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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 MAX_LIST_LEN 31 |
64 | #define MAX_LIST_LEN 31 |
| 65 | 65 | ||
| 66 | Point_t PointList[MAX_LIST_LEN]; |
66 | Point_t PointList[MAX_LIST_LEN]; |
| 67 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
67 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
| 68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
| 69 | u8 WPCount = 0; // number of waypoints |
69 | u8 WPCount = 0; // number of waypoints |
| 70 | u8 PointCount = 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN |
70 | u8 PointCount = 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN |
| 71 | u8 POICount = 0; |
71 | u8 POICount = 0; |
| 72 | 72 | ||
| 73 | u8 WPActive = TRUE; |
73 | u8 WPActive = FALSE; |
| 74 | 74 | ||
| 75 | u8 PointList_Init(void) |
75 | u8 PointList_Init(void) |
| 76 | { |
76 | { |
| 77 | return PointList_Clear(); |
77 | return PointList_Clear(); |
| 78 | } |
78 | } |
| 79 | 79 | ||
| 80 | u8 PointList_Clear(void) |
80 | u8 PointList_Clear(void) |
| 81 | { |
81 | { |
| 82 | u8 i; |
82 | u8 i; |
| 83 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
83 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
| 84 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
84 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
| 85 | WPCount = 0; // no waypoints |
85 | WPCount = 0; // no waypoints |
| 86 | POICount = 0; |
86 | POICount = 0; |
| 87 | PointCount = 0; // no contents |
87 | PointCount = 0; // no contents |
| 88 | WPActive = TRUE; |
88 | WPActive = FALSE; |
| 89 | NaviData.WaypointNumber = WPCount; |
89 | NaviData.WaypointNumber = WPCount; |
| 90 | NaviData.WaypointIndex = 0; |
90 | NaviData.WaypointIndex = 0; |
| 91 | 91 | ||
| 92 | for(i = 0; i < MAX_LIST_LEN; i++) |
92 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 93 | { |
93 | { |
| 94 | PointList[i].Position.Status = INVALID; |
94 | PointList[i].Position.Status = INVALID; |
| 95 | PointList[i].Position.Latitude = 0; |
95 | PointList[i].Position.Latitude = 0; |
| 96 | PointList[i].Position.Longitude = 0; |
96 | PointList[i].Position.Longitude = 0; |
| 97 | PointList[i].Position.Altitude = 0; |
97 | PointList[i].Position.Altitude = 0; |
| 98 | PointList[i].Heading = 361; // invalid value |
98 | PointList[i].Heading = 361; // invalid value |
| 99 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
99 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
| 100 | PointList[i].HoldTime = 0; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
100 | PointList[i].HoldTime = 0; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
| 101 | PointList[i].Type = POINT_TYPE_INVALID; |
101 | PointList[i].Type = POINT_TYPE_INVALID; |
| 102 | PointList[i].Event_Flag = 0; // future implementation |
102 | PointList[i].Event_Flag = 0; // future implementation |
| 103 | PointList[i].AltitudeRate = 0; // no change of setpoint |
103 | PointList[i].AltitudeRate = 0; // no change of setpoint |
| 104 | } |
104 | } |
| 105 | return TRUE; |
105 | return TRUE; |
| 106 | } |
106 | } |
| 107 | 107 | ||
| 108 | u8 PointList_GetCount(void) |
108 | u8 PointList_GetCount(void) |
| 109 | { |
109 | { |
| 110 | return PointCount; // number of points in the list |
110 | return PointCount; // number of points in the list |
| 111 | } |
111 | } |
| 112 | 112 | ||
| 113 | Point_t* PointList_GetAt(u8 index) |
113 | Point_t* PointList_GetAt(u8 index) |
| 114 | { |
114 | { |
| 115 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
115 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
| 116 | else return(NULL); |
116 | else return(NULL); |
| 117 | } |
117 | } |
| 118 | 118 | ||
| 119 | u8 PointList_SetAt(Point_t* pPoint) |
119 | u8 PointList_SetAt(Point_t* pPoint) |
| 120 | { |
120 | { |
| 121 | // if index is in range |
121 | // if index is in range |
| 122 | if((pPoint->Index > 0) && (pPoint->Index < MAX_LIST_LEN)) |
122 | if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
| 123 | { |
123 | { |
| 124 | // check list entry before update |
124 | // check list entry before update |
| 125 | if(PointList[pPoint->Index-1].Type) |
- | |
| 126 | switch(PointList[pPoint->Index-1].Type) |
125 | switch(PointList[pPoint->Index-1].Type) |
| 127 | { |
126 | { |
| 128 | case POINT_TYPE_INVALID: // was invalid |
127 | case POINT_TYPE_INVALID: // was invalid |
| 129 | switch(pPoint->Type) |
128 | switch(pPoint->Type) |
| 130 | { |
129 | { |
| 131 | default: |
130 | default: |
| 132 | case POINT_TYPE_INVALID: |
131 | case POINT_TYPE_INVALID: |
| 133 | // nothing to do |
132 | // nothing to do |
| 134 | break; |
133 | break; |
| 135 | 134 | ||
| 136 | case POINT_TYPE_WP: |
135 | case POINT_TYPE_WP: |
| 137 | WPCount++; |
136 | WPCount++; |
| 138 | PointCount++; |
137 | PointCount++; |
| 139 | break; |
138 | break; |
| 140 | 139 | ||
| 141 | case POINT_TYPE_POI: |
140 | case POINT_TYPE_POI: |
| 142 | POICount++; |
141 | POICount++; |
| 143 | PointCount++; |
142 | PointCount++; |
| 144 | break; |
143 | break; |
| 145 | } |
144 | } |
| 146 | break; |
145 | break; |
| 147 | 146 | ||
| 148 | case POINT_TYPE_WP: // was a waypoint |
147 | case POINT_TYPE_WP: // was a waypoint |
| 149 | switch(pPoint->Type) |
148 | switch(pPoint->Type) |
| 150 | { |
149 | { |
| 151 | case POINT_TYPE_INVALID: |
150 | case POINT_TYPE_INVALID: |
| 152 | WPCount--; |
151 | WPCount--; |
| 153 | PointCount--; |
152 | PointCount--; |
| 154 | break; |
153 | break; |
| 155 | 154 | ||
| 156 | default: |
155 | default: |
| 157 | case POINT_TYPE_WP: |
156 | case POINT_TYPE_WP: |
| 158 | //nothing to do |
157 | //nothing to do |
| 159 | break; |
158 | break; |
| 160 | 159 | ||
| 161 | case POINT_TYPE_POI: |
160 | case POINT_TYPE_POI: |
| 162 | POICount++; |
161 | POICount++; |
| 163 | WPCount--; |
162 | WPCount--; |
| 164 | break; |
163 | break; |
| 165 | } |
164 | } |
| 166 | break; |
165 | break; |
| 167 | 166 | ||
| 168 | case POINT_TYPE_POI: // was a poi |
167 | case POINT_TYPE_POI: // was a poi |
| 169 | switch(pPoint->Type) |
168 | switch(pPoint->Type) |
| 170 | { |
169 | { |
| 171 | case POINT_TYPE_INVALID: |
170 | case POINT_TYPE_INVALID: |
| 172 | POICount--; |
171 | POICount--; |
| 173 | PointCount--; |
172 | PointCount--; |
| 174 | break; |
173 | break; |
| 175 | 174 | ||
| 176 | case POINT_TYPE_WP: |
175 | case POINT_TYPE_WP: |
| 177 | WPCount++; |
176 | WPCount++; |
| 178 | POICount--; |
177 | POICount--; |
| 179 | break; |
178 | break; |
| 180 | 179 | ||
| 181 | case POINT_TYPE_POI: |
180 | case POINT_TYPE_POI: |
| 182 | default: |
181 | default: |
| 183 | // nothing to do |
182 | // nothing to do |
| 184 | break; |
183 | break; |
| 185 | } |
184 | } |
| 186 | break; |
185 | break; |
| 187 | } |
186 | } |
| 188 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
187 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
| 189 | NaviData.WaypointNumber = WPCount; |
188 | NaviData.WaypointNumber = WPCount; |
| 190 | return pPoint->Index; |
189 | return pPoint->Index; |
| 191 | } |
190 | } |
| 192 | else return 0; |
191 | else return(0); |
| 193 | } |
192 | } |
| 194 | 193 | ||
| 195 | // returns the pointer to the first waypoint within the list |
194 | // returns the pointer to the first waypoint within the list |
| 196 | Point_t* PointList_WPBegin(void) |
195 | Point_t* PointList_WPBegin(void) |
| 197 | { |
196 | { |
| 198 | u8 i; |
197 | u8 i; |
| 199 | WPIndex = 0; // set list position invalid |
198 | WPIndex = 0; // set list position invalid |
| 200 | 199 | ||
| 201 | if(WPActive == FALSE) return(NULL); |
200 | if(WPActive == FALSE) return(NULL); |
| 202 | 201 | ||
| 203 | POIIndex = 0; // set invalid POI |
202 | POIIndex = 0; // set invalid POI |
| 204 | if(PointCount > 0) |
203 | if(PointCount > 0) |
| 205 | { |
204 | { |
| 206 | // search for first wp in list |
205 | // search for first wp in list |
| 207 | for(i = 0; i <MAX_LIST_LEN; i++) |
206 | for(i = 0; i <MAX_LIST_LEN; i++) |
| 208 | { |
207 | { |
| 209 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
208 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
| 210 | { |
209 | { |
| 211 | WPIndex = i + 1; |
210 | WPIndex = i + 1; |
| 212 | break; |
211 | break; |
| 213 | } |
212 | } |
| 214 | } |
213 | } |
| 215 | if(WPIndex) // found a WP in the list |
214 | if(WPIndex) // found a WP in the list |
| 216 | { |
215 | { |
| 217 | NaviData.WaypointIndex = 1; |
216 | NaviData.WaypointIndex = 1; |
| 218 | // update index to POI |
217 | // update index to POI |
| 219 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
218 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 220 | else POIIndex = 0; |
219 | else POIIndex = 0; |
| 221 | return(&(PointList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
- | |
| 222 | } |
220 | } |
| 223 | else // some points in the list but no WP found |
221 | else // some points in the list but no WP found |
| 224 | { |
222 | { |
| 225 | NaviData.WaypointIndex = 0; |
223 | NaviData.WaypointIndex = 0; |
| 226 | //Check for an existing POI |
224 | //Check for an existing POI |
| 227 | for(i = 0; i < MAX_LIST_LEN; i++) |
225 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 228 | { |
226 | { |
| 229 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
227 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
| 230 | { |
228 | { |
| 231 | POIIndex = i + 1; |
229 | POIIndex = i + 1; |
| 232 | break; |
230 | break; |
| 233 | } |
231 | } |
| 234 | } |
232 | } |
| 235 | } |
233 | } |
| 236 | } |
234 | } |
| 237 | else // no point in the list |
235 | else // no point in the list |
| 238 | { |
236 | { |
| 239 | POIIndex = 0; |
237 | POIIndex = 0; |
| 240 | NaviData.WaypointIndex = 0; |
238 | NaviData.WaypointIndex = 0; |
| 241 | } |
239 | } |
| 242 | 240 | ||
| 243 | if(WPIndex) return(&(PointList[WPIndex-1])); |
241 | if(WPIndex) return(&(PointList[WPIndex-1])); |
| 244 | else return(NULL); |
242 | else return(NULL); |
| 245 | } |
243 | } |
| 246 | 244 | ||
| 247 | // returns the last waypoint |
245 | // returns the last waypoint |
| 248 | Point_t* PointList_WPEnd(void) |
246 | Point_t* PointList_WPEnd(void) |
| 249 | { |
247 | { |
| 250 | 248 | ||
| 251 | u8 i; |
249 | u8 i; |
| 252 | WPIndex = 0; // set list position invalid |
250 | WPIndex = 0; // set list position invalid |
| 253 | POIIndex = 0; // set invalid |
251 | POIIndex = 0; // set invalid |
| 254 | 252 | ||
| 255 | if(WPActive == FALSE) return(NULL); |
253 | if(WPActive == FALSE) return(NULL); |
| 256 | 254 | ||
| 257 | if(PointCount > 0) |
255 | if(PointCount > 0) |
| 258 | { |
256 | { |
| 259 | // search backward! |
257 | // search backward! |
| 260 | for(i = 1; i <= MAX_LIST_LEN; i++) |
258 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 261 | { |
259 | { |
| 262 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
260 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 263 | { |
261 | { |
| 264 | WPIndex = MAX_LIST_LEN - i + 1; |
262 | WPIndex = MAX_LIST_LEN - i + 1; |
| 265 | break; |
263 | break; |
| 266 | } |
264 | } |
| 267 | } |
265 | } |
| 268 | if(WPIndex) // found a WP within the list |
266 | if(WPIndex) // found a WP within the list |
| 269 | { |
267 | { |
| 270 | NaviData.WaypointIndex = WPCount; |
268 | NaviData.WaypointIndex = WPCount; |
| 271 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
269 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 272 | else POIIndex = 0; |
270 | else POIIndex = 0; |
| 273 | } |
271 | } |
| 274 | else // list contains some points but no WP in the list |
272 | else // list contains some points but no WP in the list |
| 275 | { |
273 | { |
| 276 | // search backward for a POI! |
274 | // search backward for a POI! |
| 277 | for(i = 1; i <= MAX_LIST_LEN; i++) |
275 | for(i = 1; i <= MAX_LIST_LEN; i++) |
| 278 | { |
276 | { |
| 279 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
277 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
| 280 | { |
278 | { |
| 281 | POIIndex = MAX_LIST_LEN - i + 1; |
279 | POIIndex = MAX_LIST_LEN - i + 1; |
| 282 | break; |
280 | break; |
| 283 | } |
281 | } |
| 284 | } |
282 | } |
| 285 | NaviData.WaypointIndex = 0; |
283 | NaviData.WaypointIndex = 0; |
| 286 | } |
284 | } |
| 287 | } |
285 | } |
| 288 | else // no point in the list |
286 | else // no point in the list |
| 289 | { |
287 | { |
| 290 | POIIndex = 0; |
288 | POIIndex = 0; |
| 291 | NaviData.WaypointIndex = 0; |
289 | NaviData.WaypointIndex = 0; |
| 292 | } |
290 | } |
| 293 | if(WPIndex) return(&(PointList[WPIndex-1])); |
291 | if(WPIndex) return(&(PointList[WPIndex-1])); |
| 294 | else return(NULL); |
292 | else return(NULL); |
| 295 | } |
293 | } |
| 296 | 294 | ||
| 297 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
295 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
| 298 | Point_t* PointList_WPNext(void) |
296 | Point_t* PointList_WPNext(void) |
| 299 | { |
297 | { |
| 300 | u8 wp_found = 0; |
298 | u8 wp_found = 0; |
| 301 | if(WPActive == FALSE) return(NULL); |
299 | if(WPActive == FALSE) return(NULL); |
| 302 | 300 | ||
| 303 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
301 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
| 304 | { |
302 | { |
| 305 | u8 i; |
303 | u8 i; |
| 306 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
304 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
| 307 | { |
305 | { |
| 308 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
306 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
| 309 | { |
307 | { |
| 310 | wp_found = i+1; |
308 | wp_found = i+1; |
| 311 | break; |
309 | break; |
| 312 | } |
310 | } |
| 313 | } |
311 | } |
| 314 | } |
312 | } |
| 315 | if(wp_found) |
313 | if(wp_found) |
| 316 | { |
314 | { |
| 317 | WPIndex = wp_found; // update list position |
315 | WPIndex = wp_found; // update list position |
| 318 | NaviData.WaypointIndex++; |
316 | NaviData.WaypointIndex++; |
| 319 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
317 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 320 | else POIIndex = 0; |
318 | else POIIndex = 0; |
| 321 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
319 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
| 322 | } |
320 | } |
| 323 | else |
321 | else |
| 324 | { // no next wp found |
322 | { // no next wp found |
| 325 | NaviData.WaypointIndex = 0; |
323 | NaviData.WaypointIndex = 0; |
| 326 | POIIndex = 0; |
324 | POIIndex = 0; |
| 327 | return(NULL); |
325 | return(NULL); |
| 328 | } |
326 | } |
| 329 | } |
327 | } |
| 330 | 328 | ||
| 331 | void PointList_WPActive(u8 set) |
329 | void PointList_WPActive(u8 set) |
| 332 | { |
330 | { |
| 333 | if(set) |
331 | if(set) |
| 334 | { |
332 | { |
| 335 | WPActive = TRUE; |
333 | WPActive = TRUE; |
| 336 | PointList_WPBegin(); // uopdates POI index |
334 | PointList_WPBegin(); // uopdates POI index |
| 337 | } |
335 | } |
| 338 | else |
336 | else |
| 339 | { |
337 | { |
| 340 | WPActive = FALSE; |
338 | WPActive = FALSE; |
| 341 | POIIndex = 0; // disable POI also |
339 | POIIndex = 0; // disable POI also |
| 342 | } |
340 | } |
| 343 | } |
341 | } |
| 344 | 342 | ||
| 345 | Point_t* PointList_GetPOI(void) |
343 | Point_t* PointList_GetPOI(void) |
| 346 | { |
344 | { |
| 347 | return PointList_GetAt(POIIndex); |
345 | return PointList_GetAt(POIIndex); |
| 348 | } |
346 | } |
| 349 | 347 | ||
| 350 | 348 | ||