WebSVN - NaviCtrl - Diff - Rev 516 and 764


/*#######################################################################################*/
/* !!! 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"
#include "main.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.
                if(OEM_String[0] == 255) { sprintf(string, "MikroKopter "); fputs_(string, doc->file); }
            else {      sprintf(string, "%s ",OEM_String);      fputs_(string, doc->file); }
                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);
}
 
 
Subversion Repositories NaviCtrl

(root)/tags/V2.20h/kml.c @ 935 - Rev 516 → 764
