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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 85 | 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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| 171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 85 | killagreg | 7 | // + FOR NON COMMERCIAL USE ONLY |
| 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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| 171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 85 | killagreg | 29 | // + mit unserer Zustimmung zulässig |
| 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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| 171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 85 | killagreg | 44 | // |
| 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 "91x_lib.h" |
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| 60 | #include "gpx.h" |
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| 61 | #include "gpx_header.h" |
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| 119 | killagreg | 62 | #include "timer1.h" |
| 86 | killagreg | 63 | #include "spi_slave.h" |
| 64 | #include "main.h" |
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| 65 | #include "uart1.h" |
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| 85 | killagreg | 66 | |
| 67 | //________________________________________________________________________________________________________________________________________ |
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| 68 | // Function: GPX_DocumentInit(GPX_Document_t *) |
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| 69 | // |
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| 70 | // Description: This function initializes the gpx-document for further use. |
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| 71 | // |
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| 72 | // |
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| 73 | // Returnvalue: '1' if document was initialized |
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| 74 | //________________________________________________________________________________________________________________________________________ |
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| 75 | |||
| 76 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
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| 77 | { |
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| 78 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
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| 79 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
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| 80 | doc->file = NULL; |
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| 81 | return(1); |
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| 82 | } |
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| 83 | |||
| 84 | //________________________________________________________________________________________________________________________________________ |
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| 85 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
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| 86 | // |
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| 87 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
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| 88 | // |
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| 89 | // |
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| 90 | // Returnvalue: '1' if the gpx-file could be created. |
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| 91 | //________________________________________________________________________________________________________________________________________ |
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| 92 | |||
| 93 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
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| 94 | { |
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| 95 | |||
| 96 | u8 retvalue = 0; |
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| 97 | |||
| 98 | if(doc == NULL) return(0); |
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| 99 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
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| 100 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
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| 101 | |||
| 102 | if(doc->file != NULL) // could the file be opened? |
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| 103 | { |
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| 104 | retvalue = 1; // the document could be created on the drive. |
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| 105 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
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| 106 | fwrite_((void*)GPX_DOCUMENT_HEADER, sizeof(GPX_DOCUMENT_HEADER)-1,1,doc->file);// write the gpx-header to the document. |
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| 107 | } |
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| 108 | |||
| 109 | return(retvalue); |
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| 110 | } |
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| 111 | |||
| 112 | //________________________________________________________________________________________________________________________________________ |
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| 113 | // Function: DocumentClose(GPX_Document_t *doc); |
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| 114 | // |
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| 115 | // Description: This function closes the document specified by doc. |
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| 116 | // |
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| 117 | // |
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| 118 | // Returnvalue: '1' if the gpx-file could be closed. |
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| 119 | //________________________________________________________________________________________________________________________________________ |
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| 120 | |||
| 121 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
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| 122 | { |
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| 123 | |||
| 124 | u8 retvalue = 1; |
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| 125 | |||
| 126 | if(doc == NULL) return(0); |
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| 127 | |||
| 128 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
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| 94 | killagreg | 129 | { |
| 85 | killagreg | 130 | switch(doc->state) |
| 131 | { |
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| 132 | case GPX_DOC_TRACKSEGMENT_OPENED: |
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| 133 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
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| 134 | break; |
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| 135 | |||
| 104 | killagreg | 136 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
| 85 | killagreg | 137 | GPX_TrackEnd(doc); |
| 138 | break; |
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| 139 | |||
| 140 | case GPX_DOC_OPENED: // close the file on the memorycard |
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| 141 | if(doc->file != NULL) |
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| 142 | { |
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| 143 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
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| 144 | fclose_(doc->file); |
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| 145 | retvalue = 1; |
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| 146 | } |
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| 147 | doc->state = GPX_DOC_CLOSED; |
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| 148 | break; |
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| 149 | |||
| 150 | default: |
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| 151 | doc->state = GPX_DOC_CLOSED; |
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| 152 | break; |
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| 153 | } |
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| 154 | } |
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| 155 | return(retvalue); |
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| 156 | } |
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| 157 | |||
| 158 | //________________________________________________________________________________________________________________________________________ |
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| 159 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
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| 160 | // |
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| 161 | // Description: This function adds a track to the document. |
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| 162 | // |
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| 163 | // |
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| 164 | // Returnvalue: '1' if the track could be opened |
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| 165 | //________________________________________________________________________________________________________________________________________ |
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| 166 | |||
| 167 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
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| 168 | { |
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| 169 | |||
| 170 | u8 retvalue = 0; |
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| 171 | if(doc->state == GPX_DOC_OPENED) |
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| 172 | { |
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| 173 | if(doc->file != NULL) |
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| 174 | { |
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| 175 | doc->state = GPX_DOC_TRACK_OPENED; |
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| 176 | retvalue = 1; |
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| 177 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
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| 178 | } |
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| 179 | } |
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| 180 | return(retvalue); |
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| 181 | } |
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| 182 | |||
| 183 | //________________________________________________________________________________________________________________________________________ |
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| 184 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
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| 185 | // |
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| 186 | // Description: This function ends the track opened before. |
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| 187 | // |
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| 188 | // |
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| 189 | // Returnvalue: 1' if the track could be closed |
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| 190 | //________________________________________________________________________________________________________________________________________ |
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| 191 | |||
| 192 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
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| 193 | { |
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| 194 | |||
| 195 | u8 retvalue = 0; |
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| 196 | |||
| 197 | if(doc->state == GPX_DOC_TRACK_OPENED) |
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| 198 | { |
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| 199 | if(doc->file != NULL) |
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| 200 | { |
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| 201 | doc->state = GPX_DOC_OPENED; |
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| 202 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
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| 203 | retvalue = 1; |
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| 204 | } |
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| 205 | } |
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| 206 | |||
| 207 | return(retvalue); |
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| 208 | } |
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| 209 | |||
| 210 | //________________________________________________________________________________________________________________________________________ |
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| 211 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
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| 212 | // |
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| 213 | // Description: This function starts a track segment. |
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| 214 | // |
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| 215 | // |
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| 216 | // Returnvalue: '1' if the track segement could be started |
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| 217 | //________________________________________________________________________________________________________________________________________ |
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| 218 | |||
| 219 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
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| 220 | { |
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| 221 | |||
| 222 | u8 retvalue = 0; |
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| 223 | |||
| 224 | if(doc->state == GPX_DOC_TRACK_OPENED) |
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| 225 | { |
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| 226 | if(doc->file != NULL) |
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| 227 | { |
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| 228 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
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| 229 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
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| 230 | retvalue = 1; |
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| 231 | } |
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| 232 | } |
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| 233 | return(retvalue); |
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| 234 | } |
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| 235 | |||
| 236 | //________________________________________________________________________________________________________________________________________ |
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| 237 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
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| 238 | // |
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| 239 | // Description: This function ends the tracksegment opened before. |
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| 240 | // |
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| 241 | // |
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| 242 | // Returnvalue: '1' if the track segment could be terminated |
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| 243 | //________________________________________________________________________________________________________________________________________ |
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| 244 | |||
| 245 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
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| 246 | { |
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| 247 | |||
| 248 | u8 retvalue = 0; |
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| 249 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
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| 250 | { |
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| 251 | if(doc->file != NULL) |
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| 252 | { |
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| 253 | doc->state = GPX_DOC_TRACK_OPENED; |
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| 254 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
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| 255 | retvalue = 1; |
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| 256 | } |
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| 257 | } |
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| 258 | return(retvalue); |
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| 259 | } |
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| 260 | |||
| 261 | //________________________________________________________________________________________________________________________________________ |
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| 262 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
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| 263 | // |
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| 264 | // Description: This function adds a pointof a track segement to the specified document. |
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| 265 | // |
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| 266 | // |
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| 267 | // Returnvalue: '1' if a point was added |
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| 268 | //________________________________________________________________________________________________________________________________________ |
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| 269 | |||
| 270 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc) |
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| 271 | { |
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| 272 | |||
| 273 | u8 retvalue = 0; |
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| 274 | s8 string[50]; |
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| 275 | |||
| 276 | if(doc == NULL) return(0); |
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| 277 | |||
| 215 | killagreg | 278 | if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
| 85 | killagreg | 279 | { |
| 280 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
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| 281 | { |
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| 282 | if(doc->file != NULL) |
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| 283 | { |
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| 86 | killagreg | 284 | s32 i32_1, i32_2; |
| 285 | s16 i16_1; |
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| 286 | u8 u8_1, u8_2; |
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| 85 | killagreg | 287 | // write <trkpt> tag |
| 86 | killagreg | 288 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
| 289 | else u8_1 = '+'; |
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| 290 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
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| 291 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
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| 292 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
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| 85 | killagreg | 293 | fputs_(string, doc->file); |
| 86 | killagreg | 294 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
| 295 | else u8_1 = '+'; |
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| 296 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
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| 297 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
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| 298 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
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| 85 | killagreg | 299 | fputs_(string, doc->file); |
| 300 | // write <ele> taga |
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| 215 | killagreg | 301 | i32_2 = GPSData.Position.Altitude - NaviData.HomePosition.Altitude; |
| 86 | killagreg | 302 | if(i32_2 < 0) i32_2 = 0; // avoid negative altitudes in log |
| 303 | i32_1 = i32_2/1000L; |
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| 304 | i32_2 = i32_2%1000L; |
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| 305 | sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1, i32_2); |
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| 85 | killagreg | 306 | fputs_(string, doc->file); |
| 307 | // write <time> tag only at a resolution of one second |
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| 308 | 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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| 309 | fputs_(string, doc->file); |
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| 86 | killagreg | 310 | // write <sat> tag |
| 311 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
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| 312 | fputs_(string, doc->file); |
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| 94 | killagreg | 313 | // todo: add <extensions> tag with additional data to be logged |
| 86 | killagreg | 314 | sprintf(string, "<extensions>\r\n"); |
| 315 | fputs_(string, doc->file); |
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| 125 | killagreg | 316 | // Altimeter according to air pressure |
| 317 | sprintf(string, "<Altimeter>%d</Altimeter>\r\n", NaviData.Altimeter); |
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| 126 | killagreg | 318 | fputs_(string, doc->file); |
| 140 | killagreg | 319 | // Variometer according to air pressure |
| 320 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
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| 321 | fputs_(string, doc->file); |
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| 92 | killagreg | 322 | // Course in deg |
| 86 | killagreg | 323 | i16_1 = GPSData.Heading/100000L; |
| 324 | sprintf(string, "<Course>%03d</Course>\r\n", i16_1); |
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| 325 | fputs_(string, doc->file); |
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| 92 | killagreg | 326 | // Ground Speed in cm/s |
| 86 | killagreg | 327 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
| 328 | fputs_(string, doc->file); |
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| 140 | killagreg | 329 | // Vertical Speed in cm/s |
| 330 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
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| 331 | fputs_(string, doc->file); |
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| 332 | // Flight duration |
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| 101 | holgerb | 333 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
| 334 | fputs_(string, doc->file); |
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| 86 | killagreg | 335 | // Ubat |
| 336 | u8_1 = NaviData.UBat / 10; |
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| 337 | u8_2 = NaviData.UBat % 10; |
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| 338 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
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| 339 | fputs_(string, doc->file); |
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| 206 | killagreg | 340 | // Current |
| 341 | u8_1 = NaviData.Current / 10; |
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| 342 | u8_2 = NaviData.Current % 10; |
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| 343 | sprintf(string, "<Current>%d.%01d</Current>\r\n", u8_1, u8_2); |
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| 344 | fputs_(string, doc->file); |
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| 345 | // Capacity |
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| 346 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
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| 347 | fputs_(string, doc->file); |
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| 86 | killagreg | 348 | // RC Quality |
| 349 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
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| 350 | fputs_(string, doc->file); |
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| 125 | killagreg | 351 | // RC Received Signal Strength Indication |
| 352 | sprintf(string, "<RCRSSI>%d</RCRSSI>\r\n", FC.RC_RSSI); |
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| 353 | fputs_(string, doc->file); |
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| 92 | killagreg | 354 | // Compassind deg |
| 86 | killagreg | 355 | i16_1 = FromFlightCtrl.GyroHeading / 10; |
| 356 | sprintf(string, "<Compass>%03d</Compass>\r\n", i16_1); |
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| 357 | fputs_(string, doc->file); |
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| 92 | killagreg | 358 | // Nick Angle ind deg |
| 86 | killagreg | 359 | sprintf(string, "<NickAngle>%03d</NickAngle>\r\n", NaviData.AngleNick); |
| 360 | fputs_(string, doc->file); |
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| 92 | killagreg | 361 | // Roll Angle in deg |
| 86 | killagreg | 362 | sprintf(string, "<RollAngle>%03d</RollAngle>\r\n", NaviData.AngleRoll); |
| 363 | fputs_(string, doc->file); |
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| 92 | killagreg | 364 | // NC Mode (contains the status) |
| 365 | sprintf(string, "<NCFlag>%02X</NCFlag>\r\n", NCFlags); |
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| 86 | killagreg | 366 | fputs_(string, doc->file); |
| 233 | holgerb | 367 | // Status of the complete MikroKopter |
| 368 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
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| 369 | fputs_(string, doc->file); |
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| 92 | killagreg | 370 | // Target Bearing in deg |
| 86 | killagreg | 371 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
| 372 | fputs_(string, doc->file); |
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| 92 | killagreg | 373 | // Target Distance in dm |
| 86 | killagreg | 374 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
| 375 | fputs_(string, doc->file); |
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| 101 | holgerb | 376 | // RC Sticks as Nick/Roll/Yaw |
| 377 | sprintf(string, "<RCSticks>%d, %d, %d</RCSticks>\r\n", FC.StickNick,FC.StickRoll, FC.StickYaw); |
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| 378 | fputs_(string, doc->file); |
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| 94 | killagreg | 379 | // GPS Sticks as Nick/Roll/Yaw |
| 215 | killagreg | 380 | sprintf(string, "<GPSSticks>%d, %d, %d</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, ToFlightCtrl.GPSStick.Yaw); |
| 94 | killagreg | 381 | fputs_(string, doc->file); |
| 101 | holgerb | 382 | |
| 86 | killagreg | 383 | // eof extensions |
| 384 | sprintf(string, "</extensions>\r\n"); |
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| 385 | fputs_(string, doc->file); |
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| 85 | killagreg | 386 | sprintf(string, "</trkpt>\r\n"); |
| 387 | fputs_(string, doc->file); |
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| 388 | retvalue = 1; |
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| 389 | } |
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| 390 | } |
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| 391 | } |
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| 392 | return(retvalue); |
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| 393 | } |
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| 394 | |||
| 395 | //________________________________________________________________________________________________________________________________________ |
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| 396 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
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| 397 | // |
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| 398 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
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| 399 | // |
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| 400 | // |
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| 401 | // Returnvalue: '1' if an gps coordinate was logged |
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| 402 | //________________________________________________________________________________________________________________________________________ |
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| 403 | |||
| 404 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc) |
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| 405 | { |
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| 406 | u8 retval = 0; |
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| 407 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
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| 408 | { |
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| 409 | switch(doc->state) |
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| 410 | { |
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| 411 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
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| 412 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
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| 413 | break; |
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| 414 | |||
| 415 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
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| 416 | retval = GPX_TrackBegin(doc); |
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| 417 | break; |
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| 418 | |||
| 419 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
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| 420 | retval = GPX_TrackSegmentBegin(doc); |
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| 421 | break; |
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| 422 | |||
| 423 | default: |
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| 424 | retval = 0; |
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| 425 | break; |
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| 426 | |||
| 427 | } |
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| 428 | if(retval != 1) return(retval); // stop on error |
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| 429 | } |
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| 430 | |||
| 431 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
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| 432 | { |
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| 433 | retval = GPX_TrackSegementAddPoint(doc); // add a track segment point |
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| 434 | } |
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| 435 | return(retval); |
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| 436 | } |
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| 437 |