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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
- | |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
- | |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
- | |
| 8 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 7 | // + Software Nutzungsbedingungen (english version: see below) |
|
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
- | |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| 22 | // + eindeutig als Ursprung verlinkt werden |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 25 | // + Benutzung auf eigene Gefahr |
22 | // + des Mitverschuldens offen. |
| - | 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. |
|
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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 |
|
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| 29 | // + mit unserer Zustimmung zulässig |
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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
32 | // + Software LICENSING TERMS |
| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 34 | // + this list of conditions and the following disclaimer. |
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 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| 36 | // + from this software without specific prior written permission. |
37 | // + The Software may only be used with the Licensor's products. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| 38 | // + for non-commercial use (directly or indirectly) |
- | |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| 40 | // + with our written permission |
40 | // + agreement shall be the property of the Licensor. |
| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| 42 | // + clearly linked as origin |
- | |
| 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
| 44 | // |
- | |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
43 | // + The customer shall be responsible for taking reasonable precautions |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
53 | // + #### END OF LICENSING TERMS #### |
| - | 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
|
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | 56 | ||
| 58 | #include <string.h> |
57 | #include <string.h> |
| 59 | #include "91x_lib.h" |
58 | #include "91x_lib.h" |
| 60 | #include "waypoints.h" |
59 | #include "waypoints.h" |
| 61 | #include "uart1.h" |
60 | #include "uart1.h" |
| 62 | 61 | ||
| 63 | // the waypoints list |
62 | // the waypoints list |
| 64 | #define MAX_LIST_LEN 101 |
63 | #define MAX_LIST_LEN 101 |
| 65 | 64 | ||
| 66 | Point_t PointList[MAX_LIST_LEN]; |
65 | Point_t PointList[MAX_LIST_LEN]; |
| 67 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
66 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
| 68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
67 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
| 69 | u8 WPCount = 0; // number of waypoints |
68 | u8 WPCount = 0; // number of waypoints |
| 70 | u8 PointCount = 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN |
69 | u8 PointCount = 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN |
| 71 | u8 POICount = 0; |
70 | u8 POICount = 0; |
| 72 | 71 | ||
| 73 | u8 WPActive = FALSE; |
72 | u8 WPActive = FALSE; |
| 74 | 73 | ||
| 75 | u8 PointList_Init(void) |
74 | u8 PointList_Init(void) |
| 76 | { |
75 | { |
| 77 | return PointList_Clear(); |
76 | return PointList_Clear(); |
| 78 | } |
77 | } |
| 79 | 78 | ||
| 80 | u8 PointList_Clear(void) |
79 | u8 PointList_Clear(void) |
| 81 | { |
80 | { |
| 82 | u8 i; |
81 | u8 i; |
| 83 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
82 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
| 84 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
83 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
| 85 | WPCount = 0; // no waypoints |
84 | WPCount = 0; // no waypoints |
| 86 | POICount = 0; |
85 | POICount = 0; |
| 87 | PointCount = 0; // no contents |
86 | PointCount = 0; // no contents |
| 88 | WPActive = FALSE; |
87 | WPActive = FALSE; |
| 89 | NaviData.WaypointNumber = WPCount; |
88 | NaviData.WaypointNumber = WPCount; |
| 90 | NaviData.WaypointIndex = 0; |
89 | NaviData.WaypointIndex = 0; |
| 91 | 90 | ||
| 92 | for(i = 0; i < MAX_LIST_LEN; i++) |
91 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 93 | { |
92 | { |
| 94 | PointList[i].Position.Status = INVALID; |
93 | PointList[i].Position.Status = INVALID; |
| 95 | PointList[i].Position.Latitude = 0; |
94 | PointList[i].Position.Latitude = 0; |
| 96 | PointList[i].Position.Longitude = 0; |
95 | PointList[i].Position.Longitude = 0; |
| 97 | PointList[i].Position.Altitude = 0; |
96 | PointList[i].Position.Altitude = 0; |
| 98 | PointList[i].Heading = 361; // invalid value |
97 | PointList[i].Heading = 361; // invalid value |
| 99 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
98 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
| 100 | 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 |
99 | 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 |
| 101 | PointList[i].Type = POINT_TYPE_INVALID; |
100 | PointList[i].Type = POINT_TYPE_INVALID; |
| 102 | PointList[i].Event_Flag = 0; // future implementation |
101 | PointList[i].Event_Flag = 0; // future implementation |
| 103 | PointList[i].AltitudeRate = 0; // no change of setpoint |
102 | PointList[i].AltitudeRate = 0; // no change of setpoint |
| 104 | } |
103 | } |
| 105 | return TRUE; |
104 | return TRUE; |
| 106 | } |
105 | } |
| 107 | 106 | ||
| 108 | u8 PointList_GetCount(void) |
107 | u8 PointList_GetCount(void) |
| 109 | { |
108 | { |
| 110 | return PointCount; // number of points in the list |
109 | return PointCount; // number of points in the list |
| 111 | } |
110 | } |
| 112 | 111 | ||
| 113 | Point_t* PointList_GetAt(u8 index) |
112 | Point_t* PointList_GetAt(u8 index) |
| 114 | { |
113 | { |
| 115 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
114 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
| 116 | else return(NULL); |
115 | else return(NULL); |
| 117 | } |
116 | } |
| 118 | 117 | ||
| 119 | u8 PointList_SetAt(Point_t* pPoint) |
118 | u8 PointList_SetAt(Point_t* pPoint) |
| 120 | { |
119 | { |
| 121 | // if index is in range |
120 | // if index is in range |
| 122 | if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
121 | if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
| 123 | { |
122 | { |
| 124 | // check list entry before update |
123 | // check list entry before update |
| 125 | switch(PointList[pPoint->Index-1].Type) |
124 | switch(PointList[pPoint->Index-1].Type) |
| 126 | { |
125 | { |
| 127 | case POINT_TYPE_INVALID: // was invalid |
126 | case POINT_TYPE_INVALID: // was invalid |
| 128 | switch(pPoint->Type) |
127 | switch(pPoint->Type) |
| 129 | { |
128 | { |
| 130 | default: |
129 | default: |
| 131 | case POINT_TYPE_INVALID: |
130 | case POINT_TYPE_INVALID: |
| 132 | // nothing to do |
131 | // nothing to do |
| 133 | break; |
132 | break; |
| 134 | 133 | ||
| 135 | case POINT_TYPE_WP: |
134 | case POINT_TYPE_WP: |
| 136 | WPCount++; |
135 | WPCount++; |
| 137 | PointCount++; |
136 | PointCount++; |
| 138 | break; |
137 | break; |
| 139 | 138 | ||
| 140 | case POINT_TYPE_POI: |
139 | case POINT_TYPE_POI: |
| 141 | POICount++; |
140 | POICount++; |
| 142 | PointCount++; |
141 | PointCount++; |
| 143 | break; |
142 | break; |
| 144 | } |
143 | } |
| 145 | break; |
144 | break; |
| 146 | 145 | ||
| 147 | case POINT_TYPE_WP: // was a waypoint |
146 | case POINT_TYPE_WP: // was a waypoint |
| 148 | switch(pPoint->Type) |
147 | switch(pPoint->Type) |
| 149 | { |
148 | { |
| 150 | case POINT_TYPE_INVALID: |
149 | case POINT_TYPE_INVALID: |
| 151 | WPCount--; |
150 | WPCount--; |
| 152 | PointCount--; |
151 | PointCount--; |
| 153 | break; |
152 | break; |
| 154 | 153 | ||
| 155 | default: |
154 | default: |
| 156 | case POINT_TYPE_WP: |
155 | case POINT_TYPE_WP: |
| 157 | //nothing to do |
156 | //nothing to do |
| 158 | break; |
157 | break; |
| 159 | 158 | ||
| 160 | case POINT_TYPE_POI: |
159 | case POINT_TYPE_POI: |
| 161 | POICount++; |
160 | POICount++; |
| 162 | WPCount--; |
161 | WPCount--; |
| 163 | break; |
162 | break; |
| 164 | } |
163 | } |
| 165 | break; |
164 | break; |
| 166 | 165 | ||
| 167 | case POINT_TYPE_POI: // was a poi |
166 | case POINT_TYPE_POI: // was a poi |
| 168 | switch(pPoint->Type) |
167 | switch(pPoint->Type) |
| 169 | { |
168 | { |
| 170 | case POINT_TYPE_INVALID: |
169 | case POINT_TYPE_INVALID: |
| 171 | POICount--; |
170 | POICount--; |
| 172 | PointCount--; |
171 | PointCount--; |
| 173 | break; |
172 | break; |
| 174 | 173 | ||
| 175 | case POINT_TYPE_WP: |
174 | case POINT_TYPE_WP: |
| 176 | WPCount++; |
175 | WPCount++; |
| 177 | POICount--; |
176 | POICount--; |
| 178 | break; |
177 | break; |
| 179 | 178 | ||
| 180 | case POINT_TYPE_POI: |
179 | case POINT_TYPE_POI: |
| 181 | default: |
180 | default: |
| 182 | // nothing to do |
181 | // nothing to do |
| 183 | break; |
182 | break; |
| 184 | } |
183 | } |
| 185 | break; |
184 | break; |
| 186 | } |
185 | } |
| 187 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
186 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
| 188 | NaviData.WaypointNumber = WPCount; |
187 | NaviData.WaypointNumber = WPCount; |
| 189 | return pPoint->Index; |
188 | return pPoint->Index; |
| 190 | } |
189 | } |
| 191 | else return(0); |
190 | else return(0); |
| 192 | } |
191 | } |
| 193 | 192 | ||
| 194 | // returns the pointer to the first waypoint within the list |
193 | // returns the pointer to the first waypoint within the list |
| 195 | Point_t* PointList_WPBegin(void) |
194 | Point_t* PointList_WPBegin(void) |
| 196 | { |
195 | { |
| 197 | u8 i; |
196 | u8 i; |
| 198 | WPIndex = 0; // set list position invalid |
197 | WPIndex = 0; // set list position invalid |
| 199 | 198 | ||
| 200 | if(WPActive == FALSE) return(NULL); |
199 | if(WPActive == FALSE) return(NULL); |
| 201 | 200 | ||
| 202 | POIIndex = 0; // set invalid POI |
201 | POIIndex = 0; // set invalid POI |
| 203 | if(PointCount > 0) |
202 | if(PointCount > 0) |
| 204 | { |
203 | { |
| 205 | // search for first wp in list |
204 | // search for first wp in list |
| 206 | for(i = 0; i <MAX_LIST_LEN; i++) |
205 | for(i = 0; i <MAX_LIST_LEN; i++) |
| 207 | { |
206 | { |
| 208 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
207 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
| 209 | { |
208 | { |
| 210 | WPIndex = i + 1; |
209 | WPIndex = i + 1; |
| 211 | break; |
210 | break; |
| 212 | } |
211 | } |
| 213 | } |
212 | } |
| 214 | if(WPIndex) // found a WP in the list |
213 | if(WPIndex) // found a WP in the list |
| 215 | { |
214 | { |
| 216 | NaviData.WaypointIndex = 1; |
215 | NaviData.WaypointIndex = 1; |
| 217 | // update index to POI |
216 | // update index to POI |
| 218 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
217 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 219 | else POIIndex = 0; |
218 | else POIIndex = 0; |
| 220 | } |
219 | } |
| 221 | else // some points in the list but no WP found |
220 | else // some points in the list but no WP found |
| 222 | { |
221 | { |
| 223 | NaviData.WaypointIndex = 0; |
222 | NaviData.WaypointIndex = 0; |
| 224 | //Check for an existing POI |
223 | //Check for an existing POI |
| 225 | for(i = 0; i < MAX_LIST_LEN; i++) |
224 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 226 | { |
225 | { |
| 227 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
226 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
| 228 | { |
227 | { |
| 229 | POIIndex = i + 1; |
228 | POIIndex = i + 1; |
| 230 | break; |
229 | break; |
| 231 | } |
230 | } |
| 232 | } |
231 | } |
| 233 | } |
232 | } |
| 234 | } |
233 | } |
| 235 | else // no point in the list |
234 | else // no point in the list |
| 236 | { |
235 | { |
| 237 | POIIndex = 0; |
236 | POIIndex = 0; |
| 238 | NaviData.WaypointIndex = 0; |
237 | NaviData.WaypointIndex = 0; |
| 239 | } |
238 | } |
| 240 | 239 | ||
| 241 | if(WPIndex) return(&(PointList[WPIndex-1])); |
240 | if(WPIndex) return(&(PointList[WPIndex-1])); |
| 242 | else return(NULL); |
241 | else return(NULL); |
| 243 | } |
242 | } |
| 244 | 243 | ||
| 245 | // returns the last waypoint |
244 | // returns the last waypoint |
| 246 | Point_t* PointList_WPEnd(void) |
245 | Point_t* PointList_WPEnd(void) |
| 247 | { |
246 | { |
| 248 | 247 | ||
| 249 | u8 i; |
248 | u8 i; |
| 250 | WPIndex = 0; // set list position invalid |
249 | WPIndex = 0; // set list position invalid |
| 251 | POIIndex = 0; // set invalid |
250 | POIIndex = 0; // set invalid |
| 252 | 251 | ||
| 253 | if(WPActive == FALSE) return(NULL); |
252 | if(WPActive == FALSE) return(NULL); |
| 254 | 253 | ||
| 255 | if(PointCount > 0) |
254 | if(PointCount > 0) |
| 256 | { |
255 | { |
| 257 | // search backward! |
256 | // search backward! |
| 258 | for(i = 1; i <= MAX_LIST_LEN; i++) |
257 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 259 | { |
258 | { |
| 260 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
259 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 261 | { |
260 | { |
| 262 | WPIndex = MAX_LIST_LEN - i + 1; |
261 | WPIndex = MAX_LIST_LEN - i + 1; |
| 263 | break; |
262 | break; |
| 264 | } |
263 | } |
| 265 | } |
264 | } |
| 266 | if(WPIndex) // found a WP within the list |
265 | if(WPIndex) // found a WP within the list |
| 267 | { |
266 | { |
| 268 | NaviData.WaypointIndex = WPCount; |
267 | NaviData.WaypointIndex = WPCount; |
| 269 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
268 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 270 | else POIIndex = 0; |
269 | else POIIndex = 0; |
| 271 | } |
270 | } |
| 272 | else // list contains some points but no WP in the list |
271 | else // list contains some points but no WP in the list |
| 273 | { |
272 | { |
| 274 | // search backward for a POI! |
273 | // search backward for a POI! |
| 275 | for(i = 1; i <= MAX_LIST_LEN; i++) |
274 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 276 | { |
275 | { |
| 277 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
276 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 278 | { |
277 | { |
| 279 | POIIndex = MAX_LIST_LEN - i + 1; |
278 | POIIndex = MAX_LIST_LEN - i + 1; |
| 280 | break; |
279 | break; |
| 281 | } |
280 | } |
| 282 | } |
281 | } |
| 283 | NaviData.WaypointIndex = 0; |
282 | NaviData.WaypointIndex = 0; |
| 284 | } |
283 | } |
| 285 | } |
284 | } |
| 286 | else // no point in the list |
285 | else // no point in the list |
| 287 | { |
286 | { |
| 288 | POIIndex = 0; |
287 | POIIndex = 0; |
| 289 | NaviData.WaypointIndex = 0; |
288 | NaviData.WaypointIndex = 0; |
| 290 | } |
289 | } |
| 291 | if(WPIndex) return(&(PointList[WPIndex-1])); |
290 | if(WPIndex) return(&(PointList[WPIndex-1])); |
| 292 | else return(NULL); |
291 | else return(NULL); |
| 293 | } |
292 | } |
| 294 | 293 | ||
| 295 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
294 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
| 296 | Point_t* PointList_WPNext(void) |
295 | Point_t* PointList_WPNext(void) |
| 297 | { |
296 | { |
| 298 | u8 wp_found = 0; |
297 | u8 wp_found = 0; |
| 299 | if(WPActive == FALSE) return(NULL); |
298 | if(WPActive == FALSE) return(NULL); |
| 300 | 299 | ||
| 301 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
300 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
| 302 | { |
301 | { |
| 303 | u8 i; |
302 | u8 i; |
| 304 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
303 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
| 305 | { |
304 | { |
| 306 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
305 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
| 307 | { |
306 | { |
| 308 | wp_found = i+1; |
307 | wp_found = i+1; |
| 309 | break; |
308 | break; |
| 310 | } |
309 | } |
| 311 | } |
310 | } |
| 312 | } |
311 | } |
| 313 | if(wp_found) |
312 | if(wp_found) |
| 314 | { |
313 | { |
| 315 | WPIndex = wp_found; // update list position |
314 | WPIndex = wp_found; // update list position |
| 316 | NaviData.WaypointIndex++; |
315 | NaviData.WaypointIndex++; |
| 317 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
316 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 318 | else POIIndex = 0; |
317 | else POIIndex = 0; |
| 319 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
318 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
| 320 | } |
319 | } |
| 321 | else |
320 | else |
| 322 | { // no next wp found |
321 | { // no next wp found |
| 323 | NaviData.WaypointIndex = 0; |
322 | NaviData.WaypointIndex = 0; |
| 324 | POIIndex = 0; |
323 | POIIndex = 0; |
| 325 | return(NULL); |
324 | return(NULL); |
| 326 | } |
325 | } |
| 327 | } |
326 | } |
| 328 | 327 | ||
| 329 | void PointList_WPActive(u8 set) |
328 | void PointList_WPActive(u8 set) |
| 330 | { |
329 | { |
| 331 | if(set) |
330 | if(set) |
| 332 | { |
331 | { |
| 333 | WPActive = TRUE; |
332 | WPActive = TRUE; |
| 334 | PointList_WPBegin(); // uopdates POI index |
333 | PointList_WPBegin(); // uopdates POI index |
| 335 | } |
334 | } |
| 336 | else |
335 | else |
| 337 | { |
336 | { |
| 338 | WPActive = FALSE; |
337 | WPActive = FALSE; |
| 339 | POIIndex = 0; // disable POI also |
338 | POIIndex = 0; // disable POI also |
| 340 | } |
339 | } |
| 341 | } |
340 | } |
| 342 | 341 | ||
| 343 | Point_t* PointList_GetPOI(void) |
342 | Point_t* PointList_GetPOI(void) |
| 344 | { |
343 | { |
| 345 | return PointList_GetAt(POIIndex); |
344 | return PointList_GetAt(POIIndex); |
| 346 | } |
345 | } |
| 347 | 346 | ||
| 348 | 347 | ||