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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 21
 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) // there is still some space in the list
 107 
        if(WPNumber < WPLISTLEN) // there is still some space in the list
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 
                return TRUE;
 112 
                return TRUE;
113 
        }
 113 
        }
114 
        else return FALSE;
 114 
        else return FALSE;
115 
}
 115 
}
116 
 
 116 
 
117 
// returns the pointer to the first waypoint within the list
 117 
// returns the pointer to the first waypoint within the list
118 
Waypoint_t* WPList_Begin(void)
 118 
Waypoint_t* WPList_Begin(void)
119 
{
 119 
{
120 
        WPIndex = 0; // set list position invalid
 120 
        WPIndex = 0; // set list position invalid
121 
       
 121 
       
122 
        if(WPNumber > 0)
 122 
        if(WPNumber > 0)
123 
        {
 123 
        {
124 
                u8 i;
 124 
                u8 i;
125 
                // search for first wp in list
 125 
                // search for first wp in list
126 
                for(i = 0; i < WPNumber; i++)
 126 
                for(i = 0; i < WPNumber; i++)
127 
                {
 127 
                {
128 
                        if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID))
 128 
                        if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID))
129 
                        {
 129 
                        {
130 
                                WPIndex = i + 1;
 130 
                                WPIndex = i + 1;
131 
                                break;
 131 
                                break;
132 
                        }
 132 
                        }
133 
                }
 133 
                }
134 
        }
 134 
        }
135 
        if(WPIndex) // found a WP in the list
 135 
        if(WPIndex) // found a WP in the list
136 
        {
 136 
        {
137 
                NaviData.WaypointIndex = WPIndex;
 137 
                NaviData.WaypointIndex = WPIndex;
138 
                // update index to POI
 138 
                // update index to POI
139 
                if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
 139 
                if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
140 
                else POIIndex = 0;     
 140 
                else POIIndex = 0;     
141 
                return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list             
141 
                return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list             
142 
        }
 142 
        }
143 
        else
 143 
        else
144 
        {
 144 
        {
145 
                POIIndex = 0;
 145 
                POIIndex = 0;
146 
                NaviData.WaypointIndex = WPIndex;
 146 
                NaviData.WaypointIndex = WPIndex;
147 
                return NULL;
 147 
                return NULL;
148 
        }
 148 
        }
149 
}
 149 
}
150 
 
 150 
 
151 
// returns the last waypoint
 151 
// returns the last waypoint
152 
Waypoint_t* WPList_End(void)
 152 
Waypoint_t* WPList_End(void)
153 
{
 153 
{
154 
        WPIndex = 0; // set list position invalid
 154 
        WPIndex = 0; // set list position invalid
155 
        if(WPNumber > 0)
 155 
        if(WPNumber > 0)
156 
        {
 156 
        {
157 
                // search backward!
 157 
                // search backward!
158 
                u8 i;
 158 
                u8 i;
159 
                for(i = 1; i <= WPNumber; i++)
 159 
                for(i = 1; i <= WPNumber; i++)
160 
                {
 160 
                {
161 
                        if((WPList[WPNumber - i].Type == POINT_TYPE_WP) && (WPList[WPNumber - i].Position.Status != INVALID))
 161 
                        if((WPList[WPNumber - i].Type == POINT_TYPE_WP) && (WPList[WPNumber - i].Position.Status != INVALID))
162 
                        {      
 162 
                        {      
163 
                                WPIndex = WPNumber - i + 1;
 163 
                                WPIndex = WPNumber - i + 1;
164 
                                break;
 164 
                                break;
165 
                        }
 165 
                        }
166 
                }
 166 
                }
167 
        }
 167 
        }
168 
        if(WPIndex) // found a WP within the list
 168 
        if(WPIndex) // found a WP within the list
169 
        {
 169 
        {
170 
                NaviData.WaypointIndex = WPIndex;
 170 
                NaviData.WaypointIndex = WPIndex;
171 
                if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
 171 
                if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
172 
                else POIIndex = 0;     
 172 
                else POIIndex = 0;     
173 
                return(&(WPList[WPIndex-1]));
 173 
                return(&(WPList[WPIndex-1]));
174 
        }
 174 
        }
175 
        else
 175 
        else
176 
        {
 176 
        {
177 
                POIIndex = 0;
 177 
                POIIndex = 0;
178 
                NaviData.WaypointIndex = WPIndex;
 178 
                NaviData.WaypointIndex = WPIndex;
179 
                return NULL;   
 179 
                return NULL;   
180 
        }
 180 
        }
181 
}
 181 
}
182 
 
 182 
 
183 
// returns a pointer to the next waypoint or NULL if the end of the list has been reached
 183 
// returns a pointer to the next waypoint or NULL if the end of the list has been reached
184 
Waypoint_t* WPList_Next(void)
 184 
Waypoint_t* WPList_Next(void)
185 
{
 185 
{
186 
        u8 wp_found = 0;
 186 
        u8 wp_found = 0;
187 
               
 187 
               
188 
        if(WPIndex < WPNumber) // if there is a next entry in the list
 188 
        if(WPIndex < WPNumber) // if there is a next entry in the list
189 
        {
 189 
        {
190 
                u8 i;
 190 
                u8 i;
191 
                for(i = WPIndex; i < WPNumber; i++)     // start search for next at next list entry
 191 
                for(i = WPIndex; i < WPNumber; i++)     // start search for next at next list entry
192 
                {
 192 
                {
193 
                        if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) // jump over POIs
 193 
                        if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) // jump over POIs
194 
                        {
 194 
                        {
195 
                                wp_found = i+1;
 195 
                                wp_found = i+1;
196 
                                break;
 196 
                                break;
197 
                        }
 197 
                        }
198 
                }
 198 
                }
199 
        }
 199 
        }
200 
        if(wp_found)
 200 
        if(wp_found)
201 
        {
 201 
        {
202 
                WPIndex = wp_found; // update list position
 202 
                WPIndex = wp_found; // update list position
203 
                NaviData.WaypointIndex = WPIndex;
 203 
                NaviData.WaypointIndex = WPIndex;
204 
                if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
 204 
                if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
205 
                else POIIndex = 0;
 205 
                else POIIndex = 0;
206 
                return(&(WPList[WPIndex-1]));   // return pointer to this waypoint
 206 
                return(&(WPList[WPIndex-1]));   // return pointer to this waypoint
207 
        }
 207 
        }
208 
        else return(NULL);
 208 
        else return(NULL);
209 
}      
 209 
}      
210 
 
 210 
 
211 
Waypoint_t* WPList_GetAt(u8 index)
 211 
Waypoint_t* WPList_GetAt(u8 index)
212 
{
 212 
{
213 
        if((index > 0) && (index <= WPNumber)) return(&(WPList[index-1]));      // return pointer to this waypoint
 213 
        if((index > 0) && (index <= WPNumber)) return(&(WPList[index-1]));      // return pointer to this waypoint
214 
        else return(NULL);
 214 
        else return(NULL);
215 
}
 215 
}
216 
 
 216 
 
217 
Waypoint_t* WPList_GetPOI(void)
 217 
Waypoint_t* WPList_GetPOI(void)
218 
{
 218 
{
219 
        return WPList_GetAt(POIIndex); 
 219 
        return WPList_GetAt(POIIndex); 
220 
}
 220 
}
221 
 
 221 
 
222 
 
 222