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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 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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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. |
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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. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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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. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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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. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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85 | killagreg | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <stdlib.h> |
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57 | #include <stdio.h> |
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58 | #include "91x_lib.h" |
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59 | #include "gpx.h" |
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60 | #include "gpx_header.h" |
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119 | killagreg | 61 | #include "timer1.h" |
86 | killagreg | 62 | #include "spi_slave.h" |
63 | #include "main.h" |
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64 | #include "uart1.h" |
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338 | holgerb | 65 | #include "compass.h" |
66 | #include "analog.h" |
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67 | #include "main.h" |
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68 | #include "led.h" |
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351 | holgerb | 69 | #include "timer2.h" |
380 | holgerb | 70 | #include "logging.h" |
532 | holgerb | 71 | #include "ncmag.h" |
85 | killagreg | 72 | |
73 | //________________________________________________________________________________________________________________________________________ |
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74 | // Function: GPX_DocumentInit(GPX_Document_t *) |
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75 | // |
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76 | // Description: This function initializes the gpx-document for further use. |
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77 | // |
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78 | // |
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79 | // Returnvalue: '1' if document was initialized |
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80 | //________________________________________________________________________________________________________________________________________ |
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81 | |||
82 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
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83 | { |
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84 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
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85 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
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86 | doc->file = NULL; |
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87 | return(1); |
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88 | } |
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89 | |||
90 | //________________________________________________________________________________________________________________________________________ |
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91 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
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92 | // |
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93 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
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94 | // |
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95 | // |
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96 | // Returnvalue: '1' if the gpx-file could be created. |
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97 | //________________________________________________________________________________________________________________________________________ |
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98 | |||
338 | holgerb | 99 | |
85 | killagreg | 100 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
101 | { |
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532 | holgerb | 102 | s8 string[200]; |
85 | killagreg | 103 | u8 retvalue = 0; |
530 | holgerb | 104 | u8 BLv = 1; |
532 | holgerb | 105 | LicenseS_t *tmp_license; |
106 | tmp_license = (LicenseS_t *) LicensePtr; |
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85 | killagreg | 107 | |
108 | if(doc == NULL) return(0); |
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109 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
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110 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
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111 | |||
530 | holgerb | 112 | if(Motor_Version[0] & MOTOR_STATE_BL30) BLv = 3; |
113 | else if(Motor_Version[0] & MOTOR_STATE_NEW_PROTOCOL_MASK) BLv = 2; |
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114 | |||
85 | killagreg | 115 | if(doc->file != NULL) // could the file be opened? |
116 | { |
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117 | retvalue = 1; // the document could be created on the drive. |
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118 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
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338 | holgerb | 119 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
548 | holgerb | 120 | 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); |
338 | holgerb | 121 | fputs_(string, doc->file); |
557 | holgerb | 122 | if(SimulationFlags) { sprintf(string, " SIMULATED"); fputs_(string, doc->file);}; |
530 | holgerb | 123 | if(FC.RedundanceBlOperation) sprintf(string, " (Redundant)</desc>\r\n"); |
124 | else sprintf(string, "</desc>\r\n"); |
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125 | fputs_(string, doc->file); |
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532 | holgerb | 126 | sprintf(string, "<extensions>\r\n"); fputs_(string, doc->file); |
127 | sprintf(string, "<MK_Time>%imin</MK_Time>\r\n",FlugMinutenGesamt);fputs_(string, doc->file); |
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128 | sprintf(string, "<License>\r\n"); fputs_(string, doc->file); |
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129 | if(tmp_license->User[0] != 0) |
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130 | { |
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131 | sprintf(string, "<name>%s</name>\r\n",tmp_license->User); fputs_(string, doc->file); |
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132 | sprintf(string, "<email>%s</email>\r\n",tmp_license->eMail); fputs_(string, doc->file); |
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133 | sprintf(string, "<features>%s</features>\r\n",tmp_license->Feature); fputs_(string, doc->file); |
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134 | sprintf(string, "<expires>%s</expires>\r\n",tmp_license->Expire);fputs_(string, doc->file); |
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135 | } |
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136 | else |
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137 | { |
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138 | sprintf(string, "<info>No License installed</info>\r\n"); fputs_(string, doc->file); |
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139 | } |
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140 | sprintf(string, "</License>\r\n"); fputs_(string, doc->file); |
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141 | sprintf(string, "<settings>\r\n"); fputs_(string, doc->file); |
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142 | sprintf(string, "<Number>%i</Number>\r\n",Parameter.ActiveSetting);fputs_(string, doc->file); |
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143 | sprintf(string, "<CompassOffset>%i</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);fputs_(string, doc->file); |
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144 | sprintf(string, "<FCOrientation>%i</FCOrientation>\r\n",Parameter.OrientationAngle*15);fputs_(string, doc->file); |
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145 | sprintf(string, "<GeoMag>%i</GeoMag>\r\n",GeoMagDec/10);fputs_(string, doc->file); |
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146 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) sprintf(string, "<MagSensor>external (%i)</MagSensor>\r\n",NCMAG_Orientation); |
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147 | else sprintf(string, "<MagSensor>internal</MagSensor>\r\n");fputs_(string, doc->file); |
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148 | if(AbsoluteFlyingAltitude) {sprintf(string, "<MaxAltitude>%i</MaxAltitude>\r\n",AbsoluteFlyingAltitude);fputs_(string, doc->file);} |
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149 | if(AbsoluteFlyingRange_m) {sprintf(string, "<FlyRange>%i</FlyRange>\r\n",AbsoluteFlyingRange_m);fputs_(string, doc->file);} |
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150 | if(AutoDescendRange_m) {sprintf(string, "<Descend>%i</Descend>\r\n",AutoDescendRange_m);fputs_(string, doc->file);}; |
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548 | holgerb | 151 | |
152 | |||
153 | if((Parameter.GlobalConfig & FC_CFG_HEADING_HOLD)) {sprintf(string, "<HeadingHold>ON!</HeadingHold>\r\n");fputs_(string, doc->file);} |
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154 | if((Parameter.GlobalConfig & FC_CFG_KOMPASS_FIX)) {sprintf(string, "<KompassFixedValue>ON!</KompassFixedValue>\r\n");fputs_(string, doc->file);} |
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155 | if((Parameter.GlobalConfig & FC_CFG_DREHRATEN_BEGRENZER)) {sprintf(string, "<RotationRateLimiter>ON!</RotationRateLimiter>\r\n");fputs_(string, doc->file);} |
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156 | if(!(Parameter.GlobalConfig & FC_CFG_ACHSENKOPPLUNG_AKTIV)) {sprintf(string, "<AxisCoupling>OFF!</AxisCoupling>\r\n");fputs_(string, doc->file);} |
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157 | if(!(Parameter.GlobalConfig & FC_CFG_KOMPASS_AKTIV)) {sprintf(string, "<KompassActive>OFF!</KompassActive>\r\n");fputs_(string, doc->file);} |
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158 | if((Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)) {sprintf(string, "<VarioFailsafe>On</VarioFailsafe>\r\n");fputs_(string, doc->file);} |
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159 | if((Parameter.ExtraConfig & CFG_3_3V_REFERENCE)) {sprintf(string, "<3.3V_Reference>On</3.3V_Reference>\r\n");fputs_(string, doc->file);} |
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160 | if((Parameter.ExtraConfig & CFG_IGNORE_MAG_ERR_AT_STARTUP)) {sprintf(string, "<IgnoreMagnetError>ON!</IgnoreMagnetError>\r\n");fputs_(string, doc->file);} |
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161 | |||
162 | |||
532 | holgerb | 163 | sprintf(string, "<Bytes>%02x,%02x,%02x</Bytes>\r\n",Parameter.GlobalConfig,Parameter.ExtraConfig,Parameter.GlobalConfig3);fputs_(string, doc->file); |
164 | sprintf(string, "</settings>\r\n"); fputs_(string, doc->file); |
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165 | sprintf(string, "</extensions>\r\n"); fputs_(string, doc->file); |
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166 | |||
167 | fwrite_((void*)GPX_DOCUMENT_METADATA_END, sizeof(GPX_DOCUMENT_METADATA_END)-1,1,doc->file);// write the gpx-header to the document. |
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85 | killagreg | 168 | } |
338 | holgerb | 169 | Logging_FCStatusFlags1 = 0; |
170 | Logging_FCStatusFlags2 = 0; |
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380 | holgerb | 171 | Logged_GPX_Counter = 0; |
436 | holgerb | 172 | LogFC_WP_EventChannel = 0; |
530 | holgerb | 173 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
85 | killagreg | 174 | return(retvalue); |
175 | } |
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176 | |||
177 | //________________________________________________________________________________________________________________________________________ |
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178 | // Function: DocumentClose(GPX_Document_t *doc); |
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179 | // |
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180 | // Description: This function closes the document specified by doc. |
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181 | // |
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182 | // |
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183 | // Returnvalue: '1' if the gpx-file could be closed. |
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184 | //________________________________________________________________________________________________________________________________________ |
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185 | |||
186 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
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187 | { |
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188 | |||
189 | u8 retvalue = 1; |
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190 | |||
191 | if(doc == NULL) return(0); |
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192 | |||
378 | holgerb | 193 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
94 | killagreg | 194 | { |
85 | killagreg | 195 | switch(doc->state) |
196 | { |
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197 | case GPX_DOC_TRACKSEGMENT_OPENED: |
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198 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
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199 | break; |
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200 | |||
104 | killagreg | 201 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
85 | killagreg | 202 | GPX_TrackEnd(doc); |
203 | break; |
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204 | |||
205 | case GPX_DOC_OPENED: // close the file on the memorycard |
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206 | if(doc->file != NULL) |
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207 | { |
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208 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
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209 | fclose_(doc->file); |
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210 | retvalue = 1; |
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211 | } |
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212 | doc->state = GPX_DOC_CLOSED; |
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213 | break; |
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214 | |||
215 | default: |
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216 | doc->state = GPX_DOC_CLOSED; |
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217 | break; |
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218 | } |
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219 | } |
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220 | return(retvalue); |
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221 | } |
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222 | |||
338 | holgerb | 223 | |
224 | |||
85 | killagreg | 225 | //________________________________________________________________________________________________________________________________________ |
226 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
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227 | // |
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228 | // Description: This function adds a track to the document. |
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229 | // |
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230 | // |
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231 | // Returnvalue: '1' if the track could be opened |
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232 | //________________________________________________________________________________________________________________________________________ |
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233 | |||
234 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
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235 | { |
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236 | |||
237 | u8 retvalue = 0; |
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238 | if(doc->state == GPX_DOC_OPENED) |
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239 | { |
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240 | if(doc->file != NULL) |
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241 | { |
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242 | doc->state = GPX_DOC_TRACK_OPENED; |
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243 | retvalue = 1; |
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244 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
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245 | } |
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246 | } |
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247 | return(retvalue); |
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248 | } |
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249 | |||
338 | holgerb | 250 | |
85 | killagreg | 251 | //________________________________________________________________________________________________________________________________________ |
252 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
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253 | // |
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254 | // Description: This function ends the track opened before. |
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255 | // |
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256 | // |
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257 | // Returnvalue: 1' if the track could be closed |
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258 | //________________________________________________________________________________________________________________________________________ |
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259 | |||
260 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
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261 | { |
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262 | |||
263 | u8 retvalue = 0; |
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264 | |||
265 | if(doc->state == GPX_DOC_TRACK_OPENED) |
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266 | { |
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267 | if(doc->file != NULL) |
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268 | { |
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269 | doc->state = GPX_DOC_OPENED; |
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270 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
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271 | retvalue = 1; |
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272 | } |
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273 | } |
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274 | |||
275 | return(retvalue); |
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276 | } |
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277 | |||
278 | //________________________________________________________________________________________________________________________________________ |
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279 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
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280 | // |
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281 | // Description: This function starts a track segment. |
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282 | // |
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283 | // |
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284 | // Returnvalue: '1' if the track segement could be started |
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285 | //________________________________________________________________________________________________________________________________________ |
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286 | |||
287 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
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288 | { |
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289 | |||
290 | u8 retvalue = 0; |
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291 | |||
292 | if(doc->state == GPX_DOC_TRACK_OPENED) |
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293 | { |
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294 | if(doc->file != NULL) |
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295 | { |
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296 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
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297 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
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298 | retvalue = 1; |
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299 | } |
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300 | } |
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301 | return(retvalue); |
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302 | } |
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303 | |||
304 | //________________________________________________________________________________________________________________________________________ |
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305 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
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306 | // |
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307 | // Description: This function ends the tracksegment opened before. |
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308 | // |
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309 | // |
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310 | // Returnvalue: '1' if the track segment could be terminated |
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311 | //________________________________________________________________________________________________________________________________________ |
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312 | |||
313 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
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314 | { |
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315 | |||
316 | u8 retvalue = 0; |
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317 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
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318 | { |
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319 | if(doc->file != NULL) |
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320 | { |
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321 | doc->state = GPX_DOC_TRACK_OPENED; |
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322 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
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323 | retvalue = 1; |
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324 | } |
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325 | } |
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326 | return(retvalue); |
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327 | } |
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328 | |||
329 | //________________________________________________________________________________________________________________________________________ |
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330 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
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331 | // |
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332 | // Description: This function adds a pointof a track segement to the specified document. |
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333 | // |
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334 | // |
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335 | // Returnvalue: '1' if a point was added |
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336 | //________________________________________________________________________________________________________________________________________ |
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337 | |||
345 | holgerb | 338 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
85 | killagreg | 339 | { |
340 | |||
341 | u8 retvalue = 0; |
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530 | holgerb | 342 | s8 string[120]; |
386 | holgerb | 343 | s8 name[] = "----\0"; |
85 | killagreg | 344 | |
345 | if(doc == NULL) return(0); |
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346 | |||
434 | holgerb | 347 | // if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
85 | killagreg | 348 | { |
349 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
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350 | { |
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351 | if(doc->file != NULL) |
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352 | { |
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553 | holgerb | 353 | static s32 altitude; // store to make sure they are all recorded in one timestamp |
86 | killagreg | 354 | s32 i32_1, i32_2; |
355 | s16 i16_1; |
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356 | u8 u8_1, u8_2; |
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85 | killagreg | 357 | // write <trkpt> tag |
345 | holgerb | 358 | switch(part) |
359 | { |
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360 | case 0: |
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380 | holgerb | 361 | Logged_GPX_Counter++; |
434 | holgerb | 362 | if(GPSData.Position.Status != INVALID) |
363 | { |
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364 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
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365 | else u8_1 = '+'; |
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366 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
||
367 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
||
368 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
||
369 | fputs_(string, doc->file); |
||
370 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
||
371 | else u8_1 = '+'; |
||
372 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
||
373 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
||
374 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
||
436 | holgerb | 375 | } else sprintf(string, "<trkpt lat=\"\" lon=\"\">"); |
434 | holgerb | 376 | fputs_(string, doc->file); |
553 | holgerb | 377 | altitude = GPSData.Position.Altitude; |
345 | holgerb | 378 | break; |
379 | case 1: |
||
547 | holgerb | 380 | // write <ele> tag |
553 | holgerb | 381 | i32_2 = altitude - NaviData.HomePosition.Altitude; |
436 | holgerb | 382 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
86 | killagreg | 383 | i32_1 = i32_2/1000L; |
384 | i32_2 = i32_2%1000L; |
||
553 | holgerb | 385 | if(altitude - NaviData.HomePosition.Altitude < 0) sprintf(string,"<ele>-%ld.%03ld</ele>\r\n",abs(i32_1),abs(i32_2)); |
386 | else sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1,i32_2); |
||
85 | killagreg | 387 | fputs_(string, doc->file); |
553 | holgerb | 388 | // write <time> tag only at a resolution of 1/100 second |
531 | holgerb | 389 | 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 | 390 | fputs_(string, doc->file); |
86 | killagreg | 391 | // write <sat> tag |
392 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
||
393 | fputs_(string, doc->file); |
||
94 | killagreg | 394 | // todo: add <extensions> tag with additional data to be logged |
86 | killagreg | 395 | sprintf(string, "<extensions>\r\n"); |
396 | fputs_(string, doc->file); |
||
345 | holgerb | 397 | break; |
398 | case 2: |
||
419 | holgerb | 399 | // Flight duration |
400 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
||
401 | fputs_(string, doc->file); |
||
402 | // Status of the complete MikroKopter |
||
403 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
||
404 | fputs_(string, doc->file); |
||
405 | // Flags |
||
406 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
||
407 | fputs_(string, doc->file); |
||
428 | holgerb | 408 | Logging_FCStatusFlags1 = FC.StatusFlags; |
409 | Logging_FCStatusFlags2 = FC.StatusFlags2; |
||
419 | holgerb | 410 | // NC Mode (contains the status) |
411 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
||
412 | fputs_(string, doc->file); |
||
125 | killagreg | 413 | // Altimeter according to air pressure |
436 | holgerb | 414 | sprintf(string, "<Speak>%d</Speak>\r\n",FC.FromFC_SpeakHoTT); |
415 | FC.FromFC_SpeakHoTT = 0; // can be cleared now |
||
416 | fputs_(string, doc->file); |
||
417 | // Altimeter according to air pressure |
||
338 | holgerb | 418 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter); |
126 | killagreg | 419 | fputs_(string, doc->file); |
140 | killagreg | 420 | // Variometer according to air pressure |
421 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
||
422 | fputs_(string, doc->file); |
||
345 | holgerb | 423 | break; |
424 | case 3: |
||
86 | killagreg | 425 | // Ubat |
426 | u8_1 = NaviData.UBat / 10; |
||
427 | u8_2 = NaviData.UBat % 10; |
||
428 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
||
429 | fputs_(string, doc->file); |
||
206 | killagreg | 430 | // Current |
431 | u8_1 = NaviData.Current / 10; |
||
432 | u8_2 = NaviData.Current % 10; |
||
433 | sprintf(string, "<Current>%d.%01d</Current>\r\n", u8_1, u8_2); |
||
434 | fputs_(string, doc->file); |
||
435 | // Capacity |
||
436 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
||
437 | fputs_(string, doc->file); |
||
345 | holgerb | 438 | break; |
439 | case 4: |
||
557 | holgerb | 440 | // Compass in deg |
441 | if(SimulationFlags) sprintf(string, "<Compass>%03d,%03d,%03d,%03d</Compass>\r\n",SimulatedDirection,SimulatedDirection,CompassSetpointCorrected/10,SimulatedDirection); |
||
442 | else sprintf(string, "<Compass>%03d,%03d,%03d,%03d</Compass>\r\n",FromFlightCtrl.GyroHeading/10,ToFlightCtrl.CompassHeading,CompassSetpointCorrected/10,GyroCompassCorrected/10); |
||
86 | killagreg | 443 | fputs_(string, doc->file); |
489 | killagreg | 444 | // magnetic field |
419 | holgerb | 445 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
446 | fputs_(string, doc->file); |
||
489 | killagreg | 447 | // magnetic inclination & error |
419 | holgerb | 448 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
449 | fputs_(string, doc->file); |
||
92 | killagreg | 450 | // Nick Angle ind deg |
531 | holgerb | 451 | i16_1 = abs(FromFlightCtrl.AngleNick); |
452 | if(FromFlightCtrl.AngleNick < 0) sprintf(string, "<NickAngle>-%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
||
453 | else sprintf(string, "<NickAngle>%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
||
86 | killagreg | 454 | fputs_(string, doc->file); |
92 | killagreg | 455 | // Roll Angle in deg |
531 | holgerb | 456 | i16_1 = abs(FromFlightCtrl.AngleRoll); |
457 | if(FromFlightCtrl.AngleRoll < 0) sprintf(string, "<RollAngle>-%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
||
458 | else sprintf(string, "<RollAngle>%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
||
86 | killagreg | 459 | fputs_(string, doc->file); |
345 | holgerb | 460 | break; |
461 | case 5: |
||
338 | holgerb | 462 | // BL Information |
530 | holgerb | 463 | switch(AmountOfMotors) |
464 | { |
||
465 | case 4: |
||
466 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3)); |
||
467 | fputs_(string, doc->file); |
||
468 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
||
469 | fputs_(string, doc->file); |
||
470 | sprintf(string, "<MotorNOK>%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt); |
||
471 | fputs_(string, doc->file); |
||
472 | break; |
||
473 | case 6: |
||
474 | 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)); |
||
475 | fputs_(string, doc->file); |
||
476 | 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); |
||
477 | fputs_(string, doc->file); |
||
478 | 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); |
||
479 | fputs_(string, doc->file); |
||
480 | break; |
||
481 | case 8: |
||
482 | 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)); |
||
483 | fputs_(string, doc->file); |
||
484 | 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); |
||
485 | fputs_(string, doc->file); |
||
486 | 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); |
||
487 | fputs_(string, doc->file); |
||
488 | break; |
||
489 | default: |
||
490 | 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)); |
||
491 | fputs_(string, doc->file); |
||
492 | 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); |
||
493 | fputs_(string, doc->file); |
||
494 | 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); |
||
495 | fputs_(string, doc->file); |
||
496 | break; |
||
497 | } |
||
345 | holgerb | 498 | break; |
499 | case 6: |
||
358 | holgerb | 500 | /* 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 | 501 | fputs_(string, doc->file); |
358 | holgerb | 502 | 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]); |
503 | fputs_(string, doc->file); |
||
530 | holgerb | 504 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM); |
505 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
||
358 | holgerb | 506 | fputs_(string, doc->file); |
338 | holgerb | 507 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
508 | fputs_(string, doc->file); |
||
419 | holgerb | 509 | sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]); |
510 | fputs_(string, doc->file); |
||
338 | holgerb | 511 | // Analog inputs of the NC |
512 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
||
513 | fputs_(string, doc->file); |
||
351 | holgerb | 514 | 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° |
515 | fputs_(string, doc->file); |
||
386 | holgerb | 516 | |
517 | if(GPS_pWaypoint != NULL) // if WP exist |
||
518 | { // copy that name |
||
519 | u8 i; |
||
489 | killagreg | 520 | for(i=0;i<4;i++) |
386 | holgerb | 521 | { |
522 | name[i] = GPS_pWaypoint->Name[i]; |
||
523 | if(name[i] < ' ') name[i] = ' '; |
||
524 | } |
||
525 | } |
||
421 | holgerb | 526 | 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 |
527 | LogFC_WP_EventChannel = 0; // can be cleared now |
||
351 | holgerb | 528 | fputs_(string, doc->file); |
345 | holgerb | 529 | break; |
530 | case 7: |
||
92 | killagreg | 531 | // Target Bearing in deg |
86 | killagreg | 532 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
533 | fputs_(string, doc->file); |
||
92 | killagreg | 534 | // Target Distance in dm |
86 | killagreg | 535 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
536 | fputs_(string, doc->file); |
||
419 | holgerb | 537 | // Course in deg |
538 | i16_1 = GPSData.Heading/100000L; |
||
539 | sprintf(string, "<Course>%03d</Course>\r\n", i16_1); |
||
540 | fputs_(string, doc->file); |
||
541 | // Ground Speed in cm/s |
||
542 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
||
543 | fputs_(string, doc->file); |
||
544 | // Vertical Speed in cm/s |
||
545 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
||
546 | fputs_(string, doc->file); |
||
345 | holgerb | 547 | break; |
548 | case 8: |
||
101 | holgerb | 549 | // RC Sticks as Nick/Roll/Yaw |
338 | holgerb | 550 | 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 | 551 | fputs_(string, doc->file); |
94 | killagreg | 552 | // GPS Sticks as Nick/Roll/Yaw |
419 | holgerb | 553 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, 0 ,NC_GPS_ModeCharacter); |
94 | killagreg | 554 | fputs_(string, doc->file); |
419 | holgerb | 555 | // RC Quality |
556 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
||
557 | fputs_(string, doc->file); |
||
453 | holgerb | 558 | // Navigation Update speed (in 0.1Hz) |
457 | holgerb | 559 | // sprintf(string, "<NaviUpdate>%d,%d</NaviUpdate>\r\n",FreqGpsProcessedIn5Sec,FreqNewGpsDataIn5Sec); |
560 | // fputs_(string, doc->file); |
||
86 | killagreg | 561 | // eof extensions |
553 | holgerb | 562 | i32_2 = altitude; |
547 | holgerb | 563 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
564 | i32_1 = i32_2/1000L; |
||
565 | i32_2 = i32_2%1000L; |
||
553 | holgerb | 566 | if(altitude < 0) sprintf(string,"<ele_raw>-%ld.%03ld</ele_raw>\r\n",abs(i32_1),abs(i32_2)); |
567 | else sprintf(string,"<ele_raw>%ld.%03ld</ele_raw>\r\n",i32_1,i32_2); |
||
547 | holgerb | 568 | fputs_(string, doc->file); |
569 | |||
86 | killagreg | 570 | sprintf(string, "</extensions>\r\n"); |
571 | fputs_(string, doc->file); |
||
85 | killagreg | 572 | sprintf(string, "</trkpt>\r\n"); |
573 | fputs_(string, doc->file); |
||
345 | holgerb | 574 | break; |
575 | } |
||
576 | retvalue = 1; |
||
85 | killagreg | 577 | } |
578 | } |
||
579 | } |
||
580 | return(retvalue); |
||
581 | } |
||
582 | |||
583 | //________________________________________________________________________________________________________________________________________ |
||
584 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
||
585 | // |
||
586 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
||
587 | // |
||
588 | // |
||
589 | // Returnvalue: '1' if an gps coordinate was logged |
||
590 | //________________________________________________________________________________________________________________________________________ |
||
591 | |||
345 | holgerb | 592 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
85 | killagreg | 593 | { |
594 | u8 retval = 0; |
||
378 | holgerb | 595 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
85 | killagreg | 596 | { |
597 | switch(doc->state) |
||
598 | { |
||
599 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
||
324 | killagreg | 600 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
85 | killagreg | 601 | break; |
602 | |||
603 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
||
604 | retval = GPX_TrackBegin(doc); |
||
605 | break; |
||
606 | |||
607 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
||
608 | retval = GPX_TrackSegmentBegin(doc); |
||
609 | break; |
||
610 | |||
611 | default: |
||
612 | retval = 0; |
||
613 | break; |
||
614 | |||
615 | } |
||
616 | if(retval != 1) return(retval); // stop on error |
||
617 | } |
||
618 | |||
619 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
||
620 | { |
||
345 | holgerb | 621 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
85 | killagreg | 622 | } |
623 | return(retval); |
||
624 | } |
||
625 |