0,0 → 1,384 |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 2008 Ingo Busker, Holger Buss |
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
// + 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 oder Nutzung 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 the sources to other systems or using the software on other systems (except 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 "kml.h" |
#include "kml_header.h" |
#include "uart1.h" |
|
|
//________________________________________________________________________________________________________________________________________ |
// Module name: kml.c |
// Compiler used: avr-gcc 3.4.5 |
// Last Modifikation: 22.03.2009 |
// Version: 1.03 |
// Authors: Stephan Busker, Gregor Stobrawa |
// Description: Source files to write gps-coordinates to a file in the kml (keyhole markup language) fileformat |
// Copyright (C) 2007 Stephan Busker |
//........................................................................................................................................ |
// Functions: extern u8 KML_LoggGPSCoordinates(struct str_gps_nav_data , KML_Document_t *); // intializes the kml-document with standard filename and adds points to the file |
// extern u8 KML_DocumentInit(KML_Document_t *doc) // initializes the kml-document to resetvalues. |
// extern u8 KML_DocumentOpen(s8 *, KML_Document_t *); // opens a new kml document. A filename can be specified. |
// extern u8 KML_DocumentClose(KML_Document_t *doc); // closes an open document |
// extern u8 KML_PlaceMarkOpen(KML_Document_t *); // opens a new placemark within the specified document |
// extern u8 KML_PlaceMarkClose(KML_Document_t *); // Closes the placemark |
// extern u8 KML_LineStringBegin(KML_Document_t *); // begins a new line within the actual placemark |
// extern u8 KML_LineStringEnd(KML_Document_t *doc); // ends the actual linestring |
// extern u8 KML_LineStringAddPoint(struct str_gps_nav_data, KML_Document_t *); // adds a new point (gps-coordinates) to the actual linestring |
//........................................................................................................................................ |
// ext. functions: |
// |
//........................................................................................................................................ |
// |
// URL: www.Mikro-Control.de |
// mailto: stephan.busker@mikro-control.de |
//________________________________________________________________________________________________________________________________________ |
|
|
|
//________________________________________________________________________________________________________________________________________ |
// Function: KML_DocumentInit(KML_Document_t *) |
// |
// Description: This function initializes the kml-document for further use. |
// |
// |
// Returnvalue: '1' if document was initialized |
//________________________________________________________________________________________________________________________________________ |
|
u8 KML_DocumentInit(KML_Document_t *doc) |
{ |
doc->state = KML_DOC_CLOSED; // state of the kml-document |
doc->file = NULL; |
return(1); |
} |
|
//________________________________________________________________________________________________________________________________________ |
// Function: KML_Document_Open(void); |
// |
// Description: This function opens a new KML- document with the specified name and creates the document header within the file. |
// |
// |
// Returnvalue: '1' if the KML- file could be created. |
//________________________________________________________________________________________________________________________________________ |
|
u8 KML_DocumentOpen(s8 *name, KML_Document_t *doc) |
{ |
|
u8 retvalue = 0; |
|
if(doc == NULL) return(0); |
|
KML_DocumentInit(doc); // intialize the document with resetvalues |
doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
|
if(doc->file != NULL) // could the file be opened? |
{ |
retvalue = 1; // the document could be created on the drive. |
doc->state = KML_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
fwrite_((void*)KML_DOCUMENT_HEADER, sizeof(KML_DOCUMENT_HEADER)-1,1,doc->file);// write the KML-header to the document. |
} |
|
return(retvalue); |
} |
|
//________________________________________________________________________________________________________________________________________ |
// Function: DocumentClose(KML_Document_t *doc); |
// |
// Description: This function closes the document specified by doc. |
// |
// |
// Returnvalue: '1' if the KML- file could be closed. |
//________________________________________________________________________________________________________________________________________ |
|
u8 KML_DocumentClose(KML_Document_t *doc) |
{ |
|
u8 retvalue = 1; |
|
if(doc == NULL) return(0); |
|
while(doc->state != KML_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
{ |
switch(doc->state) |
{ |
case KML_DOC_LINESTRING_OPENED: |
KML_LineStringEnd(doc); // write terminating tag to end linestring. |
break; |
|
case KML_DOC_PLACEMARK_OPENED: // write terminating tag to close placemark. |
KML_PlaceMarkClose(doc); |
break; |
|
case KML_DOC_OPENED: // close the file on the memorycard |
if(doc->file != NULL) |
{ |
fwrite_((void*)KML_DOCUMENT_FOOTER, sizeof(KML_DOCUMENT_FOOTER)-1,1,doc->file); // write the KML- footer to the document. |
fclose_(doc->file); |
retvalue = 1; |
} |
doc->state = KML_DOC_CLOSED; |
break; |
|
default: |
doc->state = KML_DOC_CLOSED; |
break; |
|
} |
} |
return(retvalue); |
} |
|
//________________________________________________________________________________________________________________________________________ |
// Function: u8 KML_PlaceMarkOpen(KML_Document_t *doc); |
// |
// Description: This function adds a placemark to the document. |
// |
// |
// Returnvalue: '1' if the PlaceMark could be opened |
//________________________________________________________________________________________________________________________________________ |
|
u8 KML_PlaceMarkOpen(KML_Document_t *doc) |
{ |
u8 retvalue = 0; |
if(doc->state == KML_DOC_OPENED) |
{ |
if(doc->file != NULL) |
{ |
doc->state = KML_DOC_PLACEMARK_OPENED; |
retvalue = 1; |
fwrite_((void*)KML_PLACEMARK_HEADER, sizeof(KML_PLACEMARK_HEADER)-1,1,doc->file); |
} |
} |
return(retvalue); |
} |
|
//________________________________________________________________________________________________________________________________________ |
// Function: u8 PlaceMarkClose(KML_PlaceMark_t *place, File *file); |
// |
// Description: This function ends the placemark opened before. |
// |
// |
// Returnvalue: 1' if the PlaceMark could be closed |
//________________________________________________________________________________________________________________________________________ |
|
u8 KML_PlaceMarkClose(KML_Document_t *doc) |
{ |
|
u8 retvalue = 0; // close the Placemark-tag of the corosponding document. |
|
if(doc->state == KML_DOC_PLACEMARK_OPENED) |
{ |
if(doc->file != NULL) |
{ |
doc->state = KML_DOC_OPENED; |
fwrite_((void*)KML_PLACEMARK_FOOTER, sizeof(KML_PLACEMARK_FOOTER)-1,1,doc->file); |
retvalue = 1; |
} |
} |
|
return(retvalue); |
} |
|
//________________________________________________________________________________________________________________________________________ |
// Function: u8 LineStringBegin(KML_Document_t *doc); |
// |
// Description: This function ends the placemark opened before. |
// |
// |
// Returnvalue: '1' if the LineString could be started |
//________________________________________________________________________________________________________________________________________ |
|
u8 KML_LineStringBegin(KML_Document_t *doc) |
{ |
|
u8 retvalue = 0; |
|
if(doc->state == KML_DOC_PLACEMARK_OPENED) |
{ |
if(doc->file != NULL) |
{ |
doc->state = KML_DOC_LINESTRING_OPENED; |
fwrite_((void*)KML_LINESTRING_HEADER, sizeof(KML_LINESTRING_HEADER)-1,1,doc->file); |
retvalue = 1; |
} |
} |
return(retvalue); |
} |
|
//________________________________________________________________________________________________________________________________________ |
// Function: u8 KML_LineStringEnd(KML_Document_t *doc) |
// |
// Description: This function ends the placemark opened before. |
// |
// |
// Returnvalue: '1' if the LineString could be terminated |
//________________________________________________________________________________________________________________________________________ |
|
u8 KML_LineStringEnd(KML_Document_t *doc) |
{ |
|
u8 retvalue = 0; |
|
if(doc->state == KML_DOC_LINESTRING_OPENED) |
{ |
if(doc->file != NULL) |
{ |
doc->state = KML_DOC_PLACEMARK_OPENED; |
fwrite_((void*)KML_LINESTRING_FOOTER, sizeof(KML_LINESTRING_FOOTER)-1,1,doc->file); |
retvalue = 1; |
} |
} |
return(retvalue); |
} |
|
//________________________________________________________________________________________________________________________________________ |
// Function: u8 LineStringAddPoint(gps_data_t, KML_Document_t *doc) |
// |
// Description: This function adds a point to the specified document. |
// |
// |
// Returnvalue: '1' if a ppoint was added could be started |
//________________________________________________________________________________________________________________________________________ |
|
u8 KML_LineStringAddPoint(KML_Document_t *doc) |
{ |
|
u8 retvalue = 0; |
s8 string[50]; |
s32 rel_altitude = 0; |
|
if(doc == NULL) return(0); |
|
if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
{ |
if(doc->state == KML_DOC_LINESTRING_OPENED) |
{ |
if(doc->file != NULL) |
{ |
s32 i1, i2; |
u8 sign; |
if(GPSData.Position.Longitude < 0) sign = '-'; |
else sign = '+'; |
i1 = abs(GPSData.Position.Longitude)/10000000L; |
i2 = abs(GPSData.Position.Longitude)%10000000L; |
sprintf(string,"\r\n%c%ld.%07ld,",sign, i1, i2); |
fputs_(string, doc->file); |
if(GPSData.Position.Latitude < 0) sign = '-'; |
else sign = '+'; |
i1 = abs(GPSData.Position.Latitude)/10000000L; |
i2 = abs(GPSData.Position.Latitude)%10000000L; |
sprintf(string,"%c%ld.%07ld,",sign, i1, i2); |
fputs_(string, doc->file); |
// calculate relative altitude with respect to the altitude of the home position |
rel_altitude = GPSData.Position.Altitude - NaviData.HomePosition.Altitude; |
if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log |
i1 = rel_altitude/1000L; |
i2 = rel_altitude%1000L; |
sprintf(string," %ld.%03ld",i1, i2); |
fputs_(string, doc->file); |
retvalue = 1; |
} |
} |
} |
|
return(retvalue); |
} |
|
//________________________________________________________________________________________________________________________________________ |
// Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
// |
// Description: This function opens adds gpscoordinates to an KML-Document. The document will be opened, if not already done |
// |
// |
// Returnvalue: '1' if an gps coordinate was logged |
//________________________________________________________________________________________________________________________________________ |
|
u8 KML_LoggGPSCoordinates(KML_Document_t *doc) |
{ |
u8 retval = 0; |
while(doc->state != KML_DOC_LINESTRING_OPENED) // automatic create document with default filename on the card. |
{ |
switch(doc->state) |
{ |
case KML_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
retval = KML_DocumentOpen("default.kml",doc); // open the kml-document with a standardname. |
break; |
|
case KML_DOC_OPENED: // if a document has been opened before but no placemark exists: |
retval = KML_PlaceMarkOpen(doc); |
break; |
|
case KML_DOC_PLACEMARK_OPENED: // add linestring to the placemark |
retval = KML_LineStringBegin(doc); |
break; |
|
default: |
retval = 0; |
break; |
|
} |
if(retval != 1) return(retval); // stop on error |
} |
|
if(doc->state == KML_DOC_LINESTRING_OPENED) // if the document was opened add coordinates to the document. |
{ |
retval = KML_LineStringAddPoint(doc); |
} |
return(retval); |
} |
|