Rev 514 | Rev 516 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 514 | Rev 515 | ||
---|---|---|---|
Line 5... | Line 5... | ||
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 |
Line 30... | Line 30... | ||
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. |
Line 53... | Line 53... | ||
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" |
Line 79... | Line 79... | ||
79 | 79 | ||
Line 80... | Line 80... | ||
80 | u8 WPActive = FALSE; |
80 | u8 WPActive = FALSE; |
81 | 81 | ||
82 | u8 PointList_Init(void) |
82 | u8 PointList_Init(void) |
83 | { |
83 | { |
Line 84... | Line 84... | ||
84 | return PointList_Clear(); |
84 | return PointList_Clear(); |
85 | } |
85 | } |
86 | 86 | ||
87 | u8 PointList_Clear(void) |
87 | u8 PointList_Clear(void) |
88 | { |
88 | { |
89 | u8 i; |
89 | u8 i; |
90 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
90 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
91 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
91 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
92 | WPCount = 0; // no waypoints |
92 | WPCount = 0; // no waypoints |
93 | POICount = 0; |
93 | POICount = 0; |
94 | PointCount = 0; // no contents |
94 | PointCount = 0; // no contents |
Line 113... | Line 113... | ||
113 | PointList[i].Speed = 0; |
113 | PointList[i].Speed = 0; |
114 | PointList[i].CamAngle = 0; |
114 | PointList[i].CamAngle = 0; |
115 | PointList[i].Name[0] = 0; |
115 | PointList[i].Name[0] = 0; |
116 | } |
116 | } |
117 | ClearWLP_Name(); |
117 | ClearWLP_Name(); |
118 | return TRUE; |
118 | return TRUE; |
119 | } |
119 | } |
Line 120... | Line 120... | ||
120 | 120 | ||
121 | u8 PointList_GetCount(void) |
121 | u8 PointList_GetCount(void) |
122 | { |
122 | { |
Line 147... | Line 147... | ||
147 | 147 | ||
148 | case POINT_TYPE_WP: |
148 | case POINT_TYPE_WP: |
149 | WPCount++; |
149 | WPCount++; |
150 | PointCount++; |
150 | PointCount++; |
151 | break; |
151 | break; |
152 | 152 | ||
153 | case POINT_TYPE_POI: |
153 | case POINT_TYPE_POI: |
154 | POICount++; |
154 | POICount++; |
155 | PointCount++; |
155 | PointCount++; |
156 | break; |
156 | break; |
157 | } |
157 | } |
158 | break; |
158 | break; |
159 | 159 | ||
160 | case POINT_TYPE_WP: // was a waypoint |
160 | case POINT_TYPE_WP: // was a waypoint |
161 | switch(pPoint->Type) |
161 | switch(pPoint->Type) |
162 | { |
162 | { |
163 | case POINT_TYPE_INVALID: |
163 | case POINT_TYPE_INVALID: |
Line 167... | Line 167... | ||
167 | 167 | ||
168 | default: |
168 | default: |
169 | case POINT_TYPE_WP: |
169 | case POINT_TYPE_WP: |
170 | //nothing to do |
170 | //nothing to do |
171 | break; |
171 | break; |
172 | 172 | ||
173 | case POINT_TYPE_POI: |
173 | case POINT_TYPE_POI: |
174 | POICount++; |
174 | POICount++; |
175 | WPCount--; |
175 | WPCount--; |
176 | break; |
176 | break; |
177 | } |
177 | } |
178 | break; |
178 | break; |
179 | 179 | ||
180 | case POINT_TYPE_POI: // was a poi |
180 | case POINT_TYPE_POI: // was a poi |
181 | switch(pPoint->Type) |
181 | switch(pPoint->Type) |
182 | { |
182 | { |
183 | case POINT_TYPE_INVALID: |
183 | case POINT_TYPE_INVALID: |
Line 187... | Line 187... | ||
187 | 187 | ||
188 | case POINT_TYPE_WP: |
188 | case POINT_TYPE_WP: |
189 | WPCount++; |
189 | WPCount++; |
190 | POICount--; |
190 | POICount--; |
191 | break; |
191 | break; |
192 | 192 | ||
193 | case POINT_TYPE_POI: |
193 | case POINT_TYPE_POI: |
194 | default: |
194 | default: |
195 | // nothing to do |
195 | // nothing to do |
196 | break; |
196 | break; |
197 | } |
197 | } |
198 | break; |
198 | break; |
199 | } |
199 | } |
200 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
200 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
201 | NaviData.WaypointNumber = WPCount; |
201 | NaviData.WaypointNumber = WPCount; |
202 | return pPoint->Index; |
202 | return pPoint->Index; |
203 | } |
203 | } |
204 | else return(0); |
204 | else return(0); |
Line 211... | Line 211... | ||
211 | WPIndex = 0; // set list position invalid |
211 | WPIndex = 0; // set list position invalid |
Line 212... | Line 212... | ||
212 | 212 | ||
Line 213... | Line 213... | ||
213 | if(WPActive == FALSE) return(NULL); |
213 | if(WPActive == FALSE) return(NULL); |
214 | 214 | ||
215 | POIIndex = 0; // set invalid POI |
215 | POIIndex = 0; // set invalid POI |
216 | if(PointCount > 0) |
216 | if(PointCount > 0) |
217 | { |
217 | { |
218 | // search for first wp in list |
218 | // search for first wp in list |
219 | for(i = 0; i <MAX_LIST_LEN; i++) |
219 | for(i = 0; i <MAX_LIST_LEN; i++) |
Line 227... | Line 227... | ||
227 | if(WPIndex) // found a WP in the list |
227 | if(WPIndex) // found a WP in the list |
228 | { |
228 | { |
229 | NaviData.WaypointIndex = 1; |
229 | NaviData.WaypointIndex = 1; |
230 | // update index to POI |
230 | // update index to POI |
231 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
231 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
232 | else POIIndex = 0; |
232 | else POIIndex = 0; |
233 | } |
233 | } |
234 | else // some points in the list but no WP found |
234 | else // some points in the list but no WP found |
235 | { |
235 | { |
236 | NaviData.WaypointIndex = 0; |
236 | NaviData.WaypointIndex = 0; |
237 | //Check for an existing POI |
237 | //Check for an existing POI |
Line 245... | Line 245... | ||
245 | } |
245 | } |
246 | } |
246 | } |
247 | } |
247 | } |
248 | else // no point in the list |
248 | else // no point in the list |
249 | { |
249 | { |
250 | POIIndex = 0; |
250 | POIIndex = 0; |
251 | NaviData.WaypointIndex = 0; |
251 | NaviData.WaypointIndex = 0; |
252 | } |
252 | } |
Line 253... | Line 253... | ||
253 | 253 | ||
254 | if(WPIndex) return(&(PointList[WPIndex-1])); |
254 | if(WPIndex) return(&(PointList[WPIndex-1])); |
255 | else return(NULL); |
255 | else return(NULL); |
Line 256... | Line 256... | ||
256 | } |
256 | } |
257 | 257 | ||
258 | // returns the last waypoint |
258 | // returns the last waypoint |
259 | Point_t* PointList_WPEnd(void) |
259 | Point_t* PointList_WPEnd(void) |
260 | { |
260 | { |
261 | 261 | ||
262 | u8 i; |
262 | u8 i; |
Line 263... | Line 263... | ||
263 | WPIndex = 0; // set list position invalid |
263 | WPIndex = 0; // set list position invalid |
Line 269... | Line 269... | ||
269 | { |
269 | { |
270 | // search backward! |
270 | // search backward! |
271 | for(i = 1; i <= MAX_LIST_LEN; i++) |
271 | for(i = 1; i <= MAX_LIST_LEN; i++) |
272 | { |
272 | { |
273 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
273 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
274 | { |
274 | { |
275 | WPIndex = MAX_LIST_LEN - i + 1; |
275 | WPIndex = MAX_LIST_LEN - i + 1; |
276 | break; |
276 | break; |
277 | } |
277 | } |
278 | } |
278 | } |
279 | if(WPIndex) // found a WP within the list |
279 | if(WPIndex) // found a WP within the list |
280 | { |
280 | { |
281 | NaviData.WaypointIndex = WPCount; |
281 | NaviData.WaypointIndex = WPCount; |
282 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
282 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
283 | else POIIndex = 0; |
283 | else POIIndex = 0; |
284 | } |
284 | } |
285 | else // list contains some points but no WP in the list |
285 | else // list contains some points but no WP in the list |
286 | { |
286 | { |
287 | // search backward for a POI! |
287 | // search backward for a POI! |
288 | for(i = 1; i <= MAX_LIST_LEN; i++) |
288 | for(i = 1; i <= MAX_LIST_LEN; i++) |
289 | { |
289 | { |
290 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
290 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
291 | { |
291 | { |
292 | POIIndex = MAX_LIST_LEN - i + 1; |
292 | POIIndex = MAX_LIST_LEN - i + 1; |
293 | break; |
293 | break; |
294 | } |
294 | } |
295 | } |
295 | } |
296 | NaviData.WaypointIndex = 0; |
296 | NaviData.WaypointIndex = 0; |
297 | } |
297 | } |
298 | } |
298 | } |
299 | else // no point in the list |
299 | else // no point in the list |
300 | { |
300 | { |
301 | POIIndex = 0; |
301 | POIIndex = 0; |
Line 308... | Line 308... | ||
308 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
308 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
309 | Point_t* PointList_WPNext(void) |
309 | Point_t* PointList_WPNext(void) |
310 | { |
310 | { |
311 | u8 wp_found = 0; |
311 | u8 wp_found = 0; |
312 | if(WPActive == FALSE) return(NULL); |
312 | if(WPActive == FALSE) return(NULL); |
313 | 313 | ||
314 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
314 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
315 | { |
315 | { |
316 | u8 i; |
316 | u8 i; |
317 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
317 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
318 | { |
318 | { |
Line 329... | Line 329... | ||
329 | NaviData.WaypointIndex++; |
329 | NaviData.WaypointIndex++; |
330 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
330 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
331 | else POIIndex = 0; |
331 | else POIIndex = 0; |
332 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
332 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
333 | } |
333 | } |
334 | else |
334 | else |
335 | { // no next wp found |
335 | { // no next wp found |
336 | NaviData.WaypointIndex = 0; |
336 | NaviData.WaypointIndex = 0; |
337 | POIIndex = 0; |
337 | POIIndex = 0; |
338 | return(NULL); |
338 | return(NULL); |
339 | } |
339 | } |
340 | } |
340 | } |
Line 341... | Line 341... | ||
341 | 341 | ||
342 | void PointList_WPActive(u8 set) |
342 | void PointList_WPActive(u8 set) |
343 | { |
343 | { |
344 | if(set) |
344 | if(set) |
345 | { |
345 | { |
346 | WPActive = TRUE; |
346 | WPActive = TRUE; |
347 | PointList_WPBegin(); // updates POI index |
347 | PointList_WPBegin(); // updates POI index |
348 | } |
348 | } |
349 | else |
349 | else |
350 | { |
350 | { |
351 | WPActive = FALSE; |
351 | WPActive = FALSE; |
352 | POIIndex = 0; // disable POI also |
352 | POIIndex = 0; // disable POI also |
353 | } |
353 | } |
354 | } |
354 | } |
355 | 355 | ||
356 | Point_t* PointList_GetPOI(void) |
356 | Point_t* PointList_GetPOI(void) |
357 | { |
357 | { |
358 | return PointList_GetAt(POIIndex); |
358 | return PointList_GetAt(POIIndex); |
Line 359... | Line 359... | ||
359 | } |
359 | } |
360 | 360 | ||
Line 372... | Line 372... | ||
372 | 372 | ||
373 | if(Fat16_IsValid()) |
373 | if(Fat16_IsValid()) |
374 | { // check if wpl file is existing |
374 | { // check if wpl file is existing |
375 | if(fexist_(filename)) |
375 | if(fexist_(filename)) |
376 | { //file is existent |
376 | { //file is existent |
377 | if(!(overwride)) |
377 | if(!(overwride)) |
378 | { |
378 | { |
379 | UART1_PutString("Error: file exist!\r\n"); |
379 | UART1_PutString("Error: file exist!\r\n"); |
380 | return(WPL_FILEEXIST); |
380 | return(WPL_FILEEXIST); |
381 | } |
381 | } |
382 | } |
382 | } |
383 | fp = fopen_(filename, 'w'); // try to open the file |
383 | fp = fopen_(filename, 'w'); // try to open the file |
384 | if(fp == NULL) |
384 | if(fp == NULL) |
385 | { |
385 | { |
386 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
386 | UART1_PutString("ERROR: Creating waypoint file!\r\n"); |
387 | return(retval); |
387 | return(retval); |
388 | } |
388 | } |
389 | // Create general section and key entries |
389 | // Create general section and key entries |
390 | fputs_("[General]\r\n", fp); |
390 | fputs_("[General]\r\n", fp); |
391 | sprintf(wpline, "Name=%s\r\n", listname); |
391 | sprintf(wpline, "Name=%s\r\n", listname); |
392 | fputs_(wpline, fp); |
392 | fputs_(wpline, fp); |
393 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
393 | sprintf(wpline, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE); |
394 | fputs_(wpline, fp); |
394 | fputs_(wpline, fp); |
395 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
395 | sprintf(wpline, "NumberOfWaypoints=%d\r\n", PointCount); |
396 | fputs_(wpline, fp); |
396 | fputs_(wpline, fp); |
397 | // dump all points if existent |
397 | // dump all points if existent |
Line 454... | Line 454... | ||
454 | // write cam angle in degree (255 -> POI-Automatic) |
454 | // write cam angle in degree (255 -> POI-Automatic) |
455 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
455 | sprintf(wpline, "CAM-Nick=%d\r\n", PointList[i].CamAngle); |
456 | fputs_(wpline, fp); |
456 | fputs_(wpline, fp); |
457 | // write point type |
457 | // write point type |
458 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
458 | sprintf(wpline, "Type=%d\r\n", PointList[i].Type + 1); |
459 | fputs_(wpline, fp); |
459 | fputs_(wpline, fp); |
460 | // write prefix |
460 | // write prefix |
461 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
461 | sprintf(wpline, "Prefix=%s\r\n", PointList[i].Name); |
462 | fputs_(wpline, fp); |
462 | fputs_(wpline, fp); |
463 | } // EOF loop over all points |
463 | } // EOF loop over all points |
464 | } // EOF if(PointCount) |
464 | } // EOF if(PointCount) |
465 | if(EOF == fclose_(fp)) |
465 | if(EOF == fclose_(fp)) |
Line 468... | Line 468... | ||
468 | } |
468 | } |
469 | else |
469 | else |
470 | { |
470 | { |
471 | UART1_PutString("ok\r\n"); |
471 | UART1_PutString("ok\r\n"); |
472 | retval = WPL_OK; |
472 | retval = WPL_OK; |
473 | } |
473 | } |
474 | } // EOF if(Fat16_IsValid()) |
474 | } // EOF if(Fat16_IsValid()) |
475 | else |
475 | else |
476 | { |
476 | { |
477 | UART1_PutString("no file system found!\r\n"); |
477 | UART1_PutString("no file system found!\r\n"); |
478 | retval = WPL_NO_SDCARD_FOUND; |
478 | retval = WPL_NO_SDCARD_FOUND; |
479 | } |
479 | } |
480 | return(retval); |
480 | return(retval); |
Line 483... | Line 483... | ||
483 | u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen) |
483 | u8 PointList_Load(u8 * filename, u8* listname, u8 listnamelen) |
484 | { |
484 | { |
485 | File_t *fp; |
485 | File_t *fp; |
486 | s8 wpline[LINE_MAX]; |
486 | s8 wpline[LINE_MAX]; |
487 | u8 retval = WPL_ERROR; |
487 | u8 retval = WPL_ERROR; |
488 | 488 | ||
489 | s8 *name, *value; |
489 | s8 *name, *value; |
490 | u8 i; |
490 | u8 i; |
Line 491... | Line 491... | ||
491 | 491 | ||
492 | u8 IsGeneralSection = 0; |
492 | u8 IsGeneralSection = 0; |
Line 495... | Line 495... | ||
495 | 495 | ||
496 | // clear point list first |
496 | // clear point list first |
Line 497... | Line 497... | ||
497 | PointList_Clear(); |
497 | PointList_Clear(); |
498 | 498 | ||
499 | UART1_PutString("\n\r Read "); |
499 | UART1_PutString("\n\r Read "); |
Line 500... | Line 500... | ||
500 | UART1_PutString(filename); |
500 | UART1_PutString(filename); |
501 | UART1_PutString("..."); |
501 | UART1_PutString("..."); |
502 | 502 | ||
Line 602... | Line 602... | ||
602 | else if(strcmp(name, "TYPE") == 0) |
602 | else if(strcmp(name, "TYPE") == 0) |
603 | { |
603 | { |
604 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
604 | PointList[IsPointSection-1].Type = (u8)atoi(value); |
605 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
605 | if(PointList[IsPointSection-1].Type > 0) PointList[IsPointSection-1].Type--; // index shift |
606 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
606 | else PointList[IsPointSection-1].Type = POINT_TYPE_INVALID; |
607 | 607 | ||
608 | switch(PointList[IsPointSection-1].Type) |
608 | switch(PointList[IsPointSection-1].Type) |
609 | { |
609 | { |
610 | case POINT_TYPE_WP: |
610 | case POINT_TYPE_WP: |
611 | // this works only if altitude key is set before point type key in WPL file !! |
611 | // this works only if altitude key is set before point type key in WPL file !! |
612 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
612 | PointList[IsPointSection-1].Position.Altitude /= 10; // dm only for WPs |
613 | WPCount++; |
613 | WPCount++; |
614 | break; |
614 | break; |
Line 615... | Line 615... | ||
615 | 615 | ||
616 | case POINT_TYPE_POI: |
616 | case POINT_TYPE_POI: |
Line 626... | Line 626... | ||
626 | else |
626 | else |
627 | { |
627 | { |
628 | UART1_PutString("Unknown key: "); |
628 | UART1_PutString("Unknown key: "); |
629 | UART1_PutString(name); |
629 | UART1_PutString(name); |
630 | UART1_PutString("\r\n"); |
630 | UART1_PutString("\r\n"); |
631 | } |
631 | } |
632 | } // EOF point section |
632 | } // EOF point section |
633 | else if(IsGeneralSection) |
633 | else if(IsGeneralSection) |
634 | { |
634 | { |
635 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
635 | if(strcmp(name, "NUMBEROFWAYPOINTS") == 0) |
636 | { |
636 | { |
637 | WPNumber = (u8)atoi(value); |
637 | WPNumber = (u8)atoi(value); |
638 | if(!WPNumber) // no waypoints in file |
638 | if(!WPNumber) // no waypoints in file |
639 | { |
639 | { |
640 | return(WPL_NO_WAYPOINTS); // we are done here |
640 | return(WPL_NO_WAYPOINTS); // we are done here |
641 | } |
641 | } |
642 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
642 | else if(WPNumber > MAX_LIST_LEN) // number o points larger than ram list |
643 | { |
643 | { |
644 | UART1_PutString("To many points!"); |
644 | UART1_PutString("To many points!"); |
645 | return(WPL_ERROR); |
645 | return(WPL_ERROR); |
646 | } |
646 | } |
647 | } |
647 | } |
648 | else if (strcmp(name, "FILEVERSION") == 0) |
648 | else if (strcmp(name, "FILEVERSION") == 0) |
649 | { |
649 | { |
650 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
650 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
651 | { |
651 | { |
652 | PointList_Clear(); |
652 | PointList_Clear(); |
653 | UART1_PutString("Bad file version!\r\n"); |
653 | UART1_PutString("Bad file version!\r\n"); |
654 | return(WPL_ERROR); |
654 | return(WPL_ERROR); |
655 | } |
655 | } |
656 | } |
656 | } |
657 | else if (strcmp(name, "NAME") == 0) |
657 | else if (strcmp(name, "NAME") == 0) |
658 | { |
658 | { |
659 | if(listname) |
659 | if(listname) |
Line 687... | Line 687... | ||
687 | } // EOF key entry line |
687 | } // EOF key entry line |
688 | } // valid line |
688 | } // valid line |
689 | } // EOF loop over all lines |
689 | } // EOF loop over all lines |
690 | fclose_(fp); |
690 | fclose_(fp); |
691 | NaviData.WaypointNumber = WPCount; |
691 | NaviData.WaypointNumber = WPCount; |
692 | retval = WPL_OK; |
692 | retval = WPL_OK; |
693 | UART1_PutString("ok\r\n"); |
693 | UART1_PutString("ok\r\n"); |
694 | } // EOF if(Fat16_IsValid()) |
694 | } // EOF if(Fat16_IsValid()) |
695 | else |
695 | else |
696 | { |
696 | { |
697 | UART1_PutString("no file system found!\r\n"); |
697 | UART1_PutString("no file system found!\r\n"); |
698 | retval = WPL_NO_SDCARD_FOUND; |
698 | retval = WPL_NO_SDCARD_FOUND; |
699 | } |
699 | } |
700 | return(retval); |
700 | return(retval); |
701 | } |
701 | } |
Line 702... | Line 702... | ||
702 | 702 | ||
703 | // load actual point list from SD card |
703 | // load actual point list from SD card |
704 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
704 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
705 | { |
705 | { |
Line 706... | Line 706... | ||
706 | u8 filename[30]; |
706 | u8 filename[30]; |
Line 707... | Line 707... | ||
707 | 707 | ||
708 | pWPL_Store->Name[0] = 0; // clear current list name |
708 | pWPL_Store->Name[0] = 0; // clear current list name |
709 | 709 | ||
710 | // user absolute path, i.e. leading / |
710 | // user absolute path, i.e. leading / |
711 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
711 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
712 | { |
712 | { |
713 | sprintf(filename, "/default.wpl"); |
713 | sprintf(filename, "/default.wpl"); |
714 | } |
714 | } |
715 | else |
715 | else |
Line 721... | Line 721... | ||
721 | 721 | ||
722 | // save actual point list to SD card |
722 | // save actual point list to SD card |
723 | u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
723 | u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store) |
724 | { |
724 | { |
725 | u8 filename[30]; |
725 | u8 filename[30]; |
726 | 726 | ||
727 | 727 | ||
728 | if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
728 | if(PointCount == 0) return(WPL_NO_WAYPOINTS); |
729 | // user absolute path, i.e. leading / |
729 | // user absolute path, i.e. leading / |
730 | if(pWPL_Store->Index == 0) |
730 | if(pWPL_Store->Index == 0) |
731 | { |
731 | { |
732 | sprintf(filename, "/default.wpl"); |
732 | sprintf(filename, "/default.wpl"); |
733 | } |
733 | } |
Line 737... | Line 737... | ||
737 | } |
737 | } |
738 | return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
738 | return PointList_Save(filename, pWPL_Store->Name, pWPL_Store->OverwriteFile); |
739 | } |
739 | } |
Line 740... | Line 740... | ||
740 | 740 | ||
741 | 741 | ||
742 | // save actual gps positiin and heading to file |
742 | // save actual gps position and heading to file |
743 | u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
743 | u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store) |
744 | { |
744 | { |
745 | u8 retval = WPL_ERROR; |
745 | u8 retval = WPL_ERROR; |
Line 746... | Line 746... | ||
746 | u8 filename[30]; |
746 | u8 filename[30]; |
747 | Point_t WP; |
747 | Point_t WP; |
748 | 748 | ||
749 | UART1_PutString("\n\r write single point\n\r"); |
749 | UART1_PutString("\n\r write single point\n\r"); |
750 | if(GPSData.Position.Status == INVALID) |
750 | if(GPSData.Position.Status == INVALID) |
751 | { |
751 | { |
Line 752... | Line 752... | ||
752 | UART1_PutString("ERROR: No GPS - Fix\n\r"); |
752 | UART1_PutString("ERROR: No GPS - Fix\n\r"); |
753 | return(retval); |
753 | return(retval); |
754 | } |
754 | } |
755 | 755 | ||
Line 763... | Line 763... | ||
763 | WP.ToleranceRadius = 15; |
763 | WP.ToleranceRadius = 15; |
764 | WP.HoldTime = 5; |
764 | WP.HoldTime = 5; |
765 | WP.Index = 1; |
765 | WP.Index = 1; |
766 | WP.Type = POINT_TYPE_WP; |
766 | WP.Type = POINT_TYPE_WP; |
767 | WP.WP_EventChannelValue = 0; |
767 | WP.WP_EventChannelValue = 0; |
768 | if(FC.StatusFlags & FC_STATUS_FLY && (NaviData.Altimeter) > 8 * 20) |
768 | if(FC.StatusFlags & FC_STATUS_FLY && (NaviData.Altimeter) > 8 * 20) |
769 | { |
769 | { |
770 | WP.AltitudeRate = 30; |
770 | WP.AltitudeRate = 30; |
771 | WP.Position.Altitude = NaviData.Altimeter / 2; |
771 | WP.Position.Altitude = NaviData.Altimeter / 2; |
772 | } |
772 | } |
773 | else |
773 | else |
774 | { |
774 | { |
775 | WP.AltitudeRate = 0; |
775 | WP.AltitudeRate = 0; |
776 | WP.Position.Altitude = 0; |
776 | WP.Position.Altitude = 0; |
777 | } |
777 | } |
778 | WP.Speed = SD_ComingHomeSpeed; |
778 | WP.Speed = SD_ComingHomeSpeed; |
779 | WP.CamAngle = 0; |
779 | WP.CamAngle = 0; |
780 | WP.Name[0] = 'P'; |
780 | WP.Name[0] = 'P'; |
781 | WP.Name[1] = 0; |
781 | WP.Name[1] = 0; |
782 | // add this point to wp list |
782 | // add this point to wp list |
783 | PointList_SetAt(&WP); |
783 | PointList_SetAt(&WP); |
Line 784... | Line 784... | ||
784 | 784 | ||
785 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
785 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
786 | UART1_PutString(filename); |
786 | UART1_PutString(filename); |
787 | sprintf(pWPL_Store->Name, "POINT%03d ", pWPL_Store->Index); |
787 | sprintf(pWPL_Store->Name, "POINT%03d ", pWPL_Store->Index); |
Line 788... | Line 788... | ||
788 | retval = PointList_Save(filename, pWPL_Store->Name, 1); |
788 | retval = PointList_Save(filename, pWPL_Store->Name, 1); |
789 | 789 | ||
790 | // clear current point list |
790 | // clear current point list |
791 | PointList_Clear(); |
791 | PointList_Clear(); |
- | 792 | return(retval); |
|
792 | return(retval); |
793 | } |
793 | } |
794 | |
794 | // load target gps posititon and heading from file |
795 | // load target gps posititon and heading from file |
795 | u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store) |
796 | u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store) |
796 | { |
797 | { |
797 | u8 filename[30]; |
798 | u8 filename[30]; |
798 | 799 | ||
799 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
800 | sprintf(filename, "/POINT/POINT%03d.wpl", pWPL_Store->Index); |
800 | pWPL_Store->Name[0] = 0; // clear current list name |
801 | pWPL_Store->Name[0] = 0; // clear current list name |
Line 801... | Line -... | ||
801 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name)); |
- | |
802 | } |
802 | return PointList_Load(filename, pWPL_Store->Name, sizeof(pWPL_Store->Name)); |
803 | 803 | } |
|
804 | 804 | ||
805 | 805 | ||
806 | void ClearWLP_Name(void) |
806 | void ClearWLP_Name(void) |
Line 815... | Line 815... | ||
815 | { |
815 | { |
816 | u8 retval = 0; |
816 | u8 retval = 0; |
817 | s32 altitude; |
817 | s32 altitude; |
818 | GPS_Pos_t OldRefPos; |
818 | GPS_Pos_t OldRefPos; |
819 | GPS_Pos_Deviation_t RefDeviation; |
819 | GPS_Pos_Deviation_t RefDeviation; |
820 | 820 | ||
821 | // check inputs for plausibility; |
821 | // check inputs for plausibility; |
822 | if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
822 | if((RefIndex == 0) || (RefIndex > PointCount)) return(retval); |
823 | if(pRefPos == NULL) return(retval); |
823 | if(pRefPos == NULL) return(retval); |
824 | if(pRefPos->Status == INVALID) return(retval); |
824 | if(pRefPos->Status == INVALID) return(retval); |
Line 825... | Line 825... | ||
825 | 825 | ||
826 | if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &OldRefPos)) // backup old reference position |
826 | if(GPSPos_Copy(&(PointList[RefIndex-1].Position), &OldRefPos)) // backup old reference position |
Line 834... | Line 834... | ||
834 | altitude = PointList[i].Position.Altitude; |
834 | altitude = PointList[i].Position.Altitude; |
835 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
835 | // calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position |
836 | if(!GPSPos_Deviation(&(PointList[i].Position), &OldRefPos, &RefDeviation)) break; |
836 | if(!GPSPos_Deviation(&(PointList[i].Position), &OldRefPos, &RefDeviation)) break; |
837 | // copy of the new reference position into this list place |
837 | // copy of the new reference position into this list place |
838 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
838 | if(!GPSPos_Copy(pRefPos, &(PointList[i].Position))) break; |
839 | // restore former altitude |
839 | // restore former altitude |
840 | PointList[i].Position.Altitude = altitude; |
840 | PointList[i].Position.Altitude = altitude; |
841 | // move new reference according to the deviation of the old reference |
841 | // move new reference according to the deviation of the old reference |
842 | if(RotationAngle > 0) |
842 | if(RotationAngle > 0) |
843 | { |
843 | { |
844 | retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360, RefDeviation.Distance ); |
844 | retval = GPSPos_ShiftGeodetic(&(PointList[i].Position), (RefDeviation.Bearing + 180 + RotationAngle)%360, RefDeviation.Distance ); |
Line 848... | Line 848... | ||
848 | else // no rotation |
848 | else // no rotation |
849 | { |
849 | { |
850 | // move new reference according to the deviation of the old reference |
850 | // move new reference according to the deviation of the old reference |
851 | retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
851 | retval = GPSPos_ShiftCartesian(&(PointList[i].Position), RefDeviation.North, RefDeviation.East); |
852 | } |
852 | } |
853 | if(!retval) break; |
853 | if(!retval) break; |
854 | } |
854 | } |
855 | } // else ref pos old not copied! |
855 | } // else ref pos old not copied! |
856 | if(!retval) PointList_Clear(); |
856 | if(!retval) PointList_Clear(); |
857 | return(retval); |
857 | return(retval); |
858 | } |
858 | } |
Line 859... | Line 859... | ||
859 | 859 |