WebSVN - NaviCtrl - Diff - Rev 27 and 41

 /*#######################################################################################*/
 /* !!! 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 "main.h"
+#include "91x_lib.h"
 #include "kml.h"
 #include "kml_header.h"
-#include "fat16.h"
 //________________________________________________________________________________________________________________________________________
 // Module name:                 kml.c
 // Compiler used:               avr-gcc 3.4.5
-// Last Modifikation:   17.03.2008
+// Last Modifikation:   20.07.2008
 // Version:                             1.02
 // Authors:                             Stephan Busker
 // 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(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_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
 //________________________________________________________________________________________________________________________________________
 //________________________________________________________________________________________________________________________________________
-// Funtion:     KML_DocumentInit(KML_Document_t *)
+// 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->name[0] = 0;                                                                                                                       // name of the document
         doc->state       = DOC_CLOSED;                                                                                                  // state of the kml-document
         doc->file        = NULL;
         doc->place.name[0]=0;
         doc->place.description[0]=0;
         return(1);
+}
 //________________________________________________________________________________________________________________________________________
-// Funtion:     KML_Document_Open(void);
+// 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
+        KML_DocumentInit(doc);                                                                                                          // intialize the document with resetvalues
-        doc->file = fopen_(name,'a');                                                                                                   // open a new file with the specified filename on the memorycard.
+        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 = DOC_OPENED;                                                                                                // change document state to opened. At next a placemark has to be opened.
-                fwrite_(KML_DOCUMENT_HEADER, sizeof(KML_DOCUMENT_HEADER)-1,1,doc->file);        // write the KML- footer to the document.
+                fwrite_((void*)KML_DOCUMENT_HEADER, sizeof(KML_DOCUMENT_HEADER)-1,1,doc->file);// write the KML- footer to the document.
+        }
         return(retvalue);
+}
 //________________________________________________________________________________________________________________________________________
-// Funtion:     DocumentClose(KML_Document_t *doc);
+// Function:    DocumentClose(KML_Document_t *doc);
 //
 // Description: This function closes the document specified by doc.
-//
 //
+//
-// Returnvalue: none
+// Returnvalue: '1' if the KML- file could be closed.
 //________________________________________________________________________________________________________________________________________
 u8 KML_DocumentClose(KML_Document_t *doc)
+{
+        u8 retvalue = 1;
-        u8 retvalue = 0;
+        if(doc == NULL) return(0);
         while(doc->state != DOC_CLOSED)                                                         // close linestring, placemark and document before closing the file on the memorycard
+        {
                 switch(doc->state)
+                {
                         case DOC_LINESTRING_OPENED:
                                 KML_LineStringEnd(doc);                                                 // write terminating tag to end linestring.
                                 doc->state = DOC_PLACEMARK_OPENED;
-                        break;
+                                break;
                         case DOC_PLACEMARK_OPENED:                                                      // write terminating tag to close placemark.
                                 KML_PlaceMarkClose(doc);
                                 doc->state = DOC_OPENED;
-                        break;
+                                break;
                         case DOC_OPENED:                                                                        // close the file on the memorycard
                                 if(doc->file != NULL)
+                                {
-                                        fwrite_(KML_DOCUMENT_FOOTER, sizeof(KML_DOCUMENT_FOOTER)-1,1,doc->file);        // write the KML- footer to the document.
+                                        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 = DOC_CLOSED;
-                        break;
+                                break;
-                }
-        };
+                        default:
+                                doc->state = DOC_CLOSED;
+                                break;
+                }
+        }
         return(retvalue);
+}
 //________________________________________________________________________________________________________________________________________
-// Funtion:     u8 PlaceMarkOpen(s8 *name, File *file);
+// Function:    u8 PlaceMarkOpen(s8 *name, File *file);
 //
 // Description: This function adds a placemark to the document.
-//
 //
+//
-// Returnvalue: none
+// Returnvalue: '1' if the PlaceMark could be opened
 //________________________________________________________________________________________________________________________________________
 u8 KML_PlaceMarkOpen(s8 *name, KML_Document_t *doc)
+{
         u8 retvalue = 0;
         if(doc->file != NULL)
+        {
                 doc->state = DOC_PLACEMARK_OPENED;
                 retvalue = 1;
-                fwrite_(KML_PLACEMARK_HEADER, sizeof(KML_PLACEMARK_HEADER)-1,1,doc->file);
+                fwrite_((void*)KML_PLACEMARK_HEADER, sizeof(KML_PLACEMARK_HEADER)-1,1,doc->file);
+        }
         return(retvalue);
+}
 //________________________________________________________________________________________________________________________________________
-// Funtion:     u8 PlaceMarkClose(KML_PlaceMark_t *place, File *file);
+// Function:    u8 PlaceMarkClose(KML_PlaceMark_t *place, File *file);
 //
 // Description: This function ends the placemark opened before.
-//
 //
+//
-// Returnvalue: none
+// 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 == DOC_PLACEMARK_OPENED)
+        {
                 if(doc->file != NULL)
+                {
-                        doc->state =DOC_OPENED;
+                        doc->state = DOC_OPENED;
-                        fwrite_(KML_PLACEMARK_FOOTER, sizeof(KML_PLACEMARK_FOOTER)-1,1,doc->file);
+                        fwrite_((void*)KML_PLACEMARK_FOOTER, sizeof(KML_PLACEMARK_FOOTER)-1,1,doc->file);
                         retvalue = 1;
+                }
+        }
         return(retvalue);
+}
 //________________________________________________________________________________________________________________________________________
-// Funtion:     u8 LineStringBegin(KML_Document_t *doc);
+// Function:    u8 LineStringBegin(KML_Document_t *doc);
 //
 // Description: This function ends the placemark opened before.
-//
 //
+//
-// Returnvalue: none
+// Returnvalue: '1' if the LineString could be started
 //________________________________________________________________________________________________________________________________________
 u8 KML_LineStringBegin(KML_Document_t *doc)
+{
         u8 retvalue = 0;
         if(doc->file != NULL)
+        {
                 doc->state = DOC_LINESTRING_OPENED;
-                fwrite_(KML_LINESTRING_HEADER, sizeof(KML_LINESTRING_HEADER)-1,1,doc->file);
+                fwrite_((void*)KML_LINESTRING_HEADER, sizeof(KML_LINESTRING_HEADER)-1,1,doc->file);
                 retvalue = 1;
+        }
         return(retvalue);
+}
 //________________________________________________________________________________________________________________________________________
-// Funtion:     u8 LineStringEnd(KML_Document_t *doc)
+// Function:    u8 LineStringEnd(KML_Document_t *doc)
 //
 // Description: This function ends the placemark opened before.
-//
 //
+//
-// Returnvalue: none
+// Returnvalue: '1' if the LineString could be terminated
 //________________________________________________________________________________________________________________________________________
 u8 KML_LineStringEnd(KML_Document_t *doc)
+{
         u8 retvalue = 0;
         if(doc->state == DOC_LINESTRING_OPENED);
         if(doc->file != NULL)
+        {
                 doc->state = DOC_PLACEMARK_OPENED;
-                fwrite_(KML_LINESTRING_FOOTER, sizeof(KML_LINESTRING_FOOTER)-1,1,doc->file);
+                fwrite_((void*)KML_LINESTRING_FOOTER, sizeof(KML_LINESTRING_FOOTER)-1,1,doc->file);
                 retvalue = 1;
+        }
         return(retvalue);
+}
 //________________________________________________________________________________________________________________________________________
-// Funtion:     u8 LineStringAddPoint(struct str_GPSPosition, KML_Document_t *doc)
+// Function:    u8 LineStringAddPoint(gps_data_t, KML_Document_t *doc)
 //
 // Description: This function adds a point to the specified document.
-//
 //
+//
-// Returnvalue: none
+// Returnvalue: '1' if a ppoint was added could be started
 //________________________________________________________________________________________________________________________________________
-u8 KML_LineStringAddPoint(struct str_gps_nav_data gps_data ,KML_Document_t *doc)
+u8 KML_LineStringAddPoint(GPS_Pos_t * pGPS_Position ,KML_Document_t *doc)
+{
         u8 retvalue = 0;
         s8 string[50];
+        s32 rel_altitude = 0;
-        if(doc->state == DOC_LINESTRING_OPENED)
+        if(doc == NULL || pGPS_Position == NULL) return(0);
+        if((pGPS_Position->Status != INVALID) && (GPS_HomePosition.Status != INVALID))
+        {
-                if(doc->file != NULL)
+                if(doc->state == DOC_LINESTRING_OPENED)
+                {
+                        if(doc->file != NULL)
+                        {
+                                s32 i1, i2;
+                                i1 = pGPS_Position->Longitude/10000000L;
+                                i2 = abs(pGPS_Position->Longitude%10000000L);
+                                sprintf(string,"\r\n%ld.%07ld,",i1, i2);
+                                fputs_(string, doc->file);
+                                i1 = pGPS_Position->Latitude/10000000L;
+                                i2 = abs(pGPS_Position->Latitude%10000000L);
+                                sprintf(string," %ld.%07ld,",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;
-                        sprintf(string,"\r\n%d.%d,%d.%d,%d.0",(gps_data.Longitude/10000000),(gps_data.Longitude%10000000),(gps_data.Latitude/10000000),(gps_data.Latitude%10000000),0);
+                                if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log
+                                i1 = rel_altitude/1000L;
+                                i2 = abs(rel_altitude%1000L);
+                                sprintf(string," %ld.%03ld",i1, i2);
-                        fputs_(doc->file,string);
+                                fputs_(string, doc->file);
-                        retvalue = 1;
+                                retvalue = 1;
+                        }
+                }
+        }
         return(retvalue);
+}
 //________________________________________________________________________________________________________________________________________
-// Funtion:     u8 KML_LoggGPSCoordinates(struct str_gps_nav_data, KML_Document_t *)
+// 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: none
+// Returnvalue: '1' if an gps coordinate was logged
 //________________________________________________________________________________________________________________________________________
-u8      KML_LoggGPSCoordinates(struct str_gps_nav_data gps_data, KML_Document_t *doc)
+u8 KML_LoggGPSCoordinates(GPS_Pos_t* pGPS_Position, KML_Document_t *doc)
+{
         u8 retval = 0;
         while(doc->state != 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
-                                if(KML_DocumentOpen("default.kml",doc))         // open the kml-document with a standardname.
+                                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:
-                                if(KML_PlaceMarkOpen("MIKROKOPTER",doc))
+                                retval = KML_PlaceMarkOpen("MIKROKOPTER",doc);
+                                if(retval)
                                 {
-                                        doc->state = DOC_PLACEMARK_OPENED;      // add a placemark to the document.
+                                        doc->state = DOC_PLACEMARK_OPENED;                      // add a placemark to the document.
+                                }
                         break;
                         case DOC_PLACEMARK_OPENED:                                                      // add linestring to the placemark
-                                if(KML_LineStringBegin(doc))
+                                retval = KML_LineStringBegin(doc);
+                                if(retval)
+                                {
                                         doc->state = DOC_LINESTRING_OPENED;
+                                }
                         break;
+                        default:
+                                retval = 1;
+                        break;
+                }
-                }
+                if(retval != 1) return(retval); // stop on error
         };
         if(doc->state == DOC_LINESTRING_OPENED)                                         // if the document was opened add coordinates to the document.
+        {
-                KML_LineStringAddPoint(gps_data , doc);
+                retval = KML_LineStringAddPoint(pGPS_Position, doc);
+        }
+        return(retval);
+}

Subversion Repositories NaviCtrl

(root)/tags/V0.28n/kml.c @ 459 - Rev 27 → 41