/trunk/Navi-Ctrl.Uv2 |
---|
38,6 → 38,8 |
File 1,1,<.\fifo.c><fifo.c> |
File 1,1,<.\waypoints.c><waypoints.c> |
File 1,1,<.\GPS.c><GPS.c> |
File 1,1,<.\logging.c><logging.c> |
File 1,1,<.\gpx.c><gpx.c> |
File 2,5,<.\ramfunc.h><ramfunc.h> |
File 2,5,<.\main.h><main.h> |
File 2,5,<.\menu.h><menu.h> |
62,6 → 64,9 |
File 2,5,<.\kml.h><kml.h> |
File 2,5,<.\fifo.h><fifo.h> |
File 2,5,<.\waypoints.h><waypoints.h> |
File 2,5,<.\logging.h><logging.h> |
File 2,5,<.\gpx_header.h><gpx_header.h> |
File 2,5,<.\gpx.h><gpx.h> |
File 3,2,<.\startup912.s><startup912.s> |
File 4,1,<.\libstr91x\src\91x_scu.c><91x_scu.c> |
File 4,1,<.\libstr91x\src\91x_gpio.c><91x_gpio.c> |
/trunk/gpx.c |
---|
0,0 → 1,361 |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 2008 Ingo Busker, Holger Buss |
// + Nur für den privaten Gebrauch |
// + FOR NON COMMERCIAL USE ONLY |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
// |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <stdlib.h> |
#include <stdio.h> |
#include "91x_lib.h" |
#include "gpx.h" |
#include "gpx_header.h" |
#include "timer.h" |
//________________________________________________________________________________________________________________________________________ |
// Function: GPX_DocumentInit(GPX_Document_t *) |
// |
// Description: This function initializes the gpx-document for further use. |
// |
// |
// Returnvalue: '1' if document was initialized |
//________________________________________________________________________________________________________________________________________ |
u8 GPX_DocumentInit(GPX_Document_t *doc) |
{ |
if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
doc->file = NULL; |
return(1); |
} |
//________________________________________________________________________________________________________________________________________ |
// Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
// |
// Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
// |
// |
// Returnvalue: '1' if the gpx-file could be created. |
//________________________________________________________________________________________________________________________________________ |
u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
{ |
u8 retvalue = 0; |
if(doc == NULL) return(0); |
GPX_DocumentInit(doc); // intialize the document with resetvalues |
doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
if(doc->file != NULL) // could the file be opened? |
{ |
retvalue = 1; // the document could be created on the drive. |
doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
fwrite_((void*)GPX_DOCUMENT_HEADER, sizeof(GPX_DOCUMENT_HEADER)-1,1,doc->file);// write the gpx-header to the document. |
} |
return(retvalue); |
} |
//________________________________________________________________________________________________________________________________________ |
// Function: DocumentClose(GPX_Document_t *doc); |
// |
// Description: This function closes the document specified by doc. |
// |
// |
// Returnvalue: '1' if the gpx-file could be closed. |
//________________________________________________________________________________________________________________________________________ |
u8 GPX_DocumentClose(GPX_Document_t *doc) |
{ |
u8 retvalue = 1; |
if(doc == NULL) return(0); |
while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
{ |
switch(doc->state) |
{ |
case GPX_DOC_TRACKSEGMENT_OPENED: |
GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
break; |
case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
GPX_TrackEnd(doc); |
break; |
case GPX_DOC_OPENED: // close the file on the memorycard |
if(doc->file != NULL) |
{ |
fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
fclose_(doc->file); |
retvalue = 1; |
} |
doc->state = GPX_DOC_CLOSED; |
break; |
default: |
doc->state = GPX_DOC_CLOSED; |
break; |
} |
} |
return(retvalue); |
} |
//________________________________________________________________________________________________________________________________________ |
// Function: u8 GPX_TrackBegin(GPX_Document_t); |
// |
// Description: This function adds a track to the document. |
// |
// |
// Returnvalue: '1' if the track could be opened |
//________________________________________________________________________________________________________________________________________ |
u8 GPX_TrackBegin(GPX_Document_t *doc) |
{ |
u8 retvalue = 0; |
if(doc->state == GPX_DOC_OPENED) |
{ |
if(doc->file != NULL) |
{ |
doc->state = GPX_DOC_TRACK_OPENED; |
retvalue = 1; |
fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
} |
} |
return(retvalue); |
} |
//________________________________________________________________________________________________________________________________________ |
// Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
// |
// Description: This function ends the track opened before. |
// |
// |
// Returnvalue: 1' if the track could be closed |
//________________________________________________________________________________________________________________________________________ |
u8 GPX_TrackEnd(GPX_Document_t *doc) |
{ |
u8 retvalue = 0; |
if(doc->state == GPX_DOC_TRACK_OPENED) |
{ |
if(doc->file != NULL) |
{ |
doc->state = GPX_DOC_OPENED; |
fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
retvalue = 1; |
} |
} |
return(retvalue); |
} |
//________________________________________________________________________________________________________________________________________ |
// Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
// |
// Description: This function starts a track segment. |
// |
// |
// Returnvalue: '1' if the track segement could be started |
//________________________________________________________________________________________________________________________________________ |
u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
{ |
u8 retvalue = 0; |
if(doc->state == GPX_DOC_TRACK_OPENED) |
{ |
if(doc->file != NULL) |
{ |
doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
retvalue = 1; |
} |
} |
return(retvalue); |
} |
//________________________________________________________________________________________________________________________________________ |
// Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
// |
// Description: This function ends the tracksegment opened before. |
// |
// |
// Returnvalue: '1' if the track segment could be terminated |
//________________________________________________________________________________________________________________________________________ |
u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
{ |
u8 retvalue = 0; |
if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
{ |
if(doc->file != NULL) |
{ |
doc->state = GPX_DOC_TRACK_OPENED; |
fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
retvalue = 1; |
} |
} |
return(retvalue); |
} |
//________________________________________________________________________________________________________________________________________ |
// Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
// |
// Description: This function adds a pointof a track segement to the specified document. |
// |
// |
// Returnvalue: '1' if a point was added |
//________________________________________________________________________________________________________________________________________ |
u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc) |
{ |
u8 retvalue = 0; |
s8 string[50]; |
s32 rel_altitude = 0; |
if(doc == NULL) return(0); |
if((GPSData.Position.Status != INVALID) && (GPS_HomePosition.Status != INVALID)) |
{ |
if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
{ |
if(doc->file != NULL) |
{ |
s32 i1, i2; |
u8 sign; |
// write <trkpt> tag |
if(GPSData.Position.Latitude < 0) sign = '-'; |
else sign = '+'; |
i1 = abs(GPSData.Position.Latitude)/10000000L; |
i2 = abs(GPSData.Position.Latitude)%10000000L; |
sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",sign, i1, i2); |
fputs_(string, doc->file); |
if(GPSData.Position.Longitude < 0) sign = '-'; |
else sign = '+'; |
i1 = abs(GPSData.Position.Longitude)/10000000L; |
i2 = abs(GPSData.Position.Longitude)%10000000L; |
sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",sign, i1, i2); |
fputs_(string, doc->file); |
// write <ele> taga |
rel_altitude = GPSData.Position.Altitude - GPS_HomePosition.Altitude; |
if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log |
i1 = rel_altitude/1000L; |
i2 = rel_altitude%1000L; |
sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i1, i2); |
fputs_(string, doc->file); |
// write <time> tag only at a resolution of one second |
sprintf(string, "<time>%04d-%02d-%02dT%02d:%02d:%02dZ</time>\r\n",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec); |
fputs_(string, doc->file); |
// todo: add <extensions> tag with additional data to be logged |
sprintf(string, "</trkpt>\r\n"); |
fputs_(string, doc->file); |
retvalue = 1; |
} |
} |
} |
return(retvalue); |
} |
//________________________________________________________________________________________________________________________________________ |
// Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
// |
// Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
// |
// |
// Returnvalue: '1' if an gps coordinate was logged |
//________________________________________________________________________________________________________________________________________ |
u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc) |
{ |
u8 retval = 0; |
while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
{ |
switch(doc->state) |
{ |
case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
break; |
case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
retval = GPX_TrackBegin(doc); |
break; |
case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
retval = GPX_TrackSegmentBegin(doc); |
break; |
default: |
retval = 0; |
break; |
} |
if(retval != 1) return(retval); // stop on error |
} |
if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
{ |
retval = GPX_TrackSegementAddPoint(doc); // add a track segment point |
} |
return(retval); |
} |
/trunk/gpx.h |
---|
0,0 → 1,36 |
#ifndef _GPX_H |
#define _GPX_H |
#include "fat16.h" |
#include "gps.h" |
// possible state of a gpx-document |
typedef enum |
{ |
GPX_DOC_CLOSED, |
GPX_DOC_OPENED, |
GPX_DOC_TRACK_OPENED, |
GPX_DOC_TRACKSEGMENT_OPENED, |
GPX_DOC_END |
}GPX_DocState_t; |
// structure of an gpx-document |
typedef struct gpx_doc |
{ |
GPX_DocState_t state; // state of the gpx-document |
File_t *file; // filepointer to the file where the data should be saved. |
} GPX_Document_t; |
u8 GPX_LoggGPSCoordinates(GPX_Document_t *); // intializes the gpx-document with standard filename and adds points to the file |
u8 GPX_DocumentInit(GPX_Document_t *); // Init the new gpx-document |
u8 GPX_DocumentOpen(s8 *, GPX_Document_t *); // opens a new gpx-document. a new file is created on the sd-memorycard |
u8 GPX_DocumentClose(GPX_Document_t *doc); // closes the specified document saving remaining data to the file. |
u8 GPX_TrackBegin(GPX_Document_t *doc); // opens a new track within the open gpx-document |
u8 GPX_TrackEnd(GPX_Document_t *doc); // ends the actual track |
u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); // begins a new tracksegment within the actual track |
u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); // ends the actual track segment within the actual track |
u8 GPX_TrackSegmentAddPoint(GPX_Document_t *); // adds a point to the tracksegment |
#endif //_GPX_H |
/trunk/gpx_header.h |
---|
0,0 → 1,70 |
//________________________________________________________________________________________________________________________________________ |
// |
// Definition of gpx-header and footer elements for documents |
// |
//________________________________________________________________________________________________________________________________________ |
const s8 GPX_DOCUMENT_HEADER[] = |
{ |
"<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\" ?>\r\n" |
"<gpx>\r\n" |
"\r\n" |
"<metadata>\r\n" |
"<link href=\"http://www.mikrokopter.de\">\r\n" |
"<text>MikroKopter</text>\r\n" |
"</link>\r\n" |
"</metadata>\r\n" |
}; |
//________________________________________________________________________________________________________________________________________ |
// |
// footer of an gpx-file. |
// |
//________________________________________________________________________________________________________________________________________ |
const s8 GPX_DOCUMENT_FOOTER[] = |
{ |
"</gpx>\r\n" |
}; |
//________________________________________________________________________________________________________________________________________ |
// |
// Header of a track |
// |
//________________________________________________________________________________________________________________________________________ |
const s8 GPX_TRACK_HEADER[] = |
{ |
"<trk>\r\n" |
}; |
//________________________________________________________________________________________________________________________________________ |
// |
// Footer of a track |
// |
//________________________________________________________________________________________________________________________________________ |
const s8 GPX_TRACK_FOOTER[] = |
{ |
"</trk>\r\n" |
}; |
//________________________________________________________________________________________________________________________________________ |
// |
// Header of a track segment |
// |
//________________________________________________________________________________________________________________________________________ |
const s8 GPX_TRACKSEGMENT_HEADER[] = |
{ |
"<trkseg>\r\n" |
}; |
//________________________________________________________________________________________________________________________________________ |
// |
// Footer of a track segment |
// |
//________________________________________________________________________________________________________________________________________ |
const s8 GPX_TRACKSEGMENT_FOOTER[] = |
{ |
"</trkseg>\r\n" |
}; |
/trunk/kml.c |
---|
64,9 → 64,9 |
//________________________________________________________________________________________________________________________________________ |
// Module name: kml.c |
// Compiler used: avr-gcc 3.4.5 |
// Last Modifikation: 20.07.2008 |
// Version: 1.02 |
// Authors: Stephan Busker |
// 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 |
//........................................................................................................................................ |
74,8 → 74,8 |
// 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(s8 *name, KML_Document_t *); // opens a new placemark within the specified document |
// extern u8 KML_PlaceMarkClose( KML_Document_t *); // Closes the placemark |
// 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 |
100,12 → 100,9 |
//________________________________________________________________________________________________________________________________________ |
u8 KML_DocumentInit(KML_Document_t *doc) |
{ |
doc->name[0] = 0; // name of the document |
doc->state = DOC_CLOSED; // state of the kml-document |
{ |
doc->state = KML_DOC_CLOSED; // state of the kml-document |
doc->file = NULL; |
doc->place.name[0]=0; |
doc->place.description[0]=0; |
return(1); |
} |
131,8 → 128,8 |
if(doc->file != NULL) // could the file be opened? |
{ |
retvalue = 1; // the document could be created on the drive. |
doc->state = DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
fwrite_((void*)KML_DOCUMENT_HEADER, sizeof(KML_DOCUMENT_HEADER)-1,1,doc->file);// write the KML- footer to the document. |
doc->state = KML_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
fwrite_((void*)KML_DOCUMENT_HEADER, sizeof(KML_DOCUMENT_HEADER)-1,1,doc->file);// write the KML-header to the document. |
} |
return(retvalue); |
154,21 → 151,19 |
if(doc == NULL) return(0); |
while(doc->state != DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
while(doc->state != KML_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
{ |
switch(doc->state) |
{ |
case DOC_LINESTRING_OPENED: |
case KML_DOC_LINESTRING_OPENED: |
KML_LineStringEnd(doc); // write terminating tag to end linestring. |
doc->state = DOC_PLACEMARK_OPENED; |
break; |
case DOC_PLACEMARK_OPENED: // write terminating tag to close placemark. |
case KML_DOC_PLACEMARK_OPENED: // write terminating tag to close placemark. |
KML_PlaceMarkClose(doc); |
doc->state = DOC_OPENED; |
break; |
case DOC_OPENED: // close the file on the memorycard |
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. |
175,11 → 170,11 |
fclose_(doc->file); |
retvalue = 1; |
} |
doc->state = DOC_CLOSED; |
doc->state = KML_DOC_CLOSED; |
break; |
default: |
doc->state = DOC_CLOSED; |
doc->state = KML_DOC_CLOSED; |
break; |
} |
188,7 → 183,7 |
} |
//________________________________________________________________________________________________________________________________________ |
// Function: u8 PlaceMarkOpen(s8 *name, File *file); |
// Function: u8 KML_PlaceMarkOpen(KML_Document_t *doc); |
// |
// Description: This function adds a placemark to the document. |
// |
196,18 → 191,18 |
// Returnvalue: '1' if the PlaceMark could be opened |
//________________________________________________________________________________________________________________________________________ |
u8 KML_PlaceMarkOpen(s8 *name, KML_Document_t *doc) |
u8 KML_PlaceMarkOpen(KML_Document_t *doc) |
{ |
u8 retvalue = 0; |
if(doc->file != NULL) |
if(doc->state == KML_DOC_OPENED) |
{ |
doc->state = DOC_PLACEMARK_OPENED; |
retvalue = 1; |
fwrite_((void*)KML_PLACEMARK_HEADER, sizeof(KML_PLACEMARK_HEADER)-1,1,doc->file); |
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); |
} |
225,11 → 220,11 |
u8 retvalue = 0; // close the Placemark-tag of the corosponding document. |
if(doc->state == DOC_PLACEMARK_OPENED) |
if(doc->state == KML_DOC_PLACEMARK_OPENED) |
{ |
if(doc->file != NULL) |
{ |
doc->state = DOC_OPENED; |
doc->state = KML_DOC_OPENED; |
fwrite_((void*)KML_PLACEMARK_FOOTER, sizeof(KML_PLACEMARK_FOOTER)-1,1,doc->file); |
retvalue = 1; |
} |
252,18 → 247,20 |
u8 retvalue = 0; |
if(doc->file != NULL) |
if(doc->state == KML_DOC_PLACEMARK_OPENED) |
{ |
doc->state = DOC_LINESTRING_OPENED; |
fwrite_((void*)KML_LINESTRING_HEADER, sizeof(KML_LINESTRING_HEADER)-1,1,doc->file); |
retvalue = 1; |
if(doc->file != NULL) |
{ |
doc->state = KML_DOC_LINESTRING_OPENED; |
fwrite_((void*)KML_LINESTRING_HEADER, sizeof(KML_LINESTRING_HEADER)-1,1,doc->file); |
retvalue = 1; |
} |
} |
return(retvalue); |
} |
//________________________________________________________________________________________________________________________________________ |
// Function: u8 LineStringEnd(KML_Document_t *doc) |
// Function: u8 KML_LineStringEnd(KML_Document_t *doc) |
// |
// Description: This function ends the placemark opened before. |
// |
276,14 → 273,15 |
u8 retvalue = 0; |
if(doc->state == DOC_LINESTRING_OPENED); |
if(doc->file != NULL) |
if(doc->state == KML_DOC_LINESTRING_OPENED) |
{ |
doc->state = DOC_PLACEMARK_OPENED; |
fwrite_((void*)KML_LINESTRING_FOOTER, sizeof(KML_LINESTRING_FOOTER)-1,1,doc->file); |
retvalue = 1; |
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); |
} |
296,7 → 294,7 |
// Returnvalue: '1' if a ppoint was added could be started |
//________________________________________________________________________________________________________________________________________ |
u8 KML_LineStringAddPoint(GPS_Pos_t * pGPS_Position ,KML_Document_t *doc) |
u8 KML_LineStringAddPoint(KML_Document_t *doc) |
{ |
u8 retvalue = 0; |
303,30 → 301,30 |
s8 string[50]; |
s32 rel_altitude = 0; |
if(doc == NULL || pGPS_Position == NULL) return(0); |
if(doc == NULL) return(0); |
if((pGPS_Position->Status != INVALID) && (GPS_HomePosition.Status != INVALID)) |
if((GPSData.Position.Status != INVALID) && (GPS_HomePosition.Status != INVALID)) |
{ |
if(doc->state == DOC_LINESTRING_OPENED) |
if(doc->state == KML_DOC_LINESTRING_OPENED) |
{ |
if(doc->file != NULL) |
{ |
s32 i1, i2; |
u8 sign; |
if(pGPS_Position->Longitude < 0) sign = '-'; |
if(GPSData.Position.Longitude < 0) sign = '-'; |
else sign = '+'; |
i1 = abs(pGPS_Position->Longitude)/10000000L; |
i2 = abs(pGPS_Position->Longitude)%10000000L; |
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(pGPS_Position->Latitude < 0) sign = '-'; |
if(GPSData.Position.Latitude < 0) sign = '-'; |
else sign = '+'; |
i1 = abs(pGPS_Position->Latitude)/10000000L; |
i2 = abs(pGPS_Position->Latitude)%10000000L; |
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 = pGPS_Position->Altitude - GPS_HomePosition.Altitude; |
rel_altitude = GPSData.Position.Altitude - GPS_HomePosition.Altitude; |
if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log |
i1 = rel_altitude/1000L; |
i2 = rel_altitude%1000L; |
349,40 → 347,27 |
// Returnvalue: '1' if an gps coordinate was logged |
//________________________________________________________________________________________________________________________________________ |
u8 KML_LoggGPSCoordinates(GPS_Pos_t* pGPS_Position, KML_Document_t *doc) |
u8 KML_LoggGPSCoordinates(KML_Document_t *doc) |
{ |
u8 retval = 0; |
while(doc->state != DOC_LINESTRING_OPENED) // automatic create document with default filename on the card. |
while(doc->state != KML_DOC_LINESTRING_OPENED) // automatic create document with default filename on the card. |
{ |
switch(doc->state) |
{ |
case DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
KML_DocumentInit(doc); // initialize the document to default values |
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. |
if(retval) |
{ |
doc->state = DOC_OPENED; |
} |
break; |
case DOC_OPENED: // if a document has been opened before but no placemark exists: |
retval = KML_PlaceMarkOpen("MIKROKOPTER",doc); |
if(retval) |
{ |
doc->state = DOC_PLACEMARK_OPENED; // add a placemark to the document. |
} |
case KML_DOC_OPENED: // if a document has been opened before but no placemark exists: |
retval = KML_PlaceMarkOpen(doc); |
break; |
case DOC_PLACEMARK_OPENED: // add linestring to the placemark |
case KML_DOC_PLACEMARK_OPENED: // add linestring to the placemark |
retval = KML_LineStringBegin(doc); |
if(retval) |
{ |
doc->state = DOC_LINESTRING_OPENED; |
} |
break; |
default: |
retval = 1; |
retval = 0; |
break; |
} |
389,9 → 374,9 |
if(retval != 1) return(retval); // stop on error |
} |
if(doc->state == DOC_LINESTRING_OPENED) // if the document was opened add coordinates to the document. |
if(doc->state == KML_DOC_LINESTRING_OPENED) // if the document was opened add coordinates to the document. |
{ |
retval = KML_LineStringAddPoint(pGPS_Position, doc); |
retval = KML_LineStringAddPoint(doc); |
} |
return(retval); |
} |
/trunk/kml.h |
---|
8,43 → 8,30 |
// possible state of an kml-document |
typedef enum |
{ |
DOC_CLOSED, |
DOC_OPENED, |
DOC_PLACEMARK_OPENED, |
DOC_LINESTRING_OPENED, |
DOC_END |
KML_DOC_CLOSED, |
KML_DOC_OPENED, |
KML_DOC_PLACEMARK_OPENED, |
KML_DOC_LINESTRING_OPENED, |
KML_DOC_END |
}KML_DocState_t; |
// structure of an kml-placemarkt |
typedef struct kml_place |
{ |
s8 name[10]; // the name of the placemark |
s8 description[40]; // some text as a description to the placemark |
} KML_PlaceMark_t; |
// structure of an kml-document |
typedef struct kml_doc |
{ |
u8 name[40]; // name of the document |
KML_DocState_t state; // state of the kml-document |
File_t *file; // filepointer to the file where the data should be saved. |
KML_PlaceMark_t place; |
} KML_Document_t; |
u8 KML_LoggGPSCoordinates(KML_Document_t *); // intializes the kml-document with standard filename and adds points to the file |
u8 KML_DocumentInit(KML_Document_t *); // Init the new kml-document |
u8 KML_DocumentOpen(s8 *, KML_Document_t *); // opens a new kml-document. a new file is created on the sd-memorycard |
u8 KML_DocumentClose(KML_Document_t *doc); // closes the specified document saving remaining data to the file. |
u8 KML_PlaceMarkOpen(KML_Document_t *doc); // opens a new placemark within the open kml-document |
u8 KML_PlaceMarkClose(KML_Document_t *doc); // closes the actual placemark |
u8 KML_LineStringBegin(KML_Document_t *doc); // begins a new linestring within the actual placemark |
u8 KML_LineStringEnd(KML_Document_t *doc); // close the actual linestring within the actual placemark |
u8 KML_LineStringAddPoint(KML_Document_t *); // adds a point from the gps (longitude, altitude, height) to the linestring |
u8 KML_LoggGPSCoordinates(GPS_Pos_t* pGPS_Position , KML_Document_t *); // intializes the kml-document with standard filename and adds points to the file |
u8 KML_DocumentInit(KML_Document_t *); // Init the new kml-document |
u8 KML_DocumentOpen(s8 *, KML_Document_t *); // opens a new kml-document. a new file is created on the sd-memorycard |
u8 KML_DocumentClose(KML_Document_t *doc); // closes the specified document saving remaining data to the file. |
u8 KML_PlaceMarkOpen(s8 *name, KML_Document_t *doc); // opens a new placemark within the open kml-document |
u8 KML_PlaceMarkClose(KML_Document_t *doc); // closes the actual placemark |
u8 KML_LineStringBegin(KML_Document_t *doc); // begins a new linestring within the actual placemark |
u8 KML_LineStringEnd(KML_Document_t *doc); // close the actual linestring within the actual placemark |
u8 KML_LineStringAddPoint(GPS_Pos_t* pGPS_Position, KML_Document_t *); // adds a point from the gps (longitude, altitude, height) to the linestring |
#endif //_KML_H |
/trunk/kml_header.h |
---|
3,8 → 3,6 |
// Definition of KML header and footer elements for documents, placemarks and linestrings |
// |
//________________________________________________________________________________________________________________________________________ |
const s8 KML_DOCUMENT_HEADER[] = |
{ |
"<?xml version=\"1.0\" encoding=\"UTF-8\"?>\r\n" |
20,16 → 18,11 |
"</Style>\r\n" |
}; |
//________________________________________________________________________________________________________________________________________ |
// |
// footer of an KML- file. |
// |
//________________________________________________________________________________________________________________________________________ |
const s8 KML_DOCUMENT_FOOTER[] = |
{ |
"</Document>\r\n" |
36,14 → 29,11 |
"</kml>\r\n" |
}; |
//________________________________________________________________________________________________________________________________________ |
// |
// Header of an placemark |
// |
//________________________________________________________________________________________________________________________________________ |
const s8 KML_PLACEMARK_HEADER[] = |
{ |
"<Placemark>\r\n" |
56,7 → 46,6 |
// Footer of an placemark |
// |
//________________________________________________________________________________________________________________________________________ |
const s8 KML_PLACEMARK_FOOTER[] = |
{ |
"</Placemark>\r\n" |
65,10 → 54,9 |
//________________________________________________________________________________________________________________________________________ |
// |
// Footer of an placemark |
// Header of an linestring |
// |
//________________________________________________________________________________________________________________________________________ |
const s8 KML_LINESTRING_HEADER[] = |
{ |
"<LineString>\r\n" |
82,7 → 70,6 |
// Footer of an linestring |
// |
//________________________________________________________________________________________________________________________________________ |
const s8 KML_LINESTRING_FOOTER[] = |
{ |
"\r\n</coordinates>" |
/trunk/logging.c |
---|
60,7 → 60,7 |
#include "timer.h" |
#include "uart1.h" |
#include "kml.h" |
//#include "gpx.h" |
#include "gpx.h" |
typedef enum |
{ |
84,7 → 84,6 |
LogCfg_t LogCfg = {500 , 0}; |
//---------------------------------------------------------------------------------------------------- |
s8* GenerateKMLLogFileName(void) |
{ |
103,7 → 102,7 |
LastTime.Valid = 1; |
filenum = 0; // reset file counter |
} |
sprintf(filename, "LOG/%04i%02i%02i/KLM/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
sprintf(filename, "LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
filenum++; |
return filename; |
} |
174,7 → 173,7 |
{ |
case LOGFILE_IDLE: |
case LOGFILE_CLOSED: |
if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.MKFlags & MKFLAG_FLY)) |
if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D))// && (FC.MKFlags & MKFLAG_FLY)) |
{ |
logfilestate = LOGFILE_START; |
} |
216,7 → 215,7 |
// append new gps log data |
if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
{ |
if(!KML_LoggGPSCoordinates(&(GPSData.Position), &logfile)) |
if(!KML_LoggGPSCoordinates(&logfile)) |
{ // error logging data |
SerialPutString("\r\nError logging to kml-file\r\n"); |
KML_DocumentClose(&logfile); |
258,8 → 257,115 |
// logs gps and state info to a gpx file |
logfilestate_t Logging_GPX(u32 LogDelay) |
{ |
static logfilestate_t logfilestate = LOGFILE_IDLE; |
static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
static s8* logfilename = NULL; // the pointer to the logfilename |
static u32 logtimer = 0; // the log update timer |
static GPX_Document_t logfile; // the logfilehandle |
// initialize if LogDelay os zero |
if(!LogDelay) |
{ |
switch(logfilestate) |
{ |
case LOGFILE_OPENED: |
GPX_DocumentClose(&logfile); // try to close it |
break; |
default: |
break; |
} |
logfilestate = LOGFILE_IDLE; |
logfilename = NULL; |
GPX_DocumentInit(&logfile); |
logtimer = SetDelay(0); // set logtimer to now |
return logfilestate; |
} |
// no init |
if(CheckDelay(logtimer)) |
{ |
logtimer = SetDelay(LogDelay); // standard interval |
if(FC.MKFlags & MKFLAG_MOTOR_RUN) |
{ |
switch(logfilestate) |
{ |
case LOGFILE_IDLE: |
case LOGFILE_CLOSED: |
if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D))// && (FC.MKFlags & MKFLAG_FLY)) |
{ |
logfilestate = LOGFILE_START; |
} |
break; |
case LOGFILE_START: |
// find unused logfile name |
do |
{ // try to generate a new logfile name |
logfilename = GenerateGPXLogFileName(); |
}while((logfilename != NULL) && fexist_(logfilename)); |
// if logfilename exist |
if(logfilename != NULL) |
{ |
// try to create the log file |
if(GPX_DocumentOpen(logfilename, &logfile)) |
{ |
logfilestate = LOGFILE_OPENED; // goto next step |
SerialPutString("\r\nOpening gpx-file:"); |
SerialPutString(logfilename); |
SerialPutString("\r\n"); |
} |
else // could not be openend |
{ |
logfilestate = LOGFILE_ERROR; |
SerialPutString("\r\nError opening gpx-file: "); |
SerialPutString(logfilename); |
SerialPutString("\r\n"); |
logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
} |
} |
else |
{ |
logfilestate = LOGFILE_ERROR; |
SerialPutString("\r\nError getting free gpx-file name\r\n"); |
} |
// else retry in next loop |
break; |
case LOGFILE_OPENED: |
// append new gps log data |
if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
{ |
if(!GPX_LoggGPSCoordinates(&logfile)) |
{ // error logging data |
SerialPutString("\r\nError logging to gpx-file\r\n"); |
GPX_DocumentClose(&logfile); |
logfilestate = LOGFILE_ERROR; |
} |
} |
break; |
case LOGFILE_ERROR: |
break; |
default: |
logfilestate = LOGFILE_IDLE; |
break; |
} |
} // EOF model is flying |
else // model is not flying |
{ // close log file if opened |
if(logfilestate == LOGFILE_OPENED) |
{ |
if(GPX_DocumentClose(&logfile)) |
{ |
SerialPutString("\r\nClosing gpx-file\r\n"); |
logfilestate = LOGFILE_CLOSED; |
} |
else // could not be closed |
{ |
logfilestate = LOGFILE_ERROR; |
} |
} |
} //EOF model is not flying |
} // EOF Check LogTimer |
return logfilestate; |
} |