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| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + 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 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 this software (or part of it) to systems (other than 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 <stdio.h> |
| #include <string.h> |
| #include "gpx.h" |
| #include "gpx_header.h" |
| #include "timer0.h" |
| //#include "spi_slave.h" |
| #include "main.h" |
| #include "uart1.h" |
| #include "ubx.h" |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: GPX_DocumentInit(GPX_Document_t *) |
| // |
| // Description: This function initializes the gpx-document for further use. |
| // |
| // |
| // Returnvalue: '1' if document was initialized |
| //________________________________________________________________________________________________________________________________________ |
| |
| uint8_t GPX_DocumentInit(GPX_Document_t *doc) |
| { |
| if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
| doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
| doc->file = NULL; |
| return(1); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
| // |
| // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
| // |
| // |
| // Returnvalue: '1' if the gpx-file could be created. |
| //________________________________________________________________________________________________________________________________________ |
| |
| uint8_t GPX_DocumentOpen(int8_t *name, GPX_Document_t *doc) |
| { |
| |
| uint8_t retvalue = 0; |
| |
| if(doc == NULL) return(0); |
| GPX_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 = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
| fwrite_((void*)GPX_DOCUMENT_HEADER, sizeof(GPX_DOCUMENT_HEADER)-1,1,doc->file);// write the gpx-header to the document. |
| } |
| |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: DocumentClose(GPX_Document_t *doc); |
| // |
| // Description: This function closes the document specified by doc. |
| // |
| // |
| // Returnvalue: '1' if the gpx-file could be closed. |
| //________________________________________________________________________________________________________________________________________ |
| |
| uint8_t GPX_DocumentClose(GPX_Document_t *doc) |
| { |
| |
| uint8_t retvalue = 1; |
| |
| if(doc == NULL) return(0); |
| |
| while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
| { |
| switch(doc->state) |
| { |
| case GPX_DOC_TRACKSEGMENT_OPENED: |
| GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
| break; |
| |
| case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
| GPX_TrackEnd(doc); |
| break; |
| |
| case GPX_DOC_OPENED: // close the file on the memorycard |
| if(doc->file != NULL) |
| { |
| fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
| fclose_(doc->file); |
| retvalue = 1; |
| } |
| doc->state = GPX_DOC_CLOSED; |
| break; |
| |
| default: |
| doc->state = GPX_DOC_CLOSED; |
| break; |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 GPX_TrackBegin(GPX_Document_t); |
| // |
| // Description: This function adds a track to the document. |
| // |
| // |
| // Returnvalue: '1' if the track could be opened |
| //________________________________________________________________________________________________________________________________________ |
| |
| uint8_t GPX_TrackBegin(GPX_Document_t *doc) |
| { |
| |
| uint8_t retvalue = 0; |
| if(doc->state == GPX_DOC_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = GPX_DOC_TRACK_OPENED; |
| retvalue = 1; |
| fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
| // |
| // Description: This function ends the track opened before. |
| // |
| // |
| // Returnvalue: 1' if the track could be closed |
| //________________________________________________________________________________________________________________________________________ |
| |
| uint8_t GPX_TrackEnd(GPX_Document_t *doc) |
| { |
| |
| uint8_t retvalue = 0; |
| |
| if(doc->state == GPX_DOC_TRACK_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = GPX_DOC_OPENED; |
| fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
| retvalue = 1; |
| } |
| } |
| |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
| // |
| // Description: This function starts a track segment. |
| // |
| // |
| // Returnvalue: '1' if the track segement could be started |
| //________________________________________________________________________________________________________________________________________ |
| |
| uint8_t GPX_TrackSegmentBegin(GPX_Document_t *doc) |
| { |
| |
| uint8_t retvalue = 0; |
| |
| if(doc->state == GPX_DOC_TRACK_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
| fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
| retvalue = 1; |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
| // |
| // Description: This function ends the tracksegment opened before. |
| // |
| // |
| // Returnvalue: '1' if the track segment could be terminated |
| //________________________________________________________________________________________________________________________________________ |
| |
| uint8_t GPX_TrackSegmentEnd(GPX_Document_t *doc) |
| { |
| |
| uint8_t retvalue = 0; |
| if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = GPX_DOC_TRACK_OPENED; |
| fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
| retvalue = 1; |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
| // |
| // Description: This function adds a pointof a track segement to the specified document. |
| // |
| // |
| // Returnvalue: '1' if a point was added |
| //________________________________________________________________________________________________________________________________________ |
| |
| uint8_t GPX_TrackSegementAddPoint(GPX_Document_t *doc) |
| { |
| |
| uint8_t retvalue = 0; |
| int8_t string[50]; |
| |
| if(doc == NULL) return(0); |
| |
| // if((GPSData.Position.Status != INVALID) && (GPS_HomePosition.Status != INVALID)) |
| { |
| if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| int32_t i32_1, i32_2; |
| int16_t i16_1; |
| uint8_t u8_1, u8_2; |
| // write <trkpt> tag |
| if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
| else u8_1 = '+'; |
| i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
| i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
| sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
| fputs_(string, doc->file); |
| if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
| else u8_1 = '+'; |
| i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
| i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
| sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
| fputs_(string, doc->file); |
| // write <time> tag only at a resolution of one second |
| sprintf(string, "<time>%04d-%02d-%02dT%02d:%02d:%02dZ</time>\r\n",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec); |
| fputs_(string, doc->file); |
| // write <sat> tag |
| sprintf(string, "<sat>%d</sat>\r\n", GPSData.NumOfSats); |
| fputs_(string, doc->file); |
| // todo: add <extensions> tag with additional data to be logged |
| sprintf(string, "<extensions>\r\n"); |
| fputs_(string, doc->file); |
| // Course in deg |
| i16_1 = GPSData.Heading/100000L; |
| sprintf(string, "<Course>%03d</Course>\r\n", i16_1); |
| fputs_(string, doc->file); |
| // Ground Speed in cm/s |
| sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", GPSData.Speed_Ground); |
| fputs_(string, doc->file); |
| // Ubat |
| u8_1 = UBat / 10; |
| u8_2 = UBat % 10; |
| sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
| fputs_(string, doc->file); |
| |
| // eof extensions |
| sprintf(string, "</extensions>\r\n"); |
| fputs_(string, doc->file); |
| sprintf(string, "</trkpt>\r\n"); |
| fputs_(string, doc->file); |
| retvalue = 1; |
| } |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
| // |
| // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
| // |
| // |
| // Returnvalue: '1' if an gps coordinate was logged |
| //________________________________________________________________________________________________________________________________________ |
| |
| uint8_t GPX_LoggGPSCoordinates(GPX_Document_t *doc) |
| { |
| uint8_t retval = 0; |
| while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
| { |
| switch(doc->state) |
| { |
| case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
| retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
| break; |
| |
| case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
| retval = GPX_TrackBegin(doc); |
| break; |
| |
| case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
| retval = GPX_TrackSegmentBegin(doc); |
| break; |
| |
| default: |
| retval = 0; |
| break; |
| |
| } |
| if(retval != 1) return(retval); // stop on error |
| } |
| |
| if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
| { |
| retval = GPX_TrackSegementAddPoint(doc); // add a track segment point |
| } |
| return(retval); |
| } |
| |