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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 <stdlib.h> |
| #include <stdio.h> |
| #include "91x_lib.h" |
| #include "kml.h" |
| #include "kml_header.h" |
| #include "uart1.h" |
| #include "logging.h" |
| #include "timer1.h" |
| |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Module name: kml.c |
| // Compiler used: avr-gcc 3.4.5 |
| // Last Modifikation: 22.03.2009 |
| // Version: 1.03 |
| // Authors: Stephan Busker, Gregor Stobrawa |
| // Description: Source files to write gps-coordinates to a file in the kml (keyhole markup language) fileformat |
| // Copyright (C) 2007 Stephan Busker |
| //........................................................................................................................................ |
| // Functions: extern u8 KML_LoggGPSCoordinates(struct str_gps_nav_data , KML_Document_t *); // intializes the kml-document with standard filename and adds points to the file |
| // extern u8 KML_DocumentInit(KML_Document_t *doc) // initializes the kml-document to resetvalues. |
| // extern u8 KML_DocumentOpen(s8 *, KML_Document_t *); // opens a new kml document. A filename can be specified. |
| // extern u8 KML_DocumentClose(KML_Document_t *doc); // closes an open document |
| // extern u8 KML_PlaceMarkOpen(KML_Document_t *); // opens a new placemark within the specified document |
| // extern u8 KML_PlaceMarkClose(KML_Document_t *); // Closes the placemark |
| // extern u8 KML_LineStringBegin(KML_Document_t *); // begins a new line within the actual placemark |
| // extern u8 KML_LineStringEnd(KML_Document_t *doc); // ends the actual linestring |
| // extern u8 KML_LineStringAddPoint(struct str_gps_nav_data, KML_Document_t *); // adds a new point (gps-coordinates) to the actual linestring |
| //........................................................................................................................................ |
| // ext. functions: |
| // |
| //........................................................................................................................................ |
| // |
| // URL: www.Mikro-Control.de |
| // mailto: stephan.busker@mikro-control.de |
| //________________________________________________________________________________________________________________________________________ |
| |
| |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: KML_DocumentInit(KML_Document_t *) |
| // |
| // Description: This function initializes the kml-document for further use. |
| // |
| // |
| // Returnvalue: '1' if document was initialized |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_DocumentInit(KML_Document_t *doc) |
| { |
| doc->state = KML_DOC_CLOSED; // state of the kml-document |
| doc->file = NULL; |
| return(1); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: KML_Document_Open(void); |
| // |
| // Description: This function opens a new KML- document with the specified name and creates the document header within the file. |
| // |
| // |
| // Returnvalue: '1' if the KML- file could be created. |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_DocumentOpen(s8 *name, KML_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; |
| s8 string[50]; |
| |
| if(doc == NULL) return(0); |
| |
| KML_DocumentInit(doc); // intialize the document with resetvalues |
| doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
| |
| if(doc->file != NULL) // could the file be opened? |
| { |
| retvalue = 1; // the document could be created on the drive. |
| doc->state = KML_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
| fwrite_((void*)KML_DOCUMENT_HEADER1, sizeof(KML_DOCUMENT_HEADER1)-1,1,doc->file);// write the KML-header to the document. |
| sprintf(string, "%4i.%02i.%02i Nr:%i (%02i%02i%02i%02i)", SystemTime.Year, SystemTime.Month, SystemTime.Day, KML_Filenum, SystemTime.Year%100, SystemTime.Month, SystemTime.Day, KML_Filenum); |
| fputs_(string, doc->file); |
| fwrite_((void*)KML_DOCUMENT_HEADER2, sizeof(KML_DOCUMENT_HEADER2)-1,1,doc->file);// write the KML-header to the document. |
| } |
| |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: DocumentClose(KML_Document_t *doc); |
| // |
| // Description: This function closes the document specified by doc. |
| // |
| // |
| // Returnvalue: '1' if the KML- file could be closed. |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_DocumentClose(KML_Document_t *doc) |
| { |
| |
| u8 retvalue = 1; |
| |
| if(doc == NULL) return(0); |
| |
| while(doc->state != KML_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
| { |
| switch(doc->state) |
| { |
| case KML_DOC_LINESTRING_OPENED: |
| KML_LineStringEnd(doc); // write terminating tag to end linestring. |
| break; |
| |
| case KML_DOC_PLACEMARK_OPENED: // write terminating tag to close placemark. |
| KML_PlaceMarkClose(doc); |
| break; |
| |
| case KML_DOC_OPENED: // close the file on the memorycard |
| if(doc->file != NULL) |
| { |
| fwrite_((void*)KML_DOCUMENT_FOOTER, sizeof(KML_DOCUMENT_FOOTER)-1,1,doc->file); // write the KML- footer to the document. |
| fclose_(doc->file); |
| retvalue = 1; |
| } |
| doc->state = KML_DOC_CLOSED; |
| break; |
| |
| default: |
| doc->state = KML_DOC_CLOSED; |
| break; |
| |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 KML_PlaceMarkOpen(KML_Document_t *doc); |
| // |
| // Description: This function adds a placemark to the document. |
| // |
| // |
| // Returnvalue: '1' if the PlaceMark could be opened |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_PlaceMarkOpen(KML_Document_t *doc) |
| { |
| u8 retvalue = 0; |
| if(doc->state == KML_DOC_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = KML_DOC_PLACEMARK_OPENED; |
| retvalue = 1; |
| fwrite_((void*)KML_PLACEMARK_HEADER, sizeof(KML_PLACEMARK_HEADER)-1,1,doc->file); |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 PlaceMarkClose(KML_PlaceMark_t *place, File *file); |
| // |
| // Description: This function ends the placemark opened before. |
| // |
| // |
| // Returnvalue: 1' if the PlaceMark could be closed |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_PlaceMarkClose(KML_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; // close the Placemark-tag of the corosponding document. |
| |
| if(doc->state == KML_DOC_PLACEMARK_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = KML_DOC_OPENED; |
| fwrite_((void*)KML_PLACEMARK_FOOTER, sizeof(KML_PLACEMARK_FOOTER)-1,1,doc->file); |
| retvalue = 1; |
| } |
| } |
| |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 LineStringBegin(KML_Document_t *doc); |
| // |
| // Description: This function ends the placemark opened before. |
| // |
| // |
| // Returnvalue: '1' if the LineString could be started |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_LineStringBegin(KML_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; |
| |
| if(doc->state == KML_DOC_PLACEMARK_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = KML_DOC_LINESTRING_OPENED; |
| fwrite_((void*)KML_LINESTRING_HEADER, sizeof(KML_LINESTRING_HEADER)-1,1,doc->file); |
| Logged_KML_Counter = 0; |
| retvalue = 1; |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 KML_LineStringEnd(KML_Document_t *doc) |
| // |
| // Description: This function ends the placemark opened before. |
| // |
| // |
| // Returnvalue: '1' if the LineString could be terminated |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_LineStringEnd(KML_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; |
| |
| if(doc->state == KML_DOC_LINESTRING_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = KML_DOC_PLACEMARK_OPENED; |
| fwrite_((void*)KML_LINESTRING_FOOTER, sizeof(KML_LINESTRING_FOOTER)-1,1,doc->file); |
| retvalue = 1; |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 LineStringAddPoint(gps_data_t, KML_Document_t *doc) |
| // |
| // Description: This function adds a point to the specified document. |
| // |
| // |
| // Returnvalue: '1' if a ppoint was added could be started |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_LineStringAddPoint(KML_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; |
| s8 string[50]; |
| s32 rel_altitude = 0; |
| |
| if(doc == NULL) return(0); |
| |
| if(GPSData.Position.Status != INVALID) |
| { |
| if(doc->state == KML_DOC_LINESTRING_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| s32 i1, i2; |
| u8 sign; |
| if(GPSData.Position.Longitude < 0) sign = '-'; |
| else sign = '+'; |
| i1 = abs(GPSData.Position.Longitude)/10000000L; |
| i2 = abs(GPSData.Position.Longitude)%10000000L; |
| sprintf(string,"\r\n%c%ld.%07ld,",sign, i1, i2); |
| fputs_(string, doc->file); |
| if(GPSData.Position.Latitude < 0) sign = '-'; |
| else sign = '+'; |
| i1 = abs(GPSData.Position.Latitude)/10000000L; |
| i2 = abs(GPSData.Position.Latitude)%10000000L; |
| sprintf(string,"%c%ld.%07ld,",sign, i1, i2); |
| fputs_(string, doc->file); |
| // calculate relative altitude with respect to the altitude of the home position |
| rel_altitude = GPSData.Position.Altitude - NaviData.HomePosition.Altitude; |
| if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log |
| i1 = rel_altitude/1000L; |
| i2 = rel_altitude%1000L; |
| sprintf(string,"%ld.%03ld",i1, i2); |
| fputs_(string, doc->file); |
| Logged_KML_Counter++; |
| retvalue = 1; |
| } |
| } |
| } |
| else |
| { |
| if(doc->state == KML_DOC_LINESTRING_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| sprintf(string,"\r\n"); |
| fputs_(string, doc->file); |
| Logged_KML_Counter++; |
| retvalue = 1; |
| } |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
| // |
| // Description: This function opens adds gpscoordinates to an KML-Document. The document will be opened, if not already done |
| // |
| // |
| // Returnvalue: '1' if an gps coordinate was logged |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 KML_LoggGPSCoordinates(KML_Document_t *doc) |
| { |
| u8 retval = 0; |
| while(doc->state != KML_DOC_LINESTRING_OPENED) // automatic create document with default filename on the card. |
| { |
| switch(doc->state) |
| { |
| case KML_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
| retval = KML_DocumentOpen("default.kml",doc); // open the kml-document with a standardname. |
| break; |
| |
| case KML_DOC_OPENED: // if a document has been opened before but no placemark exists: |
| retval = KML_PlaceMarkOpen(doc); |
| break; |
| |
| case KML_DOC_PLACEMARK_OPENED: // add linestring to the placemark |
| retval = KML_LineStringBegin(doc); |
| break; |
| |
| default: |
| retval = 0; |
| break; |
| |
| } |
| if(retval != 1) return(retval); // stop on error |
| } |
| |
| if(doc->state == KML_DOC_LINESTRING_OPENED) // if the document was opened add coordinates to the document. |
| { |
| retval = KML_LineStringAddPoint(doc); |
| } |
| return(retval); |
| } |
| |