WebSVN - NaviCtrl - Diff - Rev 85 and 86


/*#######################################################################################*/
/* !!! 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
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// +     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
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// +  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"
#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) && (GPS_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 - GPS_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);
                                // Course
                                i16_1 = GPSData.Heading/100000L;
                                sprintf(string, "<Course>%03d</Course>\r\n", i16_1);
                                fputs_(string, doc->file);
                                // Ground Speed
                                sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed);
                                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);
                                // RC Quality
                                sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality);
                                fputs_(string, doc->file);
                                // Compass
                                i16_1 = FromFlightCtrl.GyroHeading / 10;
                                sprintf(string, "<Compass>%03d</Compass>\r\n", i16_1);
                                fputs_(string, doc->file);
                                // Nick Angle
                                sprintf(string, "<NickAngle>%03d</NickAngle>\r\n", NaviData.AngleNick);
                                fputs_(string, doc->file);
                                // Roll Angle
                                sprintf(string, "<RollAngle>%03d</RollAngle>\r\n", NaviData.AngleRoll);
                                fputs_(string, doc->file);
                                // GPS Mode
                                if(NaviData.NCFlags & NC_FLAG_FREE)     sprintf(string, "<GPS_Mode>FREE</GPS_Mode>\r\n");
                                else if(NaviData.NCFlags & NC_FLAG_PH)  sprintf(string, "<GPS_Mode>PH</GPS_Mode>\r\n");
                                else if(NaviData.NCFlags & NC_FLAG_CH)  sprintf(string, "<GPS_Mode>CH</GPS_Mode>\r\n");
                                fputs_(string, doc->file);
                                // Target Bearing
                                sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing);
                                fputs_(string, doc->file);
                                // Target Distance
                                sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance);
                                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);
}
 
 

Rev 85	Rev 86
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch	6	// + Nur für den privaten Gebrauch
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
34	// + this list of conditions and the following disclaimer.	34	// + this list of conditions and the following disclaimer.
35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
36	// + from this software without specific prior written permission.	36	// + from this software without specific prior written permission.
37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
38	// + for non-commercial use (directly or indirectly)	38	// + for non-commercial use (directly or indirectly)
39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
40	// + with our written permission	40	// + with our written permission
41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
42	// + clearly linked as origin	42	// + clearly linked as origin
43	// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed	43	// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
44	//	44	//
45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
55	// + POSSIBILITY OF SUCH DAMAGE.	55	// + POSSIBILITY OF SUCH DAMAGE.
56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
57	#include <stdlib.h>	57	#include <stdlib.h>
58	#include <stdio.h>	58	#include <stdio.h>
59	#include "91x_lib.h"	59	#include "91x_lib.h"
60	#include "gpx.h"	60	#include "gpx.h"
61	#include "gpx_header.h"	61	#include "gpx_header.h"
62	#include "timer.h"	62	#include "timer.h"
-		63	#include "spi_slave.h"
-		64	#include "main.h"
-		65	#include "uart1.h"
63		66
64	//________________________________________________________________________________________________________________________________________	67	//________________________________________________________________________________________________________________________________________
65	// Function: GPX_DocumentInit(GPX_Document_t *)	68	// Function: GPX_DocumentInit(GPX_Document_t *)
66	//	69	//
67	// Description: This function initializes the gpx-document for further use.	70	// Description: This function initializes the gpx-document for further use.
68	//	71	//
69	//	72	//
70	// Returnvalue: '1' if document was initialized	73	// Returnvalue: '1' if document was initialized
71	//________________________________________________________________________________________________________________________________________	74	//________________________________________________________________________________________________________________________________________
72		75
73	u8 GPX_DocumentInit(GPX_Document_t *doc)	76	u8 GPX_DocumentInit(GPX_Document_t *doc)
74	{	77	{
75	if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before	78	if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before
76	doc->state = GPX_DOC_CLOSED; // init state of the gpx-document	79	doc->state = GPX_DOC_CLOSED; // init state of the gpx-document
77	doc->file = NULL;	80	doc->file = NULL;
78	return(1);	81	return(1);
79	}	82	}
80		83
81	//________________________________________________________________________________________________________________________________________	84	//________________________________________________________________________________________________________________________________________
82	// Function: GPX_Document_Open(s8 name, GPX_Document_t doc);	85	// Function: GPX_Document_Open(s8 name, GPX_Document_t doc);
83	//	86	//
84	// Description: This function opens a new gpx-document with the specified name and creates the document header within the file.	87	// Description: This function opens a new gpx-document with the specified name and creates the document header within the file.
85	//	88	//
86	//	89	//
87	// Returnvalue: '1' if the gpx-file could be created.	90	// Returnvalue: '1' if the gpx-file could be created.
88	//________________________________________________________________________________________________________________________________________	91	//________________________________________________________________________________________________________________________________________
89		92
90	u8 GPX_DocumentOpen(s8 name, GPX_Document_t doc)	93	u8 GPX_DocumentOpen(s8 name, GPX_Document_t doc)
91	{	94	{
92		95
93	u8 retvalue = 0;	96	u8 retvalue = 0;
94		97
95	if(doc == NULL) return(0);	98	if(doc == NULL) return(0);
96	GPX_DocumentInit(doc); // intialize the document with resetvalues	99	GPX_DocumentInit(doc); // intialize the document with resetvalues
97	doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard.	100	doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard.
98		101
99	if(doc->file != NULL) // could the file be opened?	102	if(doc->file != NULL) // could the file be opened?
100	{	103	{
101	retvalue = 1; // the document could be created on the drive.	104	retvalue = 1; // the document could be created on the drive.
102	doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened.	105	doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened.
103	fwrite_((void*)GPX_DOCUMENT_HEADER, sizeof(GPX_DOCUMENT_HEADER)-1,1,doc->file);// write the gpx-header to the document.	106	fwrite_((void*)GPX_DOCUMENT_HEADER, sizeof(GPX_DOCUMENT_HEADER)-1,1,doc->file);// write the gpx-header to the document.
104	}	107	}
105		108
106	return(retvalue);	109	return(retvalue);
107	}	110	}
108		111
109	//________________________________________________________________________________________________________________________________________	112	//________________________________________________________________________________________________________________________________________
110	// Function: DocumentClose(GPX_Document_t *doc);	113	// Function: DocumentClose(GPX_Document_t *doc);
111	//	114	//
112	// Description: This function closes the document specified by doc.	115	// Description: This function closes the document specified by doc.
113	//	116	//
114	//	117	//
115	// Returnvalue: '1' if the gpx-file could be closed.	118	// Returnvalue: '1' if the gpx-file could be closed.
116	//________________________________________________________________________________________________________________________________________	119	//________________________________________________________________________________________________________________________________________
117		120
118	u8 GPX_DocumentClose(GPX_Document_t *doc)	121	u8 GPX_DocumentClose(GPX_Document_t *doc)
119	{	122	{
120		123
121	u8 retvalue = 1;	124	u8 retvalue = 1;
122		125
123	if(doc == NULL) return(0);	126	if(doc == NULL) return(0);
124		127
125	while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard	128	while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard
126	{	129	{
127	switch(doc->state)	130	switch(doc->state)
128	{	131	{
129	case GPX_DOC_TRACKSEGMENT_OPENED:	132	case GPX_DOC_TRACKSEGMENT_OPENED:
130	GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment.	133	GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment.
131	break;	134	break;
132		135
133	case GPX_DOC_TRACK_OPENED: // write terminating tag to close track.	136	case GPX_DOC_TRACK_OPENED: // write terminating tag to close track.
134	GPX_TrackEnd(doc);	137	GPX_TrackEnd(doc);
135	break;	138	break;
136		139
137	case GPX_DOC_OPENED: // close the file on the memorycard	140	case GPX_DOC_OPENED: // close the file on the memorycard
138	if(doc->file != NULL)	141	if(doc->file != NULL)
139	{	142	{
140	fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document.	143	fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document.
141	fclose_(doc->file);	144	fclose_(doc->file);
142	retvalue = 1;	145	retvalue = 1;
143	}	146	}
144	doc->state = GPX_DOC_CLOSED;	147	doc->state = GPX_DOC_CLOSED;
145	break;	148	break;
146		149
147	default:	150	default:
148	doc->state = GPX_DOC_CLOSED;	151	doc->state = GPX_DOC_CLOSED;
149	break;	152	break;
150	}	153	}
151	}	154	}
152	return(retvalue);	155	return(retvalue);
153	}	156	}
154		157
155	//________________________________________________________________________________________________________________________________________	158	//________________________________________________________________________________________________________________________________________
156	// Function: u8 GPX_TrackBegin(GPX_Document_t);	159	// Function: u8 GPX_TrackBegin(GPX_Document_t);
157	//	160	//
158	// Description: This function adds a track to the document.	161	// Description: This function adds a track to the document.
159	//	162	//
160	//	163	//
161	// Returnvalue: '1' if the track could be opened	164	// Returnvalue: '1' if the track could be opened
162	//________________________________________________________________________________________________________________________________________	165	//________________________________________________________________________________________________________________________________________
163		166
164	u8 GPX_TrackBegin(GPX_Document_t *doc)	167	u8 GPX_TrackBegin(GPX_Document_t *doc)
165	{	168	{
166		169
167	u8 retvalue = 0;	170	u8 retvalue = 0;
168	if(doc->state == GPX_DOC_OPENED)	171	if(doc->state == GPX_DOC_OPENED)
169	{	172	{
170	if(doc->file != NULL)	173	if(doc->file != NULL)
171	{	174	{
172	doc->state = GPX_DOC_TRACK_OPENED;	175	doc->state = GPX_DOC_TRACK_OPENED;
173	retvalue = 1;	176	retvalue = 1;
174	fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file);	177	fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file);
175	}	178	}
176	}	179	}
177	return(retvalue);	180	return(retvalue);
178	}	181	}
179		182
180	//________________________________________________________________________________________________________________________________________	183	//________________________________________________________________________________________________________________________________________
181	// Function: u8 GPX_TrackEnd(KML_Document_t *doc)	184	// Function: u8 GPX_TrackEnd(KML_Document_t *doc)
182	//	185	//
183	// Description: This function ends the track opened before.	186	// Description: This function ends the track opened before.
184	//	187	//
185	//	188	//
186	// Returnvalue: 1' if the track could be closed	189	// Returnvalue: 1' if the track could be closed
187	//________________________________________________________________________________________________________________________________________	190	//________________________________________________________________________________________________________________________________________
188		191
189	u8 GPX_TrackEnd(GPX_Document_t *doc)	192	u8 GPX_TrackEnd(GPX_Document_t *doc)
190	{	193	{
191		194
192	u8 retvalue = 0;	195	u8 retvalue = 0;
193		196
194	if(doc->state == GPX_DOC_TRACK_OPENED)	197	if(doc->state == GPX_DOC_TRACK_OPENED)
195	{	198	{
196	if(doc->file != NULL)	199	if(doc->file != NULL)
197	{	200	{
198	doc->state = GPX_DOC_OPENED;	201	doc->state = GPX_DOC_OPENED;
199	fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file);	202	fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file);
200	retvalue = 1;	203	retvalue = 1;
201	}	204	}
202	}	205	}
203		206
204	return(retvalue);	207	return(retvalue);
205	}	208	}
206		209
207	//________________________________________________________________________________________________________________________________________	210	//________________________________________________________________________________________________________________________________________
208	// Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc);	211	// Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc);
209	//	212	//
210	// Description: This function starts a track segment.	213	// Description: This function starts a track segment.
211	//	214	//
212	//	215	//
213	// Returnvalue: '1' if the track segement could be started	216	// Returnvalue: '1' if the track segement could be started
214	//________________________________________________________________________________________________________________________________________	217	//________________________________________________________________________________________________________________________________________
215		218
216	u8 GPX_TrackSegmentBegin(GPX_Document_t *doc)	219	u8 GPX_TrackSegmentBegin(GPX_Document_t *doc)
217	{	220	{
218		221
219	u8 retvalue = 0;	222	u8 retvalue = 0;
220		223
221	if(doc->state == GPX_DOC_TRACK_OPENED)	224	if(doc->state == GPX_DOC_TRACK_OPENED)
222	{	225	{
223	if(doc->file != NULL)	226	if(doc->file != NULL)
224	{	227	{
225	doc->state = GPX_DOC_TRACKSEGMENT_OPENED;	228	doc->state = GPX_DOC_TRACKSEGMENT_OPENED;
226	fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file);	229	fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file);
227	retvalue = 1;	230	retvalue = 1;
228	}	231	}
229	}	232	}
230	return(retvalue);	233	return(retvalue);
231	}	234	}
232		235
233	//________________________________________________________________________________________________________________________________________	236	//________________________________________________________________________________________________________________________________________
234	// Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc);	237	// Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc);
235	//	238	//
236	// Description: This function ends the tracksegment opened before.	239	// Description: This function ends the tracksegment opened before.
237	//	240	//
238	//	241	//
239	// Returnvalue: '1' if the track segment could be terminated	242	// Returnvalue: '1' if the track segment could be terminated
240	//________________________________________________________________________________________________________________________________________	243	//________________________________________________________________________________________________________________________________________
241		244
242	u8 GPX_TrackSegmentEnd(GPX_Document_t *doc)	245	u8 GPX_TrackSegmentEnd(GPX_Document_t *doc)
243	{	246	{
244		247
245	u8 retvalue = 0;	248	u8 retvalue = 0;
246	if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED)	249	if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED)
247	{	250	{
248	if(doc->file != NULL)	251	if(doc->file != NULL)
249	{	252	{
250	doc->state = GPX_DOC_TRACK_OPENED;	253	doc->state = GPX_DOC_TRACK_OPENED;
251	fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file);	254	fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file);
252	retvalue = 1;	255	retvalue = 1;
253	}	256	}
254	}	257	}
255	return(retvalue);	258	return(retvalue);
256	}	259	}
257		260
258	//________________________________________________________________________________________________________________________________________	261	//________________________________________________________________________________________________________________________________________
259	// Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc);	262	// Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc);
260	//	263	//
261	// Description: This function adds a pointof a track segement to the specified document.	264	// Description: This function adds a pointof a track segement to the specified document.
262	//	265	//
263	//	266	//
264	// Returnvalue: '1' if a point was added	267	// Returnvalue: '1' if a point was added
265	//________________________________________________________________________________________________________________________________________	268	//________________________________________________________________________________________________________________________________________
266		269
267	u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc)	270	u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc)
268	{	271	{
269		272
270	u8 retvalue = 0;	273	u8 retvalue = 0;
271	s8 string[50];	274	s8 string[50];
272	s32 rel_altitude = 0;	-
273		275
274	if(doc == NULL) return(0);	276	if(doc == NULL) return(0);
275		277
276	if((GPSData.Position.Status != INVALID) && (GPS_HomePosition.Status != INVALID))	278	if((GPSData.Position.Status != INVALID) && (GPS_HomePosition.Status != INVALID))
277	{	279	{
278	if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED)	280	if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED)
279	{	281	{
280	if(doc->file != NULL)	282	if(doc->file != NULL)
281	{	283	{
282	s32 i1, i2;	284	s32 i32_1, i32_2;
283	u8 sign;	285	s16 i16_1;
-		286	u8 u8_1, u8_2;
284	// write <trkpt> tag	287	// write <trkpt> tag
285	if(GPSData.Position.Latitude < 0) sign = '-';	288	if(GPSData.Position.Latitude < 0) u8_1 = '-';
286	else sign = '+';	289	else u8_1 = '+';
287	i1 = abs(GPSData.Position.Latitude)/10000000L;	290	i32_1 = abs(GPSData.Position.Latitude)/10000000L;
288	i2 = abs(GPSData.Position.Latitude)%10000000L;	291	i32_2 = abs(GPSData.Position.Latitude)%10000000L;
289	sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",sign, i1, i2);	292	sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2);
290	fputs_(string, doc->file);	293	fputs_(string, doc->file);
291	if(GPSData.Position.Longitude < 0) sign = '-';	294	if(GPSData.Position.Longitude < 0) u8_1 = '-';
292	else sign = '+';	295	else u8_1 = '+';
293	i1 = abs(GPSData.Position.Longitude)/10000000L;	296	i32_1 = abs(GPSData.Position.Longitude)/10000000L;
294	i2 = abs(GPSData.Position.Longitude)%10000000L;	297	i32_2 = abs(GPSData.Position.Longitude)%10000000L;
295	sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",sign, i1, i2);	298	sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2);
296	fputs_(string, doc->file);	299	fputs_(string, doc->file);
297	// write <ele> taga	300	// write <ele> taga
298	rel_altitude = GPSData.Position.Altitude - GPS_HomePosition.Altitude;	301	i32_2 = GPSData.Position.Altitude - GPS_HomePosition.Altitude;
299	if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log	302	if(i32_2 < 0) i32_2 = 0; // avoid negative altitudes in log
300	i1 = rel_altitude/1000L;	303	i32_1 = i32_2/1000L;
301	i2 = rel_altitude%1000L;	304	i32_2 = i32_2%1000L;
302	sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i1, i2);	305	sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1, i32_2);
303	fputs_(string, doc->file);	306	fputs_(string, doc->file);
304	// write <time> tag only at a resolution of one second	307	// write <time> tag only at a resolution of one second
305	sprintf(string, "<time>%04d-%02d-%02dT%02d:%02d:%02dZ</time>\r\n",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec);	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);
306	fputs_(string, doc->file);	309	fputs_(string, doc->file);
307		-
-		310	// write <sat> tag
-		311	sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse);
-		312	fputs_(string, doc->file);
308	// todo: add <extensions> tag with additional data to be logged	313	// todo: add <extensions> tag with additional data to be logged
-		314	sprintf(string, "<extensions>\r\n");
-		315	fputs_(string, doc->file);
-		316	// Course
-		317	i16_1 = GPSData.Heading/100000L;
-		318	sprintf(string, "<Course>%03d</Course>\r\n", i16_1);
-		319	fputs_(string, doc->file);
-		320	// Ground Speed
-		321	sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed);
-		322	fputs_(string, doc->file);
309		323	// Ubat
-		324	u8_1 = NaviData.UBat / 10;
-		325	u8_2 = NaviData.UBat % 10;
-		326	sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2);
-		327	fputs_(string, doc->file);
-		328	// RC Quality
-		329	sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality);
-		330	fputs_(string, doc->file);
-		331	// Compass
-		332	i16_1 = FromFlightCtrl.GyroHeading / 10;
-		333	sprintf(string, "<Compass>%03d</Compass>\r\n", i16_1);
-		334	fputs_(string, doc->file);
-		335	// Nick Angle
-		336	sprintf(string, "<NickAngle>%03d</NickAngle>\r\n", NaviData.AngleNick);
-		337	fputs_(string, doc->file);
-		338	// Roll Angle
-		339	sprintf(string, "<RollAngle>%03d</RollAngle>\r\n", NaviData.AngleRoll);
-		340	fputs_(string, doc->file);
-		341	// GPS Mode
-		342	if(NaviData.NCFlags & NC_FLAG_FREE) sprintf(string, "<GPS_Mode>FREE</GPS_Mode>\r\n");
-		343	else if(NaviData.NCFlags & NC_FLAG_PH) sprintf(string, "<GPS_Mode>PH</GPS_Mode>\r\n");
-		344	else if(NaviData.NCFlags & NC_FLAG_CH) sprintf(string, "<GPS_Mode>CH</GPS_Mode>\r\n");
-		345	fputs_(string, doc->file);
-		346	// Target Bearing
-		347	sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing);
-		348	fputs_(string, doc->file);
-		349	// Target Distance
-		350	sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance);
-		351	fputs_(string, doc->file);
-		352	// eof extensions
-		353	sprintf(string, "</extensions>\r\n");
-		354	fputs_(string, doc->file);
310	sprintf(string, "</trkpt>\r\n");	355	sprintf(string, "</trkpt>\r\n");
311	fputs_(string, doc->file);	356	fputs_(string, doc->file);
312	retvalue = 1;	357	retvalue = 1;
313	}	358	}
314	}	359	}
315	}	360	}
316	return(retvalue);	361	return(retvalue);
317	}	362	}
318		363
319	//________________________________________________________________________________________________________________________________________	364	//________________________________________________________________________________________________________________________________________
320	// Function: u8 KML_LoggGPSCoordinates(gps_data_t , KML_Document_t )	365	// Function: u8 KML_LoggGPSCoordinates(gps_data_t , KML_Document_t )
321	//	366	//
322	// Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done	367	// Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done
323	//	368	//
324	//	369	//
325	// Returnvalue: '1' if an gps coordinate was logged	370	// Returnvalue: '1' if an gps coordinate was logged
326	//________________________________________________________________________________________________________________________________________	371	//________________________________________________________________________________________________________________________________________
327		372
328	u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc)	373	u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc)
329	{	374	{
330	u8 retval = 0;	375	u8 retval = 0;
331	while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card.	376	while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card.
332	{	377	{
333	switch(doc->state)	378	switch(doc->state)
334	{	379	{
335	case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically	380	case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically
336	retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname.	381	retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname.
337	break;	382	break;
338		383
339	case GPX_DOC_OPENED: // if a document has been opened before but no track exists:	384	case GPX_DOC_OPENED: // if a document has been opened before but no track exists:
340	retval = GPX_TrackBegin(doc);	385	retval = GPX_TrackBegin(doc);
341	break;	386	break;
342		387
343	case GPX_DOC_TRACK_OPENED: // add tracksegement to the track	388	case GPX_DOC_TRACK_OPENED: // add tracksegement to the track
344	retval = GPX_TrackSegmentBegin(doc);	389	retval = GPX_TrackSegmentBegin(doc);
345	break;	390	break;
346		391
347	default:	392	default:
348	retval = 0;	393	retval = 0;
349	break;	394	break;
350		395
351	}	396	}
352	if(retval != 1) return(retval); // stop on error	397	if(retval != 1) return(retval); // stop on error
353	}	398	}
354		399
355	if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document.	400	if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document.
356	{	401	{
357	retval = GPX_TrackSegementAddPoint(doc); // add a track segment point	402	retval = GPX_TrackSegementAddPoint(doc); // add a track segment point
358	}	403	}
359	return(retval);	404	return(retval);
360	}	405	}
361		406
362		407

Subversion Repositories NaviCtrl

(root)/tags/V0.20c/gpx.c @ 667 - Rev 85 → 86