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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| 15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
| 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| 37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| 40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
| 43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| 53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 56 | #include <ctype.h> |
56 | #include <ctype.h> |
| 57 | #include <stdio.h> |
57 | #include <stdio.h> |
| 58 | #include <stdlib.h> |
58 | #include <stdlib.h> |
| 59 | #include <string.h> |
59 | #include <string.h> |
| 60 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
| 61 | #include "waypoints.h" |
61 | #include "waypoints.h" |
| 62 | #include "uart1.h" |
62 | #include "uart1.h" |
| 63 | #include "fat16.h" |
63 | #include "fat16.h" |
| 64 | #include "main.h" |
64 | #include "main.h" |
| - | 65 | #include "spi_slave.h" |
|
| 65 | 66 | ||
| 66 | 67 | ||
| 67 | WPL_Store_t WPL_Store; |
68 | WPL_Store_t WPL_Store; |
| 68 | 69 | ||
| 69 | // the waypoints list |
70 | // the waypoints list |
| 70 | #define MAX_LIST_LEN 101 |
71 | #define MAX_LIST_LEN 101 |
| 71 | 72 | ||
| 72 | Point_t PointList[MAX_LIST_LEN]; |
73 | Point_t PointList[MAX_LIST_LEN]; |
| 73 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
74 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
| 74 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
75 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
| 75 | u8 WPCount = 0; // number of waypoints |
76 | u8 WPCount = 0; // number of waypoints |
| 76 | u8 PointCount = 0; // number of points in the list can be maximal equal to MAX_LIST_LEN |
77 | u8 PointCount = 0; // number of points in the list can be maximal equal to MAX_LIST_LEN |
| 77 | u8 POICount = 0; // number of point of interest in the list |
78 | u8 POICount = 0; // number of point of interest in the list |
| 78 | 79 | ||
| 79 | u8 WPActive = FALSE; |
80 | u8 WPActive = FALSE; |
| 80 | 81 | ||
| 81 | u8 PointList_Init(void) |
82 | u8 PointList_Init(void) |
| 82 | { |
83 | { |
| 83 | return PointList_Clear(); |
84 | return PointList_Clear(); |
| 84 | } |
85 | } |
| 85 | 86 | ||
| 86 | u8 PointList_Clear(void) |
87 | u8 PointList_Clear(void) |
| 87 | { |
88 | { |
| 88 | u8 i; |
89 | u8 i; |
| 89 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
90 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
| 90 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
91 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
| 91 | WPCount = 0; // no waypoints |
92 | WPCount = 0; // no waypoints |
| 92 | POICount = 0; |
93 | POICount = 0; |
| 93 | PointCount = 0; // no contents |
94 | PointCount = 0; // no contents |
| 94 | WPActive = FALSE; |
95 | WPActive = FALSE; |
| 95 | NaviData.WaypointNumber = WPCount; |
96 | NaviData.WaypointNumber = WPCount; |
| 96 | NaviData.WaypointIndex = 0; |
97 | NaviData.WaypointIndex = 0; |
| 97 | 98 | ||
| 98 | for(i = 0; i < MAX_LIST_LEN; i++) |
99 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 99 | { |
100 | { |
| 100 | PointList[i].Position.Status = INVALID; |
101 | PointList[i].Position.Status = INVALID; |
| 101 | PointList[i].Position.Latitude = 0; |
102 | PointList[i].Position.Latitude = 0; |
| 102 | PointList[i].Position.Longitude = 0; |
103 | PointList[i].Position.Longitude = 0; |
| 103 | PointList[i].Position.Altitude = 0; |
104 | PointList[i].Position.Altitude = 0; |
| 104 | PointList[i].Heading = 361; // invalid value |
105 | PointList[i].Heading = 361; // invalid value |
| 105 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
106 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
| 106 | 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 |
107 | 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 |
| 107 | PointList[i].Event_Flag = 0; // future implementation |
108 | PointList[i].Event_Flag = 0; // future implementation |
| 108 | PointList[i].Index = 0; |
109 | PointList[i].Index = 0; |
| 109 | PointList[i].Type = POINT_TYPE_INVALID; |
110 | PointList[i].Type = POINT_TYPE_INVALID; |
| 110 | PointList[i].WP_EventChannelValue = 0; |
111 | PointList[i].WP_EventChannelValue = 0; |
| 111 | PointList[i].AltitudeRate = 0; // no change of setpoint |
112 | PointList[i].AltitudeRate = 0; // no change of setpoint |
| 112 | PointList[i].Speed = 0; |
113 | PointList[i].Speed = 0; |
| 113 | PointList[i].CamAngle = 0; |
114 | PointList[i].CamAngle = 0; |
| 114 | PointList[i].Name[0] = 0; |
115 | PointList[i].Name[0] = 0; |
| 115 | } |
116 | } |
| 116 | ClearWLP_Name(); |
117 | ClearWLP_Name(); |
| 117 | return TRUE; |
118 | return TRUE; |
| 118 | } |
119 | } |
| 119 | 120 | ||
| 120 | u8 PointList_GetCount(void) |
121 | u8 PointList_GetCount(void) |
| 121 | { |
122 | { |
| 122 | return PointCount; // number of points in the list |
123 | return PointCount; // number of points in the list |
| 123 | } |
124 | } |
| 124 | 125 | ||
| 125 | Point_t* PointList_GetAt(u8 index) |
126 | Point_t* PointList_GetAt(u8 index) |
| 126 | { |
127 | { |
| 127 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
128 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
| 128 | else return(NULL); |
129 | else return(NULL); |
| 129 | } |
130 | } |
| 130 | 131 | ||
| 131 | u8 PointList_SetAt(Point_t* pPoint) |
132 | u8 PointList_SetAt(Point_t* pPoint) |
| 132 | { |
133 | { |
| 133 | // if index is in range |
134 | // if index is in range |
| 134 | if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
135 | if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
| 135 | { |
136 | { |
| 136 | // check list entry before update |
137 | // check list entry before update |
| 137 | switch(PointList[pPoint->Index-1].Type) |
138 | switch(PointList[pPoint->Index-1].Type) |
| 138 | { |
139 | { |
| 139 | case POINT_TYPE_INVALID: // was invalid |
140 | case POINT_TYPE_INVALID: // was invalid |
| 140 | switch(pPoint->Type) |
141 | switch(pPoint->Type) |
| 141 | { |
142 | { |
| 142 | default: |
143 | default: |
| 143 | case POINT_TYPE_INVALID: |
144 | case POINT_TYPE_INVALID: |
| 144 | // nothing to do |
145 | // nothing to do |
| 145 | break; |
146 | break; |
| 146 | 147 | ||
| 147 | case POINT_TYPE_WP: |
148 | case POINT_TYPE_WP: |
| 148 | WPCount++; |
149 | WPCount++; |
| 149 | PointCount++; |
150 | PointCount++; |
| 150 | break; |
151 | break; |
| 151 | 152 | ||
| 152 | case POINT_TYPE_POI: |
153 | case POINT_TYPE_POI: |
| 153 | POICount++; |
154 | POICount++; |
| 154 | PointCount++; |
155 | PointCount++; |
| 155 | break; |
156 | break; |
| 156 | } |
157 | } |
| 157 | break; |
158 | break; |
| 158 | 159 | ||
| 159 | case POINT_TYPE_WP: // was a waypoint |
160 | case POINT_TYPE_WP: // was a waypoint |
| 160 | switch(pPoint->Type) |
161 | switch(pPoint->Type) |
| 161 | { |
162 | { |
| 162 | case POINT_TYPE_INVALID: |
163 | case POINT_TYPE_INVALID: |
| 163 | WPCount--; |
164 | WPCount--; |
| 164 | PointCount--; |
165 | PointCount--; |
| 165 | break; |
166 | break; |
| 166 | 167 | ||
| 167 | default: |
168 | default: |
| 168 | case POINT_TYPE_WP: |
169 | case POINT_TYPE_WP: |
| 169 | //nothing to do |
170 | //nothing to do |
| 170 | break; |
171 | break; |
| 171 | 172 | ||
| 172 | case POINT_TYPE_POI: |
173 | case POINT_TYPE_POI: |
| 173 | POICount++; |
174 | POICount++; |
| 174 | WPCount--; |
175 | WPCount--; |
| 175 | break; |
176 | break; |
| 176 | } |
177 | } |
| 177 | break; |
178 | break; |
| 178 | 179 | ||
| 179 | case POINT_TYPE_POI: // was a poi |
180 | case POINT_TYPE_POI: // was a poi |
| 180 | switch(pPoint->Type) |
181 | switch(pPoint->Type) |
| 181 | { |
182 | { |
| 182 | case POINT_TYPE_INVALID: |
183 | case POINT_TYPE_INVALID: |
| 183 | POICount--; |
184 | POICount--; |
| 184 | PointCount--; |
185 | PointCount--; |
| 185 | break; |
186 | break; |
| 186 | 187 | ||
| 187 | case POINT_TYPE_WP: |
188 | case POINT_TYPE_WP: |
| 188 | WPCount++; |
189 | WPCount++; |
| 189 | POICount--; |
190 | POICount--; |
| 190 | break; |
191 | break; |
| 191 | 192 | ||
| 192 | case POINT_TYPE_POI: |
193 | case POINT_TYPE_POI: |
| 193 | default: |
194 | default: |
| 194 | // nothing to do |
195 | // nothing to do |
| 195 | break; |
196 | break; |
| 196 | } |
197 | } |
| 197 | break; |
198 | break; |
| 198 | } |
199 | } |
| 199 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
200 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
| 200 | NaviData.WaypointNumber = WPCount; |
201 | NaviData.WaypointNumber = WPCount; |
| 201 | return pPoint->Index; |
202 | return pPoint->Index; |
| 202 | } |
203 | } |
| 203 | else return(0); |
204 | else return(0); |
| 204 | } |
205 | } |
| 205 | 206 | ||
| 206 | // returns the pointer to the first waypoint within the list |
207 | // returns the pointer to the first waypoint within the list |
| 207 | Point_t* PointList_WPBegin(void) |
208 | Point_t* PointList_WPBegin(void) |
| 208 | { |
209 | { |
| 209 | u8 i; |
210 | u8 i; |
| 210 | WPIndex = 0; // set list position invalid |
211 | WPIndex = 0; // set list position invalid |
| 211 | 212 | ||
| 212 | if(WPActive == FALSE) return(NULL); |
213 | if(WPActive == FALSE) return(NULL); |
| 213 | 214 | ||
| 214 | POIIndex = 0; // set invalid POI |
215 | POIIndex = 0; // set invalid POI |
| 215 | if(PointCount > 0) |
216 | if(PointCount > 0) |
| 216 | { |
217 | { |
| 217 | // search for first wp in list |
218 | // search for first wp in list |
| 218 | for(i = 0; i <MAX_LIST_LEN; i++) |
219 | for(i = 0; i <MAX_LIST_LEN; i++) |
| 219 | { |
220 | { |
| 220 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
221 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
| 221 | { |
222 | { |
| 222 | WPIndex = i + 1; |
223 | WPIndex = i + 1; |
| 223 | break; |
224 | break; |
| 224 | } |
225 | } |
| 225 | } |
226 | } |
| 226 | if(WPIndex) // found a WP in the list |
227 | if(WPIndex) // found a WP in the list |
| 227 | { |
228 | { |
| 228 | NaviData.WaypointIndex = 1; |
229 | NaviData.WaypointIndex = 1; |
| 229 | // update index to POI |
230 | // update index to POI |
| 230 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
231 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 231 | else POIIndex = 0; |
232 | else POIIndex = 0; |
| 232 | } |
233 | } |
| 233 | else // some points in the list but no WP found |
234 | else // some points in the list but no WP found |
| 234 | { |
235 | { |
| 235 | NaviData.WaypointIndex = 0; |
236 | NaviData.WaypointIndex = 0; |
| 236 | //Check for an existing POI |
237 | //Check for an existing POI |
| 237 | for(i = 0; i < MAX_LIST_LEN; i++) |
238 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 238 | { |
239 | { |
| 239 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
240 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
| 240 | { |
241 | { |
| 241 | POIIndex = i + 1; |
242 | POIIndex = i + 1; |
| 242 | break; |
243 | break; |
| 243 | } |
244 | } |
| 244 | } |
245 | } |
| 245 | } |
246 | } |
| 246 | } |
247 | } |
| 247 | else // no point in the list |
248 | else // no point in the list |
| 248 | { |
249 | { |
| 249 | POIIndex = 0; |
250 | POIIndex = 0; |
| 250 | NaviData.WaypointIndex = 0; |
251 | NaviData.WaypointIndex = 0; |
| 251 | } |
252 | } |
| 252 | 253 | ||
| 253 | if(WPIndex) return(&(PointList[WPIndex-1])); |
254 | if(WPIndex) return(&(PointList[WPIndex-1])); |
| 254 | else return(NULL); |
255 | else return(NULL); |
| 255 | } |
256 | } |
| 256 | 257 | ||
| 257 | // returns the last waypoint |
258 | // returns the last waypoint |
| 258 | Point_t* PointList_WPEnd(void) |
259 | Point_t* PointList_WPEnd(void) |
| 259 | { |
260 | { |
| 260 | 261 | ||
| 261 | u8 i; |
262 | u8 i; |
| 262 | WPIndex = 0; // set list position invalid |
263 | WPIndex = 0; // set list position invalid |
| 263 | POIIndex = 0; // set invalid |
264 | POIIndex = 0; // set invalid |
| 264 | 265 | ||
| 265 | if(WPActive == FALSE) return(NULL); |
266 | if(WPActive == FALSE) return(NULL); |
| 266 | 267 | ||
| 267 | if(PointCount > 0) |
268 | if(PointCount > 0) |
| 268 | { |
269 | { |
| 269 | // search backward! |
270 | // search backward! |
| 270 | for(i = 1; i <= MAX_LIST_LEN; i++) |
271 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 271 | { |
272 | { |
| 272 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
273 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 273 | { |
274 | { |
| 274 | WPIndex = MAX_LIST_LEN - i + 1; |
275 | WPIndex = MAX_LIST_LEN - i + 1; |
| 275 | break; |
276 | break; |
| 276 | } |
277 | } |
| 277 | } |
278 | } |
| 278 | if(WPIndex) // found a WP within the list |
279 | if(WPIndex) // found a WP within the list |
| 279 | { |
280 | { |
| 280 | NaviData.WaypointIndex = WPCount; |
281 | NaviData.WaypointIndex = WPCount; |
| 281 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
282 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 282 | else POIIndex = 0; |
283 | else POIIndex = 0; |
| 283 | } |
284 | } |
| 284 | else // list contains some points but no WP in the list |
285 | else // list contains some points but no WP in the list |
| 285 | { |
286 | { |
| 286 | // search backward for a POI! |
287 | // search backward for a POI! |
| 287 | for(i = 1; i <= MAX_LIST_LEN; i++) |
288 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 288 | { |
289 | { |
| 289 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
290 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 290 | { |
291 | { |
| 291 | POIIndex = MAX_LIST_LEN - i + 1; |
292 | POIIndex = MAX_LIST_LEN - i + 1; |
| 292 | break; |
293 | break; |
| 293 | } |
294 | } |
| 294 | } |
295 | } |
| 295 | NaviData.WaypointIndex = 0; |
296 | NaviData.WaypointIndex = 0; |
| 296 | } |
297 | } |
| 297 | } |
298 | } |
| 298 | else // no point in the list |
299 | else // no point in the list |
| 299 | { |
300 | { |
| 300 | POIIndex = 0; |
301 | POIIndex = 0; |
| 301 | NaviData.WaypointIndex = 0; |
302 | NaviData.WaypointIndex = 0; |
| 302 | } |
303 | } |
| 303 | if(WPIndex) return(&(PointList[WPIndex-1])); |
304 | if(WPIndex) return(&(PointList[WPIndex-1])); |
| 304 | else return(NULL); |
305 | else return(NULL); |
| 305 | } |
306 | } |
| 306 | 307 | ||
| 307 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
308 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
| 308 | Point_t* PointList_WPNext(void) |
309 | Point_t* PointList_WPNext(void) |
| 309 | { |
310 | { |
| 310 | u8 wp_found = 0; |
311 | u8 wp_found = 0; |
| 311 | if(WPActive == FALSE) return(NULL); |
312 | if(WPActive == FALSE) return(NULL); |
| 312 | 313 | ||
| 313 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
314 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
| 314 | { |
315 | { |
| 315 | u8 i; |
316 | u8 i; |
| 316 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
317 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
| 317 | { |
318 | { |
| 318 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
319 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
| 319 | { |
320 | { |
| 320 | wp_found = i+1; |
321 | wp_found = i+1; |
| 321 | break; |
322 | break; |
| 322 | } |
323 | } |
| 323 | } |
324 | } |
| 324 | } |
325 | } |
| 325 | if(wp_found) |
326 | if(wp_found) |
| 326 | { |
327 | { |
| 327 | WPIndex = wp_found; // update list position |
328 | WPIndex = wp_found; // update list position |
| 328 | NaviData.WaypointIndex++; |
329 | NaviData.WaypointIndex++; |
| 329 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
330 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 330 | else POIIndex = 0; |
331 | else POIIndex = 0; |
| 331 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
332 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
| 332 | } |
333 | } |
| 333 | else |
334 | else |
| 334 | { // no next wp found |
335 | { // no next wp found |
| 335 | NaviData.WaypointIndex = 0; |
336 | NaviData.WaypointIndex = 0; |
| 336 | POIIndex = 0; |
337 | POIIndex = 0; |
| 337 | return(NULL); |
338 | return(NULL); |
| 338 | } |
339 | } |
| 339 | } |
340 | } |
| 340 | 341 | ||
| 341 | void PointList_WPActive(u8 set) |
342 | void PointList_WPActive(u8 set) |
| 342 | { |
343 | { |
| 343 | if(set) |
344 | if(set) |
| 344 | { |
345 | { |
| 345 | WPActive = TRUE; |
346 | WPActive = TRUE; |
| 346 | PointList_WPBegin(); // updates POI index |
347 | PointList_WPBegin(); // updates POI index |
| 347 | } |
348 | } |
| 348 | else |
349 | else |
| 349 | { |
350 | { |
| 350 | WPActive = FALSE; |
351 | WPActive = FALSE; |
| 351 | POIIndex = 0; // disable POI also |
352 | POIIndex = 0; // disable POI also |
| 352 | } |
353 | } |
| 353 | } |
354 | } |
| 354 | 355 | ||
| 355 | Point_t* PointList_GetPOI(void) |
356 | Point_t* PointList_GetPOI(void) |
| 356 | { |
357 | { |
| 357 | return PointList_GetAt(POIIndex); |
358 | return PointList_GetAt(POIIndex); |
| 358 | } |
359 | } |
| - | 360 | ||
| 359 | 361 | ||
| 360 | #define LINE_MAX 70 |
362 | #define LINE_MAX 70 |
| 361 | #define WP_FILE_VERSION_COMPATIBLE 3 |
- | |
| - | 363 | #define WP_FILE_VERSION_COMPATIBLE 3 |
|
| 362 | // save actual point list to SD card |
364 | |
| 363 | u8 PointList_SaveToFile(WPL_Store_t * pWPL_Store) |
365 | u8 PointList_Save(u8 * filename, u8* listname, u8 overwride) |
| 364 | { |
366 | { |
| 365 | File_t *fp; |
367 | File_t *fp; |
| 366 | s8 wpline[LINE_MAX]; |
368 | s8 wpline[LINE_MAX]; |
| 367 | u8 retval = WPL_ERROR; |
369 | u8 retval = WPL_ERROR; |
| 368 | 370 | ||
| 369 | if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
- | |
| 370 | // user absolute path, i.e. leading / |
- | |
| 371 | if(pWPL_Store->Index == 0) |
- | |
| 372 | { |
- | |
| 373 | sprintf(wpline, "/default.wpl"); |
- | |
| 374 | } |
- | |
| 375 | else |
- | |
| 376 | { |
- | |
| 377 | sprintf(wpline, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
- | |
| 378 | } |
- | |
| 379 | UART1_PutString("\n\r Save WPL..."); |
371 | UART1_PutString("\n\r Save WPL..."); |
| 380 | 372 | ||
| 381 | if(Fat16_IsValid()) |
373 | if(Fat16_IsValid()) |
| 382 | { // check if wpl file is existing |
374 | { // check if wpl file is existing |
| 383 | if(fexist_(wpline)) |
375 | if(fexist_(filename)) |
| 384 | { //file is existent |
376 | { //file is existent |
| 385 | if(!(pWPL_Store->OverwriteFile)) |
377 | if(!(overwride)) |
| 386 | { |
378 | { |
| 387 | UART1_PutString("Error: file exist!\r\n"); |
379 | UART1_PutString("Error: file exist!\r\n"); |
| 388 | return(WPL_FILEEXIST); |
380 | return(WPL_FILEEXIST); |
| 389 | } |
381 | } |
| 390 | } |
382 | } |
| 391 | fp = fopen_(wpline, 'w'); // try to open the file |
383 | fp = fopen_(filename, 'w'); // try to open the file |
| 392 | if(fp == NULL) |
384 | if(fp == NULL) |
| 393 | { |
385 | { |
| 394 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
386 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
| 395 | return(retval); |
387 | return(retval); |
| 396 | } |
388 | } |
| 397 | // Create general section and key entries |
389 | // Create general section and key entries |
| 398 | fputs_("[General]\r\n", fp); |
390 | fputs_("[General]\r\n", fp); |
| 399 | sprintf(wpline, "Name=%s\r\n", pWPL_Store->Name); |
391 | sprintf(wpline, "Name=%s\r\n", listname); |
| 400 | fputs_(wpline, fp); |
392 | fputs_(wpline, fp); |
| 401 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
393 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
| 402 | fputs_(wpline, fp); |
394 | fputs_(wpline, fp); |
| 403 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
395 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
| 404 | fputs_(wpline, fp); |
396 | fputs_(wpline, fp); |
| 405 | // dump all points if existent |
397 | // dump all points if existent |
| 406 | if(PointCount) |
398 | if(PointCount) |
| 407 | { |
399 | { |
| 408 | u8 i, u8_1; |
400 | u8 i, u8_1; |
| 409 | s32 i32_1, i32_2; |
401 | s32 i32_1, i32_2; |
| 410 | NewWPL_Name = 1; |
402 | NewWPL_Name = 1; |
| 411 | for (i = 0; i < PointCount; i++) |
403 | for (i = 0; i < PointCount; i++) |
| 412 | { |
404 | { |
| 413 | sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
405 | sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
| 414 | fputs_(wpline, fp); |
406 | fputs_(wpline, fp); |
| 415 | // write latitude in deg |
407 | // write latitude in deg |
| 416 | if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
408 | if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
| 417 | else u8_1 = '+'; |
409 | else u8_1 = '+'; |
| 418 | i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
410 | i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
| 419 | i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
411 | i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
| 420 | sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
412 | sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
| 421 | fputs_(wpline, fp); |
413 | fputs_(wpline, fp); |
| 422 | // write longitude in deg |
414 | // write longitude in deg |
| 423 | if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
415 | if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
| 424 | else u8_1 = '+'; |
416 | else u8_1 = '+'; |
| 425 | i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
417 | i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
| 426 | i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
418 | i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
| 427 | sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
419 | sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
| 428 | fputs_(wpline, fp); |
420 | fputs_(wpline, fp); |
| 429 | // write tolerace radius in m |
421 | // write tolerace radius in m |
| 430 | sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
422 | sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
| 431 | fputs_(wpline, fp); |
423 | fputs_(wpline, fp); |
| 432 | // write altitude in m |
424 | // write altitude in m |
| 433 | if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
425 | if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
| 434 | else u8_1 = '+'; |
426 | else u8_1 = '+'; |
| 435 | if(PointList[i].Type == POINT_TYPE_POI) |
427 | if(PointList[i].Type == POINT_TYPE_POI) |
| 436 | { |
428 | { |
| 437 | i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
429 | i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
| 438 | i32_2 = abs(PointList[i].Position.Altitude)%100L; |
430 | i32_2 = abs(PointList[i].Position.Altitude)%100L; |
| 439 | } |
431 | } |
| 440 | else |
432 | else |
| 441 | { |
433 | { |
| 442 | i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
434 | i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
| 443 | i32_2 = abs(PointList[i].Position.Altitude)%10L; |
435 | i32_2 = abs(PointList[i].Position.Altitude)%10L; |
| 444 | } |
436 | } |
| 445 | sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
437 | sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
| 446 | fputs_(wpline, fp); |
438 | fputs_(wpline, fp); |
| 447 | // write climb rate in 0.1 m/s |
439 | // write climb rate in 0.1 m/s |
| 448 | sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
440 | sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
| 449 | fputs_(wpline, fp); |
441 | fputs_(wpline, fp); |
| 450 | // write hold time in s |
442 | // write hold time in s |
| 451 | sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
443 | sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
| 452 | fputs_(wpline, fp); |
444 | fputs_(wpline, fp); |
| 453 | // write event channel value |
445 | // write event channel value |
| 454 | sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
446 | sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
| 455 | fputs_(wpline, fp); |
447 | fputs_(wpline, fp); |
| 456 | // write heading in deg (0= nothing, neg. values index to poi) |
448 | // write heading in deg (0= nothing, neg. values index to poi) |
| 457 | sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
449 | sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
| 458 | fputs_(wpline, fp); |
450 | fputs_(wpline, fp); |
| 459 | // write speed in 0.1 m/s |
451 | // write speed in 0.1 m/s |
| 460 | sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
452 | sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
| 461 | fputs_(wpline, fp); |
453 | fputs_(wpline, fp); |
| 462 | // write cam angle in degree (255 -> POI-Automatic) |
454 | // write cam angle in degree (255 -> POI-Automatic) |
| 463 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
455 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
| 464 | fputs_(wpline, fp); |
456 | fputs_(wpline, fp); |
| 465 | // write point type |
457 | // write point type |
| 466 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
458 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
| 467 | fputs_(wpline, fp); |
459 | fputs_(wpline, fp); |
| 468 | // write prefix |
460 | // write prefix |
| 469 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
461 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
| 470 | fputs_(wpline, fp); |
462 | fputs_(wpline, fp); |
| 471 | } // EOF loop over all points |
463 | } // EOF loop over all points |
| 472 | } // EOF if(PointCount) |
464 | } // EOF if(PointCount) |
| 473 | if(EOF == fclose_(fp)) |
465 | if(EOF == fclose_(fp)) |
| 474 | { |
466 | { |
| 475 | UART1_PutString("failed!\r\n"); |
467 | UART1_PutString("failed!\r\n"); |
| 476 | } |
468 | } |
| 477 | else |
469 | else |
| 478 | { |
470 | { |
| 479 | UART1_PutString("ok\r\n"); |
471 | UART1_PutString("ok\r\n"); |
| 480 | retval = WPL_OK; |
472 | retval = WPL_OK; |
| 481 | } |
473 | } |
| 482 | } // EOF if(Fat16_IsValid()) |
474 | } // EOF if(Fat16_IsValid()) |
| 483 | else |
475 | else |
| 484 | { |
476 | { |
| 485 | UART1_PutString("no file system found!\r\n"); |
477 | UART1_PutString("no file system found!\r\n"); |
| 486 | retval = WPL_NO_SDCARD_FOUND; |
478 | retval = WPL_NO_SDCARD_FOUND; |
| 487 | } |
479 | } |
| 488 | return(retval); |
480 | return(retval); |
| 489 | } |
481 | } |
| 490 | - | ||
| 491 | // load actual point list from SD card |
482 | |
| 492 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
483 | u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen) |
| 493 | { |
484 | { |
| 494 | File_t *fp; |
485 | File_t *fp; |
| 495 | s8 wpline[LINE_MAX]; |
486 | s8 wpline[LINE_MAX]; |
| 496 | u8 retval = WPL_ERROR; |
487 | u8 retval = WPL_ERROR; |
| 497 | 488 | ||
| 498 | s8 *name, *value; |
489 | s8 *name, *value; |
| 499 | u8 i; |
490 | u8 i; |
| 500 | 491 | ||
| 501 | u8 IsGeneralSection = 0; |
492 | u8 IsGeneralSection = 0; |
| 502 | u8 IsPointSection = 0; |
493 | u8 IsPointSection = 0; |
| 503 | u8 WPNumber = 0; |
494 | u8 WPNumber = 0; |
| 504 | - | ||
| 505 | 495 | ||
| 506 | // clear point list first |
496 | // clear point list first |
| 507 | PointList_Clear(); |
497 | PointList_Clear(); |
| 508 | pWPL_Store->Name[0] = 0; // clear current list name |
- | |
| 509 | - | ||
| 510 | // user absolute path, i.e. leading / |
- | |
| 511 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
- | |
| 512 | { |
- | |
| 513 | sprintf(wpline, "/default.wpl"); |
- | |
| 514 | } |
- | |
| 515 | else |
- | |
| 516 | { |
- | |
| 517 | sprintf(wpline, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
- | |
| 518 | } |
- | |
| 519 | 498 | ||
| 520 | UART1_PutString("\n\r Read "); |
499 | UART1_PutString("\n\r Read "); |
| 521 | UART1_PutString(wpline); |
500 | UART1_PutString(filename); |
| 522 | UART1_PutString("..."); |
501 | UART1_PutString("..."); |
| 523 | 502 | ||
| 524 | if(Fat16_IsValid()) |
503 | if(Fat16_IsValid()) |
| 525 | { // check if wpl file is existing |
504 | { // check if wpl file is existing |
| 526 | fp = fopen_(wpline, 'r'); // try to open the file |
505 | fp = fopen_(filename, 'r'); // try to open the file |
| 527 | if(fp == NULL) |
506 | if(fp == NULL) |
| 528 | { |
507 | { |
| 529 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
508 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
| 530 | return(retval); |
509 | return(retval); |
| 531 | } |
510 | } |
| 532 | // read all lines from file |
511 | // read all lines from file |
| 533 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
512 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
| 534 | { |
513 | { |
| 535 | if ( // ignorelines starting with \r,\n,' ',';','#' |
514 | if ( // ignorelines starting with \r,\n,' ',';','#' |
| 536 | (wpline[0] != '\n') && |
515 | (wpline[0] != '\n') && |
| 537 | (wpline[0] != '\r') && |
516 | (wpline[0] != '\r') && |
| 538 | (wpline[0] != ' ' ) && |
517 | (wpline[0] != ' ' ) && |
| 539 | (wpline[0] != ';' ) && |
518 | (wpline[0] != ';' ) && |
| 540 | (wpline[0] != '#' ) |
519 | (wpline[0] != '#' ) |
| 541 | ) |
520 | ) |
| 542 | { |
521 | { |
| 543 | // check for section line found |
522 | // check for section line found |
| 544 | if(wpline[0] == '[') |
523 | if(wpline[0] == '[') |
| 545 | { |
524 | { |
| 546 | // next section found |
525 | // next section found |
| 547 | IsGeneralSection = 0; |
526 | IsGeneralSection = 0; |
| 548 | IsPointSection = 0; |
527 | IsPointSection = 0; |
| 549 | 528 | ||
| 550 | name = strtok(&wpline[1], "]"); |
529 | name = strtok(&wpline[1], "]"); |
| 551 | if(name != NULL) // if section name |
530 | if(name != NULL) // if section name |
| 552 | { |
531 | { |
| 553 | // check section type |
532 | // check section type |
| 554 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
533 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
| 555 | 534 | ||
| 556 | if(strncmp(name, "POINT", 5) == 0) |
535 | if(strncmp(name, "POINT", 5) == 0) |
| 557 | { |
536 | { |
| 558 | IsPointSection = (u8)atoi(&name[5]); |
537 | IsPointSection = (u8)atoi(&name[5]); |
| 559 | PointCount++; |
538 | PointCount++; |
| 560 | } |
539 | } |
| 561 | else if(strcmp(name, "GENERAL") == 0) |
540 | else if(strcmp(name, "GENERAL") == 0) |
| 562 | { |
541 | { |
| 563 | IsGeneralSection = 1; |
542 | IsGeneralSection = 1; |
| 564 | } |
543 | } |
| 565 | else |
544 | else |
| 566 | { |
545 | { |
| 567 | UART1_PutString("Unknown section: "); |
546 | UART1_PutString("Unknown section: "); |
| 568 | UART1_PutString(name); |
547 | UART1_PutString(name); |
| 569 | UART1_PutString("\r\n"); |
548 | UART1_PutString("\r\n"); |
| 570 | } |
549 | } |
| 571 | } |
550 | } |
| 572 | } // EOF section line |
551 | } // EOF section line |
| 573 | else |
552 | else |
| 574 | { // look for key entrys of each sections |
553 | { // look for key entrys of each sections |
| 575 | name = strtok(wpline, "="); // get name |
554 | name = strtok(wpline, "="); // get name |
| 576 | value = strtok(NULL, "="); // get value |
555 | value = strtok(NULL, "="); // get value |
| 577 | if ((name != NULL) && (value != NULL)) |
556 | if ((name != NULL) && (value != NULL)) |
| 578 | { |
557 | { |
| 579 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
558 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
| 580 | if(IsPointSection && (IsPointSection <= WPNumber)) |
559 | if(IsPointSection && (IsPointSection <= WPNumber)) |
| 581 | { |
560 | { |
| 582 | if(strcmp(name, "LATITUDE") == 0) |
561 | if(strcmp(name, "LATITUDE") == 0) |
| 583 | { |
562 | { |
| 584 | PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
563 | PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
| 585 | } |
564 | } |
| 586 | else if(strcmp(name, "LONGITUDE") == 0) |
565 | else if(strcmp(name, "LONGITUDE") == 0) |
| 587 | { |
566 | { |
| 588 | PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
567 | PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
| 589 | } |
568 | } |
| 590 | else if(strcmp(name, "RADIUS") == 0) |
569 | else if(strcmp(name, "RADIUS") == 0) |
| 591 | { |
570 | { |
| 592 | PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
571 | PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
| 593 | } |
572 | } |
| 594 | else if(strcmp(name, "ALTITUDE") == 0) |
573 | else if(strcmp(name, "ALTITUDE") == 0) |
| 595 | { |
574 | { |
| 596 | PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
575 | PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
| 597 | PointList[IsPointSection-1].Position.Status = NEWDATA; |
576 | PointList[IsPointSection-1].Position.Status = NEWDATA; |
| 598 | } |
577 | } |
| 599 | else if(strcmp(name, "CLIMBRATE") == 0) |
578 | else if(strcmp(name, "CLIMBRATE") == 0) |
| 600 | { |
579 | { |
| 601 | PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
580 | PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
| 602 | } |
581 | } |
| 603 | else if(strcmp(name, "DELAYTIME") == 0) |
582 | else if(strcmp(name, "DELAYTIME") == 0) |
| 604 | { |
583 | { |
| 605 | PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
584 | PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
| 606 | } |
585 | } |
| 607 | else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
586 | else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
| 608 | { |
587 | { |
| 609 | PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
588 | PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
| 610 | } |
589 | } |
| 611 | else if(strcmp(name, "HEADING") == 0) |
590 | else if(strcmp(name, "HEADING") == 0) |
| 612 | { |
591 | { |
| 613 | PointList[IsPointSection-1].Heading = (s16)atoi(value); |
592 | PointList[IsPointSection-1].Heading = (s16)atoi(value); |
| 614 | } |
593 | } |
| 615 | else if(strcmp(name, "SPEED") == 0) |
594 | else if(strcmp(name, "SPEED") == 0) |
| 616 | { |
595 | { |
| 617 | PointList[IsPointSection-1].Speed = (u8)atoi(value); |
596 | PointList[IsPointSection-1].Speed = (u8)atoi(value); |
| 618 | } |
597 | } |
| 619 | else if(strcmp(name, "CAM-NICK") == 0) |
598 | else if(strcmp(name, "CAM-NICK") == 0) |
| 620 | { |
599 | { |
| 621 | PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
600 | PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
| 622 | } |
601 | } |
| 623 | else if(strcmp(name, "TYPE") == 0) |
602 | else if(strcmp(name, "TYPE") == 0) |
| 624 | { |
603 | { |
| 625 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
604 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
| 626 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
605 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
| 627 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
606 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
| 628 | 607 | ||
| 629 | switch(PointList[IsPointSection-1].Type) |
608 | switch(PointList[IsPointSection-1].Type) |
| 630 | { |
609 | { |
| 631 | case POINT_TYPE_WP: |
610 | case POINT_TYPE_WP: |
| 632 | // this works only if altitude key is set before point type key in WPL file !! |
611 | // this works only if altitude key is set before point type key in WPL file !! |
| 633 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
612 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
| 634 | WPCount++; |
613 | WPCount++; |
| 635 | break; |
614 | break; |
| 636 | 615 | ||
| 637 | case POINT_TYPE_POI: |
616 | case POINT_TYPE_POI: |
| 638 | POICount++; |
617 | POICount++; |
| 639 | break; |
618 | break; |
| 640 | } |
619 | } |
| 641 | } |
620 | } |
| 642 | else if(strcmp(name, "PREFIX") == 0) |
621 | else if(strcmp(name, "PREFIX") == 0) |
| 643 | { |
622 | { |
| 644 | strncpy(PointList[IsPointSection-1].Name, value, 4); |
623 | strncpy(PointList[IsPointSection-1].Name, value, 4); |
| 645 | PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
624 | PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
| 646 | } |
625 | } |
| 647 | else |
626 | else |
| 648 | { |
627 | { |
| 649 | UART1_PutString("Unknown key: "); |
628 | UART1_PutString("Unknown key: "); |
| 650 | UART1_PutString(name); |
629 | UART1_PutString(name); |
| 651 | UART1_PutString("\r\n"); |
630 | UART1_PutString("\r\n"); |
| 652 | } |
631 | } |
| 653 | } // EOF point section |
632 | } // EOF point section |
| 654 | else if(IsGeneralSection) |
633 | else if(IsGeneralSection) |
| 655 | { |
634 | { |
| 656 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
635 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
| 657 | { |
636 | { |
| 658 | WPNumber = (u8)atoi(value); |
637 | WPNumber = (u8)atoi(value); |
| 659 | if(!WPNumber) // no waypoints in file |
638 | if(!WPNumber) // no waypoints in file |
| 660 | { |
639 | { |
| 661 | return(WPL_NO_WAYPOINTS); // we are done here |
640 | return(WPL_NO_WAYPOINTS); // we are done here |
| 662 | } |
641 | } |
| 663 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
642 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
| 664 | { |
643 | { |
| 665 | UART1_PutString("To much points!"); |
644 | UART1_PutString("To much points!"); |
| 666 | return(WPL_ERROR); |
645 | return(WPL_ERROR); |
| 667 | } |
646 | } |
| 668 | } |
647 | } |
| 669 | else if (strcmp(name, "FILEVERSION") == 0) |
648 | else if (strcmp(name, "FILEVERSION") == 0) |
| 670 | { |
649 | { |
| 671 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
650 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
| 672 | { |
651 | { |
| 673 | PointList_Clear(); |
652 | PointList_Clear(); |
| 674 | UART1_PutString("Bad file version!\r\n"); |
653 | UART1_PutString("Bad file version!\r\n"); |
| 675 | return(WPL_ERROR); |
654 | return(WPL_ERROR); |
| 676 | } |
655 | } |
| 677 | } |
656 | } |
| 678 | else if (strcmp(name, "NAME") == 0) |
657 | else if (strcmp(name, "NAME") == 0) |
| 679 | { |
658 | { |
| 680 | u8 len = strlen(value); |
659 | if(listname) |
| 681 | if(value[len-1] == '\r') |
- | |
| 682 | { |
660 | { |
| - | 661 | u8 len = strlen(value); |
|
| - | 662 | if(len) |
|
| - | 663 | { |
|
| - | 664 | if(value[len-1] == '\r') |
|
| - | 665 | { |
|
| 683 | value[len-1] = 0; |
666 | value[len-1] = 0; |
| 684 | len--; |
667 | len--; |
| - | 668 | } |
|
| - | 669 | } |
|
| - | 670 | if(len > listnamelen) len = listnamelen; |
|
| - | 671 | if(len) |
|
| - | 672 | { |
|
| - | 673 | value[len-1] = 0; // terminate string |
|
| - | 674 | if(listname) memcpy(listname, value, len); |
|
| - | 675 | } |
|
| - | 676 | NewWPL_Name = 1; |
|
| 685 | } |
677 | } |
| 686 | if(len > 11) value[11] = 0; |
- | |
| 687 | else for(;len < 11; len++) value[len] = ' '; |
- | |
| 688 | memcpy(pWPL_Store->Name, value, 12); |
- | |
| 689 | NewWPL_Name = 1; |
- | |
| 690 | } |
678 | } |
| 691 | else |
679 | else |
| 692 | { |
680 | { |
| 693 | UART1_PutString("Unknown key: "); |
681 | UART1_PutString("Unknown key: "); |
| 694 | UART1_PutString(name); |
682 | UART1_PutString(name); |
| 695 | UART1_PutString("\r\n"); |
683 | UART1_PutString("\r\n"); |
| 696 | } |
684 | } |
| 697 | } // EOF general section |
685 | } // EOF general section |
| 698 | } // EOF valid key entry |
686 | } // EOF valid key entry |
| 699 | } // EOF key entry line |
687 | } // EOF key entry line |
| 700 | } // valid line |
688 | } // valid line |
| 701 | } // EOF loop over all lines |
689 | } // EOF loop over all lines |
| 702 | fclose_(fp); |
690 | fclose_(fp); |
| 703 | NaviData.WaypointNumber = WPCount; |
691 | NaviData.WaypointNumber = WPCount; |
| 704 | retval = WPL_OK; |
692 | retval = WPL_OK; |
| 705 | UART1_PutString("ok\r\n"); |
693 | UART1_PutString("ok\r\n"); |
| 706 | } // EOF if(Fat16_IsValid()) |
694 | } // EOF if(Fat16_IsValid()) |
| 707 | else |
695 | else |
| 708 | { |
696 | { |
| 709 | UART1_PutString("no file system found!\r\n"); |
697 | UART1_PutString("no file system found!\r\n"); |
| 710 | retval = WPL_NO_SDCARD_FOUND; |
698 | retval = WPL_NO_SDCARD_FOUND; |
| 711 | } |
699 | } |
| 712 | return(retval); |
700 | return(retval); |
| 713 | } |
701 | } |
| - | 702 | ||
| - | 703 | // load actual point list from SD card |
|
| - | 704 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
|
| - | 705 | { |
|
| - | 706 | u8 filename[30]; |
|
| - | 707 | ||
| - | 708 | pWPL_Store->Name[0] = 0; // clear current list name |
|
| - | 709 | ||
| - | 710 | // user absolute path, i.e. leading / |
|
| - | 711 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
|
| - | 712 | { |
|
| - | 713 | sprintf(filename, "/default.wpl"); |
|
| - | 714 | } |
|
| - | 715 | else |
|
| - | 716 | { |
|
| - | 717 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
|
| - | 718 | } |
|
| - | 719 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name)); |
|
| - | 720 | } |
|
| - | 721 | ||
| - | 722 | // save actual point list to SD card |
|
| - | 723 | u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
|
| - | 724 | { |
|
| - | 725 | u8 filename[30]; |
|
| - | 726 | ||
| - | 727 | ||
| - | 728 | if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
|
| - | 729 | // user absolute path, i.e. leading / |
|
| - | 730 | if(pWPL_Store->Index == 0) |
|
| - | 731 | { |
|
| - | 732 | sprintf(filename, "/default.wpl"); |
|
| - | 733 | } |
|
| - | 734 | else |
|
| - | 735 | { |
|
| - | 736 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
|
| - | 737 | } |
|
| - | 738 | return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
|
| - | 739 | } |
|
| - | 740 | ||
| - | 741 | ||
| - | 742 | // save actual gps positiin and heading to file |
|
| - | 743 | u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
|
| - | 744 | { |
|
| - | 745 | u8 retval = WPL_ERROR; |
|
| - | 746 | u8 filename[30]; |
|
| - | 747 | Point_t WP; |
|
| - | 748 | ||
| - | 749 | if(GPSData.Position.Status != INVALID) return(retval); |
|
| - | 750 | ||
| - | 751 | // clear current point list |
|
| - | 752 | PointList_Clear(); |
|
| - | 753 | // prepare WP at current position |
|
| - | 754 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
|
| - | 755 | // set heading |
|
| - | 756 | WP.Heading = CompassSetpointCorrected/10; |
|
| - | 757 | if(WP.Heading == 0) WP.Heading = 360; |
|
| - | 758 | WP.ToleranceRadius = 0; |
|
| - | 759 | WP.HoldTime = 0; |
|
| - | 760 | WP.Index = 1; |
|
| - | 761 | WP.Type = POINT_TYPE_WP; |
|
| - | 762 | WP.WP_EventChannelValue = 0; |
|
| - | 763 | WP.AltitudeRate = 0; |
|
| - | 764 | WP.Speed = 0; |
|
| - | 765 | WP.CamAngle = 0; |
|
| - | 766 | WP.Name[0] = 'P'; |
|
| - | 767 | WP.Name[1] = 0; |
|
| - | 768 | // add this point to wp list |
|
| - | 769 | PointList_SetAt(&WP); |
|
| - | 770 | ||
| - | 771 | sprintf(filename, "/WPL/point_%03d.wpl", pWPL_Store->Index); |
|
| - | 772 | sprintf(pWPL_Store->Name, "POINT%03d", pWPL_Store->Index); |
|
| - | 773 | retval = PointList_Save(filename, pWPL_Store->Name, 1); |
|
| - | 774 | return(retval); |
|
| - | 775 | } |
|
| - | 776 | // load target gps posititon and heading from file |
|
| - | 777 | u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store) |
|
| - | 778 | { |
|
| - | 779 | u8 filename[30]; |
|
| - | 780 | ||
| - | 781 | sprintf(filename, "/WPL/point_%03d.wpl", pWPL_Store->Index); |
|
| - | 782 | pWPL_Store->Name[0] = 0; // clear current list name |
|
| - | 783 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name)); |
|
| - | 784 | } |
|
| - | 785 | ||
| - | 786 | ||
| 714 | 787 | ||
| 715 | void ClearWLP_Name(void) |
788 | void ClearWLP_Name(void) |
| 716 | { |
789 | { |
| 717 | unsigned char i; |
790 | u8 i; |
| 718 | for(i=0; i<sizeof(WPL_Store.Name);i++) WPL_Store.Name[i] = 0; |
791 | for(i=0; i<sizeof(WPL_Store.Name);i++) WPL_Store.Name[i] = 0; |
| 719 | NewWPL_Name = 1; |
792 | NewWPL_Name = 1; |
| - | 793 | } |
|
| 720 | } |
794 | |
| 721 | // move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards |
795 | // move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards |
| 722 | u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle) |
796 | u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle) |
| 723 | { |
797 | { |
| 724 | u8 retval = 0; |
798 | u8 retval = 0; |
| - | 799 | s32 altitude; |
|
| 725 | GPS_Pos_t FirstPoint; |
800 | GPS_Pos_t OldRefPos; |
| 726 | GPS_Pos_Deviation_t RefDeviation; |
801 | GPS_Pos_Deviation_t RefDeviation; |
| 727 | 802 | ||
| 728 | // check inputs for plausibility; |
803 | // check inputs for plausibility; |
| 729 | if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
804 | if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
| 730 | if(pRefPos == NULL) return(retval); |
805 | if(pRefPos == NULL) return(retval); |
| 731 | if(pRefPos->Status == INVALID) return(retval); |
806 | if(pRefPos->Status == INVALID) return(retval); |
| 732 | - | ||
| 733 | // try to copy the old reference in point list to a local buffer |
807 | |
| 734 | if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &FirstPoint)) |
808 | if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &OldRefPos)) // backup old reference position |
| 735 | { |
809 | { |
| 736 | u8 i; |
810 | u8 i; |
| 737 | // for each point position in the list |
811 | // iterate the position list |
| 738 | for(i = 0; i < PointCount; i++) |
812 | for(i = 0; i < PointCount; i++) |
| 739 | { |
813 | { |
| 740 | retval = 0; |
814 | retval = 0; |
| 741 | // Save altitude of that point |
815 | // backup altitude of this point |
| 742 | pRefPos->Altitude = PointList[i].Position.Altitude; |
816 | altitude = PointList[i].Position.Altitude; |
| 743 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
817 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
| 744 | if(!GPSPos_Deviation(&(PointList[i].Position), &FirstPoint, &RefDeviation)) break; |
818 | if(!GPSPos_Deviation(&(PointList[i].Position), &OldRefPos, &RefDeviation)) break; |
| 745 | // copy of the new reference position into this list place |
819 | // copy of the new reference position into this list place |
| 746 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
820 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
| - | 821 | // restore former altitude |
|
| - | 822 | PointList[i].Position.Altitude = altitude; |
|
| 747 | // move new reference according to the deviation of the old reference |
823 | // move new reference according to the deviation of the old reference |
| 748 | retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
- | |
| 749 | if(!retval) break; |
824 | if(RotationAngle > 0) |
| 750 | } |
825 | { |
| 751 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
826 | retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360, RefDeviation.Distance ); |
| 752 | // Now rotate around the reference point |
827 | // Now rotate the heading positions if they are fixed angles |
| 753 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 754 | if(RotationAngle > 0) |
828 | if(PointList[i].Heading >= 0 && PointList[i].Heading <= 360) PointList[i].Heading = (PointList[i].Heading + RotationAngle) % 360; |
| 755 | { |
829 | } |
| 756 | GPSPos_Copy(&(PointList[RefIndex-1].Position), &FirstPoint); // Rotate around the reference point |
- | |
| 757 | for(i = 0; i < PointCount; i++) |
830 | else // no rotation |
| 758 | { |
831 | { |
| 759 | retval = 0; |
- | |
| 760 | // Save altitude of that point |
- | |
| 761 | pRefPos->Altitude = PointList[i].Position.Altitude; |
- | |
| 762 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
- | |
| 763 | if(!GPSPos_Deviation(&(PointList[i].Position), &FirstPoint, &RefDeviation)) break; |
- | |
| 764 | // copy of the new reference position into this list place |
- | |
| 765 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
- | |
| 766 | // move new reference according to the deviation of the old reference |
832 | // move new reference according to the deviation of the old reference |
| 767 | retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360,RefDeviation.Distance ); |
833 | retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
| 768 | // Now rotate the heading positions if they are fixed angles |
- | |
| 769 | if(PointList[i].Heading >= 0 && PointList[i].Heading <= 360) PointList[i].Heading = (PointList[i].Heading + RotationAngle) % 360; |
- | |
| - | 834 | } |
|
| 770 | if(!retval) break; |
835 | if(!retval) break; |
| 771 | } |
836 | } |
| 772 | } |
- | |
| 773 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 774 | } // else ref pos old not copied! |
837 | } // else ref pos old not copied! |
| 775 | if(!retval) PointList_Clear(); |
838 | if(!retval) PointList_Clear(); |
| 776 | return(retval); |
839 | return(retval); |
| 777 | } |
840 | } |
| 778 | 841 | ||
| 779 | 842 | ||
| 780 | 843 | ||
| 781 | 844 | ||