Rev 516 | Rev 519 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 516 | Rev 517 | ||
|---|---|---|---|
| 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 | #include "spi_slave.h" |
| 66 | 66 | ||
| 67 | 67 | ||
| 68 | WPL_Store_t WPL_Store; |
68 | WPL_Store_t WPL_Store; |
| 69 | 69 | ||
| 70 | // the waypoints list |
70 | // the waypoints list |
| 71 | #define MAX_LIST_LEN 101 |
71 | #define MAX_LIST_LEN 101 |
| 72 | 72 | ||
| 73 | Point_t PointList[MAX_LIST_LEN]; |
73 | Point_t PointList[MAX_LIST_LEN]; |
| 74 | 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 |
| 75 | 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 |
| 76 | u8 WPCount = 0; // number of waypoints |
76 | u8 WPCount = 0; // number of waypoints |
| 77 | 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 |
| 78 | u8 POICount = 0; // number of point of interest in the list |
78 | u8 POICount = 0; // number of point of interest in the list |
| - | 79 | s16 HeadingOld = -1; |
|
| 79 | 80 | ||
| 80 | u8 WPActive = FALSE; |
81 | u8 WPActive = FALSE; |
| 81 | 82 | ||
| 82 | u8 PointList_Init(void) |
83 | u8 PointList_Init(void) |
| 83 | { |
84 | { |
| 84 | return PointList_Clear(); |
85 | return PointList_Clear(); |
| 85 | } |
86 | } |
| 86 | 87 | ||
| 87 | u8 PointList_Clear(void) |
88 | u8 PointList_Clear(void) |
| 88 | { |
89 | { |
| 89 | u8 i; |
90 | u8 i; |
| 90 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
91 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
| 91 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
92 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
| 92 | WPCount = 0; // no waypoints |
93 | WPCount = 0; // no waypoints |
| 93 | POICount = 0; |
94 | POICount = 0; |
| 94 | PointCount = 0; // no contents |
95 | PointCount = 0; // no contents |
| 95 | WPActive = FALSE; |
96 | WPActive = FALSE; |
| 96 | NaviData.WaypointNumber = WPCount; |
97 | NaviData.WaypointNumber = WPCount; |
| 97 | NaviData.WaypointIndex = 0; |
98 | NaviData.WaypointIndex = 0; |
| 98 | 99 | ||
| 99 | for(i = 0; i < MAX_LIST_LEN; i++) |
100 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 100 | { |
101 | { |
| 101 | PointList[i].Position.Status = INVALID; |
102 | PointList[i].Position.Status = INVALID; |
| 102 | PointList[i].Position.Latitude = 0; |
103 | PointList[i].Position.Latitude = 0; |
| 103 | PointList[i].Position.Longitude = 0; |
104 | PointList[i].Position.Longitude = 0; |
| 104 | PointList[i].Position.Altitude = 0; |
105 | PointList[i].Position.Altitude = 0; |
| 105 | PointList[i].Heading = 361; // invalid value |
106 | PointList[i].Heading = 361; // invalid value |
| 106 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
107 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target 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 |
108 | 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 |
| 108 | PointList[i].Event_Flag = 0; // future implementation |
109 | PointList[i].Event_Flag = 0; // future implementation |
| 109 | PointList[i].Index = 0; |
110 | PointList[i].Index = 0; |
| 110 | PointList[i].Type = POINT_TYPE_INVALID; |
111 | PointList[i].Type = POINT_TYPE_INVALID; |
| 111 | PointList[i].WP_EventChannelValue = 0; |
112 | PointList[i].WP_EventChannelValue = 0; |
| 112 | PointList[i].AltitudeRate = 0; // no change of setpoint |
113 | PointList[i].AltitudeRate = 0; // no change of setpoint |
| 113 | PointList[i].Speed = 0; |
114 | PointList[i].Speed = 0; |
| 114 | PointList[i].CamAngle = 0; |
115 | PointList[i].CamAngle = 0; |
| 115 | PointList[i].Name[0] = 0; |
116 | PointList[i].Name[0] = 0; |
| 116 | } |
117 | } |
| 117 | ClearWLP_Name(); |
118 | ClearWLP_Name(); |
| 118 | return TRUE; |
119 | return TRUE; |
| 119 | } |
120 | } |
| 120 | 121 | ||
| 121 | u8 PointList_GetCount(void) |
122 | u8 PointList_GetCount(void) |
| 122 | { |
123 | { |
| 123 | return PointCount; // number of points in the list |
124 | return PointCount; // number of points in the list |
| 124 | } |
125 | } |
| 125 | 126 | ||
| 126 | Point_t* PointList_GetAt(u8 index) |
127 | Point_t* PointList_GetAt(u8 index) |
| 127 | { |
128 | { |
| 128 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
129 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
| 129 | else return(NULL); |
130 | else return(NULL); |
| 130 | } |
131 | } |
| 131 | 132 | ||
| 132 | u8 PointList_SetAt(Point_t* pPoint) |
133 | u8 PointList_SetAt(Point_t* pPoint) |
| 133 | { |
134 | { |
| 134 | // if index is in range |
135 | // if index is in range |
| 135 | if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
136 | if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
| 136 | { |
137 | { |
| 137 | // check list entry before update |
138 | // check list entry before update |
| 138 | switch(PointList[pPoint->Index-1].Type) |
139 | switch(PointList[pPoint->Index-1].Type) |
| 139 | { |
140 | { |
| 140 | case POINT_TYPE_INVALID: // was invalid |
141 | case POINT_TYPE_INVALID: // was invalid |
| 141 | switch(pPoint->Type) |
142 | switch(pPoint->Type) |
| 142 | { |
143 | { |
| 143 | default: |
144 | default: |
| 144 | case POINT_TYPE_INVALID: |
145 | case POINT_TYPE_INVALID: |
| 145 | // nothing to do |
146 | // nothing to do |
| 146 | break; |
147 | break; |
| 147 | 148 | ||
| 148 | case POINT_TYPE_WP: |
149 | case POINT_TYPE_WP: |
| 149 | WPCount++; |
150 | WPCount++; |
| 150 | PointCount++; |
151 | PointCount++; |
| 151 | break; |
152 | break; |
| 152 | 153 | ||
| 153 | case POINT_TYPE_POI: |
154 | case POINT_TYPE_POI: |
| 154 | POICount++; |
155 | POICount++; |
| 155 | PointCount++; |
156 | PointCount++; |
| 156 | break; |
157 | break; |
| 157 | } |
158 | } |
| 158 | break; |
159 | break; |
| 159 | 160 | ||
| 160 | case POINT_TYPE_WP: // was a waypoint |
161 | case POINT_TYPE_WP: // was a waypoint |
| 161 | switch(pPoint->Type) |
162 | switch(pPoint->Type) |
| 162 | { |
163 | { |
| 163 | case POINT_TYPE_INVALID: |
164 | case POINT_TYPE_INVALID: |
| 164 | WPCount--; |
165 | WPCount--; |
| 165 | PointCount--; |
166 | PointCount--; |
| 166 | break; |
167 | break; |
| 167 | 168 | ||
| 168 | default: |
169 | default: |
| 169 | case POINT_TYPE_WP: |
170 | case POINT_TYPE_WP: |
| 170 | //nothing to do |
171 | //nothing to do |
| 171 | break; |
172 | break; |
| 172 | 173 | ||
| 173 | case POINT_TYPE_POI: |
174 | case POINT_TYPE_POI: |
| 174 | POICount++; |
175 | POICount++; |
| 175 | WPCount--; |
176 | WPCount--; |
| 176 | break; |
177 | break; |
| 177 | } |
178 | } |
| 178 | break; |
179 | break; |
| 179 | 180 | ||
| 180 | case POINT_TYPE_POI: // was a poi |
181 | case POINT_TYPE_POI: // was a poi |
| 181 | switch(pPoint->Type) |
182 | switch(pPoint->Type) |
| 182 | { |
183 | { |
| 183 | case POINT_TYPE_INVALID: |
184 | case POINT_TYPE_INVALID: |
| 184 | POICount--; |
185 | POICount--; |
| 185 | PointCount--; |
186 | PointCount--; |
| 186 | break; |
187 | break; |
| 187 | 188 | ||
| 188 | case POINT_TYPE_WP: |
189 | case POINT_TYPE_WP: |
| 189 | WPCount++; |
190 | WPCount++; |
| 190 | POICount--; |
191 | POICount--; |
| 191 | break; |
192 | break; |
| 192 | 193 | ||
| 193 | case POINT_TYPE_POI: |
194 | case POINT_TYPE_POI: |
| 194 | default: |
195 | default: |
| 195 | // nothing to do |
196 | // nothing to do |
| 196 | break; |
197 | break; |
| 197 | } |
198 | } |
| 198 | break; |
199 | break; |
| 199 | } |
200 | } |
| 200 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
201 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
| 201 | NaviData.WaypointNumber = WPCount; |
202 | NaviData.WaypointNumber = WPCount; |
| 202 | return pPoint->Index; |
203 | return pPoint->Index; |
| 203 | } |
204 | } |
| 204 | else return(0); |
205 | else return(0); |
| 205 | } |
206 | } |
| 206 | 207 | ||
| 207 | // returns the pointer to the first waypoint within the list |
208 | // returns the pointer to the first waypoint within the list |
| 208 | Point_t* PointList_WPBegin(void) |
209 | Point_t* PointList_WPBegin(void) |
| 209 | { |
210 | { |
| 210 | u8 i; |
211 | u8 i; |
| 211 | WPIndex = 0; // set list position invalid |
212 | WPIndex = 0; // set list position invalid |
| 212 | 213 | ||
| 213 | if(WPActive == FALSE) return(NULL); |
214 | if(WPActive == FALSE) return(NULL); |
| 214 | 215 | ||
| 215 | POIIndex = 0; // set invalid POI |
216 | POIIndex = 0; // set invalid POI |
| 216 | if(PointCount > 0) |
217 | if(PointCount > 0) |
| 217 | { |
218 | { |
| 218 | // search for first wp in list |
219 | // search for first wp in list |
| 219 | for(i = 0; i <MAX_LIST_LEN; i++) |
220 | for(i = 0; i <MAX_LIST_LEN; i++) |
| 220 | { |
221 | { |
| 221 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
222 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
| 222 | { |
223 | { |
| 223 | WPIndex = i + 1; |
224 | WPIndex = i + 1; |
| 224 | break; |
225 | break; |
| 225 | } |
226 | } |
| 226 | } |
227 | } |
| 227 | if(WPIndex) // found a WP in the list |
228 | if(WPIndex) // found a WP in the list |
| 228 | { |
229 | { |
| 229 | NaviData.WaypointIndex = 1; |
230 | NaviData.WaypointIndex = 1; |
| 230 | // update index to POI |
231 | // update index to POI |
| 231 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
232 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 232 | else POIIndex = 0; |
233 | else POIIndex = 0; |
| 233 | } |
234 | } |
| 234 | else // some points in the list but no WP found |
235 | else // some points in the list but no WP found |
| 235 | { |
236 | { |
| 236 | NaviData.WaypointIndex = 0; |
237 | NaviData.WaypointIndex = 0; |
| 237 | //Check for an existing POI |
238 | //Check for an existing POI |
| 238 | for(i = 0; i < MAX_LIST_LEN; i++) |
239 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 239 | { |
240 | { |
| 240 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
241 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
| 241 | { |
242 | { |
| 242 | POIIndex = i + 1; |
243 | POIIndex = i + 1; |
| 243 | break; |
244 | break; |
| 244 | } |
245 | } |
| 245 | } |
246 | } |
| 246 | } |
247 | } |
| 247 | } |
248 | } |
| 248 | else // no point in the list |
249 | else // no point in the list |
| 249 | { |
250 | { |
| 250 | POIIndex = 0; |
251 | POIIndex = 0; |
| 251 | NaviData.WaypointIndex = 0; |
252 | NaviData.WaypointIndex = 0; |
| 252 | } |
253 | } |
| 253 | 254 | ||
| 254 | if(WPIndex) return(&(PointList[WPIndex-1])); |
255 | if(WPIndex) return(&(PointList[WPIndex-1])); |
| 255 | else return(NULL); |
256 | else return(NULL); |
| 256 | } |
257 | } |
| 257 | 258 | ||
| 258 | // returns the last waypoint |
259 | // returns the last waypoint |
| 259 | Point_t* PointList_WPEnd(void) |
260 | Point_t* PointList_WPEnd(void) |
| 260 | { |
261 | { |
| 261 | 262 | ||
| 262 | u8 i; |
263 | u8 i; |
| 263 | WPIndex = 0; // set list position invalid |
264 | WPIndex = 0; // set list position invalid |
| 264 | POIIndex = 0; // set invalid |
265 | POIIndex = 0; // set invalid |
| 265 | 266 | ||
| 266 | if(WPActive == FALSE) return(NULL); |
267 | if(WPActive == FALSE) return(NULL); |
| 267 | 268 | ||
| 268 | if(PointCount > 0) |
269 | if(PointCount > 0) |
| 269 | { |
270 | { |
| 270 | // search backward! |
271 | // search backward! |
| 271 | for(i = 1; i <= MAX_LIST_LEN; i++) |
272 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 272 | { |
273 | { |
| 273 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
274 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 274 | { |
275 | { |
| 275 | WPIndex = MAX_LIST_LEN - i + 1; |
276 | WPIndex = MAX_LIST_LEN - i + 1; |
| 276 | break; |
277 | break; |
| 277 | } |
278 | } |
| 278 | } |
279 | } |
| 279 | if(WPIndex) // found a WP within the list |
280 | if(WPIndex) // found a WP within the list |
| 280 | { |
281 | { |
| 281 | NaviData.WaypointIndex = WPCount; |
282 | NaviData.WaypointIndex = WPCount; |
| 282 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
283 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 283 | else POIIndex = 0; |
284 | else POIIndex = 0; |
| 284 | } |
285 | } |
| 285 | else // list contains some points but no WP in the list |
286 | else // list contains some points but no WP in the list |
| 286 | { |
287 | { |
| 287 | // search backward for a POI! |
288 | // search backward for a POI! |
| 288 | for(i = 1; i <= MAX_LIST_LEN; i++) |
289 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 289 | { |
290 | { |
| 290 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
291 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 291 | { |
292 | { |
| 292 | POIIndex = MAX_LIST_LEN - i + 1; |
293 | POIIndex = MAX_LIST_LEN - i + 1; |
| 293 | break; |
294 | break; |
| 294 | } |
295 | } |
| 295 | } |
296 | } |
| 296 | NaviData.WaypointIndex = 0; |
297 | NaviData.WaypointIndex = 0; |
| 297 | } |
298 | } |
| 298 | } |
299 | } |
| 299 | else // no point in the list |
300 | else // no point in the list |
| 300 | { |
301 | { |
| 301 | POIIndex = 0; |
302 | POIIndex = 0; |
| 302 | NaviData.WaypointIndex = 0; |
303 | NaviData.WaypointIndex = 0; |
| 303 | } |
304 | } |
| 304 | if(WPIndex) return(&(PointList[WPIndex-1])); |
305 | if(WPIndex) return(&(PointList[WPIndex-1])); |
| 305 | else return(NULL); |
306 | else return(NULL); |
| 306 | } |
307 | } |
| 307 | 308 | ||
| 308 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
309 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
| 309 | Point_t* PointList_WPNext(void) |
310 | Point_t* PointList_WPNext(void) |
| 310 | { |
311 | { |
| 311 | u8 wp_found = 0; |
312 | u8 wp_found = 0; |
| 312 | if(WPActive == FALSE) return(NULL); |
313 | if(WPActive == FALSE) return(NULL); |
| 313 | 314 | ||
| 314 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
315 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
| 315 | { |
316 | { |
| 316 | u8 i; |
317 | u8 i; |
| 317 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
318 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
| 318 | { |
319 | { |
| 319 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
320 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
| 320 | { |
321 | { |
| 321 | wp_found = i+1; |
322 | wp_found = i+1; |
| 322 | break; |
323 | break; |
| 323 | } |
324 | } |
| 324 | } |
325 | } |
| 325 | } |
326 | } |
| 326 | if(wp_found) |
327 | if(wp_found) |
| 327 | { |
328 | { |
| 328 | WPIndex = wp_found; // update list position |
329 | WPIndex = wp_found; // update list position |
| 329 | NaviData.WaypointIndex++; |
330 | NaviData.WaypointIndex++; |
| 330 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
331 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 331 | else POIIndex = 0; |
332 | else POIIndex = 0; |
| 332 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
333 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
| 333 | } |
334 | } |
| 334 | else |
335 | else |
| 335 | { // no next wp found |
336 | { // no next wp found |
| 336 | NaviData.WaypointIndex = 0; |
337 | NaviData.WaypointIndex = 0; |
| 337 | POIIndex = 0; |
338 | POIIndex = 0; |
| 338 | return(NULL); |
339 | return(NULL); |
| 339 | } |
340 | } |
| 340 | } |
341 | } |
| 341 | 342 | ||
| 342 | void PointList_WPActive(u8 set) |
343 | void PointList_WPActive(u8 set) |
| 343 | { |
344 | { |
| 344 | if(set) |
345 | if(set) |
| 345 | { |
346 | { |
| 346 | WPActive = TRUE; |
347 | WPActive = TRUE; |
| 347 | PointList_WPBegin(); // updates POI index |
348 | PointList_WPBegin(); // updates POI index |
| 348 | } |
349 | } |
| 349 | else |
350 | else |
| 350 | { |
351 | { |
| 351 | WPActive = FALSE; |
352 | WPActive = FALSE; |
| 352 | POIIndex = 0; // disable POI also |
353 | POIIndex = 0; // disable POI also |
| 353 | } |
354 | } |
| 354 | } |
355 | } |
| 355 | 356 | ||
| 356 | Point_t* PointList_GetPOI(void) |
357 | Point_t* PointList_GetPOI(void) |
| 357 | { |
358 | { |
| 358 | return PointList_GetAt(POIIndex); |
359 | return PointList_GetAt(POIIndex); |
| 359 | } |
360 | } |
| 360 | 361 | ||
| 361 | 362 | ||
| 362 | #define LINE_MAX 70 |
363 | #define LINE_MAX 70 |
| 363 | #define WP_FILE_VERSION_COMPATIBLE 3 |
364 | #define WP_FILE_VERSION_COMPATIBLE 3 |
| 364 | 365 | ||
| 365 | u8 PointList_Save(u8 * filename, u8* listname, u8 overwride) |
366 | u8 PointList_Save(u8 * filename, u8* listname, u8 overwride) |
| 366 | { |
367 | { |
| 367 | File_t *fp; |
368 | File_t *fp; |
| 368 | s8 wpline[LINE_MAX]; |
369 | s8 wpline[LINE_MAX]; |
| 369 | u8 retval = WPL_ERROR; |
370 | u8 retval = WPL_ERROR; |
| 370 | 371 | ||
| 371 | UART1_PutString("\n\r Save WPL..."); |
372 | UART1_PutString("\n\r Save WPL..."); |
| 372 | 373 | ||
| 373 | if(Fat16_IsValid()) |
374 | if(Fat16_IsValid()) |
| 374 | { // check if wpl file is existing |
375 | { // check if wpl file is existing |
| 375 | if(fexist_(filename)) |
376 | if(fexist_(filename)) |
| 376 | { //file is existent |
377 | { //file is existent |
| 377 | if(!(overwride)) |
378 | if(!(overwride)) |
| 378 | { |
379 | { |
| 379 | UART1_PutString("Error: file exist!\r\n"); |
380 | UART1_PutString("Error: file exist!\r\n"); |
| 380 | return(WPL_FILEEXIST); |
381 | return(WPL_FILEEXIST); |
| 381 | } |
382 | } |
| 382 | } |
383 | } |
| 383 | fp = fopen_(filename, 'w'); // try to open the file |
384 | fp = fopen_(filename, 'w'); // try to open the file |
| 384 | if(fp == NULL) |
385 | if(fp == NULL) |
| 385 | { |
386 | { |
| 386 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
387 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
| 387 | return(retval); |
388 | return(retval); |
| 388 | } |
389 | } |
| 389 | // Create general section and key entries |
390 | // Create general section and key entries |
| 390 | fputs_("[General]\r\n", fp); |
391 | fputs_("[General]\r\n", fp); |
| 391 | sprintf(wpline, "Name=%s\r\n", listname); |
392 | sprintf(wpline, "Name=%s\r\n", listname); |
| 392 | fputs_(wpline, fp); |
393 | fputs_(wpline, fp); |
| 393 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
394 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
| 394 | fputs_(wpline, fp); |
395 | fputs_(wpline, fp); |
| 395 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
396 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
| 396 | fputs_(wpline, fp); |
397 | fputs_(wpline, fp); |
| 397 | // dump all points if existent |
398 | // dump all points if existent |
| 398 | if(PointCount) |
399 | if(PointCount) |
| 399 | { |
400 | { |
| 400 | u8 i, u8_1; |
401 | u8 i, u8_1; |
| 401 | s32 i32_1, i32_2; |
402 | s32 i32_1, i32_2; |
| 402 | NewWPL_Name = 1; |
403 | NewWPL_Name = 1; |
| 403 | for (i = 0; i < PointCount; i++) |
404 | for (i = 0; i < PointCount; i++) |
| 404 | { |
405 | { |
| 405 | sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
406 | sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
| 406 | fputs_(wpline, fp); |
407 | fputs_(wpline, fp); |
| 407 | // write latitude in deg |
408 | // write latitude in deg |
| 408 | if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
409 | if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
| 409 | else u8_1 = '+'; |
410 | else u8_1 = '+'; |
| 410 | i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
411 | i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
| 411 | i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
412 | i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
| 412 | sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
413 | sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
| 413 | fputs_(wpline, fp); |
414 | fputs_(wpline, fp); |
| 414 | // write longitude in deg |
415 | // write longitude in deg |
| 415 | if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
416 | if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
| 416 | else u8_1 = '+'; |
417 | else u8_1 = '+'; |
| 417 | i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
418 | i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
| 418 | i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
419 | i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
| 419 | sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
420 | sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
| 420 | fputs_(wpline, fp); |
421 | fputs_(wpline, fp); |
| 421 | // write tolerace radius in m |
422 | // write tolerace radius in m |
| 422 | sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
423 | sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
| 423 | fputs_(wpline, fp); |
424 | fputs_(wpline, fp); |
| 424 | // write altitude in m |
425 | // write altitude in m |
| 425 | if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
426 | if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
| 426 | else u8_1 = '+'; |
427 | else u8_1 = '+'; |
| 427 | if(PointList[i].Type == POINT_TYPE_POI) |
428 | if(PointList[i].Type == POINT_TYPE_POI) |
| 428 | { |
429 | { |
| 429 | i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
430 | i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
| 430 | i32_2 = abs(PointList[i].Position.Altitude)%100L; |
431 | i32_2 = abs(PointList[i].Position.Altitude)%100L; |
| 431 | } |
432 | } |
| 432 | else |
433 | else |
| 433 | { |
434 | { |
| 434 | i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
435 | i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
| 435 | i32_2 = abs(PointList[i].Position.Altitude)%10L; |
436 | i32_2 = abs(PointList[i].Position.Altitude)%10L; |
| 436 | } |
437 | } |
| 437 | sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
438 | sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
| 438 | fputs_(wpline, fp); |
439 | fputs_(wpline, fp); |
| 439 | // write climb rate in 0.1 m/s |
440 | // write climb rate in 0.1 m/s |
| 440 | sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
441 | sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
| 441 | fputs_(wpline, fp); |
442 | fputs_(wpline, fp); |
| 442 | // write hold time in s |
443 | // write hold time in s |
| 443 | sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
444 | sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
| 444 | fputs_(wpline, fp); |
445 | fputs_(wpline, fp); |
| 445 | // write event channel value |
446 | // write event channel value |
| 446 | sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
447 | sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
| 447 | fputs_(wpline, fp); |
448 | fputs_(wpline, fp); |
| 448 | // write heading in deg (0= nothing, neg. values index to poi) |
449 | // write heading in deg (0= nothing, neg. values index to poi) |
| 449 | sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
450 | sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
| 450 | fputs_(wpline, fp); |
451 | fputs_(wpline, fp); |
| 451 | // write speed in 0.1 m/s |
452 | // write speed in 0.1 m/s |
| 452 | sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
453 | sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
| 453 | fputs_(wpline, fp); |
454 | fputs_(wpline, fp); |
| 454 | // write cam angle in degree (255 -> POI-Automatic) |
455 | // write cam angle in degree (255 -> POI-Automatic) |
| 455 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
456 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
| 456 | fputs_(wpline, fp); |
457 | fputs_(wpline, fp); |
| 457 | // write point type |
458 | // write point type |
| 458 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
459 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
| 459 | fputs_(wpline, fp); |
460 | fputs_(wpline, fp); |
| 460 | // write prefix |
461 | // write prefix |
| 461 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
462 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
| 462 | fputs_(wpline, fp); |
463 | fputs_(wpline, fp); |
| 463 | } // EOF loop over all points |
464 | } // EOF loop over all points |
| 464 | } // EOF if(PointCount) |
465 | } // EOF if(PointCount) |
| 465 | if(EOF == fclose_(fp)) |
466 | if(EOF == fclose_(fp)) |
| 466 | { |
467 | { |
| 467 | UART1_PutString("failed!\r\n"); |
468 | UART1_PutString("failed!\r\n"); |
| 468 | } |
469 | } |
| 469 | else |
470 | else |
| 470 | { |
471 | { |
| 471 | UART1_PutString("ok\r\n"); |
472 | UART1_PutString("ok\r\n"); |
| 472 | retval = WPL_OK; |
473 | retval = WPL_OK; |
| 473 | } |
474 | } |
| 474 | } // EOF if(Fat16_IsValid()) |
475 | } // EOF if(Fat16_IsValid()) |
| 475 | else |
476 | else |
| 476 | { |
477 | { |
| 477 | UART1_PutString("no file system found!\r\n"); |
478 | UART1_PutString("no file system found!\r\n"); |
| 478 | retval = WPL_NO_SDCARD_FOUND; |
479 | retval = WPL_NO_SDCARD_FOUND; |
| 479 | } |
480 | } |
| 480 | return(retval); |
481 | return(retval); |
| 481 | } |
482 | } |
| 482 | 483 | ||
| 483 | u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen) |
484 | u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen) |
| 484 | { |
485 | { |
| 485 | File_t *fp; |
486 | File_t *fp; |
| 486 | s8 wpline[LINE_MAX]; |
487 | s8 wpline[LINE_MAX]; |
| 487 | u8 retval = WPL_ERROR; |
488 | u8 retval = WPL_ERROR; |
| 488 | 489 | ||
| 489 | s8 *name, *value; |
490 | s8 *name, *value; |
| 490 | u8 i; |
491 | u8 i; |
| 491 | 492 | ||
| 492 | u8 IsGeneralSection = 0; |
493 | u8 IsGeneralSection = 0; |
| 493 | u8 IsPointSection = 0; |
494 | u8 IsPointSection = 0; |
| 494 | u8 WPNumber = 0; |
495 | u8 WPNumber = 0; |
| 495 | 496 | ||
| 496 | // clear point list first |
497 | // clear point list first |
| 497 | PointList_Clear(); |
498 | PointList_Clear(); |
| 498 | - | ||
| - | 499 | HeadingOld = -1; // updates the direction if the new direction is the same like last time |
|
| 499 | UART1_PutString("\n\r Read "); |
500 | UART1_PutString("\n\r Read "); |
| 500 | UART1_PutString(filename); |
501 | UART1_PutString(filename); |
| 501 | UART1_PutString("..."); |
502 | UART1_PutString("..."); |
| 502 | 503 | ||
| 503 | if(Fat16_IsValid()) |
504 | if(Fat16_IsValid()) |
| 504 | { // check if wpl file is existing |
505 | { // check if wpl file is existing |
| 505 | fp = fopen_(filename, 'r'); // try to open the file |
506 | fp = fopen_(filename, 'r'); // try to open the file |
| 506 | if(fp == NULL) |
507 | if(fp == NULL) |
| 507 | { |
508 | { |
| 508 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
509 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
| 509 | return(retval); |
510 | return(retval); |
| 510 | } |
511 | } |
| 511 | // read all lines from file |
512 | // read all lines from file |
| 512 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
513 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
| 513 | { |
514 | { |
| 514 | if ( // ignorelines starting with \r,\n,' ',';','#' |
515 | if ( // ignorelines starting with \r,\n,' ',';','#' |
| 515 | (wpline[0] != '\n') && |
516 | (wpline[0] != '\n') && |
| 516 | (wpline[0] != '\r') && |
517 | (wpline[0] != '\r') && |
| 517 | (wpline[0] != ' ' ) && |
518 | (wpline[0] != ' ' ) && |
| 518 | (wpline[0] != ';' ) && |
519 | (wpline[0] != ';' ) && |
| 519 | (wpline[0] != '#' ) |
520 | (wpline[0] != '#' ) |
| 520 | ) |
521 | ) |
| 521 | { |
522 | { |
| 522 | // check for section line found |
523 | // check for section line found |
| 523 | if(wpline[0] == '[') |
524 | if(wpline[0] == '[') |
| 524 | { |
525 | { |
| 525 | // next section found |
526 | // next section found |
| 526 | IsGeneralSection = 0; |
527 | IsGeneralSection = 0; |
| 527 | IsPointSection = 0; |
528 | IsPointSection = 0; |
| 528 | 529 | ||
| 529 | name = strtok(&wpline[1], "]"); |
530 | name = strtok(&wpline[1], "]"); |
| 530 | if(name != NULL) // if section name |
531 | if(name != NULL) // if section name |
| 531 | { |
532 | { |
| 532 | // check section type |
533 | // check section type |
| 533 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
534 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
| 534 | 535 | ||
| 535 | if(strncmp(name, "POINT", 5) == 0) |
536 | if(strncmp(name, "POINT", 5) == 0) |
| 536 | { |
537 | { |
| 537 | IsPointSection = (u8)atoi(&name[5]); |
538 | IsPointSection = (u8)atoi(&name[5]); |
| 538 | PointCount++; |
539 | PointCount++; |
| 539 | } |
540 | } |
| 540 | else if(strcmp(name, "GENERAL") == 0) |
541 | else if(strcmp(name, "GENERAL") == 0) |
| 541 | { |
542 | { |
| 542 | IsGeneralSection = 1; |
543 | IsGeneralSection = 1; |
| 543 | } |
544 | } |
| 544 | else |
545 | else |
| 545 | { |
546 | { |
| 546 | UART1_PutString("Unknown section: "); |
547 | UART1_PutString("Unknown section: "); |
| 547 | UART1_PutString(name); |
548 | UART1_PutString(name); |
| 548 | UART1_PutString("\r\n"); |
549 | UART1_PutString("\r\n"); |
| 549 | } |
550 | } |
| 550 | } |
551 | } |
| 551 | } // EOF section line |
552 | } // EOF section line |
| 552 | else |
553 | else |
| 553 | { // look for key entrys of each sections |
554 | { // look for key entrys of each sections |
| 554 | name = strtok(wpline, "="); // get name |
555 | name = strtok(wpline, "="); // get name |
| 555 | value = strtok(NULL, "="); // get value |
556 | value = strtok(NULL, "="); // get value |
| 556 | if ((name != NULL) && (value != NULL)) |
557 | if ((name != NULL) && (value != NULL)) |
| 557 | { |
558 | { |
| 558 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
559 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
| 559 | if(IsPointSection && (IsPointSection <= WPNumber)) |
560 | if(IsPointSection && (IsPointSection <= WPNumber)) |
| 560 | { |
561 | { |
| 561 | if(strcmp(name, "LATITUDE") == 0) |
562 | if(strcmp(name, "LATITUDE") == 0) |
| 562 | { |
563 | { |
| 563 | PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
564 | PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
| 564 | } |
565 | } |
| 565 | else if(strcmp(name, "LONGITUDE") == 0) |
566 | else if(strcmp(name, "LONGITUDE") == 0) |
| 566 | { |
567 | { |
| 567 | PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
568 | PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
| 568 | } |
569 | } |
| 569 | else if(strcmp(name, "RADIUS") == 0) |
570 | else if(strcmp(name, "RADIUS") == 0) |
| 570 | { |
571 | { |
| 571 | PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
572 | PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
| 572 | } |
573 | } |
| 573 | else if(strcmp(name, "ALTITUDE") == 0) |
574 | else if(strcmp(name, "ALTITUDE") == 0) |
| 574 | { |
575 | { |
| 575 | PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
576 | PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
| 576 | PointList[IsPointSection-1].Position.Status = NEWDATA; |
577 | PointList[IsPointSection-1].Position.Status = NEWDATA; |
| 577 | } |
578 | } |
| 578 | else if(strcmp(name, "CLIMBRATE") == 0) |
579 | else if(strcmp(name, "CLIMBRATE") == 0) |
| 579 | { |
580 | { |
| 580 | PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
581 | PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
| 581 | } |
582 | } |
| 582 | else if(strcmp(name, "DELAYTIME") == 0) |
583 | else if(strcmp(name, "DELAYTIME") == 0) |
| 583 | { |
584 | { |
| 584 | PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
585 | PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
| 585 | } |
586 | } |
| 586 | else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
587 | else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
| 587 | { |
588 | { |
| 588 | PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
589 | PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
| 589 | } |
590 | } |
| 590 | else if(strcmp(name, "HEADING") == 0) |
591 | else if(strcmp(name, "HEADING") == 0) |
| 591 | { |
592 | { |
| 592 | PointList[IsPointSection-1].Heading = (s16)atoi(value); |
593 | PointList[IsPointSection-1].Heading = (s16)atoi(value); |
| 593 | } |
594 | } |
| 594 | else if(strcmp(name, "SPEED") == 0) |
595 | else if(strcmp(name, "SPEED") == 0) |
| 595 | { |
596 | { |
| 596 | PointList[IsPointSection-1].Speed = (u8)atoi(value); |
597 | PointList[IsPointSection-1].Speed = (u8)atoi(value); |
| 597 | } |
598 | } |
| 598 | else if(strcmp(name, "CAM-NICK") == 0) |
599 | else if(strcmp(name, "CAM-NICK") == 0) |
| 599 | { |
600 | { |
| 600 | PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
601 | PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
| 601 | } |
602 | } |
| 602 | else if(strcmp(name, "TYPE") == 0) |
603 | else if(strcmp(name, "TYPE") == 0) |
| 603 | { |
604 | { |
| 604 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
605 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
| 605 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
606 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
| 606 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
607 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
| 607 | 608 | ||
| 608 | switch(PointList[IsPointSection-1].Type) |
609 | switch(PointList[IsPointSection-1].Type) |
| 609 | { |
610 | { |
| 610 | case POINT_TYPE_WP: |
611 | case POINT_TYPE_WP: |
| 611 | // this works only if altitude key is set before point type key in WPL file !! |
612 | // this works only if altitude key is set before point type key in WPL file !! |
| 612 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
613 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
| 613 | WPCount++; |
614 | WPCount++; |
| 614 | break; |
615 | break; |
| 615 | 616 | ||
| 616 | case POINT_TYPE_POI: |
617 | case POINT_TYPE_POI: |
| 617 | POICount++; |
618 | POICount++; |
| 618 | break; |
619 | break; |
| 619 | } |
620 | } |
| 620 | } |
621 | } |
| 621 | else if(strcmp(name, "PREFIX") == 0) |
622 | else if(strcmp(name, "PREFIX") == 0) |
| 622 | { |
623 | { |
| 623 | strncpy(PointList[IsPointSection-1].Name, value, 4); |
624 | strncpy(PointList[IsPointSection-1].Name, value, 4); |
| 624 | PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
625 | PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
| 625 | } |
626 | } |
| 626 | else |
627 | else |
| 627 | { |
628 | { |
| 628 | UART1_PutString("Unknown key: "); |
629 | UART1_PutString("Unknown key: "); |
| 629 | UART1_PutString(name); |
630 | UART1_PutString(name); |
| 630 | UART1_PutString("\r\n"); |
631 | UART1_PutString("\r\n"); |
| 631 | } |
632 | } |
| 632 | } // EOF point section |
633 | } // EOF point section |
| 633 | else if(IsGeneralSection) |
634 | else if(IsGeneralSection) |
| 634 | { |
635 | { |
| 635 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
636 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
| 636 | { |
637 | { |
| 637 | WPNumber = (u8)atoi(value); |
638 | WPNumber = (u8)atoi(value); |
| 638 | if(!WPNumber) // no waypoints in file |
639 | if(!WPNumber) // no waypoints in file |
| 639 | { |
640 | { |
| 640 | return(WPL_NO_WAYPOINTS); // we are done here |
641 | return(WPL_NO_WAYPOINTS); // we are done here |
| 641 | } |
642 | } |
| 642 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
643 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
| 643 | { |
644 | { |
| 644 | UART1_PutString("To many points!"); |
645 | UART1_PutString("To many points!"); |
| 645 | return(WPL_ERROR); |
646 | return(WPL_ERROR); |
| 646 | } |
647 | } |
| 647 | } |
648 | } |
| 648 | else if (strcmp(name, "FILEVERSION") == 0) |
649 | else if (strcmp(name, "FILEVERSION") == 0) |
| 649 | { |
650 | { |
| 650 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
651 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
| 651 | { |
652 | { |
| 652 | PointList_Clear(); |
653 | PointList_Clear(); |
| 653 | UART1_PutString("Bad file version!\r\n"); |
654 | UART1_PutString("Bad file version!\r\n"); |
| 654 | return(WPL_ERROR); |
655 | return(WPL_ERROR); |
| 655 | } |
656 | } |
| 656 | } |
657 | } |
| 657 | else if (strcmp(name, "NAME") == 0) |
658 | else if (strcmp(name, "NAME") == 0) |
| 658 | { |
659 | { |
| 659 | if(listname) |
660 | if(listname) |
| 660 | { |
661 | { |
| 661 | u8 len = strlen(value); |
662 | u8 len = strlen(value); |
| 662 | if(len) |
663 | if(len) |
| 663 | { |
664 | { |
| 664 | if(value[len-1] == '\r') |
665 | if(value[len-1] == '\r') |
| 665 | { |
666 | { |
| 666 | value[len-1] = 0; |
667 | value[len-1] = 0; |
| 667 | len--; |
668 | len--; |
| 668 | } |
669 | } |
| 669 | } |
670 | } |
| 670 | if(len > listnamelen) len = listnamelen; |
671 | if(len > listnamelen) len = listnamelen; |
| 671 | if(len) |
672 | if(len) |
| 672 | { |
673 | { |
| 673 | value[len-1] = 0; // terminate string |
674 | value[len-1] = 0; // terminate string |
| 674 | if(listname) memcpy(listname, value, len); |
675 | if(listname) memcpy(listname, value, len); |
| 675 | } |
676 | } |
| 676 | NewWPL_Name = 1; |
677 | NewWPL_Name = 1; |
| 677 | } |
678 | } |
| 678 | } |
679 | } |
| 679 | else |
680 | else |
| 680 | { |
681 | { |
| 681 | UART1_PutString("Unknown key: "); |
682 | UART1_PutString("Unknown key: "); |
| 682 | UART1_PutString(name); |
683 | UART1_PutString(name); |
| 683 | UART1_PutString("\r\n"); |
684 | UART1_PutString("\r\n"); |
| 684 | } |
685 | } |
| 685 | } // EOF general section |
686 | } // EOF general section |
| 686 | } // EOF valid key entry |
687 | } // EOF valid key entry |
| 687 | } // EOF key entry line |
688 | } // EOF key entry line |
| 688 | } // valid line |
689 | } // valid line |
| 689 | } // EOF loop over all lines |
690 | } // EOF loop over all lines |
| 690 | fclose_(fp); |
691 | fclose_(fp); |
| 691 | NaviData.WaypointNumber = WPCount; |
692 | NaviData.WaypointNumber = WPCount; |
| 692 | retval = WPL_OK; |
693 | retval = WPL_OK; |
| 693 | UART1_PutString("ok\r\n"); |
694 | UART1_PutString("ok\r\n"); |
| 694 | } // EOF if(Fat16_IsValid()) |
695 | } // EOF if(Fat16_IsValid()) |
| 695 | else |
696 | else |
| 696 | { |
697 | { |
| 697 | UART1_PutString("no file system found!\r\n"); |
698 | UART1_PutString("no file system found!\r\n"); |
| 698 | retval = WPL_NO_SDCARD_FOUND; |
699 | retval = WPL_NO_SDCARD_FOUND; |
| 699 | } |
700 | } |
| 700 | return(retval); |
701 | return(retval); |
| 701 | } |
702 | } |
| 702 | 703 | ||
| 703 | // load actual point list from SD card |
704 | // load actual point list from SD card |
| 704 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
705 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
| 705 | { |
706 | { |
| 706 | u8 filename[30]; |
707 | u8 filename[30]; |
| 707 | 708 | ||
| 708 | pWPL_Store->Name[0] = 0; // clear current list name |
709 | pWPL_Store->Name[0] = 0; // clear current list name |
| 709 | 710 | ||
| 710 | // user absolute path, i.e. leading / |
711 | // user absolute path, i.e. leading / |
| 711 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
712 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
| 712 | { |
713 | { |
| 713 | sprintf(filename, "/default.wpl"); |
714 | sprintf(filename, "/default.wpl"); |
| 714 | } |
715 | } |
| 715 | else |
716 | else |
| 716 | { |
717 | { |
| 717 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
718 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
| 718 | } |
719 | } |
| 719 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name)); |
720 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name)); |
| 720 | } |
721 | } |
| 721 | 722 | ||
| 722 | // save actual point list to SD card |
723 | // save actual point list to SD card |
| 723 | u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
724 | u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
| 724 | { |
725 | { |
| 725 | u8 filename[30]; |
726 | u8 filename[30]; |
| 726 | 727 | ||
| 727 | 728 | ||
| 728 | if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
729 | if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
| 729 | // user absolute path, i.e. leading / |
730 | // user absolute path, i.e. leading / |
| 730 | if(pWPL_Store->Index == 0) |
731 | if(pWPL_Store->Index == 0) |
| 731 | { |
732 | { |
| 732 | sprintf(filename, "/default.wpl"); |
733 | sprintf(filename, "/default.wpl"); |
| 733 | } |
734 | } |
| 734 | else |
735 | else |
| 735 | { |
736 | { |
| 736 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
737 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
| 737 | } |
738 | } |
| 738 | return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
739 | return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
| 739 | } |
740 | } |
| 740 | 741 | ||
| 741 | 742 | ||
| 742 | // save actual gps positiin and heading to file |
743 | // save actual gps positiin and heading to file |
| 743 | u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
744 | u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
| 744 | { |
745 | { |
| 745 | u8 retval = WPL_ERROR; |
746 | u8 retval = WPL_ERROR; |
| 746 | u8 filename[30]; |
747 | u8 filename[30]; |
| 747 | Point_t WP; |
748 | Point_t WP; |
| 748 | 749 | ||
| 749 | UART1_PutString("\n\r write single point\n\r"); |
750 | UART1_PutString("\n\r write single point\n\r"); |
| 750 | if(GPSData.Position.Status == INVALID) |
751 | if(GPSData.Position.Status == INVALID) |
| 751 | { |
752 | { |
| 752 | UART1_PutString("ERROR: No GPS - Fix\n\r"); |
753 | UART1_PutString("ERROR: No GPS - Fix\n\r"); |
| 753 | return(retval); |
754 | return(retval); |
| 754 | } |
755 | } |
| 755 | 756 | ||
| 756 | // clear current point list |
757 | // clear current point list |
| 757 | PointList_Clear(); |
758 | PointList_Clear(); |
| 758 | // prepare WP at current position |
759 | // prepare WP at current position |
| 759 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
760 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
| 760 | // set heading |
761 | // set heading |
| 761 | WP.Heading = CompassSetpointCorrected/10; |
762 | WP.Heading = CompassSetpointCorrected/10; |
| 762 | if(WP.Heading == 0) WP.Heading = 360; |
763 | if(WP.Heading == 0) WP.Heading = 360; |
| 763 | WP.ToleranceRadius = 15; |
764 | WP.ToleranceRadius = 15; |
| 764 | WP.HoldTime = 5; |
765 | WP.HoldTime = 5; |
| 765 | WP.Index = 1; |
766 | WP.Index = 1; |
| 766 | WP.Type = POINT_TYPE_WP; |
767 | WP.Type = POINT_TYPE_WP; |
| 767 | WP.WP_EventChannelValue = 0; |
768 | WP.WP_EventChannelValue = 0; |
| 768 | if(FC.StatusFlags & FC_STATUS_FLY) |
769 | if(FC.StatusFlags & FC_STATUS_FLY) |
| 769 | { |
770 | { |
| 770 | WP.AltitudeRate = 15; |
771 | WP.AltitudeRate = 15; |
| 771 | WP.Position.Altitude = NaviData.Altimeter / 2; |
772 | WP.Position.Altitude = NaviData.Altimeter / 2; |
| 772 | } |
773 | } |
| 773 | else |
774 | else |
| 774 | { |
775 | { |
| 775 | WP.AltitudeRate = 0; |
776 | WP.AltitudeRate = 0; |
| 776 | WP.Position.Altitude = 0; |
777 | WP.Position.Altitude = 0; |
| 777 | } |
778 | } |
| 778 | WP.Speed = SD_ComingHomeSpeed; |
779 | WP.Speed = SD_ComingHomeSpeed; |
| 779 | WP.CamAngle = 0; |
780 | WP.CamAngle = 0; |
| 780 | WP.Name[0] = 'P'; |
781 | WP.Name[0] = 'P'; |
| 781 | WP.Name[1] = 0; |
782 | WP.Name[1] = 0; |
| 782 | // add this point to wp list |
783 | // add this point to wp list |
| 783 | PointList_SetAt(&WP); |
784 | PointList_SetAt(&WP); |
| 784 | 785 | ||
| 785 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
786 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
| 786 | UART1_PutString(filename); |
787 | UART1_PutString(filename); |
| 787 | sprintf(pWPL_Store->Name, "POINT%03d ", pWPL_Store->Index); |
788 | sprintf(pWPL_Store->Name, "POINT%03d ", pWPL_Store->Index); |
| 788 | retval = PointList_Save(filename, pWPL_Store->Name, 1); |
789 | retval = PointList_Save(filename, pWPL_Store->Name, 1); |
| 789 | 790 | ||
| 790 | // clear current point list |
791 | // clear current point list |
| 791 | PointList_Clear(); |
792 | PointList_Clear(); |
| 792 | return(retval); |
793 | return(retval); |
| 793 | } |
794 | } |
| 794 | // load target gps posititon and heading from file |
795 | // load target gps posititon and heading from file |
| 795 | u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store) |
796 | u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store) |
| 796 | { |
797 | { |
| 797 | u8 filename[30]; |
798 | u8 filename[30]; |
| 798 | 799 | ||
| 799 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
800 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
| 800 | pWPL_Store->Name[0] = 0; // clear current list name |
801 | pWPL_Store->Name[0] = 0; // clear current list name |
| 801 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name)); |
802 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name)); |
| 802 | } |
803 | } |
| 803 | 804 | ||
| 804 | 805 | ||
| 805 | 806 | ||
| 806 | void ClearWLP_Name(void) |
807 | void ClearWLP_Name(void) |
| 807 | { |
808 | { |
| 808 | u8 i; |
809 | u8 i; |
| 809 | for(i=0; i<sizeof(WPL_Store.Name);i++) WPL_Store.Name[i] = 0; |
810 | for(i=0; i<sizeof(WPL_Store.Name);i++) WPL_Store.Name[i] = 0; |
| 810 | NewWPL_Name = 1; |
811 | NewWPL_Name = 1; |
| 811 | } |
812 | } |
| 812 | 813 | ||
| 813 | // move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards |
814 | // move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards |
| 814 | u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle) |
815 | u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle) |
| 815 | { |
816 | { |
| 816 | u8 retval = 0; |
817 | u8 retval = 0; |
| 817 | s32 altitude; |
818 | s32 altitude; |
| 818 | GPS_Pos_t OldRefPos; |
819 | GPS_Pos_t OldRefPos; |
| 819 | GPS_Pos_Deviation_t RefDeviation; |
820 | GPS_Pos_Deviation_t RefDeviation; |
| 820 | 821 | ||
| 821 | // check inputs for plausibility; |
822 | // check inputs for plausibility; |
| 822 | if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
823 | if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
| 823 | if(pRefPos == NULL) return(retval); |
824 | if(pRefPos == NULL) return(retval); |
| 824 | if(pRefPos->Status == INVALID) return(retval); |
825 | if(pRefPos->Status == INVALID) return(retval); |
| 825 | 826 | ||
| 826 | if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &OldRefPos)) // backup old reference position |
827 | if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &OldRefPos)) // backup old reference position |
| 827 | { |
828 | { |
| 828 | u8 i; |
829 | u8 i; |
| 829 | // iterate the position list |
830 | // iterate the position list |
| 830 | for(i = 0; i < PointCount; i++) |
831 | for(i = 0; i < PointCount; i++) |
| 831 | { |
832 | { |
| 832 | retval = 0; |
833 | retval = 0; |
| 833 | // backup altitude of this point |
834 | // backup altitude of this point |
| 834 | altitude = PointList[i].Position.Altitude; |
835 | altitude = PointList[i].Position.Altitude; |
| 835 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
836 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
| 836 | if(!GPSPos_Deviation(&(PointList[i].Position), &OldRefPos, &RefDeviation)) break; |
837 | if(!GPSPos_Deviation(&(PointList[i].Position), &OldRefPos, &RefDeviation)) break; |
| 837 | // copy of the new reference position into this list place |
838 | // copy of the new reference position into this list place |
| 838 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
839 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
| 839 | // restore former altitude |
840 | // restore former altitude |
| 840 | PointList[i].Position.Altitude = altitude; |
841 | PointList[i].Position.Altitude = altitude; |
| 841 | // move new reference according to the deviation of the old reference |
842 | // move new reference according to the deviation of the old reference |
| 842 | if(RotationAngle > 0) |
843 | if(RotationAngle > 0) |
| 843 | { |
844 | { |
| 844 | retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360, RefDeviation.Distance ); |
845 | retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360, RefDeviation.Distance ); |
| 845 | // Now rotate the heading positions if they are fixed angles |
846 | // Now rotate the heading positions if they are fixed angles |
| 846 | if(PointList[i].Heading >= 0 && PointList[i].Heading <= 360) PointList[i].Heading = (PointList[i].Heading + RotationAngle) % 360; |
847 | if(PointList[i].Heading >= 0 && PointList[i].Heading <= 360) PointList[i].Heading = (PointList[i].Heading + RotationAngle) % 360; |
| 847 | } |
848 | } |
| 848 | else // no rotation |
849 | else // no rotation |
| 849 | { |
850 | { |
| 850 | // move new reference according to the deviation of the old reference |
851 | // move new reference according to the deviation of the old reference |
| 851 | retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
852 | retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
| 852 | } |
853 | } |
| 853 | if(!retval) break; |
854 | if(!retval) break; |
| 854 | } |
855 | } |
| 855 | } // else ref pos old not copied! |
856 | } // else ref pos old not copied! |
| 856 | if(!retval) PointList_Clear(); |
857 | if(!retval) PointList_Clear(); |
| 857 | return(retval); |
858 | return(retval); |
| 858 | } |
859 | } |
| 859 | 860 | ||
| 860 | 861 | ||
| 861 | 862 | ||
| 862 | 863 | ||