Subversion Repositories NaviCtrl

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Ignore whitespace Rev 897 → Rev 898

/tags/V2.20h/gpx.c
0,0 → 1,837
/*#######################################################################################*/
/* !!! 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"
#include "uart0.h"
#include "settings.h"
#include "crc16.h"
#include "camctrl.h"
#include "ssc.h"
 
u16 Check16File;
u16 Check16Block;
u8 RedundanceWasActive = 0;
 
//________________________________________________________________________________________________________________________________________
// 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);
}
 
 
 
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);
//
// 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;
u16 gps_receive_config;
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.
 
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 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);
// desc is der Start der Checksummenberechnung
CheckSumAndWrite(&Check16File,string, doc->file);
if(SimulationFlags) { sprintf(string, " SIMULATED"); CheckSumAndWrite(&Check16File,string, doc->file);};
if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE)
{
if(IamMaster == SLAVE) sprintf(string, " (SLAVE)");
else sprintf(string, " (MASTER)");
CheckSumAndWrite(&Check16File,string, doc->file);
RedundanceWasActive = 1;
}
else RedundanceWasActive = 0;
sprintf(string, "</desc>\r\n");
CheckSumAndWrite(&Check16File,string, doc->file);
if(OEM_String[0] == 255)
{
sprintf(string, "<link href=\"http://www.mikrokopter.de\">\r\n<text>MikroKopter</text>\r\n</link>\r\n"); 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);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);
CheckSumAndWrite(&Check16File,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); CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "<email>%s</email>\r\n",tmp_license->eMail); CheckSumAndWrite(&Check16File,string, doc->file);
if(OEM_String[0] != 255) {sprintf(string, "<manufacturer>%s</manufacturer>\r\n",OEM_String); CheckSumAndWrite(&Check16File,string, doc->file);}
else {sprintf(string, "<manufacturer>HiSystems GmbH</manufacturer>\r\n"); 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"); CheckSumAndWrite(&Check16File,string, doc->file);
}
sprintf(string, "</License>\r\n"); CheckSumAndWrite(&Check16File,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>");CheckSumAndWrite(&Check16File,string, doc->file);
switch(Parameter.ReceiverType)
{
case RECEIVER_PPM: sprintf(string, "PPM"); break;
case RECEIVER_SPEKTRUM: sprintf(string, "SPEKTRUM"); break;
case RECEIVER_SPEKTRUM_HI_RES: sprintf(string, "SPEKTRUM_HI_RES"); break;
case RECEIVER_SPEKTRUM_LOW_RES: sprintf(string, "SPEKTRUM_LOW_RES"); break;
case RECEIVER_JETI: sprintf(string, "JETI"); break;
case RECEIVER_ACT_DSL: sprintf(string, "ACT_DSL"); break;
case RECEIVER_HOTT: sprintf(string, "HOTT"); break;
case RECEIVER_SBUS: sprintf(string, "SBUS"); break;
case RECEIVER_USER: sprintf(string, "USER"); break;
default: sprintf(string, "? %d",Parameter.ReceiverType); break;
}
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);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);};
sprintf(string, "<BaroKompens.>%i</BaroKompens.>\r\n",LuftdruckTemperaturKompensation);CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "<FcTemperat.>%i.%1i</FcTemperat.>\r\n",FC_Temperatur/10,abs(FC_Temperatur)%10);CheckSumAndWrite(&Check16File,string, doc->file);
if(FromGimbalCtrl.GimbalStatus) {sprintf(string, "<GimbalCtrV>%i.%02i</GimbalCtrV>\r\n",1 + FromGimbalCtrl.Version / 100, FromGimbalCtrl.Version % 100);CheckSumAndWrite(&Check16File,string, doc->file);}
if(EE_Parameter.ExternalControl) {sprintf(string, "<ExternalControl>%i,%02x,%02x</ExternalControl>\r\n",EE_Parameter.ExternalControl,FromFC_ExternalCtrlCfg,FromFC_ExternalCtrlSwitch);CheckSumAndWrite(&Check16File,string, doc->file);}
 
sprintf(string, "<Channels>ALT:%i,GPS:%i,CF:%i,SL:%i,FS:%i,MSS:%i,SWP:%i,NWP:%i,CCM:%i,CCZ:%i</Channels>\r\n",EE_Parameter.HoeheChannel,EE_Parameter.NaviGpsModeChannel,EE_Parameter.CareFreeChannel, EE_Parameter.StartLandChannel, EE_Parameter.FailsafeChannel, EE_Parameter.MotorSafetySwitch,EE_Parameter.SingleWpControlChannel,EE_Parameter.MenuKeyChannel,EE_Parameter.CamCtrlModeChannel,EE_Parameter.CamCtrlZoomChannel);CheckSumAndWrite(&Check16File,string, doc->file);
// Alt = Altitude
// GPS = GPS
// CF = Carefree
// SL = Start/Land
// FS = Failsafe
// MSS = Motor Safety Switch
// SWP: Single WP Channel
// NWP: Next WP Channel
// CCM: CamCtrlMode
// CCZ: CamCtrlZoom
 
 
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Magnetometer
if(Compass_I2CPort == NCMAG_PORT_EXTERN) sprintf(string, "<MagSensor>external2,(%i),",NCMAG_Orientation);
else if(NCMAG_Compass_use_Orientation) sprintf(string, "<MagSensor>external1,(%i),",NCMAG_Orientation);
else sprintf(string, "<MagSensor>internal,");
 
CheckSumAndWrite(&Check16File,string, doc->file);
switch(NCMAG_SensorType)
{
case TYPE_HMC5843: sprintf(string, "HMC"); break;
case TYPE_LSM303DLH: sprintf(string, "DLH"); break;
case TYPE_LSM303DLM: sprintf(string, "DLM"); break;
case TYPE_LSM303D: sprintf(string, "D"); break;
default: sprintf(string, "? %d",NCMAG_SensorType); break;
}
CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "</MagSensor>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
sprintf(string, "<FailSafeTime>%d</FailSafeTime>\r\n",Parameter.FailSafeTime);CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "<WP_Radius>%d</WP_Radius>\r\n",MaxWP_Radius_in_m);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");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_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);}
if(IO1_Function == IO1FUNC_PARACHUTE) {sprintf(string, "<IO1Function>Parachute!</IO1Function>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);}
if((Parameter.ExtraConfig & CFG_FLYZONE_REQUIRED)) {sprintf(string, "<FlyZoneRequired>On</FlyZoneRequired>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} else {sprintf(string, "<FlyZoneRequired>Off</FlyZoneRequired>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);}
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(FlyzonePointCnt)
{
if(Parameter.GlobalConfig & CFG_LAND_OUTSIDE_FLYZONE)
{sprintf(string, "<FlyZonePoints>%d,land</FlyZonePoints>\r\n",FlyzonePointCnt);CheckSumAndWrite(&Check16File,string, doc->file);}
else
{sprintf(string, "<FlyZonePoints>%d,hold</FlyZonePoints>\r\n",FlyzonePointCnt);CheckSumAndWrite(&Check16File,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, "<SPI_Speed>%d</SPI_Speed>\r\n",SPI_Speed);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;
Logged_GPX_Counter = 0;
LogFC_WP_EventChannel = 0;
Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM;
if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) RedundanceWasActive = 1;
 
Check16Block = Check16File; // init. value for first block
 
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;
s8 string[50];
 
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)
{
sprintf(string, "<!-- FcTemperature:%d.%1d -->\r\n",FC_Temperatur/10,abs(FC_Temperatur)%10);
CheckSumAndWrite(&Check16Block,string, doc->file);
 
if(RedundanceWasActive)
{
sprintf(string, "<!-- Redundant System: YES -->\r\n");
CheckSumAndWrite(&Check16Block,string, doc->file);
}
/* else
{
sprintf(string, "<!-- Redundant System: NO -->\r\n");
CheckSumAndWrite(&Check16Block,string, doc->file);
}
*/ 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;
}
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;
static u8 LastLoggedFlags2 = 0;
s8 string[150];
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)
{
static s32 altitude; // store to make sure they are all recorded in one timestamp
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);
CheckSumAndWrite(&Check16Block,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=\"\">");
CheckSumAndWrite(&Check16Block,string, doc->file);
altitude = GPSData.Position.Altitude;
break;
case 1:
// write <ele> tag
i32_2 = altitude - NaviData.HomePosition.Altitude;
if(GPSData.Position.Status == INVALID) i32_2 = 0;
i32_1 = i32_2/1000L;
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);
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);
CheckSumAndWrite(&Check16Block,string, doc->file);
// write <sat> tag
sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse);
CheckSumAndWrite(&Check16Block,string, doc->file);
// todo: add <extensions> tag with additional data to be logged
sprintf(string, "<extensions>\r\n");
CheckSumAndWrite(&Check16Block,string, doc->file);
break;
case 2:
// Flight duration
sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Status of the complete MikroKopter
sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode);
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);
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);
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
CheckSumAndWrite(&Check16Block,string, doc->file);
// Altimeter according to air pressure
sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter_5cm,FromFC_VarioCharacter);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Variometer according to air pressure
sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer);
CheckSumAndWrite(&Check16Block,string, doc->file);
break;
case 3:
// Ubat
u8_1 = FC.BAT_Voltage / 10;
u8_2 = FC.BAT_Voltage % 10;
sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Current
sprintf(string, "<Current>%d.%01d</Current>\r\n", NaviData.Current / 10, NaviData.Current % 10);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Capacity
sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity);
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);
CheckSumAndWrite(&Check16Block,string, doc->file);
// magnetic field
sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5));
CheckSumAndWrite(&Check16Block,string, doc->file);
// magnetic inclination & error
sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic));
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);
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);
CheckSumAndWrite(&Check16Block,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));
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);
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);
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));
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);
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);
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));
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);
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);
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));
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);
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);
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));
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);
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);
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]);
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]);
CheckSumAndWrite(&Check16Block,string, doc->file);
*/
sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM);
Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM;
CheckSumAndWrite(&Check16Block,string, doc->file);
// Gas values
if(LoggingGasCnt > 1) LoggingGasFilter = LoggingGasFilter / LoggingGasCnt;
sprintf(string, "<Gas>%03d,%03d</Gas>\r\n",(u16)LoggingGasFilter,HoverGas);
LoggingGasCnt = 0;
 
CheckSumAndWrite(&Check16Block,string, doc->file);
sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter);
CheckSumAndWrite(&Check16Block,string, doc->file);
sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]);
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);
CheckSumAndWrite(&Check16Block,string, doc->file);
sprintf(string, "<Servo>%d,%d,%d</Servo>\r\n", FromFC_ServoNickControl,FromFC_ServoRollControl,POI_KameraNick/10); // Raw Poti-Values of the Servo control and the POI_Nick in 1°
CheckSumAndWrite(&Check16Block,string, doc->file);
 
if(NC_GPS_ModeCharacter == 'F') // Failsafe Point is active
{
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
LogFC_WP_EventChannel = 0;
}
else
{
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
}
CheckSumAndWrite(&Check16Block,string, doc->file);
 
sprintf(string, "<ShutterCnt>%d</ShutterCnt>\r\n",NaviData_Volatile.ShutterCounter);
LogFC_WP_EventChannel = 0; // can be cleared now
CheckSumAndWrite(&Check16Block,string, doc->file);
break;
case 7:
// Target Bearing in deg
sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Target Distance in dm
sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance_dm);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Course in deg
sprintf(string, "<Course>%03d</Course>\r\n", NaviData.Heading);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Ground Speed in cm/s
sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed);
CheckSumAndWrite(&Check16Block,string, doc->file);
// Vertical Speed in cm/s
sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed);
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]);
 
sprintf(string, "<RCSticks>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</RCSticks>\r\n", FC.StickNick,FC.StickRoll, FC.StickYaw, FC.StickGas,PPM_In[5],PPM_In[6],PPM_In[7],PPM_In[8],PPM_In[9],PPM_In[10],PPM_In[11],PPM_In[12],PPM_In[13],PPM_In[14],PPM_In[15],PPM_In[16]);
 
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);
CheckSumAndWrite(&Check16Block,string, doc->file);
if(EE_Parameter.ExternalControl)
{
sprintf(string, "<ExCtl>%02x,%02x,%i,%i,%i,%i</ExCtl>\r\n",FromFC_ExternalCtrlCfg,FromFC_ExternalCtrlSwitch,ExternControl.Nick, ExternControl.Roll,ExternControl.Gier,ExternControl.Gas);
CheckSumAndWrite(&Check16File,string, doc->file);
}
// RC Quality
sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality);
CheckSumAndWrite(&Check16Block,string, doc->file);
// raw GPS altitude
i32_2 = altitude;
if(GPSData.Position.Status == INVALID) i32_2 = 0;
i32_1 = i32_2/1000L;
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);
CheckSumAndWrite(&Check16Block,string, doc->file);
break;
case 8:
// Drift compensation
/*
if(Parameter.Driftkomp)
{
sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw);
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
CheckSumAndWrite(&Check16Block,string, doc->file);
 
if(FromLaserCtrl.LaserStatus)
{
sprintf(string, "<Laser>%d.%02d</Laser>\r\n",FromLaserCtrl.Distance/100,abs(FromLaserCtrl.Distance)%100); // FreqGpsNavProcessed
CheckSumAndWrite(&Check16Block,string, doc->file);
}
 
if(FromGimbalCtrl.GimbalStatus)
{
sprintf(string, "<Gimbal>%d.%01d,%d.%01d</Gimbal>\r\n",FromGimbalCtrl.Nick/10,abs(FromGimbalCtrl.Nick%10),FromGimbalCtrl.Roll/10,abs(FromGimbalCtrl.Roll%10));
CheckSumAndWrite(&Check16Block,string, doc->file);
}
// sprintf(string, "<FCTemperat>%d</FCTemperat>\r\n",FC_Temperatur);
// CheckSumAndWrite(&Check16Block,string, doc->file);
 
// eof extensions
sprintf(string, "</extensions>\r\n");
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;
}
}
}
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);
}