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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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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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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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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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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 - |
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 |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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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" |
85 | killagreg | 71 | |
72 | //________________________________________________________________________________________________________________________________________ |
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73 | // Function: GPX_DocumentInit(GPX_Document_t *) |
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74 | // |
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75 | // Description: This function initializes the gpx-document for further use. |
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76 | // |
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77 | // |
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78 | // Returnvalue: '1' if document was initialized |
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79 | //________________________________________________________________________________________________________________________________________ |
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80 | |||
81 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
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82 | { |
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83 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
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84 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
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85 | doc->file = NULL; |
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86 | return(1); |
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87 | } |
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88 | |||
89 | //________________________________________________________________________________________________________________________________________ |
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90 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
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91 | // |
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92 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
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93 | // |
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94 | // |
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95 | // Returnvalue: '1' if the gpx-file could be created. |
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96 | //________________________________________________________________________________________________________________________________________ |
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97 | |||
338 | holgerb | 98 | |
85 | killagreg | 99 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
100 | { |
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338 | holgerb | 101 | s8 string[60]; |
85 | killagreg | 102 | u8 retvalue = 0; |
103 | |||
104 | if(doc == NULL) return(0); |
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105 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
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106 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
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107 | |||
108 | if(doc->file != NULL) // could the file be opened? |
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109 | { |
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110 | retvalue = 1; // the document could be created on the drive. |
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111 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
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338 | holgerb | 112 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
339 | holgerb | 113 | sprintf(string, "<desc>FC HW:%d.%d SW:%d.%d%c + NC HW:%d.%d SW:%d.%d%c</desc>\r\n", FC_Version.Hardware/10,FC_Version.Hardware%10, FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
338 | holgerb | 114 | fputs_(string, doc->file); |
115 | fwrite_((void*)GPX_DOCUMENT_HEADER2, sizeof(GPX_DOCUMENT_HEADER2)-1,1,doc->file);// write the gpx-header to the document. |
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85 | killagreg | 116 | } |
338 | holgerb | 117 | Logging_FCStatusFlags1 = 0; |
118 | Logging_FCStatusFlags2 = 0; |
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380 | holgerb | 119 | Logged_GPX_Counter = 0; |
85 | killagreg | 120 | return(retvalue); |
121 | } |
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122 | |||
123 | //________________________________________________________________________________________________________________________________________ |
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124 | // Function: DocumentClose(GPX_Document_t *doc); |
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125 | // |
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126 | // Description: This function closes the document specified by doc. |
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127 | // |
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128 | // |
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129 | // Returnvalue: '1' if the gpx-file could be closed. |
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130 | //________________________________________________________________________________________________________________________________________ |
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131 | |||
132 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
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133 | { |
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134 | |||
135 | u8 retvalue = 1; |
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136 | |||
137 | if(doc == NULL) return(0); |
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138 | |||
378 | holgerb | 139 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
94 | killagreg | 140 | { |
85 | killagreg | 141 | switch(doc->state) |
142 | { |
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143 | case GPX_DOC_TRACKSEGMENT_OPENED: |
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144 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
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145 | break; |
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146 | |||
104 | killagreg | 147 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
85 | killagreg | 148 | GPX_TrackEnd(doc); |
149 | break; |
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150 | |||
151 | case GPX_DOC_OPENED: // close the file on the memorycard |
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152 | if(doc->file != NULL) |
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153 | { |
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154 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
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155 | fclose_(doc->file); |
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156 | retvalue = 1; |
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157 | } |
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158 | doc->state = GPX_DOC_CLOSED; |
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159 | break; |
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160 | |||
161 | default: |
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162 | doc->state = GPX_DOC_CLOSED; |
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163 | break; |
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164 | } |
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165 | } |
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166 | return(retvalue); |
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167 | } |
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168 | |||
338 | holgerb | 169 | |
170 | |||
85 | killagreg | 171 | //________________________________________________________________________________________________________________________________________ |
172 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
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173 | // |
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174 | // Description: This function adds a track to the document. |
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175 | // |
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176 | // |
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177 | // Returnvalue: '1' if the track could be opened |
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178 | //________________________________________________________________________________________________________________________________________ |
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179 | |||
180 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
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181 | { |
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182 | |||
183 | u8 retvalue = 0; |
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184 | if(doc->state == GPX_DOC_OPENED) |
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185 | { |
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186 | if(doc->file != NULL) |
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187 | { |
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188 | doc->state = GPX_DOC_TRACK_OPENED; |
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189 | retvalue = 1; |
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190 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
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191 | } |
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192 | } |
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193 | return(retvalue); |
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194 | } |
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195 | |||
338 | holgerb | 196 | |
85 | killagreg | 197 | //________________________________________________________________________________________________________________________________________ |
198 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
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199 | // |
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200 | // Description: This function ends the track opened before. |
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201 | // |
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202 | // |
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203 | // Returnvalue: 1' if the track could be closed |
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204 | //________________________________________________________________________________________________________________________________________ |
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205 | |||
206 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
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207 | { |
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208 | |||
209 | u8 retvalue = 0; |
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210 | |||
211 | if(doc->state == GPX_DOC_TRACK_OPENED) |
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212 | { |
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213 | if(doc->file != NULL) |
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214 | { |
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215 | doc->state = GPX_DOC_OPENED; |
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216 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
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217 | retvalue = 1; |
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218 | } |
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219 | } |
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220 | |||
221 | return(retvalue); |
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222 | } |
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223 | |||
224 | //________________________________________________________________________________________________________________________________________ |
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225 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
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226 | // |
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227 | // Description: This function starts a track segment. |
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228 | // |
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229 | // |
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230 | // Returnvalue: '1' if the track segement could be started |
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231 | //________________________________________________________________________________________________________________________________________ |
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232 | |||
233 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
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234 | { |
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235 | |||
236 | u8 retvalue = 0; |
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237 | |||
238 | if(doc->state == GPX_DOC_TRACK_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_TRACKSEGMENT_OPENED; |
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243 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
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244 | retvalue = 1; |
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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 | |||
250 | //________________________________________________________________________________________________________________________________________ |
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251 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
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252 | // |
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253 | // Description: This function ends the tracksegment opened before. |
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254 | // |
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255 | // |
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256 | // Returnvalue: '1' if the track segment could be terminated |
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257 | //________________________________________________________________________________________________________________________________________ |
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258 | |||
259 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
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260 | { |
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261 | |||
262 | u8 retvalue = 0; |
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263 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
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264 | { |
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265 | if(doc->file != NULL) |
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266 | { |
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267 | doc->state = GPX_DOC_TRACK_OPENED; |
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268 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
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269 | retvalue = 1; |
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270 | } |
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271 | } |
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272 | return(retvalue); |
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273 | } |
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274 | |||
275 | //________________________________________________________________________________________________________________________________________ |
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276 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
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277 | // |
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278 | // Description: This function adds a pointof a track segement to the specified document. |
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279 | // |
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280 | // |
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281 | // Returnvalue: '1' if a point was added |
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282 | //________________________________________________________________________________________________________________________________________ |
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283 | |||
345 | holgerb | 284 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
85 | killagreg | 285 | { |
286 | |||
287 | u8 retvalue = 0; |
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338 | holgerb | 288 | s8 string[100]; |
85 | killagreg | 289 | |
290 | if(doc == NULL) return(0); |
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291 | |||
215 | killagreg | 292 | if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
85 | killagreg | 293 | { |
294 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
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295 | { |
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296 | if(doc->file != NULL) |
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297 | { |
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86 | killagreg | 298 | s32 i32_1, i32_2; |
299 | s16 i16_1; |
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300 | u8 u8_1, u8_2; |
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85 | killagreg | 301 | // write <trkpt> tag |
345 | holgerb | 302 | switch(part) |
303 | { |
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304 | case 0: |
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378 | holgerb | 305 | DebugOut.Analog[19]++; |
380 | holgerb | 306 | Logged_GPX_Counter++; |
86 | killagreg | 307 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
308 | else u8_1 = '+'; |
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309 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
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310 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
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311 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
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85 | killagreg | 312 | fputs_(string, doc->file); |
86 | killagreg | 313 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
314 | else u8_1 = '+'; |
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315 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
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316 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
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317 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
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85 | killagreg | 318 | fputs_(string, doc->file); |
345 | holgerb | 319 | break; |
320 | case 1: |
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85 | killagreg | 321 | // write <ele> taga |
215 | killagreg | 322 | i32_2 = GPSData.Position.Altitude - NaviData.HomePosition.Altitude; |
86 | killagreg | 323 | if(i32_2 < 0) i32_2 = 0; // avoid negative altitudes in log |
324 | i32_1 = i32_2/1000L; |
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325 | i32_2 = i32_2%1000L; |
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326 | sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1, i32_2); |
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85 | killagreg | 327 | fputs_(string, doc->file); |
328 | // write <time> tag only at a resolution of one second |
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329 | sprintf(string, "<time>%04d-%02d-%02dT%02d:%02d:%02dZ</time>\r\n",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec); |
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330 | fputs_(string, doc->file); |
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86 | killagreg | 331 | // write <sat> tag |
332 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
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333 | fputs_(string, doc->file); |
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94 | killagreg | 334 | // todo: add <extensions> tag with additional data to be logged |
86 | killagreg | 335 | sprintf(string, "<extensions>\r\n"); |
336 | fputs_(string, doc->file); |
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345 | holgerb | 337 | break; |
338 | case 2: |
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125 | killagreg | 339 | // Altimeter according to air pressure |
338 | holgerb | 340 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter); |
126 | killagreg | 341 | fputs_(string, doc->file); |
140 | killagreg | 342 | // Variometer according to air pressure |
343 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
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344 | fputs_(string, doc->file); |
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92 | killagreg | 345 | // Course in deg |
86 | killagreg | 346 | i16_1 = GPSData.Heading/100000L; |
347 | sprintf(string, "<Course>%03d</Course>\r\n", i16_1); |
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348 | fputs_(string, doc->file); |
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92 | killagreg | 349 | // Ground Speed in cm/s |
86 | killagreg | 350 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
351 | fputs_(string, doc->file); |
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140 | killagreg | 352 | // Vertical Speed in cm/s |
353 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
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354 | fputs_(string, doc->file); |
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355 | // Flight duration |
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101 | holgerb | 356 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
357 | fputs_(string, doc->file); |
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345 | holgerb | 358 | break; |
359 | case 3: |
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86 | killagreg | 360 | // Ubat |
361 | u8_1 = NaviData.UBat / 10; |
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362 | u8_2 = NaviData.UBat % 10; |
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363 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
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364 | fputs_(string, doc->file); |
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206 | killagreg | 365 | // Current |
366 | u8_1 = NaviData.Current / 10; |
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367 | u8_2 = NaviData.Current % 10; |
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368 | sprintf(string, "<Current>%d.%01d</Current>\r\n", u8_1, u8_2); |
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369 | fputs_(string, doc->file); |
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370 | // Capacity |
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371 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
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372 | fputs_(string, doc->file); |
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86 | killagreg | 373 | // RC Quality |
374 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
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375 | fputs_(string, doc->file); |
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125 | killagreg | 376 | // RC Received Signal Strength Indication |
345 | holgerb | 377 | break; |
378 | case 4: |
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125 | killagreg | 379 | sprintf(string, "<RCRSSI>%d</RCRSSI>\r\n", FC.RC_RSSI); |
380 | fputs_(string, doc->file); |
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92 | killagreg | 381 | // Compassind deg |
86 | killagreg | 382 | i16_1 = FromFlightCtrl.GyroHeading / 10; |
338 | holgerb | 383 | sprintf(string, "<Compass>%03d,%03d</Compass>\r\n", i16_1,ToFlightCtrl.CompassHeading); |
86 | killagreg | 384 | fputs_(string, doc->file); |
92 | killagreg | 385 | // Nick Angle ind deg |
86 | killagreg | 386 | sprintf(string, "<NickAngle>%03d</NickAngle>\r\n", NaviData.AngleNick); |
387 | fputs_(string, doc->file); |
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92 | killagreg | 388 | // Roll Angle in deg |
86 | killagreg | 389 | sprintf(string, "<RollAngle>%03d</RollAngle>\r\n", NaviData.AngleRoll); |
390 | fputs_(string, doc->file); |
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345 | holgerb | 391 | break; |
392 | case 5: |
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338 | holgerb | 393 | // magnetic field |
340 | holgerb | 394 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
338 | holgerb | 395 | fputs_(string, doc->file); |
396 | // magnetic inclination & error |
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340 | holgerb | 397 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
338 | holgerb | 398 | fputs_(string, doc->file); |
399 | // BL Information |
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358 | holgerb | 400 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",Motor[0].Current,Motor[1].Current,Motor[2].Current,Motor[3].Current,Motor[4].Current,Motor[5].Current,Motor[6].Current,Motor[7].Current,Motor[8].Current,Motor[9].Current,Motor[10].Current,Motor[11].Current); |
338 | holgerb | 401 | fputs_(string, doc->file); |
358 | holgerb | 402 | 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); |
338 | holgerb | 403 | fputs_(string, doc->file); |
345 | holgerb | 404 | break; |
405 | case 6: |
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358 | holgerb | 406 | /* 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 | 407 | fputs_(string, doc->file); |
358 | holgerb | 408 | 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]); |
409 | fputs_(string, doc->file); |
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410 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",BL_MinOfMaxPWM); |
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411 | fputs_(string, doc->file); |
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338 | holgerb | 412 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
413 | fputs_(string, doc->file); |
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414 | // Analog inputs of the NC |
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415 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
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416 | fputs_(string, doc->file); |
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92 | killagreg | 417 | // NC Mode (contains the status) |
338 | holgerb | 418 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
86 | killagreg | 419 | fputs_(string, doc->file); |
351 | holgerb | 420 | 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° |
421 | fputs_(string, doc->file); |
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422 | sprintf(string, "<WP>%d,%d,%d</WP>\r\n",NaviData.WaypointIndex,NaviData.WaypointNumber,FC_WP_EventChannel); // x of y Waypoints and the actual value of the Event Channel |
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423 | fputs_(string, doc->file); |
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345 | holgerb | 424 | break; |
425 | case 7: |
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338 | holgerb | 426 | // Flags |
427 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
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428 | fputs_(string, doc->file); |
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429 | Logging_FCStatusFlags1 = 0; |
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430 | Logging_FCStatusFlags2 = 0; |
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233 | holgerb | 431 | // Status of the complete MikroKopter |
432 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
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433 | fputs_(string, doc->file); |
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92 | killagreg | 434 | // Target Bearing in deg |
86 | killagreg | 435 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
436 | fputs_(string, doc->file); |
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92 | killagreg | 437 | // Target Distance in dm |
86 | killagreg | 438 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
439 | fputs_(string, doc->file); |
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345 | holgerb | 440 | break; |
441 | case 8: |
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101 | holgerb | 442 | // RC Sticks as Nick/Roll/Yaw |
338 | holgerb | 443 | 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 | 444 | fputs_(string, doc->file); |
94 | killagreg | 445 | // GPS Sticks as Nick/Roll/Yaw |
338 | holgerb | 446 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, ToFlightCtrl.GPSStick.Yaw,NC_GPS_ModeCharacter); |
94 | killagreg | 447 | fputs_(string, doc->file); |
86 | killagreg | 448 | // eof extensions |
449 | sprintf(string, "</extensions>\r\n"); |
||
450 | fputs_(string, doc->file); |
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85 | killagreg | 451 | sprintf(string, "</trkpt>\r\n"); |
452 | fputs_(string, doc->file); |
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345 | holgerb | 453 | break; |
454 | } |
||
455 | retvalue = 1; |
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85 | killagreg | 456 | } |
457 | } |
||
458 | } |
||
459 | return(retvalue); |
||
460 | } |
||
461 | |||
462 | //________________________________________________________________________________________________________________________________________ |
||
463 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
||
464 | // |
||
465 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
||
466 | // |
||
467 | // |
||
468 | // Returnvalue: '1' if an gps coordinate was logged |
||
469 | //________________________________________________________________________________________________________________________________________ |
||
470 | |||
345 | holgerb | 471 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
85 | killagreg | 472 | { |
473 | u8 retval = 0; |
||
378 | holgerb | 474 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
85 | killagreg | 475 | { |
476 | switch(doc->state) |
||
477 | { |
||
478 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
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324 | killagreg | 479 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
85 | killagreg | 480 | break; |
481 | |||
482 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
||
483 | retval = GPX_TrackBegin(doc); |
||
484 | break; |
||
485 | |||
486 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
||
487 | retval = GPX_TrackSegmentBegin(doc); |
||
488 | break; |
||
489 | |||
490 | default: |
||
491 | retval = 0; |
||
492 | break; |
||
493 | |||
494 | } |
||
495 | if(retval != 1) return(retval); // stop on error |
||
496 | } |
||
497 | |||
498 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
||
499 | { |
||
345 | holgerb | 500 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
85 | killagreg | 501 | } |
502 | return(retval); |
||
503 | } |
||
504 |