Go to most recent revision | Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
85 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
||
3 | /*#######################################################################################*/ |
||
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
5 | // + www.MikroKopter.com |
||
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
||
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
||
489 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
||
85 | killagreg | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
||
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
||
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
||
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
||
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
||
489 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
360 | holgerb | 22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
||
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
||
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
||
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
||
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
||
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
||
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
||
85 | killagreg | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
85 | killagreg | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
489 | killagreg | 35 | // + 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 |
360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
||
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
||
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
||
40 | // + agreement shall be the property of the Licensor. |
||
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
||
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
||
43 | // + The customer shall be responsible for taking reasonable precautions |
||
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
||
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
||
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
||
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
||
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
||
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
||
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
||
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
||
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
||
53 | // + #### END OF LICENSING TERMS #### |
||
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
||
85 | killagreg | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <stdlib.h> |
||
57 | #include <stdio.h> |
||
58 | #include "91x_lib.h" |
||
59 | #include "gpx.h" |
||
60 | #include "gpx_header.h" |
||
119 | killagreg | 61 | #include "timer1.h" |
86 | killagreg | 62 | #include "spi_slave.h" |
63 | #include "main.h" |
||
64 | #include "uart1.h" |
||
338 | holgerb | 65 | #include "compass.h" |
66 | #include "analog.h" |
||
67 | #include "main.h" |
||
68 | #include "led.h" |
||
351 | holgerb | 69 | #include "timer2.h" |
380 | holgerb | 70 | #include "logging.h" |
85 | killagreg | 71 | |
72 | //________________________________________________________________________________________________________________________________________ |
||
73 | // Function: GPX_DocumentInit(GPX_Document_t *) |
||
74 | // |
||
75 | // Description: This function initializes the gpx-document for further use. |
||
76 | // |
||
77 | // |
||
78 | // Returnvalue: '1' if document was initialized |
||
79 | //________________________________________________________________________________________________________________________________________ |
||
80 | |||
81 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
||
82 | { |
||
83 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
||
84 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
||
85 | doc->file = NULL; |
||
86 | return(1); |
||
87 | } |
||
88 | |||
89 | //________________________________________________________________________________________________________________________________________ |
||
90 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
||
91 | // |
||
92 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
||
93 | // |
||
94 | // |
||
95 | // Returnvalue: '1' if the gpx-file could be created. |
||
96 | //________________________________________________________________________________________________________________________________________ |
||
97 | |||
338 | holgerb | 98 | |
85 | killagreg | 99 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
100 | { |
||
530 | holgerb | 101 | s8 string[100]; |
85 | killagreg | 102 | u8 retvalue = 0; |
530 | holgerb | 103 | u8 BLv = 1; |
85 | killagreg | 104 | |
105 | if(doc == NULL) return(0); |
||
106 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
||
107 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
||
108 | |||
530 | holgerb | 109 | if(Motor_Version[0] & MOTOR_STATE_BL30) BLv = 3; |
110 | else if(Motor_Version[0] & MOTOR_STATE_NEW_PROTOCOL_MASK) BLv = 2; |
||
111 | |||
85 | killagreg | 112 | if(doc->file != NULL) // could the file be opened? |
113 | { |
||
114 | retvalue = 1; // the document could be created on the drive. |
||
115 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
||
338 | holgerb | 116 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
530 | holgerb | 117 | sprintf(string, "<desc>FC HW:%d.%d SW:%d.%02d%c + NC HW:%d.%d SW:%d.%02d%c BL:V%d", (FC_Version.Hardware & 0x7F)/10,(FC_Version.Hardware & 0x7F)%10, FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH,BLv); |
338 | holgerb | 118 | fputs_(string, doc->file); |
530 | holgerb | 119 | if(FC.RedundanceBlOperation) sprintf(string, " (Redundant)</desc>\r\n"); |
120 | else sprintf(string, "</desc>\r\n"); |
||
121 | fputs_(string, doc->file); |
||
338 | holgerb | 122 | fwrite_((void*)GPX_DOCUMENT_HEADER2, sizeof(GPX_DOCUMENT_HEADER2)-1,1,doc->file);// write the gpx-header to the document. |
85 | killagreg | 123 | } |
338 | holgerb | 124 | Logging_FCStatusFlags1 = 0; |
125 | Logging_FCStatusFlags2 = 0; |
||
380 | holgerb | 126 | Logged_GPX_Counter = 0; |
436 | holgerb | 127 | LogFC_WP_EventChannel = 0; |
530 | holgerb | 128 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
85 | killagreg | 129 | return(retvalue); |
130 | } |
||
131 | |||
132 | //________________________________________________________________________________________________________________________________________ |
||
133 | // Function: DocumentClose(GPX_Document_t *doc); |
||
134 | // |
||
135 | // Description: This function closes the document specified by doc. |
||
136 | // |
||
137 | // |
||
138 | // Returnvalue: '1' if the gpx-file could be closed. |
||
139 | //________________________________________________________________________________________________________________________________________ |
||
140 | |||
141 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
||
142 | { |
||
143 | |||
144 | u8 retvalue = 1; |
||
145 | |||
146 | if(doc == NULL) return(0); |
||
147 | |||
378 | holgerb | 148 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
94 | killagreg | 149 | { |
85 | killagreg | 150 | switch(doc->state) |
151 | { |
||
152 | case GPX_DOC_TRACKSEGMENT_OPENED: |
||
153 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
||
154 | break; |
||
155 | |||
104 | killagreg | 156 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
85 | killagreg | 157 | GPX_TrackEnd(doc); |
158 | break; |
||
159 | |||
160 | case GPX_DOC_OPENED: // close the file on the memorycard |
||
161 | if(doc->file != NULL) |
||
162 | { |
||
163 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
||
164 | fclose_(doc->file); |
||
165 | retvalue = 1; |
||
166 | } |
||
167 | doc->state = GPX_DOC_CLOSED; |
||
168 | break; |
||
169 | |||
170 | default: |
||
171 | doc->state = GPX_DOC_CLOSED; |
||
172 | break; |
||
173 | } |
||
174 | } |
||
175 | return(retvalue); |
||
176 | } |
||
177 | |||
338 | holgerb | 178 | |
179 | |||
85 | killagreg | 180 | //________________________________________________________________________________________________________________________________________ |
181 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
||
182 | // |
||
183 | // Description: This function adds a track to the document. |
||
184 | // |
||
185 | // |
||
186 | // Returnvalue: '1' if the track could be opened |
||
187 | //________________________________________________________________________________________________________________________________________ |
||
188 | |||
189 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
||
190 | { |
||
191 | |||
192 | u8 retvalue = 0; |
||
193 | if(doc->state == GPX_DOC_OPENED) |
||
194 | { |
||
195 | if(doc->file != NULL) |
||
196 | { |
||
197 | doc->state = GPX_DOC_TRACK_OPENED; |
||
198 | retvalue = 1; |
||
199 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
||
200 | } |
||
201 | } |
||
202 | return(retvalue); |
||
203 | } |
||
204 | |||
338 | holgerb | 205 | |
85 | killagreg | 206 | //________________________________________________________________________________________________________________________________________ |
207 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
||
208 | // |
||
209 | // Description: This function ends the track opened before. |
||
210 | // |
||
211 | // |
||
212 | // Returnvalue: 1' if the track could be closed |
||
213 | //________________________________________________________________________________________________________________________________________ |
||
214 | |||
215 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
||
216 | { |
||
217 | |||
218 | u8 retvalue = 0; |
||
219 | |||
220 | if(doc->state == GPX_DOC_TRACK_OPENED) |
||
221 | { |
||
222 | if(doc->file != NULL) |
||
223 | { |
||
224 | doc->state = GPX_DOC_OPENED; |
||
225 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
||
226 | retvalue = 1; |
||
227 | } |
||
228 | } |
||
229 | |||
230 | return(retvalue); |
||
231 | } |
||
232 | |||
233 | //________________________________________________________________________________________________________________________________________ |
||
234 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
||
235 | // |
||
236 | // Description: This function starts a track segment. |
||
237 | // |
||
238 | // |
||
239 | // Returnvalue: '1' if the track segement could be started |
||
240 | //________________________________________________________________________________________________________________________________________ |
||
241 | |||
242 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
||
243 | { |
||
244 | |||
245 | u8 retvalue = 0; |
||
246 | |||
247 | if(doc->state == GPX_DOC_TRACK_OPENED) |
||
248 | { |
||
249 | if(doc->file != NULL) |
||
250 | { |
||
251 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
||
252 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
||
253 | retvalue = 1; |
||
254 | } |
||
255 | } |
||
256 | return(retvalue); |
||
257 | } |
||
258 | |||
259 | //________________________________________________________________________________________________________________________________________ |
||
260 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
||
261 | // |
||
262 | // Description: This function ends the tracksegment opened before. |
||
263 | // |
||
264 | // |
||
265 | // Returnvalue: '1' if the track segment could be terminated |
||
266 | //________________________________________________________________________________________________________________________________________ |
||
267 | |||
268 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
||
269 | { |
||
270 | |||
271 | u8 retvalue = 0; |
||
272 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
||
273 | { |
||
274 | if(doc->file != NULL) |
||
275 | { |
||
276 | doc->state = GPX_DOC_TRACK_OPENED; |
||
277 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
||
278 | retvalue = 1; |
||
279 | } |
||
280 | } |
||
281 | return(retvalue); |
||
282 | } |
||
283 | |||
284 | //________________________________________________________________________________________________________________________________________ |
||
285 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
||
286 | // |
||
287 | // Description: This function adds a pointof a track segement to the specified document. |
||
288 | // |
||
289 | // |
||
290 | // Returnvalue: '1' if a point was added |
||
291 | //________________________________________________________________________________________________________________________________________ |
||
292 | |||
345 | holgerb | 293 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
85 | killagreg | 294 | { |
295 | |||
296 | u8 retvalue = 0; |
||
530 | holgerb | 297 | s8 string[120]; |
386 | holgerb | 298 | s8 name[] = "----\0"; |
85 | killagreg | 299 | |
300 | if(doc == NULL) return(0); |
||
301 | |||
434 | holgerb | 302 | // if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
85 | killagreg | 303 | { |
304 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
||
305 | { |
||
306 | if(doc->file != NULL) |
||
307 | { |
||
86 | killagreg | 308 | s32 i32_1, i32_2; |
309 | s16 i16_1; |
||
310 | u8 u8_1, u8_2; |
||
85 | killagreg | 311 | // write <trkpt> tag |
345 | holgerb | 312 | switch(part) |
313 | { |
||
314 | case 0: |
||
380 | holgerb | 315 | Logged_GPX_Counter++; |
434 | holgerb | 316 | if(GPSData.Position.Status != INVALID) |
317 | { |
||
318 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
||
319 | else u8_1 = '+'; |
||
320 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
||
321 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
||
322 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
||
323 | fputs_(string, doc->file); |
||
324 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
||
325 | else u8_1 = '+'; |
||
326 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
||
327 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
||
328 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
||
436 | holgerb | 329 | } else sprintf(string, "<trkpt lat=\"\" lon=\"\">"); |
434 | holgerb | 330 | fputs_(string, doc->file); |
345 | holgerb | 331 | break; |
332 | case 1: |
||
85 | killagreg | 333 | // write <ele> taga |
215 | killagreg | 334 | i32_2 = GPSData.Position.Altitude - NaviData.HomePosition.Altitude; |
436 | holgerb | 335 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
86 | killagreg | 336 | if(i32_2 < 0) i32_2 = 0; // avoid negative altitudes in log |
337 | i32_1 = i32_2/1000L; |
||
338 | i32_2 = i32_2%1000L; |
||
339 | sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1, i32_2); |
||
85 | killagreg | 340 | fputs_(string, doc->file); |
341 | // write <time> tag only at a resolution of one second |
||
531 | holgerb | 342 | // sprintf(string, "<time>%04d-%02d-%02dT%02d:%02d:%02dZ</time>\r\n",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec); |
343 | 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); |
||
85 | killagreg | 344 | fputs_(string, doc->file); |
86 | killagreg | 345 | // write <sat> tag |
346 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
||
347 | fputs_(string, doc->file); |
||
94 | killagreg | 348 | // todo: add <extensions> tag with additional data to be logged |
86 | killagreg | 349 | sprintf(string, "<extensions>\r\n"); |
350 | fputs_(string, doc->file); |
||
345 | holgerb | 351 | break; |
352 | case 2: |
||
419 | holgerb | 353 | // Flight duration |
354 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
||
355 | fputs_(string, doc->file); |
||
356 | // Status of the complete MikroKopter |
||
357 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
||
358 | fputs_(string, doc->file); |
||
359 | // Flags |
||
360 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
||
361 | fputs_(string, doc->file); |
||
428 | holgerb | 362 | Logging_FCStatusFlags1 = FC.StatusFlags; |
363 | Logging_FCStatusFlags2 = FC.StatusFlags2; |
||
419 | holgerb | 364 | // NC Mode (contains the status) |
365 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
||
366 | fputs_(string, doc->file); |
||
125 | killagreg | 367 | // Altimeter according to air pressure |
436 | holgerb | 368 | sprintf(string, "<Speak>%d</Speak>\r\n",FC.FromFC_SpeakHoTT); |
369 | FC.FromFC_SpeakHoTT = 0; // can be cleared now |
||
370 | fputs_(string, doc->file); |
||
371 | // Altimeter according to air pressure |
||
338 | holgerb | 372 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter); |
126 | killagreg | 373 | fputs_(string, doc->file); |
140 | killagreg | 374 | // Variometer according to air pressure |
375 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
||
376 | fputs_(string, doc->file); |
||
345 | holgerb | 377 | break; |
378 | case 3: |
||
86 | killagreg | 379 | // Ubat |
380 | u8_1 = NaviData.UBat / 10; |
||
381 | u8_2 = NaviData.UBat % 10; |
||
382 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
||
383 | fputs_(string, doc->file); |
||
206 | killagreg | 384 | // Current |
385 | u8_1 = NaviData.Current / 10; |
||
386 | u8_2 = NaviData.Current % 10; |
||
387 | sprintf(string, "<Current>%d.%01d</Current>\r\n", u8_1, u8_2); |
||
388 | fputs_(string, doc->file); |
||
389 | // Capacity |
||
390 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
||
391 | fputs_(string, doc->file); |
||
345 | holgerb | 392 | break; |
393 | case 4: |
||
419 | holgerb | 394 | /* if(FC.RC_RSSI) |
414 | holgerb | 395 | { |
396 | sprintf(string, "<RCRSSI>%d</RCRSSI>\r\n", FC.RC_RSSI); |
||
397 | fputs_(string, doc->file); |
||
398 | } |
||
419 | holgerb | 399 | */ // Compassind deg |
86 | killagreg | 400 | i16_1 = FromFlightCtrl.GyroHeading / 10; |
510 | holgerb | 401 | sprintf(string, "<Compass>%03d,%03d,%03d,%03d</Compass>\r\n", i16_1,ToFlightCtrl.CompassHeading,CompassSetpointCorrected/10,GyroCompassCorrected/10); |
86 | killagreg | 402 | fputs_(string, doc->file); |
489 | killagreg | 403 | // magnetic field |
419 | holgerb | 404 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
405 | fputs_(string, doc->file); |
||
489 | killagreg | 406 | // magnetic inclination & error |
419 | holgerb | 407 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
408 | fputs_(string, doc->file); |
||
92 | killagreg | 409 | // Nick Angle ind deg |
531 | holgerb | 410 | i16_1 = abs(FromFlightCtrl.AngleNick); |
411 | if(FromFlightCtrl.AngleNick < 0) sprintf(string, "<NickAngle>-%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
||
412 | else sprintf(string, "<NickAngle>%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
||
86 | killagreg | 413 | fputs_(string, doc->file); |
92 | killagreg | 414 | // Roll Angle in deg |
531 | holgerb | 415 | i16_1 = abs(FromFlightCtrl.AngleRoll); |
416 | if(FromFlightCtrl.AngleRoll < 0) sprintf(string, "<RollAngle>-%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
||
417 | else sprintf(string, "<RollAngle>%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
||
86 | killagreg | 418 | fputs_(string, doc->file); |
345 | holgerb | 419 | break; |
420 | case 5: |
||
338 | holgerb | 421 | // BL Information |
530 | holgerb | 422 | switch(AmountOfMotors) |
423 | { |
||
424 | case 4: |
||
425 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3)); |
||
426 | fputs_(string, doc->file); |
||
427 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
||
428 | fputs_(string, doc->file); |
||
429 | sprintf(string, "<MotorNOK>%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt); |
||
430 | fputs_(string, doc->file); |
||
431 | break; |
||
432 | case 6: |
||
433 | 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)); |
||
434 | fputs_(string, doc->file); |
||
435 | 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); |
||
436 | fputs_(string, doc->file); |
||
437 | 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); |
||
438 | fputs_(string, doc->file); |
||
439 | break; |
||
440 | case 8: |
||
441 | 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)); |
||
442 | fputs_(string, doc->file); |
||
443 | 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); |
||
444 | fputs_(string, doc->file); |
||
445 | 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); |
||
446 | fputs_(string, doc->file); |
||
447 | break; |
||
448 | default: |
||
449 | 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)); |
||
450 | fputs_(string, doc->file); |
||
451 | 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); |
||
452 | fputs_(string, doc->file); |
||
453 | 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); |
||
454 | fputs_(string, doc->file); |
||
455 | break; |
||
456 | } |
||
345 | holgerb | 457 | break; |
458 | case 6: |
||
358 | holgerb | 459 | /* 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]); |
338 | holgerb | 460 | fputs_(string, doc->file); |
358 | holgerb | 461 | 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]); |
462 | fputs_(string, doc->file); |
||
530 | holgerb | 463 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM); |
464 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
||
358 | holgerb | 465 | fputs_(string, doc->file); |
338 | holgerb | 466 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
467 | fputs_(string, doc->file); |
||
419 | holgerb | 468 | sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]); |
469 | fputs_(string, doc->file); |
||
338 | holgerb | 470 | // Analog inputs of the NC |
471 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
||
472 | fputs_(string, doc->file); |
||
351 | holgerb | 473 | 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° |
474 | fputs_(string, doc->file); |
||
386 | holgerb | 475 | |
476 | if(GPS_pWaypoint != NULL) // if WP exist |
||
477 | { // copy that name |
||
478 | u8 i; |
||
489 | killagreg | 479 | for(i=0;i<4;i++) |
386 | holgerb | 480 | { |
481 | name[i] = GPS_pWaypoint->Name[i]; |
||
482 | if(name[i] < ' ') name[i] = ' '; |
||
483 | } |
||
484 | } |
||
421 | holgerb | 485 | 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 |
486 | LogFC_WP_EventChannel = 0; // can be cleared now |
||
351 | holgerb | 487 | fputs_(string, doc->file); |
345 | holgerb | 488 | break; |
489 | case 7: |
||
92 | killagreg | 490 | // Target Bearing in deg |
86 | killagreg | 491 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
492 | fputs_(string, doc->file); |
||
92 | killagreg | 493 | // Target Distance in dm |
86 | killagreg | 494 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
495 | fputs_(string, doc->file); |
||
419 | holgerb | 496 | // Course in deg |
497 | i16_1 = GPSData.Heading/100000L; |
||
498 | sprintf(string, "<Course>%03d</Course>\r\n", i16_1); |
||
499 | fputs_(string, doc->file); |
||
500 | // Ground Speed in cm/s |
||
501 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
||
502 | fputs_(string, doc->file); |
||
503 | // Vertical Speed in cm/s |
||
504 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
||
505 | fputs_(string, doc->file); |
||
345 | holgerb | 506 | break; |
507 | case 8: |
||
101 | holgerb | 508 | // RC Sticks as Nick/Roll/Yaw |
338 | holgerb | 509 | 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 | 510 | fputs_(string, doc->file); |
94 | killagreg | 511 | // GPS Sticks as Nick/Roll/Yaw |
419 | holgerb | 512 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, 0 ,NC_GPS_ModeCharacter); |
94 | killagreg | 513 | fputs_(string, doc->file); |
419 | holgerb | 514 | // RC Quality |
515 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
||
516 | fputs_(string, doc->file); |
||
453 | holgerb | 517 | // Navigation Update speed (in 0.1Hz) |
457 | holgerb | 518 | // sprintf(string, "<NaviUpdate>%d,%d</NaviUpdate>\r\n",FreqGpsProcessedIn5Sec,FreqNewGpsDataIn5Sec); |
519 | // fputs_(string, doc->file); |
||
86 | killagreg | 520 | // eof extensions |
521 | sprintf(string, "</extensions>\r\n"); |
||
522 | fputs_(string, doc->file); |
||
85 | killagreg | 523 | sprintf(string, "</trkpt>\r\n"); |
524 | fputs_(string, doc->file); |
||
345 | holgerb | 525 | break; |
526 | } |
||
527 | retvalue = 1; |
||
85 | killagreg | 528 | } |
529 | } |
||
530 | } |
||
531 | return(retvalue); |
||
532 | } |
||
533 | |||
534 | //________________________________________________________________________________________________________________________________________ |
||
535 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
||
536 | // |
||
537 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
||
538 | // |
||
539 | // |
||
540 | // Returnvalue: '1' if an gps coordinate was logged |
||
541 | //________________________________________________________________________________________________________________________________________ |
||
542 | |||
345 | holgerb | 543 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
85 | killagreg | 544 | { |
545 | u8 retval = 0; |
||
378 | holgerb | 546 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
85 | killagreg | 547 | { |
548 | switch(doc->state) |
||
549 | { |
||
550 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
||
324 | killagreg | 551 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
85 | killagreg | 552 | break; |
553 | |||
554 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
||
555 | retval = GPX_TrackBegin(doc); |
||
556 | break; |
||
557 | |||
558 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
||
559 | retval = GPX_TrackSegmentBegin(doc); |
||
560 | break; |
||
561 | |||
562 | default: |
||
563 | retval = 0; |
||
564 | break; |
||
565 | |||
566 | } |
||
567 | if(retval != 1) return(retval); // stop on error |
||
568 | } |
||
569 | |||
570 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
||
571 | { |
||
345 | holgerb | 572 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
85 | killagreg | 573 | } |
574 | return(retval); |
||
575 | } |
||
576 |