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/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
//
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdlib.h>
#include <avr/io.h>
#include <stdint.h>
#include <string.h>
#include <stdbool.h>
//#include "91x_lib.h"
#include "waypoints.h"
#include "../mk-data-structs.h"
#include "../uart/uart1.h"
#include "../eeprom/eeprom.h"
#include <util/delay.h>
// the waypoints list
NaviData_t
*NaviData
;
//Point_t PointList[MAX_LIST_LEN];
uint8_t WPIndex
= 0; // list index of GPS point representig the current WP, can be maximal WPCount
uint8_t POIIndex
= 0; // list index of GPS Point representing the current POI, can be maximal WPCount
uint8_t WPCount
= 0; // number of waypoints
uint8_t PointCount
= 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN
uint8_t POICount
= 0;
uint8_t WPActive
= false;
uint8_t PointList_Init
(void)
{
return PointList_Clear
();
}
uint8_t PointList_Clear
(void)
{
uint8_t i
;
WPIndex
= 0; // real list position are 1 ,2, 3 ...
POIIndex
= 0; // real list position are 1 ,2, 3 ...
WPCount
= 0; // no waypoints
POICount
= 0;
PointCount
= 0; // no contents
WPActive
= false;
NaviData
->WaypointNumber
= WPCount
;
NaviData
->WaypointIndex
= 0;
for(i
= 0; i
< MAX_LIST_LEN
; i
++)
{
Config.
PointList[i
].
Position.
Status = INVALID
;
Config.
PointList[i
].
Position.
Latitude = 0;
Config.
PointList[i
].
Position.
Longitude = 0;
Config.
PointList[i
].
Position.
Altitude = 0;
Config.
PointList[i
].
Heading = 361; // invalid value
Config.
PointList[i
].
ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered
Config.
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
Config.
PointList[i
].
Type = POINT_TYPE_INVALID
;
Config.
PointList[i
].
Event_Flag = 0; // future implementation
Config.
PointList[i
].
AltitudeRate = 0; // no change of setpoint
}
return true;
}
uint8_t PointList_GetCount
(void)
{
return PointCount
; // number of points in the list
}
Point_t
* PointList_GetAt
(uint8_t index
)
{
if((index
> 0) && (index
<= PointCount
)) return(&(Config.
PointList[index
-1])); // return pointer to this waypoint
else return(NULL
);
}
uint8_t PointList_SetAt
(Point_t
* pPoint
)
{
// if index is in range
if((pPoint
->Index
> 0) && (pPoint
->Index
<= MAX_LIST_LEN
))
{
// check list entry before update
switch(Config.
PointList[pPoint
->Index
-1].
Type)
{
case POINT_TYPE_INVALID
: // was invalid
switch(pPoint
->Type
)
{
default:
case POINT_TYPE_INVALID
:
// nothing to do
break;
case POINT_TYPE_WP
:
WPCount
++;
PointCount
++;
break;
case POINT_TYPE_POI
:
POICount
++;
PointCount
++;
break;
}
break;
case POINT_TYPE_WP
: // was a waypoint
switch(pPoint
->Type
)
{
case POINT_TYPE_INVALID
:
WPCount
--;
PointCount
--;
break;
default:
case POINT_TYPE_WP
:
//nothing to do
break;
case POINT_TYPE_POI
:
POICount
++;
WPCount
--;
break;
}
break;
case POINT_TYPE_POI
: // was a poi
switch(pPoint
->Type
)
{
case POINT_TYPE_INVALID
:
POICount
--;
PointCount
--;
break;
case POINT_TYPE_WP
:
WPCount
++;
POICount
--;
break;
case POINT_TYPE_POI
:
default:
// nothing to do
break;
}
break;
}
memcpy(&Config.
PointList[pPoint
->Index
-1], pPoint
, sizeof(Point_t
)); // copy data to list entry
NaviData
->WaypointNumber
= WPCount
;
return pPoint
->Index
;
}
else return(0);
}
// returns the pointer to the first waypoint within the list
Point_t
* PointList_WPBegin
(void)
{
uint8_t i
;
WPIndex
= 0; // set list position invalid
if(WPActive
== false) return(NULL
);
POIIndex
= 0; // set invalid POI
if(PointCount
> 0)
{
// search for first wp in list
for(i
= 0; i
<MAX_LIST_LEN
; i
++)
{
if((Config.
PointList[i
].
Type == POINT_TYPE_WP
) && (Config.
PointList[i
].
Position.
Status != INVALID
))
{
WPIndex
= i
+ 1;
break;
}
}
if(WPIndex
) // found a WP in the list
{
NaviData
->WaypointIndex
= 1;
// update index to POI
if(Config.
PointList[WPIndex
-1].
Heading < 0) POIIndex
= (uint8_t)(-Config.
PointList[WPIndex
-1].
Heading);
else POIIndex
= 0;
}
else // some points in the list but no WP found
{
NaviData
->WaypointIndex
= 0;
//Check for an existing POI
for(i
= 0; i
< MAX_LIST_LEN
; i
++)
{
if((Config.
PointList[i
].
Type == POINT_TYPE_POI
) && (Config.
PointList[i
].
Position.
Status != INVALID
))
{
POIIndex
= i
+ 1;
break;
}
}
}
}
else // no point in the list
{
POIIndex
= 0;
NaviData
->WaypointIndex
= 0;
}
if(WPIndex
) return(&(Config.
PointList[WPIndex
-1]));
else return(NULL
);
}
// returns the last waypoint
Point_t
* PointList_WPEnd
(void)
{
uint8_t i
;
WPIndex
= 0; // set list position invalid
POIIndex
= 0; // set invalid
if(WPActive
== false) return(NULL
);
if(PointCount
> 0)
{
// search backward!
for(i
= 1; i
<= MAX_LIST_LEN
; i
++)
{
if((Config.
PointList[MAX_LIST_LEN
- i
].
Type == POINT_TYPE_WP
) && (Config.
PointList[MAX_LIST_LEN
- i
].
Position.
Status != INVALID
))
{
WPIndex
= MAX_LIST_LEN
- i
+ 1;
break;
}
}
if(WPIndex
) // found a WP within the list
{
NaviData
->WaypointIndex
= WPCount
;
if(Config.
PointList[WPIndex
-1].
Heading < 0) POIIndex
= (uint8_t)(-Config.
PointList[WPIndex
-1].
Heading);
else POIIndex
= 0;
}
else // list contains some points but no WP in the list
{
// search backward for a POI!
for(i
= 1; i
<= MAX_LIST_LEN
; i
++)
{
if((Config.
PointList[MAX_LIST_LEN
- i
].
Type == POINT_TYPE_POI
) && (Config.
PointList[MAX_LIST_LEN
- i
].
Position.
Status != INVALID
))
{
POIIndex
= MAX_LIST_LEN
- i
+ 1;
break;
}
}
NaviData
->WaypointIndex
= 0;
}
}
else // no point in the list
{
POIIndex
= 0;
NaviData
->WaypointIndex
= 0;
}
if(WPIndex
) return(&(Config.
PointList[WPIndex
-1]));
else return(NULL
);
}
// returns a pointer to the next waypoint or NULL if the end of the list has been reached
Point_t
* PointList_WPNext
(void)
{
uint8_t wp_found
= 0;
if(WPActive
== false) return(NULL
);
if(WPIndex
< MAX_LIST_LEN
) // if there is a next entry in the list
{
uint8_t i
;
for(i
= WPIndex
; i
< MAX_LIST_LEN
; i
++) // start search for next at next list entry
{
if((Config.
PointList[i
].
Type == POINT_TYPE_WP
) && (Config.
PointList[i
].
Position.
Status != INVALID
)) // jump over POIs
{
wp_found
= i
+1;
break;
}
}
}
if(wp_found
)
{
WPIndex
= wp_found
; // update list position
NaviData
->WaypointIndex
++;
if(Config.
PointList[WPIndex
-1].
Heading < 0) POIIndex
= (uint8_t)(-Config.
PointList[WPIndex
-1].
Heading);
else POIIndex
= 0;
return(&(Config.
PointList[WPIndex
-1])); // return pointer to this waypoint
}
else
{ // no next wp found
NaviData
->WaypointIndex
= 0;
POIIndex
= 0;
return(NULL
);
}
}
void PointList_WPActive
(uint8_t set
)
{
if(set
)
{
WPActive
= true;
PointList_WPBegin
(); // uopdates POI index
}
else
{
WPActive
= false;
POIIndex
= 0; // disable POI also
}
}
Point_t
* PointList_GetPOI
(void)
{
return PointList_GetAt
(POIIndex
);
}