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| Line 59... | Line 59... | ||
| 59 | #include <string.h> |
59 | #include <string.h> |
| 60 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
| 61 | #include "waypoints.h" |
61 | #include "waypoints.h" |
| 62 | #include "uart1.h" |
62 | #include "uart1.h" |
| 63 | #include "fat16.h" |
63 | #include "fat16.h" |
| - | 64 | #include "spi_slave.h" |
|
| - | 65 | ||
| - | 66 | ||
| - | 67 | WPL_Store_t WPL_Store; |
|
| Line 64... | Line 68... | ||
| 64 | 68 | ||
| 65 | // the waypoints list |
69 | // the waypoints list |
| Line 66... | Line 70... | ||
| 66 | #define MAX_LIST_LEN 101 |
70 | #define MAX_LIST_LEN 101 |
| Line 358... | Line 362... | ||
| 358 | u8 PointList_SaveToFile(WPL_Store_t * pWPL_Store) |
362 | u8 PointList_SaveToFile(WPL_Store_t * pWPL_Store) |
| 359 | { |
363 | { |
| 360 | File_t *fp; |
364 | File_t *fp; |
| 361 | s8 wpline[LINE_MAX]; |
365 | s8 wpline[LINE_MAX]; |
| 362 | u8 retval = WPL_ERROR; |
366 | u8 retval = WPL_ERROR; |
| 363 | // user absolute path, i.e. leading / |
- | |
| Line 364... | Line -... | ||
| 364 | - | ||
| Line -... | Line 367... | ||
| - | 367 | ||
| - | 368 | ||
| - | 369 | // user absolute path, i.e. leading / |
|
| - | 370 | if(pWPL_Store->Index == 0) |
|
| - | 371 | { |
|
| - | 372 | sprintf(wpline, "/default.wpl"); |
|
| - | 373 | } |
|
| - | 374 | else |
|
| - | 375 | { |
|
| 365 | sprintf(wpline, "/list_%03d.wpl", pWPL_Store->Index); |
376 | sprintf(wpline, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
| Line 366... | Line 377... | ||
| 366 | 377 | } |
|
| 367 | UART1_PutString("\n\r Save WPL..."); |
378 | UART1_PutString("\n\r Save WPL..."); |
| 368 | 379 | ||
| Line 478... | Line 489... | ||
| 478 | 489 | ||
| 479 | // load actual point list from SD card |
490 | // load actual point list from SD card |
| 480 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
491 | u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store) |
| 481 | { |
492 | { |
| 482 | File_t *fp; |
493 | File_t *fp; |
| - | 494 | s8 wpline[LINE_MAX]; |
|
| Line 483... | Line 495... | ||
| 483 | s8 wpline[LINE_MAX], retval = 0; |
495 | u8 retval = WPL_ERROR; |
| 484 | 496 | ||
| Line 485... | Line 497... | ||
| 485 | s8 *name, *value; |
497 | s8 *name, *value; |
| 486 | u8 i; |
498 | u8 i; |
| 487 | 499 | ||
| Line 488... | Line 500... | ||
| 488 | u8 IsGeneralSection = 0; |
500 | u8 IsGeneralSection = 0; |
| - | 501 | u8 IsPointSection = 0; |
|
| - | 502 | u8 WPNumber = 0; |
|
| - | 503 | ||
| - | 504 | // user absolute path, i.e. leading / |
|
| - | 505 | if(pWPL_Store->Index == 0) // index 0 looks for a default WPL file in the root |
|
| - | 506 | { |
|
| 489 | u8 IsPointSection = 0; |
507 | sprintf(wpline, "/default.wpl"); |
| - | 508 | } |
|
| Line 490... | Line 509... | ||
| 490 | u8 WPNumber = 0; |
509 | else |
| 491 | 510 | { |
|
| 492 | // user absolute path, i.e. leading / |
511 | sprintf(wpline, "/WPL/list_%03d.wpl", pWPL_Store->Index); |
| Line 500... | Line 519... | ||
| 500 | { // check if wpl file is existing |
519 | { // check if wpl file is existing |
| 501 | fp = fopen_(wpline, 'r'); // try to open the file |
520 | fp = fopen_(wpline, 'r'); // try to open the file |
| 502 | if(fp == NULL) |
521 | if(fp == NULL) |
| 503 | { |
522 | { |
| 504 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
523 | UART1_PutString("ERROR: Reading waypoint file!\r\n"); |
| 505 | return(0); |
524 | return(retval); |
| 506 | } |
525 | } |
| 507 | // clear point list first |
526 | // clear point list first |
| 508 | PointList_Clear(); |
527 | PointList_Clear(); |
| 509 | // read all lines from file |
528 | // read all lines from file |
| 510 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
529 | while(fgets_(wpline, LINE_MAX, fp) != 0) |
| Line 645... | Line 664... | ||
| 645 | } |
664 | } |
| 646 | else if (strcmp(name, "FILEVERSION") == 0) |
665 | else if (strcmp(name, "FILEVERSION") == 0) |
| 647 | { |
666 | { |
| 648 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
667 | if((u8)atoi(value) != WP_FILE_VERSION_COMPATIBLE) |
| 649 | { |
668 | { |
| - | 669 | PointList_Clear(); |
|
| 650 | UART1_PutString("Bad file version!\r\n"); |
670 | UART1_PutString("Bad file version!\r\n"); |
| 651 | return(0); |
671 | return(WPL_ERROR); |
| 652 | } |
672 | } |
| 653 | } |
673 | } |
| 654 | else if (strcmp(name, "NAME") == 0) |
674 | else if (strcmp(name, "NAME") == 0) |
| 655 | { |
675 | { |
| 656 | u8 len = strlen(value); |
676 | u8 len = strlen(value); |
| Line 673... | Line 693... | ||
| 673 | } // EOF key entry line |
693 | } // EOF key entry line |
| 674 | } // valid line |
694 | } // valid line |
| 675 | } // EOF loop over all lines |
695 | } // EOF loop over all lines |
| 676 | fclose_(fp); |
696 | fclose_(fp); |
| 677 | NaviData.WaypointNumber = WPCount; |
697 | NaviData.WaypointNumber = WPCount; |
| - | 698 | // if the WPS data are relative to home position |
|
| - | 699 | if(pWPL_Store->Type == WPL_STORE_TYPE_REL) |
|
| - | 700 | { // try to shift the wp list |
|
| - | 701 | if(PointList_Move(1, &(NaviData.HomePosition))) retval = WPL_OK; |
|
| - | 702 | else |
|
| - | 703 | { |
|
| - | 704 | PointList_Clear(); // to avoid wrong absolute positions |
|
| 678 | UART1_PutString("ok\r\n"); |
705 | UART1_PutString("no reference position!\r\n"); |
| - | 706 | } |
|
| - | 707 | ||
| - | 708 | } |
|
| - | 709 | else |
|
| - | 710 | { // nothing to do |
|
| 679 | retval = 1; |
711 | retval = WPL_OK; |
| - | 712 | } |
|
| - | 713 | if(retval == WPL_OK) UART1_PutString("ok\r\n"); |
|
| 680 | } // EOF if(Fat16_IsValid()) |
714 | } // EOF if(Fat16_IsValid()) |
| 681 | else UART1_PutString("no file system found!\r\n"); |
715 | else UART1_PutString("no file system found!\r\n"); |
| 682 | return(retval); |
716 | return(retval); |
| 683 | } |
717 | } |