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/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + 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
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <ctype.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "91x_lib.h"
#include "waypoints.h"
#include "uart1.h"
#include "fat16.h"
#include "main.h"
#include "spi_slave.h"
WPL_Store_t WPL_Store
;
// the waypoints list
#define MAX_LIST_LEN 101
Point_t PointList
[MAX_LIST_LEN
];
u8 WPIndex
= 0; // list index of GPS point representig the current WP, can be maximal WPCount
u8 POIIndex
= 0; // list index of GPS Point representing the current POI, can be maximal WPCount
u8 WPCount
= 0; // number of waypoints
u8 PointCount
= 0; // number of points in the list can be maximal equal to MAX_LIST_LEN
u8 POICount
= 0; // number of point of interest in the list
s16 HeadingOld
= -1;
u32 SD_WaypointTimeout
= 5; // Setting on SD-Card
u8 WPActive
= FALSE
;
u8 PointList_Init
(void)
{
return PointList_Clear
();
}
u8 PointList_Clear
(void)
{
u8 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
++)
{
PointList
[i
].
Position.
Status = INVALID
;
PointList
[i
].
Position.
Latitude = 0;
PointList
[i
].
Position.
Longitude = 0;
PointList
[i
].
Position.
Altitude = 0;
PointList
[i
].
Heading = 361; // invalid value
PointList
[i
].
ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered
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
PointList
[i
].
Event_Flag = 0; // future implementation
PointList
[i
].
Index = 0;
PointList
[i
].
Type = POINT_TYPE_INVALID
;
PointList
[i
].
WP_EventChannelValue = 0;
PointList
[i
].
AltitudeRate = 0; // no change of setpoint
PointList
[i
].
Speed = 0;
PointList
[i
].
CamAngle = 0;
PointList
[i
].
Name[0] = 0;
}
ClearWLP_Name
();
return TRUE
;
}
u8 PointList_GetCount
(void)
{
return PointCount
; // number of points in the list
}
Point_t
* PointList_GetAt
(u8 index
)
{
if((index
> 0) && (index
<= PointCount
)) return(&(PointList
[index
-1])); // return pointer to this waypoint
else return(NULL
);
}
u8 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(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(&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)
{
u8 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((PointList
[i
].
Type == POINT_TYPE_WP
) && (PointList
[i
].
Position.
Status != INVALID
))
{
WPIndex
= i
+ 1;
break;
}
}
if(WPIndex
) // found a WP in the list
{
NaviData.
WaypointIndex = 1;
NewWaypointsReceived
= 1; // activates the Waypoint list as soon as CH is started
// update index to POI
if(PointList
[WPIndex
-1].
Heading < 0) POIIndex
= (u8
)(-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((PointList
[i
].
Type == POINT_TYPE_POI
) && (PointList
[i
].
Position.
Status != INVALID
))
{
POIIndex
= i
+ 1;
break;
}
}
}
}
else // no point in the list
{
POIIndex
= 0;
NaviData.
WaypointIndex = 0;
}
if(WPIndex
) return(&(PointList
[WPIndex
-1]));
else return(NULL
);
}
// returns the last waypoint
Point_t
* PointList_WPEnd
(void)
{
u8 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((PointList
[MAX_LIST_LEN
- i
].
Type == POINT_TYPE_WP
) && (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(PointList
[WPIndex
-1].
Heading < 0) POIIndex
= (u8
)(-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((PointList
[MAX_LIST_LEN
- i
].
Type == POINT_TYPE_POI
) && (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(&(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)
{
u8 wp_found
= 0;
if(WPActive
== FALSE
) return(NULL
);
if(WPIndex
< MAX_LIST_LEN
) // if there is a next entry in the list
{
u8 i
;
for(i
= WPIndex
; i
< MAX_LIST_LEN
; i
++) // start search for next at next list entry
{
if((PointList
[i
].
Type == POINT_TYPE_WP
) && (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(PointList
[WPIndex
-1].
Heading < 0) POIIndex
= (u8
)(-PointList
[WPIndex
-1].
Heading);
else POIIndex
= 0;
return(&(PointList
[WPIndex
-1])); // return pointer to this waypoint
}
else
{ // no next wp found
NaviData.
WaypointIndex = 0;
POIIndex
= 0;
return(NULL
);
}
}
void PointList_WPActive
(u8 set
)
{
if(set
)
{
WPActive
= TRUE
;
PointList_WPBegin
(); // updates POI index
}
else
{
WPActive
= FALSE
;
POIIndex
= 0; // disable POI also
}
}
Point_t
* PointList_GetPOI
(void)
{
return PointList_GetAt
(POIIndex
);
}
#define LINE_MAX 70
#define WP_FILE_VERSION_COMPATIBLE 3
u8 PointList_Save
(u8
* filename
, u8
* listname
, u8 overwride
)
{
File_t
*fp
;
s8 wpline
[LINE_MAX
];
u8 retval
= WPL_ERROR
;
UART1_PutString
("\n\r Save WPL...");
if(Fat16_IsValid
())
{ // check if wpl file is existing
if(fexist_
(filename
))
{ //file is existent
if(!(overwride
))
{
UART1_PutString
("Error: file exist!\r\n");
return(WPL_FILEEXIST
);
}
}
fp
= fopen_
(filename
, 'w'); // try to open the file
if(fp
== NULL
)
{
UART1_PutString
("ERROR: Creating waypoint file!\r\n");
return(retval
);
}
// Create general section and key entries
fputs_
("[General]\r\n", fp
);
sprintf(wpline
, "Name=%s\r\n", listname
);
fputs_
(wpline
, fp
);
sprintf(wpline
, "FileVersion=%d\r\n", WP_FILE_VERSION_COMPATIBLE
);
fputs_
(wpline
, fp
);
sprintf(wpline
, "NumberOfWaypoints=%d\r\n", PointCount
);
fputs_
(wpline
, fp
);
// dump all points if existent
if(PointCount
)
{
u8 i
, u8_1
;
s32 i32_1
, i32_2
;
NewWPL_Name
= 1;
for (i
= 0; i
< PointCount
; i
++)
{
sprintf(wpline
, "[Point%d]\r\n",PointList
[i
].
Index);
fputs_
(wpline
, fp
);
// write latitude in deg
if(PointList
[i
].
Position.
Latitude < 0) u8_1
= '-';
else u8_1
= '+';
i32_1
= abs(PointList
[i
].
Position.
Latitude)/10000000L;
i32_2
= abs(PointList
[i
].
Position.
Latitude)%10000000L
;
sprintf(wpline
, "Latitude=%c%ld.%07ld\r\n", u8_1
, i32_1
, i32_2
);
fputs_
(wpline
, fp
);
// write longitude in deg
if(PointList
[i
].
Position.
Longitude < 0) u8_1
= '-';
else u8_1
= '+';
i32_1
= abs(PointList
[i
].
Position.
Longitude)/10000000L;
i32_2
= abs(PointList
[i
].
Position.
Longitude)%10000000L
;
sprintf(wpline
, "Longitude=%c%ld.%07ld\r\n", u8_1
, i32_1
, i32_2
);
fputs_
(wpline
, fp
);
// write tolerace radius in m
sprintf(wpline
, "Radius=%d\r\n", PointList
[i
].
ToleranceRadius);
fputs_
(wpline
, fp
);
// write altitude in m
if(PointList
[i
].
Position.
Altitude < 0) u8_1
= '-';
else u8_1
= '+';
if(PointList
[i
].
Type == POINT_TYPE_POI
)
{
i32_1
= abs(PointList
[i
].
Position.
Altitude)/100L; // cm --> m
i32_2
= abs(PointList
[i
].
Position.
Altitude)%100L
;
}
else
{
i32_1
= abs(PointList
[i
].
Position.
Altitude)/10L; // dm --> m
i32_2
= abs(PointList
[i
].
Position.
Altitude)%10L
;
}
sprintf(wpline
, "Altitude=%c%ld.%01ld\r\n", u8_1
, i32_1
, i32_2
);
fputs_
(wpline
, fp
);
// write climb rate in 0.1 m/s
sprintf(wpline
, "ClimbRate=%d\r\n", PointList
[i
].
AltitudeRate);
fputs_
(wpline
, fp
);
// write hold time in s
sprintf(wpline
, "DelayTime=%d\r\n", PointList
[i
].
HoldTime);
fputs_
(wpline
, fp
);
// write event channel value
sprintf(wpline
, "WP_Event_Channel_Value=%d\r\n", PointList
[i
].
WP_EventChannelValue);
fputs_
(wpline
, fp
);
// write heading in deg (0= nothing, neg. values index to poi)
sprintf(wpline
, "Heading=%d\r\n", PointList
[i
].
Heading);
fputs_
(wpline
, fp
);
// write speed in 0.1 m/s
sprintf(wpline
, "Speed=%d\r\n", PointList
[i
].
Speed);
fputs_
(wpline
, fp
);
// write cam angle in degree (255 -> POI-Automatic)
sprintf(wpline
, "CAM-Nick=%d\r\n", PointList
[i
].
CamAngle);
fputs_
(wpline
, fp
);
// write point type
sprintf(wpline
, "Type=%d\r\n", PointList
[i
].
Type + 1);
fputs_
(wpline
, fp
);
// write prefix
sprintf(wpline
, "Prefix=%s\r\n", PointList
[i
].
Name);
fputs_
(wpline
, fp
);
} // EOF loop over all points
} // EOF if(PointCount)
if(EOF
== fclose_
(fp
))
{
UART1_PutString
("failed!\r\n");
}
else
{
UART1_PutString
("ok\r\n");
retval
= WPL_OK
;
}
} // EOF if(Fat16_IsValid())
else
{
UART1_PutString
("no file system found!\r\n");
retval
= WPL_NO_SDCARD_FOUND
;
}
return(retval
);
}
u8 PointList_Load
(u8
* filename
, u8
* listname
, u8 listnamelen
, u8 use_preset_speed
)
{
File_t
*fp
;
s8 wpline
[LINE_MAX
];
u8 retval
= WPL_ERROR
;
s8
*name
, *value
;
u8 i
;
u8 IsGeneralSection
= 0;
u8 IsPointSection
= 0;
u8 WPNumber
= 0;
// clear point list first
PointList_Clear
();
HeadingOld
= -1; // updates the direction if the new direction is the same like last time
UART1_PutString
("\n\r Read ");
UART1_PutString
(filename
);
UART1_PutString
("...");
if(Fat16_IsValid
())
{ // check if wpl file is existing
fp
= fopen_
(filename
, 'r'); // try to open the file
if(fp
== NULL
)
{
UART1_PutString
("ERROR: Reading waypoint file!\r\n");
return(retval
);
}
// read all lines from file
while(fgets_
(wpline
, LINE_MAX
, fp
) != 0)
{
if ( // ignorelines starting with \r,\n,' ',';','#'
(wpline
[0] != '\n') &&
(wpline
[0] != '\r') &&
(wpline
[0] != ' ' ) &&
(wpline
[0] != ';' ) &&
(wpline
[0] != '#' )
)
{
// check for section line found
if(wpline
[0] == '[')
{
// next section found
IsGeneralSection
= 0;
IsPointSection
= 0;
name
= strtok(&wpline
[1], "]");
if(name
!= NULL
) // if section name
{
// check section type
for(i
=0; name
[i
]; i
++) name
[i
] = toupper(name
[i
]); // convert to upper case
if(strncmp(name
, "POINT", 5) == 0)
{
IsPointSection
= (u8
)atoi(&name
[5]);
PointCount
++;
}
else if(strcmp(name
, "GENERAL") == 0)
{
IsGeneralSection
= 1;
}
else
{
UART1_PutString
("Unknown section: ");
UART1_PutString
(name
);
UART1_PutString
("\r\n");
}
}
} // EOF section line
else
{ // look for key entrys of each sections
name
= strtok(wpline
, "="); // get name
value
= strtok(NULL
, "="); // get value
if ((name
!= NULL
) && (value
!= NULL
))
{
for(i
=0; name
[i
]; i
++) name
[i
] = toupper(name
[i
]); // convert to upper case
if(IsPointSection
&& (IsPointSection
<= WPNumber
))
{
if(strcmp(name
, "LATITUDE") == 0)
{
PointList
[IsPointSection
-1].
Position.
Latitude = (s32
)(atof(value
) * 1E7);
}
else if(strcmp(name
, "LONGITUDE") == 0)
{
PointList
[IsPointSection
-1].
Position.
Longitude = (s32
)(atof(value
) * 1E7);
}
else if(strcmp(name
, "RADIUS") == 0)
{
PointList
[IsPointSection
-1].
ToleranceRadius = (u8
)atoi(value
);
}
else if(strcmp(name
, "ALTITUDE") == 0)
{
PointList
[IsPointSection
-1].
Position.
Altitude = (s32
)(atof(value
) * 100.0); // in cm
PointList
[IsPointSection
-1].
Position.
Status = NEWDATA
;
}
else if(strcmp(name
, "CLIMBRATE") == 0)
{
PointList
[IsPointSection
-1].
AltitudeRate = (u8
)atoi(value
);
}
else if(strcmp(name
, "DELAYTIME") == 0)
{
PointList
[IsPointSection
-1].
HoldTime = (u8
)atoi(value
);
}
else if(strcmp(name
, "WP_EVENT_CHANNEL_VALUE") == 0)
{
PointList
[IsPointSection
-1].
WP_EventChannelValue = (u8
)atoi(value
);
}
else if(strcmp(name
, "HEADING") == 0)
{
PointList
[IsPointSection
-1].
Heading = (s16
)atoi(value
);
}
else if(strcmp(name
, "SPEED") == 0)
{
if(use_preset_speed
) PointList
[IsPointSection
-1].
Speed = use_preset_speed
;
else PointList
[IsPointSection
-1].
Speed = (u8
)atoi(value
);
}
else if(strcmp(name
, "CAM-NICK") == 0)
{
PointList
[IsPointSection
-1].
CamAngle = (u8
)atoi(value
);
}
else if(strcmp(name
, "TYPE") == 0)
{
PointList
[IsPointSection
-1].
Type = (u8
)atoi(value
);
if(PointList
[IsPointSection
-1].
Type > 0) PointList
[IsPointSection
-1].
Type--; // index shift
else PointList
[IsPointSection
-1].
Type = POINT_TYPE_INVALID
;
switch(PointList
[IsPointSection
-1].
Type)
{
case POINT_TYPE_WP
:
// this works only if altitude key is set before point type key in WPL file !!
PointList
[IsPointSection
-1].
Position.
Altitude /= 10; // dm only for WPs
WPCount
++;
break;
case POINT_TYPE_POI
:
POICount
++;
break;
}
}
else if(strcmp(name
, "PREFIX") == 0)
{
strncpy(PointList
[IsPointSection
-1].
Name, value
, 4);
PointList
[IsPointSection
-1].
Name[3] = 0; // Terminate string
}
else
{
UART1_PutString
("Unknown key: ");
UART1_PutString
(name
);
UART1_PutString
("\r\n");
}
} // EOF point section
else if(IsGeneralSection
)
{
if(strcmp(name
, "NUMBEROFWAYPOINTS") == 0)
{
WPNumber
= (u8
)atoi(value
);
if(!WPNumber
) // no waypoints in file
{
return(WPL_NO_WAYPOINTS
); // we are done here
}
else if(WPNumber
> MAX_LIST_LEN
) // number o points larger than ram list
{
UART1_PutString
("To many points!");
return(WPL_ERROR
);
}
}
else if (strcmp(name
, "FILEVERSION") == 0)
{
if((u8
)atoi(value
) != WP_FILE_VERSION_COMPATIBLE
)
{
PointList_Clear
();
UART1_PutString
("Bad file version!\r\n");
return(WPL_ERROR
);
}
}
else if (strcmp(name
, "NAME") == 0)
{
if(listname
)
{
u8 len
= strlen(value
);
if(len
)
{
if(value
[len
-1] == '\r')
{
value
[len
-1] = 0;
// len--;
}
}
if(len
> listnamelen
) len
= listnamelen
;
if(len
)
{
value
[len
-1] = 0; // terminate string
if(listname
) memcpy(listname
, value
, len
);
}
NewWPL_Name
= 1;
}
}
else
{
UART1_PutString
("Unknown key: ");
UART1_PutString
(name
);
UART1_PutString
("\r\n");
}
} // EOF general section
} // EOF valid key entry
} // EOF key entry line
} // valid line
} // EOF loop over all lines
fclose_
(fp
);
NaviData.
WaypointNumber = WPCount
;
retval
= WPL_OK
;
UART1_PutString
("ok\r\n");
} // EOF if(Fat16_IsValid())
else
{
UART1_PutString
("no file system found!\r\n");
retval
= WPL_NO_SDCARD_FOUND
;
}
return(retval
);
}
// load actual point list from SD card
u8 PointList_ReadFromFile
(WPL_Store_t
* pWPL_Store
)
{
u8 filename
[30];
pWPL_Store
->Name
[0] = 0; // clear current list name
// user absolute path, i.e. leading /
if(pWPL_Store
->Index
== 0) // index 0 looks for a default WPL file in the root
{
sprintf(filename
, "/default.wpl");
}
else
{
sprintf(filename
, "/WPL/list_%03d.wpl", pWPL_Store
->Index
);
}
return PointList_Load
(filename
, pWPL_Store
->Name
, sizeof(pWPL_Store
->Name
),0);
}
// save actual point list to SD card
u8 PointList_WriteToFile
(WPL_Store_t
* pWPL_Store
)
{
u8 filename
[30];
if(PointCount
== 0) return(WPL_NO_WAYPOINTS
);
// user absolute path, i.e. leading /
if(pWPL_Store
->Index
== 0)
{
sprintf(filename
, "/default.wpl");
}
else
{
sprintf(filename
, "/WPL/list_%03d.wpl", pWPL_Store
->Index
);
}
return PointList_Save
(filename
, pWPL_Store
->Name
, pWPL_Store
->OverwriteFile
);
}
// save actual gps positiin and heading to file
u8 PointList_SaveSinglePoint
(WPL_Store_t
* pWPL_Store
)
{
u8 retval
= WPL_ERROR
;
u8 filename
[30];
Point_t WP
;
UART1_PutString
("\n\r write single point\n\r");
if(GPSData.
Position.
Status == INVALID
)
{
UART1_PutString
("ERROR: No GPS - Fix\n\r");
return(retval
);
}
// clear current point list
PointList_Clear
();
// prepare WP at current position
if(NCFlags
& NC_FLAG_FREE
|| NaviData.
TargetPositionDeviation.
Distance > 7*10)
{ // take actual position
GPSPos_Copy
(&GPSData.
Position, &(WP.
Position));
}
else
{ // take last target position
GPSPos_Copy
(&NaviData.
TargetPosition, &(WP.
Position));
}
GPSPos_Copy
(&GPSData.
Position, &(WP.
Position));
// set heading
WP.
Heading = (CompassSetpointCorrected
/10 + Parameter.
CamOrientation * 15) % 360;
if(WP.
Heading == 0) WP.
Heading = 360;
WP.
ToleranceRadius = 120; // 12m
WP.
HoldTime = 2;
WP.
Index = 1;
WP.
Type = POINT_TYPE_WP
;
WP.
WP_EventChannelValue = 0;
if(FC.
StatusFlags & FC_STATUS_FLY
&& ((FromFC_VarioCharacter
!= ' ') || (SimulationFlags
& SIMULATION_ACTIVE
))) // only in flight and if the Altitude control is enabled
{
WP.
AltitudeRate = 255; // Auto
WP.
Position.
Altitude = NaviData.
SetpointAltitude / 2;
}
else
{
WP.
AltitudeRate = 0;
WP.
Position.
Altitude = 0;
}
WP.
Speed = 50; // beim Laden wird der Wert nochmal neu gesetzt
WP.
CamAngle = 0;
WP.
Name[0] = 'S';
WP.
Name[1] = 'P';
WP.
Name[2] = 'T';
WP.
Name[3] = 0;
// add this point to wp list
PointList_SetAt
(&WP
);
sprintf(filename
, "/POINT/POINT%03d.wpl", pWPL_Store
->Index
);
UART1_PutString
(filename
);
sprintf(pWPL_Store
->Name
, "POINT%03d ", pWPL_Store
->Index
);
retval
= PointList_Save
(filename
, pWPL_Store
->Name
, 1);
// clear current point list
if((NC_GPS_ModeCharacter
!= 'w') && (NC_GPS_ModeCharacter
!= 'W')) PointList_Clear
();
else // es ist gearde ein Wegpunktflug aktiv -> updaten
{
if(FC.
StatusFlags & FC_STATUS_FLY
) PointList_WPActive
(TRUE
);
GPS_pWaypoint
= PointList_WPBegin
(); // updates POI index
}
return(retval
);
}
// load target gps posititon and heading from file
u8 PointList_LoadSinglePoint
(WPL_Store_t
* pWPL_Store
)
{
u8 filename
[30], result
= 0;
sprintf(filename
, "/POINT/POINT%03d.wpl", pWPL_Store
->Index
);
pWPL_Store
->Name
[0] = 0; // clear current list name
result
= PointList_Load
(filename
, pWPL_Store
->Name
, sizeof(pWPL_Store
->Name
),Parameter.
SingleWpSpeed);
if(result
) UART1_Request_ReadPoint
= 1; // Sends Point 1 to the PC
return(result
);
}
void ClearWLP_Name
(void)
{
u8 i
;
for(i
=0; i
<sizeof(WPL_Store.
Name);i
++) WPL_Store.
Name[i
] = 0;
NewWPL_Name
= 1;
}
// move actual point list to ref pos., the point in the list marked by index gets the RefPos afterwards
u8 PointList_Move
(u8 RefIndex
, GPS_Pos_t
* pRefPos
, u16 RotationAngle
)
{
u8 retval
= 0;
s32 altitude
;
GPS_Pos_t OldRefPos
;
GPS_Pos_Deviation_t RefDeviation
;
// check inputs for plausibility;
if((RefIndex
== 0) || (RefIndex
> PointCount
)) return(retval
);
if(pRefPos
== NULL
) return(retval
);
if(pRefPos
->Status
== INVALID
) return(retval
);
if(GPSPos_Copy
(&(PointList
[RefIndex
-1].
Position), &OldRefPos
)) // backup old reference position
{
u8 i
;
// iterate the position list
for(i
= 0; i
< PointCount
; i
++)
{
retval
= 0;
// backup altitude of this point
altitude
= PointList
[i
].
Position.
Altitude;
// calculate deviation form old ref, i.e the north and east shift of each point in the list from the reference position
if(!GPSPos_Deviation
(&(PointList
[i
].
Position), &OldRefPos
, &RefDeviation
)) break;
// copy of the new reference position into this list place
if(!GPSPos_Copy
(pRefPos
, &(PointList
[i
].
Position))) break;
// restore former altitude
PointList
[i
].
Position.
Altitude = altitude
;
// move new reference according to the deviation of the old reference
if(RotationAngle
> 0)
{
retval
= GPSPos_ShiftGeodetic
(&(PointList
[i
].
Position), (RefDeviation.
Bearing + 180 + RotationAngle
)%360, RefDeviation.
Distance );
// Now rotate the heading positions if they are fixed angles
if(PointList
[i
].
Heading >= 0 && PointList
[i
].
Heading <= 360) PointList
[i
].
Heading = (PointList
[i
].
Heading + RotationAngle
) % 360;
}
else // no rotation
{
// move new reference according to the deviation of the old reference
retval
= GPSPos_ShiftCartesian
(&(PointList
[i
].
Position), RefDeviation.
North, RefDeviation.
East);
}
if(!retval
) break;
}
} // else ref pos old not copied!
if(!retval
) PointList_Clear
();
return(retval
);
}