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| 61 | #include "gpx_header.h" |
61 | #include "gpx_header.h" |
| 62 | #include "timer1.h" |
62 | #include "timer1.h" |
| 63 | #include "spi_slave.h" |
63 | #include "spi_slave.h" |
| 64 | #include "main.h" |
64 | #include "main.h" |
| 65 | #include "uart1.h" |
65 | #include "uart1.h" |
| - | 66 | #include "compass.h" |
|
| - | 67 | #include "analog.h" |
|
| - | 68 | #include "main.h" |
|
| - | 69 | #include "led.h" |
|
| Line 66... | Line 70... | ||
| 66 | 70 | ||
| 67 | //________________________________________________________________________________________________________________________________________ |
71 | //________________________________________________________________________________________________________________________________________ |
| 68 | // Function: GPX_DocumentInit(GPX_Document_t *) |
72 | // Function: GPX_DocumentInit(GPX_Document_t *) |
| 69 | // |
73 | // |
| Line 88... | Line 92... | ||
| 88 | // |
92 | // |
| 89 | // |
93 | // |
| 90 | // Returnvalue: '1' if the gpx-file could be created. |
94 | // Returnvalue: '1' if the gpx-file could be created. |
| 91 | //________________________________________________________________________________________________________________________________________ |
95 | //________________________________________________________________________________________________________________________________________ |
| Line -... | Line 96... | ||
| - | 96 | ||
| 92 | 97 | ||
| 93 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
98 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
| 94 | { |
99 | { |
| 95 | 100 | s8 string[60]; |
|
| Line 96... | Line 101... | ||
| 96 | u8 retvalue = 0; |
101 | u8 retvalue = 0; |
| 97 | 102 | ||
| 98 | if(doc == NULL) return(0); |
103 | if(doc == NULL) return(0); |
| Line 99... | Line 104... | ||
| 99 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
104 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
| 100 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
105 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
| 101 | 106 | ||
| 102 | if(doc->file != NULL) // could the file be opened? |
107 | if(doc->file != NULL) // could the file be opened? |
| 103 | { |
108 | { |
| - | 109 | retvalue = 1; // the document could be created on the drive. |
|
| - | 110 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
|
| - | 111 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
|
| 104 | retvalue = 1; // the document could be created on the drive. |
112 | sprintf(string, "<desc>FC HW:%d.%d SW:%d.%d%c & NC HW:%d.%d SW:%d.%d%c</desc>\r\n", FC_Version.Hardware/10,FC_Version.Hardware%10, FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| 105 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
- | |
| - | 113 | fputs_(string, doc->file); |
|
| - | 114 | fwrite_((void*)GPX_DOCUMENT_HEADER2, sizeof(GPX_DOCUMENT_HEADER2)-1,1,doc->file);// write the gpx-header to the document. |
|
| 106 | fwrite_((void*)GPX_DOCUMENT_HEADER, sizeof(GPX_DOCUMENT_HEADER)-1,1,doc->file);// write the gpx-header to the document. |
115 | } |
| 107 | } |
116 | Logging_FCStatusFlags1 = 0; |
| Line 108... | Line 117... | ||
| 108 | 117 | Logging_FCStatusFlags2 = 0; |
|
| 109 | return(retvalue); |
118 | return(retvalue); |
| Line 153... | Line 162... | ||
| 153 | } |
162 | } |
| 154 | } |
163 | } |
| 155 | return(retvalue); |
164 | return(retvalue); |
| 156 | } |
165 | } |
| Line -... | Line 166... | ||
| - | 166 | ||
| - | 167 | ||
| 157 | 168 | ||
| 158 | //________________________________________________________________________________________________________________________________________ |
169 | //________________________________________________________________________________________________________________________________________ |
| 159 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
170 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
| 160 | // |
171 | // |
| 161 | // Description: This function adds a track to the document. |
172 | // Description: This function adds a track to the document. |
| Line 178... | Line 189... | ||
| 178 | } |
189 | } |
| 179 | } |
190 | } |
| 180 | return(retvalue); |
191 | return(retvalue); |
| 181 | } |
192 | } |
| Line -... | Line 193... | ||
| - | 193 | ||
| 182 | 194 | ||
| 183 | //________________________________________________________________________________________________________________________________________ |
195 | //________________________________________________________________________________________________________________________________________ |
| 184 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
196 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
| 185 | // |
197 | // |
| 186 | // Description: This function ends the track opened before. |
198 | // Description: This function ends the track opened before. |
| Line 269... | Line 281... | ||
| 269 | 281 | ||
| 270 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc) |
282 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc) |
| Line 271... | Line 283... | ||
| 271 | { |
283 | { |
| 272 | 284 | ||
| Line 273... | Line 285... | ||
| 273 | u8 retvalue = 0; |
285 | u8 retvalue = 0; |
| Line 274... | Line 286... | ||
| 274 | s8 string[50]; |
286 | s8 string[100]; |
| 275 | 287 | ||
| Line 312... | Line 324... | ||
| 312 | fputs_(string, doc->file); |
324 | fputs_(string, doc->file); |
| 313 | // todo: add <extensions> tag with additional data to be logged |
325 | // todo: add <extensions> tag with additional data to be logged |
| 314 | sprintf(string, "<extensions>\r\n"); |
326 | sprintf(string, "<extensions>\r\n"); |
| 315 | fputs_(string, doc->file); |
327 | fputs_(string, doc->file); |
| 316 | // Altimeter according to air pressure |
328 | // Altimeter according to air pressure |
| 317 | sprintf(string, "<Altimeter>%d</Altimeter>\r\n", NaviData.Altimeter); |
329 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter); |
| 318 | fputs_(string, doc->file); |
330 | fputs_(string, doc->file); |
| 319 | // Variometer according to air pressure |
331 | // Variometer according to air pressure |
| 320 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
332 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
| 321 | fputs_(string, doc->file); |
333 | fputs_(string, doc->file); |
| 322 | // Course in deg |
334 | // Course in deg |
| Line 351... | Line 363... | ||
| 351 | // RC Received Signal Strength Indication |
363 | // RC Received Signal Strength Indication |
| 352 | sprintf(string, "<RCRSSI>%d</RCRSSI>\r\n", FC.RC_RSSI); |
364 | sprintf(string, "<RCRSSI>%d</RCRSSI>\r\n", FC.RC_RSSI); |
| 353 | fputs_(string, doc->file); |
365 | fputs_(string, doc->file); |
| 354 | // Compassind deg |
366 | // Compassind deg |
| 355 | i16_1 = FromFlightCtrl.GyroHeading / 10; |
367 | i16_1 = FromFlightCtrl.GyroHeading / 10; |
| 356 | sprintf(string, "<Compass>%03d</Compass>\r\n", i16_1); |
368 | sprintf(string, "<Compass>%03d,%03d</Compass>\r\n", i16_1,ToFlightCtrl.CompassHeading); |
| 357 | fputs_(string, doc->file); |
369 | fputs_(string, doc->file); |
| 358 | // Nick Angle ind deg |
370 | // Nick Angle ind deg |
| 359 | sprintf(string, "<NickAngle>%03d</NickAngle>\r\n", NaviData.AngleNick); |
371 | sprintf(string, "<NickAngle>%03d</NickAngle>\r\n", NaviData.AngleNick); |
| 360 | fputs_(string, doc->file); |
372 | fputs_(string, doc->file); |
| 361 | // Roll Angle in deg |
373 | // Roll Angle in deg |
| 362 | sprintf(string, "<RollAngle>%03d</RollAngle>\r\n", NaviData.AngleRoll); |
374 | sprintf(string, "<RollAngle>%03d</RollAngle>\r\n", NaviData.AngleRoll); |
| 363 | fputs_(string, doc->file); |
375 | fputs_(string, doc->file); |
| - | 376 | // magnetic field |
|
| - | 377 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticField/5)); |
|
| - | 378 | fputs_(string, doc->file); |
|
| - | 379 | // magnetic inclination & error |
|
| - | 380 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclination,(s16)(EarthMagneticInclination - EarthMagneticInclinationTheoretic)); |
|
| - | 381 | fputs_(string, doc->file); |
|
| - | 382 | // BL Information |
|
| - | 383 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",MotorCurrent[0],MotorCurrent[1],MotorCurrent[2],MotorCurrent[3],MotorCurrent[4],MotorCurrent[5],MotorCurrent[6],MotorCurrent[7],MotorCurrent[8],MotorCurrent[9],MotorCurrent[10],MotorCurrent[11]); |
|
| - | 384 | fputs_(string, doc->file); |
|
| - | 385 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</BL_Temperature>\r\n",MotorTemperature[0],MotorTemperature[1],MotorTemperature[2],MotorTemperature[3],MotorTemperature[4],MotorTemperature[5],MotorTemperature[6],MotorTemperature[7],MotorTemperature[8],MotorTemperature[9],MotorTemperature[10],MotorTemperature[11]); |
|
| - | 386 | fputs_(string, doc->file); |
|
| - | 387 | sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",BL_MinOfMaxPWM); |
|
| - | 388 | fputs_(string, doc->file); |
|
| - | 389 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
|
| - | 390 | fputs_(string, doc->file); |
|
| - | 391 | // Analog inputs of the NC |
|
| - | 392 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
|
| - | 393 | fputs_(string, doc->file); |
|
| 364 | // NC Mode (contains the status) |
394 | // NC Mode (contains the status) |
| 365 | sprintf(string, "<NCFlag>%02X</NCFlag>\r\n", NCFlags); |
395 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
| 366 | fputs_(string, doc->file); |
396 | fputs_(string, doc->file); |
| - | 397 | // Flags |
|
| - | 398 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
|
| - | 399 | fputs_(string, doc->file); |
|
| - | 400 | Logging_FCStatusFlags1 = 0; |
|
| - | 401 | Logging_FCStatusFlags2 = 0; |
|
| 367 | // Status of the complete MikroKopter |
402 | // Status of the complete MikroKopter |
| 368 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
403 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
| 369 | fputs_(string, doc->file); |
404 | fputs_(string, doc->file); |
| 370 | // Target Bearing in deg |
405 | // Target Bearing in deg |
| 371 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
406 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
| 372 | fputs_(string, doc->file); |
407 | fputs_(string, doc->file); |
| 373 | // Target Distance in dm |
408 | // Target Distance in dm |
| 374 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
409 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
| 375 | fputs_(string, doc->file); |
410 | fputs_(string, doc->file); |
| 376 | // RC Sticks as Nick/Roll/Yaw |
411 | // RC Sticks as Nick/Roll/Yaw |
| 377 | sprintf(string, "<RCSticks>%d, %d, %d</RCSticks>\r\n", FC.StickNick,FC.StickRoll, FC.StickYaw); |
412 | 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]); |
| 378 | fputs_(string, doc->file); |
413 | fputs_(string, doc->file); |
| 379 | // GPS Sticks as Nick/Roll/Yaw |
414 | // GPS Sticks as Nick/Roll/Yaw |
| 380 | sprintf(string, "<GPSSticks>%d, %d, %d</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, ToFlightCtrl.GPSStick.Yaw); |
415 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, ToFlightCtrl.GPSStick.Yaw,NC_GPS_ModeCharacter); |
| 381 | fputs_(string, doc->file); |
416 | fputs_(string, doc->file); |
| 382 | - | ||
| 383 | // eof extensions |
417 | // eof extensions |
| 384 | sprintf(string, "</extensions>\r\n"); |
418 | sprintf(string, "</extensions>\r\n"); |
| 385 | fputs_(string, doc->file); |
419 | fputs_(string, doc->file); |
| 386 | sprintf(string, "</trkpt>\r\n"); |
420 | sprintf(string, "</trkpt>\r\n"); |
| 387 | fputs_(string, doc->file); |
421 | fputs_(string, doc->file); |