Subversion Repositories NaviCtrl

Compare Revisions

Ignore whitespace Rev 719 → Rev 720

/trunk/crc16.c
36,6 → 36,14
0x6e17,0x7e36,0x4e55,0x5e74,0x2e93,0x3eb2,0x0ed1,0x1ef0
};
 
u16 CRC16x(u16 crc,const u8 data)
{
crc = (crc<<8) ^ crc16tab[((crc>>8) ^ data)&0x00FF];
return crc;
}
 
 
u16 CRC16(const u8 *pBuffer, u32 len)
{
register u32 counter;
/trunk/crc16.h
3,4 → 3,5
 
extern u16 CRC16(const u8 * pBuffer, u32 len);
extern u16 CRC16_Till_Zero(const u8 *pBuffer, u32 len);
extern u16 CRC16x(u16 crc,const u8 data);
#endif // _CRC16_H
/trunk/gpx.c
71,7 → 71,12
#include "ncmag.h"
#include "uart0.h"
#include "settings.h"
#include "crc16.h"
 
 
u16 Check16File;
u16 Check16Block;
 
//________________________________________________________________________________________________________________________________________
// Function: GPX_DocumentInit(GPX_Document_t *)
//
89,6 → 94,22
return(1);
}
 
 
 
u16 CheckSumAndWrite(u16 *checksum, s8 * const string, File_t * const file)
{
u8 i=0;
while(string[i] != 0)
{
*checksum = CRC16x(*checksum, string[i]);
i++;
}
return fputs_(string, file); // write to SD scard
 
 
}
 
//________________________________________________________________________________________________________________________________________
// Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc);
//
108,6 → 129,12
LicenseS_t *tmp_license;
tmp_license = (LicenseS_t *) LicensePtr;
 
Check16File = 0x55AA;
 
 
 
 
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.
120,42 → 147,43
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 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);
fputs_(string, doc->file);
if(SimulationFlags) { sprintf(string, " SIMULATED"); fputs_(string, doc->file);};
CheckSumAndWrite(&Check16File,string, doc->file);
if(SimulationFlags) { sprintf(string, " SIMULATED"); CheckSumAndWrite(&Check16File,string, doc->file);};
if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) 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);
CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "<extensions>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "<MK_Time>%imin</MK_Time>\r\n",FlugMinutenGesamt);CheckSumAndWrite(&Check16File,string, doc->file);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
sprintf(string, "<GpsVersion>%d.%03d</GpsVersion>\r\n",GPS_Version/1000,GPS_Version%1000);fputs_(string, doc->file);
sprintf(string, "<GpsVersion>%d.%03d</GpsVersion>\r\n",GPS_Version/1000,GPS_Version%1000);CheckSumAndWrite(&Check16File,string, doc->file);
if(GPS_Version >= 3000)
{
Settings_GetParamValue(PID_GPS_SYSTEM_CFG,&gps_receive_config);
sprintf(string, "<GNSS_System>%d</GNSS_System>\r\n",gps_receive_config);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16File,string, doc->file);
}
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
sprintf(string, "<License>\r\n"); fputs_(string, doc->file);
sprintf(string, "<License>\r\n"); CheckSumAndWrite(&Check16File,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);
sprintf(string, "<name>%s</name>\r\n",tmp_license->User); CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "<email>%s</email>\r\n",tmp_license->eMail); CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "<features>%s</features>\r\n",tmp_license->Feature); CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "<expires>%s</expires>\r\n",tmp_license->Expire);CheckSumAndWrite(&Check16File,string, doc->file);
}
else
{
sprintf(string, "<info>No License installed</info>\r\n"); fputs_(string, doc->file);
sprintf(string, "<info>No License installed</info>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file);
}
sprintf(string, "</License>\r\n"); fputs_(string, doc->file);
sprintf(string, "</License>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
sprintf(string, "<settings>\r\n"); fputs_(string, doc->file);
sprintf(string, "<Number>%i,%s</Number>\r\n",Parameter.ActiveSetting,EE_Parameter.Name);fputs_(string, doc->file);
sprintf(string, "<settings>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "<Number>%i,%s</Number>\r\n",Parameter.ActiveSetting,EE_Parameter.Name);CheckSumAndWrite(&Check16File,string, doc->file);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Reciever Type
sprintf(string, "<Receiver>");fputs_(string, doc->file);
sprintf(string, "<Receiver>");CheckSumAndWrite(&Check16File,string, doc->file);
switch(Parameter.ReceiverType)
{
case RECEIVER_PPM: sprintf(string, "PPM"); break;
169,17 → 197,17
case RECEIVER_USER: sprintf(string, "USER"); break;
default: sprintf(string, "? %d",Parameter.ReceiverType); break;
}
fputs_(string, doc->file);
sprintf(string, "</Receiver>\r\n"); fputs_(string, doc->file);
CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "</Receiver>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(FC.FromFC_CompassOffset > 30) {sprintf(string, "<CompassOffset>%i !</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);fputs_(string, doc->file);}
else {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.%1d</GeoMag>\r\n",GeoMagDec/10,abs(GeoMagDec)%10);fputs_(string, doc->file);
sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw);fputs_(string, doc->file);
sprintf(string, "<Kalibr.>%d,%d,%d</Kalibr.>\r\n", FC.BoatNeutralNick,FC.BoatNeutralRoll,FC.BoatNeutralYaw);fputs_(string, doc->file);
if((FC.StatusFlags3 & FC_STATUS3_BOAT)) {sprintf(string, "<BoatMode>On</BoatMode>\r\n");fputs_(string, doc->file);}
if(Parameter.Driftkomp) {sprintf(string, "<DriftComp>%i</DriftComp>\r\n",Parameter.Driftkomp);fputs_(string, doc->file);};
if(FC.FromFC_CompassOffset > 30) {sprintf(string, "<CompassOffset>%i !</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);CheckSumAndWrite(&Check16File,string, doc->file);}
else {sprintf(string, "<CompassOffset>%i</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);CheckSumAndWrite(&Check16File,string, doc->file);}
sprintf(string, "<FCOrientation>%i</FCOrientation>\r\n",Parameter.OrientationAngle*15);CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "<GeoMag>%i.%1d</GeoMag>\r\n",GeoMagDec/10,abs(GeoMagDec)%10);CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw);CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "<Kalibr.>%d,%d,%d</Kalibr.>\r\n", FC.BoatNeutralNick,FC.BoatNeutralRoll,FC.BoatNeutralYaw);CheckSumAndWrite(&Check16File,string, doc->file);
if((FC.StatusFlags3 & FC_STATUS3_BOAT)) {sprintf(string, "<BoatMode>On</BoatMode>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);}
if(Parameter.Driftkomp) {sprintf(string, "<DriftComp>%i</DriftComp>\r\n",Parameter.Driftkomp);CheckSumAndWrite(&Check16File,string, doc->file);};
 
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Magnetometer
187,7 → 215,7
else if(NCMAG_Compass_use_Orientation) sprintf(string, "<MagSensor>external1,(%i),",NCMAG_Orientation);
else sprintf(string, "<MagSensor>internal,");
 
fputs_(string, doc->file);
CheckSumAndWrite(&Check16File,string, doc->file);
switch(NCMAG_SensorType)
{
case TYPE_HMC5843: sprintf(string, "HMC"); break;
196,29 → 224,29
case TYPE_LSM303D: sprintf(string, "D"); break;
default: sprintf(string, "? %d",NCMAG_SensorType); break;
}
fputs_(string, doc->file);
sprintf(string, "</MagSensor>\r\n");fputs_(string, doc->file);
CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "</MagSensor>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
sprintf(string, "<FailSafeTime>%d</FailSafeTime>\r\n",Parameter.FailSafeTime);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, "<FailSafeTime>%d</FailSafeTime>\r\n",Parameter.FailSafeTime);CheckSumAndWrite(&Check16File,string, doc->file);
if(AbsoluteFlyingAltitude) {sprintf(string, "<MaxAltitude>%i</MaxAltitude>\r\n",AbsoluteFlyingAltitude);CheckSumAndWrite(&Check16File,string, doc->file);}
if(AbsoluteFlyingRange_m) {sprintf(string, "<FlyRange>%i</FlyRange>\r\n",AbsoluteFlyingRange_m);CheckSumAndWrite(&Check16File,string, doc->file);}
if(AutoDescendRange_m) {sprintf(string, "<Descend>%i</Descend>\r\n",AutoDescendRange_m);CheckSumAndWrite(&Check16File,string, doc->file);};
 
if((Parameter.GlobalConfig & FC_CFG_HEADING_HOLD)) {sprintf(string, "<HeadingHold>ON!</HeadingHold>\r\n");fputs_(string, doc->file);}
if((Parameter.GlobalConfig & FC_CFG_KOMPASS_FIX)) {sprintf(string, "<KompassFixedValue>ON!</KompassFixedValue>\r\n");fputs_(string, doc->file);}
if((Parameter.GlobalConfig & FC_CFG_DREHRATEN_BEGRENZER)) {sprintf(string, "<RotationRateLimiter>ON!</RotationRateLimiter>\r\n");fputs_(string, doc->file);}
if(!(Parameter.GlobalConfig & FC_CFG_ACHSENKOPPLUNG_AKTIV)) {sprintf(string, "<AxisCoupling>OFF!</AxisCoupling>\r\n");fputs_(string, doc->file);}
if(!(Parameter.GlobalConfig & FC_CFG_KOMPASS_AKTIV)) {sprintf(string, "<CompassActive>OFF!</CompassActive>\r\n");fputs_(string, doc->file);}
if((Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)) {sprintf(string, "<VarioFailsafe>On</VarioFailsafe>\r\n");fputs_(string, doc->file);}
if((Parameter.ExtraConfig & CFG_3_3V_REFERENCE)) {sprintf(string, "<3.3V_Reference>On</3.3V_Reference>\r\n");fputs_(string, doc->file);}
if((Parameter.ExtraConfig & CFG_IGNORE_MAG_ERR_AT_STARTUP)) {sprintf(string, "<IgnoreMagnetError>ON!</IgnoreMagnetError>\r\n");fputs_(string, doc->file);}
if(FC.FromFC_DisableDeclination) {sprintf(string, "<DisableDeclinationCalc>ON!</DisableDeclinationCalc>\r\n");fputs_(string, doc->file);}
if((Parameter.GlobalConfig & FC_CFG_HEADING_HOLD)) {sprintf(string, "<HeadingHold>ON!</HeadingHold>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);}
if((Parameter.GlobalConfig & FC_CFG_KOMPASS_FIX)) {sprintf(string, "<KompassFixedValue>ON!</KompassFixedValue>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);}
if((Parameter.GlobalConfig & FC_CFG_DREHRATEN_BEGRENZER)) {sprintf(string, "<RotationRateLimiter>ON!</RotationRateLimiter>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);}
if(!(Parameter.GlobalConfig & FC_CFG_ACHSENKOPPLUNG_AKTIV)) {sprintf(string, "<AxisCoupling>OFF!</AxisCoupling>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);}
if(!(Parameter.GlobalConfig & FC_CFG_KOMPASS_AKTIV)) {sprintf(string, "<CompassActive>OFF!</CompassActive>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);}
if((Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)) {sprintf(string, "<VarioFailsafe>On</VarioFailsafe>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);}
if((Parameter.ExtraConfig & CFG_3_3V_REFERENCE)) {sprintf(string, "<3.3V_Reference>On</3.3V_Reference>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);}
if((Parameter.ExtraConfig & CFG_IGNORE_MAG_ERR_AT_STARTUP)) {sprintf(string, "<IgnoreMagnetError>ON!</IgnoreMagnetError>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);}
if(FC.FromFC_DisableDeclination) {sprintf(string, "<DisableDeclinationCalc>ON!</DisableDeclinationCalc>\r\n");CheckSumAndWrite(&Check16File,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);
 
sprintf(string, "<Bytes>%02x,%02x,%02x</Bytes>\r\n",Parameter.GlobalConfig,Parameter.ExtraConfig,Parameter.GlobalConfig3);CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "</settings>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "</extensions>\r\n"); CheckSumAndWrite(&Check16File,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;
225,6 → 253,9
Logged_GPX_Counter = 0;
LogFC_WP_EventChannel = 0;
Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM;
 
Check16Block = Check16File; // init. value for first block
 
return(retvalue);
}
 
241,6 → 272,7
{
 
u8 retvalue = 1;
s8 string[50];
 
if(doc == NULL) return(0);
 
259,6 → 291,9
case GPX_DOC_OPENED: // close the file on the memorycard
if(doc->file != NULL)
{
sprintf(string, "<!-- %d -->\r\n", Check16File);
fputs_(string, doc->file);
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;
396,6 → 431,8
static u8 LastLoggedFlags2 = 0;
s8 string[150];
s8 name[] = "----\0";
 
if(doc == NULL) return(0);
 
421,7 → 458,7
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);
CheckSumAndWrite(&Check16Block,string, doc->file);
if(GPSData.Position.Longitude < 0) u8_1 = '-';
else u8_1 = '+';
i32_1 = abs(GPSData.Position.Longitude)/10000000L;
428,7 → 465,7
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);
CheckSumAndWrite(&Check16Block,string, doc->file);
altitude = GPSData.Position.Altitude;
break;
case 1:
439,45 → 476,45
i32_2 = i32_2%1000L;
if(altitude - NaviData.HomePosition.Altitude < 0) sprintf(string,"<ele>-%ld.%03ld</ele>\r\n",labs(i32_1),labs(i32_2));
else sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1,i32_2);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
// write <time> tag only at a resolution of 1/100 second
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);
CheckSumAndWrite(&Check16Block,string, doc->file);
// write <sat> tag
sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
// todo: add <extensions> tag with additional data to be logged
sprintf(string, "<extensions>\r\n");
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
break;
case 2:
// Flight duration
sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Status of the complete MikroKopter
sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Flags
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
if(LastLoggedFlags2 & FC_STATUS2_OUT2_ACTIVE && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) Logging_FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE;
sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
LastLoggedFlags2 = Logging_FCStatusFlags2;
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);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Altimeter according to air pressure
sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Variometer according to air pressure
sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
break;
case 3:
// Ubat
484,35 → 521,35
u8_1 = FC.BAT_Voltage / 10;
u8_2 = FC.BAT_Voltage % 10;
sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Current
sprintf(string, "<Current>%d.%01d</Current>\r\n", NaviData.Current / 10, NaviData.Current % 10);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Capacity
sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
break;
case 4:
// Compass in deg
if(SimulationFlags) sprintf(string, "<Compass>%03d,%03d,%03d.%1d,%03d.0</Compass>\r\n",SimulatedDirection,SimulatedDirection,CompassSetpointCorrected/10,CompassSetpointCorrected%10,SimulatedDirection);
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);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
// magnetic field
sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5));
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,string, doc->file);
break;
case 5:
// BL Information
520,55 → 557,55
{
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);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,string, doc->file);
break;
case 10:
case 12:
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);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,string, doc->file);
break;
default:
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));
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
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);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
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);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,string, doc->file);
*/ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM);
Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM;
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
 
// Gas values
if(LoggingGasCnt > 1) LoggingGasFilter = LoggingGasFilter / LoggingGasCnt;
575,16 → 612,16
sprintf(string, "<Gas>%03d,%03d</Gas>\r\n",(u16)LoggingGasFilter,HoverGas);
LoggingGasCnt = 0;
 
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,string, doc->file);
 
if(NC_GPS_ModeCharacter == 'F') // Failsafe Point is active
{
605,37 → 642,37
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);
CheckSumAndWrite(&Check16Block,string, doc->file);
 
sprintf(string, "<ShutterCnt>%d</ShutterCnt>\r\n",NaviData_Volatile.ShutterCounter);
LogFC_WP_EventChannel = 0; // can be cleared now
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
break;
case 7:
// Target Bearing in deg
sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Target Distance in dm
sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Course in deg
sprintf(string, "<Course>%03d</Course>\r\n", NaviData.Heading);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Ground Speed in cm/s
sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Vertical Speed in cm/s
sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
// RC Sticks as Nick/Roll/Yaw
sprintf(string, "<RCSticks>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</RCSticks>\r\n", FC.StickNick,FC.StickRoll, FC.StickYaw, FC.StickGas,FC.Poti[0],FC.Poti[1],FC.Poti[2],FC.Poti[3],FC.Poti[4],FC.Poti[5],FC.Poti[6],FC.Poti[7]);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,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);
CheckSumAndWrite(&Check16Block,string, doc->file);
// RC Quality
sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
// raw GPS altitude
i32_2 = altitude;
if(GPSData.Position.Status == INVALID) i32_2 = 0;
643,7 → 680,7
i32_2 = i32_2%1000L;
if(altitude < 0) sprintf(string,"<ele_raw>-%ld.%03ld</ele_raw>\r\n",labs(i32_1),labs(i32_2));
else sprintf(string,"<ele_raw>%ld.%03ld</ele_raw>\r\n",i32_1,i32_2);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
break;
case 8:
// Drift compensation
651,17 → 688,24
if(Parameter.Driftkomp)
{
sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw);
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
}
*/
// Navigation Update speed (in 0.1Hz)
sprintf(string, "<GPSInfo>%d,%d,%d</GPSInfo>\r\n",FreqNewGpsData,GPSData.Flags,GPSData.SatFix); // FreqGpsNavProcessed
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
// eof extensions
sprintf(string, "</extensions>\r\n");
fputs_(string, doc->file);
CheckSumAndWrite(&Check16Block,string, doc->file);
sprintf(string, "</trkpt>\r\n");
CheckSumAndWrite(&Check16Block,string, doc->file);
 
sprintf(string, "<!-- %d -->\r\n", Check16Block);
fputs_(string, doc->file);
 
Check16File += Check16Block;
 
 
break;
}
retvalue = 1;