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