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Line 60... | Line 60... | ||
60 | #include "waypoints.h" |
60 | #include "waypoints.h" |
61 | #include "uart1.h" |
61 | #include "uart1.h" |
Line 62... | Line 62... | ||
62 | 62 | ||
63 | // the waypoints list |
63 | // the waypoints list |
64 | #define WPLISTLEN 21 |
- | |
- | 64 | #define WPLISTLEN 21 |
|
65 | #define MAXWPNUMBER (WPLISTLEN-1) |
65 | |
66 | Waypoint_t WPList[WPLISTLEN]; |
66 | Waypoint_t WPList[WPLISTLEN]; |
67 | u8 WPIndex = 0; // index of GPS point representig the WP |
67 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPNumber |
68 | u8 POIIndex = 0; // index of GPS Point representing the current POI |
68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPNumber |
Line 69... | Line 69... | ||
69 | u8 WPNumber = 0; |
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 | { |
Line 73... | Line 73... | ||
73 | return WPList_Clear(); |
73 | return WPList_Clear(); |
74 | } |
74 | } |
75 | 75 | ||
76 | u8 WPList_Clear(void) |
76 | u8 WPList_Clear(void) |
77 | { |
77 | { |
78 | u8 i; |
78 | u8 i; |
79 | WPIndex = 0; // invalid index |
79 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
80 | POIIndex = 0; // invalid index |
80 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
Line 81... | Line 81... | ||
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 = -1; |
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 |
Line 94... | Line 95... | ||
94 | WPList[i].Event_Flag = 0; // future implementation |
95 | WPList[i].Type = POINT_TYPE_WP; |
95 | } |
96 | } |
96 | return TRUE; |
97 | return TRUE; |
97 | } |
98 | } |
Line 98... | Line 99... | ||
98 | 99 | ||
99 | u8 WPList_GetCount(void) |
100 | u8 WPList_GetCount(void) |
100 | { |
101 | { |
101 | return WPNumber; |
102 | return WPNumber; // number of points in the list |
102 | } |
103 | } |
103 | - | ||
104 | u8 WPList_Append(Waypoint_t* pwp) |
104 | |
105 | { |
105 | u8 WPList_Append(Waypoint_t* pwp) |
106 | if(WPNumber < MAXWPNUMBER) // there is still some space in the list |
106 | { |
107 | { |
107 | if(WPNumber < WPLISTLEN) // there is still some space in the list |
108 | memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry |
108 | { |
109 | WPList[WPNumber].Position.Status = NEWDATA; // mark as new data // increment list length |
109 | memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry // increment list length |
Line 110... | Line 110... | ||
110 | WPNumber++; |
110 | WPNumber++; |
111 | NaviData.WaypointNumber = WPNumber; |
111 | NaviData.WaypointNumber = WPNumber; |
112 | return TRUE; |
112 | return TRUE; |
- | 113 | } |
|
- | 114 | else return FALSE; |
|
113 | } |
115 | } |
114 | else return FALSE; |
116 | |
115 | } |
117 | // returns the pointer to the first waypoint within the list |
116 | 118 | Waypoint_t* WPList_Begin(void) |
|
117 | // returns the first waypoint |
119 | { |
118 | Waypoint_t* WPList_Begin(void) |
120 | WPIndex = 0; // set list position invalid |
119 | { |
121 | |
120 | if(WPNumber > 0) |
122 | if(WPNumber > 0) |
121 | { |
123 | { |
122 | u8 i, wp_found = 0; |
124 | u8 i; |
123 | // search for first wp in list |
125 | // search for first wp in list |
124 | for(i = 0; i < WPNumber; i++) |
126 | for(i = 0; i < WPNumber; i++) |
125 | { |
- | |
126 | if(WPList[i].Type == POINT_TYPE_WP) |
- | |
127 | { |
- | |
128 | wp_found = 1; |
- | |
129 | break; |
- | |
130 | } |
- | |
131 | } |
- | |
132 | if(wp_found) // found a WP in the list |
- | |
133 | { |
- | |
134 | WPIndex = i+1; |
- | |
135 | NaviData.WaypointIndex = WPIndex; |
- | |
136 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
- | |
137 | else POIIndex = 0; |
- | |
138 | return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
- | |
139 | } |
- | |
140 | else // found no WP within the list |
127 | { |
- | 128 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) |
|
- | 129 | { |
|
- | 130 | WPIndex = i + 1; |
|
- | 131 | break; |
|
- | 132 | } |
|
141 | { |
133 | } |
- | 134 | } |
|
- | 135 | if(WPIndex) // found a WP in the list |
|
- | 136 | { |
|
142 | WPIndex = 0; |
137 | NaviData.WaypointIndex = WPIndex; |
143 | POIIndex = 0; |
- | |
144 | NaviData.WaypointIndex = WPIndex; |
138 | // update index to POI |
145 | return NULL; |
139 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
146 | } |
140 | else POIIndex = 0; |
147 | } |
141 | return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
148 | else // empty list |
- | |
149 | { |
142 | } |
Line 150... | Line 143... | ||
150 | WPIndex = 0; // invalid index |
143 | else |
151 | POIIndex = 0; |
144 | { |
152 | NaviData.WaypointIndex = WPIndex; |
145 | POIIndex = 0; |
- | 146 | NaviData.WaypointIndex = WPIndex; |
|
153 | return NULL; |
147 | return NULL; |
154 | } |
148 | } |
155 | 149 | } |
|
156 | } |
150 | |
157 | 151 | // returns the last waypoint |
|
158 | // returns the last waypoint |
152 | Waypoint_t* WPList_End(void) |
159 | Waypoint_t* WPList_End(void) |
153 | { |
160 | { |
154 | WPIndex = 0; // set list position invalid |
161 | if(WPNumber > 0) |
155 | if(WPNumber > 0) |
162 | { |
156 | { |
163 | // search backward |
157 | // search backward! |
164 | u8 i, wp_found = 0; |
158 | u8 i; |
- | 159 | for(i = 1; i <= WPNumber; i++) |
|
165 | for(i = 1; i <= WPNumber; i++) |
160 | { |
166 | { |
161 | if((WPList[WPNumber - i].Type == POINT_TYPE_WP) && (WPList[WPNumber - i].Position.Status != INVALID)) |
167 | if(WPList[WPNumber - i].Type == POINT_TYPE_WP) |
- | |
168 | { |
162 | { |
169 | wp_found = 1; |
163 | WPIndex = WPNumber - i + 1; |
170 | break; |
164 | break; |
171 | } |
165 | } |
172 | } |
- | |
173 | if(wp_found) // found a WP within the list |
- | |
174 | { |
- | |
175 | WPIndex = WPNumber - i + 1; |
- | |
176 | NaviData.WaypointIndex = WPIndex; |
- | |
177 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
- | |
178 | else POIIndex = 0; |
- | |
179 | return(&(WPList[WPIndex-1])); |
- | |
180 | } |
166 | } |
181 | else |
167 | } |
182 | { |
168 | if(WPIndex) // found a WP within the list |
183 | WPIndex = 0; |
- | |
184 | POIIndex = 0; |
169 | { |
185 | NaviData.WaypointIndex = WPIndex; |
170 | NaviData.WaypointIndex = WPIndex; |
186 | return NULL; |
171 | if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading); |
187 | } |
172 | else POIIndex = 0; |
188 | } |
173 | return(&(WPList[WPIndex-1])); |
Line 189... | Line 174... | ||
189 | else |
174 | } |
190 | { |
175 | else |
191 | WPIndex = 0; |
176 | { |
192 | POIIndex = 0; |
177 | POIIndex = 0; |
- | 178 | NaviData.WaypointIndex = WPIndex; |
|
193 | NaviData.WaypointIndex = WPIndex; |
179 | return NULL; |
194 | return NULL; |
180 | } |
195 | } |
181 | } |
196 | } |
182 | |
197 | 183 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
|
198 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
184 | Waypoint_t* WPList_Next(void) |
199 | Waypoint_t* WPList_Next(void) |
185 | { |
200 | { |
186 | u8 wp_found = 0; |
201 | if(WPNumber == 0) return NULL; |
187 | |
202 | if((WPIndex > 0) && (WPIndex < WPNumber)) // if the next WP exist |
188 | if(WPIndex < WPNumber) // if there is a next entry in the list |
203 | { |
189 | { |
- | 190 | u8 i; |
|
204 | u8 i, wp_found = 0; |
191 | for(i = WPIndex; i < WPNumber; i++) // start search for next at next list entry |
205 | for(i = WPIndex; i < WPNumber; i++) |
192 | { |
206 | { |
193 | if((WPList[i].Type == POINT_TYPE_WP) && (WPList[i].Position.Status != INVALID)) // jump over POIs |
207 | if(WPList[i].Type == POINT_TYPE_WP) // jump over POIs |
194 | { |
208 | { |
195 | wp_found = i+1; |
209 | wp_found = 1; |
196 | break; |
210 | break; |
197 | } |
211 | } |
- | |
212 | } |
- | |
213 | if(wp_found) |
198 | } |
214 | { |
199 | } |
215 | WPIndex = i+1; |
200 | if(wp_found) |
Line 216... | Line 201... | ||
216 | NaviData.WaypointIndex = WPIndex; |
201 | { |