0,0 → 1,360 |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 2008 Ingo Busker, Holger Buss |
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
// + FOR NON COMMERCIAL USE ONLY |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
#include <stdlib.h> |
#include <avr/io.h> |
#include <stdint.h> |
#include <string.h> |
#include <stdbool.h> |
//#include "91x_lib.h" |
#include "waypoints.h" |
#include "../mk-data-structs.h" |
#include "../uart/uart1.h" |
#include "../eeprom/eeprom.h" |
|
|
#include <util/delay.h> |
|
|
// the waypoints list |
|
|
|
NaviData_t *NaviData; |
|
//Point_t PointList[MAX_LIST_LEN]; |
uint8_t WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
uint8_t POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
uint8_t WPCount = 0; // number of waypoints |
uint8_t PointCount = 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN |
uint8_t POICount = 0; |
|
uint8_t WPActive = false; |
|
uint8_t PointList_Init(void) |
{ |
return PointList_Clear(); |
} |
|
uint8_t PointList_Clear(void) |
{ |
uint8_t i; |
WPIndex = 0; // real list position are 1 ,2, 3 ... |
POIIndex = 0; // real list position are 1 ,2, 3 ... |
WPCount = 0; // no waypoints |
POICount = 0; |
PointCount = 0; // no contents |
WPActive = false; |
NaviData->WaypointNumber = WPCount; |
NaviData->WaypointIndex = 0; |
|
for(i = 0; i < MAX_LIST_LEN; i++) |
{ |
Config.PointList[i].Position.Status = INVALID; |
Config.PointList[i].Position.Latitude = 0; |
Config.PointList[i].Position.Longitude = 0; |
Config.PointList[i].Position.Altitude = 0; |
Config.PointList[i].Heading = 361; // invalid value |
Config.PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
Config.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 |
Config.PointList[i].Type = POINT_TYPE_INVALID; |
Config.PointList[i].Event_Flag = 0; // future implementation |
Config.PointList[i].AltitudeRate = 0; // no change of setpoint |
} |
return true; |
} |
|
uint8_t PointList_GetCount(void) |
{ |
return PointCount; // number of points in the list |
} |
|
Point_t* PointList_GetAt(uint8_t index) |
{ |
if((index > 0) && (index <= PointCount)) return(&(Config.PointList[index-1])); // return pointer to this waypoint |
else return(NULL); |
} |
|
uint8_t PointList_SetAt(Point_t* pPoint) |
{ |
// if index is in range |
if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
{ |
// check list entry before update |
switch(Config.PointList[pPoint->Index-1].Type) |
{ |
case POINT_TYPE_INVALID: // was invalid |
switch(pPoint->Type) |
{ |
default: |
case POINT_TYPE_INVALID: |
// nothing to do |
break; |
|
case POINT_TYPE_WP: |
WPCount++; |
PointCount++; |
break; |
|
case POINT_TYPE_POI: |
POICount++; |
PointCount++; |
break; |
} |
break; |
|
case POINT_TYPE_WP: // was a waypoint |
switch(pPoint->Type) |
{ |
case POINT_TYPE_INVALID: |
WPCount--; |
PointCount--; |
break; |
|
default: |
case POINT_TYPE_WP: |
//nothing to do |
break; |
|
case POINT_TYPE_POI: |
POICount++; |
WPCount--; |
break; |
} |
break; |
|
case POINT_TYPE_POI: // was a poi |
switch(pPoint->Type) |
{ |
case POINT_TYPE_INVALID: |
POICount--; |
PointCount--; |
break; |
|
case POINT_TYPE_WP: |
WPCount++; |
POICount--; |
break; |
|
case POINT_TYPE_POI: |
default: |
// nothing to do |
break; |
} |
break; |
} |
memcpy(&Config.PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
NaviData->WaypointNumber = WPCount; |
return pPoint->Index; |
} |
else return(0); |
} |
|
// returns the pointer to the first waypoint within the list |
Point_t* PointList_WPBegin(void) |
{ |
uint8_t i; |
WPIndex = 0; // set list position invalid |
|
if(WPActive == false) return(NULL); |
|
POIIndex = 0; // set invalid POI |
if(PointCount > 0) |
{ |
// search for first wp in list |
for(i = 0; i <MAX_LIST_LEN; i++) |
{ |
if((Config.PointList[i].Type == POINT_TYPE_WP) && (Config.PointList[i].Position.Status != INVALID)) |
{ |
WPIndex = i + 1; |
break; |
} |
} |
if(WPIndex) // found a WP in the list |
{ |
NaviData->WaypointIndex = 1; |
// update index to POI |
if(Config.PointList[WPIndex-1].Heading < 0) POIIndex = (uint8_t)(-Config.PointList[WPIndex-1].Heading); |
else POIIndex = 0; |
} |
else // some points in the list but no WP found |
{ |
NaviData->WaypointIndex = 0; |
//Check for an existing POI |
for(i = 0; i < MAX_LIST_LEN; i++) |
{ |
if((Config.PointList[i].Type == POINT_TYPE_POI) && (Config.PointList[i].Position.Status != INVALID)) |
{ |
POIIndex = i + 1; |
break; |
} |
} |
} |
} |
else // no point in the list |
{ |
POIIndex = 0; |
NaviData->WaypointIndex = 0; |
} |
|
if(WPIndex) return(&(Config.PointList[WPIndex-1])); |
else return(NULL); |
} |
|
// returns the last waypoint |
Point_t* PointList_WPEnd(void) |
{ |
|
uint8_t i; |
WPIndex = 0; // set list position invalid |
POIIndex = 0; // set invalid |
|
if(WPActive == false) return(NULL); |
|
if(PointCount > 0) |
{ |
// search backward! |
for(i = 1; i <= MAX_LIST_LEN; i++) |
{ |
if((Config.PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (Config.PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
{ |
WPIndex = MAX_LIST_LEN - i + 1; |
break; |
} |
} |
if(WPIndex) // found a WP within the list |
{ |
NaviData->WaypointIndex = WPCount; |
if(Config.PointList[WPIndex-1].Heading < 0) POIIndex = (uint8_t)(-Config.PointList[WPIndex-1].Heading); |
else POIIndex = 0; |
} |
else // list contains some points but no WP in the list |
{ |
// search backward for a POI! |
for(i = 1; i <= MAX_LIST_LEN; i++) |
{ |
if((Config.PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (Config.PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
{ |
POIIndex = MAX_LIST_LEN - i + 1; |
break; |
} |
} |
NaviData->WaypointIndex = 0; |
} |
} |
else // no point in the list |
{ |
POIIndex = 0; |
NaviData->WaypointIndex = 0; |
} |
if(WPIndex) return(&(Config.PointList[WPIndex-1])); |
else return(NULL); |
} |
|
// returns a pointer to the next waypoint or NULL if the end of the list has been reached |
Point_t* PointList_WPNext(void) |
{ |
uint8_t wp_found = 0; |
if(WPActive == false) return(NULL); |
|
if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
{ |
uint8_t i; |
for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
{ |
if((Config.PointList[i].Type == POINT_TYPE_WP) && (Config.PointList[i].Position.Status != INVALID)) // jump over POIs |
{ |
wp_found = i+1; |
break; |
} |
} |
} |
if(wp_found) |
{ |
WPIndex = wp_found; // update list position |
NaviData->WaypointIndex++; |
if(Config.PointList[WPIndex-1].Heading < 0) POIIndex = (uint8_t)(-Config.PointList[WPIndex-1].Heading); |
else POIIndex = 0; |
return(&(Config.PointList[WPIndex-1])); // return pointer to this waypoint |
} |
else |
{ // no next wp found |
NaviData->WaypointIndex = 0; |
POIIndex = 0; |
return(NULL); |
} |
} |
|
void PointList_WPActive(uint8_t set) |
{ |
if(set) |
{ |
WPActive = true; |
PointList_WPBegin(); // uopdates POI index |
} |
else |
{ |
WPActive = false; |
POIIndex = 0; // disable POI also |
} |
} |
|
Point_t* PointList_GetPOI(void) |
{ |
return PointList_GetAt(POIIndex); |
} |
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