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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 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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6 | // + Nur für den privaten Gebrauch |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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29 | // + mit unserer Zustimmung zulässig |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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44 | // |
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45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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57 | |||
58 | #include <string.h> |
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59 | #include "91x_lib.h" |
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60 | #include "waypoints.h" |
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61 | #include "uart1.h" |
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62 | |||
63 | // the waypoints list |
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64 | #define WPLISTLEN 20 |
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65 | Waypoint_t WPList[WPLISTLEN]; |
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66 | u8 WPIndex = 0; |
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67 | u8 WPNumber = 0; |
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68 | |||
69 | |||
70 | u8 WPList_Init(void) |
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71 | { |
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72 | return WPList_Clear(); |
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73 | } |
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74 | |||
75 | u8 WPList_Clear(void) |
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76 | { |
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77 | u8 i; |
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78 | WPIndex = 0; |
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79 | WPNumber = 0; |
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80 | NaviData.WaypointNumber = WPNumber; |
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81 | NaviData.WaypointIndex = WPIndex; |
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82 | |||
83 | for(i = 0; i < WPLISTLEN; i++) |
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84 | { |
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92 | killagreg | 85 | WPList[i].Position.Status = INVALID; |
86 | WPList[i].Position.Latitude = 0; |
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87 | WPList[i].Position.Longitude = 0; |
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88 | WPList[i].Position.Altitude = 0; |
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89 | WPList[i].Heading = -1; |
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90 | WPList[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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91 | WPList[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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151 | killagreg | 92 | WPList[i].Event_Flag = 0; // future implementation |
41 | ingob | 93 | } |
94 | return TRUE; |
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95 | } |
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96 | |||
97 | u8 WPList_GetCount(void) |
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98 | { |
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99 | return WPNumber; |
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100 | } |
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101 | |||
102 | u8 WPList_Append(Waypoint_t* pwp) |
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103 | { |
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104 | if(WPNumber < WPLISTLEN) // id there is still some space in the list |
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105 | { |
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106 | memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry |
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107 | WPList[WPNumber].Position.Status = NEWDATA; // mark as new data |
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108 | WPNumber++; // increment list length |
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109 | NaviData.WaypointNumber = WPNumber; |
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110 | return TRUE; |
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111 | } |
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112 | else return FALSE; |
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113 | } |
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114 | |||
115 | // rewind to the begin of the list, and returns the first waypoint |
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116 | Waypoint_t* WPList_Begin(void) |
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117 | { |
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118 | WPIndex = 0; // reset list index |
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151 | killagreg | 119 | NaviData.WaypointIndex = WPIndex + 1; |
152 | killagreg | 120 | if(WPNumber > 0) |
121 | { |
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122 | NaviData.WaypointIndex = WPIndex + 1; |
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123 | return(&(WPList[WPIndex])); // if list is not empty return pointer to first waypoint in the list |
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124 | } |
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125 | else |
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126 | { |
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127 | NaviData.WaypointIndex = 0; |
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128 | return NULL; // else return NULL |
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129 | } |
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41 | ingob | 130 | |
131 | } |
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132 | |||
151 | killagreg | 133 | // jump to the end of the list, and returns the last waypoint |
134 | Waypoint_t* WPList_End(void) |
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135 | { |
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136 | if(WPNumber > 0) |
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137 | { |
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138 | NaviData.WaypointIndex = WPNumber; |
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139 | WPIndex = WPNumber - 1; |
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140 | return(&(WPList[WPIndex])); // if list is not empty return pointer to first waypoint in the list |
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141 | } |
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142 | else |
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143 | { |
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144 | return NULL; // else return NULL |
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145 | } |
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146 | |||
147 | } |
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148 | |||
41 | ingob | 149 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
150 | Waypoint_t* WPList_Next(void) |
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151 | { |
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152 | if((WPIndex + 1) < WPNumber) // if the next WPIndex exist |
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153 | { |
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154 | WPIndex++; // goto next |
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151 | killagreg | 155 | NaviData.WaypointIndex = WPIndex + 1; |
41 | ingob | 156 | return(&(WPList[WPIndex])); // return pointer to this waypoint |
157 | } |
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92 | killagreg | 158 | else return(NULL); |
41 | ingob | 159 | } |
160 | |||
92 | killagreg | 161 | Waypoint_t* WPList_GetAt(u8 index) |
162 | { |
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163 | if(index < WPNumber) return(&(WPList[index])); // return pointer to this waypoint |
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164 | else return(NULL); |
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165 | } |