/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
//
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdlib.h>
#include <stdio.h>
#include "91x_lib.h"
#include "gpx.h"
#include "gpx_header.h"
#include "timer1.h"
#include "spi_slave.h"
#include "main.h"
#include "uart1.h"
#include "compass.h"
#include "analog.h"
#include "main.h"
#include "led.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
)
{
s8 string
[60];
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_HEADER1
, sizeof(GPX_DOCUMENT_HEADER1
)-1,1,doc
->file
);// write the gpx-header to the document.
sprintf(string
, "<desc>FC HW:%d.%d SW:%d.%d%c + NC HW:%d.%d SW:%d.%d%c</desc>\r\n", FC_Version.
Hardware/10,FC_Version.
Hardware%10, FC_Version.
Major, FC_Version.
Minor, 'a'+FC_Version.
Patch, Version_HW
/10, Version_HW
%10, VERSION_MAJOR
, VERSION_MINOR
, 'a'+ VERSION_PATCH
);
fputs_
(string
, doc
->file
);
fwrite_
((void*)GPX_DOCUMENT_HEADER2
, sizeof(GPX_DOCUMENT_HEADER2
)-1,1,doc
->file
);// write the gpx-header to the document.
}
Logging_FCStatusFlags1
= 0;
Logging_FCStatusFlags2
= 0;
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
[100];
if(doc
== NULL
) return(0);
if((GPSData.
Position.
Status != INVALID
) && (NaviData.
HomePosition.
Status != INVALID
))
{
if(doc
->state
== GPX_DOC_TRACKSEGMENT_OPENED
)
{
if(doc
->file
!= NULL
)
{
s32 i32_1
, i32_2
;
s16 i16_1
;
u8 u8_1
, u8_2
;
// write <trkpt> tag
if(GPSData.
Position.
Latitude < 0) u8_1
= '-';
else u8_1
= '+';
i32_1
= abs(GPSData.
Position.
Latitude)/10000000L;
i32_2
= abs(GPSData.
Position.
Latitude)%10000000L
;
sprintf(string
, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1
, i32_1
, i32_2
);
fputs_
(string
, doc
->file
);
if(GPSData.
Position.
Longitude < 0) u8_1
= '-';
else u8_1
= '+';
i32_1
= abs(GPSData.
Position.
Longitude)/10000000L;
i32_2
= abs(GPSData.
Position.
Longitude)%10000000L
;
sprintf(string
, "lon=\"%c%ld.%07ld\">\r\n",u8_1
, i32_1
, i32_2
);
fputs_
(string
, doc
->file
);
// write <ele> taga
i32_2
= GPSData.
Position.
Altitude - NaviData.
HomePosition.
Altitude;
if(i32_2
< 0) i32_2
= 0; // avoid negative altitudes in log
i32_1
= i32_2
/1000L;
i32_2
= i32_2
%1000L
;
sprintf(string
,"<ele>%ld.%03ld</ele>\r\n",i32_1
, i32_2
);
fputs_
(string
, doc
->file
);
// write <time> tag only at a resolution of one second
sprintf(string
, "<time>%04d-%02d-%02dT%02d:%02d:%02dZ</time>\r\n",SystemTime.
Year, SystemTime.
Month, SystemTime.
Day, SystemTime.
Hour, SystemTime.
Min, SystemTime.
Sec);
fputs_
(string
, doc
->file
);
// write <sat> tag
sprintf(string
, "<sat>%d</sat>\r\n", NaviData.
SatsInUse);
fputs_
(string
, doc
->file
);
// todo: add <extensions> tag with additional data to be logged
sprintf(string
, "<extensions>\r\n");
fputs_
(string
, doc
->file
);
// Altimeter according to air pressure
sprintf(string
, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.
Altimeter,FromFC_VarioCharacter
);
fputs_
(string
, doc
->file
);
// Variometer according to air pressure
sprintf(string
, "<Variometer>%d</Variometer>\r\n", NaviData.
Variometer);
fputs_
(string
, doc
->file
);
// Course in deg
i16_1
= GPSData.
Heading/100000L;
sprintf(string
, "<Course>%03d</Course>\r\n", i16_1
);
fputs_
(string
, doc
->file
);
// Ground Speed in cm/s
sprintf(string
, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.
GroundSpeed);
fputs_
(string
, doc
->file
);
// Vertical Speed in cm/s
sprintf(string
, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.
TopSpeed);
fputs_
(string
, doc
->file
);
// Flight duration
sprintf(string
, "<FlightTime>%d</FlightTime>\r\n", NaviData.
FlyingTime);
fputs_
(string
, doc
->file
);
// Ubat
u8_1
= NaviData.
UBat / 10;
u8_2
= NaviData.
UBat % 10;
sprintf(string
, "<Voltage>%d.%01d</Voltage>\r\n", u8_1
, u8_2
);
fputs_
(string
, doc
->file
);
// Current
u8_1
= NaviData.
Current / 10;
u8_2
= NaviData.
Current % 10;
sprintf(string
, "<Current>%d.%01d</Current>\r\n", u8_1
, u8_2
);
fputs_
(string
, doc
->file
);
// Capacity
sprintf(string
, "<Capacity>%d</Capacity>\r\n", NaviData.
UsedCapacity);
fputs_
(string
, doc
->file
);
// RC Quality
sprintf(string
, "<RCQuality>%d</RCQuality>\r\n", FC.
RC_Quality);
fputs_
(string
, doc
->file
);
// RC Received Signal Strength Indication
sprintf(string
, "<RCRSSI>%d</RCRSSI>\r\n", FC.
RC_RSSI);
fputs_
(string
, doc
->file
);
// Compassind deg
i16_1
= FromFlightCtrl.
GyroHeading / 10;
sprintf(string
, "<Compass>%03d,%03d</Compass>\r\n", i16_1
,ToFlightCtrl.
CompassHeading);
fputs_
(string
, doc
->file
);
// Nick Angle ind deg
sprintf(string
, "<NickAngle>%03d</NickAngle>\r\n", NaviData.
AngleNick);
fputs_
(string
, doc
->file
);
// Roll Angle in deg
sprintf(string
, "<RollAngle>%03d</RollAngle>\r\n", NaviData.
AngleRoll);
fputs_
(string
, doc
->file
);
// magnetic field
sprintf(string
, "<MagnetField>%03d</MagnetField>\r\n",(u16
) (EarthMagneticField
/5));
fputs_
(string
, doc
->file
);
// magnetic inclination & error
sprintf(string
, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16
)EarthMagneticInclination
,(s16
)(EarthMagneticInclination
- EarthMagneticInclinationTheoretic
));
fputs_
(string
, doc
->file
);
// BL Information
sprintf(string
, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",MotorCurrent
[0],MotorCurrent
[1],MotorCurrent
[2],MotorCurrent
[3],MotorCurrent
[4],MotorCurrent
[5],MotorCurrent
[6],MotorCurrent
[7],MotorCurrent
[8],MotorCurrent
[9],MotorCurrent
[10],MotorCurrent
[11]);
fputs_
(string
, doc
->file
);
sprintf(string
, "<BL_Temperature>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</BL_Temperature>\r\n",MotorTemperature
[0],MotorTemperature
[1],MotorTemperature
[2],MotorTemperature
[3],MotorTemperature
[4],MotorTemperature
[5],MotorTemperature
[6],MotorTemperature
[7],MotorTemperature
[8],MotorTemperature
[9],MotorTemperature
[10],MotorTemperature
[11]);
fputs_
(string
, doc
->file
);
sprintf(string
, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",BL_MinOfMaxPWM
);
fputs_
(string
, doc
->file
);
sprintf(string
, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16
)FC_I2C_ErrorConter
);
fputs_
(string
, doc
->file
);
// Analog inputs of the NC
sprintf(string
, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.
Ch4,AnalogData.
Ch5,AnalogData.
Ch6,AnalogData.
Ch7);
fputs_
(string
, doc
->file
);
// NC Mode (contains the status)
sprintf(string
, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags
);
fputs_
(string
, doc
->file
);
// Flags
sprintf(string
, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1
,Logging_FCStatusFlags2
);
fputs_
(string
, doc
->file
);
Logging_FCStatusFlags1
= 0;
Logging_FCStatusFlags2
= 0;
// Status of the complete MikroKopter
sprintf(string
, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode
);
fputs_
(string
, doc
->file
);
// Target Bearing in deg
sprintf(string
, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.
TargetPositionDeviation.
Bearing);
fputs_
(string
, doc
->file
);
// Target Distance in dm
sprintf(string
, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.
TargetPositionDeviation.
Distance);
fputs_
(string
, doc
->file
);
// RC Sticks as Nick/Roll/Yaw
sprintf(string
, "<RCSticks>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</RCSticks>\r\n", FC.
StickNick,FC.
StickRoll, FC.
StickYaw, FC.
StickGas,FC.
Poti[0],FC.
Poti[1],FC.
Poti[2],FC.
Poti[3],FC.
Poti[4],FC.
Poti[5],FC.
Poti[6],FC.
Poti[7]);
fputs_
(string
, doc
->file
);
// GPS Sticks as Nick/Roll/Yaw
sprintf(string
, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.
GPSStick.
Nick, ToFlightCtrl.
GPSStick.
Roll, ToFlightCtrl.
GPSStick.
Yaw,NC_GPS_ModeCharacter
);
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
);
}