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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
40 | // + with our written permission |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
44 | // |
44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | 57 | ||
58 | #include <string.h> |
58 | #include <string.h> |
59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
60 | #include "waypoints.h" |
60 | #include "waypoints.h" |
61 | #include "uart1.h" |
61 | #include "uart1.h" |
62 | 62 | ||
63 | // the waypoints list |
63 | // the waypoints list |
64 | #define WPLISTLEN 31 |
64 | #define WPLISTLEN 31 |
65 | 65 | ||
66 | Waypoint_t WPList[WPLISTLEN]; |
66 | Waypoint_t WPList[WPLISTLEN]; |
67 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPNumber |
67 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPNumber |
68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPNumber |
68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPNumber |
69 | u8 WPNumber = 0; // number of wp in the list can be maximal equal to WPLISTLEN |
69 | u8 WPNumber = 0; // number of wp in the list can be maximal equal to WPLISTLEN |
70 | 70 | ||
71 | u8 WPList_Init(void) |
71 | u8 WPList_Init(void) |
72 | { |
72 | { |
73 | return WPList_Clear(); |
73 | return WPList_Clear(); |
74 | } |
74 | } |
75 | 75 | ||
76 | u8 WPList_Clear(void) |
76 | u8 WPList_Clear(void) |
77 | { |
77 | { |
78 | u8 i; |
78 | u8 i; |
79 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
79 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
80 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
80 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
81 | WPNumber = 0; // no contents |
81 | WPNumber = 0; // no contents |
82 | NaviData.WaypointNumber = WPNumber; |
82 | NaviData.WaypointNumber = WPNumber; |
83 | NaviData.WaypointIndex = WPIndex; |
83 | NaviData.WaypointIndex = WPIndex; |
84 | 84 | ||
85 | for(i = 0; i < WPLISTLEN; i++) |
85 | for(i = 0; i < WPLISTLEN; i++) |
86 | { |
86 | { |
87 | WPList[i].Position.Status = INVALID; |
87 | WPList[i].Position.Status = INVALID; |
88 | WPList[i].Position.Latitude = 0; |
88 | WPList[i].Position.Latitude = 0; |
89 | WPList[i].Position.Longitude = 0; |
89 | WPList[i].Position.Longitude = 0; |
90 | WPList[i].Position.Altitude = 0; |
90 | WPList[i].Position.Altitude = 0; |
91 | WPList[i].Heading = 361; // invalid value |
91 | WPList[i].Heading = 361; // invalid value |
92 | WPList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
92 | WPList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
93 | 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 |
93 | 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 |
94 | WPList[i].Event_Flag = 0; // future implementation |
94 | WPList[i].Event_Flag = 0; // future implementation |
95 | WPList[i].Type = POINT_TYPE_WP; |
95 | WPList[i].Type = POINT_TYPE_WP; |
96 | } |
96 | } |
97 | return TRUE; |
97 | return TRUE; |
98 | } |
98 | } |
99 | 99 | ||
100 | u8 WPList_GetCount(void) |
100 | u8 WPList_GetCount(void) |
101 | { |
101 | { |
102 | return WPNumber; // number of points in the list |
102 | return WPNumber; // number of points in the list |
103 | } |
103 | } |
104 | 104 | ||
105 | u8 WPList_Append(Waypoint_t* pwp) |
105 | u8 WPList_Append(Waypoint_t* pwp) |
106 | { |
106 | { |
107 | if((WPNumber < WPLISTLEN) && (pwp->Index == (WPNumber + 1)) ) // there is still some space in the list and index points to next |
107 | if((WPNumber < WPLISTLEN) && (pwp->Index == (WPNumber + 1)) ) // there is still some space in the list and index points to next |
108 | { |
108 | { |
109 | memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry // increment list length |
109 | memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry // increment list length |
110 | WPNumber++; |
110 | WPNumber++; |
111 | NaviData.WaypointNumber = WPNumber; |
111 | NaviData.WaypointNumber = WPNumber; |
112 | if(WPNumber == 1) // only for the first entry |
112 | if(WPNumber == 1) // only for the first entry |
113 | { |
113 | { |
114 | // update POI index |
114 | // update POI index |
115 | switch(WPList[WPIndex-1].Type) |
115 | switch(WPList[WPIndex-1].Type) |
116 | { |
116 | { |
117 | case POINT_TYPE_WP: |
117 | case POINT_TYPE_WP: |
118 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
118 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
119 | else POIIndex = 0; |
119 | else POIIndex = 0; |
120 | break; |
120 | break; |
121 | 121 | ||
122 | case POINT_TYPE_POI: |
122 | case POINT_TYPE_POI: |
123 | POIIndex = 1; |
123 | POIIndex = 1; |
124 | break; |
124 | break; |
125 | 125 | ||
126 | default: |
126 | default: |
127 | POIIndex = 0; |
127 | POIIndex = 0; |
128 | break; |
128 | break; |
129 | } |
129 | } |
130 | } |
130 | } |
131 | return TRUE; |
131 | return TRUE; |
132 | } |
132 | } |
133 | else return FALSE; |
133 | else return FALSE; |
134 | } |
134 | } |
135 | 135 | ||
136 | // returns the pointer to the first waypoint within the list |
136 | // returns the pointer to the first waypoint within the list |
137 | Waypoint_t* WPList_Begin(void) |
137 | Waypoint_t* WPList_Begin(void) |
138 | { |
138 | { |
139 | u8 i; |
139 | u8 i; |
140 | WPIndex = 0; // set list position invalid |
140 | WPIndex = 0; // set list position invalid |
141 | POIIndex = 0; // set invalid POI |
141 | POIIndex = 0; // set invalid POI |
142 | 142 | ||
143 | if(WPNumber > 0) |
143 | if(WPNumber > 0) |
144 | { |
144 | { |
145 | 145 | ||
146 | // search for first wp in list |
146 | // search for first wp in list |
147 | for(i = 0; i < WPNumber; i++) |
147 | for(i = 0; i < WPNumber; i++) |
148 | { |
148 | { |
149 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) |
149 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) |
150 | { |
150 | { |
151 | WPIndex = i + 1; |
151 | WPIndex = i + 1; |
152 | break; |
152 | break; |
153 | } |
153 | } |
154 | } |
154 | } |
155 | if(WPIndex) // found a WP in the list |
155 | if(WPIndex) // found a WP in the list |
156 | { |
156 | { |
157 | NaviData.WaypointIndex = WPIndex; |
157 | NaviData.WaypointIndex = WPIndex; |
158 | // update index to POI |
158 | // update index to POI |
159 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
159 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
160 | else POIIndex = 0; |
160 | else POIIndex = 0; |
161 | return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
161 | return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
162 | } |
162 | } |
163 | else // some points in the list but no WP found |
163 | else // some points in the list but no WP found |
164 | { |
164 | { |
165 | NaviData.WaypointIndex = WPIndex; |
165 | NaviData.WaypointIndex = WPIndex; |
166 | //Check for an existing POI |
166 | //Check for an existing POI |
167 | for(i = 0; i < WPNumber; i++) |
167 | for(i = 0; i < WPNumber; i++) |
168 | { |
168 | { |
169 | if((WPList[i].Type == POINT_TYPE_POI) && (WPList[i].Position.Status != INVALID)) |
169 | if((WPList[i].Type == POINT_TYPE_POI) && (WPList[i].Position.Status != INVALID)) |
170 | { |
170 | { |
171 | POIIndex = i + 1; |
171 | POIIndex = i + 1; |
172 | break; |
172 | break; |
173 | } |
173 | } |
174 | } |
174 | } |
175 | return NULL; |
175 | return NULL; |
176 | } |
176 | } |
177 | } |
177 | } |
178 | else // no point in the list |
178 | else // no point in the list |
179 | { |
179 | { |
180 | POIIndex = 0; |
180 | POIIndex = 0; |
181 | NaviData.WaypointIndex = WPIndex; |
181 | NaviData.WaypointIndex = WPIndex; |
182 | return NULL; |
182 | return NULL; |
183 | } |
183 | } |
184 | } |
184 | } |
185 | 185 | ||
186 | // returns the last waypoint |
186 | // returns the last waypoint |
187 | Waypoint_t* WPList_End(void) |
187 | Waypoint_t* WPList_End(void) |
188 | { |
188 | { |
189 | 189 | ||
190 | u8 i; |
190 | u8 i; |
191 | WPIndex = 0; // set list position invalid |
191 | WPIndex = 0; // set list position invalid |
192 | POIIndex = 0; // set invalid |
192 | POIIndex = 0; // set invalid |
193 | 193 | ||
194 | if(WPNumber > 0) |
194 | if(WPNumber > 0) |
195 | { |
195 | { |
196 | // search backward! |
196 | // search backward! |
197 | for(i = 1; i <= WPNumber; i++) |
197 | for(i = 1; i <= WPNumber; i++) |
198 | { |
198 | { |
199 | if((WPList[WPNumber - i].Type == POINT_TYPE_WP) && (WPList[WPNumber - i].Position.Status != INVALID)) |
199 | if((WPList[WPNumber - i].Type == POINT_TYPE_WP) && (WPList[WPNumber - i].Position.Status != INVALID)) |
200 | { |
200 | { |
201 | WPIndex = WPNumber - i + 1; |
201 | WPIndex = WPNumber - i + 1; |
202 | break; |
202 | break; |
203 | } |
203 | } |
204 | } |
204 | } |
205 | if(WPIndex) // found a WP within the list |
205 | if(WPIndex) // found a WP within the list |
206 | { |
206 | { |
207 | NaviData.WaypointIndex = WPIndex; |
207 | NaviData.WaypointIndex = WPIndex; |
208 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
208 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
209 | else POIIndex = 0; |
209 | else POIIndex = 0; |
210 | return(&(WPList[WPIndex-1])); |
210 | return(&(WPList[WPIndex-1])); |
211 | } |
211 | } |
212 | else // list conbtains some points but no WP in the list |
212 | else // list contains some points but no WP in the list |
213 | { |
213 | { |
214 | // search backward for a POI! |
214 | // search backward for a POI! |
215 | for(i = 1; i <= WPNumber; i++) |
215 | for(i = 1; i <= WPNumber; i++) |
216 | { |
216 | { |
217 | if((WPList[WPNumber - i].Type == POINT_TYPE_POI) && (WPList[WPNumber - i].Position.Status != INVALID)) |
217 | if((WPList[WPNumber - i].Type == POINT_TYPE_POI) && (WPList[WPNumber - i].Position.Status != INVALID)) |
218 | { |
218 | { |
219 | POIIndex = WPNumber - i + 1; |
219 | POIIndex = WPNumber - i + 1; |
220 | break; |
220 | break; |
221 | } |
221 | } |
222 | } |
222 | } |
223 | NaviData.WaypointIndex = WPIndex; |
223 | NaviData.WaypointIndex = WPIndex; |
224 | return NULL; |
224 | return NULL; |
225 | } |
225 | } |
226 | } |
226 | } |
227 | else // no point in the list |
227 | else // no point in the list |
228 | { |
228 | { |
229 | POIIndex = 0; |
229 | POIIndex = 0; |
230 | NaviData.WaypointIndex = WPIndex; |
230 | NaviData.WaypointIndex = WPIndex; |
231 | return NULL; |
231 | return NULL; |
232 | } |
232 | } |
233 | } |
233 | } |
234 | 234 | ||
235 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
235 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
236 | Waypoint_t* WPList_Next(void) |
236 | Waypoint_t* WPList_Next(void) |
237 | { |
237 | { |
238 | u8 wp_found = 0; |
238 | u8 wp_found = 0; |
239 | 239 | ||
240 | if(WPIndex < WPNumber) // if there is a next entry in the list |
240 | if(WPIndex < WPNumber) // if there is a next entry in the list |
241 | { |
241 | { |
242 | u8 i; |
242 | u8 i; |
243 | for(i = WPIndex; i < WPNumber; i++) // start search for next at next list entry |
243 | for(i = WPIndex; i < WPNumber; i++) // start search for next at next list entry |
244 | { |
244 | { |
245 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) // jump over POIs |
245 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) // jump over POIs |
246 | { |
246 | { |
247 | wp_found = i+1; |
247 | wp_found = i+1; |
248 | break; |
248 | break; |
249 | } |
249 | } |
250 | } |
250 | } |
251 | } |
251 | } |
252 | if(wp_found) |
252 | if(wp_found) |
253 | { |
253 | { |
254 | WPIndex = wp_found; // update list position |
254 | WPIndex = wp_found; // update list position |
255 | NaviData.WaypointIndex = WPIndex; |
255 | NaviData.WaypointIndex = WPIndex; |
256 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
256 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
257 | else POIIndex = 0; |
257 | else POIIndex = 0; |
258 | return(&(WPList[WPIndex-1])); // return pointer to this waypoint |
258 | return(&(WPList[WPIndex-1])); // return pointer to this waypoint |
259 | } |
259 | } |
260 | else |
260 | else |
261 | { |
261 | { |
262 | NaviData.WaypointIndex = WPIndex; |
262 | NaviData.WaypointIndex = WPIndex; |
263 | POIIndex = 0; |
263 | POIIndex = 0; |
264 | return(NULL); |
264 | return(NULL); |
265 | } |
265 | } |
266 | } |
266 | } |
267 | 267 | ||
268 | Waypoint_t* WPList_GetAt(u8 index) |
268 | Waypoint_t* WPList_GetAt(u8 index) |
269 | { |
269 | { |
270 | if((index > 0) && (index <= WPNumber)) return(&(WPList[index-1])); // return pointer to this waypoint |
270 | if((index > 0) && (index <= WPNumber)) return(&(WPList[index-1])); // return pointer to this waypoint |
271 | else return(NULL); |
271 | else return(NULL); |
272 | } |
272 | } |
273 | 273 | ||
274 | Waypoint_t* WPList_GetPOI(void) |
274 | Waypoint_t* WPList_GetPOI(void) |
275 | { |
275 | { |
276 | return WPList_GetAt(POIIndex); |
276 | return WPList_GetAt(POIIndex); |
277 | } |
277 | } |
278 | 278 | ||
279 | 279 |