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85 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
85 | killagreg | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
85 | killagreg | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
85 | killagreg | 44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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57 | #include <stdlib.h> |
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58 | #include <stdio.h> |
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59 | #include "91x_lib.h" |
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60 | #include "gpx.h" |
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61 | #include "gpx_header.h" |
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119 | killagreg | 62 | #include "timer1.h" |
86 | killagreg | 63 | #include "spi_slave.h" |
64 | #include "main.h" |
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65 | #include "uart1.h" |
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338 | holgerb | 66 | #include "compass.h" |
67 | #include "analog.h" |
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68 | #include "main.h" |
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69 | #include "led.h" |
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351 | holgerb | 70 | #include "timer2.h" |
85 | killagreg | 71 | |
72 | //________________________________________________________________________________________________________________________________________ |
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73 | // Function: GPX_DocumentInit(GPX_Document_t *) |
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74 | // |
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75 | // Description: This function initializes the gpx-document for further use. |
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76 | // |
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77 | // |
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78 | // Returnvalue: '1' if document was initialized |
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79 | //________________________________________________________________________________________________________________________________________ |
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80 | |||
81 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
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82 | { |
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83 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
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84 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
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85 | doc->file = NULL; |
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86 | return(1); |
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87 | } |
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88 | |||
89 | //________________________________________________________________________________________________________________________________________ |
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90 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
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91 | // |
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92 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
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93 | // |
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94 | // |
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95 | // Returnvalue: '1' if the gpx-file could be created. |
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96 | //________________________________________________________________________________________________________________________________________ |
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97 | |||
338 | holgerb | 98 | |
85 | killagreg | 99 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
100 | { |
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338 | holgerb | 101 | s8 string[60]; |
85 | killagreg | 102 | u8 retvalue = 0; |
103 | |||
104 | if(doc == NULL) return(0); |
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105 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
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106 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
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107 | |||
108 | if(doc->file != NULL) // could the file be opened? |
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109 | { |
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110 | retvalue = 1; // the document could be created on the drive. |
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111 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
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338 | holgerb | 112 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
339 | holgerb | 113 | 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); |
338 | holgerb | 114 | fputs_(string, doc->file); |
115 | fwrite_((void*)GPX_DOCUMENT_HEADER2, sizeof(GPX_DOCUMENT_HEADER2)-1,1,doc->file);// write the gpx-header to the document. |
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85 | killagreg | 116 | } |
338 | holgerb | 117 | Logging_FCStatusFlags1 = 0; |
118 | Logging_FCStatusFlags2 = 0; |
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85 | killagreg | 119 | return(retvalue); |
120 | } |
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121 | |||
122 | //________________________________________________________________________________________________________________________________________ |
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123 | // Function: DocumentClose(GPX_Document_t *doc); |
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124 | // |
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125 | // Description: This function closes the document specified by doc. |
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126 | // |
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127 | // |
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128 | // Returnvalue: '1' if the gpx-file could be closed. |
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129 | //________________________________________________________________________________________________________________________________________ |
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130 | |||
131 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
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132 | { |
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133 | |||
134 | u8 retvalue = 1; |
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135 | |||
136 | if(doc == NULL) return(0); |
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137 | |||
138 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
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94 | killagreg | 139 | { |
85 | killagreg | 140 | switch(doc->state) |
141 | { |
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142 | case GPX_DOC_TRACKSEGMENT_OPENED: |
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143 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
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144 | break; |
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145 | |||
104 | killagreg | 146 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
85 | killagreg | 147 | GPX_TrackEnd(doc); |
148 | break; |
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149 | |||
150 | case GPX_DOC_OPENED: // close the file on the memorycard |
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151 | if(doc->file != NULL) |
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152 | { |
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153 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
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154 | fclose_(doc->file); |
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155 | retvalue = 1; |
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156 | } |
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157 | doc->state = GPX_DOC_CLOSED; |
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158 | break; |
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159 | |||
160 | default: |
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161 | doc->state = GPX_DOC_CLOSED; |
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162 | break; |
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163 | } |
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164 | } |
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165 | return(retvalue); |
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166 | } |
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167 | |||
338 | holgerb | 168 | |
169 | |||
85 | killagreg | 170 | //________________________________________________________________________________________________________________________________________ |
171 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
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172 | // |
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173 | // Description: This function adds a track to the document. |
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174 | // |
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175 | // |
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176 | // Returnvalue: '1' if the track could be opened |
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177 | //________________________________________________________________________________________________________________________________________ |
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178 | |||
179 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
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180 | { |
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181 | |||
182 | u8 retvalue = 0; |
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183 | if(doc->state == GPX_DOC_OPENED) |
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184 | { |
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185 | if(doc->file != NULL) |
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186 | { |
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187 | doc->state = GPX_DOC_TRACK_OPENED; |
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188 | retvalue = 1; |
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189 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
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190 | } |
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191 | } |
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192 | return(retvalue); |
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193 | } |
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194 | |||
338 | holgerb | 195 | |
85 | killagreg | 196 | //________________________________________________________________________________________________________________________________________ |
197 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
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198 | // |
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199 | // Description: This function ends the track opened before. |
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200 | // |
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201 | // |
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202 | // Returnvalue: 1' if the track could be closed |
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203 | //________________________________________________________________________________________________________________________________________ |
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204 | |||
205 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
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206 | { |
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207 | |||
208 | u8 retvalue = 0; |
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209 | |||
210 | if(doc->state == GPX_DOC_TRACK_OPENED) |
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211 | { |
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212 | if(doc->file != NULL) |
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213 | { |
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214 | doc->state = GPX_DOC_OPENED; |
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215 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
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216 | retvalue = 1; |
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217 | } |
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218 | } |
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219 | |||
220 | return(retvalue); |
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221 | } |
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222 | |||
223 | //________________________________________________________________________________________________________________________________________ |
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224 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
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225 | // |
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226 | // Description: This function starts a track segment. |
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227 | // |
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228 | // |
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229 | // Returnvalue: '1' if the track segement could be started |
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230 | //________________________________________________________________________________________________________________________________________ |
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231 | |||
232 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
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233 | { |
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234 | |||
235 | u8 retvalue = 0; |
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236 | |||
237 | if(doc->state == GPX_DOC_TRACK_OPENED) |
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238 | { |
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239 | if(doc->file != NULL) |
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240 | { |
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241 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
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242 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
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243 | retvalue = 1; |
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244 | } |
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245 | } |
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246 | return(retvalue); |
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247 | } |
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248 | |||
249 | //________________________________________________________________________________________________________________________________________ |
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250 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
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251 | // |
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252 | // Description: This function ends the tracksegment opened before. |
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253 | // |
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254 | // |
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255 | // Returnvalue: '1' if the track segment could be terminated |
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256 | //________________________________________________________________________________________________________________________________________ |
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257 | |||
258 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
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259 | { |
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260 | |||
261 | u8 retvalue = 0; |
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262 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
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263 | { |
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264 | if(doc->file != NULL) |
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265 | { |
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266 | doc->state = GPX_DOC_TRACK_OPENED; |
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267 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
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268 | retvalue = 1; |
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269 | } |
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270 | } |
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271 | return(retvalue); |
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272 | } |
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273 | |||
274 | //________________________________________________________________________________________________________________________________________ |
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275 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
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276 | // |
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277 | // Description: This function adds a pointof a track segement to the specified document. |
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278 | // |
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279 | // |
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280 | // Returnvalue: '1' if a point was added |
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281 | //________________________________________________________________________________________________________________________________________ |
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282 | |||
345 | holgerb | 283 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
85 | killagreg | 284 | { |
285 | |||
286 | u8 retvalue = 0; |
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338 | holgerb | 287 | s8 string[100]; |
85 | killagreg | 288 | |
289 | if(doc == NULL) return(0); |
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290 | |||
215 | killagreg | 291 | if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
85 | killagreg | 292 | { |
293 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
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294 | { |
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295 | if(doc->file != NULL) |
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296 | { |
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86 | killagreg | 297 | s32 i32_1, i32_2; |
298 | s16 i16_1; |
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299 | u8 u8_1, u8_2; |
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85 | killagreg | 300 | // write <trkpt> tag |
345 | holgerb | 301 | switch(part) |
302 | { |
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303 | case 0: |
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86 | killagreg | 304 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
305 | else u8_1 = '+'; |
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306 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
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307 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
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308 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
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85 | killagreg | 309 | fputs_(string, doc->file); |
86 | killagreg | 310 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
311 | else u8_1 = '+'; |
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312 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
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313 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
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314 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
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85 | killagreg | 315 | fputs_(string, doc->file); |
345 | holgerb | 316 | break; |
317 | case 1: |
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85 | killagreg | 318 | // write <ele> taga |
215 | killagreg | 319 | i32_2 = GPSData.Position.Altitude - NaviData.HomePosition.Altitude; |
86 | killagreg | 320 | if(i32_2 < 0) i32_2 = 0; // avoid negative altitudes in log |
321 | i32_1 = i32_2/1000L; |
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322 | i32_2 = i32_2%1000L; |
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323 | sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1, i32_2); |
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85 | killagreg | 324 | fputs_(string, doc->file); |
325 | // write <time> tag only at a resolution of one second |
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326 | sprintf(string, "<time>%04d-%02d-%02dT%02d:%02d:%02dZ</time>\r\n",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec); |
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327 | fputs_(string, doc->file); |
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86 | killagreg | 328 | // write <sat> tag |
329 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
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330 | fputs_(string, doc->file); |
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94 | killagreg | 331 | // todo: add <extensions> tag with additional data to be logged |
86 | killagreg | 332 | sprintf(string, "<extensions>\r\n"); |
333 | fputs_(string, doc->file); |
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345 | holgerb | 334 | break; |
335 | case 2: |
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125 | killagreg | 336 | // Altimeter according to air pressure |
338 | holgerb | 337 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter); |
126 | killagreg | 338 | fputs_(string, doc->file); |
140 | killagreg | 339 | // Variometer according to air pressure |
340 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
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341 | fputs_(string, doc->file); |
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92 | killagreg | 342 | // Course in deg |
86 | killagreg | 343 | i16_1 = GPSData.Heading/100000L; |
344 | sprintf(string, "<Course>%03d</Course>\r\n", i16_1); |
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345 | fputs_(string, doc->file); |
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92 | killagreg | 346 | // Ground Speed in cm/s |
86 | killagreg | 347 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
348 | fputs_(string, doc->file); |
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140 | killagreg | 349 | // Vertical Speed in cm/s |
350 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
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351 | fputs_(string, doc->file); |
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352 | // Flight duration |
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101 | holgerb | 353 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
354 | fputs_(string, doc->file); |
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345 | holgerb | 355 | break; |
356 | case 3: |
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86 | killagreg | 357 | // Ubat |
358 | u8_1 = NaviData.UBat / 10; |
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359 | u8_2 = NaviData.UBat % 10; |
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360 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
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361 | fputs_(string, doc->file); |
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206 | killagreg | 362 | // Current |
363 | u8_1 = NaviData.Current / 10; |
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364 | u8_2 = NaviData.Current % 10; |
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365 | sprintf(string, "<Current>%d.%01d</Current>\r\n", u8_1, u8_2); |
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366 | fputs_(string, doc->file); |
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367 | // Capacity |
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368 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
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369 | fputs_(string, doc->file); |
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86 | killagreg | 370 | // RC Quality |
371 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
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372 | fputs_(string, doc->file); |
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125 | killagreg | 373 | // RC Received Signal Strength Indication |
345 | holgerb | 374 | break; |
375 | case 4: |
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125 | killagreg | 376 | sprintf(string, "<RCRSSI>%d</RCRSSI>\r\n", FC.RC_RSSI); |
377 | fputs_(string, doc->file); |
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92 | killagreg | 378 | // Compassind deg |
86 | killagreg | 379 | i16_1 = FromFlightCtrl.GyroHeading / 10; |
338 | holgerb | 380 | sprintf(string, "<Compass>%03d,%03d</Compass>\r\n", i16_1,ToFlightCtrl.CompassHeading); |
86 | killagreg | 381 | fputs_(string, doc->file); |
92 | killagreg | 382 | // Nick Angle ind deg |
86 | killagreg | 383 | sprintf(string, "<NickAngle>%03d</NickAngle>\r\n", NaviData.AngleNick); |
384 | fputs_(string, doc->file); |
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92 | killagreg | 385 | // Roll Angle in deg |
86 | killagreg | 386 | sprintf(string, "<RollAngle>%03d</RollAngle>\r\n", NaviData.AngleRoll); |
387 | fputs_(string, doc->file); |
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345 | holgerb | 388 | break; |
389 | case 5: |
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338 | holgerb | 390 | // magnetic field |
340 | holgerb | 391 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
338 | holgerb | 392 | fputs_(string, doc->file); |
393 | // magnetic inclination & error |
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340 | holgerb | 394 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
338 | holgerb | 395 | fputs_(string, doc->file); |
396 | // BL Information |
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397 | 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]); |
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398 | fputs_(string, doc->file); |
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399 | 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]); |
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400 | fputs_(string, doc->file); |
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345 | holgerb | 401 | break; |
402 | case 6: |
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338 | holgerb | 403 | sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",BL_MinOfMaxPWM); |
404 | fputs_(string, doc->file); |
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405 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
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406 | fputs_(string, doc->file); |
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407 | // Analog inputs of the NC |
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408 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
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409 | fputs_(string, doc->file); |
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92 | killagreg | 410 | // NC Mode (contains the status) |
338 | holgerb | 411 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
86 | killagreg | 412 | fputs_(string, doc->file); |
351 | holgerb | 413 | 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° |
414 | fputs_(string, doc->file); |
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415 | sprintf(string, "<WP>%d,%d,%d</WP>\r\n",NaviData.WaypointIndex,NaviData.WaypointNumber,FC_WP_EventChannel); // x of y Waypoints and the actual value of the Event Channel |
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416 | fputs_(string, doc->file); |
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345 | holgerb | 417 | break; |
418 | case 7: |
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338 | holgerb | 419 | // Flags |
420 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
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421 | fputs_(string, doc->file); |
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422 | Logging_FCStatusFlags1 = 0; |
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423 | Logging_FCStatusFlags2 = 0; |
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233 | holgerb | 424 | // Status of the complete MikroKopter |
425 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
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426 | fputs_(string, doc->file); |
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92 | killagreg | 427 | // Target Bearing in deg |
86 | killagreg | 428 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
429 | fputs_(string, doc->file); |
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92 | killagreg | 430 | // Target Distance in dm |
86 | killagreg | 431 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
432 | fputs_(string, doc->file); |
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345 | holgerb | 433 | break; |
434 | case 8: |
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101 | holgerb | 435 | // RC Sticks as Nick/Roll/Yaw |
338 | holgerb | 436 | 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]); |
101 | holgerb | 437 | fputs_(string, doc->file); |
94 | killagreg | 438 | // GPS Sticks as Nick/Roll/Yaw |
338 | holgerb | 439 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, ToFlightCtrl.GPSStick.Yaw,NC_GPS_ModeCharacter); |
94 | killagreg | 440 | fputs_(string, doc->file); |
86 | killagreg | 441 | // eof extensions |
442 | sprintf(string, "</extensions>\r\n"); |
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443 | fputs_(string, doc->file); |
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85 | killagreg | 444 | sprintf(string, "</trkpt>\r\n"); |
445 | fputs_(string, doc->file); |
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345 | holgerb | 446 | break; |
447 | } |
||
448 | retvalue = 1; |
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85 | killagreg | 449 | } |
450 | } |
||
451 | } |
||
452 | return(retvalue); |
||
453 | } |
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454 | |||
455 | //________________________________________________________________________________________________________________________________________ |
||
456 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
||
457 | // |
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458 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
||
459 | // |
||
460 | // |
||
461 | // Returnvalue: '1' if an gps coordinate was logged |
||
462 | //________________________________________________________________________________________________________________________________________ |
||
463 | |||
345 | holgerb | 464 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
85 | killagreg | 465 | { |
466 | u8 retval = 0; |
||
467 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
||
468 | { |
||
469 | switch(doc->state) |
||
470 | { |
||
471 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
||
324 | killagreg | 472 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
85 | killagreg | 473 | break; |
474 | |||
475 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
||
476 | retval = GPX_TrackBegin(doc); |
||
477 | break; |
||
478 | |||
479 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
||
480 | retval = GPX_TrackSegmentBegin(doc); |
||
481 | break; |
||
482 | |||
483 | default: |
||
484 | retval = 0; |
||
485 | break; |
||
486 | |||
487 | } |
||
488 | if(retval != 1) return(retval); // stop on error |
||
489 | } |
||
490 | |||
491 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
||
492 | { |
||
345 | holgerb | 493 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
85 | killagreg | 494 | } |
495 | return(retval); |
||
496 | } |
||
497 |