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| Rev | Author | Line No. | Line |
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| 2136 | - | 1 | /* |
| 2 | * FollowMe.c |
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| 3 | * |
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| 4 | * Created on: 18.05.2012 |
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| 5 | * Author: cebra |
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| 6 | */ |
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| 7 | /***************************************************************************** |
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| 8 | * Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net * |
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| 9 | * * |
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| 10 | * This program is free software; you can redistribute it and/or modify * |
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| 11 | * it under the terms of the GNU General Public License as published by * |
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| 12 | * the Free Software Foundation; either version 2 of the License. * |
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| 13 | * * |
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| 14 | * This program is distributed in the hope that it will be useful, * |
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| 15 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 16 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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| 17 | * GNU General Public License for more details. * |
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| 18 | * * |
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| 19 | * You should have received a copy of the GNU General Public License * |
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| 20 | * along with this program; if not, write to the * |
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| 21 | * Free Software Foundation, Inc., * |
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| 22 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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| 23 | * * |
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| 24 | * * |
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| 25 | * Credits to: * |
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| 26 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
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| 27 | * http://www.mikrokopter.de * |
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| 28 | * Gregor "killagreg" Stobrawa for his version of the MK code * |
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| 29 | * Thomas Kaiser "thkais" for the original project. See * |
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| 30 | * http://www.ft-fanpage.de/mikrokopter/ * |
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| 31 | * http://forum.mikrokopter.de/topic-4061-1.html * |
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| 32 | * Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code * |
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| 33 | * http://www.mylifesucks.de/oss/c-osd/ * |
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| 34 | * Harald Bongartz "HaraldB" for providing his Ideas and Code for usibility* |
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| 35 | *****************************************************************************/ |
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| 36 | //############################################################################ |
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| 37 | //# HISTORY followme.c |
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| 38 | //# |
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| 2212 | - | 39 | //# |
| 40 | //# |
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| 41 | //# |
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| 42 | //# |
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| 43 | //# 22.09.2015 Starter |
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| 44 | //# - FollowMeStep2 erweitert mit Kreisberechnung und test auf PKT |
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| 45 | //# - PKT-Pos von lat lon auf latitude und longitude umbenannt |
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| 46 | //# |
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| 2200 | - | 47 | //# 20.09.2015 Starter |
| 48 | //# FollowMeStep2 erweitert auf aktuelle GPS-Daten und followme_calculate_offset(...) |
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| 49 | //# |
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| 2136 | - | 50 | //# 03.08.2015 Cebra |
| 51 | //# - add: void Debug_GPS (void) hinzugefügt zur Test der GPS Berechnung FollowMe |
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| 52 | //# |
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| 53 | //# 20.07.2015 CB |
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| 54 | //# - chg: FollowMe Datensatz an NC.211 angepasst |
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| 55 | //# |
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| 56 | //# 27.06.2014 OG |
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| 57 | //# - chg: Anzeige von Satfix und Satanzahl auf MINVERSX, MNORMALX |
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| 58 | //# |
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| 59 | //# 26.06.2014 OG |
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| 60 | //# - chg: angepasst auf neue NMEA-Datenstruktur (gps_nmea.h) |
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| 61 | //# |
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| 62 | //# 24.06.2014 OG |
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| 63 | //# - chg: FollowMe() angepasst auf geaendertes GPSMouse_ShowData() |
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| 64 | //# |
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| 65 | //# 22.06.2014 OG |
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| 66 | //# - chg: FollowMe() umgestellt auf GPSMouse_ShowData() (in gps/gpsmouse.c) |
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| 67 | //# - del: Variable CheckGPS |
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| 68 | //# |
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| 69 | //# 21.06.2014 OG |
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| 70 | //# - chg: verschiedene Layoutaenderungen am Anzeigescreen und Anzeige der |
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| 71 | //# Entfernung zwischen Kopter und Target |
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| 72 | //# - chg: MK-Timeoutout Erkennung verbessert/angepasst |
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| 73 | //# |
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| 74 | //# 19.06.2014 OG |
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| 75 | //# - erster Prototyp der Follow Me zum Kopter sendet |
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| 76 | //# - etliche Aenderungen im Codeaufbau |
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| 77 | //# |
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| 78 | //# 01.06.2014 OG |
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| 79 | //# - chg: FollowMe() - verschiedene Anzeigefunktionen auskommentiert und |
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| 80 | //# als DEPRICATED Klassifiziert wegen Cleanup der alten OSD Screens |
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| 81 | //# - chg: FollowMe() - Check bzgl. NC-Hardware entfernt da das bereits durch das |
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| 82 | //# Hauptmenue erledigt wird |
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| 83 | //# |
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| 84 | //# 13.05.2014 OG |
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| 85 | //# - chg: FollowMe() - Variable 'flag' auskommentiert |
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| 86 | //# wegen Warning: variable set but not used |
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| 87 | //# - chg: FollowMe() - Variable 'old_FCFlags' auskommentiert |
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| 88 | //# wegen Warning: variable set but not used |
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| 89 | //# - chg: FollowMe() - den Bereich in dem FC-Settings geladen werdeb |
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| 90 | //# auskommentiert weil man das a) vorallem nicht benoetigt |
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| 91 | //# und b) die load_setting() so nicht mehr existiert |
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| 92 | //# (der Codebereich kann meines erachtens geloescht werden) |
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| 93 | //# - del: verschiedene Verweise auf 'mk_param_struct' entfernt, weil es |
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| 94 | //# das a) nicht mehr gibt und b) hier gar nicht benoetigt wird |
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| 95 | //# - chg: FollowMe() - OSD_Timeout() entfernt (weil es das nicht mehr gibt) |
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| 96 | //# und erstmal durch ein PKT_Message_P() ersetzt |
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| 97 | //# * ACHTUNG: UNGETESTET! * (bei Bedarf anpassen, followme hat niedrige Prio) |
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| 98 | //# - add: #include "../pkt/pkt.h" |
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| 99 | //# |
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| 100 | //# 05.05.2013 Cebra |
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| 101 | //# - chg: #ifdef USE_FOLLOWME |
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| 102 | //# |
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| 103 | //############################################################################ |
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| 104 | |||
| 105 | #include "../cpu.h" |
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| 106 | #include <avr/io.h> |
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| 107 | #include <inttypes.h> |
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| 108 | #include <stdlib.h> |
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| 109 | #include <avr/pgmspace.h> |
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| 110 | #include <util/delay.h> |
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| 111 | |||
| 112 | #include <string.h> |
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| 113 | #include <stdarg.h> |
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| 114 | #include <stdio.h> |
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| 115 | |||
| 116 | #include "../main.h" |
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| 117 | |||
| 118 | #ifdef USE_FOLLOWME |
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| 119 | |||
| 120 | #include "../followme/followme.h" |
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| 121 | #include "../osd/osd.h" |
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| 122 | #include "../lcd/lcd.h" |
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| 123 | #include "../timer/timer.h" |
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| 124 | #include "../uart/usart.h" |
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| 125 | #include "../eeprom/eeprom.h" |
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| 126 | #include "../messages.h" |
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| 127 | #include "../bluetooth/bluetooth.h" |
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| 128 | #include "../setup/setup.h" |
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| 129 | #include "../uart/uart1.h" |
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| 130 | #include "../mk-data-structs.h" |
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| 131 | #include "../pkt/pkt.h" |
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| 132 | #include "../gps/gps.h" |
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| 133 | //#include "../gps/gps_nmea.h" |
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| 134 | #include "../avr-nmea-gps-library/nmea.h" |
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| 135 | #include "../gps/gpsmouse.h" |
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| 136 | |||
| 137 | |||
| 138 | //####################################################################################################################### |
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| 139 | |||
| 140 | |||
| 141 | //-------------------- |
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| 142 | // Timings |
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| 143 | //-------------------- |
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| 144 | //#define MK_TIMEOUT 300 // MK-Verbindungsfehler wenn fuer n Zeit keine gueltigen Daten hereinkommen (3 sec) |
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| 145 | #define MK_TIMEOUT 400 // MK-Verbindungsfehler wenn fuer n Zeit keine gueltigen Daten hereinkommen (4 sec) |
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| 146 | |||
| 147 | |||
| 148 | |||
| 149 | //-------------------- |
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| 150 | #define COSD_WASFLYING 4 |
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| 151 | |||
| 152 | // global definitions and global vars |
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| 153 | NaviData_t *naviData; |
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| 154 | unsigned char Element; |
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| 155 | uint16_t heading_home; |
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| 156 | |||
| 157 | // Hier Höhenanzeigefehler Korrigieren |
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| 158 | #define AltimeterAdjust 1.5 |
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| 159 | |||
| 2212 | - | 160 | positionOffset followMeOffset; |
| 2136 | - | 161 | |
| 162 | |||
| 2212 | - | 163 | |
| 2136 | - | 164 | // Flags |
| 165 | //uint8_t COSD_FLAGS2 = 0; |
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| 166 | // |
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| 167 | //GPS_Pos_t last5pos[7]; |
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| 168 | uint8_t FM_error = 0; |
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| 169 | |||
| 170 | |||
| 171 | //--------------------- |
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| 172 | // Waypoint Types |
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| 173 | // TODO OG: verschieben nach: mk-data-structs.h |
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| 174 | //--------------------- |
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| 175 | #define POINT_TYPE_INVALID 255 |
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| 176 | #define POINT_TYPE_WP 0 |
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| 177 | #define POINT_TYPE_POI 1 |
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| 178 | |||
| 179 | |||
| 180 | //--------------------- |
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| 181 | // Status |
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| 182 | // GPS_Pos_t |
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| 183 | // aus MK source |
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| 184 | // |
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| 185 | // TODO OG: verschieben nach: mk-data-structs.h |
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| 186 | //--------------------- |
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| 187 | #define INVALID 0x00 |
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| 188 | #define NEWDATA 0x01 |
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| 189 | #define PROCESSED 0x02 |
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| 190 | |||
| 191 | |||
| 192 | |||
| 193 | //-------------------------------------------------------------- |
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| 194 | //-------------------------------------------------------------- |
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| 195 | void FollowMe( void ) |
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| 196 | { |
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| 197 | //uint8_t status; |
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| 198 | GPS_Pos_t currpos; |
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| 199 | uint8_t tmp_dat; |
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| 200 | uint8_t redraw; |
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| 201 | uint8_t drawmode; |
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| 202 | uint32_t NMEA_GPGGA_counter_old; // Merker: zaehlt empfangene GPGGA-Pakete |
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| 203 | uint32_t send_followme_counter; |
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| 204 | |||
| 205 | int8_t ok; |
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| 206 | int8_t xoffs; |
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| 207 | int8_t yoffs; |
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| 208 | Point_t FollowMe; |
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| 209 | uint8_t mktimeout = false; |
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| 210 | |||
| 211 | |||
| 212 | |||
| 213 | GPS_PosDev_t targetdev; |
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| 214 | |||
| 215 | |||
| 216 | //--------------------- |
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| 217 | // 1. Daten GPS-Maus |
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| 218 | //--------------------- |
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| 219 | ok = GPSMouse_ShowData( GPSMOUSE_SHOW_WAITSATFIX, 500 ); // 500 = 5 Sekunden Verzoegerung nach Satfix |
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| 220 | if( ok <= 0 ) |
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| 221 | { |
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| 222 | return; // Fehler bzgl. BT GPS-Maus -> exit |
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| 223 | } |
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| 224 | |||
| 225 | |||
| 226 | //--------------------- |
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| 227 | // 2. Follow Me |
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| 228 | //--------------------- |
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| 229 | set_beep( 25, 0xffff, BeepNormal ); // kurzer Bestaetigungs-Beep |
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| 230 | |||
| 231 | lcd_cls (); |
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| 232 | |||
| 233 | SwitchToNC(); |
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| 234 | |||
| 235 | mode = 'O'; |
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| 236 | |||
| 237 | // disable debug... |
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| 238 | // RS232_request_mk_data (0, 'd', 0); |
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| 239 | tmp_dat = 0; |
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| 240 | SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1); |
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| 241 | |||
| 242 | // request OSD Data from NC every 100ms |
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| 243 | // RS232_request_mk_data (1, 'o', 100); |
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| 244 | tmp_dat = 10; |
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| 245 | SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1); |
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| 246 | |||
| 247 | //OSD_active = true; // benötigt für Navidata Ausgabe an SV2 |
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| 248 | |||
| 249 | //------------------------- |
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| 250 | // Init: Timer & Flags |
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| 251 | //------------------------- |
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| 252 | timer_mk_timeout = MK_TIMEOUT; |
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| 253 | |||
| 254 | abo_timer = ABO_TIMEOUT; |
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| 255 | |||
| 256 | |||
| 257 | MKLiPoCells_Init(); |
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| 258 | |||
| 259 | redraw = true; |
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| 260 | |||
| 261 | NMEA.Counter = 0; |
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| 262 | NMEA_GPGGA_counter_old = 0; |
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| 263 | send_followme_counter = 0; |
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| 264 | |||
| 265 | |||
| 266 | while( (receiveNMEA) ) |
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| 267 | { |
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| 268 | //----------------------------------------- |
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| 269 | // Screen redraw |
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| 270 | //----------------------------------------- |
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| 271 | if( redraw ) |
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| 272 | { |
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| 273 | lcd_cls(); |
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| 274 | |||
| 275 | lcdx_printf_center_P( 0, MNORMAL, 1,0, PSTR("FollowMe") ); // Titel: oben, mitte |
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| 276 | |||
| 277 | lcd_line( (6*6-3), 0, (6*6-3), 11, 1); // Linie Vertikal links |
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| 278 | lcd_line( (15*6+5), 0, (15*6+5), 11, 1); // Linie Vertikal rechts |
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| 279 | lcd_line( 0, 12, 127, 12, 1); // Linie Horizontal |
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| 280 | |||
| 281 | //lcd_line( 0, 39, 127, 39, 1); // Linie Horizontal Mitte |
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| 282 | lcd_line( 66, 39, 127, 39, 1); // Linie Horizontal Mitte |
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| 283 | |||
| 284 | lcd_rect_round( 0, 33, 66, 12, 1, R1); // Rahmen fuer "Di" (Distance) |
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| 285 | |||
| 286 | lcdx_printf_at_P( 3, 2, MNORMAL, 3,-1, PSTR("Al:") ); // Label: "Al:" |
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| 287 | |||
| 288 | draw_icon_mk( 1, 18); |
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| 289 | draw_icon_target_round( 1, 50); |
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| 290 | |||
| 291 | redraw = false; |
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| 292 | } |
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| 293 | |||
| 294 | |||
| 295 | |||
| 296 | //----------------------------------------- |
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| 297 | // neue MK Daten vorhanden |
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| 298 | //----------------------------------------- |
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| 299 | if( rxd_buffer_locked ) // neue MK Daten |
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| 300 | { |
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| 301 | Decode64 (); |
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| 302 | naviData = (NaviData_t *) pRxData; |
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| 303 | |||
| 304 | if( mktimeout ) redraw = true; |
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| 305 | mktimeout = false; |
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| 306 | |||
| 307 | FM_error = 0; // noch benoetigt? |
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| 308 | |||
| 309 | currpos.Latitude = naviData->CurrentPosition.Latitude; |
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| 310 | currpos.Longitude = naviData->CurrentPosition.Longitude; |
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| 311 | |||
| 312 | //---------------------------------- |
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| 313 | // speichere letzte GPS-Positionen |
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| 314 | //---------------------------------- |
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| 315 | Config.LastLatitude = naviData->CurrentPosition.Latitude; // speichere letzte Position in Config |
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| 316 | Config.LastLongitude = naviData->CurrentPosition.Longitude; // speichere letzte Position in Config |
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| 317 | |||
| 318 | |||
| 319 | //---------------------------------- |
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| 320 | // LiPo Cell Check |
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| 321 | //---------------------------------- |
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| 322 | MKLiPoCells_Check(); // ggf. Zellenzahl ermitteln |
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| 323 | |||
| 324 | |||
| 325 | //################# |
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| 326 | //# MK |
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| 327 | //################# |
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| 328 | |||
| 329 | //----------------- |
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| 330 | // Oben: MK-Batt Level (Volt) |
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| 331 | //----------------- |
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| 332 | OSD_Element_BattLevel2( 0, 0, 0,0 ); |
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| 333 | |||
| 334 | //----------------- |
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| 335 | // Oben: Batt Level Bar |
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| 336 | //----------------- |
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| 337 | OSD_Element_Battery_Bar( 0, 9, 30, 1, ORIENTATION_H); |
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| 338 | |||
| 339 | //----------------- |
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| 340 | // Oben: MK-Flugzeit |
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| 341 | //----------------- |
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| 342 | writex_time(16, 0, naviData->FlyingTime, MNORMAL, 2,0); |
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| 343 | |||
| 344 | //----------------- |
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| 345 | // Hoehe |
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| 346 | //----------------- |
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| 347 | xoffs = 3; |
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| 348 | yoffs = -1; |
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| 349 | writex_altimeter( 7, 2, naviData->Altimeter, MNORMAL, xoffs,yoffs ); |
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| 350 | |||
| 351 | //----------------- |
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| 352 | // MK: Sat Anzahl |
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| 353 | //----------------- |
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| 354 | yoffs = -27; |
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| 2212 | - | 355 | if( naviData->SatsInUse > 5 ) |
| 356 | drawmode = MNORMALX; |
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| 357 | else |
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| 358 | drawmode = MINVERSX; |
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| 2136 | - | 359 | writex_ndigit_number_u( 17, 5, naviData->SatsInUse, 2, 0,drawmode, 3,2+yoffs); |
| 360 | draw_icon_satmini( 116+3, 42+yoffs); |
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| 361 | |||
| 362 | |||
| 363 | //----------------- |
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| 364 | // MK: GPS |
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| 365 | //----------------- |
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| 366 | writex_gpspos( 3, 4, currpos.Latitude , MNORMAL,-3,-8 ); // Line 4 L: Latitude |
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| 367 | writex_gpspos(12, 4, currpos.Longitude, MNORMAL, 1,-8 ); // Line 4 R: Longitude |
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| 368 | // lcdx_printf_at_P( 1, 4, MNORMAL, -3,-8 , PSTR("%d"), NMEA.Latitude); |
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| 369 | // lcdx_printf_at_P( 10, 4, MNORMAL, -1,-8 , PSTR("%d"), NMEA.Longitude); |
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| 370 | |||
| 371 | |||
| 372 | |||
| 373 | //################# |
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| 374 | //# DISTANCE TO TARGET |
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| 375 | //################# |
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| 376 | |||
| 377 | //----------------- |
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| 378 | // Target: Distance to Target |
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| 379 | //----------------- |
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| 380 | xoffs = 7; |
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| 381 | yoffs = 4; |
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| 382 | //GPS_PosDev_t gps_Deviation( GPS_Pos_t pos1, GPS_Pos_t pos2 ) |
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| 383 | targetdev = gps_Deviation( FollowMe.Position, naviData->CurrentPosition); |
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| 384 | lcdx_printf_at_P( 0, 4, MNORMAL, xoffs,yoffs , PSTR("Di: %3d m"), (targetdev.Distance / 10) ); |
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| 385 | |||
| 386 | |||
| 387 | //################# |
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| 388 | //# TARGET (GPS Maus) |
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| 389 | //################# |
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| 390 | |||
| 391 | yoffs = 8; |
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| 392 | |||
| 393 | //----------------- |
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| 394 | // Send Counter |
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| 395 | //----------------- |
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| 396 | //lcdx_printf_at_P(4, 5, MNORMAL, 0,5, PSTR("S: %ld"), send_followme_counter ); // Anzahl gesendeter Target-Positionen |
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| 397 | lcdx_printf_at_P( 4, 5, MNORMAL, -3,yoffs, PSTR("Tx:%5ld"), send_followme_counter ); // Anzahl gesendeter Target-Positionen |
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| 398 | |||
| 399 | |||
| 400 | //----------------- |
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| 401 | // Target: Fix |
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| 402 | //----------------- |
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| 403 | if( NMEA.SatFix == 1 || NMEA.SatFix == 2 ) |
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| 404 | drawmode = MNORMALX; |
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| 405 | else |
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| 406 | drawmode = MINVERSX; |
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| 407 | |||
| 408 | lcdx_printf_at_P( 14, 5, drawmode, 1,yoffs, PSTR("F:%1d"), NMEA.SatFix ); // GPS-Maus: Satfix |
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| 409 | |||
| 410 | |||
| 411 | //----------------- |
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| 412 | // Target: Sat Anzahl |
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| 413 | //----------------- |
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| 414 | if( NMEA.SatsInUse > 5 ) |
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| 415 | drawmode = MNORMALX; |
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| 416 | else |
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| 417 | drawmode = MINVERSX; |
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| 418 | |||
| 419 | writex_ndigit_number_u( 17, 5, NMEA.SatsInUse, 2, 0,drawmode, 4,yoffs); |
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| 420 | draw_icon_satmini( 116+4, 40+yoffs); |
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| 421 | |||
| 422 | |||
| 423 | //----------------- |
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| 424 | // Target: Lat / Long |
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| 425 | //----------------- |
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| 426 | writex_gpspos( 3, 7, NMEA.Latitude , MNORMAL,-3,1 ); // GPS-Maus: Latitude |
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| 427 | writex_gpspos(12, 7, NMEA.Longitude, MNORMAL, 1,1 ); // GPS-Maus: Longitude |
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| 428 | |||
| 429 | rxd_buffer_locked = FALSE; |
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| 430 | |||
| 431 | timer_mk_timeout = MK_TIMEOUT; |
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| 432 | } |
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| 433 | |||
| 434 | //----------------------------------------- |
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| 435 | // if( !NMEA_receiveBT() ) |
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| 436 | // { |
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| 437 | // receiveNMEA = false; |
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| 438 | // } |
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| 439 | // else |
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| 440 | // { |
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| 441 | // NMEA_GetNewData(); |
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| 442 | // } |
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| 443 | |||
| 444 | |||
| 445 | // Sourcecode aus NaviCtrl/V2.10e/uart1.c |
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| 446 | // FOLLOW_ME |
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| 447 | // else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
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| 448 | // { |
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| 449 | // if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
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| 450 | // { |
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| 451 | // TransmitAlsoToFC = 1; |
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| 452 | // // update FollowMe content |
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| 453 | // FollowMe.Position.Longitude = GPSData.Position.Longitude; |
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| 454 | // FollowMe.Position.Latitude = GPSData.Position.Latitude; |
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| 455 | // FollowMe.Position.Status = NEWDATA; |
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| 456 | // FollowMe.Position.Altitude = 1; |
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| 457 | // // 0 -> no Orientation |
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| 458 | // // 1-360 -> CompassCourse Setpoint |
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| 459 | // // -1 -> points to WP1 -> itself |
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| 460 | // FollowMe.Heading = -1; |
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| 461 | // FollowMe.ToleranceRadius = 1; |
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| 462 | // FollowMe.HoldTime = 60; |
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| 463 | // FollowMe.Event_Flag = 1; |
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| 464 | // FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
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| 465 | // FollowMe.Type = POINT_TYPE_WP; |
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| 466 | // FollowMe.WP_EventChannelValue = 100; // set servo value |
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| 467 | // FollowMe.AltitudeRate = 0; // do not change height |
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| 468 | // FollowMe.Speed = 0; // rate to change the Position (0 = max) |
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| 469 | // FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
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| 470 | // FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
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| 471 | // FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
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| 472 | // FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
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| 473 | // FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
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| 474 | // FollowMe.reserve[0] = 0; // reserve |
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| 475 | // FollowMe.reserve[1] = 0; // reserve |
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| 476 | // MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
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| 477 | // } |
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| 478 | // UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
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| 479 | // } |
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| 480 | // |
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| 481 | |||
| 482 | |||
| 483 | |||
| 484 | |||
| 485 | //----------------------------------------- |
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| 486 | // neue NMEA Daten? |
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| 487 | //----------------------------------------- |
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| 488 | if(NMEA_isdataready() && receiveNMEA) |
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| 489 | { |
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| 490 | if( NMEA.Counter > NMEA_GPGGA_counter_old ) |
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| 491 | { |
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| 492 | if( (NMEA.SatsInUse > 5) && (NMEA.SatFix == 1 || NMEA.SatFix == 2) ) |
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| 493 | { |
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| 494 | //Config.FM_Refresh |
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| 495 | |||
| 2212 | - | 496 | // FollowMeStep2 |
| 497 | followMeOffset.latitude = 2000; |
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| 498 | followMeOffset.longitude = 2000; |
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| 499 | followme_add_offset(&NMEA, &NMEA, &followMeOffset); |
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| 500 | |||
| 2136 | - | 501 | FollowMe.Position.Status = NEWDATA; |
| 502 | FollowMe.Position.Longitude = NMEA.Longitude; |
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| 503 | FollowMe.Position.Latitude = NMEA.Latitude; |
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| 504 | FollowMe.Position.Altitude = 1; // 20.7.2015 CB |
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| 505 | // FollowMe.Position.Altitude = NMEA.Altitude; // ist das wirklich ok? NEIN C.B. |
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| 506 | |||
| 507 | FollowMe.Heading = -1; // invalid heading |
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| 508 | FollowMe.ToleranceRadius = Config.FM_Radius; // 5 meter default |
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| 509 | FollowMe.HoldTime = 60; // ????? go home after 60s without any update ?????? |
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| 510 | // FollowMe.Event_Flag = 0; // no event |
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| 511 | FollowMe.Event_Flag = 1; // 20.7.2015 CB |
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| 512 | FollowMe.Index = 1; // 2st wp, 0 = Delete List, 1 place at first entry in the list |
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| 513 | FollowMe.Type = POINT_TYPE_WP; // Typ des Wegpunktes |
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| 514 | FollowMe.Name[0] = 'F'; // Name des Wegpunktes (ASCII) |
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| 515 | FollowMe.Name[1] = 'O'; |
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| 516 | FollowMe.Name[2] = 'L'; |
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| 517 | FollowMe.Name[3] = 'L'; |
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| 518 | // FollowMe.WP_EventChannelValue = 0; // Will be transferred to the FC and can be used as Poti value there |
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| 519 | FollowMe.WP_EventChannelValue = 100; // set servo value 20.7.2015 |
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| 520 | FollowMe.AltitudeRate = 0; // rate to change the Aetpoint |
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| 521 | FollowMe.Speed = Config.FM_Speed; // rate to change the Position |
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| 522 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
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| 523 | FollowMe.reserve[0] = 0; // reserve |
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| 524 | FollowMe.reserve[1] = 0; // reserve |
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| 525 | |||
| 526 | SendOutData( 's', ADDRESS_NC, 1, &FollowMe, sizeof(FollowMe) ); //'s' = target Position 'w' = Waypoint |
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| 527 | send_followme_counter++; |
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| 528 | |||
| 529 | //void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
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| 530 | // SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1); |
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| 531 | //SendOutData( 's', NC_ADDRESS, 1, (uint8_t *)&FollowMe, sizeof(FollowMe)); //'s' = target Position 'w' = Waypoint |
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| 532 | |||
| 533 | } |
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| 534 | |||
| 535 | NMEA_GPGGA_counter_old = NMEA.Counter; |
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| 536 | } |
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| 537 | } |
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| 538 | |||
| 539 | //----------------------------------------- |
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| 540 | // TASTEN |
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| 541 | //----------------------------------------- |
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| 542 | if( get_key_press(1 << KEY_ESC) ) |
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| 543 | { |
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| 544 | break; |
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| 545 | } |
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| 546 | |||
| 547 | if( get_key_press(1 << KEY_ENTER) ) |
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| 548 | { |
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| 549 | break; |
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| 550 | } |
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| 551 | |||
| 552 | //----------------------------------------- |
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| 553 | //----------------------------------------- |
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| 554 | if( !abo_timer ) |
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| 555 | { |
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| 556 | // renew abo every 3 sec |
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| 557 | // request OSD Data from NC every 100ms |
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| 558 | // RS232_request_mk_data (1, 'o', 100); |
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| 559 | tmp_dat = 10; |
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| 560 | SendOutData ( 'o', ADDRESS_NC, 1, &tmp_dat, 1); |
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| 561 | |||
| 562 | abo_timer = ABO_TIMEOUT; |
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| 563 | } |
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| 564 | |||
| 565 | //-------------------------- |
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| 566 | // Daten Timeout vom MK? |
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| 567 | //-------------------------- |
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| 568 | if( timer_mk_timeout == 0 ) |
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| 569 | { |
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| 570 | if( !mktimeout ) OSD_MK_ShowTimeout(); // nur anzeigen wenn noch nicht im mktimeout-Modus |
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| 571 | set_beep ( 200, 0x0080, BeepNormal); // Beep |
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| 572 | mktimeout = true; |
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| 573 | timer_mk_timeout = MK_TIMEOUT; |
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| 574 | //OSDScreenRefresh = OSD_SCREEN_REDRAW; |
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| 575 | // OSD_MK_Connect( MK_CONNECT ); |
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| 576 | } |
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| 577 | |||
| 578 | } // end: while( (receiveNMEA) ); |
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| 579 | |||
| 580 | |||
| 581 | |||
| 582 | //--------------------- |
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| 583 | // BEENDEN |
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| 584 | //--------------------- |
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| 585 | OSD_active = false; |
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| 586 | |||
| 587 | |||
| 588 | //--------------------- |
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| 589 | // GPS beenden |
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| 590 | //--------------------- |
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| 591 | GPSMouse_Disconnect(); |
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| 592 | } |
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| 593 | |||
| 594 | |||
| 595 | |||
| 596 | |||
| 597 | |||
| 2200 | - | 598 | // |
| 599 | #ifdef USE_FOLLOWME_STEP2 |
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| 2136 | - | 600 | void Debug_GPS (void) |
| 601 | { |
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| 2212 | - | 602 | uint8_t redraw = true; |
| 603 | nmeaPOS NMEApos; |
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| 604 | nmeaPOS NMEATarget; |
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| 2195 | - | 605 | |
| 2199 | - | 606 | set_beep( 25, 0xffff, BeepNormal ); // kurzer Bestaetigungs-Beep |
| 2136 | - | 607 | |
| 608 | |||
| 2212 | - | 609 | #ifdef ONLINE |
| 610 | int retcode = GPSMouse_Connect(); // Abfrage der GPS-Daten zum testen -> Quick an Dirty ;-) |
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| 2200 | - | 611 | if( retcode <= 0 ) |
| 612 | { |
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| 613 | return; |
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| 614 | } |
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| 2212 | - | 615 | #endif |
| 2195 | - | 616 | |
| 2212 | - | 617 | #ifdef DEBUG |
| 618 | // NMEApos.lat = 520000000; |
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| 619 | // NMEApos.lon = 0; |
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| 620 | // Config.FM_Azimuth = 90; |
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| 621 | // Config.FM_Distance = 10000; |
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| 622 | #endif |
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| 2200 | - | 623 | |
| 2199 | - | 624 | while( true ) |
| 625 | { |
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| 2212 | - | 626 | NMEApos.latitude = NMEA.Latitude; |
| 627 | NMEApos.longitude = NMEA.Longitude; |
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| 2136 | - | 628 | |
| 2199 | - | 629 | if( redraw ) |
| 630 | { |
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| 631 | lcd_cls(); |
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| 2136 | - | 632 | |
| 2212 | - | 633 | lcdx_printf_center_P( 0, MNORMAL, 1,0, PSTR("FollowMeStep2") ); |
| 2200 | - | 634 | lcdx_printf_center_P( 1, MNORMAL, 1,0, PSTR(" Source Lat/Lon") ); |
| 635 | lcdx_printf_center_P( 3, MNORMAL, 1,0, PSTR(" Target Lat/Lon") ); |
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| 2136 | - | 636 | |
| 2199 | - | 637 | redraw = false; |
| 638 | } |
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| 2136 | - | 639 | |
| 2212 | - | 640 | writex_gpspos( 1, 2, NMEApos.latitude, MNORMAL, 0,0 ); // GPS-Maus: Latitude |
| 641 | writex_gpspos(10, 2, NMEApos.longitude, MNORMAL, 0,0 ); // GPS-Maus: Longitude |
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| 2136 | - | 642 | |
| 2212 | - | 643 | followme_calculate_offset(Config.FM_Distance, Config.FM_Azimuth, &followMeOffset); |
| 2136 | - | 644 | |
| 2212 | - | 645 | #ifdef DEBUG |
| 646 | writex_gpspos( 1, 6, (int32_t)Config.FM_Azimuth*100, MNORMAL, 0, 0 ); |
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| 647 | writex_gpspos( 10, 6, (int32_t)Config.FM_Distance*100, MNORMAL, 0, 0 ); |
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| 648 | writex_gpspos( 1, 7, (int32_t)followMeOffset.latitude*100, MNORMAL, 0, 0 ); |
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| 649 | writex_gpspos( 10, 7, (int32_t)followMeOffset.longitude*100, MNORMAL, 0, 0 ); |
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| 650 | #endif |
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| 2136 | - | 651 | |
| 2212 | - | 652 | followme_add_offset(&NMEApos, &NMEATarget, &followMeOffset); |
| 2136 | - | 653 | |
| 2212 | - | 654 | writex_gpspos( 1, 4, (int32_t)NMEATarget.latitude, MNORMAL, 0, 0 ); // Ziel Latitude |
| 655 | writex_gpspos(10, 4, (int32_t)NMEATarget.longitude, MNORMAL, 0, 0 ); // Ziel Longitude |
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| 2136 | - | 656 | |
| 657 | |||
| 658 | |||
| 659 | |||
| 2212 | - | 660 | // Tasten |
| 2199 | - | 661 | if( get_key_press(1 << KEY_ESC) ) |
| 662 | { |
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| 2212 | - | 663 | #ifdef ONLINE |
| 2200 | - | 664 | GPSMouse_Disconnect(); |
| 2212 | - | 665 | #endif |
| 2199 | - | 666 | break; |
| 667 | } |
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| 2136 | - | 668 | |
| 2199 | - | 669 | if( get_key_press(1 << KEY_ENTER) ) |
| 670 | { |
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| 2212 | - | 671 | redraw = true; |
| 2199 | - | 672 | } |
| 2212 | - | 673 | |
| 674 | if( get_key_press(1 << KEY_MINUS) ) |
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| 675 | { |
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| 676 | Config.FM_Azimuth -= 10; |
||
| 677 | redraw = true; |
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| 678 | } |
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| 679 | if( get_key_press(1 << KEY_PLUS) ) |
||
| 680 | { |
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| 681 | Config.FM_Azimuth += 10; |
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| 682 | redraw = true; |
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| 683 | } |
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| 2195 | - | 684 | } |
| 2136 | - | 685 | } |
| 686 | |||
| 2195 | - | 687 | |
| 688 | |||
| 2212 | - | 689 | #endif // FOLLOW_ME_STEP2 |
| 2136 | - | 690 | #endif // #ifdef USE_FOLLOWME |
| 691 | |||
| 692 |