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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 MAX_LIST_LEN 31 |
| 65 | 65 | ||
| 66 | Waypoint_t WPList[WPLISTLEN]; |
66 | Point_t PointList[MAX_LIST_LEN]; |
| 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 WPCount |
| - | 68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
|
| 68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPNumber |
69 | u8 WPCount = 0; // number of waypoints |
| - | 70 | u8 PointCount = 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN |
|
| - | 71 | ||
| 69 | u8 WPNumber = 0; // number of wp in the list can be maximal equal to WPLISTLEN |
72 | u8 WPActive = TRUE; |
| 70 | 73 | ||
| 71 | u8 WPList_Init(void) |
74 | u8 PointList_Init(void) |
| 72 | { |
75 | { |
| 73 | return WPList_Clear(); |
76 | return PointList_Clear(); |
| 74 | } |
77 | } |
| 75 | 78 | ||
| 76 | u8 WPList_Clear(void) |
79 | u8 PointList_Clear(void) |
| 77 | { |
80 | { |
| 78 | u8 i; |
81 | u8 i; |
| 79 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
82 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
| 80 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
83 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
| - | 84 | WPCount = 0; // no waypoints |
|
| 81 | WPNumber = 0; // no contents |
85 | PointCount = 0; // no contents |
| - | 86 | WPActive = TRUE; |
|
| 82 | NaviData.WaypointNumber = WPNumber; |
87 | NaviData.WaypointNumber = WPCount; |
| 83 | NaviData.WaypointIndex = WPIndex; |
88 | NaviData.WaypointIndex = 0; |
| 84 | 89 | ||
| 85 | for(i = 0; i < WPLISTLEN; i++) |
90 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 86 | { |
91 | { |
| 87 | WPList[i].Position.Status = INVALID; |
92 | PointList[i].Position.Status = INVALID; |
| 88 | WPList[i].Position.Latitude = 0; |
93 | PointList[i].Position.Latitude = 0; |
| 89 | WPList[i].Position.Longitude = 0; |
94 | PointList[i].Position.Longitude = 0; |
| 90 | WPList[i].Position.Altitude = 0; |
95 | PointList[i].Position.Altitude = 0; |
| 91 | WPList[i].Heading = 361; // invalid value |
96 | PointList[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 |
97 | PointList[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 |
98 | 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 |
| 94 | WPList[i].Event_Flag = 0; // future implementation |
99 | PointList[i].Event_Flag = 0; // future implementation |
| 95 | WPList[i].Type = POINT_TYPE_WP; |
100 | PointList[i].Type = POINT_TYPE_INVALID; |
| 96 | } |
101 | } |
| 97 | return TRUE; |
102 | return TRUE; |
| 98 | } |
103 | } |
| 99 | 104 | ||
| 100 | u8 WPList_GetCount(void) |
105 | u8 PointList_GetCount(void) |
| 101 | { |
106 | { |
| 102 | return WPNumber; // number of points in the list |
107 | return PointCount; // number of points in the list |
| 103 | } |
108 | } |
| 104 | 109 | ||
| 105 | u8 WPList_Append(Waypoint_t* pwp) |
110 | u8 PointList_Append(Point_t* pPoint) |
| 106 | { |
111 | { |
| 107 | if((WPNumber < WPLISTLEN) && (pwp->Index == (WPNumber + 1)) ) // there is still some space in the list and index points to next |
112 | if((PointCount < MAX_LIST_LEN) && (pPoint->Index == (PointCount + 1)) ) // there is still some space in the list and index points to next |
| 108 | { |
113 | { |
| 109 | memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry // increment list length |
114 | memcpy(&PointList[PointCount], pPoint, sizeof(Point_t)); // copy data to list entry // increment list length |
| - | 115 | if(PointList[PointCount].Type == POINT_TYPE_WP) WPCount++; |
|
| 110 | WPNumber++; |
116 | NaviData.WaypointNumber = WPCount; |
| 111 | NaviData.WaypointNumber = WPNumber; |
117 | PointCount++; |
| 112 | if(WPNumber == 1) // only for the first entry |
118 | if(PointCount == 1) // only for the first entry |
| 113 | { |
119 | { |
| 114 | // update POI index |
120 | // update POI index |
| 115 | switch(WPList[WPIndex-1].Type) |
121 | switch(PointList[WPIndex-1].Type) |
| 116 | { |
122 | { |
| 117 | case POINT_TYPE_WP: |
123 | case POINT_TYPE_WP: |
| 118 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
124 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 119 | else POIIndex = 0; |
125 | else POIIndex = 0; |
| 120 | break; |
126 | break; |
| 121 | 127 | ||
| 122 | case POINT_TYPE_POI: |
128 | case POINT_TYPE_POI: |
| 123 | POIIndex = 1; |
129 | POIIndex = 1; |
| 124 | break; |
130 | break; |
| 125 | 131 | ||
| 126 | default: |
132 | default: |
| 127 | POIIndex = 0; |
133 | POIIndex = 0; |
| 128 | break; |
134 | break; |
| 129 | } |
135 | } |
| 130 | } |
136 | } |
| 131 | return TRUE; |
137 | return TRUE; |
| 132 | } |
138 | } |
| 133 | else return FALSE; |
139 | else return FALSE; |
| 134 | } |
140 | } |
| 135 | 141 | ||
| 136 | // returns the pointer to the first waypoint within the list |
142 | // returns the pointer to the first waypoint within the list |
| 137 | Waypoint_t* WPList_Begin(void) |
143 | Point_t* PointList_WPBegin(void) |
| 138 | { |
144 | { |
| 139 | u8 i; |
145 | u8 i; |
| 140 | WPIndex = 0; // set list position invalid |
146 | WPIndex = 0; // set list position invalid |
| 141 | POIIndex = 0; // set invalid POI |
147 | POIIndex = 0; // set invalid POI |
| 142 | 148 | ||
| 143 | if(WPNumber > 0) |
- | |
| - | 149 | if(WPActive == FALSE) return(NULL); |
|
| - | 150 | ||
| 144 | { |
151 | if(PointCount > 0) |
| 145 | 152 | { |
|
| 146 | // search for first wp in list |
153 | // search for first wp in list |
| 147 | for(i = 0; i < WPNumber; i++) |
154 | for(i = 0; i <PointCount; i++) |
| 148 | { |
155 | { |
| 149 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) |
156 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
| 150 | { |
157 | { |
| 151 | WPIndex = i + 1; |
158 | WPIndex = i + 1; |
| 152 | break; |
159 | break; |
| 153 | } |
160 | } |
| 154 | } |
161 | } |
| 155 | if(WPIndex) // found a WP in the list |
162 | if(WPIndex) // found a WP in the list |
| 156 | { |
163 | { |
| 157 | NaviData.WaypointIndex = WPIndex; |
164 | NaviData.WaypointIndex = 1; |
| 158 | // update index to POI |
165 | // update index to POI |
| 159 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
166 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 160 | else POIIndex = 0; |
167 | else POIIndex = 0; |
| 161 | return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
168 | return(&(PointList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
| 162 | } |
169 | } |
| 163 | else // some points in the list but no WP found |
170 | else // some points in the list but no WP found |
| 164 | { |
171 | { |
| 165 | NaviData.WaypointIndex = WPIndex; |
172 | NaviData.WaypointIndex = 0; |
| 166 | //Check for an existing POI |
173 | //Check for an existing POI |
| 167 | for(i = 0; i < WPNumber; i++) |
174 | for(i = 0; i < PointCount; i++) |
| 168 | { |
175 | { |
| 169 | if((WPList[i].Type == POINT_TYPE_POI) && (WPList[i].Position.Status != INVALID)) |
176 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
| 170 | { |
177 | { |
| 171 | POIIndex = i + 1; |
178 | POIIndex = i + 1; |
| 172 | break; |
179 | break; |
| 173 | } |
180 | } |
| 174 | } |
181 | } |
| 175 | return NULL; |
182 | return NULL; |
| 176 | } |
183 | } |
| 177 | } |
184 | } |
| 178 | else // no point in the list |
185 | else // no point in the list |
| 179 | { |
186 | { |
| 180 | POIIndex = 0; |
187 | POIIndex = 0; |
| 181 | NaviData.WaypointIndex = WPIndex; |
188 | NaviData.WaypointIndex = 0; |
| 182 | return NULL; |
189 | return NULL; |
| 183 | } |
190 | } |
| 184 | } |
191 | } |
| 185 | 192 | ||
| 186 | // returns the last waypoint |
193 | // returns the last waypoint |
| 187 | Waypoint_t* WPList_End(void) |
194 | Point_t* PointList_WPEnd(void) |
| 188 | { |
195 | { |
| 189 | 196 | ||
| 190 | u8 i; |
197 | u8 i; |
| 191 | WPIndex = 0; // set list position invalid |
198 | WPIndex = 0; // set list position invalid |
| 192 | POIIndex = 0; // set invalid |
199 | POIIndex = 0; // set invalid |
| - | 200 | if(WPActive == FALSE) return(NULL); |
|
| 193 | 201 | ||
| 194 | if(WPNumber > 0) |
202 | if(PointCount > 0) |
| 195 | { |
203 | { |
| 196 | // search backward! |
204 | // search backward! |
| 197 | for(i = 1; i <= WPNumber; i++) |
205 | for(i = 1; i <= PointCount; i++) |
| 198 | { |
206 | { |
| 199 | if((WPList[WPNumber - i].Type == POINT_TYPE_WP) && (WPList[WPNumber - i].Position.Status != INVALID)) |
207 | if((PointList[PointCount - i].Type == POINT_TYPE_WP) && (PointList[PointCount - i].Position.Status != INVALID)) |
| 200 | { |
208 | { |
| 201 | WPIndex = WPNumber - i + 1; |
209 | WPIndex = PointCount - i + 1; |
| 202 | break; |
210 | break; |
| 203 | } |
211 | } |
| 204 | } |
212 | } |
| 205 | if(WPIndex) // found a WP within the list |
213 | if(WPIndex) // found a WP within the list |
| 206 | { |
214 | { |
| 207 | NaviData.WaypointIndex = WPIndex; |
215 | NaviData.WaypointIndex = WPCount; |
| 208 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
216 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 209 | else POIIndex = 0; |
217 | else POIIndex = 0; |
| 210 | return(&(WPList[WPIndex-1])); |
218 | return(&(PointList[WPIndex-1])); |
| 211 | } |
219 | } |
| 212 | else // list contains some points but no WP in the list |
220 | else // list contains some points but no WP in the list |
| 213 | { |
221 | { |
| 214 | // search backward for a POI! |
222 | // search backward for a POI! |
| 215 | for(i = 1; i <= WPNumber; i++) |
223 | for(i = 1; i <= PointCount; i++) |
| 216 | { |
224 | { |
| 217 | if((WPList[WPNumber - i].Type == POINT_TYPE_POI) && (WPList[WPNumber - i].Position.Status != INVALID)) |
225 | if((PointList[PointCount - i].Type == POINT_TYPE_POI) && (PointList[PointCount - i].Position.Status != INVALID)) |
| 218 | { |
226 | { |
| 219 | POIIndex = WPNumber - i + 1; |
227 | POIIndex = PointCount - i + 1; |
| 220 | break; |
228 | break; |
| 221 | } |
229 | } |
| 222 | } |
230 | } |
| 223 | NaviData.WaypointIndex = WPIndex; |
231 | NaviData.WaypointIndex = 0; |
| 224 | return NULL; |
232 | return NULL; |
| 225 | } |
233 | } |
| 226 | } |
234 | } |
| 227 | else // no point in the list |
235 | else // no point in the list |
| 228 | { |
236 | { |
| 229 | POIIndex = 0; |
237 | POIIndex = 0; |
| 230 | NaviData.WaypointIndex = WPIndex; |
238 | NaviData.WaypointIndex = 0; |
| 231 | return NULL; |
239 | return NULL; |
| 232 | } |
240 | } |
| 233 | } |
241 | } |
| 234 | 242 | ||
| 235 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
243 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
| 236 | Waypoint_t* WPList_Next(void) |
244 | Point_t* PointList_WPNext(void) |
| 237 | { |
245 | { |
| 238 | u8 wp_found = 0; |
246 | u8 wp_found = 0; |
| - | 247 | if(WPActive == FALSE) return(NULL); |
|
| 239 | 248 | ||
| 240 | if(WPIndex < WPNumber) // if there is a next entry in the list |
249 | if(WPIndex < PointCount) // if there is a next entry in the list |
| 241 | { |
250 | { |
| 242 | u8 i; |
251 | u8 i; |
| 243 | for(i = WPIndex; i < WPNumber; i++) // start search for next at next list entry |
252 | for(i = WPIndex; i < PointCount; i++) // start search for next at next list entry |
| 244 | { |
253 | { |
| 245 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) // jump over POIs |
254 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
| 246 | { |
255 | { |
| 247 | wp_found = i+1; |
256 | wp_found = i+1; |
| 248 | break; |
257 | break; |
| 249 | } |
258 | } |
| 250 | } |
259 | } |
| 251 | } |
260 | } |
| 252 | if(wp_found) |
261 | if(wp_found) |
| 253 | { |
262 | { |
| 254 | WPIndex = wp_found; // update list position |
263 | WPIndex = wp_found; // update list position |
| 255 | NaviData.WaypointIndex = WPIndex; |
264 | NaviData.WaypointIndex++; |
| 256 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
265 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 257 | else POIIndex = 0; |
266 | else POIIndex = 0; |
| 258 | return(&(WPList[WPIndex-1])); // return pointer to this waypoint |
267 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
| 259 | } |
268 | } |
| 260 | else |
269 | else |
| 261 | { |
270 | { // no next wp found |
| 262 | NaviData.WaypointIndex = WPIndex; |
271 | NaviData.WaypointIndex = 0; |
| 263 | POIIndex = 0; |
272 | POIIndex = 0; |
| 264 | return(NULL); |
273 | return(NULL); |
| 265 | } |
274 | } |
| 266 | } |
275 | } |
| - | 276 | ||
| - | 277 | void PointList_WPActive(u8 set) |
|
| - | 278 | { |
|
| - | 279 | if(set) WPActive = TRUE; |
|
| - | 280 | else WPActive = FALSE; |
|
| - | 281 | } |
|
| 267 | 282 | ||
| 268 | Waypoint_t* WPList_GetAt(u8 index) |
283 | Point_t* PointList_GetAt(u8 index) |
| 269 | { |
284 | { |
| 270 | if((index > 0) && (index <= WPNumber)) return(&(WPList[index-1])); // return pointer to this waypoint |
285 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
| 271 | else return(NULL); |
286 | else return(NULL); |
| 272 | } |
287 | } |
| 273 | 288 | ||
| 274 | Waypoint_t* WPList_GetPOI(void) |
289 | Point_t* PointList_GetPOI(void) |
| 275 | { |
290 | { |
| 276 | return WPList_GetAt(POIIndex); |
291 | return PointList_GetAt(POIIndex); |
| 277 | } |
292 | } |
| 278 | 293 | ||
| 279 | 294 | ||