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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| 15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
| 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| 37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| 40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
| 43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| 53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 56 | #include <ctype.h> |
56 | #include <ctype.h> |
| 57 | #include <stdio.h> |
57 | #include <stdio.h> |
| 58 | #include <stdlib.h> |
58 | #include <stdlib.h> |
| 59 | #include <string.h> |
59 | #include <string.h> |
| 60 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
| 61 | #include "waypoints.h" |
61 | #include "waypoints.h" |
| 62 | #include "uart1.h" |
62 | #include "uart1.h" |
| 63 | #include "fat16.h" |
63 | #include "fat16.h" |
| 64 | #include "main.h" |
64 | #include "main.h" |
| 65 | #include "spi_slave.h" |
65 | #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 | s16 HeadingOld = -1; |
| - | 80 | u32 SD_WaypointTimeout = 5; // Setting on SD-Card |
|
| 80 | 81 | ||
| 81 | u8 WPActive = FALSE; |
82 | u8 WPActive = FALSE; |
| 82 | 83 | ||
| 83 | u8 PointList_Init(void) |
84 | u8 PointList_Init(void) |
| 84 | { |
85 | { |
| 85 | return PointList_Clear(); |
86 | return PointList_Clear(); |
| 86 | } |
87 | } |
| 87 | 88 | ||
| 88 | u8 PointList_Clear(void) |
89 | u8 PointList_Clear(void) |
| 89 | { |
90 | { |
| 90 | u8 i; |
91 | u8 i; |
| 91 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
92 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
| 92 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
93 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
| 93 | WPCount = 0; // no waypoints |
94 | WPCount = 0; // no waypoints |
| 94 | POICount = 0; |
95 | POICount = 0; |
| 95 | PointCount = 0; // no contents |
96 | PointCount = 0; // no contents |
| 96 | WPActive = FALSE; |
97 | WPActive = FALSE; |
| 97 | NaviData.WaypointNumber = WPCount; |
98 | NaviData.WaypointNumber = WPCount; |
| 98 | NaviData.WaypointIndex = 0; |
99 | NaviData.WaypointIndex = 0; |
| 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 | NewWaypointsReceived = 1; // activates the Waypoint list as soon as CH is started |
231 | NewWaypointsReceived = 1; // activates the Waypoint list as soon as CH is started |
| 231 | // update index to POI |
232 | // update index to POI |
| 232 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
233 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 233 | else POIIndex = 0; |
234 | else POIIndex = 0; |
| 234 | } |
235 | } |
| 235 | else // some points in the list but no WP found |
236 | else // some points in the list but no WP found |
| 236 | { |
237 | { |
| 237 | NaviData.WaypointIndex = 0; |
238 | NaviData.WaypointIndex = 0; |
| 238 | //Check for an existing POI |
239 | //Check for an existing POI |
| 239 | for(i = 0; i < MAX_LIST_LEN; i++) |
240 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 240 | { |
241 | { |
| 241 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
242 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
| 242 | { |
243 | { |
| 243 | POIIndex = i + 1; |
244 | POIIndex = i + 1; |
| 244 | break; |
245 | break; |
| 245 | } |
246 | } |
| 246 | } |
247 | } |
| 247 | } |
248 | } |
| 248 | } |
249 | } |
| 249 | else // no point in the list |
250 | else // no point in the list |
| 250 | { |
251 | { |
| 251 | POIIndex = 0; |
252 | POIIndex = 0; |
| 252 | NaviData.WaypointIndex = 0; |
253 | NaviData.WaypointIndex = 0; |
| 253 | } |
254 | } |
| 254 | 255 | ||
| 255 | if(WPIndex) return(&(PointList[WPIndex-1])); |
256 | if(WPIndex) return(&(PointList[WPIndex-1])); |
| 256 | else return(NULL); |
257 | else return(NULL); |
| 257 | } |
258 | } |
| 258 | 259 | ||
| 259 | // returns the last waypoint |
260 | // returns the last waypoint |
| 260 | Point_t* PointList_WPEnd(void) |
261 | Point_t* PointList_WPEnd(void) |
| 261 | { |
262 | { |
| 262 | 263 | ||
| 263 | u8 i; |
264 | u8 i; |
| 264 | WPIndex = 0; // set list position invalid |
265 | WPIndex = 0; // set list position invalid |
| 265 | POIIndex = 0; // set invalid |
266 | POIIndex = 0; // set invalid |
| 266 | 267 | ||
| 267 | if(WPActive == FALSE) return(NULL); |
268 | if(WPActive == FALSE) return(NULL); |
| 268 | 269 | ||
| 269 | if(PointCount > 0) |
270 | if(PointCount > 0) |
| 270 | { |
271 | { |
| 271 | // search backward! |
272 | // search backward! |
| 272 | for(i = 1; i <= MAX_LIST_LEN; i++) |
273 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 273 | { |
274 | { |
| 274 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
275 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 275 | { |
276 | { |
| 276 | WPIndex = MAX_LIST_LEN - i + 1; |
277 | WPIndex = MAX_LIST_LEN - i + 1; |
| 277 | break; |
278 | break; |
| 278 | } |
279 | } |
| 279 | } |
280 | } |
| 280 | if(WPIndex) // found a WP within the list |
281 | if(WPIndex) // found a WP within the list |
| 281 | { |
282 | { |
| 282 | NaviData.WaypointIndex = WPCount; |
283 | NaviData.WaypointIndex = WPCount; |
| 283 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
284 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 284 | else POIIndex = 0; |
285 | else POIIndex = 0; |
| 285 | } |
286 | } |
| 286 | else // list contains some points but no WP in the list |
287 | else // list contains some points but no WP in the list |
| 287 | { |
288 | { |
| 288 | // search backward for a POI! |
289 | // search backward for a POI! |
| 289 | for(i = 1; i <= MAX_LIST_LEN; i++) |
290 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 290 | { |
291 | { |
| 291 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
292 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 292 | { |
293 | { |
| 293 | POIIndex = MAX_LIST_LEN - i + 1; |
294 | POIIndex = MAX_LIST_LEN - i + 1; |
| 294 | break; |
295 | break; |
| 295 | } |
296 | } |
| 296 | } |
297 | } |
| 297 | NaviData.WaypointIndex = 0; |
298 | NaviData.WaypointIndex = 0; |
| 298 | } |
299 | } |
| 299 | } |
300 | } |
| 300 | else // no point in the list |
301 | else // no point in the list |
| 301 | { |
302 | { |
| 302 | POIIndex = 0; |
303 | POIIndex = 0; |
| 303 | NaviData.WaypointIndex = 0; |
304 | NaviData.WaypointIndex = 0; |
| 304 | } |
305 | } |
| 305 | if(WPIndex) return(&(PointList[WPIndex-1])); |
306 | if(WPIndex) return(&(PointList[WPIndex-1])); |
| 306 | else return(NULL); |
307 | else return(NULL); |
| 307 | } |
308 | } |
| 308 | 309 | ||
| 309 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
310 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
| 310 | Point_t* PointList_WPNext(void) |
311 | Point_t* PointList_WPNext(void) |
| 311 | { |
312 | { |
| 312 | u8 wp_found = 0; |
313 | u8 wp_found = 0; |
| 313 | if(WPActive == FALSE) return(NULL); |
314 | if(WPActive == FALSE) return(NULL); |
| 314 | 315 | ||
| 315 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
316 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
| 316 | { |
317 | { |
| 317 | u8 i; |
318 | u8 i; |
| 318 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
319 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
| 319 | { |
320 | { |
| 320 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
321 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
| 321 | { |
322 | { |
| 322 | wp_found = i+1; |
323 | wp_found = i+1; |
| 323 | break; |
324 | break; |
| 324 | } |
325 | } |
| 325 | } |
326 | } |
| 326 | } |
327 | } |
| 327 | if(wp_found) |
328 | if(wp_found) |
| 328 | { |
329 | { |
| 329 | WPIndex = wp_found; // update list position |
330 | WPIndex = wp_found; // update list position |
| 330 | NaviData.WaypointIndex++; |
331 | NaviData.WaypointIndex++; |
| 331 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
332 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 332 | else POIIndex = 0; |
333 | else POIIndex = 0; |
| 333 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
334 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
| 334 | } |
335 | } |
| 335 | else |
336 | else |
| 336 | { // no next wp found |
337 | { // no next wp found |
| 337 | NaviData.WaypointIndex = 0; |
338 | NaviData.WaypointIndex = 0; |
| 338 | POIIndex = 0; |
339 | POIIndex = 0; |
| 339 | return(NULL); |
340 | return(NULL); |
| 340 | } |
341 | } |
| 341 | } |
342 | } |
| 342 | 343 | ||
| 343 | void PointList_WPActive(u8 set) |
344 | void PointList_WPActive(u8 set) |
| 344 | { |
345 | { |
| 345 | if(set) |
346 | if(set) |
| 346 | { |
347 | { |
| 347 | WPActive = TRUE; |
348 | WPActive = TRUE; |
| 348 | PointList_WPBegin(); // updates POI index |
349 | PointList_WPBegin(); // updates POI index |
| 349 | } |
350 | } |
| 350 | else |
351 | else |
| 351 | { |
352 | { |
| 352 | WPActive = FALSE; |
353 | WPActive = FALSE; |
| 353 | POIIndex = 0; // disable POI also |
354 | POIIndex = 0; // disable POI also |
| 354 | } |
355 | } |
| 355 | } |
356 | } |
| 356 | 357 | ||
| 357 | Point_t* PointList_GetPOI(void) |
358 | Point_t* PointList_GetPOI(void) |
| 358 | { |
359 | { |
| 359 | return PointList_GetAt(POIIndex); |
360 | return PointList_GetAt(POIIndex); |
| 360 | } |
361 | } |
| 361 | 362 | ||
| 362 | 363 | ||
| 363 | #define LINE_MAX 70 |
364 | #define LINE_MAX 70 |
| 364 | #define WP_FILE_VERSION_COMPATIBLE 3 |
365 | #define WP_FILE_VERSION_COMPATIBLE 3 |
| 365 | 366 | ||
| 366 | u8 PointList_Save(u8 * filename, u8* listname, u8 overwride) |
367 | u8 PointList_Save(u8 * filename, u8* listname, u8 overwride) |
| 367 | { |
368 | { |
| 368 | File_t *fp; |
369 | File_t *fp; |
| 369 | s8 wpline[LINE_MAX]; |
370 | s8 wpline[LINE_MAX]; |
| 370 | u8 retval = WPL_ERROR; |
371 | u8 retval = WPL_ERROR; |
| 371 | 372 | ||
| 372 | UART1_PutString("\n\r Save WPL..."); |
373 | UART1_PutString("\n\r Save WPL..."); |
| 373 | 374 | ||
| 374 | if(Fat16_IsValid()) |
375 | if(Fat16_IsValid()) |
| 375 | { // check if wpl file is existing |
376 | { // check if wpl file is existing |
| 376 | if(fexist_(filename)) |
377 | if(fexist_(filename)) |
| 377 | { //file is existent |
378 | { //file is existent |
| 378 | if(!(overwride)) |
379 | if(!(overwride)) |
| 379 | { |
380 | { |
| 380 | UART1_PutString("Error: file exist!\r\n"); |
381 | UART1_PutString("Error: file exist!\r\n"); |
| 381 | return(WPL_FILEEXIST); |
382 | return(WPL_FILEEXIST); |
| 382 | } |
383 | } |
| 383 | } |
384 | } |
| 384 | fp = fopen_(filename, 'w'); // try to open the file |
385 | fp = fopen_(filename, 'w'); // try to open the file |
| 385 | if(fp == NULL) |
386 | if(fp == NULL) |
| 386 | { |
387 | { |
| 387 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
388 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
| 388 | return(retval); |
389 | return(retval); |
| 389 | } |
390 | } |
| 390 | // Create general section and key entries |
391 | // Create general section and key entries |
| 391 | fputs_("[General]\r\n", fp); |
392 | fputs_("[General]\r\n", fp); |
| 392 | sprintf(wpline, "Name=%s\r\n", listname); |
393 | sprintf(wpline, "Name=%s\r\n", listname); |
| 393 | fputs_(wpline, fp); |
394 | fputs_(wpline, fp); |
| 394 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
395 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
| 395 | fputs_(wpline, fp); |
396 | fputs_(wpline, fp); |
| 396 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
397 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
| 397 | fputs_(wpline, fp); |
398 | fputs_(wpline, fp); |
| 398 | // dump all points if existent |
399 | // dump all points if existent |
| 399 | if(PointCount) |
400 | if(PointCount) |
| 400 | { |
401 | { |
| 401 | u8 i, u8_1; |
402 | u8 i, u8_1; |
| 402 | s32 i32_1, i32_2; |
403 | s32 i32_1, i32_2; |
| 403 | NewWPL_Name = 1; |
404 | NewWPL_Name = 1; |
| 404 | for (i = 0; i < PointCount; i++) |
405 | for (i = 0; i < PointCount; i++) |
| 405 | { |
406 | { |
| 406 | sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
407 | sprintf(wpline, "[Point%d]\r\n",PointList[i].Index); |
| 407 | fputs_(wpline, fp); |
408 | fputs_(wpline, fp); |
| 408 | // write latitude in deg |
409 | // write latitude in deg |
| 409 | if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
410 | if(PointList[i].Position.Latitude < 0) u8_1 = '-'; |
| 410 | else u8_1 = '+'; |
411 | else u8_1 = '+'; |
| 411 | i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
412 | i32_1 = abs(PointList[i].Position.Latitude)/10000000L; |
| 412 | i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
413 | i32_2 = abs(PointList[i].Position.Latitude)%10000000L; |
| 413 | sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
414 | sprintf(wpline, "Latitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
| 414 | fputs_(wpline, fp); |
415 | fputs_(wpline, fp); |
| 415 | // write longitude in deg |
416 | // write longitude in deg |
| 416 | if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
417 | if(PointList[i].Position.Longitude < 0) u8_1 = '-'; |
| 417 | else u8_1 = '+'; |
418 | else u8_1 = '+'; |
| 418 | i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
419 | i32_1 = abs(PointList[i].Position.Longitude)/10000000L; |
| 419 | i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
420 | i32_2 = abs(PointList[i].Position.Longitude)%10000000L; |
| 420 | sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
421 | sprintf(wpline, "Longitude=%c%ld.%07ld\r\n", u8_1, i32_1, i32_2); |
| 421 | fputs_(wpline, fp); |
422 | fputs_(wpline, fp); |
| 422 | // write tolerace radius in m |
423 | // write tolerace radius in m |
| 423 | sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
424 | sprintf(wpline, "Radius=%d\r\n", PointList[i].ToleranceRadius); |
| 424 | fputs_(wpline, fp); |
425 | fputs_(wpline, fp); |
| 425 | // write altitude in m |
426 | // write altitude in m |
| 426 | if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
427 | if(PointList[i].Position.Altitude < 0) u8_1 = '-'; |
| 427 | else u8_1 = '+'; |
428 | else u8_1 = '+'; |
| 428 | if(PointList[i].Type == POINT_TYPE_POI) |
429 | if(PointList[i].Type == POINT_TYPE_POI) |
| 429 | { |
430 | { |
| 430 | i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
431 | i32_1 = abs(PointList[i].Position.Altitude)/100L; // cm --> m |
| 431 | i32_2 = abs(PointList[i].Position.Altitude)%100L; |
432 | i32_2 = abs(PointList[i].Position.Altitude)%100L; |
| 432 | } |
433 | } |
| 433 | else |
434 | else |
| 434 | { |
435 | { |
| 435 | i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
436 | i32_1 = abs(PointList[i].Position.Altitude)/10L; // dm --> m |
| 436 | i32_2 = abs(PointList[i].Position.Altitude)%10L; |
437 | i32_2 = abs(PointList[i].Position.Altitude)%10L; |
| 437 | } |
438 | } |
| 438 | sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
439 | sprintf(wpline, "Altitude=%c%ld.%01ld\r\n", u8_1, i32_1, i32_2); |
| 439 | fputs_(wpline, fp); |
440 | fputs_(wpline, fp); |
| 440 | // write climb rate in 0.1 m/s |
441 | // write climb rate in 0.1 m/s |
| 441 | sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
442 | sprintf(wpline, "ClimbRate=%d\r\n", PointList[i].AltitudeRate); |
| 442 | fputs_(wpline, fp); |
443 | fputs_(wpline, fp); |
| 443 | // write hold time in s |
444 | // write hold time in s |
| 444 | sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
445 | sprintf(wpline, "DelayTime=%d\r\n", PointList[i].HoldTime); |
| 445 | fputs_(wpline, fp); |
446 | fputs_(wpline, fp); |
| 446 | // write event channel value |
447 | // write event channel value |
| 447 | sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
448 | sprintf(wpline, "WP_Event_Channel_Value=%d\r\n", PointList[i].WP_EventChannelValue); |
| 448 | fputs_(wpline, fp); |
449 | fputs_(wpline, fp); |
| 449 | // write heading in deg (0= nothing, neg. values index to poi) |
450 | // write heading in deg (0= nothing, neg. values index to poi) |
| 450 | sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
451 | sprintf(wpline, "Heading=%d\r\n", PointList[i].Heading); |
| 451 | fputs_(wpline, fp); |
452 | fputs_(wpline, fp); |
| 452 | // write speed in 0.1 m/s |
453 | // write speed in 0.1 m/s |
| 453 | sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
454 | sprintf(wpline, "Speed=%d\r\n", PointList[i].Speed); |
| 454 | fputs_(wpline, fp); |
455 | fputs_(wpline, fp); |
| 455 | // write cam angle in degree (255 -> POI-Automatic) |
456 | // write cam angle in degree (255 -> POI-Automatic) |
| 456 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
457 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
| 457 | fputs_(wpline, fp); |
458 | fputs_(wpline, fp); |
| 458 | // write point type |
459 | // write point type |
| 459 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
460 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
| 460 | fputs_(wpline, fp); |
461 | fputs_(wpline, fp); |
| 461 | // write prefix |
462 | // write prefix |
| 462 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
463 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
| 463 | fputs_(wpline, fp); |
464 | fputs_(wpline, fp); |
| 464 | } // EOF loop over all points |
465 | } // EOF loop over all points |
| 465 | } // EOF if(PointCount) |
466 | } // EOF if(PointCount) |
| 466 | if(EOF == fclose_(fp)) |
467 | if(EOF == fclose_(fp)) |
| 467 | { |
468 | { |
| 468 | UART1_PutString("failed!\r\n"); |
469 | UART1_PutString("failed!\r\n"); |
| 469 | } |
470 | } |
| 470 | else |
471 | else |
| 471 | { |
472 | { |
| 472 | UART1_PutString("ok\r\n"); |
473 | UART1_PutString("ok\r\n"); |
| 473 | retval = WPL_OK; |
474 | retval = WPL_OK; |
| 474 | } |
475 | } |
| 475 | } // EOF if(Fat16_IsValid()) |
476 | } // EOF if(Fat16_IsValid()) |
| 476 | else |
477 | else |
| 477 | { |
478 | { |
| 478 | UART1_PutString("no file system found!\r\n"); |
479 | UART1_PutString("no file system found!\r\n"); |
| 479 | retval = WPL_NO_SDCARD_FOUND; |
480 | retval = WPL_NO_SDCARD_FOUND; |
| 480 | } |
481 | } |
| 481 | return(retval); |
482 | return(retval); |
| 482 | } |
483 | } |
| 483 | 484 | ||
| 484 | u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen, u8 use_preset_speed) |
485 | u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen, u8 use_preset_speed) |
| 485 | { |
486 | { |
| 486 | File_t *fp; |
487 | File_t *fp; |
| 487 | s8 wpline[LINE_MAX]; |
488 | s8 wpline[LINE_MAX]; |
| 488 | u8 retval = WPL_ERROR; |
489 | u8 retval = WPL_ERROR; |
| 489 | 490 | ||
| 490 | s8 *name, *value; |
491 | s8 *name, *value; |
| 491 | u8 i; |
492 | u8 i; |
| 492 | 493 | ||
| 493 | u8 IsGeneralSection = 0; |
494 | u8 IsGeneralSection = 0; |
| 494 | u8 IsPointSection = 0; |
495 | u8 IsPointSection = 0; |
| 495 | u8 WPNumber = 0; |
496 | u8 WPNumber = 0; |
| 496 | 497 | ||
| 497 | // clear point list first |
498 | // clear point list first |
| 498 | PointList_Clear(); |
499 | PointList_Clear(); |
| 499 | HeadingOld = -1; // updates the direction if the new direction is the same like last time |
500 | HeadingOld = -1; // updates the direction if the new direction is the same like last time |
| 500 | UART1_PutString("\n\r Read "); |
501 | UART1_PutString("\n\r Read "); |
| 501 | UART1_PutString(filename); |
502 | UART1_PutString(filename); |
| 502 | UART1_PutString("..."); |
503 | UART1_PutString("..."); |
| 503 | 504 | ||
| 504 | if(Fat16_IsValid()) |
505 | if(Fat16_IsValid()) |
| 505 | { // check if wpl file is existing |
506 | { // check if wpl file is existing |
| 506 | fp = fopen_(filename, 'r'); // try to open the file |
507 | fp = fopen_(filename, 'r'); // try to open the file |
| 507 | if(fp == NULL) |
508 | if(fp == NULL) |
| 508 | { |
509 | { |
| 509 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
510 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
| 510 | return(retval); |
511 | return(retval); |
| 511 | } |
512 | } |
| 512 | // read all lines from file |
513 | // read all lines from file |
| 513 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
514 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
| 514 | { |
515 | { |
| 515 | if ( // ignorelines starting with \r,\n,' ',';','#' |
516 | if ( // ignorelines starting with \r,\n,' ',';','#' |
| 516 | (wpline[0] != '\n') && |
517 | (wpline[0] != '\n') && |
| 517 | (wpline[0] != '\r') && |
518 | (wpline[0] != '\r') && |
| 518 | (wpline[0] != ' ' ) && |
519 | (wpline[0] != ' ' ) && |
| 519 | (wpline[0] != ';' ) && |
520 | (wpline[0] != ';' ) && |
| 520 | (wpline[0] != '#' ) |
521 | (wpline[0] != '#' ) |
| 521 | ) |
522 | ) |
| 522 | { |
523 | { |
| 523 | // check for section line found |
524 | // check for section line found |
| 524 | if(wpline[0] == '[') |
525 | if(wpline[0] == '[') |
| 525 | { |
526 | { |
| 526 | // next section found |
527 | // next section found |
| 527 | IsGeneralSection = 0; |
528 | IsGeneralSection = 0; |
| 528 | IsPointSection = 0; |
529 | IsPointSection = 0; |
| 529 | 530 | ||
| 530 | name = strtok(&wpline[1], "]"); |
531 | name = strtok(&wpline[1], "]"); |
| 531 | if(name != NULL) // if section name |
532 | if(name != NULL) // if section name |
| 532 | { |
533 | { |
| 533 | // check section type |
534 | // check section type |
| 534 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
535 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
| 535 | 536 | ||
| 536 | if(strncmp(name, "POINT", 5) == 0) |
537 | if(strncmp(name, "POINT", 5) == 0) |
| 537 | { |
538 | { |
| 538 | IsPointSection = (u8)atoi(&name[5]); |
539 | IsPointSection = (u8)atoi(&name[5]); |
| 539 | PointCount++; |
540 | PointCount++; |
| 540 | } |
541 | } |
| 541 | else if(strcmp(name, "GENERAL") == 0) |
542 | else if(strcmp(name, "GENERAL") == 0) |
| 542 | { |
543 | { |
| 543 | IsGeneralSection = 1; |
544 | IsGeneralSection = 1; |
| 544 | } |
545 | } |
| 545 | else |
546 | else |
| 546 | { |
547 | { |
| 547 | UART1_PutString("Unknown section: "); |
548 | UART1_PutString("Unknown section: "); |
| 548 | UART1_PutString(name); |
549 | UART1_PutString(name); |
| 549 | UART1_PutString("\r\n"); |
550 | UART1_PutString("\r\n"); |
| 550 | } |
551 | } |
| 551 | } |
552 | } |
| 552 | } // EOF section line |
553 | } // EOF section line |
| 553 | else |
554 | else |
| 554 | { // look for key entrys of each sections |
555 | { // look for key entrys of each sections |
| 555 | name = strtok(wpline, "="); // get name |
556 | name = strtok(wpline, "="); // get name |
| 556 | value = strtok(NULL, "="); // get value |
557 | value = strtok(NULL, "="); // get value |
| 557 | if ((name != NULL) && (value != NULL)) |
558 | if ((name != NULL) && (value != NULL)) |
| 558 | { |
559 | { |
| 559 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
560 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); // convert to upper case |
| 560 | if(IsPointSection && (IsPointSection <= WPNumber)) |
561 | if(IsPointSection && (IsPointSection <= WPNumber)) |
| 561 | { |
562 | { |
| 562 | if(strcmp(name, "LATITUDE") == 0) |
563 | if(strcmp(name, "LATITUDE") == 0) |
| 563 | { |
564 | { |
| 564 | PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
565 | PointList[IsPointSection-1].Position.Latitude = (s32)(atof(value) * 1E7); |
| 565 | } |
566 | } |
| 566 | else if(strcmp(name, "LONGITUDE") == 0) |
567 | else if(strcmp(name, "LONGITUDE") == 0) |
| 567 | { |
568 | { |
| 568 | PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
569 | PointList[IsPointSection-1].Position.Longitude = (s32)(atof(value) * 1E7); |
| 569 | } |
570 | } |
| 570 | else if(strcmp(name, "RADIUS") == 0) |
571 | else if(strcmp(name, "RADIUS") == 0) |
| 571 | { |
572 | { |
| 572 | PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
573 | PointList[IsPointSection-1].ToleranceRadius = (u8)atoi(value); |
| 573 | } |
574 | } |
| 574 | else if(strcmp(name, "ALTITUDE") == 0) |
575 | else if(strcmp(name, "ALTITUDE") == 0) |
| 575 | { |
576 | { |
| 576 | PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
577 | PointList[IsPointSection-1].Position.Altitude = (s32)(atof(value) * 100.0); // in cm |
| 577 | PointList[IsPointSection-1].Position.Status = NEWDATA; |
578 | PointList[IsPointSection-1].Position.Status = NEWDATA; |
| 578 | } |
579 | } |
| 579 | else if(strcmp(name, "CLIMBRATE") == 0) |
580 | else if(strcmp(name, "CLIMBRATE") == 0) |
| 580 | { |
581 | { |
| 581 | PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
582 | PointList[IsPointSection-1].AltitudeRate = (u8)atoi(value); |
| 582 | } |
583 | } |
| 583 | else if(strcmp(name, "DELAYTIME") == 0) |
584 | else if(strcmp(name, "DELAYTIME") == 0) |
| 584 | { |
585 | { |
| 585 | PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
586 | PointList[IsPointSection-1].HoldTime = (u8)atoi(value); |
| 586 | } |
587 | } |
| 587 | else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
588 | else if(strcmp(name, "WP_EVENT_CHANNEL_VALUE") == 0) |
| 588 | { |
589 | { |
| 589 | PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
590 | PointList[IsPointSection-1].WP_EventChannelValue = (u8)atoi(value); |
| 590 | } |
591 | } |
| 591 | else if(strcmp(name, "HEADING") == 0) |
592 | else if(strcmp(name, "HEADING") == 0) |
| 592 | { |
593 | { |
| 593 | PointList[IsPointSection-1].Heading = (s16)atoi(value); |
594 | PointList[IsPointSection-1].Heading = (s16)atoi(value); |
| 594 | } |
595 | } |
| 595 | else if(strcmp(name, "SPEED") == 0) |
596 | else if(strcmp(name, "SPEED") == 0) |
| 596 | { |
597 | { |
| 597 | if(use_preset_speed) PointList[IsPointSection-1].Speed = use_preset_speed; |
598 | if(use_preset_speed) PointList[IsPointSection-1].Speed = use_preset_speed; |
| 598 | else PointList[IsPointSection-1].Speed = (u8)atoi(value); |
599 | else PointList[IsPointSection-1].Speed = (u8)atoi(value); |
| 599 | } |
600 | } |
| 600 | else if(strcmp(name, "CAM-NICK") == 0) |
601 | else if(strcmp(name, "CAM-NICK") == 0) |
| 601 | { |
602 | { |
| 602 | PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
603 | PointList[IsPointSection-1].CamAngle = (u8)atoi(value); |
| 603 | } |
604 | } |
| 604 | else if(strcmp(name, "TYPE") == 0) |
605 | else if(strcmp(name, "TYPE") == 0) |
| 605 | { |
606 | { |
| 606 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
607 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
| 607 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
608 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
| 608 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
609 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
| 609 | 610 | ||
| 610 | switch(PointList[IsPointSection-1].Type) |
611 | switch(PointList[IsPointSection-1].Type) |
| 611 | { |
612 | { |
| 612 | case POINT_TYPE_WP: |
613 | case POINT_TYPE_WP: |
| 613 | // this works only if altitude key is set before point type key in WPL file !! |
614 | // this works only if altitude key is set before point type key in WPL file !! |
| 614 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
615 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
| 615 | WPCount++; |
616 | WPCount++; |
| 616 | break; |
617 | break; |
| 617 | 618 | ||
| 618 | case POINT_TYPE_POI: |
619 | case POINT_TYPE_POI: |
| 619 | POICount++; |
620 | POICount++; |
| 620 | break; |
621 | break; |
| 621 | } |
622 | } |
| 622 | } |
623 | } |
| 623 | else if(strcmp(name, "PREFIX") == 0) |
624 | else if(strcmp(name, "PREFIX") == 0) |
| 624 | { |
625 | { |
| 625 | strncpy(PointList[IsPointSection-1].Name, value, 4); |
626 | strncpy(PointList[IsPointSection-1].Name, value, 4); |
| 626 | PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
627 | PointList[IsPointSection-1].Name[3] = 0; // Terminate string |
| 627 | } |
628 | } |
| 628 | else |
629 | else |
| 629 | { |
630 | { |
| 630 | UART1_PutString("Unknown key: "); |
631 | UART1_PutString("Unknown key: "); |
| 631 | UART1_PutString(name); |
632 | UART1_PutString(name); |
| 632 | UART1_PutString("\r\n"); |
633 | UART1_PutString("\r\n"); |
| 633 | } |
634 | } |
| 634 | } // EOF point section |
635 | } // EOF point section |
| 635 | else if(IsGeneralSection) |
636 | else if(IsGeneralSection) |
| 636 | { |
637 | { |
| 637 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
638 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
| 638 | { |
639 | { |
| 639 | WPNumber = (u8)atoi(value); |
640 | WPNumber = (u8)atoi(value); |
| 640 | if(!WPNumber) // no waypoints in file |
641 | if(!WPNumber) // no waypoints in file |
| 641 | { |
642 | { |
| 642 | return(WPL_NO_WAYPOINTS); // we are done here |
643 | return(WPL_NO_WAYPOINTS); // we are done here |
| 643 | } |
644 | } |
| 644 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
645 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
| 645 | { |
646 | { |
| 646 | UART1_PutString("To many points!"); |
647 | UART1_PutString("To many points!"); |
| 647 | return(WPL_ERROR); |
648 | return(WPL_ERROR); |
| 648 | } |
649 | } |
| 649 | } |
650 | } |
| 650 | else if (strcmp(name, "FILEVERSION") == 0) |
651 | else if (strcmp(name, "FILEVERSION") == 0) |
| 651 | { |
652 | { |
| 652 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
653 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
| 653 | { |
654 | { |
| 654 | PointList_Clear(); |
655 | PointList_Clear(); |
| 655 | UART1_PutString("Bad file version!\r\n"); |
656 | UART1_PutString("Bad file version!\r\n"); |
| 656 | return(WPL_ERROR); |
657 | return(WPL_ERROR); |
| 657 | } |
658 | } |
| 658 | } |
659 | } |
| 659 | else if (strcmp(name, "NAME") == 0) |
660 | else if (strcmp(name, "NAME") == 0) |
| 660 | { |
661 | { |
| 661 | if(listname) |
662 | if(listname) |
| 662 | { |
663 | { |
| 663 | u8 len = strlen(value); |
664 | u8 len = strlen(value); |
| 664 | if(len) |
665 | if(len) |
| 665 | { |
666 | { |
| 666 | if(value[len-1] == '\r') |
667 | if(value[len-1] == '\r') |
| 667 | { |
668 | { |
| 668 | value[len-1] = 0; |
669 | value[len-1] = 0; |
| 669 | // len--; |
670 | // len--; |
| 670 | } |
671 | } |
| 671 | } |
672 | } |
| 672 | if(len > listnamelen) len = listnamelen; |
673 | if(len > listnamelen) len = listnamelen; |
| 673 | if(len) |
674 | if(len) |
| 674 | { |
675 | { |
| 675 | value[len-1] = 0; // terminate string |
676 | value[len-1] = 0; // terminate string |
| 676 | if(listname) memcpy(listname, value, len); |
677 | if(listname) memcpy(listname, value, len); |
| 677 | } |
678 | } |
| 678 | NewWPL_Name = 1; |
679 | NewWPL_Name = 1; |
| 679 | } |
680 | } |
| 680 | } |
681 | } |
| 681 | else |
682 | else |
| 682 | { |
683 | { |
| 683 | UART1_PutString("Unknown key: "); |
684 | UART1_PutString("Unknown key: "); |
| 684 | UART1_PutString(name); |
685 | UART1_PutString(name); |
| 685 | UART1_PutString("\r\n"); |
686 | UART1_PutString("\r\n"); |
| 686 | } |
687 | } |
| 687 | } // EOF general section |
688 | } // EOF general section |
| 688 | } // EOF valid key entry |
689 | } // EOF valid key entry |
| 689 | } // EOF key entry line |
690 | } // EOF key entry line |
| 690 | } // valid line |
691 | } // valid line |
| 691 | } // EOF loop over all lines |
692 | } // EOF loop over all lines |
| 692 | fclose_(fp); |
693 | fclose_(fp); |
| 693 | NaviData.WaypointNumber = WPCount; |
694 | NaviData.WaypointNumber = WPCount; |
| 694 | retval = WPL_OK; |
695 | retval = WPL_OK; |
| 695 | UART1_PutString("ok\r\n"); |
696 | UART1_PutString("ok\r\n"); |
| 696 | } // EOF if(Fat16_IsValid()) |
697 | } // EOF if(Fat16_IsValid()) |
| 697 | else |
698 | else |
| 698 | { |
699 | { |
| 699 | UART1_PutString("no file system found!\r\n"); |
700 | UART1_PutString("no file system found!\r\n"); |
| 700 | retval = WPL_NO_SDCARD_FOUND; |
701 | retval = WPL_NO_SDCARD_FOUND; |
| 701 | } |
702 | } |
| 702 | return(retval); |
703 | return(retval); |
| 703 | } |
704 | } |
| 704 | 705 | ||
| 705 | // load actual point list from SD card |
706 | // load actual point list from SD card |
| 706 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
707 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
| 707 | { |
708 | { |
| 708 | u8 filename[30]; |
709 | u8 filename[30]; |
| 709 | 710 | ||
| 710 | pWPL_Store->Name[0] = 0; // clear current list name |
711 | pWPL_Store->Name[0] = 0; // clear current list name |
| 711 | 712 | ||
| 712 | // user absolute path, i.e. leading / |
713 | // user absolute path, i.e. leading / |
| 713 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
714 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
| 714 | { |
715 | { |
| 715 | sprintf(filename, "/default.wpl"); |
716 | sprintf(filename, "/default.wpl"); |
| 716 | } |
717 | } |
| 717 | else |
718 | else |
| 718 | { |
719 | { |
| 719 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
720 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
| 720 | } |
721 | } |
| 721 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),0); |
722 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),0); |
| 722 | } |
723 | } |
| 723 | 724 | ||
| 724 | // save actual point list to SD card |
725 | // save actual point list to SD card |
| 725 | u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
726 | u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
| 726 | { |
727 | { |
| 727 | u8 filename[30]; |
728 | u8 filename[30]; |
| 728 | 729 | ||
| 729 | 730 | ||
| 730 | if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
731 | if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
| 731 | // user absolute path, i.e. leading / |
732 | // user absolute path, i.e. leading / |
| 732 | if(pWPL_Store->Index == 0) |
733 | if(pWPL_Store->Index == 0) |
| 733 | { |
734 | { |
| 734 | sprintf(filename, "/default.wpl"); |
735 | sprintf(filename, "/default.wpl"); |
| 735 | } |
736 | } |
| 736 | else |
737 | else |
| 737 | { |
738 | { |
| 738 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
739 | sprintf(filename, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
| 739 | } |
740 | } |
| 740 | return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
741 | return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
| 741 | } |
742 | } |
| 742 | 743 | ||
| 743 | 744 | ||
| 744 | // save actual gps positiin and heading to file |
745 | // save actual gps positiin and heading to file |
| 745 | u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
746 | u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
| 746 | { |
747 | { |
| 747 | u8 retval = WPL_ERROR; |
748 | u8 retval = WPL_ERROR; |
| 748 | u8 filename[30]; |
749 | u8 filename[30]; |
| 749 | Point_t WP; |
750 | Point_t WP; |
| 750 | 751 | ||
| 751 | UART1_PutString("\n\r write single point\n\r"); |
752 | UART1_PutString("\n\r write single point\n\r"); |
| 752 | if(GPSData.Position.Status == INVALID) |
753 | if(GPSData.Position.Status == INVALID) |
| 753 | { |
754 | { |
| 754 | UART1_PutString("ERROR: No GPS - Fix\n\r"); |
755 | UART1_PutString("ERROR: No GPS - Fix\n\r"); |
| 755 | return(retval); |
756 | return(retval); |
| 756 | } |
757 | } |
| 757 | 758 | ||
| 758 | // clear current point list |
759 | // clear current point list |
| 759 | PointList_Clear(); |
760 | PointList_Clear(); |
| 760 | // prepare WP at current position |
761 | // prepare WP at current position |
| 761 | 762 | ||
| 762 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
763 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
| 763 | { // take actual position |
764 | { // take actual position |
| 764 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
765 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
| 765 | } |
766 | } |
| 766 | else |
767 | else |
| 767 | { // take last target position |
768 | { // take last target position |
| 768 | GPSPos_Copy(&NaviData.TargetPosition, &(WP.Position)); |
769 | GPSPos_Copy(&NaviData.TargetPosition, &(WP.Position)); |
| 769 | } |
770 | } |
| 770 | 771 | ||
| 771 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
772 | GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
| 772 | // set heading |
773 | // set heading |
| 773 | WP.Heading = (CompassSetpointCorrected/10 + Parameter.CamOrientation * 15) % 360; |
774 | WP.Heading = (CompassSetpointCorrected/10 + Parameter.CamOrientation * 15) % 360; |
| 774 | if(WP.Heading == 0) WP.Heading = 360; |
775 | if(WP.Heading == 0) WP.Heading = 360; |
| 775 | WP.ToleranceRadius = 120; // 12m |
776 | WP.ToleranceRadius = 120; // 12m |
| 776 | WP.HoldTime = 2; |
777 | WP.HoldTime = 2; |
| 777 | WP.Index = 1; |
778 | WP.Index = 1; |
| 778 | WP.Type = POINT_TYPE_WP; |
779 | WP.Type = POINT_TYPE_WP; |
| 779 | WP.WP_EventChannelValue = 0; |
780 | WP.WP_EventChannelValue = 0; |
| 780 | if(FC.StatusFlags & FC_STATUS_FLY && ((FromFC_VarioCharacter != ' ') || (SimulationFlags & SIMULATION_ACTIVE))) // only in flight and if the Altitude control is enabled |
781 | if(FC.StatusFlags & FC_STATUS_FLY && ((FromFC_VarioCharacter != ' ') || (SimulationFlags & SIMULATION_ACTIVE))) // only in flight and if the Altitude control is enabled |
| 781 | { |
782 | { |
| 782 | WP.AltitudeRate = 255; // Auto |
783 | WP.AltitudeRate = 255; // Auto |
| 783 | WP.Position.Altitude = NaviData.SetpointAltitude / 2; |
784 | WP.Position.Altitude = NaviData.SetpointAltitude / 2; |
| 784 | } |
785 | } |
| 785 | else |
786 | else |
| 786 | { |
787 | { |
| 787 | WP.AltitudeRate = 0; |
788 | WP.AltitudeRate = 0; |
| 788 | WP.Position.Altitude = 0; |
789 | WP.Position.Altitude = 0; |
| 789 | } |
790 | } |
| 790 | WP.Speed = 50; // beim Laden wird der Wert nochmal neu gesetzt |
791 | WP.Speed = 50; // beim Laden wird der Wert nochmal neu gesetzt |
| 791 | WP.CamAngle = 0; |
792 | WP.CamAngle = 0; |
| 792 | WP.Name[0] = 'S'; |
793 | WP.Name[0] = 'S'; |
| 793 | WP.Name[1] = 'P'; |
794 | WP.Name[1] = 'P'; |
| 794 | WP.Name[2] = 'T'; |
795 | WP.Name[2] = 'T'; |
| 795 | WP.Name[3] = 0; |
796 | WP.Name[3] = 0; |
| 796 | // add this point to wp list |
797 | // add this point to wp list |
| 797 | PointList_SetAt(&WP); |
798 | PointList_SetAt(&WP); |
| 798 | 799 | ||
| 799 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
800 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
| 800 | UART1_PutString(filename); |
801 | UART1_PutString(filename); |
| 801 | sprintf(pWPL_Store->Name, "POINT%03d ", pWPL_Store->Index); |
802 | sprintf(pWPL_Store->Name, "POINT%03d ", pWPL_Store->Index); |
| 802 | retval = PointList_Save(filename, pWPL_Store->Name, 1); |
803 | retval = PointList_Save(filename, pWPL_Store->Name, 1); |
| 803 | 804 | ||
| 804 | // clear current point list |
805 | // clear current point list |
| 805 | if((NC_GPS_ModeCharacter != 'w') && (NC_GPS_ModeCharacter != 'W')) PointList_Clear(); |
806 | if((NC_GPS_ModeCharacter != 'w') && (NC_GPS_ModeCharacter != 'W')) PointList_Clear(); |
| 806 | else // es ist gearde ein Wegpunktflug aktiv -> updaten |
807 | else // es ist gearde ein Wegpunktflug aktiv -> updaten |
| 807 | { |
808 | { |
| 808 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
809 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
| 809 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
810 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
| 810 | } |
811 | } |
| 811 | 812 | ||
| 812 | return(retval); |
813 | return(retval); |
| 813 | } |
814 | } |
| 814 | // load target gps posititon and heading from file |
815 | // load target gps posititon and heading from file |
| 815 | u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store) |
816 | u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store) |
| 816 | { |
817 | { |
| 817 | u8 filename[30], result = 0; |
818 | u8 filename[30], result = 0; |
| 818 | 819 | ||
| 819 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
820 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
| 820 | pWPL_Store->Name[0] = 0; // clear current list name |
821 | pWPL_Store->Name[0] = 0; // clear current list name |
| 821 | result = PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),Parameter.SingleWpSpeed); |
822 | result = PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name),Parameter.SingleWpSpeed); |
| 822 | if(result) UART1_Request_ReadPoint = 1; // Sends Point 1 to the PC |
823 | if(result) UART1_Request_ReadPoint = 1; // Sends Point 1 to the PC |
| 823 | return(result); |
824 | return(result); |
| 824 | } |
825 | } |
| 825 | 826 | ||
| 826 | 827 | ||
| 827 | 828 | ||
| 828 | void ClearWLP_Name(void) |
829 | void ClearWLP_Name(void) |
| 829 | { |
830 | { |
| 830 | u8 i; |
831 | u8 i; |
| 831 | for(i=0; i<sizeof(WPL_Store.Name);i++) WPL_Store.Name[i] = 0; |
832 | for(i=0; i<sizeof(WPL_Store.Name);i++) WPL_Store.Name[i] = 0; |
| 832 | NewWPL_Name = 1; |
833 | NewWPL_Name = 1; |
| 833 | } |
834 | } |
| 834 | 835 | ||
| 835 | // move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards |
836 | // move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards |
| 836 | u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle) |
837 | u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle) |
| 837 | { |
838 | { |
| 838 | u8 retval = 0; |
839 | u8 retval = 0; |
| 839 | s32 altitude; |
840 | s32 altitude; |
| 840 | GPS_Pos_t OldRefPos; |
841 | GPS_Pos_t OldRefPos; |
| 841 | GPS_Pos_Deviation_t RefDeviation; |
842 | GPS_Pos_Deviation_t RefDeviation; |
| 842 | 843 | ||
| 843 | // check inputs for plausibility; |
844 | // check inputs for plausibility; |
| 844 | if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
845 | if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
| 845 | if(pRefPos == NULL) return(retval); |
846 | if(pRefPos == NULL) return(retval); |
| 846 | if(pRefPos->Status == INVALID) return(retval); |
847 | if(pRefPos->Status == INVALID) return(retval); |
| 847 | 848 | ||
| 848 | if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &OldRefPos)) // backup old reference position |
849 | if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &OldRefPos)) // backup old reference position |
| 849 | { |
850 | { |
| 850 | u8 i; |
851 | u8 i; |
| 851 | // iterate the position list |
852 | // iterate the position list |
| 852 | for(i = 0; i < PointCount; i++) |
853 | for(i = 0; i < PointCount; i++) |
| 853 | { |
854 | { |
| 854 | retval = 0; |
855 | retval = 0; |
| 855 | // backup altitude of this point |
856 | // backup altitude of this point |
| 856 | altitude = PointList[i].Position.Altitude; |
857 | altitude = PointList[i].Position.Altitude; |
| 857 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
858 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
| 858 | if(!GPSPos_Deviation(&(PointList[i].Position), &OldRefPos, &RefDeviation)) break; |
859 | if(!GPSPos_Deviation(&(PointList[i].Position), &OldRefPos, &RefDeviation)) break; |
| 859 | // copy of the new reference position into this list place |
860 | // copy of the new reference position into this list place |
| 860 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
861 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
| 861 | // restore former altitude |
862 | // restore former altitude |
| 862 | PointList[i].Position.Altitude = altitude; |
863 | PointList[i].Position.Altitude = altitude; |
| 863 | // move new reference according to the deviation of the old reference |
864 | // move new reference according to the deviation of the old reference |
| 864 | if(RotationAngle > 0) |
865 | if(RotationAngle > 0) |
| 865 | { |
866 | { |
| 866 | retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360, RefDeviation.Distance ); |
867 | retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360, RefDeviation.Distance ); |
| 867 | // Now rotate the heading positions if they are fixed angles |
868 | // Now rotate the heading positions if they are fixed angles |
| 868 | if(PointList[i].Heading >= 0 && PointList[i].Heading <= 360) PointList[i].Heading = (PointList[i].Heading + RotationAngle) % 360; |
869 | if(PointList[i].Heading >= 0 && PointList[i].Heading <= 360) PointList[i].Heading = (PointList[i].Heading + RotationAngle) % 360; |
| 869 | } |
870 | } |
| 870 | else // no rotation |
871 | else // no rotation |
| 871 | { |
872 | { |
| 872 | // move new reference according to the deviation of the old reference |
873 | // move new reference according to the deviation of the old reference |
| 873 | retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
874 | retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
| 874 | } |
875 | } |
| 875 | if(!retval) break; |
876 | if(!retval) break; |
| 876 | } |
877 | } |
| 877 | } // else ref pos old not copied! |
878 | } // else ref pos old not copied! |
| 878 | if(!retval) PointList_Clear(); |
879 | if(!retval) PointList_Clear(); |
| 879 | return(retval); |
880 | return(retval); |
| 880 | } |
881 | } |
| 881 | 882 | ||
| 882 | 883 | ||
| 883 | 884 | ||
| 884 | 885 | ||