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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 | 71 | ||
| 71 | //________________________________________________________________________________________________________________________________________ |
72 | //________________________________________________________________________________________________________________________________________ |
| 72 | // Function: GPX_DocumentInit(GPX_Document_t *) |
73 | // Function: GPX_DocumentInit(GPX_Document_t *) |
| 73 | // |
74 | // |
| 74 | // Description: This function initializes the gpx-document for further use. |
75 | // Description: This function initializes the gpx-document for further use. |
| 75 | // |
76 | // |
| 76 | // |
77 | // |
| 77 | // Returnvalue: '1' if document was initialized |
78 | // Returnvalue: '1' if document was initialized |
| 78 | //________________________________________________________________________________________________________________________________________ |
79 | //________________________________________________________________________________________________________________________________________ |
| 79 | 80 | ||
| 80 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
81 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
| 81 | { |
82 | { |
| 82 | 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 |
| 83 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
84 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
| 84 | doc->file = NULL; |
85 | doc->file = NULL; |
| 85 | return(1); |
86 | return(1); |
| 86 | } |
87 | } |
| 87 | 88 | ||
| 88 | //________________________________________________________________________________________________________________________________________ |
89 | //________________________________________________________________________________________________________________________________________ |
| 89 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
90 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
| 90 | // |
91 | // |
| 91 | // 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. |
| 92 | // |
93 | // |
| 93 | // |
94 | // |
| 94 | // Returnvalue: '1' if the gpx-file could be created. |
95 | // Returnvalue: '1' if the gpx-file could be created. |
| 95 | //________________________________________________________________________________________________________________________________________ |
96 | //________________________________________________________________________________________________________________________________________ |
| 96 | 97 | ||
| 97 | 98 | ||
| 98 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
99 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
| 99 | { |
100 | { |
| 100 | s8 string[60]; |
101 | s8 string[60]; |
| 101 | u8 retvalue = 0; |
102 | u8 retvalue = 0; |
| 102 | 103 | ||
| 103 | if(doc == NULL) return(0); |
104 | if(doc == NULL) return(0); |
| 104 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
105 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
| 105 | 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. |
| 106 | 107 | ||
| 107 | if(doc->file != NULL) // could the file be opened? |
108 | if(doc->file != NULL) // could the file be opened? |
| 108 | { |
109 | { |
| 109 | retvalue = 1; // the document could be created on the drive. |
110 | retvalue = 1; // the document could be created on the drive. |
| 110 | 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. |
| 111 | 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. |
| 112 | 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); |
| 113 | fputs_(string, doc->file); |
114 | fputs_(string, doc->file); |
| 114 | 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. |
| 115 | } |
116 | } |
| 116 | Logging_FCStatusFlags1 = 0; |
117 | Logging_FCStatusFlags1 = 0; |
| 117 | Logging_FCStatusFlags2 = 0; |
118 | Logging_FCStatusFlags2 = 0; |
| - | 119 | Logged_GPX_Counter = 0; |
|
| 118 | return(retvalue); |
120 | return(retvalue); |
| 119 | } |
121 | } |
| 120 | 122 | ||
| 121 | //________________________________________________________________________________________________________________________________________ |
123 | //________________________________________________________________________________________________________________________________________ |
| 122 | // Function: DocumentClose(GPX_Document_t *doc); |
124 | // Function: DocumentClose(GPX_Document_t *doc); |
| 123 | // |
125 | // |
| 124 | // Description: This function closes the document specified by doc. |
126 | // Description: This function closes the document specified by doc. |
| 125 | // |
127 | // |
| 126 | // |
128 | // |
| 127 | // Returnvalue: '1' if the gpx-file could be closed. |
129 | // Returnvalue: '1' if the gpx-file could be closed. |
| 128 | //________________________________________________________________________________________________________________________________________ |
130 | //________________________________________________________________________________________________________________________________________ |
| 129 | 131 | ||
| 130 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
132 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
| 131 | { |
133 | { |
| 132 | 134 | ||
| 133 | u8 retvalue = 1; |
135 | u8 retvalue = 1; |
| 134 | 136 | ||
| 135 | if(doc == NULL) return(0); |
137 | if(doc == NULL) return(0); |
| 136 | 138 | ||
| 137 | 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 |
| 138 | { |
140 | { |
| 139 | switch(doc->state) |
141 | switch(doc->state) |
| 140 | { |
142 | { |
| 141 | case GPX_DOC_TRACKSEGMENT_OPENED: |
143 | case GPX_DOC_TRACKSEGMENT_OPENED: |
| 142 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
144 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
| 143 | break; |
145 | break; |
| 144 | 146 | ||
| 145 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
147 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
| 146 | GPX_TrackEnd(doc); |
148 | GPX_TrackEnd(doc); |
| 147 | break; |
149 | break; |
| 148 | 150 | ||
| 149 | case GPX_DOC_OPENED: // close the file on the memorycard |
151 | case GPX_DOC_OPENED: // close the file on the memorycard |
| 150 | if(doc->file != NULL) |
152 | if(doc->file != NULL) |
| 151 | { |
153 | { |
| 152 | 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. |
| 153 | fclose_(doc->file); |
155 | fclose_(doc->file); |
| 154 | retvalue = 1; |
156 | retvalue = 1; |
| 155 | } |
157 | } |
| 156 | doc->state = GPX_DOC_CLOSED; |
158 | doc->state = GPX_DOC_CLOSED; |
| 157 | break; |
159 | break; |
| 158 | 160 | ||
| 159 | default: |
161 | default: |
| 160 | doc->state = GPX_DOC_CLOSED; |
162 | doc->state = GPX_DOC_CLOSED; |
| 161 | break; |
163 | break; |
| 162 | } |
164 | } |
| 163 | } |
165 | } |
| 164 | return(retvalue); |
166 | return(retvalue); |
| 165 | } |
167 | } |
| 166 | 168 | ||
| 167 | 169 | ||
| 168 | 170 | ||
| 169 | //________________________________________________________________________________________________________________________________________ |
171 | //________________________________________________________________________________________________________________________________________ |
| 170 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
172 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
| 171 | // |
173 | // |
| 172 | // Description: This function adds a track to the document. |
174 | // Description: This function adds a track to the document. |
| 173 | // |
175 | // |
| 174 | // |
176 | // |
| 175 | // Returnvalue: '1' if the track could be opened |
177 | // Returnvalue: '1' if the track could be opened |
| 176 | //________________________________________________________________________________________________________________________________________ |
178 | //________________________________________________________________________________________________________________________________________ |
| 177 | 179 | ||
| 178 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
180 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
| 179 | { |
181 | { |
| 180 | 182 | ||
| 181 | u8 retvalue = 0; |
183 | u8 retvalue = 0; |
| 182 | if(doc->state == GPX_DOC_OPENED) |
184 | if(doc->state == GPX_DOC_OPENED) |
| 183 | { |
185 | { |
| 184 | if(doc->file != NULL) |
186 | if(doc->file != NULL) |
| 185 | { |
187 | { |
| 186 | doc->state = GPX_DOC_TRACK_OPENED; |
188 | doc->state = GPX_DOC_TRACK_OPENED; |
| 187 | retvalue = 1; |
189 | retvalue = 1; |
| 188 | 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); |
| 189 | } |
191 | } |
| 190 | } |
192 | } |
| 191 | return(retvalue); |
193 | return(retvalue); |
| 192 | } |
194 | } |
| 193 | 195 | ||
| 194 | 196 | ||
| 195 | //________________________________________________________________________________________________________________________________________ |
197 | //________________________________________________________________________________________________________________________________________ |
| 196 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
198 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
| 197 | // |
199 | // |
| 198 | // Description: This function ends the track opened before. |
200 | // Description: This function ends the track opened before. |
| 199 | // |
201 | // |
| 200 | // |
202 | // |
| 201 | // Returnvalue: 1' if the track could be closed |
203 | // Returnvalue: 1' if the track could be closed |
| 202 | //________________________________________________________________________________________________________________________________________ |
204 | //________________________________________________________________________________________________________________________________________ |
| 203 | 205 | ||
| 204 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
206 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
| 205 | { |
207 | { |
| 206 | 208 | ||
| 207 | u8 retvalue = 0; |
209 | u8 retvalue = 0; |
| 208 | 210 | ||
| 209 | if(doc->state == GPX_DOC_TRACK_OPENED) |
211 | if(doc->state == GPX_DOC_TRACK_OPENED) |
| 210 | { |
212 | { |
| 211 | if(doc->file != NULL) |
213 | if(doc->file != NULL) |
| 212 | { |
214 | { |
| 213 | doc->state = GPX_DOC_OPENED; |
215 | doc->state = GPX_DOC_OPENED; |
| 214 | 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); |
| 215 | retvalue = 1; |
217 | retvalue = 1; |
| 216 | } |
218 | } |
| 217 | } |
219 | } |
| 218 | 220 | ||
| 219 | return(retvalue); |
221 | return(retvalue); |
| 220 | } |
222 | } |
| 221 | 223 | ||
| 222 | //________________________________________________________________________________________________________________________________________ |
224 | //________________________________________________________________________________________________________________________________________ |
| 223 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
225 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
| 224 | // |
226 | // |
| 225 | // Description: This function starts a track segment. |
227 | // Description: This function starts a track segment. |
| 226 | // |
228 | // |
| 227 | // |
229 | // |
| 228 | // Returnvalue: '1' if the track segement could be started |
230 | // Returnvalue: '1' if the track segement could be started |
| 229 | //________________________________________________________________________________________________________________________________________ |
231 | //________________________________________________________________________________________________________________________________________ |
| 230 | 232 | ||
| 231 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
233 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
| 232 | { |
234 | { |
| 233 | 235 | ||
| 234 | u8 retvalue = 0; |
236 | u8 retvalue = 0; |
| 235 | 237 | ||
| 236 | if(doc->state == GPX_DOC_TRACK_OPENED) |
238 | if(doc->state == GPX_DOC_TRACK_OPENED) |
| 237 | { |
239 | { |
| 238 | if(doc->file != NULL) |
240 | if(doc->file != NULL) |
| 239 | { |
241 | { |
| 240 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
242 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
| 241 | 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); |
| 242 | retvalue = 1; |
244 | retvalue = 1; |
| 243 | } |
245 | } |
| 244 | } |
246 | } |
| 245 | return(retvalue); |
247 | return(retvalue); |
| 246 | } |
248 | } |
| 247 | 249 | ||
| 248 | //________________________________________________________________________________________________________________________________________ |
250 | //________________________________________________________________________________________________________________________________________ |
| 249 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
251 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
| 250 | // |
252 | // |
| 251 | // Description: This function ends the tracksegment opened before. |
253 | // Description: This function ends the tracksegment opened before. |
| 252 | // |
254 | // |
| 253 | // |
255 | // |
| 254 | // Returnvalue: '1' if the track segment could be terminated |
256 | // Returnvalue: '1' if the track segment could be terminated |
| 255 | //________________________________________________________________________________________________________________________________________ |
257 | //________________________________________________________________________________________________________________________________________ |
| 256 | 258 | ||
| 257 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
259 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
| 258 | { |
260 | { |
| 259 | 261 | ||
| 260 | u8 retvalue = 0; |
262 | u8 retvalue = 0; |
| 261 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
263 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
| 262 | { |
264 | { |
| 263 | if(doc->file != NULL) |
265 | if(doc->file != NULL) |
| 264 | { |
266 | { |
| 265 | doc->state = GPX_DOC_TRACK_OPENED; |
267 | doc->state = GPX_DOC_TRACK_OPENED; |
| 266 | 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); |
| 267 | retvalue = 1; |
269 | retvalue = 1; |
| 268 | } |
270 | } |
| 269 | } |
271 | } |
| 270 | return(retvalue); |
272 | return(retvalue); |
| 271 | } |
273 | } |
| 272 | 274 | ||
| 273 | //________________________________________________________________________________________________________________________________________ |
275 | //________________________________________________________________________________________________________________________________________ |
| 274 | // 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); |
| 275 | // |
277 | // |
| 276 | // 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. |
| 277 | // |
279 | // |
| 278 | // |
280 | // |
| 279 | // Returnvalue: '1' if a point was added |
281 | // Returnvalue: '1' if a point was added |
| 280 | //________________________________________________________________________________________________________________________________________ |
282 | //________________________________________________________________________________________________________________________________________ |
| 281 | 283 | ||
| 282 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
284 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
| 283 | { |
285 | { |
| 284 | 286 | ||
| 285 | u8 retvalue = 0; |
287 | u8 retvalue = 0; |
| 286 | s8 string[100]; |
288 | s8 string[100]; |
| 287 | 289 | ||
| 288 | if(doc == NULL) return(0); |
290 | if(doc == NULL) return(0); |
| 289 | 291 | ||
| 290 | if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
292 | if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
| 291 | { |
293 | { |
| 292 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
294 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
| 293 | { |
295 | { |
| 294 | if(doc->file != NULL) |
296 | if(doc->file != NULL) |
| 295 | { |
297 | { |
| 296 | s32 i32_1, i32_2; |
298 | s32 i32_1, i32_2; |
| 297 | s16 i16_1; |
299 | s16 i16_1; |
| 298 | u8 u8_1, u8_2; |
300 | u8 u8_1, u8_2; |
| 299 | // write <trkpt> tag |
301 | // write <trkpt> tag |
| 300 | switch(part) |
302 | switch(part) |
| 301 | { |
303 | { |
| 302 | case 0: |
304 | case 0: |
| 303 | DebugOut.Analog[19]++; |
305 | DebugOut.Analog[19]++; |
| - | 306 | Logged_GPX_Counter++; |
|
| 304 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
307 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
| 305 | else u8_1 = '+'; |
308 | else u8_1 = '+'; |
| 306 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
309 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
| 307 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
310 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
| 308 | 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); |
| 309 | fputs_(string, doc->file); |
312 | fputs_(string, doc->file); |
| 310 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
313 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
| 311 | else u8_1 = '+'; |
314 | else u8_1 = '+'; |
| 312 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
315 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
| 313 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
316 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
| 314 | 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); |
| 315 | fputs_(string, doc->file); |
318 | fputs_(string, doc->file); |
| 316 | break; |
319 | break; |
| 317 | case 1: |
320 | case 1: |
| 318 | // write <ele> taga |
321 | // write <ele> taga |
| 319 | i32_2 = GPSData.Position.Altitude - NaviData.HomePosition.Altitude; |
322 | i32_2 = GPSData.Position.Altitude - NaviData.HomePosition.Altitude; |
| 320 | 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 |
| 321 | i32_1 = i32_2/1000L; |
324 | i32_1 = i32_2/1000L; |
| 322 | i32_2 = i32_2%1000L; |
325 | i32_2 = i32_2%1000L; |
| 323 | 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); |
| 324 | fputs_(string, doc->file); |
327 | fputs_(string, doc->file); |
| 325 | // write <time> tag only at a resolution of one second |
328 | // write <time> tag only at a resolution of one second |
| 326 | 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); |
| 327 | fputs_(string, doc->file); |
330 | fputs_(string, doc->file); |
| 328 | // write <sat> tag |
331 | // write <sat> tag |
| 329 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
332 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
| 330 | fputs_(string, doc->file); |
333 | fputs_(string, doc->file); |
| 331 | // todo: add <extensions> tag with additional data to be logged |
334 | // todo: add <extensions> tag with additional data to be logged |
| 332 | sprintf(string, "<extensions>\r\n"); |
335 | sprintf(string, "<extensions>\r\n"); |
| 333 | fputs_(string, doc->file); |
336 | fputs_(string, doc->file); |
| 334 | break; |
337 | break; |
| 335 | case 2: |
338 | case 2: |
| 336 | // Altimeter according to air pressure |
339 | // Altimeter according to air pressure |
| 337 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter); |
340 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter); |
| 338 | fputs_(string, doc->file); |
341 | fputs_(string, doc->file); |
| 339 | // Variometer according to air pressure |
342 | // Variometer according to air pressure |
| 340 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
343 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
| 341 | fputs_(string, doc->file); |
344 | fputs_(string, doc->file); |
| 342 | // Course in deg |
345 | // Course in deg |
| 343 | i16_1 = GPSData.Heading/100000L; |
346 | i16_1 = GPSData.Heading/100000L; |
| 344 | sprintf(string, "<Course>%03d</Course>\r\n", i16_1); |
347 | sprintf(string, "<Course>%03d</Course>\r\n", i16_1); |
| 345 | fputs_(string, doc->file); |
348 | fputs_(string, doc->file); |
| 346 | // Ground Speed in cm/s |
349 | // Ground Speed in cm/s |
| 347 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
350 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
| 348 | fputs_(string, doc->file); |
351 | fputs_(string, doc->file); |
| 349 | // Vertical Speed in cm/s |
352 | // Vertical Speed in cm/s |
| 350 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
353 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
| 351 | fputs_(string, doc->file); |
354 | fputs_(string, doc->file); |
| 352 | // Flight duration |
355 | // Flight duration |
| 353 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
356 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
| 354 | fputs_(string, doc->file); |
357 | fputs_(string, doc->file); |
| 355 | break; |
358 | break; |
| 356 | case 3: |
359 | case 3: |
| 357 | // Ubat |
360 | // Ubat |
| 358 | u8_1 = NaviData.UBat / 10; |
361 | u8_1 = NaviData.UBat / 10; |
| 359 | u8_2 = NaviData.UBat % 10; |
362 | u8_2 = NaviData.UBat % 10; |
| 360 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
363 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
| 361 | fputs_(string, doc->file); |
364 | fputs_(string, doc->file); |
| 362 | // Current |
365 | // Current |
| 363 | u8_1 = NaviData.Current / 10; |
366 | u8_1 = NaviData.Current / 10; |
| 364 | u8_2 = NaviData.Current % 10; |
367 | u8_2 = NaviData.Current % 10; |
| 365 | sprintf(string, "<Current>%d.%01d</Current>\r\n", u8_1, u8_2); |
368 | sprintf(string, "<Current>%d.%01d</Current>\r\n", u8_1, u8_2); |
| 366 | fputs_(string, doc->file); |
369 | fputs_(string, doc->file); |
| 367 | // Capacity |
370 | // Capacity |
| 368 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
371 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
| 369 | fputs_(string, doc->file); |
372 | fputs_(string, doc->file); |
| 370 | // RC Quality |
373 | // RC Quality |
| 371 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
374 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
| 372 | fputs_(string, doc->file); |
375 | fputs_(string, doc->file); |
| 373 | // RC Received Signal Strength Indication |
376 | // RC Received Signal Strength Indication |
| 374 | break; |
377 | break; |
| 375 | case 4: |
378 | case 4: |
| 376 | sprintf(string, "<RCRSSI>%d</RCRSSI>\r\n", FC.RC_RSSI); |
379 | sprintf(string, "<RCRSSI>%d</RCRSSI>\r\n", FC.RC_RSSI); |
| 377 | fputs_(string, doc->file); |
380 | fputs_(string, doc->file); |
| 378 | // Compassind deg |
381 | // Compassind deg |
| 379 | i16_1 = FromFlightCtrl.GyroHeading / 10; |
382 | i16_1 = FromFlightCtrl.GyroHeading / 10; |
| 380 | 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); |
| 381 | fputs_(string, doc->file); |
384 | fputs_(string, doc->file); |
| 382 | // Nick Angle ind deg |
385 | // Nick Angle ind deg |
| 383 | sprintf(string, "<NickAngle>%03d</NickAngle>\r\n", NaviData.AngleNick); |
386 | sprintf(string, "<NickAngle>%03d</NickAngle>\r\n", NaviData.AngleNick); |
| 384 | fputs_(string, doc->file); |
387 | fputs_(string, doc->file); |
| 385 | // Roll Angle in deg |
388 | // Roll Angle in deg |
| 386 | sprintf(string, "<RollAngle>%03d</RollAngle>\r\n", NaviData.AngleRoll); |
389 | sprintf(string, "<RollAngle>%03d</RollAngle>\r\n", NaviData.AngleRoll); |
| 387 | fputs_(string, doc->file); |
390 | fputs_(string, doc->file); |
| 388 | break; |
391 | break; |
| 389 | case 5: |
392 | case 5: |
| 390 | // magnetic field |
393 | // magnetic field |
| 391 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
394 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
| 392 | fputs_(string, doc->file); |
395 | fputs_(string, doc->file); |
| 393 | // magnetic inclination & error |
396 | // magnetic inclination & error |
| 394 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
397 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
| 395 | fputs_(string, doc->file); |
398 | fputs_(string, doc->file); |
| 396 | // BL Information |
399 | // BL Information |
| 397 | 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); |
| 398 | fputs_(string, doc->file); |
401 | fputs_(string, doc->file); |
| 399 | 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); |
| 400 | fputs_(string, doc->file); |
403 | fputs_(string, doc->file); |
| 401 | break; |
404 | break; |
| 402 | case 6: |
405 | case 6: |
| 403 | /* 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]); |
| 404 | fputs_(string, doc->file); |
407 | fputs_(string, doc->file); |
| 405 | 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]); |
| 406 | fputs_(string, doc->file); |
409 | fputs_(string, doc->file); |
| 407 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",BL_MinOfMaxPWM); |
410 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",BL_MinOfMaxPWM); |
| 408 | fputs_(string, doc->file); |
411 | fputs_(string, doc->file); |
| 409 | 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); |
| 410 | fputs_(string, doc->file); |
413 | fputs_(string, doc->file); |
| 411 | // Analog inputs of the NC |
414 | // Analog inputs of the NC |
| 412 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
415 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
| 413 | fputs_(string, doc->file); |
416 | fputs_(string, doc->file); |
| 414 | // NC Mode (contains the status) |
417 | // NC Mode (contains the status) |
| 415 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
418 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
| 416 | fputs_(string, doc->file); |
419 | fputs_(string, doc->file); |
| 417 | 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° |
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° |
| 418 | fputs_(string, doc->file); |
421 | fputs_(string, doc->file); |
| 419 | 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 |
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 |
| 420 | fputs_(string, doc->file); |
423 | fputs_(string, doc->file); |
| 421 | break; |
424 | break; |
| 422 | case 7: |
425 | case 7: |
| 423 | // Flags |
426 | // Flags |
| 424 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
427 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
| 425 | fputs_(string, doc->file); |
428 | fputs_(string, doc->file); |
| 426 | Logging_FCStatusFlags1 = 0; |
429 | Logging_FCStatusFlags1 = 0; |
| 427 | Logging_FCStatusFlags2 = 0; |
430 | Logging_FCStatusFlags2 = 0; |
| 428 | // Status of the complete MikroKopter |
431 | // Status of the complete MikroKopter |
| 429 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
432 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
| 430 | fputs_(string, doc->file); |
433 | fputs_(string, doc->file); |
| 431 | // Target Bearing in deg |
434 | // Target Bearing in deg |
| 432 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
435 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
| 433 | fputs_(string, doc->file); |
436 | fputs_(string, doc->file); |
| 434 | // Target Distance in dm |
437 | // Target Distance in dm |
| 435 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
438 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
| 436 | fputs_(string, doc->file); |
439 | fputs_(string, doc->file); |
| 437 | break; |
440 | break; |
| 438 | case 8: |
441 | case 8: |
| 439 | // RC Sticks as Nick/Roll/Yaw |
442 | // RC Sticks as Nick/Roll/Yaw |
| 440 | 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]); |
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]); |
| 441 | fputs_(string, doc->file); |
444 | fputs_(string, doc->file); |
| 442 | // GPS Sticks as Nick/Roll/Yaw |
445 | // GPS Sticks as Nick/Roll/Yaw |
| 443 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, ToFlightCtrl.GPSStick.Yaw,NC_GPS_ModeCharacter); |
446 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, ToFlightCtrl.GPSStick.Yaw,NC_GPS_ModeCharacter); |
| 444 | fputs_(string, doc->file); |
447 | fputs_(string, doc->file); |
| 445 | // eof extensions |
448 | // eof extensions |
| 446 | sprintf(string, "</extensions>\r\n"); |
449 | sprintf(string, "</extensions>\r\n"); |
| 447 | fputs_(string, doc->file); |
450 | fputs_(string, doc->file); |
| 448 | sprintf(string, "</trkpt>\r\n"); |
451 | sprintf(string, "</trkpt>\r\n"); |
| 449 | fputs_(string, doc->file); |
452 | fputs_(string, doc->file); |
| 450 | break; |
453 | break; |
| 451 | } |
454 | } |
| 452 | retvalue = 1; |
455 | retvalue = 1; |
| 453 | } |
456 | } |
| 454 | } |
457 | } |
| 455 | } |
458 | } |
| 456 | return(retvalue); |
459 | return(retvalue); |
| 457 | } |
460 | } |
| 458 | 461 | ||
| 459 | //________________________________________________________________________________________________________________________________________ |
462 | //________________________________________________________________________________________________________________________________________ |
| 460 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
463 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
| 461 | // |
464 | // |
| 462 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
465 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
| 463 | // |
466 | // |
| 464 | // |
467 | // |
| 465 | // Returnvalue: '1' if an gps coordinate was logged |
468 | // Returnvalue: '1' if an gps coordinate was logged |
| 466 | //________________________________________________________________________________________________________________________________________ |
469 | //________________________________________________________________________________________________________________________________________ |
| 467 | 470 | ||
| 468 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
471 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
| 469 | { |
472 | { |
| 470 | u8 retval = 0; |
473 | u8 retval = 0; |
| 471 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
474 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
| 472 | { |
475 | { |
| 473 | switch(doc->state) |
476 | switch(doc->state) |
| 474 | { |
477 | { |
| 475 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
478 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
| 476 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
479 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
| 477 | break; |
480 | break; |
| 478 | 481 | ||
| 479 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
482 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
| 480 | retval = GPX_TrackBegin(doc); |
483 | retval = GPX_TrackBegin(doc); |
| 481 | break; |
484 | break; |
| 482 | 485 | ||
| 483 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
486 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
| 484 | retval = GPX_TrackSegmentBegin(doc); |
487 | retval = GPX_TrackSegmentBegin(doc); |
| 485 | break; |
488 | break; |
| 486 | 489 | ||
| 487 | default: |
490 | default: |
| 488 | retval = 0; |
491 | retval = 0; |
| 489 | break; |
492 | break; |
| 490 | 493 | ||
| 491 | } |
494 | } |
| 492 | if(retval != 1) return(retval); // stop on error |
495 | if(retval != 1) return(retval); // stop on error |
| 493 | } |
496 | } |
| 494 | 497 | ||
| 495 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
498 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
| 496 | { |
499 | { |
| 497 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
500 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
| 498 | } |
501 | } |
| 499 | return(retval); |
502 | return(retval); |
| 500 | } |
503 | } |
| 501 | 504 | ||
| 502 | 505 | ||