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Rev | Author | Line No. | Line |
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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" |
676 | holgerb | 73 | #include "settings.h" |
720 | ingob | 74 | #include "crc16.h" |
85 | killagreg | 75 | |
720 | ingob | 76 | |
77 | u16 Check16File; |
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78 | u16 Check16Block; |
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79 | |||
85 | killagreg | 80 | //________________________________________________________________________________________________________________________________________ |
81 | // Function: GPX_DocumentInit(GPX_Document_t *) |
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82 | // |
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83 | // Description: This function initializes the gpx-document for further use. |
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84 | // |
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85 | // |
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86 | // Returnvalue: '1' if document was initialized |
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87 | //________________________________________________________________________________________________________________________________________ |
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88 | |||
89 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
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90 | { |
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91 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
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92 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
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93 | doc->file = NULL; |
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94 | return(1); |
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95 | } |
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96 | |||
720 | ingob | 97 | |
98 | |||
99 | u16 CheckSumAndWrite(u16 *checksum, s8 * const string, File_t * const file) |
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100 | { |
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101 | u8 i=0; |
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102 | while(string[i] != 0) |
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103 | { |
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104 | *checksum = CRC16x(*checksum, string[i]); |
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105 | i++; |
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106 | } |
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107 | |||
108 | return fputs_(string, file); // write to SD scard |
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109 | |||
110 | |||
111 | } |
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112 | |||
85 | killagreg | 113 | //________________________________________________________________________________________________________________________________________ |
114 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
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115 | // |
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116 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
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117 | // |
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118 | // |
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119 | // Returnvalue: '1' if the gpx-file could be created. |
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120 | //________________________________________________________________________________________________________________________________________ |
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121 | |||
338 | holgerb | 122 | |
85 | killagreg | 123 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
124 | { |
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532 | holgerb | 125 | s8 string[200]; |
85 | killagreg | 126 | u8 retvalue = 0; |
530 | holgerb | 127 | u8 BLv = 1; |
676 | holgerb | 128 | u16 gps_receive_config; |
532 | holgerb | 129 | LicenseS_t *tmp_license; |
130 | tmp_license = (LicenseS_t *) LicensePtr; |
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85 | killagreg | 131 | |
720 | ingob | 132 | Check16File = 0x55AA; |
133 | |||
85 | killagreg | 134 | if(doc == NULL) return(0); |
135 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
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136 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
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137 | |||
530 | holgerb | 138 | if(Motor_Version[0] & MOTOR_STATE_BL30) BLv = 3; |
139 | else if(Motor_Version[0] & MOTOR_STATE_NEW_PROTOCOL_MASK) BLv = 2; |
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140 | |||
85 | killagreg | 141 | if(doc->file != NULL) // could the file be opened? |
142 | { |
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143 | retvalue = 1; // the document could be created on the drive. |
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144 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
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338 | holgerb | 145 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
764 | holgerb | 146 | if(OEM_String[0] == 255) |
147 | { |
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148 | sprintf(string, "<link href=\"http://www.mikrokopter.de\">\r\n<text>MikroKopter</text>\r\n</link>\r\n"); |
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149 | CheckSumAndWrite(&Check16File,string, doc->file); |
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150 | } |
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548 | holgerb | 151 | 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); |
720 | ingob | 152 | CheckSumAndWrite(&Check16File,string, doc->file); |
153 | if(SimulationFlags) { sprintf(string, " SIMULATED"); CheckSumAndWrite(&Check16File,string, doc->file);}; |
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614 | holgerb | 154 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) sprintf(string, " (Redundant)</desc>\r\n"); |
530 | holgerb | 155 | else sprintf(string, "</desc>\r\n"); |
720 | ingob | 156 | CheckSumAndWrite(&Check16File,string, doc->file); |
157 | sprintf(string, "<extensions>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
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158 | sprintf(string, "<MK_Time>%imin</MK_Time>\r\n",FlugMinutenGesamt);CheckSumAndWrite(&Check16File,string, doc->file); |
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676 | holgerb | 159 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
720 | ingob | 160 | sprintf(string, "<GpsVersion>%d.%03d</GpsVersion>\r\n",GPS_Version/1000,GPS_Version%1000);CheckSumAndWrite(&Check16File,string, doc->file); |
676 | holgerb | 161 | if(GPS_Version >= 3000) |
162 | { |
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163 | Settings_GetParamValue(PID_GPS_SYSTEM_CFG,&gps_receive_config); |
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164 | sprintf(string, "<GNSS_System>%d</GNSS_System>\r\n",gps_receive_config); |
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720 | ingob | 165 | CheckSumAndWrite(&Check16File,string, doc->file); |
676 | holgerb | 166 | } |
587 | holgerb | 167 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
720 | ingob | 168 | sprintf(string, "<License>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
532 | holgerb | 169 | if(tmp_license->User[0] != 0) |
170 | { |
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720 | ingob | 171 | sprintf(string, "<name>%s</name>\r\n",tmp_license->User); CheckSumAndWrite(&Check16File,string, doc->file); |
172 | sprintf(string, "<email>%s</email>\r\n",tmp_license->eMail); CheckSumAndWrite(&Check16File,string, doc->file); |
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764 | holgerb | 173 | if(OEM_String[0] != 255) {sprintf(string, "<manufacturer>%s</manufacturer>\r\n",OEM_String); CheckSumAndWrite(&Check16File,string, doc->file);} |
174 | else {sprintf(string, "<manufacturer>HiSystems GmbH</manufacturer>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file);} |
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720 | ingob | 175 | sprintf(string, "<features>%s</features>\r\n",tmp_license->Feature); CheckSumAndWrite(&Check16File,string, doc->file); |
176 | sprintf(string, "<expires>%s</expires>\r\n",tmp_license->Expire);CheckSumAndWrite(&Check16File,string, doc->file); |
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532 | holgerb | 177 | } |
178 | else |
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179 | { |
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720 | ingob | 180 | sprintf(string, "<info>No License installed</info>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
532 | holgerb | 181 | } |
720 | ingob | 182 | sprintf(string, "</License>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
587 | holgerb | 183 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
720 | ingob | 184 | sprintf(string, "<settings>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
185 | sprintf(string, "<Number>%i,%s</Number>\r\n",Parameter.ActiveSetting,EE_Parameter.Name);CheckSumAndWrite(&Check16File,string, doc->file); |
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587 | holgerb | 186 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
187 | // Reciever Type |
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720 | ingob | 188 | sprintf(string, "<Receiver>");CheckSumAndWrite(&Check16File,string, doc->file); |
587 | holgerb | 189 | switch(Parameter.ReceiverType) |
190 | { |
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191 | case RECEIVER_PPM: sprintf(string, "PPM"); break; |
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192 | case RECEIVER_SPEKTRUM: sprintf(string, "SPEKTRUM"); break; |
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193 | case RECEIVER_SPEKTRUM_HI_RES: sprintf(string, "SPEKTRUM_HI_RES"); break; |
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194 | case RECEIVER_SPEKTRUM_LOW_RES: sprintf(string, "SPEKTRUM_LOW_RES"); break; |
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195 | case RECEIVER_JETI: sprintf(string, "JETI"); break; |
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196 | case RECEIVER_ACT_DSL: sprintf(string, "ACT_DSL"); break; |
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197 | case RECEIVER_HOTT: sprintf(string, "HOTT"); break; |
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198 | case RECEIVER_SBUS: sprintf(string, "SBUS"); break; |
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199 | case RECEIVER_USER: sprintf(string, "USER"); break; |
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200 | default: sprintf(string, "? %d",Parameter.ReceiverType); break; |
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201 | } |
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720 | ingob | 202 | CheckSumAndWrite(&Check16File,string, doc->file); |
203 | sprintf(string, "</Receiver>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
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587 | holgerb | 204 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
720 | ingob | 205 | if(FC.FromFC_CompassOffset > 30) {sprintf(string, "<CompassOffset>%i !</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);CheckSumAndWrite(&Check16File,string, doc->file);} |
206 | else {sprintf(string, "<CompassOffset>%i</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);CheckSumAndWrite(&Check16File,string, doc->file);} |
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207 | sprintf(string, "<FCOrientation>%i</FCOrientation>\r\n",Parameter.OrientationAngle*15);CheckSumAndWrite(&Check16File,string, doc->file); |
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208 | sprintf(string, "<GeoMag>%i.%1d</GeoMag>\r\n",GeoMagDec/10,abs(GeoMagDec)%10);CheckSumAndWrite(&Check16File,string, doc->file); |
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209 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw);CheckSumAndWrite(&Check16File,string, doc->file); |
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210 | sprintf(string, "<Kalibr.>%d,%d,%d</Kalibr.>\r\n", FC.BoatNeutralNick,FC.BoatNeutralRoll,FC.BoatNeutralYaw);CheckSumAndWrite(&Check16File,string, doc->file); |
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211 | if((FC.StatusFlags3 & FC_STATUS3_BOAT)) {sprintf(string, "<BoatMode>On</BoatMode>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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212 | if(Parameter.Driftkomp) {sprintf(string, "<DriftComp>%i</DriftComp>\r\n",Parameter.Driftkomp);CheckSumAndWrite(&Check16File,string, doc->file);}; |
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587 | holgerb | 213 | |
214 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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215 | // Magnetometer |
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686 | holgerb | 216 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) sprintf(string, "<MagSensor>external2,(%i),",NCMAG_Orientation); |
217 | else if(NCMAG_Compass_use_Orientation) sprintf(string, "<MagSensor>external1,(%i),",NCMAG_Orientation); |
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587 | holgerb | 218 | else sprintf(string, "<MagSensor>internal,"); |
686 | holgerb | 219 | |
720 | ingob | 220 | CheckSumAndWrite(&Check16File,string, doc->file); |
587 | holgerb | 221 | switch(NCMAG_SensorType) |
222 | { |
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223 | case TYPE_HMC5843: sprintf(string, "HMC"); break; |
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224 | case TYPE_LSM303DLH: sprintf(string, "DLH"); break; |
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225 | case TYPE_LSM303DLM: sprintf(string, "DLM"); break; |
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592 | holgerb | 226 | case TYPE_LSM303D: sprintf(string, "D"); break; |
587 | holgerb | 227 | default: sprintf(string, "? %d",NCMAG_SensorType); break; |
228 | } |
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720 | ingob | 229 | CheckSumAndWrite(&Check16File,string, doc->file); |
230 | sprintf(string, "</MagSensor>\r\n");CheckSumAndWrite(&Check16File,string, doc->file); |
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587 | holgerb | 231 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
720 | ingob | 232 | sprintf(string, "<FailSafeTime>%d</FailSafeTime>\r\n",Parameter.FailSafeTime);CheckSumAndWrite(&Check16File,string, doc->file); |
233 | if(AbsoluteFlyingAltitude) {sprintf(string, "<MaxAltitude>%i</MaxAltitude>\r\n",AbsoluteFlyingAltitude);CheckSumAndWrite(&Check16File,string, doc->file);} |
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234 | if(AbsoluteFlyingRange_m) {sprintf(string, "<FlyRange>%i</FlyRange>\r\n",AbsoluteFlyingRange_m);CheckSumAndWrite(&Check16File,string, doc->file);} |
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235 | if(AutoDescendRange_m) {sprintf(string, "<Descend>%i</Descend>\r\n",AutoDescendRange_m);CheckSumAndWrite(&Check16File,string, doc->file);}; |
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548 | holgerb | 236 | |
720 | ingob | 237 | if((Parameter.GlobalConfig & FC_CFG_HEADING_HOLD)) {sprintf(string, "<HeadingHold>ON!</HeadingHold>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
238 | if((Parameter.GlobalConfig & FC_CFG_KOMPASS_FIX)) {sprintf(string, "<KompassFixedValue>ON!</KompassFixedValue>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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239 | if((Parameter.GlobalConfig & FC_CFG_DREHRATEN_BEGRENZER)) {sprintf(string, "<RotationRateLimiter>ON!</RotationRateLimiter>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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240 | if(!(Parameter.GlobalConfig & FC_CFG_ACHSENKOPPLUNG_AKTIV)) {sprintf(string, "<AxisCoupling>OFF!</AxisCoupling>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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241 | if(!(Parameter.GlobalConfig & FC_CFG_KOMPASS_AKTIV)) {sprintf(string, "<CompassActive>OFF!</CompassActive>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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242 | if((Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)) {sprintf(string, "<VarioFailsafe>On</VarioFailsafe>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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243 | if((Parameter.ExtraConfig & CFG_3_3V_REFERENCE)) {sprintf(string, "<3.3V_Reference>On</3.3V_Reference>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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244 | if((Parameter.ExtraConfig & CFG_IGNORE_MAG_ERR_AT_STARTUP)) {sprintf(string, "<IgnoreMagnetError>ON!</IgnoreMagnetError>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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245 | if(FC.FromFC_DisableDeclination) {sprintf(string, "<DisableDeclinationCalc>ON!</DisableDeclinationCalc>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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548 | holgerb | 246 | |
761 | holgerb | 247 | if(IO1_Function == IO1FUNC_PARACHUTE) {sprintf(string, "<IO1Function>Parachute!</IO1Function>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
248 | |||
720 | ingob | 249 | sprintf(string, "<Bytes>%02x,%02x,%02x</Bytes>\r\n",Parameter.GlobalConfig,Parameter.ExtraConfig,Parameter.GlobalConfig3);CheckSumAndWrite(&Check16File,string, doc->file); |
250 | sprintf(string, "</settings>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
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251 | sprintf(string, "</extensions>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
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532 | holgerb | 252 | fwrite_((void*)GPX_DOCUMENT_METADATA_END, sizeof(GPX_DOCUMENT_METADATA_END)-1,1,doc->file);// write the gpx-header to the document. |
720 | ingob | 253 | |
85 | killagreg | 254 | } |
338 | holgerb | 255 | Logging_FCStatusFlags1 = 0; |
256 | Logging_FCStatusFlags2 = 0; |
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380 | holgerb | 257 | Logged_GPX_Counter = 0; |
436 | holgerb | 258 | LogFC_WP_EventChannel = 0; |
530 | holgerb | 259 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
720 | ingob | 260 | |
261 | Check16Block = Check16File; // init. value for first block |
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262 | |||
85 | killagreg | 263 | return(retvalue); |
264 | } |
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265 | |||
266 | //________________________________________________________________________________________________________________________________________ |
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267 | // Function: DocumentClose(GPX_Document_t *doc); |
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268 | // |
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269 | // Description: This function closes the document specified by doc. |
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270 | // |
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271 | // |
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272 | // Returnvalue: '1' if the gpx-file could be closed. |
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273 | //________________________________________________________________________________________________________________________________________ |
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274 | |||
275 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
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276 | { |
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277 | |||
278 | u8 retvalue = 1; |
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720 | ingob | 279 | s8 string[50]; |
85 | killagreg | 280 | |
281 | if(doc == NULL) return(0); |
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282 | |||
378 | holgerb | 283 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
94 | killagreg | 284 | { |
85 | killagreg | 285 | switch(doc->state) |
286 | { |
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287 | case GPX_DOC_TRACKSEGMENT_OPENED: |
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288 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
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289 | break; |
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290 | |||
104 | killagreg | 291 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
85 | killagreg | 292 | GPX_TrackEnd(doc); |
293 | break; |
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294 | |||
295 | case GPX_DOC_OPENED: // close the file on the memorycard |
||
296 | if(doc->file != NULL) |
||
297 | { |
||
720 | ingob | 298 | sprintf(string, "<!-- %d -->\r\n", Check16File); |
299 | fputs_(string, doc->file); |
||
300 | |||
85 | killagreg | 301 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
302 | fclose_(doc->file); |
||
303 | retvalue = 1; |
||
304 | } |
||
305 | doc->state = GPX_DOC_CLOSED; |
||
306 | break; |
||
307 | |||
308 | default: |
||
309 | doc->state = GPX_DOC_CLOSED; |
||
310 | break; |
||
311 | } |
||
312 | } |
||
313 | return(retvalue); |
||
314 | } |
||
315 | |||
338 | holgerb | 316 | |
317 | |||
85 | killagreg | 318 | //________________________________________________________________________________________________________________________________________ |
319 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
||
320 | // |
||
321 | // Description: This function adds a track to the document. |
||
322 | // |
||
323 | // |
||
324 | // Returnvalue: '1' if the track could be opened |
||
325 | //________________________________________________________________________________________________________________________________________ |
||
326 | |||
327 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
||
328 | { |
||
329 | |||
330 | u8 retvalue = 0; |
||
331 | if(doc->state == GPX_DOC_OPENED) |
||
332 | { |
||
333 | if(doc->file != NULL) |
||
334 | { |
||
335 | doc->state = GPX_DOC_TRACK_OPENED; |
||
336 | retvalue = 1; |
||
337 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
||
338 | } |
||
339 | } |
||
340 | return(retvalue); |
||
341 | } |
||
342 | |||
338 | holgerb | 343 | |
85 | killagreg | 344 | //________________________________________________________________________________________________________________________________________ |
345 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
||
346 | // |
||
347 | // Description: This function ends the track opened before. |
||
348 | // |
||
349 | // |
||
350 | // Returnvalue: 1' if the track could be closed |
||
351 | //________________________________________________________________________________________________________________________________________ |
||
352 | |||
353 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
||
354 | { |
||
355 | |||
356 | u8 retvalue = 0; |
||
357 | |||
358 | if(doc->state == GPX_DOC_TRACK_OPENED) |
||
359 | { |
||
360 | if(doc->file != NULL) |
||
361 | { |
||
362 | doc->state = GPX_DOC_OPENED; |
||
363 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
||
364 | retvalue = 1; |
||
365 | } |
||
366 | } |
||
367 | |||
368 | return(retvalue); |
||
369 | } |
||
370 | |||
371 | //________________________________________________________________________________________________________________________________________ |
||
372 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
||
373 | // |
||
374 | // Description: This function starts a track segment. |
||
375 | // |
||
376 | // |
||
377 | // Returnvalue: '1' if the track segement could be started |
||
378 | //________________________________________________________________________________________________________________________________________ |
||
379 | |||
380 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
||
381 | { |
||
382 | |||
383 | u8 retvalue = 0; |
||
384 | |||
385 | if(doc->state == GPX_DOC_TRACK_OPENED) |
||
386 | { |
||
387 | if(doc->file != NULL) |
||
388 | { |
||
389 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
||
390 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
||
391 | retvalue = 1; |
||
392 | } |
||
393 | } |
||
394 | return(retvalue); |
||
395 | } |
||
396 | |||
397 | //________________________________________________________________________________________________________________________________________ |
||
398 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
||
399 | // |
||
400 | // Description: This function ends the tracksegment opened before. |
||
401 | // |
||
402 | // |
||
403 | // Returnvalue: '1' if the track segment could be terminated |
||
404 | //________________________________________________________________________________________________________________________________________ |
||
405 | |||
406 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
||
407 | { |
||
408 | |||
409 | u8 retvalue = 0; |
||
410 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
||
411 | { |
||
412 | if(doc->file != NULL) |
||
413 | { |
||
414 | doc->state = GPX_DOC_TRACK_OPENED; |
||
415 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
||
416 | retvalue = 1; |
||
417 | } |
||
418 | } |
||
419 | return(retvalue); |
||
420 | } |
||
421 | |||
422 | //________________________________________________________________________________________________________________________________________ |
||
423 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
||
424 | // |
||
425 | // Description: This function adds a pointof a track segement to the specified document. |
||
426 | // |
||
427 | // |
||
428 | // Returnvalue: '1' if a point was added |
||
429 | //________________________________________________________________________________________________________________________________________ |
||
430 | |||
345 | holgerb | 431 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
85 | killagreg | 432 | { |
433 | |||
434 | u8 retvalue = 0; |
||
633 | holgerb | 435 | static u8 LastLoggedFlags2 = 0; |
709 | holgerb | 436 | s8 string[150]; |
386 | holgerb | 437 | s8 name[] = "----\0"; |
720 | ingob | 438 | |
439 | |||
85 | killagreg | 440 | |
441 | if(doc == NULL) return(0); |
||
442 | |||
434 | holgerb | 443 | // if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
85 | killagreg | 444 | { |
445 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
||
446 | { |
||
447 | if(doc->file != NULL) |
||
448 | { |
||
553 | holgerb | 449 | static s32 altitude; // store to make sure they are all recorded in one timestamp |
86 | killagreg | 450 | s32 i32_1, i32_2; |
451 | s16 i16_1; |
||
452 | u8 u8_1, u8_2; |
||
85 | killagreg | 453 | // write <trkpt> tag |
345 | holgerb | 454 | switch(part) |
455 | { |
||
456 | case 0: |
||
380 | holgerb | 457 | Logged_GPX_Counter++; |
434 | holgerb | 458 | if(GPSData.Position.Status != INVALID) |
459 | { |
||
460 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
||
461 | else u8_1 = '+'; |
||
462 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
||
463 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
||
464 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
||
720 | ingob | 465 | CheckSumAndWrite(&Check16Block,string, doc->file); |
434 | holgerb | 466 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
467 | else u8_1 = '+'; |
||
468 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
||
469 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
||
470 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
||
436 | holgerb | 471 | } else sprintf(string, "<trkpt lat=\"\" lon=\"\">"); |
720 | ingob | 472 | CheckSumAndWrite(&Check16Block,string, doc->file); |
553 | holgerb | 473 | altitude = GPSData.Position.Altitude; |
345 | holgerb | 474 | break; |
475 | case 1: |
||
547 | holgerb | 476 | // write <ele> tag |
553 | holgerb | 477 | i32_2 = altitude - NaviData.HomePosition.Altitude; |
436 | holgerb | 478 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
86 | killagreg | 479 | i32_1 = i32_2/1000L; |
480 | i32_2 = i32_2%1000L; |
||
573 | holgerb | 481 | if(altitude - NaviData.HomePosition.Altitude < 0) sprintf(string,"<ele>-%ld.%03ld</ele>\r\n",labs(i32_1),labs(i32_2)); |
553 | holgerb | 482 | else sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1,i32_2); |
720 | ingob | 483 | CheckSumAndWrite(&Check16Block,string, doc->file); |
553 | holgerb | 484 | // write <time> tag only at a resolution of 1/100 second |
531 | holgerb | 485 | 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); |
720 | ingob | 486 | CheckSumAndWrite(&Check16Block,string, doc->file); |
86 | killagreg | 487 | // write <sat> tag |
488 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
||
720 | ingob | 489 | CheckSumAndWrite(&Check16Block,string, doc->file); |
94 | killagreg | 490 | // todo: add <extensions> tag with additional data to be logged |
86 | killagreg | 491 | sprintf(string, "<extensions>\r\n"); |
720 | ingob | 492 | CheckSumAndWrite(&Check16Block,string, doc->file); |
345 | holgerb | 493 | break; |
494 | case 2: |
||
419 | holgerb | 495 | // Flight duration |
496 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
||
720 | ingob | 497 | CheckSumAndWrite(&Check16Block,string, doc->file); |
419 | holgerb | 498 | // Status of the complete MikroKopter |
499 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
||
720 | ingob | 500 | CheckSumAndWrite(&Check16Block,string, doc->file); |
419 | holgerb | 501 | // Flags |
633 | holgerb | 502 | 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 |
503 | if(LastLoggedFlags2 & FC_STATUS2_OUT2_ACTIVE && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) Logging_FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
||
419 | holgerb | 504 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
720 | ingob | 505 | CheckSumAndWrite(&Check16Block,string, doc->file); |
633 | holgerb | 506 | LastLoggedFlags2 = Logging_FCStatusFlags2; |
428 | holgerb | 507 | Logging_FCStatusFlags1 = FC.StatusFlags; |
508 | Logging_FCStatusFlags2 = FC.StatusFlags2; |
||
419 | holgerb | 509 | // NC Mode (contains the status) |
510 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
||
720 | ingob | 511 | CheckSumAndWrite(&Check16Block,string, doc->file); |
125 | killagreg | 512 | // Altimeter according to air pressure |
436 | holgerb | 513 | sprintf(string, "<Speak>%d</Speak>\r\n",FC.FromFC_SpeakHoTT); |
514 | FC.FromFC_SpeakHoTT = 0; // can be cleared now |
||
720 | ingob | 515 | CheckSumAndWrite(&Check16Block,string, doc->file); |
436 | holgerb | 516 | // Altimeter according to air pressure |
739 | holgerb | 517 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter_5cm,FromFC_VarioCharacter); |
720 | ingob | 518 | CheckSumAndWrite(&Check16Block,string, doc->file); |
140 | killagreg | 519 | // Variometer according to air pressure |
520 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
||
720 | ingob | 521 | CheckSumAndWrite(&Check16Block,string, doc->file); |
345 | holgerb | 522 | break; |
523 | case 3: |
||
86 | killagreg | 524 | // Ubat |
593 | holgerb | 525 | u8_1 = FC.BAT_Voltage / 10; |
526 | u8_2 = FC.BAT_Voltage % 10; |
||
86 | killagreg | 527 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
720 | ingob | 528 | CheckSumAndWrite(&Check16Block,string, doc->file); |
206 | killagreg | 529 | // Current |
566 | holgerb | 530 | sprintf(string, "<Current>%d.%01d</Current>\r\n", NaviData.Current / 10, NaviData.Current % 10); |
720 | ingob | 531 | CheckSumAndWrite(&Check16Block,string, doc->file); |
206 | killagreg | 532 | // Capacity |
533 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
||
720 | ingob | 534 | CheckSumAndWrite(&Check16Block,string, doc->file); |
345 | holgerb | 535 | break; |
536 | case 4: |
||
557 | holgerb | 537 | // Compass in deg |
587 | holgerb | 538 | if(SimulationFlags) sprintf(string, "<Compass>%03d,%03d,%03d.%1d,%03d.0</Compass>\r\n",SimulatedDirection,SimulatedDirection,CompassSetpointCorrected/10,CompassSetpointCorrected%10,SimulatedDirection); |
539 | 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); |
||
720 | ingob | 540 | CheckSumAndWrite(&Check16Block,string, doc->file); |
489 | killagreg | 541 | // magnetic field |
419 | holgerb | 542 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
720 | ingob | 543 | CheckSumAndWrite(&Check16Block,string, doc->file); |
489 | killagreg | 544 | // magnetic inclination & error |
419 | holgerb | 545 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
720 | ingob | 546 | CheckSumAndWrite(&Check16Block,string, doc->file); |
92 | killagreg | 547 | // Nick Angle ind deg |
531 | holgerb | 548 | i16_1 = abs(FromFlightCtrl.AngleNick); |
549 | if(FromFlightCtrl.AngleNick < 0) sprintf(string, "<NickAngle>-%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
||
550 | else sprintf(string, "<NickAngle>%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
||
720 | ingob | 551 | CheckSumAndWrite(&Check16Block,string, doc->file); |
92 | killagreg | 552 | // Roll Angle in deg |
531 | holgerb | 553 | i16_1 = abs(FromFlightCtrl.AngleRoll); |
554 | if(FromFlightCtrl.AngleRoll < 0) sprintf(string, "<RollAngle>-%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
||
555 | else sprintf(string, "<RollAngle>%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
||
720 | ingob | 556 | CheckSumAndWrite(&Check16Block,string, doc->file); |
345 | holgerb | 557 | break; |
558 | case 5: |
||
338 | holgerb | 559 | // BL Information |
530 | holgerb | 560 | switch(AmountOfMotors) |
561 | { |
||
562 | case 4: |
||
563 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3)); |
||
720 | ingob | 564 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 565 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
720 | ingob | 566 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 567 | sprintf(string, "<MotorNOK>%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt); |
720 | ingob | 568 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 569 | break; |
570 | case 6: |
||
571 | 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)); |
||
720 | ingob | 572 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 573 | 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); |
720 | ingob | 574 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 575 | 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); |
720 | ingob | 576 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 577 | break; |
578 | case 8: |
||
579 | 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)); |
||
720 | ingob | 580 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 581 | 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); |
720 | ingob | 582 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 583 | 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); |
720 | ingob | 584 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 585 | break; |
603 | holgerb | 586 | case 10: |
587 | case 12: |
||
530 | holgerb | 588 | 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)); |
720 | ingob | 589 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 590 | 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); |
720 | ingob | 591 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 592 | 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); |
720 | ingob | 593 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 594 | break; |
603 | holgerb | 595 | default: |
639 | holgerb | 596 | 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)); |
720 | ingob | 597 | CheckSumAndWrite(&Check16Block,string, doc->file); |
603 | holgerb | 598 | 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); |
720 | ingob | 599 | CheckSumAndWrite(&Check16Block,string, doc->file); |
603 | holgerb | 600 | 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); |
720 | ingob | 601 | CheckSumAndWrite(&Check16Block,string, doc->file); |
603 | holgerb | 602 | break; |
530 | holgerb | 603 | } |
345 | holgerb | 604 | break; |
605 | case 6: |
||
358 | holgerb | 606 | /* 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]); |
720 | ingob | 607 | CheckSumAndWrite(&Check16Block,string, doc->file); |
358 | holgerb | 608 | 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]); |
720 | ingob | 609 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 610 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM); |
611 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
||
720 | ingob | 612 | CheckSumAndWrite(&Check16Block,string, doc->file); |
581 | holgerb | 613 | |
614 | // Gas values |
||
615 | if(LoggingGasCnt > 1) LoggingGasFilter = LoggingGasFilter / LoggingGasCnt; |
||
612 | holgerb | 616 | sprintf(string, "<Gas>%03d,%03d</Gas>\r\n",(u16)LoggingGasFilter,HoverGas); |
581 | holgerb | 617 | LoggingGasCnt = 0; |
618 | |||
720 | ingob | 619 | CheckSumAndWrite(&Check16Block,string, doc->file); |
338 | holgerb | 620 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
720 | ingob | 621 | CheckSumAndWrite(&Check16Block,string, doc->file); |
419 | holgerb | 622 | sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]); |
720 | ingob | 623 | CheckSumAndWrite(&Check16Block,string, doc->file); |
338 | holgerb | 624 | // Analog inputs of the NC |
625 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
||
720 | ingob | 626 | CheckSumAndWrite(&Check16Block,string, doc->file); |
351 | holgerb | 627 | 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° |
720 | ingob | 628 | CheckSumAndWrite(&Check16Block,string, doc->file); |
386 | holgerb | 629 | |
614 | holgerb | 630 | if(NC_GPS_ModeCharacter == 'F') // Failsafe Point is active |
631 | { |
||
632 | 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 |
||
633 | LogFC_WP_EventChannel = 0; |
||
634 | } |
||
635 | else |
||
636 | { |
||
386 | holgerb | 637 | if(GPS_pWaypoint != NULL) // if WP exist |
638 | { // copy that name |
||
639 | u8 i; |
||
489 | killagreg | 640 | for(i=0;i<4;i++) |
386 | holgerb | 641 | { |
642 | name[i] = GPS_pWaypoint->Name[i]; |
||
643 | if(name[i] < ' ') name[i] = ' '; |
||
644 | } |
||
645 | } |
||
421 | holgerb | 646 | 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 |
647 | LogFC_WP_EventChannel = 0; // can be cleared now |
||
614 | holgerb | 648 | } |
720 | ingob | 649 | CheckSumAndWrite(&Check16Block,string, doc->file); |
614 | holgerb | 650 | |
603 | holgerb | 651 | sprintf(string, "<ShutterCnt>%d</ShutterCnt>\r\n",NaviData_Volatile.ShutterCounter); |
652 | LogFC_WP_EventChannel = 0; // can be cleared now |
||
720 | ingob | 653 | CheckSumAndWrite(&Check16Block,string, doc->file); |
345 | holgerb | 654 | break; |
655 | case 7: |
||
92 | killagreg | 656 | // Target Bearing in deg |
86 | killagreg | 657 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
720 | ingob | 658 | CheckSumAndWrite(&Check16Block,string, doc->file); |
92 | killagreg | 659 | // Target Distance in dm |
735 | holgerb | 660 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance_dm); |
720 | ingob | 661 | CheckSumAndWrite(&Check16Block,string, doc->file); |
419 | holgerb | 662 | // Course in deg |
566 | holgerb | 663 | sprintf(string, "<Course>%03d</Course>\r\n", NaviData.Heading); |
720 | ingob | 664 | CheckSumAndWrite(&Check16Block,string, doc->file); |
419 | holgerb | 665 | // Ground Speed in cm/s |
666 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
||
720 | ingob | 667 | CheckSumAndWrite(&Check16Block,string, doc->file); |
419 | holgerb | 668 | // Vertical Speed in cm/s |
669 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
||
720 | ingob | 670 | CheckSumAndWrite(&Check16Block,string, doc->file); |
101 | holgerb | 671 | // RC Sticks as Nick/Roll/Yaw |
338 | holgerb | 672 | 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]); |
720 | ingob | 673 | CheckSumAndWrite(&Check16Block,string, doc->file); |
94 | killagreg | 674 | // GPS Sticks as Nick/Roll/Yaw |
419 | holgerb | 675 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, 0 ,NC_GPS_ModeCharacter); |
720 | ingob | 676 | CheckSumAndWrite(&Check16Block,string, doc->file); |
419 | holgerb | 677 | // RC Quality |
678 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
||
720 | ingob | 679 | CheckSumAndWrite(&Check16Block,string, doc->file); |
581 | holgerb | 680 | // raw GPS altitude |
681 | i32_2 = altitude; |
||
682 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
||
683 | i32_1 = i32_2/1000L; |
||
684 | i32_2 = i32_2%1000L; |
||
685 | if(altitude < 0) sprintf(string,"<ele_raw>-%ld.%03ld</ele_raw>\r\n",labs(i32_1),labs(i32_2)); |
||
686 | else sprintf(string,"<ele_raw>%ld.%03ld</ele_raw>\r\n",i32_1,i32_2); |
||
720 | ingob | 687 | CheckSumAndWrite(&Check16Block,string, doc->file); |
581 | holgerb | 688 | break; |
689 | case 8: |
||
574 | holgerb | 690 | // Drift compensation |
691 | /* |
||
573 | holgerb | 692 | if(Parameter.Driftkomp) |
693 | { |
||
694 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw); |
||
720 | ingob | 695 | CheckSumAndWrite(&Check16Block,string, doc->file); |
573 | holgerb | 696 | } |
574 | holgerb | 697 | */ |
698 | // Navigation Update speed (in 0.1Hz) |
||
661 | holgerb | 699 | sprintf(string, "<GPSInfo>%d,%d,%d</GPSInfo>\r\n",FreqNewGpsData,GPSData.Flags,GPSData.SatFix); // FreqGpsNavProcessed |
720 | ingob | 700 | CheckSumAndWrite(&Check16Block,string, doc->file); |
86 | killagreg | 701 | // eof extensions |
702 | sprintf(string, "</extensions>\r\n"); |
||
720 | ingob | 703 | CheckSumAndWrite(&Check16Block,string, doc->file); |
85 | killagreg | 704 | sprintf(string, "</trkpt>\r\n"); |
720 | ingob | 705 | CheckSumAndWrite(&Check16Block,string, doc->file); |
706 | |||
707 | sprintf(string, "<!-- %d -->\r\n", Check16Block); |
||
85 | killagreg | 708 | fputs_(string, doc->file); |
720 | ingob | 709 | |
710 | Check16File += Check16Block; |
||
711 | |||
712 | |||
345 | holgerb | 713 | break; |
714 | } |
||
715 | retvalue = 1; |
||
85 | killagreg | 716 | } |
717 | } |
||
718 | } |
||
719 | return(retvalue); |
||
720 | } |
||
721 | |||
722 | //________________________________________________________________________________________________________________________________________ |
||
723 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
||
724 | // |
||
725 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
||
726 | // |
||
727 | // |
||
728 | // Returnvalue: '1' if an gps coordinate was logged |
||
729 | //________________________________________________________________________________________________________________________________________ |
||
730 | |||
345 | holgerb | 731 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
85 | killagreg | 732 | { |
733 | u8 retval = 0; |
||
378 | holgerb | 734 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
85 | killagreg | 735 | { |
736 | switch(doc->state) |
||
737 | { |
||
738 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
||
324 | killagreg | 739 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
85 | killagreg | 740 | break; |
741 | |||
742 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
||
743 | retval = GPX_TrackBegin(doc); |
||
744 | break; |
||
745 | |||
746 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
||
747 | retval = GPX_TrackSegmentBegin(doc); |
||
748 | break; |
||
749 | |||
750 | default: |
||
751 | retval = 0; |
||
752 | break; |
||
753 | |||
754 | } |
||
755 | if(retval != 1) return(retval); // stop on error |
||
756 | } |
||
757 | |||
758 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
||
759 | { |
||
345 | holgerb | 760 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
85 | killagreg | 761 | } |
762 | return(retval); |
||
763 | } |
||
764 |