/*#######################################################################################*/
/* !!! 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 <string.h>
#include "gpx.h"
#include "gpx_header.h"
#include "timer0.h"
#include "main.h"
//________________________________________________________________________________________________________________________________________
// Function: GPX_DocumentInit(GPX_Document_t *)
//
// Description: This function initializes the gpx-document for further use.
//
//
// Returnvalue: '1' if document was initialized
//________________________________________________________________________________________________________________________________________
uint8_t 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.
//________________________________________________________________________________________________________________________________________
uint8_t GPX_DocumentOpen
(int8_t *name
, GPX_Document_t
*doc
)
{
uint8_t retvalue
= 0;
uint16_t i
;
int8_t c
;
const prog_char
*str
;
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.
str
= GPX_DOCUMENT_HEADER
; // write the gpx-header to the document..
for(i
= 0; i
< sizeof(GPX_DOCUMENT_HEADER
); i
++)
{
c
= (int8_t)pgm_read_byte
(str
++); // get byte from flash
fputc_
(c
, doc
->file
); // and write that to sd-card
}
}
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.
//________________________________________________________________________________________________________________________________________
uint8_t GPX_DocumentClose
(GPX_Document_t
*doc
)
{
uint8_t retvalue
= 1;
uint16_t i
;
int8_t c
;
const prog_char
*str
;
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
)
{
str
= GPX_DOCUMENT_FOOTER
; // write the gpx-footer to the document.
for(i
= 0; i
< sizeof(GPX_DOCUMENT_FOOTER
); i
++)
{
c
= (int8_t)pgm_read_byte
(str
++); // get byte from flash
fputc_
(c
, doc
->file
); // and write that to sd-card
}
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
//________________________________________________________________________________________________________________________________________
uint8_t GPX_TrackBegin
(GPX_Document_t
*doc
)
{
uint8_t retvalue
= 0;
uint16_t i
;
int8_t c
;
const prog_char
*str
;
if(doc
->state
== GPX_DOC_OPENED
)
{
if(doc
->file
!= NULL
)
{
doc
->state
= GPX_DOC_TRACK_OPENED
;
retvalue
= 1;
str
= GPX_TRACK_HEADER
;
for(i
= 0; i
< sizeof(GPX_TRACK_HEADER
); i
++)
{
c
= (int8_t)pgm_read_byte
(str
++); // get byte from flash
fputc_
(c
, doc
->file
); // and write that to sd-card
}
}
}
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
//________________________________________________________________________________________________________________________________________
uint8_t GPX_TrackEnd
(GPX_Document_t
*doc
)
{
uint8_t retvalue
= 0;
uint16_t i
;
int8_t c
;
const prog_char
*str
;
if(doc
->state
== GPX_DOC_TRACK_OPENED
)
{
if(doc
->file
!= NULL
)
{
doc
->state
= GPX_DOC_OPENED
;
str
= GPX_TRACK_FOOTER
;
for(i
= 0; i
< sizeof(GPX_TRACK_FOOTER
); i
++)
{
c
= (int8_t)pgm_read_byte
(str
++); // get byte from flash
fputc_
(c
, doc
->file
); // and write that to sd-card
}
}
}
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
//________________________________________________________________________________________________________________________________________
uint8_t GPX_TrackSegmentBegin
(GPX_Document_t
*doc
)
{
uint8_t retvalue
= 0;
uint16_t i
;
int8_t c
;
const prog_char
*str
;
if(doc
->state
== GPX_DOC_TRACK_OPENED
)
{
if(doc
->file
!= NULL
)
{
doc
->state
= GPX_DOC_TRACKSEGMENT_OPENED
;
str
= GPX_TRACKSEGMENT_HEADER
;
for(i
= 0; i
< sizeof(GPX_TRACKSEGMENT_HEADER
); i
++)
{
c
= (int8_t)pgm_read_byte
(str
++); // get byte from flash
fputc_
(c
, doc
->file
); // and write that to sd-card
}
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
//________________________________________________________________________________________________________________________________________
uint8_t GPX_TrackSegmentEnd
(GPX_Document_t
*doc
)
{
uint8_t retvalue
= 0;
uint16_t i
;
int8_t c
;
const prog_char
*str
;
if(doc
->state
== GPX_DOC_TRACKSEGMENT_OPENED
)
{
if(doc
->file
!= NULL
)
{
doc
->state
= GPX_DOC_TRACK_OPENED
;
str
= GPX_TRACKSEGMENT_FOOTER
;
for(i
= 0; i
< sizeof(GPX_TRACKSEGMENT_FOOTER
); i
++)
{
c
= (int8_t)pgm_read_byte
(str
++); // get byte from flash
fputc_
(c
, doc
->file
); // and write that to sd-card
}
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
//________________________________________________________________________________________________________________________________________
uint8_t GPX_TrackSegementAddPoint
(GPX_Document_t
*doc
)
{
uint8_t retvalue
= 0;
int8_t string
[100];
if(doc
== NULL
) return(0);
if(GPSData.
Position.
Status != INVALID
)
{
if(doc
->state
== GPX_DOC_TRACKSEGMENT_OPENED
)
{
if(doc
->file
!= NULL
)
{
int16_t i16_1
, i16_2
, i16_3
;
uint8_t u8_1
, u8_2
;
// write <trkpt> tag
if(GPSData.
Position.
Latitude < 0) u8_1
= '-';
else u8_1
= '+';
i16_1
= abs((int16_t)(GPSData.
Position.
Latitude/10000000L));
i16_2
= abs((int16_t)((GPSData.
Position.
Latitude%10000000L
)/10000L));
i16_3
= abs((int16_t)(((GPSData.
Position.
Latitude%10000000L
)%10000L
)/10L));
sprintf(string
, "<trkpt lat=\"%c%d.%.3d%.3d\" ",u8_1
, i16_1
, i16_2
, i16_3
);
fputs_
(string
, doc
->file
);
if(GPSData.
Position.
Longitude < 0) u8_1
= '-';
else u8_1
= '+';
i16_1
= abs((int16_t)(GPSData.
Position.
Longitude/10000000L));
i16_2
= abs((int16_t)((GPSData.
Position.
Longitude%10000000L
)/10000L));
i16_3
= abs((int16_t)(((GPSData.
Position.
Longitude%10000000L
)%10000L
)/10L));
sprintf(string
, "<lon=\"%c%d.%.3d%.3d\" ",u8_1
, i16_1
, i16_2
, i16_3
);
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", GPSData.
NumOfSats);
fputs_
(string
, doc
->file
);
// todo: add <extensions> tag with additional data to be logged
sprintf(string
, "<extensions>\r\n");
fputs_
(string
, doc
->file
);
// Course in deg
i16_1
= (int16_t)(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", (uint16_t)GPSData.
Speed_Ground);
fputs_
(string
, doc
->file
);
// Ubat
u8_1
= UBat
/ 10;
u8_2
= UBat
% 10;
sprintf(string
, "<Voltage>%d.%01d</Voltage>\r\n", u8_1
, u8_2
);
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
//________________________________________________________________________________________________________________________________________
uint8_t GPX_LoggGPSCoordinates
(GPX_Document_t
*doc
)
{
uint8_t 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
);
}