0,0 → 1,221 |
/*#######################################################################################*/ |
/* !!! 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 <string.h> |
#include "91x_lib.h" |
#include "waypoints.h" |
#include "uart1.h" |
|
// the waypoints list |
#define WPLISTLEN 31 |
|
Waypoint_t WPList[WPLISTLEN]; |
u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPNumber |
u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPNumber |
u8 WPNumber = 0; // number of wp in the list can be maximal equal to WPLISTLEN |
|
u8 WPList_Init(void) |
{ |
return WPList_Clear(); |
} |
|
u8 WPList_Clear(void) |
{ |
u8 i; |
WPIndex = 0; // real list position are 1 ,2, 3 ... |
POIIndex = 0; // real list position are 1 ,2, 3 ... |
WPNumber = 0; // no contents |
NaviData.WaypointNumber = WPNumber; |
NaviData.WaypointIndex = WPIndex; |
|
for(i = 0; i < WPLISTLEN; i++) |
{ |
WPList[i].Position.Status = INVALID; |
WPList[i].Position.Latitude = 0; |
WPList[i].Position.Longitude = 0; |
WPList[i].Position.Altitude = 0; |
WPList[i].Heading = 361; // invalid value |
WPList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
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 |
WPList[i].Event_Flag = 0; // future implementation |
WPList[i].Type = POINT_TYPE_WP; |
} |
return TRUE; |
} |
|
u8 WPList_GetCount(void) |
{ |
return WPNumber; // number of points in the list |
} |
|
u8 WPList_Append(Waypoint_t* pwp) |
{ |
if(WPNumber < WPLISTLEN) // there is still some space in the list |
{ |
memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry // increment list length |
WPNumber++; |
NaviData.WaypointNumber = WPNumber; |
return TRUE; |
} |
else return FALSE; |
} |
|
// returns the pointer to the first waypoint within the list |
Waypoint_t* WPList_Begin(void) |
{ |
WPIndex = 0; // set list position invalid |
|
if(WPNumber > 0) |
{ |
u8 i; |
// search for first wp in list |
for(i = 0; i < WPNumber; i++) |
{ |
if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) |
{ |
WPIndex = i + 1; |
break; |
} |
} |
} |
if(WPIndex) // found a WP in the list |
{ |
NaviData.WaypointIndex = WPIndex; |
// update index to POI |
if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
else POIIndex = 0; |
return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
} |
else |
{ |
POIIndex = 0; |
NaviData.WaypointIndex = WPIndex; |
return NULL; |
} |
} |
|
// returns the last waypoint |
Waypoint_t* WPList_End(void) |
{ |
WPIndex = 0; // set list position invalid |
if(WPNumber > 0) |
{ |
// search backward! |
u8 i; |
for(i = 1; i <= WPNumber; i++) |
{ |
if((WPList[WPNumber - i].Type == POINT_TYPE_WP) && (WPList[WPNumber - i].Position.Status != INVALID)) |
{ |
WPIndex = WPNumber - i + 1; |
break; |
} |
} |
} |
if(WPIndex) // found a WP within the list |
{ |
NaviData.WaypointIndex = WPIndex; |
if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
else POIIndex = 0; |
return(&(WPList[WPIndex-1])); |
} |
else |
{ |
POIIndex = 0; |
NaviData.WaypointIndex = WPIndex; |
return NULL; |
} |
} |
|
// returns a pointer to the next waypoint or NULL if the end of the list has been reached |
Waypoint_t* WPList_Next(void) |
{ |
u8 wp_found = 0; |
|
if(WPIndex < WPNumber) // if there is a next entry in the list |
{ |
u8 i; |
for(i = WPIndex; i < WPNumber; i++) // start search for next at next list entry |
{ |
if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) // jump over POIs |
{ |
wp_found = i+1; |
break; |
} |
} |
} |
if(wp_found) |
{ |
WPIndex = wp_found; // update list position |
NaviData.WaypointIndex = WPIndex; |
if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
else POIIndex = 0; |
return(&(WPList[WPIndex-1])); // return pointer to this waypoint |
} |
else return(NULL); |
} |
|
Waypoint_t* WPList_GetAt(u8 index) |
{ |
if((index > 0) && (index <= WPNumber)) return(&(WPList[index-1])); // return pointer to this waypoint |
else return(NULL); |
} |
|
Waypoint_t* WPList_GetPOI(void) |
{ |
return WPList_GetAt(POIIndex); |
} |
|