0,0 → 1,437 |
/*#######################################################################################*/ |
/* !!! 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 "gpx.h" |
#include "gpx_header.h" |
#include "timer1.h" |
#include "spi_slave.h" |
#include "main.h" |
#include "uart1.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]; |
|
if(doc == NULL) return(0); |
|
if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
{ |
if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
{ |
if(doc->file != NULL) |
{ |
s32 i32_1, i32_2; |
s16 i16_1; |
u8 u8_1, u8_2; |
// write <trkpt> tag |
if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
else u8_1 = '+'; |
i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
fputs_(string, doc->file); |
if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
else u8_1 = '+'; |
i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
fputs_(string, doc->file); |
// write <ele> taga |
i32_2 = GPSData.Position.Altitude - NaviData.HomePosition.Altitude; |
if(i32_2 < 0) i32_2 = 0; // avoid negative altitudes in log |
i32_1 = i32_2/1000L; |
i32_2 = i32_2%1000L; |
sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1, i32_2); |
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); |
// write <sat> tag |
sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
fputs_(string, doc->file); |
// todo: add <extensions> tag with additional data to be logged |
sprintf(string, "<extensions>\r\n"); |
fputs_(string, doc->file); |
// Altimeter according to air pressure |
sprintf(string, "<Altimeter>%d</Altimeter>\r\n", NaviData.Altimeter); |
fputs_(string, doc->file); |
// Variometer according to air pressure |
sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
fputs_(string, doc->file); |
// Course in deg |
i16_1 = GPSData.Heading/100000L; |
sprintf(string, "<Course>%03d</Course>\r\n", i16_1); |
fputs_(string, doc->file); |
// Ground Speed in cm/s |
sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
fputs_(string, doc->file); |
// Vertical Speed in cm/s |
sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
fputs_(string, doc->file); |
// Flight duration |
sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
fputs_(string, doc->file); |
// Ubat |
u8_1 = NaviData.UBat / 10; |
u8_2 = NaviData.UBat % 10; |
sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
fputs_(string, doc->file); |
// Current |
u8_1 = NaviData.Current / 10; |
u8_2 = NaviData.Current % 10; |
sprintf(string, "<Current>%d.%01d</Current>\r\n", u8_1, u8_2); |
fputs_(string, doc->file); |
// Capacity |
sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
fputs_(string, doc->file); |
// RC Quality |
sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
fputs_(string, doc->file); |
// RC Received Signal Strength Indication |
sprintf(string, "<RCRSSI>%d</RCRSSI>\r\n", FC.RC_RSSI); |
fputs_(string, doc->file); |
// Compassind deg |
i16_1 = FromFlightCtrl.GyroHeading / 10; |
sprintf(string, "<Compass>%03d</Compass>\r\n", i16_1); |
fputs_(string, doc->file); |
// Nick Angle ind deg |
sprintf(string, "<NickAngle>%03d</NickAngle>\r\n", NaviData.AngleNick); |
fputs_(string, doc->file); |
// Roll Angle in deg |
sprintf(string, "<RollAngle>%03d</RollAngle>\r\n", NaviData.AngleRoll); |
fputs_(string, doc->file); |
// NC Mode (contains the status) |
sprintf(string, "<NCFlag>%02X</NCFlag>\r\n", NCFlags); |
fputs_(string, doc->file); |
// Status of the complete MikroKopter |
sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
fputs_(string, doc->file); |
// Target Bearing in deg |
sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
fputs_(string, doc->file); |
// Target Distance in dm |
sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
fputs_(string, doc->file); |
// RC Sticks as Nick/Roll/Yaw |
sprintf(string, "<RCSticks>%d, %d, %d</RCSticks>\r\n", FC.StickNick,FC.StickRoll, FC.StickYaw); |
fputs_(string, doc->file); |
// GPS Sticks as Nick/Roll/Yaw |
sprintf(string, "<GPSSticks>%d, %d, %d</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, ToFlightCtrl.GPSStick.Yaw); |
fputs_(string, doc->file); |
|
// eof extensions |
sprintf(string, "</extensions>\r\n"); |
fputs_(string, doc->file); |
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); |
} |
|