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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
40 | // + with our written permission |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
44 | // |
44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | 57 | ||
58 | #include <string.h> |
58 | #include <string.h> |
59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
60 | #include "waypoints.h" |
60 | #include "waypoints.h" |
61 | #include "uart1.h" |
61 | #include "uart1.h" |
62 | 62 | ||
63 | // the waypoints list |
63 | // the waypoints list |
64 | #define WPLISTLEN 21 |
64 | #define WPLISTLEN 21 |
65 | #define MAXWPNUMBER (WPLISTLEN-1) |
65 | #define MAXWPNUMBER (WPLISTLEN-1) |
66 | Waypoint_t WPList[WPLISTLEN]; |
66 | Waypoint_t WPList[WPLISTLEN]; |
67 | u8 WPIndex = 0; |
67 | u8 WPIndex = 0; // index of GPS point representig the WP |
- | 68 | u8 POIIndex = 0; // index of GPS Point representing the current POI |
|
68 | u8 WPNumber = 0; |
69 | u8 WPNumber = 0; |
69 | - | ||
70 | 70 | ||
71 | u8 WPList_Init(void) |
71 | u8 WPList_Init(void) |
72 | { |
72 | { |
73 | return WPList_Clear(); |
73 | return WPList_Clear(); |
74 | } |
74 | } |
75 | 75 | ||
76 | u8 WPList_Clear(void) |
76 | u8 WPList_Clear(void) |
77 | { |
77 | { |
78 | u8 i; |
78 | u8 i; |
79 | WPIndex = 0; // invalid index |
79 | WPIndex = 0; // invalid index |
- | 80 | POIIndex = 0; // invalid index |
|
80 | WPNumber = 0; // no contents |
81 | WPNumber = 0; // no contents |
81 | NaviData.WaypointNumber = WPNumber; |
82 | NaviData.WaypointNumber = WPNumber; |
82 | NaviData.WaypointIndex = WPIndex; |
83 | NaviData.WaypointIndex = WPIndex; |
83 | 84 | ||
84 | for(i = 1; i < WPLISTLEN; i++) |
85 | for(i = 0; i < WPLISTLEN; i++) |
85 | { |
86 | { |
86 | WPList[i].Position.Status = INVALID; |
87 | WPList[i].Position.Status = INVALID; |
87 | WPList[i].Position.Latitude = 0; |
88 | WPList[i].Position.Latitude = 0; |
88 | WPList[i].Position.Longitude = 0; |
89 | WPList[i].Position.Longitude = 0; |
89 | WPList[i].Position.Altitude = 0; |
90 | WPList[i].Position.Altitude = 0; |
90 | WPList[i].Heading = -1; |
91 | WPList[i].Heading = -1; |
91 | WPList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
92 | WPList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
92 | WPList[i].HoldTime = 0; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
93 | WPList[i].HoldTime = 0; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
93 | WPList[i].Event_Flag = 0; // future implementation |
94 | WPList[i].Event_Flag = 0; // future implementation |
94 | } |
95 | } |
95 | return TRUE; |
96 | return TRUE; |
96 | } |
97 | } |
97 | 98 | ||
98 | u8 WPList_GetCount(void) |
99 | u8 WPList_GetCount(void) |
99 | { |
100 | { |
100 | return WPNumber; |
101 | return WPNumber; |
101 | } |
102 | } |
102 | 103 | ||
103 | u8 WPList_Append(Waypoint_t* pwp) |
104 | u8 WPList_Append(Waypoint_t* pwp) |
104 | { |
105 | { |
105 | if(WPNumber < MAXWPNUMBER) // there is still some space in the list |
106 | if(WPNumber < MAXWPNUMBER) // there is still some space in the list |
106 | { |
107 | { |
107 | WPNumber++; |
- | |
108 | memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry |
108 | memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry |
109 | WPList[WPNumber].Position.Status = NEWDATA; // mark as new data // increment list length |
109 | WPList[WPNumber].Position.Status = NEWDATA; // mark as new data // increment list length |
- | 110 | WPNumber++; |
|
110 | NaviData.WaypointNumber = WPNumber; |
111 | NaviData.WaypointNumber = WPNumber; |
111 | return TRUE; |
112 | return TRUE; |
112 | } |
113 | } |
113 | else return FALSE; |
114 | else return FALSE; |
114 | } |
115 | } |
115 | 116 | ||
116 | // rewind to the begin of the list, and returns the first waypoint |
117 | // returns the first waypoint |
117 | Waypoint_t* WPList_Begin(void) |
118 | Waypoint_t* WPList_Begin(void) |
118 | { |
119 | { |
119 | if(WPNumber > 0) |
120 | if(WPNumber > 0) |
120 | { |
121 | { |
- | 122 | u8 i, wp_found = 0; |
|
- | 123 | // search for first wp in list |
|
121 | WPIndex = 1; // reset list index |
124 | for(i = 0; i < WPNumber; i++) |
- | 125 | { |
|
- | 126 | if(WPList[i].Type == POINT_TYPE_WP) |
|
- | 127 | { |
|
- | 128 | wp_found = 1; |
|
- | 129 | break; |
|
- | 130 | } |
|
- | 131 | } |
|
- | 132 | if(wp_found) // found a WP in the list |
|
- | 133 | { |
|
- | 134 | WPIndex = i+1; |
|
122 | NaviData.WaypointIndex = WPIndex; |
135 | NaviData.WaypointIndex = WPIndex; |
- | 136 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
|
- | 137 | else POIIndex = 0; |
|
123 | return(&(WPList[WPIndex])); // if list is not empty return pointer to first waypoint in the list |
138 | return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
- | 139 | } |
|
- | 140 | else // found no WP within the list |
|
- | 141 | { |
|
- | 142 | WPIndex = 0; |
|
- | 143 | POIIndex = 0; |
|
- | 144 | NaviData.WaypointIndex = WPIndex; |
|
- | 145 | return NULL; |
|
- | 146 | } |
|
124 | } |
147 | } |
125 | else |
148 | else // empty list |
126 | { |
149 | { |
127 | WPIndex = 0; // invalid index |
150 | WPIndex = 0; // invalid index |
- | 151 | POIIndex = 0; |
|
128 | NaviData.WaypointIndex = 0; |
152 | NaviData.WaypointIndex = WPIndex; |
129 | return NULL; // else return NULL |
153 | return NULL; |
130 | } |
154 | } |
131 | 155 | ||
132 | } |
156 | } |
133 | 157 | ||
134 | // jump to the end of the list, and returns the last waypoint |
158 | // returns the last waypoint |
135 | Waypoint_t* WPList_End(void) |
159 | Waypoint_t* WPList_End(void) |
136 | { |
160 | { |
137 | if(WPNumber > 0) |
161 | if(WPNumber > 0) |
138 | { |
162 | { |
- | 163 | // search backward |
|
- | 164 | u8 i, wp_found = 0; |
|
- | 165 | for(i = 1; i <= WPNumber; i++) |
|
- | 166 | { |
|
- | 167 | if(WPList[WPNumber - i].Type == POINT_TYPE_WP) |
|
- | 168 | { |
|
- | 169 | wp_found = 1; |
|
- | 170 | break; |
|
- | 171 | } |
|
- | 172 | } |
|
- | 173 | if(wp_found) // found a WP within the list |
|
- | 174 | { |
|
139 | WPIndex = WPNumber; |
175 | WPIndex = WPNumber - i + 1; |
140 | NaviData.WaypointIndex = WPIndex; |
176 | NaviData.WaypointIndex = WPIndex; |
141 | return(&(WPList[WPIndex])); // if list is not empty return pointer to first waypoint in the list |
177 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
- | 178 | else POIIndex = 0; |
|
- | 179 | return(&(WPList[WPIndex-1])); |
|
- | 180 | } |
|
- | 181 | else |
|
- | 182 | { |
|
- | 183 | WPIndex = 0; |
|
- | 184 | POIIndex = 0; |
|
- | 185 | NaviData.WaypointIndex = WPIndex; |
|
- | 186 | return NULL; |
|
- | 187 | } |
|
142 | } |
188 | } |
143 | else |
189 | else |
144 | { |
190 | { |
145 | WPIndex = 0; |
191 | WPIndex = 0; |
- | 192 | POIIndex = 0; |
|
146 | NaviData.WaypointIndex = WPIndex; |
193 | NaviData.WaypointIndex = WPIndex; |
147 | return NULL; // else return NULL |
194 | return NULL; |
148 | } |
195 | } |
149 | - | ||
150 | } |
196 | } |
151 | 197 | ||
152 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
198 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
153 | Waypoint_t* WPList_Next(void) |
199 | Waypoint_t* WPList_Next(void) |
154 | { |
200 | { |
- | 201 | if(WPNumber == 0) return NULL; |
|
155 | if(WPIndex < WPNumber) // if the next WPIndex exist |
202 | if((WPIndex > 0) && (WPIndex < WPNumber)) // if the next WP exist |
156 | { |
203 | { |
- | 204 | u8 i, wp_found = 0; |
|
- | 205 | for(i = WPIndex; i < WPNumber; i++) |
|
- | 206 | { |
|
- | 207 | if(WPList[i].Type == POINT_TYPE_WP) // jump over POIs |
|
- | 208 | { |
|
- | 209 | wp_found = 1; |
|
- | 210 | break; |
|
- | 211 | } |
|
- | 212 | } |
|
- | 213 | if(wp_found) |
|
- | 214 | { |
|
157 | WPIndex++; // goto next |
215 | WPIndex = i+1; |
158 | NaviData.WaypointIndex = WPIndex; |
216 | NaviData.WaypointIndex = WPIndex; |
- | 217 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
|
- | 218 | else POIIndex = 0; |
|
159 | return(&(WPList[WPIndex])); // return pointer to this waypoint |
219 | return(&(WPList[WPIndex-1])); // return pointer to this waypoint |
- | 220 | } |
|
- | 221 | else return NULL; |
|
160 | } |
222 | } |
161 | else return(NULL); |
223 | else return(NULL); |
162 | } |
224 | } |
163 | 225 | ||
164 | Waypoint_t* WPList_GetAt(u8 index) |
226 | Waypoint_t* WPList_GetAt(u8 index) |
165 | { |
227 | { |
166 | if(index <= WPNumber) return(&(WPList[index])); // return pointer to this waypoint |
228 | if((index > 0) && (index <= WPNumber)) return(&(WPList[index-1])); // return pointer to this waypoint |
167 | else return(NULL); |
229 | else return(NULL); |
168 | } |
230 | } |
169 | 231 | ||
170 | Waypoint_t* WPList_GetPOI(void) |
232 | Waypoint_t* WPList_GetPOI(void) |
171 | { |
233 | { |
172 | if(WPList[0].Position.Status == INVALID) return(NULL); |
- | |
173 | else return(&(WPList[0])); |
234 | return WPList_GetAt(POIIndex); |
174 | } |
235 | } |
175 | - | ||
176 | void WPList_SetPOI(Waypoint_t* pwp) |
- | |
177 | { |
- | |
178 | memcpy(&WPList[0], pwp, sizeof(Waypoint_t)); // copy wp data to list entry |
- | |
179 | } |
236 | |
180 | 237 |