| 0,0 → 1,608 |
|---|
| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + 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 |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <stdio.h> |
| #include "91x_lib.h" |
| #include "gpx.h" |
| #include "gpx_header.h" |
| #include "timer1.h" |
| #include "spi_slave.h" |
| #include "main.h" |
| #include "uart1.h" |
| #include "compass.h" |
| #include "analog.h" |
| #include "main.h" |
| #include "led.h" |
| #include "timer2.h" |
| #include "logging.h" |
| #include "ncmag.h" |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: GPX_DocumentInit(GPX_Document_t *) |
| // |
| // Description: This function initializes the gpx-document for further use. |
| // |
| // |
| // Returnvalue: '1' if document was initialized |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 GPX_DocumentInit(GPX_Document_t *doc) |
| { |
| if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
| doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
| doc->file = NULL; |
| return(1); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
| // |
| // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
| // |
| // |
| // Returnvalue: '1' if the gpx-file could be created. |
| //________________________________________________________________________________________________________________________________________ |
| |
| |
| u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
| { |
| s8 string[200]; |
| u8 retvalue = 0; |
| u8 BLv = 1; |
| LicenseS_t *tmp_license; |
| tmp_license = (LicenseS_t *) LicensePtr; |
| |
| if(doc == NULL) return(0); |
| GPX_DocumentInit(doc); // intialize the document with resetvalues |
| doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
| |
| if(Motor_Version[0] & MOTOR_STATE_BL30) BLv = 3; |
| else if(Motor_Version[0] & MOTOR_STATE_NEW_PROTOCOL_MASK) BLv = 2; |
| |
| if(doc->file != NULL) // could the file be opened? |
| { |
| retvalue = 1; // the document could be created on the drive. |
| doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
| fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
| sprintf(string, "<desc>FC HW:%d.%d SW:%d.%02d%c + NC HW:%d.%d SW:%d.%02d%c BL:V%d", (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); |
| fputs_(string, doc->file); |
| if(FC.RedundanceBlOperation) sprintf(string, " (Redundant)</desc>\r\n"); |
| else sprintf(string, "</desc>\r\n"); |
| fputs_(string, doc->file); |
| sprintf(string, "<extensions>\r\n"); fputs_(string, doc->file); |
| sprintf(string, "<MK_Time>%imin</MK_Time>\r\n",FlugMinutenGesamt);fputs_(string, doc->file); |
| sprintf(string, "<License>\r\n"); fputs_(string, doc->file); |
| if(tmp_license->User[0] != 0) |
| { |
| sprintf(string, "<name>%s</name>\r\n",tmp_license->User); fputs_(string, doc->file); |
| sprintf(string, "<email>%s</email>\r\n",tmp_license->eMail); fputs_(string, doc->file); |
| sprintf(string, "<features>%s</features>\r\n",tmp_license->Feature); fputs_(string, doc->file); |
| sprintf(string, "<expires>%s</expires>\r\n",tmp_license->Expire);fputs_(string, doc->file); |
| } |
| else |
| { |
| sprintf(string, "<info>No License installed</info>\r\n"); fputs_(string, doc->file); |
| } |
| sprintf(string, "</License>\r\n"); fputs_(string, doc->file); |
| sprintf(string, "<settings>\r\n"); fputs_(string, doc->file); |
| sprintf(string, "<Number>%i</Number>\r\n",Parameter.ActiveSetting);fputs_(string, doc->file); |
| sprintf(string, "<CompassOffset>%i</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);fputs_(string, doc->file); |
| sprintf(string, "<FCOrientation>%i</FCOrientation>\r\n",Parameter.OrientationAngle*15);fputs_(string, doc->file); |
| sprintf(string, "<GeoMag>%i</GeoMag>\r\n",GeoMagDec/10);fputs_(string, doc->file); |
| if(Compass_I2CPort == NCMAG_PORT_EXTERN) sprintf(string, "<MagSensor>external (%i)</MagSensor>\r\n",NCMAG_Orientation); |
| else sprintf(string, "<MagSensor>internal</MagSensor>\r\n");fputs_(string, doc->file); |
| if(AbsoluteFlyingAltitude) {sprintf(string, "<MaxAltitude>%i</MaxAltitude>\r\n",AbsoluteFlyingAltitude);fputs_(string, doc->file);} |
| if(AbsoluteFlyingRange_m) {sprintf(string, "<FlyRange>%i</FlyRange>\r\n",AbsoluteFlyingRange_m);fputs_(string, doc->file);} |
| if(AutoDescendRange_m) {sprintf(string, "<Descend>%i</Descend>\r\n",AutoDescendRange_m);fputs_(string, doc->file);}; |
| sprintf(string, "<Bytes>%02x,%02x,%02x</Bytes>\r\n",Parameter.GlobalConfig,Parameter.ExtraConfig,Parameter.GlobalConfig3);fputs_(string, doc->file); |
| sprintf(string, "</settings>\r\n"); fputs_(string, doc->file); |
| sprintf(string, "</extensions>\r\n"); fputs_(string, doc->file); |
| |
| fwrite_((void*)GPX_DOCUMENT_METADATA_END, sizeof(GPX_DOCUMENT_METADATA_END)-1,1,doc->file);// write the gpx-header to the document. |
| } |
| Logging_FCStatusFlags1 = 0; |
| Logging_FCStatusFlags2 = 0; |
| Logged_GPX_Counter = 0; |
| LogFC_WP_EventChannel = 0; |
| Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: DocumentClose(GPX_Document_t *doc); |
| // |
| // Description: This function closes the document specified by doc. |
| // |
| // |
| // Returnvalue: '1' if the gpx-file could be closed. |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 GPX_DocumentClose(GPX_Document_t *doc) |
| { |
| |
| u8 retvalue = 1; |
| |
| if(doc == NULL) return(0); |
| |
| while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
| { |
| switch(doc->state) |
| { |
| case GPX_DOC_TRACKSEGMENT_OPENED: |
| GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
| break; |
| |
| case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
| GPX_TrackEnd(doc); |
| break; |
| |
| case GPX_DOC_OPENED: // close the file on the memorycard |
| if(doc->file != NULL) |
| { |
| fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
| fclose_(doc->file); |
| retvalue = 1; |
| } |
| doc->state = GPX_DOC_CLOSED; |
| break; |
| |
| default: |
| doc->state = GPX_DOC_CLOSED; |
| break; |
| } |
| } |
| return(retvalue); |
| } |
| |
| |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 GPX_TrackBegin(GPX_Document_t); |
| // |
| // Description: This function adds a track to the document. |
| // |
| // |
| // Returnvalue: '1' if the track could be opened |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 GPX_TrackBegin(GPX_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; |
| if(doc->state == GPX_DOC_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = GPX_DOC_TRACK_OPENED; |
| retvalue = 1; |
| fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
| } |
| } |
| return(retvalue); |
| } |
| |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
| // |
| // Description: This function ends the track opened before. |
| // |
| // |
| // Returnvalue: 1' if the track could be closed |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 GPX_TrackEnd(GPX_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; |
| |
| if(doc->state == GPX_DOC_TRACK_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = GPX_DOC_OPENED; |
| fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
| retvalue = 1; |
| } |
| } |
| |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
| // |
| // Description: This function starts a track segment. |
| // |
| // |
| // Returnvalue: '1' if the track segement could be started |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; |
| |
| if(doc->state == GPX_DOC_TRACK_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
| fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
| retvalue = 1; |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
| // |
| // Description: This function ends the tracksegment opened before. |
| // |
| // |
| // Returnvalue: '1' if the track segment could be terminated |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; |
| if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = GPX_DOC_TRACK_OPENED; |
| fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
| retvalue = 1; |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
| // |
| // Description: This function adds a pointof a track segement to the specified document. |
| // |
| // |
| // Returnvalue: '1' if a point was added |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
| { |
| |
| u8 retvalue = 0; |
| s8 string[120]; |
| s8 name[] = "----\0"; |
| |
| if(doc == NULL) return(0); |
| |
| // if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
| { |
| if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| s32 i32_1, i32_2; |
| s16 i16_1; |
| u8 u8_1, u8_2; |
| // write <trkpt> tag |
| switch(part) |
| { |
| case 0: |
| Logged_GPX_Counter++; |
| if(GPSData.Position.Status != INVALID) |
| { |
| if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
| else u8_1 = '+'; |
| i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
| i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
| sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
| fputs_(string, doc->file); |
| if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
| else u8_1 = '+'; |
| i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
| i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
| sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
| } else sprintf(string, "<trkpt lat=\"\" lon=\"\">"); |
| fputs_(string, doc->file); |
| break; |
| case 1: |
| // write <ele> taga |
| i32_2 = GPSData.Position.Altitude - NaviData.HomePosition.Altitude; |
| if(GPSData.Position.Status == INVALID) i32_2 = 0; |
| if(i32_2 < 0) i32_2 = 0; // avoid negative altitudes in log |
| i32_1 = i32_2/1000L; |
| i32_2 = i32_2%1000L; |
| sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1, i32_2); |
| fputs_(string, doc->file); |
| // write <time> tag only at a resolution of one second |
| // sprintf(string, "<time>%04d-%02d-%02dT%02d:%02d:%02dZ</time>\r\n",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec); |
| 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); |
| fputs_(string, doc->file); |
| // write <sat> tag |
| sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
| fputs_(string, doc->file); |
| // todo: add <extensions> tag with additional data to be logged |
| sprintf(string, "<extensions>\r\n"); |
| fputs_(string, doc->file); |
| break; |
| case 2: |
| // Flight duration |
| sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
| fputs_(string, doc->file); |
| // Status of the complete MikroKopter |
| sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
| fputs_(string, doc->file); |
| // Flags |
| sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
| fputs_(string, doc->file); |
| Logging_FCStatusFlags1 = FC.StatusFlags; |
| Logging_FCStatusFlags2 = FC.StatusFlags2; |
| // NC Mode (contains the status) |
| sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
| fputs_(string, doc->file); |
| // Altimeter according to air pressure |
| sprintf(string, "<Speak>%d</Speak>\r\n",FC.FromFC_SpeakHoTT); |
| FC.FromFC_SpeakHoTT = 0; // can be cleared now |
| fputs_(string, doc->file); |
| // Altimeter according to air pressure |
| sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter); |
| fputs_(string, doc->file); |
| // Variometer according to air pressure |
| sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
| fputs_(string, doc->file); |
| break; |
| case 3: |
| // Ubat |
| u8_1 = NaviData.UBat / 10; |
| u8_2 = NaviData.UBat % 10; |
| sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
| fputs_(string, doc->file); |
| // Current |
| u8_1 = NaviData.Current / 10; |
| u8_2 = NaviData.Current % 10; |
| sprintf(string, "<Current>%d.%01d</Current>\r\n", u8_1, u8_2); |
| fputs_(string, doc->file); |
| // Capacity |
| sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
| fputs_(string, doc->file); |
| break; |
| case 4: |
| /* if(FC.RC_RSSI) |
| { |
| sprintf(string, "<RCRSSI>%d</RCRSSI>\r\n", FC.RC_RSSI); |
| fputs_(string, doc->file); |
| } |
| */ // Compassind deg |
| i16_1 = FromFlightCtrl.GyroHeading / 10; |
| sprintf(string, "<Compass>%03d,%03d,%03d,%03d</Compass>\r\n", i16_1,ToFlightCtrl.CompassHeading,CompassSetpointCorrected/10,GyroCompassCorrected/10); |
| fputs_(string, doc->file); |
| // magnetic field |
| sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
| fputs_(string, doc->file); |
| // magnetic inclination & error |
| sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
| fputs_(string, doc->file); |
| // Nick Angle ind deg |
| i16_1 = abs(FromFlightCtrl.AngleNick); |
| if(FromFlightCtrl.AngleNick < 0) sprintf(string, "<NickAngle>-%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
| else sprintf(string, "<NickAngle>%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
| fputs_(string, doc->file); |
| // Roll Angle in deg |
| i16_1 = abs(FromFlightCtrl.AngleRoll); |
| if(FromFlightCtrl.AngleRoll < 0) sprintf(string, "<RollAngle>-%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
| else sprintf(string, "<RollAngle>%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
| fputs_(string, doc->file); |
| break; |
| case 5: |
| // BL Information |
| switch(AmountOfMotors) |
| { |
| case 4: |
| sprintf(string, "<MotorCurrent>%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3)); |
| fputs_(string, doc->file); |
| sprintf(string, "<BL_Temperature>%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
| fputs_(string, doc->file); |
| sprintf(string, "<MotorNOK>%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt); |
| fputs_(string, doc->file); |
| break; |
| case 6: |
| 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)); |
| fputs_(string, doc->file); |
| 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); |
| fputs_(string, doc->file); |
| 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); |
| fputs_(string, doc->file); |
| break; |
| case 8: |
| 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)); |
| fputs_(string, doc->file); |
| 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); |
| fputs_(string, doc->file); |
| 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); |
| fputs_(string, doc->file); |
| break; |
| default: |
| 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)); |
| fputs_(string, doc->file); |
| 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); |
| fputs_(string, doc->file); |
| 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); |
| fputs_(string, doc->file); |
| break; |
| } |
| break; |
| case 6: |
| /* 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]); |
| fputs_(string, doc->file); |
| 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]); |
| fputs_(string, doc->file); |
| */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM); |
| Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
| fputs_(string, doc->file); |
| sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
| fputs_(string, doc->file); |
| sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]); |
| fputs_(string, doc->file); |
| // Analog inputs of the NC |
| sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
| fputs_(string, doc->file); |
| 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° |
| fputs_(string, doc->file); |
| |
| if(GPS_pWaypoint != NULL) // if WP exist |
| { // copy that name |
| u8 i; |
| for(i=0;i<4;i++) |
| { |
| name[i] = GPS_pWaypoint->Name[i]; |
| if(name[i] < ' ') name[i] = ' '; |
| } |
| } |
| 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 |
| LogFC_WP_EventChannel = 0; // can be cleared now |
| fputs_(string, doc->file); |
| break; |
| case 7: |
| // Target Bearing in deg |
| sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
| fputs_(string, doc->file); |
| // Target Distance in dm |
| sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
| fputs_(string, doc->file); |
| // Course in deg |
| i16_1 = GPSData.Heading/100000L; |
| sprintf(string, "<Course>%03d</Course>\r\n", i16_1); |
| fputs_(string, doc->file); |
| // Ground Speed in cm/s |
| sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
| fputs_(string, doc->file); |
| // Vertical Speed in cm/s |
| sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
| fputs_(string, doc->file); |
| break; |
| case 8: |
| // RC Sticks as Nick/Roll/Yaw |
| sprintf(string, "<RCSticks>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</RCSticks>\r\n", FC.StickNick,FC.StickRoll, FC.StickYaw, FC.StickGas,FC.Poti[0],FC.Poti[1],FC.Poti[2],FC.Poti[3],FC.Poti[4],FC.Poti[5],FC.Poti[6],FC.Poti[7]); |
| fputs_(string, doc->file); |
| // GPS Sticks as Nick/Roll/Yaw |
| sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, 0 ,NC_GPS_ModeCharacter); |
| fputs_(string, doc->file); |
| // RC Quality |
| sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
| fputs_(string, doc->file); |
| // Navigation Update speed (in 0.1Hz) |
| // sprintf(string, "<NaviUpdate>%d,%d</NaviUpdate>\r\n",FreqGpsProcessedIn5Sec,FreqNewGpsDataIn5Sec); |
| // fputs_(string, doc->file); |
| // eof extensions |
| sprintf(string, "</extensions>\r\n"); |
| fputs_(string, doc->file); |
| sprintf(string, "</trkpt>\r\n"); |
| fputs_(string, doc->file); |
| break; |
| } |
| retvalue = 1; |
| } |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
| // |
| // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
| // |
| // |
| // Returnvalue: '1' if an gps coordinate was logged |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
| { |
| u8 retval = 0; |
| while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
| { |
| switch(doc->state) |
| { |
| case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
| retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
| break; |
| |
| case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
| retval = GPX_TrackBegin(doc); |
| break; |
| |
| case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
| retval = GPX_TrackSegmentBegin(doc); |
| break; |
| |
| default: |
| retval = 0; |
| break; |
| |
| } |
| if(retval != 1) return(retval); // stop on error |
| } |
| |
| if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
| { |
| retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
| } |
| return(retval); |
| } |
| |