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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 85 | killagreg | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 85 | killagreg | 7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 85 | killagreg | 29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 85 | killagreg | 44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 57 | #include <stdlib.h> |
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| 58 | #include <stdio.h> |
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| 59 | #include "91x_lib.h" |
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| 60 | #include "gpx.h" |
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| 61 | #include "gpx_header.h" |
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| 119 | killagreg | 62 | #include "timer1.h" |
| 86 | killagreg | 63 | #include "spi_slave.h" |
| 64 | #include "main.h" |
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| 65 | #include "uart1.h" |
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| 338 | holgerb | 66 | #include "compass.h" |
| 67 | #include "analog.h" |
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| 68 | #include "main.h" |
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| 69 | #include "led.h" |
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| 85 | killagreg | 70 | |
| 71 | //________________________________________________________________________________________________________________________________________ |
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| 72 | // Function: GPX_DocumentInit(GPX_Document_t *) |
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| 73 | // |
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| 74 | // Description: This function initializes the gpx-document for further use. |
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| 75 | // |
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| 76 | // |
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| 77 | // Returnvalue: '1' if document was initialized |
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| 78 | //________________________________________________________________________________________________________________________________________ |
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| 79 | |||
| 80 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
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| 81 | { |
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| 82 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
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| 83 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
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| 84 | doc->file = NULL; |
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| 85 | return(1); |
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| 86 | } |
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| 87 | |||
| 88 | //________________________________________________________________________________________________________________________________________ |
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| 89 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
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| 90 | // |
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| 91 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
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| 92 | // |
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| 93 | // |
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| 94 | // Returnvalue: '1' if the gpx-file could be created. |
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| 95 | //________________________________________________________________________________________________________________________________________ |
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| 96 | |||
| 338 | holgerb | 97 | |
| 85 | killagreg | 98 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
| 99 | { |
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| 338 | holgerb | 100 | s8 string[60]; |
| 85 | killagreg | 101 | u8 retvalue = 0; |
| 102 | |||
| 103 | if(doc == NULL) return(0); |
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| 104 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
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| 105 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
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| 106 | |||
| 107 | if(doc->file != NULL) // could the file be opened? |
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| 108 | { |
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| 109 | retvalue = 1; // the document could be created on the drive. |
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| 110 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
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| 338 | holgerb | 111 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
| 339 | holgerb | 112 | 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); |
| 338 | holgerb | 113 | fputs_(string, doc->file); |
| 114 | fwrite_((void*)GPX_DOCUMENT_HEADER2, sizeof(GPX_DOCUMENT_HEADER2)-1,1,doc->file);// write the gpx-header to the document. |
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| 85 | killagreg | 115 | } |
| 338 | holgerb | 116 | Logging_FCStatusFlags1 = 0; |
| 117 | Logging_FCStatusFlags2 = 0; |
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| 85 | killagreg | 118 | return(retvalue); |
| 119 | } |
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| 120 | |||
| 121 | //________________________________________________________________________________________________________________________________________ |
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| 122 | // Function: DocumentClose(GPX_Document_t *doc); |
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| 123 | // |
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| 124 | // Description: This function closes the document specified by doc. |
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| 125 | // |
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| 126 | // |
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| 127 | // Returnvalue: '1' if the gpx-file could be closed. |
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| 128 | //________________________________________________________________________________________________________________________________________ |
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| 129 | |||
| 130 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
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| 131 | { |
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| 132 | |||
| 133 | u8 retvalue = 1; |
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| 134 | |||
| 135 | if(doc == NULL) return(0); |
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| 136 | |||
| 137 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
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| 94 | killagreg | 138 | { |
| 85 | killagreg | 139 | switch(doc->state) |
| 140 | { |
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| 141 | case GPX_DOC_TRACKSEGMENT_OPENED: |
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| 142 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
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| 143 | break; |
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| 144 | |||
| 104 | killagreg | 145 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
| 85 | killagreg | 146 | GPX_TrackEnd(doc); |
| 147 | break; |
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| 148 | |||
| 149 | case GPX_DOC_OPENED: // close the file on the memorycard |
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| 150 | if(doc->file != NULL) |
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| 151 | { |
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| 152 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
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| 153 | fclose_(doc->file); |
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| 154 | retvalue = 1; |
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| 155 | } |
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| 156 | doc->state = GPX_DOC_CLOSED; |
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| 157 | break; |
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| 158 | |||
| 159 | default: |
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| 160 | doc->state = GPX_DOC_CLOSED; |
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| 161 | break; |
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| 162 | } |
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| 163 | } |
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| 164 | return(retvalue); |
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| 165 | } |
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| 166 | |||
| 338 | holgerb | 167 | |
| 168 | |||
| 85 | killagreg | 169 | //________________________________________________________________________________________________________________________________________ |
| 170 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
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| 171 | // |
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| 172 | // Description: This function adds a track to the document. |
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| 173 | // |
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| 174 | // |
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| 175 | // Returnvalue: '1' if the track could be opened |
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| 176 | //________________________________________________________________________________________________________________________________________ |
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| 177 | |||
| 178 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
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| 179 | { |
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| 180 | |||
| 181 | u8 retvalue = 0; |
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| 182 | if(doc->state == GPX_DOC_OPENED) |
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| 183 | { |
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| 184 | if(doc->file != NULL) |
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| 185 | { |
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| 186 | doc->state = GPX_DOC_TRACK_OPENED; |
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| 187 | retvalue = 1; |
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| 188 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
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| 189 | } |
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| 190 | } |
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| 191 | return(retvalue); |
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| 192 | } |
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| 193 | |||
| 338 | holgerb | 194 | |
| 85 | killagreg | 195 | //________________________________________________________________________________________________________________________________________ |
| 196 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
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| 197 | // |
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| 198 | // Description: This function ends the track opened before. |
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| 199 | // |
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| 200 | // |
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| 201 | // Returnvalue: 1' if the track could be closed |
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| 202 | //________________________________________________________________________________________________________________________________________ |
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| 203 | |||
| 204 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
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| 205 | { |
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| 206 | |||
| 207 | u8 retvalue = 0; |
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| 208 | |||
| 209 | if(doc->state == GPX_DOC_TRACK_OPENED) |
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| 210 | { |
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| 211 | if(doc->file != NULL) |
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| 212 | { |
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| 213 | doc->state = GPX_DOC_OPENED; |
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| 214 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
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| 215 | retvalue = 1; |
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| 216 | } |
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| 217 | } |
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| 218 | |||
| 219 | return(retvalue); |
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| 220 | } |
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| 221 | |||
| 222 | //________________________________________________________________________________________________________________________________________ |
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| 223 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
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| 224 | // |
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| 225 | // Description: This function starts a track segment. |
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| 226 | // |
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| 227 | // |
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| 228 | // Returnvalue: '1' if the track segement could be started |
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| 229 | //________________________________________________________________________________________________________________________________________ |
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| 230 | |||
| 231 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
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| 232 | { |
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| 233 | |||
| 234 | u8 retvalue = 0; |
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| 235 | |||
| 236 | if(doc->state == GPX_DOC_TRACK_OPENED) |
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| 237 | { |
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| 238 | if(doc->file != NULL) |
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| 239 | { |
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| 240 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
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| 241 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
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| 242 | retvalue = 1; |
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| 243 | } |
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| 244 | } |
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| 245 | return(retvalue); |
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| 246 | } |
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| 247 | |||
| 248 | //________________________________________________________________________________________________________________________________________ |
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| 249 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
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| 250 | // |
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| 251 | // Description: This function ends the tracksegment opened before. |
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| 252 | // |
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| 253 | // |
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| 254 | // Returnvalue: '1' if the track segment could be terminated |
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| 255 | //________________________________________________________________________________________________________________________________________ |
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| 256 | |||
| 257 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
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| 258 | { |
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| 259 | |||
| 260 | u8 retvalue = 0; |
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| 261 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
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| 262 | { |
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| 263 | if(doc->file != NULL) |
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| 264 | { |
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| 265 | doc->state = GPX_DOC_TRACK_OPENED; |
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| 266 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
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| 267 | retvalue = 1; |
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| 268 | } |
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| 269 | } |
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| 270 | return(retvalue); |
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| 271 | } |
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| 272 | |||
| 273 | //________________________________________________________________________________________________________________________________________ |
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| 274 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
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| 275 | // |
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| 276 | // Description: This function adds a pointof a track segement to the specified document. |
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| 277 | // |
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| 278 | // |
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| 279 | // Returnvalue: '1' if a point was added |
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| 280 | //________________________________________________________________________________________________________________________________________ |
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| 281 | |||
| 345 | holgerb | 282 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
| 85 | killagreg | 283 | { |
| 284 | |||
| 285 | u8 retvalue = 0; |
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| 338 | holgerb | 286 | s8 string[100]; |
| 85 | killagreg | 287 | |
| 288 | if(doc == NULL) return(0); |
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| 289 | |||
| 215 | killagreg | 290 | if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
| 85 | killagreg | 291 | { |
| 292 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
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| 293 | { |
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| 294 | if(doc->file != NULL) |
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| 295 | { |
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| 86 | killagreg | 296 | s32 i32_1, i32_2; |
| 297 | s16 i16_1; |
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| 298 | u8 u8_1, u8_2; |
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| 85 | killagreg | 299 | // write <trkpt> tag |
| 345 | holgerb | 300 | switch(part) |
| 301 | { |
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| 302 | case 0: |
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| 86 | killagreg | 303 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
| 304 | else u8_1 = '+'; |
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| 305 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
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| 306 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
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| 307 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
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| 85 | killagreg | 308 | fputs_(string, doc->file); |
| 86 | killagreg | 309 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
| 310 | else u8_1 = '+'; |
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| 311 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
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| 312 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
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| 313 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
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| 85 | killagreg | 314 | fputs_(string, doc->file); |
| 345 | holgerb | 315 | break; |
| 316 | case 1: |
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| 85 | killagreg | 317 | // write <ele> taga |
| 215 | killagreg | 318 | i32_2 = GPSData.Position.Altitude - NaviData.HomePosition.Altitude; |
| 86 | killagreg | 319 | if(i32_2 < 0) i32_2 = 0; // avoid negative altitudes in log |
| 320 | i32_1 = i32_2/1000L; |
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| 321 | i32_2 = i32_2%1000L; |
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| 322 | sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1, i32_2); |
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| 85 | killagreg | 323 | fputs_(string, doc->file); |
| 324 | // write <time> tag only at a resolution of one second |
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| 325 | sprintf(string, "<time>%04d-%02d-%02dT%02d:%02d:%02dZ</time>\r\n",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec); |
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| 326 | fputs_(string, doc->file); |
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| 86 | killagreg | 327 | // write <sat> tag |
| 328 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
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| 329 | fputs_(string, doc->file); |
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| 94 | killagreg | 330 | // todo: add <extensions> tag with additional data to be logged |
| 86 | killagreg | 331 | sprintf(string, "<extensions>\r\n"); |
| 332 | fputs_(string, doc->file); |
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| 345 | holgerb | 333 | break; |
| 334 | case 2: |
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| 125 | killagreg | 335 | // Altimeter according to air pressure |
| 338 | holgerb | 336 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter); |
| 126 | killagreg | 337 | fputs_(string, doc->file); |
| 140 | killagreg | 338 | // Variometer according to air pressure |
| 339 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
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| 340 | fputs_(string, doc->file); |
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| 92 | killagreg | 341 | // Course in deg |
| 86 | killagreg | 342 | i16_1 = GPSData.Heading/100000L; |
| 343 | sprintf(string, "<Course>%03d</Course>\r\n", i16_1); |
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| 344 | fputs_(string, doc->file); |
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| 92 | killagreg | 345 | // Ground Speed in cm/s |
| 86 | killagreg | 346 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
| 347 | fputs_(string, doc->file); |
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| 140 | killagreg | 348 | // Vertical Speed in cm/s |
| 349 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
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| 350 | fputs_(string, doc->file); |
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| 351 | // Flight duration |
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| 101 | holgerb | 352 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
| 353 | fputs_(string, doc->file); |
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| 345 | holgerb | 354 | break; |
| 355 | case 3: |
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| 86 | killagreg | 356 | // Ubat |
| 357 | u8_1 = NaviData.UBat / 10; |
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| 358 | u8_2 = NaviData.UBat % 10; |
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| 359 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
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| 360 | fputs_(string, doc->file); |
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| 206 | killagreg | 361 | // Current |
| 362 | u8_1 = NaviData.Current / 10; |
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| 363 | u8_2 = NaviData.Current % 10; |
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| 364 | sprintf(string, "<Current>%d.%01d</Current>\r\n", u8_1, u8_2); |
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| 365 | fputs_(string, doc->file); |
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| 366 | // Capacity |
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| 367 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
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| 368 | fputs_(string, doc->file); |
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| 86 | killagreg | 369 | // RC Quality |
| 370 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
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| 371 | fputs_(string, doc->file); |
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| 125 | killagreg | 372 | // RC Received Signal Strength Indication |
| 345 | holgerb | 373 | break; |
| 374 | case 4: |
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| 125 | killagreg | 375 | sprintf(string, "<RCRSSI>%d</RCRSSI>\r\n", FC.RC_RSSI); |
| 376 | fputs_(string, doc->file); |
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| 92 | killagreg | 377 | // Compassind deg |
| 86 | killagreg | 378 | i16_1 = FromFlightCtrl.GyroHeading / 10; |
| 338 | holgerb | 379 | sprintf(string, "<Compass>%03d,%03d</Compass>\r\n", i16_1,ToFlightCtrl.CompassHeading); |
| 86 | killagreg | 380 | fputs_(string, doc->file); |
| 92 | killagreg | 381 | // Nick Angle ind deg |
| 86 | killagreg | 382 | sprintf(string, "<NickAngle>%03d</NickAngle>\r\n", NaviData.AngleNick); |
| 383 | fputs_(string, doc->file); |
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| 92 | killagreg | 384 | // Roll Angle in deg |
| 86 | killagreg | 385 | sprintf(string, "<RollAngle>%03d</RollAngle>\r\n", NaviData.AngleRoll); |
| 386 | fputs_(string, doc->file); |
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| 345 | holgerb | 387 | break; |
| 388 | case 5: |
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| 338 | holgerb | 389 | // magnetic field |
| 340 | holgerb | 390 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
| 338 | holgerb | 391 | fputs_(string, doc->file); |
| 392 | // magnetic inclination & error |
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| 340 | holgerb | 393 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
| 338 | holgerb | 394 | fputs_(string, doc->file); |
| 395 | // BL Information |
||
| 396 | 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]); |
||
| 397 | fputs_(string, doc->file); |
||
| 398 | 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]); |
||
| 399 | fputs_(string, doc->file); |
||
| 345 | holgerb | 400 | break; |
| 401 | case 6: |
||
| 338 | holgerb | 402 | sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",BL_MinOfMaxPWM); |
| 403 | fputs_(string, doc->file); |
||
| 404 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
||
| 405 | fputs_(string, doc->file); |
||
| 406 | // Analog inputs of the NC |
||
| 407 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
||
| 408 | fputs_(string, doc->file); |
||
| 92 | killagreg | 409 | // NC Mode (contains the status) |
| 338 | holgerb | 410 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
| 86 | killagreg | 411 | fputs_(string, doc->file); |
| 345 | holgerb | 412 | break; |
| 413 | case 7: |
||
| 338 | holgerb | 414 | // Flags |
| 415 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
||
| 416 | fputs_(string, doc->file); |
||
| 417 | Logging_FCStatusFlags1 = 0; |
||
| 418 | Logging_FCStatusFlags2 = 0; |
||
| 233 | holgerb | 419 | // Status of the complete MikroKopter |
| 420 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
||
| 421 | fputs_(string, doc->file); |
||
| 92 | killagreg | 422 | // Target Bearing in deg |
| 86 | killagreg | 423 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
| 424 | fputs_(string, doc->file); |
||
| 92 | killagreg | 425 | // Target Distance in dm |
| 86 | killagreg | 426 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
| 427 | fputs_(string, doc->file); |
||
| 345 | holgerb | 428 | break; |
| 429 | case 8: |
||
| 101 | holgerb | 430 | // RC Sticks as Nick/Roll/Yaw |
| 338 | holgerb | 431 | 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]); |
| 101 | holgerb | 432 | fputs_(string, doc->file); |
| 94 | killagreg | 433 | // GPS Sticks as Nick/Roll/Yaw |
| 338 | holgerb | 434 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, ToFlightCtrl.GPSStick.Yaw,NC_GPS_ModeCharacter); |
| 94 | killagreg | 435 | fputs_(string, doc->file); |
| 86 | killagreg | 436 | // eof extensions |
| 437 | sprintf(string, "</extensions>\r\n"); |
||
| 438 | fputs_(string, doc->file); |
||
| 85 | killagreg | 439 | sprintf(string, "</trkpt>\r\n"); |
| 440 | fputs_(string, doc->file); |
||
| 345 | holgerb | 441 | break; |
| 442 | } |
||
| 443 | retvalue = 1; |
||
| 85 | killagreg | 444 | } |
| 445 | } |
||
| 446 | } |
||
| 447 | return(retvalue); |
||
| 448 | } |
||
| 449 | |||
| 450 | //________________________________________________________________________________________________________________________________________ |
||
| 451 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
||
| 452 | // |
||
| 453 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
||
| 454 | // |
||
| 455 | // |
||
| 456 | // Returnvalue: '1' if an gps coordinate was logged |
||
| 457 | //________________________________________________________________________________________________________________________________________ |
||
| 458 | |||
| 345 | holgerb | 459 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
| 85 | killagreg | 460 | { |
| 461 | u8 retval = 0; |
||
| 462 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
||
| 463 | { |
||
| 464 | switch(doc->state) |
||
| 465 | { |
||
| 466 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
||
| 324 | killagreg | 467 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
| 85 | killagreg | 468 | break; |
| 469 | |||
| 470 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
||
| 471 | retval = GPX_TrackBegin(doc); |
||
| 472 | break; |
||
| 473 | |||
| 474 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
||
| 475 | retval = GPX_TrackSegmentBegin(doc); |
||
| 476 | break; |
||
| 477 | |||
| 478 | default: |
||
| 479 | retval = 0; |
||
| 480 | break; |
||
| 481 | |||
| 482 | } |
||
| 483 | if(retval != 1) return(retval); // stop on error |
||
| 484 | } |
||
| 485 | |||
| 486 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
||
| 487 | { |
||
| 345 | holgerb | 488 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
| 85 | killagreg | 489 | } |
| 490 | return(retval); |
||
| 491 | } |
||
| 492 |