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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 31 |
64 | #define WPLISTLEN 31 |
65 | 65 | ||
66 | Waypoint_t WPList[WPLISTLEN]; |
66 | Waypoint_t WPList[WPLISTLEN]; |
67 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPNumber |
67 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPNumber |
68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPNumber |
68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPNumber |
69 | u8 WPNumber = 0; // number of wp in the list can be maximal equal to WPLISTLEN |
69 | u8 WPNumber = 0; // number of wp in the list can be maximal equal to WPLISTLEN |
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; // real list position are 1 ,2, 3 ... |
79 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
80 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
80 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
81 | WPNumber = 0; // no contents |
81 | WPNumber = 0; // no contents |
82 | NaviData.WaypointNumber = WPNumber; |
82 | NaviData.WaypointNumber = WPNumber; |
83 | NaviData.WaypointIndex = WPIndex; |
83 | NaviData.WaypointIndex = WPIndex; |
84 | 84 | ||
85 | for(i = 0; i < WPLISTLEN; i++) |
85 | for(i = 0; i < WPLISTLEN; i++) |
86 | { |
86 | { |
87 | WPList[i].Position.Status = INVALID; |
87 | WPList[i].Position.Status = INVALID; |
88 | WPList[i].Position.Latitude = 0; |
88 | WPList[i].Position.Latitude = 0; |
89 | WPList[i].Position.Longitude = 0; |
89 | WPList[i].Position.Longitude = 0; |
90 | WPList[i].Position.Altitude = 0; |
90 | WPList[i].Position.Altitude = 0; |
91 | WPList[i].Heading = 361; // invalid value |
91 | WPList[i].Heading = 361; // invalid value |
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].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target 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].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 |
94 | WPList[i].Event_Flag = 0; // future implementation |
94 | WPList[i].Event_Flag = 0; // future implementation |
95 | WPList[i].Type = POINT_TYPE_WP; |
95 | WPList[i].Type = POINT_TYPE_WP; |
96 | } |
96 | } |
97 | return TRUE; |
97 | return TRUE; |
98 | } |
98 | } |
99 | 99 | ||
100 | u8 WPList_GetCount(void) |
100 | u8 WPList_GetCount(void) |
101 | { |
101 | { |
102 | return WPNumber; // number of points in the list |
102 | return WPNumber; // number of points in the list |
103 | } |
103 | } |
104 | 104 | ||
105 | u8 WPList_Append(Waypoint_t* pwp) |
105 | u8 WPList_Append(Waypoint_t* pwp) |
106 | { |
106 | { |
107 | if(WPNumber < WPLISTLEN) // there is still some space in the list |
107 | if((WPNumber < WPLISTLEN) && (pwp->Index == (WPNumber + 1)) ) // there is still some space in the list and index points to next |
108 | { |
108 | { |
109 | memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry // increment list length |
109 | memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry // increment list length |
110 | WPNumber++; |
110 | WPNumber++; |
111 | NaviData.WaypointNumber = WPNumber; |
111 | NaviData.WaypointNumber = WPNumber; |
- | 112 | if(WPNumber == 1) // only for the first entry |
|
- | 113 | { |
|
- | 114 | // update POI index |
|
- | 115 | switch(WPList[WPIndex-1].Type) |
|
- | 116 | { |
|
- | 117 | case POINT_TYPE_WP: |
|
- | 118 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
|
- | 119 | else POIIndex = 0; |
|
- | 120 | break; |
|
- | 121 | ||
- | 122 | case POINT_TYPE_POI: |
|
- | 123 | POIIndex = 1; |
|
- | 124 | break; |
|
- | 125 | ||
- | 126 | default: |
|
- | 127 | POIIndex = 0; |
|
- | 128 | break; |
|
- | 129 | } |
|
- | 130 | } |
|
112 | return TRUE; |
131 | return TRUE; |
113 | } |
132 | } |
114 | else return FALSE; |
133 | else return FALSE; |
115 | } |
134 | } |
116 | 135 | ||
117 | // returns the pointer to the first waypoint within the list |
136 | // returns the pointer to the first waypoint within the list |
118 | Waypoint_t* WPList_Begin(void) |
137 | Waypoint_t* WPList_Begin(void) |
119 | { |
138 | { |
- | 139 | u8 i; |
|
120 | WPIndex = 0; // set list position invalid |
140 | WPIndex = 0; // set list position invalid |
- | 141 | POIIndex = 0; // set invalid POI |
|
121 | 142 | ||
122 | if(WPNumber > 0) |
143 | if(WPNumber > 0) |
123 | { |
144 | { |
124 | u8 i; |
145 | |
125 | // search for first wp in list |
146 | // search for first wp in list |
126 | for(i = 0; i < WPNumber; i++) |
147 | for(i = 0; i < WPNumber; i++) |
127 | { |
148 | { |
128 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) |
149 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) |
129 | { |
150 | { |
130 | WPIndex = i + 1; |
151 | WPIndex = i + 1; |
131 | break; |
152 | break; |
132 | } |
153 | } |
133 | } |
154 | } |
- | 155 | if(WPIndex) // found a WP in the list |
|
- | 156 | { |
|
- | 157 | NaviData.WaypointIndex = WPIndex; |
|
- | 158 | // update index to POI |
|
- | 159 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
|
- | 160 | else POIIndex = 0; |
|
- | 161 | return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
|
- | 162 | } |
|
- | 163 | else // some points in the list but no WP found |
|
- | 164 | { |
|
- | 165 | NaviData.WaypointIndex = WPIndex; |
|
- | 166 | //Check for an existing POI |
|
- | 167 | for(i = 0; i < WPNumber; i++) |
|
- | 168 | { |
|
- | 169 | if((WPList[i].Type == POINT_TYPE_POI) && (WPList[i].Position.Status != INVALID)) |
|
- | 170 | { |
|
- | 171 | POIIndex = i + 1; |
|
- | 172 | break; |
|
- | 173 | } |
|
- | 174 | } |
|
- | 175 | return NULL; |
|
- | 176 | } |
|
134 | } |
177 | } |
135 | if(WPIndex) // found a WP in the list |
178 | else // no point in the list |
136 | { |
- | |
137 | NaviData.WaypointIndex = WPIndex; |
- | |
138 | // update index to POI |
- | |
139 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
- | |
140 | else POIIndex = 0; |
- | |
141 | return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
- | |
142 | } |
- | |
143 | else |
- | |
144 | { |
179 | { |
145 | POIIndex = 0; |
180 | POIIndex = 0; |
146 | NaviData.WaypointIndex = WPIndex; |
181 | NaviData.WaypointIndex = WPIndex; |
147 | return NULL; |
182 | return NULL; |
148 | } |
183 | } |
149 | } |
184 | } |
150 | 185 | ||
151 | // returns the last waypoint |
186 | // returns the last waypoint |
152 | Waypoint_t* WPList_End(void) |
187 | Waypoint_t* WPList_End(void) |
153 | { |
188 | { |
- | 189 | ||
- | 190 | u8 i; |
|
154 | WPIndex = 0; // set list position invalid |
191 | WPIndex = 0; // set list position invalid |
- | 192 | POIIndex = 0; // set invalid |
|
- | 193 | ||
155 | if(WPNumber > 0) |
194 | if(WPNumber > 0) |
156 | { |
195 | { |
157 | // search backward! |
196 | // search backward! |
158 | u8 i; |
- | |
159 | for(i = 1; i <= WPNumber; i++) |
197 | for(i = 1; i <= WPNumber; i++) |
160 | { |
198 | { |
161 | if((WPList[WPNumber - i].Type == POINT_TYPE_WP) && (WPList[WPNumber - i].Position.Status != INVALID)) |
199 | if((WPList[WPNumber - i].Type == POINT_TYPE_WP) && (WPList[WPNumber - i].Position.Status != INVALID)) |
162 | { |
200 | { |
163 | WPIndex = WPNumber - i + 1; |
201 | WPIndex = WPNumber - i + 1; |
164 | break; |
202 | break; |
165 | } |
203 | } |
166 | } |
204 | } |
- | 205 | if(WPIndex) // found a WP within the list |
|
- | 206 | { |
|
- | 207 | NaviData.WaypointIndex = WPIndex; |
|
- | 208 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
|
- | 209 | else POIIndex = 0; |
|
- | 210 | return(&(WPList[WPIndex-1])); |
|
- | 211 | } |
|
- | 212 | else // list conbtains some points but no WP in the list |
|
- | 213 | { |
|
- | 214 | // search backward for a POI! |
|
- | 215 | for(i = 1; i <= WPNumber; i++) |
|
- | 216 | { |
|
- | 217 | if((WPList[WPNumber - i].Type == POINT_TYPE_POI) && (WPList[WPNumber - i].Position.Status != INVALID)) |
|
- | 218 | { |
|
- | 219 | POIIndex = WPNumber - i + 1; |
|
- | 220 | break; |
|
- | 221 | } |
|
- | 222 | } |
|
- | 223 | NaviData.WaypointIndex = WPIndex; |
|
- | 224 | return NULL; |
|
- | 225 | } |
|
167 | } |
226 | } |
168 | if(WPIndex) // found a WP within the list |
227 | else // no point in the list |
169 | { |
- | |
170 | NaviData.WaypointIndex = WPIndex; |
- | |
171 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
- | |
172 | else POIIndex = 0; |
- | |
173 | return(&(WPList[WPIndex-1])); |
- | |
174 | } |
- | |
175 | else |
- | |
176 | { |
228 | { |
177 | POIIndex = 0; |
229 | POIIndex = 0; |
178 | NaviData.WaypointIndex = WPIndex; |
230 | NaviData.WaypointIndex = WPIndex; |
179 | return NULL; |
231 | return NULL; |
180 | } |
232 | } |
181 | } |
233 | } |
182 | 234 | ||
183 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
235 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
184 | Waypoint_t* WPList_Next(void) |
236 | Waypoint_t* WPList_Next(void) |
185 | { |
237 | { |
186 | u8 wp_found = 0; |
238 | u8 wp_found = 0; |
187 | 239 | ||
188 | if(WPIndex < WPNumber) // if there is a next entry in the list |
240 | if(WPIndex < WPNumber) // if there is a next entry in the list |
189 | { |
241 | { |
190 | u8 i; |
242 | u8 i; |
191 | for(i = WPIndex; i < WPNumber; i++) // start search for next at next list entry |
243 | for(i = WPIndex; i < WPNumber; i++) // start search for next at next list entry |
192 | { |
244 | { |
193 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) // jump over POIs |
245 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) // jump over POIs |
194 | { |
246 | { |
195 | wp_found = i+1; |
247 | wp_found = i+1; |
196 | break; |
248 | break; |
197 | } |
249 | } |
198 | } |
250 | } |
199 | } |
251 | } |
200 | if(wp_found) |
252 | if(wp_found) |
201 | { |
253 | { |
202 | WPIndex = wp_found; // update list position |
254 | WPIndex = wp_found; // update list position |
203 | NaviData.WaypointIndex = WPIndex; |
255 | NaviData.WaypointIndex = WPIndex; |
204 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
256 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
205 | else POIIndex = 0; |
257 | else POIIndex = 0; |
206 | return(&(WPList[WPIndex-1])); // return pointer to this waypoint |
258 | return(&(WPList[WPIndex-1])); // return pointer to this waypoint |
207 | } |
259 | } |
- | 260 | else |
|
- | 261 | { |
|
- | 262 | NaviData.WaypointIndex = WPIndex; |
|
- | 263 | POIIndex = 0; |
|
208 | else return(NULL); |
264 | return(NULL); |
- | 265 | } |
|
209 | } |
266 | } |
210 | 267 | ||
211 | Waypoint_t* WPList_GetAt(u8 index) |
268 | Waypoint_t* WPList_GetAt(u8 index) |
212 | { |
269 | { |
213 | if((index > 0) && (index <= WPNumber)) return(&(WPList[index-1])); // return pointer to this waypoint |
270 | if((index > 0) && (index <= WPNumber)) return(&(WPList[index-1])); // return pointer to this waypoint |
214 | else return(NULL); |
271 | else return(NULL); |
215 | } |
272 | } |
216 | 273 | ||
217 | Waypoint_t* WPList_GetPOI(void) |
274 | Waypoint_t* WPList_GetPOI(void) |
218 | { |
275 | { |
219 | return WPList_GetAt(POIIndex); |
276 | return WPList_GetAt(POIIndex); |
220 | } |
277 | } |
221 | 278 | ||
222 | 279 |