreg | 761 | } |
490 | killagreg | 762 | |
513 | killagreg | 763 | // load actual point list from SD card |
764 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
||
765 | { |
||
516 | holgerb | 766 | u8 filename[30]; |
513 | killagreg | 767 | |
768 | pWPL_Store->Name[0] = 0; // clear current list name |
||
769 | |||
770 | // user absolute path, i.e. leading / |
||
771 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
||
772 | { |
||
516 | holgerb | 773 | sprintf(filename, "/default.wpl"); |
513 | killagreg | 774 | } |
775 | else |
||
776 | { |
||
777 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
||
778 | } |
||
519 | holgerb | 779 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),0); |
513 | killagreg | 780 | } |
781 | |||
782 | // save actual point list to SD card |
||
783 | u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
||
784 | { |
||
785 | u8 filename[30]; |
||
516 | holgerb | 786 | |
787 | |||
513 | killagreg | 788 | if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
516 | holgerb | 789 | // user absolute path, i.e. leading / |
513 | killagreg | 790 | if(pWPL_Store->Index == 0) |
791 | { |
||
792 | sprintf(filename, "/default.wpl"); |
||
793 | } |
||
794 | else |
||
795 | { |
||
796 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
||
797 | } |
||
798 | return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
||
799 | } |
||
800 | |||
801 | |||
516 | holgerb | 802 | // save actual gps positiin and heading to file |
513 | killagreg | 803 | u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
804 | { |
||
805 | u8 retval = WPL_ERROR; |
||
806 | u8 filename[30]; |
||
807 | Point_t WP; |
||
808 | |||
514 | holgerb | 809 | UART1_PutString("\n\r write single point\n\r"); |
516 | holgerb | 810 | if(GPSData.Position.Status == INVALID) |
811 | { |
||
514 | holgerb | 812 | UART1_PutString("ERROR: No GPS - Fix\n\r"); |
813 | return(retval); |
||
516 | holgerb | 814 | } |
513 | killagreg | 815 | |
816 | // clear current point list |
||
817 | PointList_Clear(); |
||
818 | // prepare WP at current position |
||
519 | holgerb | 819 | |
820 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
||
821 | { // take actual position |
||
822 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
||
823 | } |
||
824 | else |
||
825 | { // take last target position |
||
826 | GPSPos_Copy(&NaviData.TargetPosition, &(WP.Position)); |
||
827 | } |
||
828 | |||
513 | killagreg | 829 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
830 | // set heading |
||
545 | holgerb | 831 | WP.Heading = (CompassSetpointCorrected/10 + Parameter.CamOrientation * 15) % 360; |
513 | killagreg | 832 | if(WP.Heading == 0) WP.Heading = 360; |
519 | holgerb | 833 | WP.ToleranceRadius = 120; // 12m |
834 | WP.HoldTime = 2; |
||
513 | killagreg | 835 | WP.Index = 1; |
836 | WP.Type = POINT_TYPE_WP; |
||
837 | WP.WP_EventChannelValue = 0; |
||
576 | holgerb | 838 | if(FC.StatusFlags & FC_STATUS_FLY && ((FromFC_VarioCharacter != ' ') || (SimulationFlags & SIMULATION_ACTIVE))) // only in flight and if the Altitude control is enabled |
516 | holgerb | 839 | { |
519 | holgerb | 840 | WP.AltitudeRate = 255; // Auto |
841 | WP.Position.Altitude = NaviData.SetpointAltitude / 2; |
||
516 | holgerb | 842 | } |
843 | else |
||
514 | holgerb | 844 | { |
516 | holgerb | 845 | WP.AltitudeRate = 0; |
846 | WP.Position.Altitude = 0; |
||
514 | holgerb | 847 | } |
519 | holgerb | 848 | WP.Speed = 50; // beim Laden wird der Wert nochmal neu gesetzt |
513 | killagreg | 849 | WP.CamAngle = 0; |
521 | holgerb | 850 | WP.Name[0] = 'S'; |
851 | WP.Name[1] = 'P'; |
||
852 | WP.Name[2] = 'T'; |
||
853 | WP.Name[3] = 0; |
||
513 | killagreg | 854 | // add this point to wp list |
855 | PointList_SetAt(&WP); |
||
514 | holgerb | 856 | |
857 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
||
516 | holgerb | 858 | UART1_PutString(filename); |
514 | holgerb | 859 | sprintf(pWPL_Store->Name, "POINT%03d ", pWPL_Store->Index); |
513 | killagreg | 860 | retval = PointList_Save(filename, pWPL_Store->Name, 1); |
514 | holgerb | 861 | |
862 | // clear current point list |
||
519 | holgerb | 863 | if((NC_GPS_ModeCharacter != 'w') && (NC_GPS_ModeCharacter != 'W')) PointList_Clear(); |
549 | holgerb | 864 | else // es ist gearde ein Wegpunktflug aktiv -> updaten |
519 | holgerb | 865 | { |
866 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
867 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
||
868 | } |
||
869 | |||
513 | killagreg | 870 | return(retval); |
871 | } |
||
872 | // load target gps posititon and heading from file |
||
873 | u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store) |
||
874 | { |
||
519 | holgerb | 875 | u8 filename[30], result = 0; |
516 | holgerb | 876 | |
514 | holgerb | 877 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
513 | killagreg | 878 | pWPL_Store->Name[0] = 0; // clear current list name |
519 | holgerb | 879 | result = PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),Parameter.SingleWpSpeed); |
880 | if(result) UART1_Request_ReadPoint = 1; // Sends Point 1 to the PC |
||
881 | return(result); |
||
513 | killagreg | 882 | } |
883 | |||
884 | |||
516 | holgerb | 885 | |
504 | holgerb | 886 | void ClearWLP_Name(void) |
887 | { |
||
513 | killagreg | 888 | u8 i; |
889 | for(i=0; i<sizeof(WPL_Store.Name);i++) WPL_Store.Name[i] = 0; |
||
890 | NewWPL_Name = 1; |
||
504 | holgerb | 891 | } |
513 | killagreg | 892 | |
491 | killagreg | 893 | // move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards |
503 | holgerb | 894 | u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle) |
491 | killagreg | 895 | { |
896 | u8 retval = 0; |
||
513 | killagreg | 897 | s32 altitude; |
898 | GPS_Pos_t OldRefPos; |
||
491 | killagreg | 899 | GPS_Pos_Deviation_t RefDeviation; |
516 | holgerb | 900 | |
491 | killagreg | 901 | // check inputs for plausibility; |
516 | holgerb | 902 | if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
491 | killagreg | 903 | if(pRefPos == NULL) return(retval); |
904 | if(pRefPos->Status == INVALID) return(retval); |
||
905 | |||
513 | killagreg | 906 | if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &OldRefPos)) // backup old reference position |
491 | killagreg | 907 | { |
908 | u8 i; |
||
513 | killagreg | 909 | // iterate the position list |
491 | killagreg | 910 | for(i = 0; i < PointCount; i++) |
911 | { |
||
912 | retval = 0; |
||
513 | killagreg | 913 | // backup altitude of this point |
914 | altitude = PointList[i].Position.Altitude; |
||
915 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
||
916 | if(!GPSPos_Deviation(&(PointList[i].Position), &OldRefPos, &RefDeviation)) break; |
||
491 | killagreg | 917 | // copy of the new reference position into this list place |
918 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
||
516 | holgerb | 919 | // restore former altitude |
513 | killagreg | 920 | PointList[i].Position.Altitude = altitude; |
491 | killagreg | 921 | // move new reference according to the deviation of the old reference |
513 | killagreg | 922 | if(RotationAngle > 0) |
923 | { |
||
924 | retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360, RefDeviation.Distance ); |
||
925 | // Now rotate the heading positions if they are fixed angles |
||
926 | if(PointList[i].Heading >= 0 && PointList[i].Heading <= 360) PointList[i].Heading = (PointList[i].Heading + RotationAngle) % 360; |
||
927 | } |
||
928 | else // no rotation |
||
929 | { |
||
930 | // move new reference according to the deviation of the old reference |
||
931 | retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
||
932 | } |
||
516 | holgerb | 933 | if(!retval) break; |
491 | killagreg | 934 | } |
935 | } // else ref pos old not copied! |
||
936 | if(!retval) PointList_Clear(); |
||
937 | return(retval); |
||
938 | } |
||
939 | |||
516 | holgerb | 940 | |
491 | killagreg | 941 |