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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" |
582 | holgerb | 72 | #include "uart0.h" |
676 | holgerb | 73 | #include "settings.h" |
720 | ingob | 74 | #include "crc16.h" |
792 | holgerb | 75 | #include "camctrl.h" |
85 | killagreg | 76 | |
720 | ingob | 77 | |
78 | u16 Check16File; |
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79 | u16 Check16Block; |
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80 | |||
85 | killagreg | 81 | //________________________________________________________________________________________________________________________________________ |
82 | // Function: GPX_DocumentInit(GPX_Document_t *) |
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83 | // |
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84 | // Description: This function initializes the gpx-document for further use. |
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85 | // |
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86 | // |
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87 | // Returnvalue: '1' if document was initialized |
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88 | //________________________________________________________________________________________________________________________________________ |
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89 | |||
90 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
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91 | { |
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92 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
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93 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
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94 | doc->file = NULL; |
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95 | return(1); |
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96 | } |
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97 | |||
720 | ingob | 98 | |
99 | |||
100 | u16 CheckSumAndWrite(u16 *checksum, s8 * const string, File_t * const file) |
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101 | { |
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102 | u8 i=0; |
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103 | while(string[i] != 0) |
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104 | { |
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105 | *checksum = CRC16x(*checksum, string[i]); |
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106 | i++; |
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107 | } |
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108 | |||
109 | return fputs_(string, file); // write to SD scard |
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110 | |||
111 | |||
112 | } |
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113 | |||
85 | killagreg | 114 | //________________________________________________________________________________________________________________________________________ |
115 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
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116 | // |
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117 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
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118 | // |
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119 | // |
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120 | // Returnvalue: '1' if the gpx-file could be created. |
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121 | //________________________________________________________________________________________________________________________________________ |
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122 | |||
338 | holgerb | 123 | |
85 | killagreg | 124 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
125 | { |
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532 | holgerb | 126 | s8 string[200]; |
85 | killagreg | 127 | u8 retvalue = 0; |
530 | holgerb | 128 | u8 BLv = 1; |
676 | holgerb | 129 | u16 gps_receive_config; |
532 | holgerb | 130 | LicenseS_t *tmp_license; |
131 | tmp_license = (LicenseS_t *) LicensePtr; |
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85 | killagreg | 132 | |
720 | ingob | 133 | Check16File = 0x55AA; |
134 | |||
85 | killagreg | 135 | if(doc == NULL) return(0); |
136 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
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137 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
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138 | |||
530 | holgerb | 139 | if(Motor_Version[0] & MOTOR_STATE_BL30) BLv = 3; |
140 | else if(Motor_Version[0] & MOTOR_STATE_NEW_PROTOCOL_MASK) BLv = 2; |
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141 | |||
85 | killagreg | 142 | if(doc->file != NULL) // could the file be opened? |
143 | { |
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144 | retvalue = 1; // the document could be created on the drive. |
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145 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
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338 | holgerb | 146 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
548 | holgerb | 147 | 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); |
779 | holgerb | 148 | // desc is der Start der Checksummenberechnung |
720 | ingob | 149 | CheckSumAndWrite(&Check16File,string, doc->file); |
150 | if(SimulationFlags) { sprintf(string, " SIMULATED"); CheckSumAndWrite(&Check16File,string, doc->file);}; |
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614 | holgerb | 151 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) sprintf(string, " (Redundant)</desc>\r\n"); |
530 | holgerb | 152 | else sprintf(string, "</desc>\r\n"); |
720 | ingob | 153 | CheckSumAndWrite(&Check16File,string, doc->file); |
779 | holgerb | 154 | if(OEM_String[0] == 255) |
155 | { |
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156 | sprintf(string, "<link href=\"http://www.mikrokopter.de\">\r\n<text>MikroKopter</text>\r\n</link>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
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157 | } |
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720 | ingob | 158 | sprintf(string, "<extensions>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
159 | sprintf(string, "<MK_Time>%imin</MK_Time>\r\n",FlugMinutenGesamt);CheckSumAndWrite(&Check16File,string, doc->file); |
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676 | holgerb | 160 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
720 | ingob | 161 | sprintf(string, "<GpsVersion>%d.%03d</GpsVersion>\r\n",GPS_Version/1000,GPS_Version%1000);CheckSumAndWrite(&Check16File,string, doc->file); |
676 | holgerb | 162 | if(GPS_Version >= 3000) |
163 | { |
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164 | Settings_GetParamValue(PID_GPS_SYSTEM_CFG,&gps_receive_config); |
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165 | sprintf(string, "<GNSS_System>%d</GNSS_System>\r\n",gps_receive_config); |
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720 | ingob | 166 | CheckSumAndWrite(&Check16File,string, doc->file); |
676 | holgerb | 167 | } |
587 | holgerb | 168 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
720 | ingob | 169 | sprintf(string, "<License>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
532 | holgerb | 170 | if(tmp_license->User[0] != 0) |
171 | { |
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720 | ingob | 172 | sprintf(string, "<name>%s</name>\r\n",tmp_license->User); CheckSumAndWrite(&Check16File,string, doc->file); |
173 | sprintf(string, "<email>%s</email>\r\n",tmp_license->eMail); CheckSumAndWrite(&Check16File,string, doc->file); |
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764 | holgerb | 174 | if(OEM_String[0] != 255) {sprintf(string, "<manufacturer>%s</manufacturer>\r\n",OEM_String); CheckSumAndWrite(&Check16File,string, doc->file);} |
175 | else {sprintf(string, "<manufacturer>HiSystems GmbH</manufacturer>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file);} |
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720 | ingob | 176 | sprintf(string, "<features>%s</features>\r\n",tmp_license->Feature); CheckSumAndWrite(&Check16File,string, doc->file); |
177 | sprintf(string, "<expires>%s</expires>\r\n",tmp_license->Expire);CheckSumAndWrite(&Check16File,string, doc->file); |
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532 | holgerb | 178 | } |
179 | else |
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180 | { |
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720 | ingob | 181 | sprintf(string, "<info>No License installed</info>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
532 | holgerb | 182 | } |
720 | ingob | 183 | sprintf(string, "</License>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
587 | holgerb | 184 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
720 | ingob | 185 | sprintf(string, "<settings>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
186 | sprintf(string, "<Number>%i,%s</Number>\r\n",Parameter.ActiveSetting,EE_Parameter.Name);CheckSumAndWrite(&Check16File,string, doc->file); |
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587 | holgerb | 187 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
188 | // Reciever Type |
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720 | ingob | 189 | sprintf(string, "<Receiver>");CheckSumAndWrite(&Check16File,string, doc->file); |
587 | holgerb | 190 | switch(Parameter.ReceiverType) |
191 | { |
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192 | case RECEIVER_PPM: sprintf(string, "PPM"); break; |
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193 | case RECEIVER_SPEKTRUM: sprintf(string, "SPEKTRUM"); break; |
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194 | case RECEIVER_SPEKTRUM_HI_RES: sprintf(string, "SPEKTRUM_HI_RES"); break; |
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195 | case RECEIVER_SPEKTRUM_LOW_RES: sprintf(string, "SPEKTRUM_LOW_RES"); break; |
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196 | case RECEIVER_JETI: sprintf(string, "JETI"); break; |
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197 | case RECEIVER_ACT_DSL: sprintf(string, "ACT_DSL"); break; |
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198 | case RECEIVER_HOTT: sprintf(string, "HOTT"); break; |
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199 | case RECEIVER_SBUS: sprintf(string, "SBUS"); break; |
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200 | case RECEIVER_USER: sprintf(string, "USER"); break; |
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201 | default: sprintf(string, "? %d",Parameter.ReceiverType); break; |
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202 | } |
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720 | ingob | 203 | CheckSumAndWrite(&Check16File,string, doc->file); |
204 | sprintf(string, "</Receiver>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
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587 | holgerb | 205 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
720 | ingob | 206 | if(FC.FromFC_CompassOffset > 30) {sprintf(string, "<CompassOffset>%i !</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);CheckSumAndWrite(&Check16File,string, doc->file);} |
207 | else {sprintf(string, "<CompassOffset>%i</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);CheckSumAndWrite(&Check16File,string, doc->file);} |
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208 | sprintf(string, "<FCOrientation>%i</FCOrientation>\r\n",Parameter.OrientationAngle*15);CheckSumAndWrite(&Check16File,string, doc->file); |
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209 | sprintf(string, "<GeoMag>%i.%1d</GeoMag>\r\n",GeoMagDec/10,abs(GeoMagDec)%10);CheckSumAndWrite(&Check16File,string, doc->file); |
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210 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw);CheckSumAndWrite(&Check16File,string, doc->file); |
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211 | sprintf(string, "<Kalibr.>%d,%d,%d</Kalibr.>\r\n", FC.BoatNeutralNick,FC.BoatNeutralRoll,FC.BoatNeutralYaw);CheckSumAndWrite(&Check16File,string, doc->file); |
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212 | if((FC.StatusFlags3 & FC_STATUS3_BOAT)) {sprintf(string, "<BoatMode>On</BoatMode>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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213 | if(Parameter.Driftkomp) {sprintf(string, "<DriftComp>%i</DriftComp>\r\n",Parameter.Driftkomp);CheckSumAndWrite(&Check16File,string, doc->file);}; |
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779 | holgerb | 214 | sprintf(string, "<BaroKompens.>%i</BaroKompens.>\r\n",LuftdruckTemperaturKompensation);CheckSumAndWrite(&Check16File,string, doc->file); |
215 | sprintf(string, "<FcTemperat.>%i.%1i</FcTemperat.>\r\n",FC_Temperatur/10,abs(FC_Temperatur)%10);CheckSumAndWrite(&Check16File,string, doc->file); |
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587 | holgerb | 216 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
217 | // Magnetometer |
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686 | holgerb | 218 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) sprintf(string, "<MagSensor>external2,(%i),",NCMAG_Orientation); |
219 | else if(NCMAG_Compass_use_Orientation) sprintf(string, "<MagSensor>external1,(%i),",NCMAG_Orientation); |
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587 | holgerb | 220 | else sprintf(string, "<MagSensor>internal,"); |
686 | holgerb | 221 | |
720 | ingob | 222 | CheckSumAndWrite(&Check16File,string, doc->file); |
587 | holgerb | 223 | switch(NCMAG_SensorType) |
224 | { |
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225 | case TYPE_HMC5843: sprintf(string, "HMC"); break; |
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226 | case TYPE_LSM303DLH: sprintf(string, "DLH"); break; |
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227 | case TYPE_LSM303DLM: sprintf(string, "DLM"); break; |
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592 | holgerb | 228 | case TYPE_LSM303D: sprintf(string, "D"); break; |
587 | holgerb | 229 | default: sprintf(string, "? %d",NCMAG_SensorType); break; |
230 | } |
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720 | ingob | 231 | CheckSumAndWrite(&Check16File,string, doc->file); |
232 | sprintf(string, "</MagSensor>\r\n");CheckSumAndWrite(&Check16File,string, doc->file); |
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587 | holgerb | 233 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
720 | ingob | 234 | sprintf(string, "<FailSafeTime>%d</FailSafeTime>\r\n",Parameter.FailSafeTime);CheckSumAndWrite(&Check16File,string, doc->file); |
787 | holgerb | 235 | sprintf(string, "<WP_Radius>%d</WP_Radius>\r\n",MaxWP_Radius_in_m);CheckSumAndWrite(&Check16File,string, doc->file); |
236 | |||
720 | ingob | 237 | if(AbsoluteFlyingAltitude) {sprintf(string, "<MaxAltitude>%i</MaxAltitude>\r\n",AbsoluteFlyingAltitude);CheckSumAndWrite(&Check16File,string, doc->file);} |
238 | if(AbsoluteFlyingRange_m) {sprintf(string, "<FlyRange>%i</FlyRange>\r\n",AbsoluteFlyingRange_m);CheckSumAndWrite(&Check16File,string, doc->file);} |
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239 | if(AutoDescendRange_m) {sprintf(string, "<Descend>%i</Descend>\r\n",AutoDescendRange_m);CheckSumAndWrite(&Check16File,string, doc->file);}; |
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548 | holgerb | 240 | |
720 | ingob | 241 | if((Parameter.GlobalConfig & FC_CFG_HEADING_HOLD)) {sprintf(string, "<HeadingHold>ON!</HeadingHold>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
242 | if((Parameter.GlobalConfig & FC_CFG_KOMPASS_FIX)) {sprintf(string, "<KompassFixedValue>ON!</KompassFixedValue>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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243 | if((Parameter.GlobalConfig & FC_CFG_DREHRATEN_BEGRENZER)) {sprintf(string, "<RotationRateLimiter>ON!</RotationRateLimiter>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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244 | if(!(Parameter.GlobalConfig & FC_CFG_ACHSENKOPPLUNG_AKTIV)) {sprintf(string, "<AxisCoupling>OFF!</AxisCoupling>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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245 | if(!(Parameter.GlobalConfig & FC_CFG_KOMPASS_AKTIV)) {sprintf(string, "<CompassActive>OFF!</CompassActive>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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246 | if((Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)) {sprintf(string, "<VarioFailsafe>On</VarioFailsafe>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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247 | if((Parameter.ExtraConfig & CFG_3_3V_REFERENCE)) {sprintf(string, "<3.3V_Reference>On</3.3V_Reference>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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248 | if((Parameter.ExtraConfig & CFG_IGNORE_MAG_ERR_AT_STARTUP)) {sprintf(string, "<IgnoreMagnetError>ON!</IgnoreMagnetError>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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249 | if(FC.FromFC_DisableDeclination) {sprintf(string, "<DisableDeclinationCalc>ON!</DisableDeclinationCalc>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
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548 | holgerb | 250 | |
761 | holgerb | 251 | if(IO1_Function == IO1FUNC_PARACHUTE) {sprintf(string, "<IO1Function>Parachute!</IO1Function>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
252 | |||
720 | ingob | 253 | sprintf(string, "<Bytes>%02x,%02x,%02x</Bytes>\r\n",Parameter.GlobalConfig,Parameter.ExtraConfig,Parameter.GlobalConfig3);CheckSumAndWrite(&Check16File,string, doc->file); |
254 | sprintf(string, "</settings>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
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255 | sprintf(string, "</extensions>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
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532 | holgerb | 256 | fwrite_((void*)GPX_DOCUMENT_METADATA_END, sizeof(GPX_DOCUMENT_METADATA_END)-1,1,doc->file);// write the gpx-header to the document. |
720 | ingob | 257 | |
85 | killagreg | 258 | } |
338 | holgerb | 259 | Logging_FCStatusFlags1 = 0; |
260 | Logging_FCStatusFlags2 = 0; |
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380 | holgerb | 261 | Logged_GPX_Counter = 0; |
436 | holgerb | 262 | LogFC_WP_EventChannel = 0; |
530 | holgerb | 263 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
720 | ingob | 264 | |
265 | Check16Block = Check16File; // init. value for first block |
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266 | |||
85 | killagreg | 267 | return(retvalue); |
268 | } |
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269 | |||
270 | //________________________________________________________________________________________________________________________________________ |
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271 | // Function: DocumentClose(GPX_Document_t *doc); |
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272 | // |
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273 | // Description: This function closes the document specified by doc. |
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274 | // |
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275 | // |
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276 | // Returnvalue: '1' if the gpx-file could be closed. |
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277 | //________________________________________________________________________________________________________________________________________ |
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278 | |||
279 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
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280 | { |
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281 | |||
282 | u8 retvalue = 1; |
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720 | ingob | 283 | s8 string[50]; |
85 | killagreg | 284 | |
285 | if(doc == NULL) return(0); |
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286 | |||
378 | holgerb | 287 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
94 | killagreg | 288 | { |
85 | killagreg | 289 | switch(doc->state) |
290 | { |
||
291 | case GPX_DOC_TRACKSEGMENT_OPENED: |
||
292 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
||
293 | break; |
||
294 | |||
104 | killagreg | 295 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
85 | killagreg | 296 | GPX_TrackEnd(doc); |
297 | break; |
||
298 | |||
299 | case GPX_DOC_OPENED: // close the file on the memorycard |
||
300 | if(doc->file != NULL) |
||
301 | { |
||
777 | holgerb | 302 | sprintf(string, "<!-- FcTemperature:%d.%1d -->\r\n",FC_Temperatur/10,abs(FC_Temperatur)%10); |
303 | fputs_(string, doc->file); |
||
304 | |||
720 | ingob | 305 | sprintf(string, "<!-- %d -->\r\n", Check16File); |
306 | fputs_(string, doc->file); |
||
85 | killagreg | 307 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
777 | holgerb | 308 | |
85 | killagreg | 309 | fclose_(doc->file); |
310 | retvalue = 1; |
||
311 | } |
||
312 | doc->state = GPX_DOC_CLOSED; |
||
313 | break; |
||
314 | |||
315 | default: |
||
316 | doc->state = GPX_DOC_CLOSED; |
||
317 | break; |
||
318 | } |
||
319 | } |
||
320 | return(retvalue); |
||
321 | } |
||
322 | |||
338 | holgerb | 323 | |
324 | |||
85 | killagreg | 325 | //________________________________________________________________________________________________________________________________________ |
326 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
||
327 | // |
||
328 | // Description: This function adds a track to the document. |
||
329 | // |
||
330 | // |
||
331 | // Returnvalue: '1' if the track could be opened |
||
332 | //________________________________________________________________________________________________________________________________________ |
||
333 | |||
334 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
||
335 | { |
||
336 | |||
337 | u8 retvalue = 0; |
||
338 | if(doc->state == GPX_DOC_OPENED) |
||
339 | { |
||
340 | if(doc->file != NULL) |
||
341 | { |
||
342 | doc->state = GPX_DOC_TRACK_OPENED; |
||
343 | retvalue = 1; |
||
344 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
||
345 | } |
||
346 | } |
||
347 | return(retvalue); |
||
348 | } |
||
349 | |||
338 | holgerb | 350 | |
85 | killagreg | 351 | //________________________________________________________________________________________________________________________________________ |
352 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
||
353 | // |
||
354 | // Description: This function ends the track opened before. |
||
355 | // |
||
356 | // |
||
357 | // Returnvalue: 1' if the track could be closed |
||
358 | //________________________________________________________________________________________________________________________________________ |
||
359 | |||
360 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
||
361 | { |
||
362 | |||
363 | u8 retvalue = 0; |
||
364 | |||
365 | if(doc->state == GPX_DOC_TRACK_OPENED) |
||
366 | { |
||
367 | if(doc->file != NULL) |
||
368 | { |
||
369 | doc->state = GPX_DOC_OPENED; |
||
370 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
||
371 | retvalue = 1; |
||
372 | } |
||
373 | } |
||
374 | |||
375 | return(retvalue); |
||
376 | } |
||
377 | |||
378 | //________________________________________________________________________________________________________________________________________ |
||
379 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
||
380 | // |
||
381 | // Description: This function starts a track segment. |
||
382 | // |
||
383 | // |
||
384 | // Returnvalue: '1' if the track segement could be started |
||
385 | //________________________________________________________________________________________________________________________________________ |
||
386 | |||
387 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
||
388 | { |
||
389 | |||
390 | u8 retvalue = 0; |
||
391 | |||
392 | if(doc->state == GPX_DOC_TRACK_OPENED) |
||
393 | { |
||
394 | if(doc->file != NULL) |
||
395 | { |
||
396 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
||
397 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
||
398 | retvalue = 1; |
||
399 | } |
||
400 | } |
||
401 | return(retvalue); |
||
402 | } |
||
403 | |||
404 | //________________________________________________________________________________________________________________________________________ |
||
405 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
||
406 | // |
||
407 | // Description: This function ends the tracksegment opened before. |
||
408 | // |
||
409 | // |
||
410 | // Returnvalue: '1' if the track segment could be terminated |
||
411 | //________________________________________________________________________________________________________________________________________ |
||
412 | |||
413 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
||
414 | { |
||
415 | |||
416 | u8 retvalue = 0; |
||
417 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
||
418 | { |
||
419 | if(doc->file != NULL) |
||
420 | { |
||
421 | doc->state = GPX_DOC_TRACK_OPENED; |
||
422 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
||
423 | retvalue = 1; |
||
424 | } |
||
425 | } |
||
426 | return(retvalue); |
||
427 | } |
||
428 | |||
429 | //________________________________________________________________________________________________________________________________________ |
||
430 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
||
431 | // |
||
432 | // Description: This function adds a pointof a track segement to the specified document. |
||
433 | // |
||
434 | // |
||
435 | // Returnvalue: '1' if a point was added |
||
436 | //________________________________________________________________________________________________________________________________________ |
||
437 | |||
345 | holgerb | 438 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
85 | killagreg | 439 | { |
440 | |||
441 | u8 retvalue = 0; |
||
633 | holgerb | 442 | static u8 LastLoggedFlags2 = 0; |
709 | holgerb | 443 | s8 string[150]; |
386 | holgerb | 444 | s8 name[] = "----\0"; |
720 | ingob | 445 | |
446 | |||
85 | killagreg | 447 | |
448 | if(doc == NULL) return(0); |
||
449 | |||
434 | holgerb | 450 | // if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
85 | killagreg | 451 | { |
452 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
||
453 | { |
||
454 | if(doc->file != NULL) |
||
455 | { |
||
553 | holgerb | 456 | static s32 altitude; // store to make sure they are all recorded in one timestamp |
86 | killagreg | 457 | s32 i32_1, i32_2; |
458 | s16 i16_1; |
||
459 | u8 u8_1, u8_2; |
||
85 | killagreg | 460 | // write <trkpt> tag |
345 | holgerb | 461 | switch(part) |
462 | { |
||
463 | case 0: |
||
380 | holgerb | 464 | Logged_GPX_Counter++; |
434 | holgerb | 465 | if(GPSData.Position.Status != INVALID) |
466 | { |
||
467 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
||
468 | else u8_1 = '+'; |
||
469 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
||
470 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
||
471 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
||
720 | ingob | 472 | CheckSumAndWrite(&Check16Block,string, doc->file); |
434 | holgerb | 473 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
474 | else u8_1 = '+'; |
||
475 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
||
476 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
||
477 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
||
436 | holgerb | 478 | } else sprintf(string, "<trkpt lat=\"\" lon=\"\">"); |
720 | ingob | 479 | CheckSumAndWrite(&Check16Block,string, doc->file); |
553 | holgerb | 480 | altitude = GPSData.Position.Altitude; |
345 | holgerb | 481 | break; |
482 | case 1: |
||
547 | holgerb | 483 | // write <ele> tag |
553 | holgerb | 484 | i32_2 = altitude - NaviData.HomePosition.Altitude; |
436 | holgerb | 485 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
86 | killagreg | 486 | i32_1 = i32_2/1000L; |
487 | i32_2 = i32_2%1000L; |
||
573 | holgerb | 488 | if(altitude - NaviData.HomePosition.Altitude < 0) sprintf(string,"<ele>-%ld.%03ld</ele>\r\n",labs(i32_1),labs(i32_2)); |
553 | holgerb | 489 | else sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1,i32_2); |
720 | ingob | 490 | CheckSumAndWrite(&Check16Block,string, doc->file); |
553 | holgerb | 491 | // write <time> tag only at a resolution of 1/100 second |
531 | holgerb | 492 | 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); |
720 | ingob | 493 | CheckSumAndWrite(&Check16Block,string, doc->file); |
86 | killagreg | 494 | // write <sat> tag |
495 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
||
720 | ingob | 496 | CheckSumAndWrite(&Check16Block,string, doc->file); |
94 | killagreg | 497 | // todo: add <extensions> tag with additional data to be logged |
86 | killagreg | 498 | sprintf(string, "<extensions>\r\n"); |
720 | ingob | 499 | CheckSumAndWrite(&Check16Block,string, doc->file); |
345 | holgerb | 500 | break; |
501 | case 2: |
||
419 | holgerb | 502 | // Flight duration |
503 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
||
720 | ingob | 504 | CheckSumAndWrite(&Check16Block,string, doc->file); |
419 | holgerb | 505 | // Status of the complete MikroKopter |
506 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
||
720 | ingob | 507 | CheckSumAndWrite(&Check16Block,string, doc->file); |
419 | holgerb | 508 | // Flags |
633 | holgerb | 509 | if(LastLoggedFlags2 & FC_STATUS2_OUT1_ACTIVE && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) Logging_FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // to avoid that the OUT-Flags are longer high than required |
510 | if(LastLoggedFlags2 & FC_STATUS2_OUT2_ACTIVE && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) Logging_FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
||
419 | holgerb | 511 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
720 | ingob | 512 | CheckSumAndWrite(&Check16Block,string, doc->file); |
633 | holgerb | 513 | LastLoggedFlags2 = Logging_FCStatusFlags2; |
428 | holgerb | 514 | Logging_FCStatusFlags1 = FC.StatusFlags; |
515 | Logging_FCStatusFlags2 = FC.StatusFlags2; |
||
419 | holgerb | 516 | // NC Mode (contains the status) |
517 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
||
720 | ingob | 518 | CheckSumAndWrite(&Check16Block,string, doc->file); |
125 | killagreg | 519 | // Altimeter according to air pressure |
436 | holgerb | 520 | sprintf(string, "<Speak>%d</Speak>\r\n",FC.FromFC_SpeakHoTT); |
521 | FC.FromFC_SpeakHoTT = 0; // can be cleared now |
||
720 | ingob | 522 | CheckSumAndWrite(&Check16Block,string, doc->file); |
436 | holgerb | 523 | // Altimeter according to air pressure |
739 | holgerb | 524 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter_5cm,FromFC_VarioCharacter); |
720 | ingob | 525 | CheckSumAndWrite(&Check16Block,string, doc->file); |
140 | killagreg | 526 | // Variometer according to air pressure |
527 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
||
720 | ingob | 528 | CheckSumAndWrite(&Check16Block,string, doc->file); |
345 | holgerb | 529 | break; |
530 | case 3: |
||
86 | killagreg | 531 | // Ubat |
593 | holgerb | 532 | u8_1 = FC.BAT_Voltage / 10; |
533 | u8_2 = FC.BAT_Voltage % 10; |
||
86 | killagreg | 534 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
720 | ingob | 535 | CheckSumAndWrite(&Check16Block,string, doc->file); |
206 | killagreg | 536 | // Current |
566 | holgerb | 537 | sprintf(string, "<Current>%d.%01d</Current>\r\n", NaviData.Current / 10, NaviData.Current % 10); |
720 | ingob | 538 | CheckSumAndWrite(&Check16Block,string, doc->file); |
206 | killagreg | 539 | // Capacity |
540 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
||
720 | ingob | 541 | CheckSumAndWrite(&Check16Block,string, doc->file); |
345 | holgerb | 542 | break; |
543 | case 4: |
||
557 | holgerb | 544 | // Compass in deg |
587 | holgerb | 545 | if(SimulationFlags) sprintf(string, "<Compass>%03d,%03d,%03d.%1d,%03d.0</Compass>\r\n",SimulatedDirection,SimulatedDirection,CompassSetpointCorrected/10,CompassSetpointCorrected%10,SimulatedDirection); |
546 | else sprintf(string, "<Compass>%03d,%03d,%03d.%1d,%03d.%1d</Compass>\r\n",FromFlightCtrl.GyroHeading/10,ToFlightCtrl.CompassHeading,CompassSetpointCorrected/10,CompassSetpointCorrected%10,GyroCompassCorrected/10,GyroCompassCorrected%10); |
||
720 | ingob | 547 | CheckSumAndWrite(&Check16Block,string, doc->file); |
489 | killagreg | 548 | // magnetic field |
419 | holgerb | 549 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
720 | ingob | 550 | CheckSumAndWrite(&Check16Block,string, doc->file); |
489 | killagreg | 551 | // magnetic inclination & error |
419 | holgerb | 552 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
720 | ingob | 553 | CheckSumAndWrite(&Check16Block,string, doc->file); |
92 | killagreg | 554 | // Nick Angle ind deg |
531 | holgerb | 555 | i16_1 = abs(FromFlightCtrl.AngleNick); |
556 | if(FromFlightCtrl.AngleNick < 0) sprintf(string, "<NickAngle>-%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
||
557 | else sprintf(string, "<NickAngle>%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
||
720 | ingob | 558 | CheckSumAndWrite(&Check16Block,string, doc->file); |
92 | killagreg | 559 | // Roll Angle in deg |
531 | holgerb | 560 | i16_1 = abs(FromFlightCtrl.AngleRoll); |
561 | if(FromFlightCtrl.AngleRoll < 0) sprintf(string, "<RollAngle>-%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
||
562 | else sprintf(string, "<RollAngle>%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
||
720 | ingob | 563 | CheckSumAndWrite(&Check16Block,string, doc->file); |
345 | holgerb | 564 | break; |
565 | case 5: |
||
338 | holgerb | 566 | // BL Information |
530 | holgerb | 567 | switch(AmountOfMotors) |
568 | { |
||
569 | case 4: |
||
570 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3)); |
||
720 | ingob | 571 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 572 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
720 | ingob | 573 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 574 | sprintf(string, "<MotorNOK>%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt); |
720 | ingob | 575 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 576 | break; |
577 | case 6: |
||
578 | 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)); |
||
720 | ingob | 579 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 580 | 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); |
720 | ingob | 581 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 582 | 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); |
720 | ingob | 583 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 584 | break; |
585 | case 8: |
||
586 | 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)); |
||
720 | ingob | 587 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 588 | 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); |
720 | ingob | 589 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 590 | 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); |
720 | ingob | 591 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 592 | break; |
603 | holgerb | 593 | case 10: |
594 | case 12: |
||
530 | holgerb | 595 | 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)); |
720 | ingob | 596 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 597 | 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); |
720 | ingob | 598 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 599 | 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); |
720 | ingob | 600 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 601 | break; |
603 | holgerb | 602 | default: |
639 | holgerb | 603 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3),BL3_Current(4),BL3_Current(5),BL3_Current(6),BL3_Current(7),BL3_Current(8),BL3_Current(9),BL3_Current(10),BL3_Current(11),BL3_Current(12),BL3_Current(13),BL3_Current(14),BL3_Current(15)); |
720 | ingob | 604 | CheckSumAndWrite(&Check16Block,string, doc->file); |
603 | holgerb | 605 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature,Motor[4].Temperature,Motor[5].Temperature,Motor[6].Temperature,Motor[7].Temperature,Motor[8].Temperature,Motor[9].Temperature,Motor[10].Temperature,Motor[11].Temperature,Motor[12].Temperature,Motor[13].Temperature,Motor[14].Temperature,Motor[15].Temperature); |
720 | ingob | 606 | CheckSumAndWrite(&Check16Block,string, doc->file); |
603 | holgerb | 607 | sprintf(string, "<MotorNOK>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt,Motor[4].NotReadyCnt,Motor[5].NotReadyCnt,Motor[6].NotReadyCnt,Motor[7].NotReadyCnt,Motor[8].NotReadyCnt,Motor[9].NotReadyCnt,Motor[10].NotReadyCnt,Motor[11].NotReadyCnt,Motor[12].NotReadyCnt,Motor[13].NotReadyCnt,Motor[14].NotReadyCnt,Motor[15].NotReadyCnt); |
720 | ingob | 608 | CheckSumAndWrite(&Check16Block,string, doc->file); |
603 | holgerb | 609 | break; |
530 | holgerb | 610 | } |
345 | holgerb | 611 | break; |
612 | case 6: |
||
358 | holgerb | 613 | /* 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]); |
720 | ingob | 614 | CheckSumAndWrite(&Check16Block,string, doc->file); |
358 | holgerb | 615 | 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]); |
720 | ingob | 616 | CheckSumAndWrite(&Check16Block,string, doc->file); |
530 | holgerb | 617 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM); |
618 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
||
720 | ingob | 619 | CheckSumAndWrite(&Check16Block,string, doc->file); |
581 | holgerb | 620 | |
621 | // Gas values |
||
622 | if(LoggingGasCnt > 1) LoggingGasFilter = LoggingGasFilter / LoggingGasCnt; |
||
612 | holgerb | 623 | sprintf(string, "<Gas>%03d,%03d</Gas>\r\n",(u16)LoggingGasFilter,HoverGas); |
581 | holgerb | 624 | LoggingGasCnt = 0; |
625 | |||
720 | ingob | 626 | CheckSumAndWrite(&Check16Block,string, doc->file); |
338 | holgerb | 627 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
720 | ingob | 628 | CheckSumAndWrite(&Check16Block,string, doc->file); |
419 | holgerb | 629 | sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]); |
720 | ingob | 630 | CheckSumAndWrite(&Check16Block,string, doc->file); |
338 | holgerb | 631 | // Analog inputs of the NC |
632 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
||
720 | ingob | 633 | CheckSumAndWrite(&Check16Block,string, doc->file); |
351 | holgerb | 634 | 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° |
720 | ingob | 635 | CheckSumAndWrite(&Check16Block,string, doc->file); |
386 | holgerb | 636 | |
614 | holgerb | 637 | if(NC_GPS_ModeCharacter == 'F') // Failsafe Point is active |
638 | { |
||
639 | sprintf(string, "<WP>FAIL,%d,%d,%d</WP>\r\n",NaviData.WaypointIndex,NaviData.WaypointNumber,LogFC_WP_EventChannel); // x of y Waypoints and the actual value of the Event Channel |
||
640 | LogFC_WP_EventChannel = 0; |
||
641 | } |
||
642 | else |
||
643 | { |
||
386 | holgerb | 644 | if(GPS_pWaypoint != NULL) // if WP exist |
645 | { // copy that name |
||
646 | u8 i; |
||
489 | killagreg | 647 | for(i=0;i<4;i++) |
386 | holgerb | 648 | { |
649 | name[i] = GPS_pWaypoint->Name[i]; |
||
650 | if(name[i] < ' ') name[i] = ' '; |
||
651 | } |
||
652 | } |
||
421 | holgerb | 653 | 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 |
654 | LogFC_WP_EventChannel = 0; // can be cleared now |
||
614 | holgerb | 655 | } |
720 | ingob | 656 | CheckSumAndWrite(&Check16Block,string, doc->file); |
614 | holgerb | 657 | |
603 | holgerb | 658 | sprintf(string, "<ShutterCnt>%d</ShutterCnt>\r\n",NaviData_Volatile.ShutterCounter); |
659 | LogFC_WP_EventChannel = 0; // can be cleared now |
||
720 | ingob | 660 | CheckSumAndWrite(&Check16Block,string, doc->file); |
345 | holgerb | 661 | break; |
662 | case 7: |
||
92 | killagreg | 663 | // Target Bearing in deg |
86 | killagreg | 664 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
720 | ingob | 665 | CheckSumAndWrite(&Check16Block,string, doc->file); |
92 | killagreg | 666 | // Target Distance in dm |
735 | holgerb | 667 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance_dm); |
720 | ingob | 668 | CheckSumAndWrite(&Check16Block,string, doc->file); |
419 | holgerb | 669 | // Course in deg |
566 | holgerb | 670 | sprintf(string, "<Course>%03d</Course>\r\n", NaviData.Heading); |
720 | ingob | 671 | CheckSumAndWrite(&Check16Block,string, doc->file); |
419 | holgerb | 672 | // Ground Speed in cm/s |
673 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
||
720 | ingob | 674 | CheckSumAndWrite(&Check16Block,string, doc->file); |
419 | holgerb | 675 | // Vertical Speed in cm/s |
676 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
||
720 | ingob | 677 | CheckSumAndWrite(&Check16Block,string, doc->file); |
101 | holgerb | 678 | // RC Sticks as Nick/Roll/Yaw |
338 | holgerb | 679 | 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]); |
720 | ingob | 680 | CheckSumAndWrite(&Check16Block,string, doc->file); |
94 | killagreg | 681 | // GPS Sticks as Nick/Roll/Yaw |
419 | holgerb | 682 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, 0 ,NC_GPS_ModeCharacter); |
720 | ingob | 683 | CheckSumAndWrite(&Check16Block,string, doc->file); |
419 | holgerb | 684 | // RC Quality |
685 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
||
720 | ingob | 686 | CheckSumAndWrite(&Check16Block,string, doc->file); |
581 | holgerb | 687 | // raw GPS altitude |
688 | i32_2 = altitude; |
||
689 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
||
690 | i32_1 = i32_2/1000L; |
||
691 | i32_2 = i32_2%1000L; |
||
692 | if(altitude < 0) sprintf(string,"<ele_raw>-%ld.%03ld</ele_raw>\r\n",labs(i32_1),labs(i32_2)); |
||
693 | else sprintf(string,"<ele_raw>%ld.%03ld</ele_raw>\r\n",i32_1,i32_2); |
||
720 | ingob | 694 | CheckSumAndWrite(&Check16Block,string, doc->file); |
581 | holgerb | 695 | break; |
696 | case 8: |
||
574 | holgerb | 697 | // Drift compensation |
698 | /* |
||
573 | holgerb | 699 | if(Parameter.Driftkomp) |
700 | { |
||
701 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw); |
||
720 | ingob | 702 | CheckSumAndWrite(&Check16Block,string, doc->file); |
573 | holgerb | 703 | } |
574 | holgerb | 704 | */ |
705 | // Navigation Update speed (in 0.1Hz) |
||
661 | holgerb | 706 | sprintf(string, "<GPSInfo>%d,%d,%d</GPSInfo>\r\n",FreqNewGpsData,GPSData.Flags,GPSData.SatFix); // FreqGpsNavProcessed |
720 | ingob | 707 | CheckSumAndWrite(&Check16Block,string, doc->file); |
777 | holgerb | 708 | |
792 | holgerb | 709 | if(FromLaserCtrl.LaserStatus) |
710 | { |
||
711 | sprintf(string, "<Laser>%d.%02d</Laser>\r\n",FromLaserCtrl.Distance/100,abs(FromLaserCtrl.Distance)%100); // FreqGpsNavProcessed |
||
712 | CheckSumAndWrite(&Check16Block,string, doc->file); |
||
713 | } |
||
714 | |||
777 | holgerb | 715 | // sprintf(string, "<FCTemperat>%d</FCTemperat>\r\n",FC_Temperatur); |
716 | // CheckSumAndWrite(&Check16Block,string, doc->file); |
||
717 | |||
86 | killagreg | 718 | // eof extensions |
719 | sprintf(string, "</extensions>\r\n"); |
||
720 | ingob | 720 | CheckSumAndWrite(&Check16Block,string, doc->file); |
85 | killagreg | 721 | sprintf(string, "</trkpt>\r\n"); |
720 | ingob | 722 | CheckSumAndWrite(&Check16Block,string, doc->file); |
723 | |||
724 | sprintf(string, "<!-- %d -->\r\n", Check16Block); |
||
85 | killagreg | 725 | fputs_(string, doc->file); |
720 | ingob | 726 | |
727 | Check16File += Check16Block; |
||
728 | |||
729 | |||
345 | holgerb | 730 | break; |
731 | } |
||
732 | retvalue = 1; |
||
85 | killagreg | 733 | } |
734 | } |
||
735 | } |
||
736 | return(retvalue); |
||
737 | } |
||
738 | |||
739 | //________________________________________________________________________________________________________________________________________ |
||
740 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
||
741 | // |
||
742 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
||
743 | // |
||
744 | // |
||
745 | // Returnvalue: '1' if an gps coordinate was logged |
||
746 | //________________________________________________________________________________________________________________________________________ |
||
747 | |||
345 | holgerb | 748 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
85 | killagreg | 749 | { |
750 | u8 retval = 0; |
||
378 | holgerb | 751 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
85 | killagreg | 752 | { |
753 | switch(doc->state) |
||
754 | { |
||
755 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
||
324 | killagreg | 756 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
85 | killagreg | 757 | break; |
758 | |||
759 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
||
760 | retval = GPX_TrackBegin(doc); |
||
761 | break; |
||
762 | |||
763 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
||
764 | retval = GPX_TrackSegmentBegin(doc); |
||
765 | break; |
||
766 | |||
767 | default: |
||
768 | retval = 0; |
||
769 | break; |
||
770 | |||
771 | } |
||
772 | if(retval != 1) return(retval); // stop on error |
||
773 | } |
||
774 | |||
775 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
||
776 | { |
||
345 | holgerb | 777 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
85 | killagreg | 778 | } |
779 | return(retval); |
||
780 | } |
||
781 |