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| Rev | Author | Line No. | Line |
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| 426 | killagreg | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 6 | // + Nur für den privaten Gebrauch |
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| 7 | // + FOR NON COMMERCIAL USE ONLY |
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| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 29 | // + mit unserer Zustimmung zulässig |
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| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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| 44 | // |
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| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 57 | #include <stdlib.h> |
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| 58 | #include <stdio.h> |
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| 59 | #include <string.h> |
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| 60 | #include "gpx.h" |
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| 61 | #include "gpx_header.h" |
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| 62 | #include "timer0.h" |
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| 63 | //#include "spi_slave.h" |
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| 64 | #include "main.h" |
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| 65 | #include "uart1.h" |
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| 66 | #include "ubx.h" |
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| 67 | |||
| 68 | //________________________________________________________________________________________________________________________________________ |
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| 69 | // Function: GPX_DocumentInit(GPX_Document_t *) |
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| 70 | // |
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| 71 | // Description: This function initializes the gpx-document for further use. |
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| 72 | // |
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| 73 | // |
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| 74 | // Returnvalue: '1' if document was initialized |
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| 75 | //________________________________________________________________________________________________________________________________________ |
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| 76 | |||
| 77 | uint8_t GPX_DocumentInit(GPX_Document_t *doc) |
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| 78 | { |
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| 79 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
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| 80 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
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| 81 | doc->file = NULL; |
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| 82 | return(1); |
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| 83 | } |
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| 84 | |||
| 85 | //________________________________________________________________________________________________________________________________________ |
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| 86 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
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| 87 | // |
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| 88 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
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| 89 | // |
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| 90 | // |
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| 91 | // Returnvalue: '1' if the gpx-file could be created. |
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| 92 | //________________________________________________________________________________________________________________________________________ |
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| 93 | |||
| 94 | uint8_t GPX_DocumentOpen(int8_t *name, GPX_Document_t *doc) |
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| 95 | { |
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| 96 | |||
| 97 | uint8_t retvalue = 0; |
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| 98 | |||
| 99 | if(doc == NULL) return(0); |
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| 100 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
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| 101 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
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| 102 | |||
| 103 | if(doc->file != NULL) // could the file be opened? |
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| 104 | { |
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| 105 | retvalue = 1; // the document could be created on the drive. |
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| 106 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
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| 107 | fwrite_((void*)GPX_DOCUMENT_HEADER, sizeof(GPX_DOCUMENT_HEADER)-1,1,doc->file);// write the gpx-header to the document. |
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| 108 | } |
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| 109 | |||
| 110 | return(retvalue); |
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| 111 | } |
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| 112 | |||
| 113 | //________________________________________________________________________________________________________________________________________ |
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| 114 | // Function: DocumentClose(GPX_Document_t *doc); |
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| 115 | // |
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| 116 | // Description: This function closes the document specified by doc. |
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| 117 | // |
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| 118 | // |
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| 119 | // Returnvalue: '1' if the gpx-file could be closed. |
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| 120 | //________________________________________________________________________________________________________________________________________ |
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| 121 | |||
| 122 | uint8_t GPX_DocumentClose(GPX_Document_t *doc) |
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| 123 | { |
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| 124 | |||
| 125 | uint8_t retvalue = 1; |
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| 126 | |||
| 127 | if(doc == NULL) return(0); |
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| 128 | |||
| 129 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
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| 130 | { |
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| 131 | switch(doc->state) |
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| 132 | { |
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| 133 | case GPX_DOC_TRACKSEGMENT_OPENED: |
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| 134 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
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| 135 | break; |
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| 136 | |||
| 137 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
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| 138 | GPX_TrackEnd(doc); |
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| 139 | break; |
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| 140 | |||
| 141 | case GPX_DOC_OPENED: // close the file on the memorycard |
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| 142 | if(doc->file != NULL) |
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| 143 | { |
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| 144 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
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| 145 | fclose_(doc->file); |
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| 146 | retvalue = 1; |
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| 147 | } |
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| 148 | doc->state = GPX_DOC_CLOSED; |
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| 149 | break; |
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| 150 | |||
| 151 | default: |
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| 152 | doc->state = GPX_DOC_CLOSED; |
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| 153 | break; |
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| 154 | } |
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| 155 | } |
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| 156 | return(retvalue); |
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| 157 | } |
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| 158 | |||
| 159 | //________________________________________________________________________________________________________________________________________ |
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| 160 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
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| 161 | // |
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| 162 | // Description: This function adds a track to the document. |
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| 163 | // |
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| 164 | // |
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| 165 | // Returnvalue: '1' if the track could be opened |
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| 166 | //________________________________________________________________________________________________________________________________________ |
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| 167 | |||
| 168 | uint8_t GPX_TrackBegin(GPX_Document_t *doc) |
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| 169 | { |
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| 170 | |||
| 171 | uint8_t retvalue = 0; |
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| 172 | if(doc->state == GPX_DOC_OPENED) |
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| 173 | { |
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| 174 | if(doc->file != NULL) |
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| 175 | { |
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| 176 | doc->state = GPX_DOC_TRACK_OPENED; |
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| 177 | retvalue = 1; |
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| 178 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
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| 179 | } |
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| 180 | } |
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| 181 | return(retvalue); |
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| 182 | } |
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| 183 | |||
| 184 | //________________________________________________________________________________________________________________________________________ |
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| 185 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
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| 186 | // |
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| 187 | // Description: This function ends the track opened before. |
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| 188 | // |
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| 189 | // |
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| 190 | // Returnvalue: 1' if the track could be closed |
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| 191 | //________________________________________________________________________________________________________________________________________ |
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| 192 | |||
| 193 | uint8_t GPX_TrackEnd(GPX_Document_t *doc) |
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| 194 | { |
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| 195 | |||
| 196 | uint8_t retvalue = 0; |
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| 197 | |||
| 198 | if(doc->state == GPX_DOC_TRACK_OPENED) |
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| 199 | { |
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| 200 | if(doc->file != NULL) |
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| 201 | { |
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| 202 | doc->state = GPX_DOC_OPENED; |
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| 203 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
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| 204 | retvalue = 1; |
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| 205 | } |
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| 206 | } |
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| 207 | |||
| 208 | return(retvalue); |
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| 209 | } |
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| 210 | |||
| 211 | //________________________________________________________________________________________________________________________________________ |
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| 212 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
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| 213 | // |
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| 214 | // Description: This function starts a track segment. |
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| 215 | // |
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| 216 | // |
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| 217 | // Returnvalue: '1' if the track segement could be started |
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| 218 | //________________________________________________________________________________________________________________________________________ |
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| 219 | |||
| 220 | uint8_t GPX_TrackSegmentBegin(GPX_Document_t *doc) |
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| 221 | { |
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| 222 | |||
| 223 | uint8_t retvalue = 0; |
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| 224 | |||
| 225 | if(doc->state == GPX_DOC_TRACK_OPENED) |
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| 226 | { |
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| 227 | if(doc->file != NULL) |
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| 228 | { |
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| 229 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
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| 230 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
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| 231 | retvalue = 1; |
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| 232 | } |
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| 233 | } |
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| 234 | return(retvalue); |
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| 235 | } |
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| 236 | |||
| 237 | //________________________________________________________________________________________________________________________________________ |
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| 238 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
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| 239 | // |
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| 240 | // Description: This function ends the tracksegment opened before. |
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| 241 | // |
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| 242 | // |
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| 243 | // Returnvalue: '1' if the track segment could be terminated |
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| 244 | //________________________________________________________________________________________________________________________________________ |
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| 245 | |||
| 246 | uint8_t GPX_TrackSegmentEnd(GPX_Document_t *doc) |
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| 247 | { |
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| 248 | |||
| 249 | uint8_t retvalue = 0; |
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| 250 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
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| 251 | { |
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| 252 | if(doc->file != NULL) |
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| 253 | { |
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| 254 | doc->state = GPX_DOC_TRACK_OPENED; |
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| 255 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
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| 256 | retvalue = 1; |
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| 257 | } |
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| 258 | } |
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| 259 | return(retvalue); |
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| 260 | } |
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| 261 | |||
| 262 | //________________________________________________________________________________________________________________________________________ |
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| 263 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
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| 264 | // |
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| 265 | // Description: This function adds a pointof a track segement to the specified document. |
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| 266 | // |
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| 267 | // |
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| 268 | // Returnvalue: '1' if a point was added |
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| 269 | //________________________________________________________________________________________________________________________________________ |
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| 270 | |||
| 271 | uint8_t GPX_TrackSegementAddPoint(GPX_Document_t *doc) |
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| 272 | { |
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| 273 | |||
| 274 | uint8_t retvalue = 0; |
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| 275 | int8_t string[100]; |
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| 276 | |||
| 277 | if(doc == NULL) return(0); |
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| 278 | |||
| 279 | if(GPSData.Position.Status != INVALID) |
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| 280 | { |
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| 281 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
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| 282 | { |
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| 283 | if(doc->file != NULL) |
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| 284 | { |
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| 285 | int16_t i16_1, i16_2, i16_3; |
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| 286 | uint8_t u8_1, u8_2; |
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| 287 | // write <trkpt> tag |
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| 288 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
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| 289 | else u8_1 = '+'; |
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| 290 | i16_1 = abs((int16_t)(GPSData.Position.Latitude/10000000L)); |
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| 291 | i16_2 = abs((int16_t)((GPSData.Position.Latitude%10000000L)/10000L)); |
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| 292 | i16_3 = abs((int16_t)(((GPSData.Position.Latitude%10000000L)%10000L)/10L)); |
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| 293 | sprintf(string, "<trkpt lat=\"%c%d.%.3d%.3d\" ",u8_1, i16_1, i16_2, i16_3); |
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| 294 | fputs_(string, doc->file); |
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| 295 | |||
| 296 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
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| 297 | else u8_1 = '+'; |
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| 298 | i16_1 = abs((int16_t)(GPSData.Position.Longitude/10000000L)); |
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| 299 | i16_2 = abs((int16_t)((GPSData.Position.Longitude%10000000L)/10000L)); |
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| 300 | i16_3 = abs((int16_t)(((GPSData.Position.Longitude%10000000L)%10000L)/10L)); |
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| 301 | sprintf(string, "<lon=\"%c%d.%.3d%.3d\" ",u8_1, i16_1, i16_2, i16_3); |
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| 302 | fputs_(string, doc->file); |
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| 303 | |||
| 304 | // write <time> tag only at a resolution of one second |
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| 305 | sprintf(string, "<time>%04d-%02d-%02dT%02d:%02d:%02dZ</time>\r\n",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec); |
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| 306 | fputs_(string, doc->file); |
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| 307 | // write <sat> tag |
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| 308 | sprintf(string, "<sat>%d</sat>\r\n", GPSData.NumOfSats); |
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| 309 | fputs_(string, doc->file); |
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| 310 | // todo: add <extensions> tag with additional data to be logged |
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| 311 | sprintf(string, "<extensions>\r\n"); |
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| 312 | fputs_(string, doc->file); |
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| 313 | // Course in deg |
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| 314 | i16_1 = (int16_t)(GPSData.Heading/100000L); |
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| 315 | sprintf(string, "<Course>%03d</Course>\r\n", i16_1); |
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| 316 | fputs_(string, doc->file); |
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| 317 | // Ground Speed in cm/s |
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| 318 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", (uint16_t)GPSData.Speed_Ground); |
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| 319 | fputs_(string, doc->file); |
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| 320 | // Ubat |
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| 321 | u8_1 = UBat / 10; |
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| 322 | u8_2 = UBat % 10; |
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| 323 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
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| 324 | fputs_(string, doc->file); |
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| 325 | |||
| 326 | // eof extensions |
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| 327 | sprintf(string, "</extensions>\r\n"); |
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| 328 | fputs_(string, doc->file); |
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| 329 | sprintf(string, "</trkpt>\r\n"); |
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| 330 | fputs_(string, doc->file); |
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| 331 | retvalue = 1; |
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| 332 | } |
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| 333 | } |
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| 334 | } |
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| 335 | return(retvalue); |
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| 336 | } |
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| 337 | |||
| 338 | //________________________________________________________________________________________________________________________________________ |
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| 339 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
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| 340 | // |
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| 341 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
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| 342 | // |
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| 343 | // |
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| 344 | // Returnvalue: '1' if an gps coordinate was logged |
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| 345 | //________________________________________________________________________________________________________________________________________ |
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| 346 | |||
| 347 | uint8_t GPX_LoggGPSCoordinates(GPX_Document_t *doc) |
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| 348 | { |
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| 349 | uint8_t retval = 0; |
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| 350 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
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| 351 | { |
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| 352 | switch(doc->state) |
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| 353 | { |
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| 354 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
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| 355 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
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| 356 | break; |
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| 357 | |||
| 358 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
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| 359 | retval = GPX_TrackBegin(doc); |
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| 360 | break; |
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| 361 | |||
| 362 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
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| 363 | retval = GPX_TrackSegmentBegin(doc); |
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| 364 | break; |
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| 365 | |||
| 366 | default: |
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| 367 | retval = 0; |
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| 368 | break; |
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| 369 | |||
| 370 | } |
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| 371 | if(retval != 1) return(retval); // stop on error |
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| 372 | } |
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| 373 | |||
| 374 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
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| 375 | { |
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| 376 | retval = GPX_TrackSegementAddPoint(doc); // add a track segment point |
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| 377 | } |
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| 378 | return(retval); |
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| 379 | } |
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| 380 |