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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 | // + www.MikroKopter.com |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 489 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 85 | killagreg | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| 15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 489 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 360 | holgerb | 22 | // + des Mitverschuldens offen. |
| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 85 | killagreg | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 32 | // + Software LICENSING TERMS |
| 85 | killagreg | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 489 | killagreg | 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| 360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| 37 | // + The Software may only be used with the Licensor's products. |
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| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 40 | // + agreement shall be the property of the Licensor. |
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| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 43 | // + The customer shall be responsible for taking reasonable precautions |
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| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 53 | // + #### END OF LICENSING TERMS #### |
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| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 85 | killagreg | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 56 | #include <stdlib.h> |
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| 57 | #include <stdio.h> |
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| 58 | #include "91x_lib.h" |
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| 59 | #include "gpx.h" |
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| 60 | #include "gpx_header.h" |
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| 119 | killagreg | 61 | #include "timer1.h" |
| 86 | killagreg | 62 | #include "spi_slave.h" |
| 63 | #include "main.h" |
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| 64 | #include "uart1.h" |
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| 338 | holgerb | 65 | #include "compass.h" |
| 66 | #include "analog.h" |
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| 67 | #include "main.h" |
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| 68 | #include "led.h" |
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| 351 | holgerb | 69 | #include "timer2.h" |
| 380 | holgerb | 70 | #include "logging.h" |
| 532 | holgerb | 71 | #include "ncmag.h" |
| 582 | holgerb | 72 | #include "uart0.h" |
| 85 | killagreg | 73 | |
| 74 | //________________________________________________________________________________________________________________________________________ |
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| 75 | // Function: GPX_DocumentInit(GPX_Document_t *) |
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| 76 | // |
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| 77 | // Description: This function initializes the gpx-document for further use. |
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| 78 | // |
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| 79 | // |
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| 80 | // Returnvalue: '1' if document was initialized |
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| 81 | //________________________________________________________________________________________________________________________________________ |
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| 82 | |||
| 83 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
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| 84 | { |
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| 85 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
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| 86 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
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| 87 | doc->file = NULL; |
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| 88 | return(1); |
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| 89 | } |
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| 90 | |||
| 91 | //________________________________________________________________________________________________________________________________________ |
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| 92 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
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| 93 | // |
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| 94 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
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| 95 | // |
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| 96 | // |
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| 97 | // Returnvalue: '1' if the gpx-file could be created. |
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| 98 | //________________________________________________________________________________________________________________________________________ |
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| 99 | |||
| 338 | holgerb | 100 | |
| 85 | killagreg | 101 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
| 102 | { |
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| 532 | holgerb | 103 | s8 string[200]; |
| 85 | killagreg | 104 | u8 retvalue = 0; |
| 530 | holgerb | 105 | u8 BLv = 1; |
| 532 | holgerb | 106 | LicenseS_t *tmp_license; |
| 107 | tmp_license = (LicenseS_t *) LicensePtr; |
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| 85 | killagreg | 108 | |
| 109 | if(doc == NULL) return(0); |
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| 110 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
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| 111 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
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| 112 | |||
| 530 | holgerb | 113 | if(Motor_Version[0] & MOTOR_STATE_BL30) BLv = 3; |
| 114 | else if(Motor_Version[0] & MOTOR_STATE_NEW_PROTOCOL_MASK) BLv = 2; |
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| 115 | |||
| 85 | killagreg | 116 | if(doc->file != NULL) // could the file be opened? |
| 117 | { |
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| 118 | retvalue = 1; // the document could be created on the drive. |
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| 119 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
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| 338 | holgerb | 120 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
| 548 | holgerb | 121 | sprintf(string, "<desc>FC HW:%d.%d SW:%d.%02d%c + NC HW:%d.%d SW:%d.%02d%c + BL HW:V%d SW:%d.%02d", (FC_Version.Hardware & 0x7F)/10,(FC_Version.Hardware & 0x7F)%10, FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH,BLv,UART_VersionInfo.BL_Firmware/100,UART_VersionInfo.BL_Firmware%100); |
| 338 | holgerb | 122 | fputs_(string, doc->file); |
| 557 | holgerb | 123 | if(SimulationFlags) { sprintf(string, " SIMULATED"); fputs_(string, doc->file);}; |
| 614 | holgerb | 124 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) sprintf(string, " (Redundant)</desc>\r\n"); |
| 530 | holgerb | 125 | else sprintf(string, "</desc>\r\n"); |
| 126 | fputs_(string, doc->file); |
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| 532 | holgerb | 127 | sprintf(string, "<extensions>\r\n"); fputs_(string, doc->file); |
| 128 | sprintf(string, "<MK_Time>%imin</MK_Time>\r\n",FlugMinutenGesamt);fputs_(string, doc->file); |
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| 582 | holgerb | 129 | sprintf(string, "<GpsVersion>%d.%03d</GpsVersion>\r\n",GPS_Version/1000,GPS_Version%1000);fputs_(string, doc->file); |
| 587 | holgerb | 130 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 532 | holgerb | 131 | sprintf(string, "<License>\r\n"); fputs_(string, doc->file); |
| 132 | if(tmp_license->User[0] != 0) |
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| 133 | { |
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| 134 | sprintf(string, "<name>%s</name>\r\n",tmp_license->User); fputs_(string, doc->file); |
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| 135 | sprintf(string, "<email>%s</email>\r\n",tmp_license->eMail); fputs_(string, doc->file); |
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| 136 | sprintf(string, "<features>%s</features>\r\n",tmp_license->Feature); fputs_(string, doc->file); |
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| 137 | sprintf(string, "<expires>%s</expires>\r\n",tmp_license->Expire);fputs_(string, doc->file); |
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| 138 | } |
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| 139 | else |
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| 140 | { |
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| 141 | sprintf(string, "<info>No License installed</info>\r\n"); fputs_(string, doc->file); |
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| 142 | } |
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| 143 | sprintf(string, "</License>\r\n"); fputs_(string, doc->file); |
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| 587 | holgerb | 144 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 532 | holgerb | 145 | sprintf(string, "<settings>\r\n"); fputs_(string, doc->file); |
| 146 | sprintf(string, "<Number>%i</Number>\r\n",Parameter.ActiveSetting);fputs_(string, doc->file); |
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| 587 | holgerb | 147 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 148 | // Reciever Type |
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| 149 | sprintf(string, "<Receiver>");fputs_(string, doc->file); |
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| 150 | switch(Parameter.ReceiverType) |
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| 151 | { |
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| 152 | case RECEIVER_PPM: sprintf(string, "PPM"); break; |
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| 153 | case RECEIVER_SPEKTRUM: sprintf(string, "SPEKTRUM"); break; |
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| 154 | case RECEIVER_SPEKTRUM_HI_RES: sprintf(string, "SPEKTRUM_HI_RES"); break; |
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| 155 | case RECEIVER_SPEKTRUM_LOW_RES: sprintf(string, "SPEKTRUM_LOW_RES"); break; |
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| 156 | case RECEIVER_JETI: sprintf(string, "JETI"); break; |
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| 157 | case RECEIVER_ACT_DSL: sprintf(string, "ACT_DSL"); break; |
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| 158 | case RECEIVER_HOTT: sprintf(string, "HOTT"); break; |
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| 159 | case RECEIVER_SBUS: sprintf(string, "SBUS"); break; |
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| 160 | case RECEIVER_USER: sprintf(string, "USER"); break; |
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| 161 | default: sprintf(string, "? %d",Parameter.ReceiverType); break; |
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| 162 | } |
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| 163 | fputs_(string, doc->file); |
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| 164 | sprintf(string, "</Receiver>\r\n"); fputs_(string, doc->file); |
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| 165 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 670 | holgerb | 166 | if(FC.FromFC_CompassOffset > 30) {sprintf(string, "<CompassOffset>%i !</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);fputs_(string, doc->file);} |
| 167 | else {sprintf(string, "<CompassOffset>%i</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);fputs_(string, doc->file);} |
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| 532 | holgerb | 168 | sprintf(string, "<FCOrientation>%i</FCOrientation>\r\n",Parameter.OrientationAngle*15);fputs_(string, doc->file); |
| 587 | holgerb | 169 | sprintf(string, "<GeoMag>%i.%1d</GeoMag>\r\n",GeoMagDec/10,abs(GeoMagDec)%10);fputs_(string, doc->file); |
| 573 | holgerb | 170 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw);fputs_(string, doc->file); |
| 587 | holgerb | 171 | sprintf(string, "<Kalibr.>%d,%d,%d</Kalibr.>\r\n", FC.BoatNeutralNick,FC.BoatNeutralRoll,FC.BoatNeutralYaw);fputs_(string, doc->file); |
| 574 | holgerb | 172 | if((FC.StatusFlags3 & FC_STATUS3_BOAT)) {sprintf(string, "<BoatMode>On</BoatMode>\r\n");fputs_(string, doc->file);} |
| 573 | holgerb | 173 | if(Parameter.Driftkomp) {sprintf(string, "<DriftComp>%i</DriftComp>\r\n",Parameter.Driftkomp);fputs_(string, doc->file);}; |
| 587 | holgerb | 174 | |
| 175 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 176 | // Magnetometer |
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| 177 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) sprintf(string, "<MagSensor>external,(%i),",NCMAG_Orientation); |
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| 178 | else sprintf(string, "<MagSensor>internal,"); |
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| 179 | fputs_(string, doc->file); |
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| 180 | switch(NCMAG_SensorType) |
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| 181 | { |
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| 182 | case TYPE_HMC5843: sprintf(string, "HMC"); break; |
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| 183 | case TYPE_LSM303DLH: sprintf(string, "DLH"); break; |
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| 184 | case TYPE_LSM303DLM: sprintf(string, "DLM"); break; |
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| 592 | holgerb | 185 | case TYPE_LSM303D: sprintf(string, "D"); break; |
| 587 | holgerb | 186 | default: sprintf(string, "? %d",NCMAG_SensorType); break; |
| 187 | } |
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| 188 | fputs_(string, doc->file); |
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| 189 | sprintf(string, "</MagSensor>\r\n");fputs_(string, doc->file); |
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| 190 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 646 | holgerb | 191 | sprintf(string, "<FailSafeTime>%d</FailSafeTime>\r\n",Parameter.FailSafeTime);fputs_(string, doc->file); |
| 532 | holgerb | 192 | if(AbsoluteFlyingAltitude) {sprintf(string, "<MaxAltitude>%i</MaxAltitude>\r\n",AbsoluteFlyingAltitude);fputs_(string, doc->file);} |
| 193 | if(AbsoluteFlyingRange_m) {sprintf(string, "<FlyRange>%i</FlyRange>\r\n",AbsoluteFlyingRange_m);fputs_(string, doc->file);} |
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| 194 | if(AutoDescendRange_m) {sprintf(string, "<Descend>%i</Descend>\r\n",AutoDescendRange_m);fputs_(string, doc->file);}; |
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| 548 | holgerb | 195 | |
| 196 | if((Parameter.GlobalConfig & FC_CFG_HEADING_HOLD)) {sprintf(string, "<HeadingHold>ON!</HeadingHold>\r\n");fputs_(string, doc->file);} |
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| 197 | if((Parameter.GlobalConfig & FC_CFG_KOMPASS_FIX)) {sprintf(string, "<KompassFixedValue>ON!</KompassFixedValue>\r\n");fputs_(string, doc->file);} |
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| 198 | if((Parameter.GlobalConfig & FC_CFG_DREHRATEN_BEGRENZER)) {sprintf(string, "<RotationRateLimiter>ON!</RotationRateLimiter>\r\n");fputs_(string, doc->file);} |
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| 199 | if(!(Parameter.GlobalConfig & FC_CFG_ACHSENKOPPLUNG_AKTIV)) {sprintf(string, "<AxisCoupling>OFF!</AxisCoupling>\r\n");fputs_(string, doc->file);} |
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| 570 | holgerb | 200 | if(!(Parameter.GlobalConfig & FC_CFG_KOMPASS_AKTIV)) {sprintf(string, "<CompassActive>OFF!</CompassActive>\r\n");fputs_(string, doc->file);} |
| 548 | holgerb | 201 | if((Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)) {sprintf(string, "<VarioFailsafe>On</VarioFailsafe>\r\n");fputs_(string, doc->file);} |
| 202 | if((Parameter.ExtraConfig & CFG_3_3V_REFERENCE)) {sprintf(string, "<3.3V_Reference>On</3.3V_Reference>\r\n");fputs_(string, doc->file);} |
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| 203 | if((Parameter.ExtraConfig & CFG_IGNORE_MAG_ERR_AT_STARTUP)) {sprintf(string, "<IgnoreMagnetError>ON!</IgnoreMagnetError>\r\n");fputs_(string, doc->file);} |
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| 587 | holgerb | 204 | if(FC.FromFC_DisableDeclination) {sprintf(string, "<DisableDeclinationCalc>ON!</DisableDeclinationCalc>\r\n");fputs_(string, doc->file);} |
| 548 | holgerb | 205 | |
| 532 | holgerb | 206 | sprintf(string, "<Bytes>%02x,%02x,%02x</Bytes>\r\n",Parameter.GlobalConfig,Parameter.ExtraConfig,Parameter.GlobalConfig3);fputs_(string, doc->file); |
| 207 | sprintf(string, "</settings>\r\n"); fputs_(string, doc->file); |
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| 208 | sprintf(string, "</extensions>\r\n"); fputs_(string, doc->file); |
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| 209 | |||
| 210 | fwrite_((void*)GPX_DOCUMENT_METADATA_END, sizeof(GPX_DOCUMENT_METADATA_END)-1,1,doc->file);// write the gpx-header to the document. |
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| 85 | killagreg | 211 | } |
| 338 | holgerb | 212 | Logging_FCStatusFlags1 = 0; |
| 213 | Logging_FCStatusFlags2 = 0; |
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| 380 | holgerb | 214 | Logged_GPX_Counter = 0; |
| 436 | holgerb | 215 | LogFC_WP_EventChannel = 0; |
| 530 | holgerb | 216 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
| 85 | killagreg | 217 | return(retvalue); |
| 218 | } |
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| 219 | |||
| 220 | //________________________________________________________________________________________________________________________________________ |
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| 221 | // Function: DocumentClose(GPX_Document_t *doc); |
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| 222 | // |
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| 223 | // Description: This function closes the document specified by doc. |
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| 224 | // |
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| 225 | // |
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| 226 | // Returnvalue: '1' if the gpx-file could be closed. |
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| 227 | //________________________________________________________________________________________________________________________________________ |
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| 228 | |||
| 229 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
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| 230 | { |
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| 231 | |||
| 232 | u8 retvalue = 1; |
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| 233 | |||
| 234 | if(doc == NULL) return(0); |
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| 235 | |||
| 378 | holgerb | 236 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
| 94 | killagreg | 237 | { |
| 85 | killagreg | 238 | switch(doc->state) |
| 239 | { |
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| 240 | case GPX_DOC_TRACKSEGMENT_OPENED: |
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| 241 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
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| 242 | break; |
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| 243 | |||
| 104 | killagreg | 244 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
| 85 | killagreg | 245 | GPX_TrackEnd(doc); |
| 246 | break; |
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| 247 | |||
| 248 | case GPX_DOC_OPENED: // close the file on the memorycard |
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| 249 | if(doc->file != NULL) |
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| 250 | { |
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| 251 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
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| 252 | fclose_(doc->file); |
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| 253 | retvalue = 1; |
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| 254 | } |
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| 255 | doc->state = GPX_DOC_CLOSED; |
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| 256 | break; |
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| 257 | |||
| 258 | default: |
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| 259 | doc->state = GPX_DOC_CLOSED; |
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| 260 | break; |
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| 261 | } |
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| 262 | } |
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| 263 | return(retvalue); |
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| 264 | } |
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| 265 | |||
| 338 | holgerb | 266 | |
| 267 | |||
| 85 | killagreg | 268 | //________________________________________________________________________________________________________________________________________ |
| 269 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
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| 270 | // |
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| 271 | // Description: This function adds a track to the document. |
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| 272 | // |
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| 273 | // |
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| 274 | // Returnvalue: '1' if the track could be opened |
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| 275 | //________________________________________________________________________________________________________________________________________ |
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| 276 | |||
| 277 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
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| 278 | { |
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| 279 | |||
| 280 | u8 retvalue = 0; |
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| 281 | if(doc->state == GPX_DOC_OPENED) |
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| 282 | { |
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| 283 | if(doc->file != NULL) |
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| 284 | { |
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| 285 | doc->state = GPX_DOC_TRACK_OPENED; |
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| 286 | retvalue = 1; |
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| 287 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
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| 288 | } |
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| 289 | } |
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| 290 | return(retvalue); |
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| 291 | } |
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| 292 | |||
| 338 | holgerb | 293 | |
| 85 | killagreg | 294 | //________________________________________________________________________________________________________________________________________ |
| 295 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
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| 296 | // |
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| 297 | // Description: This function ends the track opened before. |
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| 298 | // |
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| 299 | // |
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| 300 | // Returnvalue: 1' if the track could be closed |
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| 301 | //________________________________________________________________________________________________________________________________________ |
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| 302 | |||
| 303 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
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| 304 | { |
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| 305 | |||
| 306 | u8 retvalue = 0; |
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| 307 | |||
| 308 | if(doc->state == GPX_DOC_TRACK_OPENED) |
||
| 309 | { |
||
| 310 | if(doc->file != NULL) |
||
| 311 | { |
||
| 312 | doc->state = GPX_DOC_OPENED; |
||
| 313 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
||
| 314 | retvalue = 1; |
||
| 315 | } |
||
| 316 | } |
||
| 317 | |||
| 318 | return(retvalue); |
||
| 319 | } |
||
| 320 | |||
| 321 | //________________________________________________________________________________________________________________________________________ |
||
| 322 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
||
| 323 | // |
||
| 324 | // Description: This function starts a track segment. |
||
| 325 | // |
||
| 326 | // |
||
| 327 | // Returnvalue: '1' if the track segement could be started |
||
| 328 | //________________________________________________________________________________________________________________________________________ |
||
| 329 | |||
| 330 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
||
| 331 | { |
||
| 332 | |||
| 333 | u8 retvalue = 0; |
||
| 334 | |||
| 335 | if(doc->state == GPX_DOC_TRACK_OPENED) |
||
| 336 | { |
||
| 337 | if(doc->file != NULL) |
||
| 338 | { |
||
| 339 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
||
| 340 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
||
| 341 | retvalue = 1; |
||
| 342 | } |
||
| 343 | } |
||
| 344 | return(retvalue); |
||
| 345 | } |
||
| 346 | |||
| 347 | //________________________________________________________________________________________________________________________________________ |
||
| 348 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
||
| 349 | // |
||
| 350 | // Description: This function ends the tracksegment opened before. |
||
| 351 | // |
||
| 352 | // |
||
| 353 | // Returnvalue: '1' if the track segment could be terminated |
||
| 354 | //________________________________________________________________________________________________________________________________________ |
||
| 355 | |||
| 356 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
||
| 357 | { |
||
| 358 | |||
| 359 | u8 retvalue = 0; |
||
| 360 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
||
| 361 | { |
||
| 362 | if(doc->file != NULL) |
||
| 363 | { |
||
| 364 | doc->state = GPX_DOC_TRACK_OPENED; |
||
| 365 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
||
| 366 | retvalue = 1; |
||
| 367 | } |
||
| 368 | } |
||
| 369 | return(retvalue); |
||
| 370 | } |
||
| 371 | |||
| 372 | //________________________________________________________________________________________________________________________________________ |
||
| 373 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
||
| 374 | // |
||
| 375 | // Description: This function adds a pointof a track segement to the specified document. |
||
| 376 | // |
||
| 377 | // |
||
| 378 | // Returnvalue: '1' if a point was added |
||
| 379 | //________________________________________________________________________________________________________________________________________ |
||
| 380 | |||
| 345 | holgerb | 381 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
| 85 | killagreg | 382 | { |
| 383 | |||
| 384 | u8 retvalue = 0; |
||
| 633 | holgerb | 385 | static u8 LastLoggedFlags2 = 0; |
| 530 | holgerb | 386 | s8 string[120]; |
| 386 | holgerb | 387 | s8 name[] = "----\0"; |
| 85 | killagreg | 388 | |
| 389 | if(doc == NULL) return(0); |
||
| 390 | |||
| 434 | holgerb | 391 | // if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
| 85 | killagreg | 392 | { |
| 393 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
||
| 394 | { |
||
| 395 | if(doc->file != NULL) |
||
| 396 | { |
||
| 553 | holgerb | 397 | static s32 altitude; // store to make sure they are all recorded in one timestamp |
| 86 | killagreg | 398 | s32 i32_1, i32_2; |
| 399 | s16 i16_1; |
||
| 400 | u8 u8_1, u8_2; |
||
| 85 | killagreg | 401 | // write <trkpt> tag |
| 345 | holgerb | 402 | switch(part) |
| 403 | { |
||
| 404 | case 0: |
||
| 380 | holgerb | 405 | Logged_GPX_Counter++; |
| 434 | holgerb | 406 | if(GPSData.Position.Status != INVALID) |
| 407 | { |
||
| 408 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
||
| 409 | else u8_1 = '+'; |
||
| 410 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
||
| 411 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
||
| 412 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
||
| 413 | fputs_(string, doc->file); |
||
| 414 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
||
| 415 | else u8_1 = '+'; |
||
| 416 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
||
| 417 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
||
| 418 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
||
| 436 | holgerb | 419 | } else sprintf(string, "<trkpt lat=\"\" lon=\"\">"); |
| 434 | holgerb | 420 | fputs_(string, doc->file); |
| 553 | holgerb | 421 | altitude = GPSData.Position.Altitude; |
| 345 | holgerb | 422 | break; |
| 423 | case 1: |
||
| 547 | holgerb | 424 | // write <ele> tag |
| 553 | holgerb | 425 | i32_2 = altitude - NaviData.HomePosition.Altitude; |
| 436 | holgerb | 426 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
| 86 | killagreg | 427 | i32_1 = i32_2/1000L; |
| 428 | i32_2 = i32_2%1000L; |
||
| 573 | holgerb | 429 | if(altitude - NaviData.HomePosition.Altitude < 0) sprintf(string,"<ele>-%ld.%03ld</ele>\r\n",labs(i32_1),labs(i32_2)); |
| 553 | holgerb | 430 | else sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1,i32_2); |
| 85 | killagreg | 431 | fputs_(string, doc->file); |
| 553 | holgerb | 432 | // write <time> tag only at a resolution of 1/100 second |
| 531 | holgerb | 433 | sprintf(string, "<time>%04d-%02d-%02dT%02d:%02d:%02d.%dZ</time>\r\n",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec,SystemTime.mSec/100); |
| 85 | killagreg | 434 | fputs_(string, doc->file); |
| 86 | killagreg | 435 | // write <sat> tag |
| 436 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
||
| 437 | fputs_(string, doc->file); |
||
| 94 | killagreg | 438 | // todo: add <extensions> tag with additional data to be logged |
| 86 | killagreg | 439 | sprintf(string, "<extensions>\r\n"); |
| 440 | fputs_(string, doc->file); |
||
| 345 | holgerb | 441 | break; |
| 442 | case 2: |
||
| 419 | holgerb | 443 | // Flight duration |
| 444 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
||
| 445 | fputs_(string, doc->file); |
||
| 446 | // Status of the complete MikroKopter |
||
| 447 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
||
| 448 | fputs_(string, doc->file); |
||
| 449 | // Flags |
||
| 633 | holgerb | 450 | if(LastLoggedFlags2 & FC_STATUS2_OUT1_ACTIVE && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) Logging_FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // to avoid that the OUT-Flags are longer high than required |
| 451 | if(LastLoggedFlags2 & FC_STATUS2_OUT2_ACTIVE && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) Logging_FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
||
| 419 | holgerb | 452 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
| 453 | fputs_(string, doc->file); |
||
| 633 | holgerb | 454 | LastLoggedFlags2 = Logging_FCStatusFlags2; |
| 428 | holgerb | 455 | Logging_FCStatusFlags1 = FC.StatusFlags; |
| 456 | Logging_FCStatusFlags2 = FC.StatusFlags2; |
||
| 419 | holgerb | 457 | // NC Mode (contains the status) |
| 458 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
||
| 459 | fputs_(string, doc->file); |
||
| 125 | killagreg | 460 | // Altimeter according to air pressure |
| 436 | holgerb | 461 | sprintf(string, "<Speak>%d</Speak>\r\n",FC.FromFC_SpeakHoTT); |
| 462 | FC.FromFC_SpeakHoTT = 0; // can be cleared now |
||
| 463 | fputs_(string, doc->file); |
||
| 464 | // Altimeter according to air pressure |
||
| 338 | holgerb | 465 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter); |
| 126 | killagreg | 466 | fputs_(string, doc->file); |
| 140 | killagreg | 467 | // Variometer according to air pressure |
| 468 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
||
| 469 | fputs_(string, doc->file); |
||
| 345 | holgerb | 470 | break; |
| 471 | case 3: |
||
| 86 | killagreg | 472 | // Ubat |
| 593 | holgerb | 473 | u8_1 = FC.BAT_Voltage / 10; |
| 474 | u8_2 = FC.BAT_Voltage % 10; |
||
| 86 | killagreg | 475 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
| 476 | fputs_(string, doc->file); |
||
| 206 | killagreg | 477 | // Current |
| 566 | holgerb | 478 | sprintf(string, "<Current>%d.%01d</Current>\r\n", NaviData.Current / 10, NaviData.Current % 10); |
| 206 | killagreg | 479 | fputs_(string, doc->file); |
| 480 | // Capacity |
||
| 481 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
||
| 482 | fputs_(string, doc->file); |
||
| 345 | holgerb | 483 | break; |
| 484 | case 4: |
||
| 557 | holgerb | 485 | // Compass in deg |
| 587 | holgerb | 486 | if(SimulationFlags) sprintf(string, "<Compass>%03d,%03d,%03d.%1d,%03d.0</Compass>\r\n",SimulatedDirection,SimulatedDirection,CompassSetpointCorrected/10,CompassSetpointCorrected%10,SimulatedDirection); |
| 487 | else sprintf(string, "<Compass>%03d,%03d,%03d.%1d,%03d.%1d</Compass>\r\n",FromFlightCtrl.GyroHeading/10,ToFlightCtrl.CompassHeading,CompassSetpointCorrected/10,CompassSetpointCorrected%10,GyroCompassCorrected/10,GyroCompassCorrected%10); |
||
| 86 | killagreg | 488 | fputs_(string, doc->file); |
| 489 | killagreg | 489 | // magnetic field |
| 419 | holgerb | 490 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
| 491 | fputs_(string, doc->file); |
||
| 489 | killagreg | 492 | // magnetic inclination & error |
| 419 | holgerb | 493 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
| 494 | fputs_(string, doc->file); |
||
| 92 | killagreg | 495 | // Nick Angle ind deg |
| 531 | holgerb | 496 | i16_1 = abs(FromFlightCtrl.AngleNick); |
| 497 | if(FromFlightCtrl.AngleNick < 0) sprintf(string, "<NickAngle>-%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
||
| 498 | else sprintf(string, "<NickAngle>%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
||
| 86 | killagreg | 499 | fputs_(string, doc->file); |
| 92 | killagreg | 500 | // Roll Angle in deg |
| 531 | holgerb | 501 | i16_1 = abs(FromFlightCtrl.AngleRoll); |
| 502 | if(FromFlightCtrl.AngleRoll < 0) sprintf(string, "<RollAngle>-%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
||
| 503 | else sprintf(string, "<RollAngle>%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
||
| 86 | killagreg | 504 | fputs_(string, doc->file); |
| 345 | holgerb | 505 | break; |
| 506 | case 5: |
||
| 338 | holgerb | 507 | // BL Information |
| 530 | holgerb | 508 | switch(AmountOfMotors) |
| 509 | { |
||
| 510 | case 4: |
||
| 511 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3)); |
||
| 512 | fputs_(string, doc->file); |
||
| 513 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
||
| 514 | fputs_(string, doc->file); |
||
| 515 | sprintf(string, "<MotorNOK>%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt); |
||
| 516 | fputs_(string, doc->file); |
||
| 517 | break; |
||
| 518 | case 6: |
||
| 519 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3),BL3_Current(4),BL3_Current(5)); |
||
| 520 | fputs_(string, doc->file); |
||
| 521 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature,Motor[4].Temperature,Motor[5].Temperature); |
||
| 522 | fputs_(string, doc->file); |
||
| 523 | sprintf(string, "<MotorNOK>%d,%d,%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt,Motor[4].NotReadyCnt,Motor[5].NotReadyCnt); |
||
| 524 | fputs_(string, doc->file); |
||
| 525 | break; |
||
| 526 | case 8: |
||
| 527 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3),BL3_Current(4),BL3_Current(5),BL3_Current(6),BL3_Current(7)); |
||
| 528 | fputs_(string, doc->file); |
||
| 529 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d,%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature,Motor[4].Temperature,Motor[5].Temperature,Motor[6].Temperature,Motor[7].Temperature); |
||
| 530 | fputs_(string, doc->file); |
||
| 531 | sprintf(string, "<MotorNOK>%d,%d,%d,%d,%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt,Motor[4].NotReadyCnt,Motor[5].NotReadyCnt,Motor[6].NotReadyCnt,Motor[7].NotReadyCnt); |
||
| 532 | fputs_(string, doc->file); |
||
| 533 | break; |
||
| 603 | holgerb | 534 | case 10: |
| 535 | case 12: |
||
| 530 | holgerb | 536 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3),BL3_Current(4),BL3_Current(5),BL3_Current(6),BL3_Current(7),BL3_Current(8),BL3_Current(9),BL3_Current(10),BL3_Current(11)); |
| 537 | fputs_(string, doc->file); |
||
| 538 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature,Motor[4].Temperature,Motor[5].Temperature,Motor[6].Temperature,Motor[7].Temperature,Motor[8].Temperature,Motor[9].Temperature,Motor[10].Temperature,Motor[11].Temperature); |
||
| 539 | fputs_(string, doc->file); |
||
| 540 | sprintf(string, "<MotorNOK>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt,Motor[4].NotReadyCnt,Motor[5].NotReadyCnt,Motor[6].NotReadyCnt,Motor[7].NotReadyCnt,Motor[8].NotReadyCnt,Motor[9].NotReadyCnt,Motor[10].NotReadyCnt,Motor[11].NotReadyCnt); |
||
| 541 | fputs_(string, doc->file); |
||
| 542 | break; |
||
| 603 | holgerb | 543 | default: |
| 639 | holgerb | 544 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3),BL3_Current(4),BL3_Current(5),BL3_Current(6),BL3_Current(7),BL3_Current(8),BL3_Current(9),BL3_Current(10),BL3_Current(11),BL3_Current(12),BL3_Current(13),BL3_Current(14),BL3_Current(15)); |
| 603 | holgerb | 545 | fputs_(string, doc->file); |
| 546 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature,Motor[4].Temperature,Motor[5].Temperature,Motor[6].Temperature,Motor[7].Temperature,Motor[8].Temperature,Motor[9].Temperature,Motor[10].Temperature,Motor[11].Temperature,Motor[12].Temperature,Motor[13].Temperature,Motor[14].Temperature,Motor[15].Temperature); |
||
| 547 | fputs_(string, doc->file); |
||
| 548 | sprintf(string, "<MotorNOK>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt,Motor[4].NotReadyCnt,Motor[5].NotReadyCnt,Motor[6].NotReadyCnt,Motor[7].NotReadyCnt,Motor[8].NotReadyCnt,Motor[9].NotReadyCnt,Motor[10].NotReadyCnt,Motor[11].NotReadyCnt,Motor[12].NotReadyCnt,Motor[13].NotReadyCnt,Motor[14].NotReadyCnt,Motor[15].NotReadyCnt); |
||
| 549 | fputs_(string, doc->file); |
||
| 550 | break; |
||
| 530 | holgerb | 551 | } |
| 345 | holgerb | 552 | break; |
| 553 | case 6: |
||
| 358 | holgerb | 554 | /* sprintf(string, "<BL_State>0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x</BL_State>\r\n",Motor.State[0],Motor.State[1],Motor.State[2],Motor.State[3],Motor.State[4],Motor.State[5],Motor.State[6],Motor.State[7],Motor.State[8],Motor.State[9],Motor.State[10],Motor.State[11]); |
| 338 | holgerb | 555 | fputs_(string, doc->file); |
| 358 | holgerb | 556 | sprintf(string, "<BL_MaxPWM>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</BL_MaxPWM>\r\n",Motor.MaxPWM[0],Motor.MaxPWM[1],Motor.MaxPWM[2],Motor.MaxPWM[3],Motor.MaxPWM[4],Motor.MaxPWM[5],Motor.MaxPWM[6],Motor.MaxPWM[7],Motor.MaxPWM[8],Motor.MaxPWM[9],Motor.MaxPWM[10],Motor.MaxPWM[11]); |
| 557 | fputs_(string, doc->file); |
||
| 530 | holgerb | 558 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM); |
| 559 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
||
| 358 | holgerb | 560 | fputs_(string, doc->file); |
| 581 | holgerb | 561 | |
| 562 | // Gas values |
||
| 563 | if(LoggingGasCnt > 1) LoggingGasFilter = LoggingGasFilter / LoggingGasCnt; |
||
| 612 | holgerb | 564 | sprintf(string, "<Gas>%03d,%03d</Gas>\r\n",(u16)LoggingGasFilter,HoverGas); |
| 581 | holgerb | 565 | LoggingGasCnt = 0; |
| 566 | |||
| 578 | holgerb | 567 | fputs_(string, doc->file); |
| 338 | holgerb | 568 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
| 569 | fputs_(string, doc->file); |
||
| 419 | holgerb | 570 | sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]); |
| 571 | fputs_(string, doc->file); |
||
| 338 | holgerb | 572 | // Analog inputs of the NC |
| 573 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
||
| 574 | fputs_(string, doc->file); |
||
| 351 | holgerb | 575 | sprintf(string, "<Servo>%d,%d,%d</Servo>\r\n", ServoParams.NickControl,ServoParams.RollControl,POI_KameraNick/10); // Raw Poti-Values of the Servo control and the POI_Nick in 1° |
| 576 | fputs_(string, doc->file); |
||
| 386 | holgerb | 577 | |
| 614 | holgerb | 578 | if(NC_GPS_ModeCharacter == 'F') // Failsafe Point is active |
| 579 | { |
||
| 580 | sprintf(string, "<WP>FAIL,%d,%d,%d</WP>\r\n",NaviData.WaypointIndex,NaviData.WaypointNumber,LogFC_WP_EventChannel); // x of y Waypoints and the actual value of the Event Channel |
||
| 581 | LogFC_WP_EventChannel = 0; |
||
| 582 | } |
||
| 583 | else |
||
| 584 | { |
||
| 386 | holgerb | 585 | if(GPS_pWaypoint != NULL) // if WP exist |
| 586 | { // copy that name |
||
| 587 | u8 i; |
||
| 489 | killagreg | 588 | for(i=0;i<4;i++) |
| 386 | holgerb | 589 | { |
| 590 | name[i] = GPS_pWaypoint->Name[i]; |
||
| 591 | if(name[i] < ' ') name[i] = ' '; |
||
| 592 | } |
||
| 593 | } |
||
| 421 | holgerb | 594 | sprintf(string, "<WP>%s,%d,%d,%d</WP>\r\n",name,NaviData.WaypointIndex,NaviData.WaypointNumber,LogFC_WP_EventChannel); // x of y Waypoints and the actual value of the Event Channel |
| 595 | LogFC_WP_EventChannel = 0; // can be cleared now |
||
| 614 | holgerb | 596 | } |
| 351 | holgerb | 597 | fputs_(string, doc->file); |
| 614 | holgerb | 598 | |
| 603 | holgerb | 599 | sprintf(string, "<ShutterCnt>%d</ShutterCnt>\r\n",NaviData_Volatile.ShutterCounter); |
| 600 | LogFC_WP_EventChannel = 0; // can be cleared now |
||
| 601 | fputs_(string, doc->file); |
||
| 345 | holgerb | 602 | break; |
| 603 | case 7: |
||
| 92 | killagreg | 604 | // Target Bearing in deg |
| 86 | killagreg | 605 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
| 606 | fputs_(string, doc->file); |
||
| 92 | killagreg | 607 | // Target Distance in dm |
| 86 | killagreg | 608 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
| 609 | fputs_(string, doc->file); |
||
| 419 | holgerb | 610 | // Course in deg |
| 566 | holgerb | 611 | sprintf(string, "<Course>%03d</Course>\r\n", NaviData.Heading); |
| 419 | holgerb | 612 | fputs_(string, doc->file); |
| 613 | // Ground Speed in cm/s |
||
| 614 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
||
| 615 | fputs_(string, doc->file); |
||
| 616 | // Vertical Speed in cm/s |
||
| 617 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
||
| 618 | fputs_(string, doc->file); |
||
| 101 | holgerb | 619 | // RC Sticks as Nick/Roll/Yaw |
| 338 | holgerb | 620 | 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 | 621 | fputs_(string, doc->file); |
| 94 | killagreg | 622 | // GPS Sticks as Nick/Roll/Yaw |
| 419 | holgerb | 623 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, 0 ,NC_GPS_ModeCharacter); |
| 94 | killagreg | 624 | fputs_(string, doc->file); |
| 419 | holgerb | 625 | // RC Quality |
| 626 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
||
| 627 | fputs_(string, doc->file); |
||
| 581 | holgerb | 628 | // raw GPS altitude |
| 629 | i32_2 = altitude; |
||
| 630 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
||
| 631 | i32_1 = i32_2/1000L; |
||
| 632 | i32_2 = i32_2%1000L; |
||
| 633 | if(altitude < 0) sprintf(string,"<ele_raw>-%ld.%03ld</ele_raw>\r\n",labs(i32_1),labs(i32_2)); |
||
| 634 | else sprintf(string,"<ele_raw>%ld.%03ld</ele_raw>\r\n",i32_1,i32_2); |
||
| 635 | fputs_(string, doc->file); |
||
| 636 | break; |
||
| 637 | case 8: |
||
| 574 | holgerb | 638 | // Drift compensation |
| 639 | /* |
||
| 573 | holgerb | 640 | if(Parameter.Driftkomp) |
| 641 | { |
||
| 642 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw); |
||
| 643 | fputs_(string, doc->file); |
||
| 644 | } |
||
| 574 | holgerb | 645 | */ |
| 646 | // Navigation Update speed (in 0.1Hz) |
||
| 661 | holgerb | 647 | sprintf(string, "<GPSInfo>%d,%d,%d</GPSInfo>\r\n",FreqNewGpsData,GPSData.Flags,GPSData.SatFix); // FreqGpsNavProcessed |
| 658 | holgerb | 648 | fputs_(string, doc->file); |
| 86 | killagreg | 649 | // eof extensions |
| 650 | sprintf(string, "</extensions>\r\n"); |
||
| 651 | fputs_(string, doc->file); |
||
| 85 | killagreg | 652 | sprintf(string, "</trkpt>\r\n"); |
| 653 | fputs_(string, doc->file); |
||
| 345 | holgerb | 654 | break; |
| 655 | } |
||
| 656 | retvalue = 1; |
||
| 85 | killagreg | 657 | } |
| 658 | } |
||
| 659 | } |
||
| 660 | return(retvalue); |
||
| 661 | } |
||
| 662 | |||
| 663 | //________________________________________________________________________________________________________________________________________ |
||
| 664 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
||
| 665 | // |
||
| 666 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
||
| 667 | // |
||
| 668 | // |
||
| 669 | // Returnvalue: '1' if an gps coordinate was logged |
||
| 670 | //________________________________________________________________________________________________________________________________________ |
||
| 671 | |||
| 345 | holgerb | 672 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
| 85 | killagreg | 673 | { |
| 674 | u8 retval = 0; |
||
| 378 | holgerb | 675 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
| 85 | killagreg | 676 | { |
| 677 | switch(doc->state) |
||
| 678 | { |
||
| 679 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
||
| 324 | killagreg | 680 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
| 85 | killagreg | 681 | break; |
| 682 | |||
| 683 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
||
| 684 | retval = GPX_TrackBegin(doc); |
||
| 685 | break; |
||
| 686 | |||
| 687 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
||
| 688 | retval = GPX_TrackSegmentBegin(doc); |
||
| 689 | break; |
||
| 690 | |||
| 691 | default: |
||
| 692 | retval = 0; |
||
| 693 | break; |
||
| 694 | |||
| 695 | } |
||
| 696 | if(retval != 1) return(retval); // stop on error |
||
| 697 | } |
||
| 698 | |||
| 699 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
||
| 700 | { |
||
| 345 | holgerb | 701 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
| 85 | killagreg | 702 | } |
| 703 | return(retval); |
||
| 704 | } |
||
| 705 |