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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 | #include "ncmag.h" |
71 | #include "ncmag.h" |
72 | 72 | ||
73 | //________________________________________________________________________________________________________________________________________ |
73 | //________________________________________________________________________________________________________________________________________ |
74 | // Function: GPX_DocumentInit(GPX_Document_t *) |
74 | // Function: GPX_DocumentInit(GPX_Document_t *) |
75 | // |
75 | // |
76 | // Description: This function initializes the gpx-document for further use. |
76 | // Description: This function initializes the gpx-document for further use. |
77 | // |
77 | // |
78 | // |
78 | // |
79 | // Returnvalue: '1' if document was initialized |
79 | // Returnvalue: '1' if document was initialized |
80 | //________________________________________________________________________________________________________________________________________ |
80 | //________________________________________________________________________________________________________________________________________ |
81 | 81 | ||
82 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
82 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
83 | { |
83 | { |
84 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
84 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
85 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
85 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
86 | doc->file = NULL; |
86 | doc->file = NULL; |
87 | return(1); |
87 | return(1); |
88 | } |
88 | } |
89 | 89 | ||
90 | //________________________________________________________________________________________________________________________________________ |
90 | //________________________________________________________________________________________________________________________________________ |
91 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
91 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
92 | // |
92 | // |
93 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
93 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
94 | // |
94 | // |
95 | // |
95 | // |
96 | // Returnvalue: '1' if the gpx-file could be created. |
96 | // Returnvalue: '1' if the gpx-file could be created. |
97 | //________________________________________________________________________________________________________________________________________ |
97 | //________________________________________________________________________________________________________________________________________ |
98 | 98 | ||
99 | 99 | ||
100 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
100 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
101 | { |
101 | { |
102 | s8 string[200]; |
102 | s8 string[200]; |
103 | u8 retvalue = 0; |
103 | u8 retvalue = 0; |
104 | u8 BLv = 1; |
104 | u8 BLv = 1; |
105 | LicenseS_t *tmp_license; |
105 | LicenseS_t *tmp_license; |
106 | tmp_license = (LicenseS_t *) LicensePtr; |
106 | tmp_license = (LicenseS_t *) LicensePtr; |
107 | 107 | ||
108 | if(doc == NULL) return(0); |
108 | if(doc == NULL) return(0); |
109 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
109 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
110 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
110 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
111 | 111 | ||
112 | if(Motor_Version[0] & MOTOR_STATE_BL30) BLv = 3; |
112 | if(Motor_Version[0] & MOTOR_STATE_BL30) BLv = 3; |
113 | else if(Motor_Version[0] & MOTOR_STATE_NEW_PROTOCOL_MASK) BLv = 2; |
113 | else if(Motor_Version[0] & MOTOR_STATE_NEW_PROTOCOL_MASK) BLv = 2; |
114 | 114 | ||
115 | if(doc->file != NULL) // could the file be opened? |
115 | if(doc->file != NULL) // could the file be opened? |
116 | { |
116 | { |
117 | retvalue = 1; // the document could be created on the drive. |
117 | retvalue = 1; // the document could be created on the drive. |
118 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
118 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
119 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
119 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
120 | sprintf(string, "<desc>FC HW:%d.%d SW:%d.%02d%c + NC HW:%d.%d SW:%d.%02d%c + BL HW:V%d SW:%d.%02d", (FC_Version.Hardware & 0x7F)/10,(FC_Version.Hardware & 0x7F)%10, FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH,BLv,UART_VersionInfo.BL_Firmware/100,UART_VersionInfo.BL_Firmware%100); |
120 | sprintf(string, "<desc>FC HW:%d.%d SW:%d.%02d%c + NC HW:%d.%d SW:%d.%02d%c + BL HW:V%d SW:%d.%02d", (FC_Version.Hardware & 0x7F)/10,(FC_Version.Hardware & 0x7F)%10, FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH,BLv,UART_VersionInfo.BL_Firmware/100,UART_VersionInfo.BL_Firmware%100); |
121 | fputs_(string, doc->file); |
121 | fputs_(string, doc->file); |
122 | if(SimulationFlags) { sprintf(string, " SIMULATED"); fputs_(string, doc->file);}; |
122 | if(SimulationFlags) { sprintf(string, " SIMULATED"); fputs_(string, doc->file);}; |
123 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE) sprintf(string, " (Redundant)</desc>\r\n"); |
123 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE) sprintf(string, " (Redundant)</desc>\r\n"); |
124 | else sprintf(string, "</desc>\r\n"); |
124 | else sprintf(string, "</desc>\r\n"); |
125 | fputs_(string, doc->file); |
125 | fputs_(string, doc->file); |
126 | sprintf(string, "<extensions>\r\n"); fputs_(string, doc->file); |
126 | sprintf(string, "<extensions>\r\n"); fputs_(string, doc->file); |
127 | sprintf(string, "<MK_Time>%imin</MK_Time>\r\n",FlugMinutenGesamt);fputs_(string, doc->file); |
127 | sprintf(string, "<MK_Time>%imin</MK_Time>\r\n",FlugMinutenGesamt);fputs_(string, doc->file); |
128 | sprintf(string, "<License>\r\n"); fputs_(string, doc->file); |
128 | sprintf(string, "<License>\r\n"); fputs_(string, doc->file); |
129 | if(tmp_license->User[0] != 0) |
129 | if(tmp_license->User[0] != 0) |
130 | { |
130 | { |
131 | sprintf(string, "<name>%s</name>\r\n",tmp_license->User); fputs_(string, doc->file); |
131 | sprintf(string, "<name>%s</name>\r\n",tmp_license->User); fputs_(string, doc->file); |
132 | sprintf(string, "<email>%s</email>\r\n",tmp_license->eMail); fputs_(string, doc->file); |
132 | sprintf(string, "<email>%s</email>\r\n",tmp_license->eMail); fputs_(string, doc->file); |
133 | sprintf(string, "<features>%s</features>\r\n",tmp_license->Feature); fputs_(string, doc->file); |
133 | sprintf(string, "<features>%s</features>\r\n",tmp_license->Feature); fputs_(string, doc->file); |
134 | sprintf(string, "<expires>%s</expires>\r\n",tmp_license->Expire);fputs_(string, doc->file); |
134 | sprintf(string, "<expires>%s</expires>\r\n",tmp_license->Expire);fputs_(string, doc->file); |
135 | } |
135 | } |
136 | else |
136 | else |
137 | { |
137 | { |
138 | sprintf(string, "<info>No License installed</info>\r\n"); fputs_(string, doc->file); |
138 | sprintf(string, "<info>No License installed</info>\r\n"); fputs_(string, doc->file); |
139 | } |
139 | } |
140 | sprintf(string, "</License>\r\n"); fputs_(string, doc->file); |
140 | sprintf(string, "</License>\r\n"); fputs_(string, doc->file); |
141 | sprintf(string, "<settings>\r\n"); fputs_(string, doc->file); |
141 | sprintf(string, "<settings>\r\n"); fputs_(string, doc->file); |
142 | sprintf(string, "<Number>%i</Number>\r\n",Parameter.ActiveSetting);fputs_(string, doc->file); |
142 | sprintf(string, "<Number>%i</Number>\r\n",Parameter.ActiveSetting);fputs_(string, doc->file); |
143 | sprintf(string, "<CompassOffset>%i</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);fputs_(string, doc->file); |
143 | sprintf(string, "<CompassOffset>%i</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);fputs_(string, doc->file); |
144 | sprintf(string, "<FCOrientation>%i</FCOrientation>\r\n",Parameter.OrientationAngle*15);fputs_(string, doc->file); |
144 | sprintf(string, "<FCOrientation>%i</FCOrientation>\r\n",Parameter.OrientationAngle*15);fputs_(string, doc->file); |
145 | sprintf(string, "<GeoMag>%i</GeoMag>\r\n",GeoMagDec/10);fputs_(string, doc->file); |
145 | sprintf(string, "<GeoMag>%i</GeoMag>\r\n",GeoMagDec/10);fputs_(string, doc->file); |
- | 146 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw);fputs_(string, doc->file); |
|
- | 147 | if(Parameter.Driftkomp) {sprintf(string, "<DriftComp>%i</DriftComp>\r\n",Parameter.Driftkomp);fputs_(string, doc->file);}; |
|
146 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) sprintf(string, "<MagSensor>external (%i)</MagSensor>\r\n",NCMAG_Orientation); |
148 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) sprintf(string, "<MagSensor>external (%i)</MagSensor>\r\n",NCMAG_Orientation); |
147 | else sprintf(string, "<MagSensor>internal</MagSensor>\r\n");fputs_(string, doc->file); |
149 | else sprintf(string, "<MagSensor>internal</MagSensor>\r\n");fputs_(string, doc->file); |
148 | if(AbsoluteFlyingAltitude) {sprintf(string, "<MaxAltitude>%i</MaxAltitude>\r\n",AbsoluteFlyingAltitude);fputs_(string, doc->file);} |
150 | if(AbsoluteFlyingAltitude) {sprintf(string, "<MaxAltitude>%i</MaxAltitude>\r\n",AbsoluteFlyingAltitude);fputs_(string, doc->file);} |
149 | if(AbsoluteFlyingRange_m) {sprintf(string, "<FlyRange>%i</FlyRange>\r\n",AbsoluteFlyingRange_m);fputs_(string, doc->file);} |
151 | if(AbsoluteFlyingRange_m) {sprintf(string, "<FlyRange>%i</FlyRange>\r\n",AbsoluteFlyingRange_m);fputs_(string, doc->file);} |
150 | if(AutoDescendRange_m) {sprintf(string, "<Descend>%i</Descend>\r\n",AutoDescendRange_m);fputs_(string, doc->file);}; |
152 | if(AutoDescendRange_m) {sprintf(string, "<Descend>%i</Descend>\r\n",AutoDescendRange_m);fputs_(string, doc->file);}; |
151 | 153 | ||
152 | if((FC.StatusFlags3 & FC_STATUS3_BOAT)) {sprintf(string, "<BoatMode>On</BoatMode>\r\n");fputs_(string, doc->file);} |
154 | if((FC.StatusFlags3 & FC_STATUS3_BOAT)) {sprintf(string, "<BoatMode>On</BoatMode>\r\n");fputs_(string, doc->file);} |
153 | if((Parameter.GlobalConfig & FC_CFG_HEADING_HOLD)) {sprintf(string, "<HeadingHold>ON!</HeadingHold>\r\n");fputs_(string, doc->file);} |
155 | if((Parameter.GlobalConfig & FC_CFG_HEADING_HOLD)) {sprintf(string, "<HeadingHold>ON!</HeadingHold>\r\n");fputs_(string, doc->file);} |
154 | if((Parameter.GlobalConfig & FC_CFG_KOMPASS_FIX)) {sprintf(string, "<KompassFixedValue>ON!</KompassFixedValue>\r\n");fputs_(string, doc->file);} |
156 | if((Parameter.GlobalConfig & FC_CFG_KOMPASS_FIX)) {sprintf(string, "<KompassFixedValue>ON!</KompassFixedValue>\r\n");fputs_(string, doc->file);} |
155 | if((Parameter.GlobalConfig & FC_CFG_DREHRATEN_BEGRENZER)) {sprintf(string, "<RotationRateLimiter>ON!</RotationRateLimiter>\r\n");fputs_(string, doc->file);} |
157 | if((Parameter.GlobalConfig & FC_CFG_DREHRATEN_BEGRENZER)) {sprintf(string, "<RotationRateLimiter>ON!</RotationRateLimiter>\r\n");fputs_(string, doc->file);} |
156 | if(!(Parameter.GlobalConfig & FC_CFG_ACHSENKOPPLUNG_AKTIV)) {sprintf(string, "<AxisCoupling>OFF!</AxisCoupling>\r\n");fputs_(string, doc->file);} |
158 | if(!(Parameter.GlobalConfig & FC_CFG_ACHSENKOPPLUNG_AKTIV)) {sprintf(string, "<AxisCoupling>OFF!</AxisCoupling>\r\n");fputs_(string, doc->file);} |
157 | if(!(Parameter.GlobalConfig & FC_CFG_KOMPASS_AKTIV)) {sprintf(string, "<CompassActive>OFF!</CompassActive>\r\n");fputs_(string, doc->file);} |
159 | if(!(Parameter.GlobalConfig & FC_CFG_KOMPASS_AKTIV)) {sprintf(string, "<CompassActive>OFF!</CompassActive>\r\n");fputs_(string, doc->file);} |
158 | if((Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)) {sprintf(string, "<VarioFailsafe>On</VarioFailsafe>\r\n");fputs_(string, doc->file);} |
160 | if((Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)) {sprintf(string, "<VarioFailsafe>On</VarioFailsafe>\r\n");fputs_(string, doc->file);} |
159 | if((Parameter.ExtraConfig & CFG_3_3V_REFERENCE)) {sprintf(string, "<3.3V_Reference>On</3.3V_Reference>\r\n");fputs_(string, doc->file);} |
161 | if((Parameter.ExtraConfig & CFG_3_3V_REFERENCE)) {sprintf(string, "<3.3V_Reference>On</3.3V_Reference>\r\n");fputs_(string, doc->file);} |
160 | if((Parameter.ExtraConfig & CFG_IGNORE_MAG_ERR_AT_STARTUP)) {sprintf(string, "<IgnoreMagnetError>ON!</IgnoreMagnetError>\r\n");fputs_(string, doc->file);} |
162 | if((Parameter.ExtraConfig & CFG_IGNORE_MAG_ERR_AT_STARTUP)) {sprintf(string, "<IgnoreMagnetError>ON!</IgnoreMagnetError>\r\n");fputs_(string, doc->file);} |
161 | 163 | ||
162 | sprintf(string, "<Bytes>%02x,%02x,%02x</Bytes>\r\n",Parameter.GlobalConfig,Parameter.ExtraConfig,Parameter.GlobalConfig3);fputs_(string, doc->file); |
164 | sprintf(string, "<Bytes>%02x,%02x,%02x</Bytes>\r\n",Parameter.GlobalConfig,Parameter.ExtraConfig,Parameter.GlobalConfig3);fputs_(string, doc->file); |
163 | sprintf(string, "</settings>\r\n"); fputs_(string, doc->file); |
165 | sprintf(string, "</settings>\r\n"); fputs_(string, doc->file); |
164 | sprintf(string, "</extensions>\r\n"); fputs_(string, doc->file); |
166 | sprintf(string, "</extensions>\r\n"); fputs_(string, doc->file); |
165 | 167 | ||
166 | fwrite_((void*)GPX_DOCUMENT_METADATA_END, sizeof(GPX_DOCUMENT_METADATA_END)-1,1,doc->file);// write the gpx-header to the document. |
168 | fwrite_((void*)GPX_DOCUMENT_METADATA_END, sizeof(GPX_DOCUMENT_METADATA_END)-1,1,doc->file);// write the gpx-header to the document. |
167 | } |
169 | } |
168 | Logging_FCStatusFlags1 = 0; |
170 | Logging_FCStatusFlags1 = 0; |
169 | Logging_FCStatusFlags2 = 0; |
171 | Logging_FCStatusFlags2 = 0; |
170 | Logged_GPX_Counter = 0; |
172 | Logged_GPX_Counter = 0; |
171 | LogFC_WP_EventChannel = 0; |
173 | LogFC_WP_EventChannel = 0; |
172 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
174 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
173 | return(retvalue); |
175 | return(retvalue); |
174 | } |
176 | } |
175 | 177 | ||
176 | //________________________________________________________________________________________________________________________________________ |
178 | //________________________________________________________________________________________________________________________________________ |
177 | // Function: DocumentClose(GPX_Document_t *doc); |
179 | // Function: DocumentClose(GPX_Document_t *doc); |
178 | // |
180 | // |
179 | // Description: This function closes the document specified by doc. |
181 | // Description: This function closes the document specified by doc. |
180 | // |
182 | // |
181 | // |
183 | // |
182 | // Returnvalue: '1' if the gpx-file could be closed. |
184 | // Returnvalue: '1' if the gpx-file could be closed. |
183 | //________________________________________________________________________________________________________________________________________ |
185 | //________________________________________________________________________________________________________________________________________ |
184 | 186 | ||
185 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
187 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
186 | { |
188 | { |
187 | 189 | ||
188 | u8 retvalue = 1; |
190 | u8 retvalue = 1; |
189 | 191 | ||
190 | if(doc == NULL) return(0); |
192 | if(doc == NULL) return(0); |
191 | 193 | ||
192 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
194 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
193 | { |
195 | { |
194 | switch(doc->state) |
196 | switch(doc->state) |
195 | { |
197 | { |
196 | case GPX_DOC_TRACKSEGMENT_OPENED: |
198 | case GPX_DOC_TRACKSEGMENT_OPENED: |
197 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
199 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
198 | break; |
200 | break; |
199 | 201 | ||
200 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
202 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
201 | GPX_TrackEnd(doc); |
203 | GPX_TrackEnd(doc); |
202 | break; |
204 | break; |
203 | 205 | ||
204 | case GPX_DOC_OPENED: // close the file on the memorycard |
206 | case GPX_DOC_OPENED: // close the file on the memorycard |
205 | if(doc->file != NULL) |
207 | if(doc->file != NULL) |
206 | { |
208 | { |
207 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
209 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
208 | fclose_(doc->file); |
210 | fclose_(doc->file); |
209 | retvalue = 1; |
211 | retvalue = 1; |
210 | } |
212 | } |
211 | doc->state = GPX_DOC_CLOSED; |
213 | doc->state = GPX_DOC_CLOSED; |
212 | break; |
214 | break; |
213 | 215 | ||
214 | default: |
216 | default: |
215 | doc->state = GPX_DOC_CLOSED; |
217 | doc->state = GPX_DOC_CLOSED; |
216 | break; |
218 | break; |
217 | } |
219 | } |
218 | } |
220 | } |
219 | return(retvalue); |
221 | return(retvalue); |
220 | } |
222 | } |
221 | 223 | ||
222 | 224 | ||
223 | 225 | ||
224 | //________________________________________________________________________________________________________________________________________ |
226 | //________________________________________________________________________________________________________________________________________ |
225 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
227 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
226 | // |
228 | // |
227 | // Description: This function adds a track to the document. |
229 | // Description: This function adds a track to the document. |
228 | // |
230 | // |
229 | // |
231 | // |
230 | // Returnvalue: '1' if the track could be opened |
232 | // Returnvalue: '1' if the track could be opened |
231 | //________________________________________________________________________________________________________________________________________ |
233 | //________________________________________________________________________________________________________________________________________ |
232 | 234 | ||
233 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
235 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
234 | { |
236 | { |
235 | 237 | ||
236 | u8 retvalue = 0; |
238 | u8 retvalue = 0; |
237 | if(doc->state == GPX_DOC_OPENED) |
239 | if(doc->state == GPX_DOC_OPENED) |
238 | { |
240 | { |
239 | if(doc->file != NULL) |
241 | if(doc->file != NULL) |
240 | { |
242 | { |
241 | doc->state = GPX_DOC_TRACK_OPENED; |
243 | doc->state = GPX_DOC_TRACK_OPENED; |
242 | retvalue = 1; |
244 | retvalue = 1; |
243 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
245 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
244 | } |
246 | } |
245 | } |
247 | } |
246 | return(retvalue); |
248 | return(retvalue); |
247 | } |
249 | } |
248 | 250 | ||
249 | 251 | ||
250 | //________________________________________________________________________________________________________________________________________ |
252 | //________________________________________________________________________________________________________________________________________ |
251 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
253 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
252 | // |
254 | // |
253 | // Description: This function ends the track opened before. |
255 | // Description: This function ends the track opened before. |
254 | // |
256 | // |
255 | // |
257 | // |
256 | // Returnvalue: 1' if the track could be closed |
258 | // Returnvalue: 1' if the track could be closed |
257 | //________________________________________________________________________________________________________________________________________ |
259 | //________________________________________________________________________________________________________________________________________ |
258 | 260 | ||
259 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
261 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
260 | { |
262 | { |
261 | 263 | ||
262 | u8 retvalue = 0; |
264 | u8 retvalue = 0; |
263 | 265 | ||
264 | if(doc->state == GPX_DOC_TRACK_OPENED) |
266 | if(doc->state == GPX_DOC_TRACK_OPENED) |
265 | { |
267 | { |
266 | if(doc->file != NULL) |
268 | if(doc->file != NULL) |
267 | { |
269 | { |
268 | doc->state = GPX_DOC_OPENED; |
270 | doc->state = GPX_DOC_OPENED; |
269 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
271 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
270 | retvalue = 1; |
272 | retvalue = 1; |
271 | } |
273 | } |
272 | } |
274 | } |
273 | 275 | ||
274 | return(retvalue); |
276 | return(retvalue); |
275 | } |
277 | } |
276 | 278 | ||
277 | //________________________________________________________________________________________________________________________________________ |
279 | //________________________________________________________________________________________________________________________________________ |
278 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
280 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
279 | // |
281 | // |
280 | // Description: This function starts a track segment. |
282 | // Description: This function starts a track segment. |
281 | // |
283 | // |
282 | // |
284 | // |
283 | // Returnvalue: '1' if the track segement could be started |
285 | // Returnvalue: '1' if the track segement could be started |
284 | //________________________________________________________________________________________________________________________________________ |
286 | //________________________________________________________________________________________________________________________________________ |
285 | 287 | ||
286 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
288 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
287 | { |
289 | { |
288 | 290 | ||
289 | u8 retvalue = 0; |
291 | u8 retvalue = 0; |
290 | 292 | ||
291 | if(doc->state == GPX_DOC_TRACK_OPENED) |
293 | if(doc->state == GPX_DOC_TRACK_OPENED) |
292 | { |
294 | { |
293 | if(doc->file != NULL) |
295 | if(doc->file != NULL) |
294 | { |
296 | { |
295 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
297 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
296 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
298 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
297 | retvalue = 1; |
299 | retvalue = 1; |
298 | } |
300 | } |
299 | } |
301 | } |
300 | return(retvalue); |
302 | return(retvalue); |
301 | } |
303 | } |
302 | 304 | ||
303 | //________________________________________________________________________________________________________________________________________ |
305 | //________________________________________________________________________________________________________________________________________ |
304 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
306 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
305 | // |
307 | // |
306 | // Description: This function ends the tracksegment opened before. |
308 | // Description: This function ends the tracksegment opened before. |
307 | // |
309 | // |
308 | // |
310 | // |
309 | // Returnvalue: '1' if the track segment could be terminated |
311 | // Returnvalue: '1' if the track segment could be terminated |
310 | //________________________________________________________________________________________________________________________________________ |
312 | //________________________________________________________________________________________________________________________________________ |
311 | 313 | ||
312 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
314 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
313 | { |
315 | { |
314 | 316 | ||
315 | u8 retvalue = 0; |
317 | u8 retvalue = 0; |
316 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
318 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
317 | { |
319 | { |
318 | if(doc->file != NULL) |
320 | if(doc->file != NULL) |
319 | { |
321 | { |
320 | doc->state = GPX_DOC_TRACK_OPENED; |
322 | doc->state = GPX_DOC_TRACK_OPENED; |
321 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
323 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
322 | retvalue = 1; |
324 | retvalue = 1; |
323 | } |
325 | } |
324 | } |
326 | } |
325 | return(retvalue); |
327 | return(retvalue); |
326 | } |
328 | } |
327 | 329 | ||
328 | //________________________________________________________________________________________________________________________________________ |
330 | //________________________________________________________________________________________________________________________________________ |
329 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
331 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
330 | // |
332 | // |
331 | // Description: This function adds a pointof a track segement to the specified document. |
333 | // Description: This function adds a pointof a track segement to the specified document. |
332 | // |
334 | // |
333 | // |
335 | // |
334 | // Returnvalue: '1' if a point was added |
336 | // Returnvalue: '1' if a point was added |
335 | //________________________________________________________________________________________________________________________________________ |
337 | //________________________________________________________________________________________________________________________________________ |
336 | 338 | ||
337 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
339 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
338 | { |
340 | { |
339 | 341 | ||
340 | u8 retvalue = 0; |
342 | u8 retvalue = 0; |
341 | s8 string[120]; |
343 | s8 string[120]; |
342 | s8 name[] = "----\0"; |
344 | s8 name[] = "----\0"; |
343 | 345 | ||
344 | if(doc == NULL) return(0); |
346 | if(doc == NULL) return(0); |
345 | 347 | ||
346 | // if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
348 | // if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
347 | { |
349 | { |
348 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
350 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
349 | { |
351 | { |
350 | if(doc->file != NULL) |
352 | if(doc->file != NULL) |
351 | { |
353 | { |
352 | static s32 altitude; // store to make sure they are all recorded in one timestamp |
354 | static s32 altitude; // store to make sure they are all recorded in one timestamp |
353 | s32 i32_1, i32_2; |
355 | s32 i32_1, i32_2; |
354 | s16 i16_1; |
356 | s16 i16_1; |
355 | u8 u8_1, u8_2; |
357 | u8 u8_1, u8_2; |
356 | // write <trkpt> tag |
358 | // write <trkpt> tag |
357 | switch(part) |
359 | switch(part) |
358 | { |
360 | { |
359 | case 0: |
361 | case 0: |
360 | Logged_GPX_Counter++; |
362 | Logged_GPX_Counter++; |
361 | if(GPSData.Position.Status != INVALID) |
363 | if(GPSData.Position.Status != INVALID) |
362 | { |
364 | { |
363 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
365 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
364 | else u8_1 = '+'; |
366 | else u8_1 = '+'; |
365 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
367 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
366 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
368 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
367 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
369 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
368 | fputs_(string, doc->file); |
370 | fputs_(string, doc->file); |
369 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
371 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
370 | else u8_1 = '+'; |
372 | else u8_1 = '+'; |
371 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
373 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
372 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
374 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
373 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
375 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
374 | } else sprintf(string, "<trkpt lat=\"\" lon=\"\">"); |
376 | } else sprintf(string, "<trkpt lat=\"\" lon=\"\">"); |
375 | fputs_(string, doc->file); |
377 | fputs_(string, doc->file); |
376 | altitude = GPSData.Position.Altitude; |
378 | altitude = GPSData.Position.Altitude; |
377 | break; |
379 | break; |
378 | case 1: |
380 | case 1: |
379 | // write <ele> tag |
381 | // write <ele> tag |
380 | i32_2 = altitude - NaviData.HomePosition.Altitude; |
382 | i32_2 = altitude - NaviData.HomePosition.Altitude; |
381 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
383 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
382 | i32_1 = i32_2/1000L; |
384 | i32_1 = i32_2/1000L; |
383 | i32_2 = i32_2%1000L; |
385 | i32_2 = i32_2%1000L; |
384 | if(altitude - NaviData.HomePosition.Altitude < 0) sprintf(string,"<ele>-%ld.%03ld</ele>\r\n",abs(i32_1),abs(i32_2)); |
386 | if(altitude - NaviData.HomePosition.Altitude < 0) sprintf(string,"<ele>-%ld.%03ld</ele>\r\n",labs(i32_1),labs(i32_2)); |
385 | else sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1,i32_2); |
387 | else sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1,i32_2); |
386 | fputs_(string, doc->file); |
388 | fputs_(string, doc->file); |
387 | // write <time> tag only at a resolution of 1/100 second |
389 | // write <time> tag only at a resolution of 1/100 second |
388 | sprintf(string, "<time>%04d-%02d-%02dT%02d:%02d:%02d.%dZ</time>\r\n",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec,SystemTime.mSec/100); |
390 | sprintf(string, "<time>%04d-%02d-%02dT%02d:%02d:%02d.%dZ</time>\r\n",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec,SystemTime.mSec/100); |
389 | fputs_(string, doc->file); |
391 | fputs_(string, doc->file); |
390 | // write <sat> tag |
392 | // write <sat> tag |
391 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
393 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
392 | fputs_(string, doc->file); |
394 | fputs_(string, doc->file); |
393 | // todo: add <extensions> tag with additional data to be logged |
395 | // todo: add <extensions> tag with additional data to be logged |
394 | sprintf(string, "<extensions>\r\n"); |
396 | sprintf(string, "<extensions>\r\n"); |
395 | fputs_(string, doc->file); |
397 | fputs_(string, doc->file); |
396 | break; |
398 | break; |
397 | case 2: |
399 | case 2: |
398 | // Flight duration |
400 | // Flight duration |
399 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
401 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
400 | fputs_(string, doc->file); |
402 | fputs_(string, doc->file); |
401 | // Status of the complete MikroKopter |
403 | // Status of the complete MikroKopter |
402 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
404 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
403 | fputs_(string, doc->file); |
405 | fputs_(string, doc->file); |
404 | // Flags |
406 | // Flags |
405 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
407 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
406 | fputs_(string, doc->file); |
408 | fputs_(string, doc->file); |
407 | Logging_FCStatusFlags1 = FC.StatusFlags; |
409 | Logging_FCStatusFlags1 = FC.StatusFlags; |
408 | Logging_FCStatusFlags2 = FC.StatusFlags2; |
410 | Logging_FCStatusFlags2 = FC.StatusFlags2; |
409 | // NC Mode (contains the status) |
411 | // NC Mode (contains the status) |
410 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
412 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
411 | fputs_(string, doc->file); |
413 | fputs_(string, doc->file); |
412 | // Altimeter according to air pressure |
414 | // Altimeter according to air pressure |
413 | sprintf(string, "<Speak>%d</Speak>\r\n",FC.FromFC_SpeakHoTT); |
415 | sprintf(string, "<Speak>%d</Speak>\r\n",FC.FromFC_SpeakHoTT); |
414 | FC.FromFC_SpeakHoTT = 0; // can be cleared now |
416 | FC.FromFC_SpeakHoTT = 0; // can be cleared now |
415 | fputs_(string, doc->file); |
417 | fputs_(string, doc->file); |
416 | // Altimeter according to air pressure |
418 | // Altimeter according to air pressure |
417 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter); |
419 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter); |
418 | fputs_(string, doc->file); |
420 | fputs_(string, doc->file); |
419 | // Variometer according to air pressure |
421 | // Variometer according to air pressure |
420 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
422 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
421 | fputs_(string, doc->file); |
423 | fputs_(string, doc->file); |
422 | break; |
424 | break; |
423 | case 3: |
425 | case 3: |
424 | // Ubat |
426 | // Ubat |
425 | u8_1 = NaviData.UBat / 10; |
427 | u8_1 = NaviData.UBat / 10; |
426 | u8_2 = NaviData.UBat % 10; |
428 | u8_2 = NaviData.UBat % 10; |
427 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
429 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
428 | fputs_(string, doc->file); |
430 | fputs_(string, doc->file); |
429 | // Current |
431 | // Current |
430 | sprintf(string, "<Current>%d.%01d</Current>\r\n", NaviData.Current / 10, NaviData.Current % 10); |
432 | sprintf(string, "<Current>%d.%01d</Current>\r\n", NaviData.Current / 10, NaviData.Current % 10); |
431 | fputs_(string, doc->file); |
433 | fputs_(string, doc->file); |
432 | // Capacity |
434 | // Capacity |
433 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
435 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
434 | fputs_(string, doc->file); |
436 | fputs_(string, doc->file); |
435 | break; |
437 | break; |
436 | case 4: |
438 | case 4: |
437 | // Compass in deg |
439 | // Compass in deg |
438 | if(SimulationFlags) sprintf(string, "<Compass>%03d,%03d,%03d,%03d</Compass>\r\n",SimulatedDirection,SimulatedDirection,CompassSetpointCorrected/10,SimulatedDirection); |
440 | if(SimulationFlags) sprintf(string, "<Compass>%03d,%03d,%03d,%03d</Compass>\r\n",SimulatedDirection,SimulatedDirection,CompassSetpointCorrected/10,SimulatedDirection); |
439 | else sprintf(string, "<Compass>%03d,%03d,%03d,%03d</Compass>\r\n",FromFlightCtrl.GyroHeading/10,ToFlightCtrl.CompassHeading,CompassSetpointCorrected/10,GyroCompassCorrected/10); |
441 | else sprintf(string, "<Compass>%03d,%03d,%03d,%03d</Compass>\r\n",FromFlightCtrl.GyroHeading/10,ToFlightCtrl.CompassHeading,CompassSetpointCorrected/10,GyroCompassCorrected/10); |
440 | fputs_(string, doc->file); |
442 | fputs_(string, doc->file); |
441 | // magnetic field |
443 | // magnetic field |
442 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
444 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
443 | fputs_(string, doc->file); |
445 | fputs_(string, doc->file); |
444 | // magnetic inclination & error |
446 | // magnetic inclination & error |
445 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
447 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
446 | fputs_(string, doc->file); |
448 | fputs_(string, doc->file); |
447 | // Nick Angle ind deg |
449 | // Nick Angle ind deg |
448 | i16_1 = abs(FromFlightCtrl.AngleNick); |
450 | i16_1 = abs(FromFlightCtrl.AngleNick); |
449 | if(FromFlightCtrl.AngleNick < 0) sprintf(string, "<NickAngle>-%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
451 | if(FromFlightCtrl.AngleNick < 0) sprintf(string, "<NickAngle>-%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
450 | else sprintf(string, "<NickAngle>%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
452 | else sprintf(string, "<NickAngle>%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
451 | fputs_(string, doc->file); |
453 | fputs_(string, doc->file); |
452 | // Roll Angle in deg |
454 | // Roll Angle in deg |
453 | i16_1 = abs(FromFlightCtrl.AngleRoll); |
455 | i16_1 = abs(FromFlightCtrl.AngleRoll); |
454 | if(FromFlightCtrl.AngleRoll < 0) sprintf(string, "<RollAngle>-%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
456 | if(FromFlightCtrl.AngleRoll < 0) sprintf(string, "<RollAngle>-%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
455 | else sprintf(string, "<RollAngle>%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
457 | else sprintf(string, "<RollAngle>%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
456 | fputs_(string, doc->file); |
458 | fputs_(string, doc->file); |
457 | break; |
459 | break; |
458 | case 5: |
460 | case 5: |
459 | // BL Information |
461 | // BL Information |
460 | switch(AmountOfMotors) |
462 | switch(AmountOfMotors) |
461 | { |
463 | { |
462 | case 4: |
464 | case 4: |
463 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3)); |
465 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3)); |
464 | fputs_(string, doc->file); |
466 | fputs_(string, doc->file); |
465 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
467 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
466 | fputs_(string, doc->file); |
468 | fputs_(string, doc->file); |
467 | sprintf(string, "<MotorNOK>%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt); |
469 | sprintf(string, "<MotorNOK>%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt); |
468 | fputs_(string, doc->file); |
470 | fputs_(string, doc->file); |
469 | break; |
471 | break; |
470 | case 6: |
472 | case 6: |
471 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3),BL3_Current(4),BL3_Current(5)); |
473 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3),BL3_Current(4),BL3_Current(5)); |
472 | fputs_(string, doc->file); |
474 | fputs_(string, doc->file); |
473 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature,Motor[4].Temperature,Motor[5].Temperature); |
475 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature,Motor[4].Temperature,Motor[5].Temperature); |
474 | fputs_(string, doc->file); |
476 | fputs_(string, doc->file); |
475 | sprintf(string, "<MotorNOK>%d,%d,%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt,Motor[4].NotReadyCnt,Motor[5].NotReadyCnt); |
477 | sprintf(string, "<MotorNOK>%d,%d,%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt,Motor[4].NotReadyCnt,Motor[5].NotReadyCnt); |
476 | fputs_(string, doc->file); |
478 | fputs_(string, doc->file); |
477 | break; |
479 | break; |
478 | case 8: |
480 | case 8: |
479 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3),BL3_Current(4),BL3_Current(5),BL3_Current(6),BL3_Current(7)); |
481 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3),BL3_Current(4),BL3_Current(5),BL3_Current(6),BL3_Current(7)); |
480 | fputs_(string, doc->file); |
482 | fputs_(string, doc->file); |
481 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d,%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature,Motor[4].Temperature,Motor[5].Temperature,Motor[6].Temperature,Motor[7].Temperature); |
483 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d,%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature,Motor[4].Temperature,Motor[5].Temperature,Motor[6].Temperature,Motor[7].Temperature); |
482 | fputs_(string, doc->file); |
484 | fputs_(string, doc->file); |
483 | sprintf(string, "<MotorNOK>%d,%d,%d,%d,%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt,Motor[4].NotReadyCnt,Motor[5].NotReadyCnt,Motor[6].NotReadyCnt,Motor[7].NotReadyCnt); |
485 | sprintf(string, "<MotorNOK>%d,%d,%d,%d,%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt,Motor[4].NotReadyCnt,Motor[5].NotReadyCnt,Motor[6].NotReadyCnt,Motor[7].NotReadyCnt); |
484 | fputs_(string, doc->file); |
486 | fputs_(string, doc->file); |
485 | break; |
487 | break; |
486 | default: |
488 | default: |
487 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3),BL3_Current(4),BL3_Current(5),BL3_Current(6),BL3_Current(7),BL3_Current(8),BL3_Current(9),BL3_Current(10),BL3_Current(11)); |
489 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3),BL3_Current(4),BL3_Current(5),BL3_Current(6),BL3_Current(7),BL3_Current(8),BL3_Current(9),BL3_Current(10),BL3_Current(11)); |
488 | fputs_(string, doc->file); |
490 | fputs_(string, doc->file); |
489 | 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); |
491 | 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); |
490 | fputs_(string, doc->file); |
492 | fputs_(string, doc->file); |
491 | sprintf(string, "<MotorNOK>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt,Motor[4].NotReadyCnt,Motor[5].NotReadyCnt,Motor[6].NotReadyCnt,Motor[7].NotReadyCnt,Motor[8].NotReadyCnt,Motor[9].NotReadyCnt,Motor[10].NotReadyCnt,Motor[11].NotReadyCnt); |
493 | sprintf(string, "<MotorNOK>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt,Motor[4].NotReadyCnt,Motor[5].NotReadyCnt,Motor[6].NotReadyCnt,Motor[7].NotReadyCnt,Motor[8].NotReadyCnt,Motor[9].NotReadyCnt,Motor[10].NotReadyCnt,Motor[11].NotReadyCnt); |
492 | fputs_(string, doc->file); |
494 | fputs_(string, doc->file); |
493 | break; |
495 | break; |
494 | } |
496 | } |
495 | break; |
497 | break; |
496 | case 6: |
498 | case 6: |
497 | /* 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]); |
499 | /* 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]); |
498 | fputs_(string, doc->file); |
500 | fputs_(string, doc->file); |
499 | 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]); |
501 | 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]); |
500 | fputs_(string, doc->file); |
502 | fputs_(string, doc->file); |
501 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM); |
503 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM); |
502 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
504 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
503 | fputs_(string, doc->file); |
505 | fputs_(string, doc->file); |
504 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
506 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
505 | fputs_(string, doc->file); |
507 | fputs_(string, doc->file); |
506 | sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]); |
508 | sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]); |
507 | fputs_(string, doc->file); |
509 | fputs_(string, doc->file); |
508 | // Analog inputs of the NC |
510 | // Analog inputs of the NC |
509 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
511 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
510 | fputs_(string, doc->file); |
512 | fputs_(string, doc->file); |
511 | 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° |
513 | 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° |
512 | fputs_(string, doc->file); |
514 | fputs_(string, doc->file); |
513 | 515 | ||
514 | if(GPS_pWaypoint != NULL) // if WP exist |
516 | if(GPS_pWaypoint != NULL) // if WP exist |
515 | { // copy that name |
517 | { // copy that name |
516 | u8 i; |
518 | u8 i; |
517 | for(i=0;i<4;i++) |
519 | for(i=0;i<4;i++) |
518 | { |
520 | { |
519 | name[i] = GPS_pWaypoint->Name[i]; |
521 | name[i] = GPS_pWaypoint->Name[i]; |
520 | if(name[i] < ' ') name[i] = ' '; |
522 | if(name[i] < ' ') name[i] = ' '; |
521 | } |
523 | } |
522 | } |
524 | } |
523 | sprintf(string, "<WP>%s,%d,%d,%d</WP>\r\n",name,NaviData.WaypointIndex,NaviData.WaypointNumber,LogFC_WP_EventChannel); // x of y Waypoints and the actual value of the Event Channel |
525 | sprintf(string, "<WP>%s,%d,%d,%d</WP>\r\n",name,NaviData.WaypointIndex,NaviData.WaypointNumber,LogFC_WP_EventChannel); // x of y Waypoints and the actual value of the Event Channel |
524 | LogFC_WP_EventChannel = 0; // can be cleared now |
526 | LogFC_WP_EventChannel = 0; // can be cleared now |
525 | fputs_(string, doc->file); |
527 | fputs_(string, doc->file); |
526 | break; |
528 | break; |
527 | case 7: |
529 | case 7: |
528 | // Target Bearing in deg |
530 | // Target Bearing in deg |
529 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
531 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
530 | fputs_(string, doc->file); |
532 | fputs_(string, doc->file); |
531 | // Target Distance in dm |
533 | // Target Distance in dm |
532 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
534 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
533 | fputs_(string, doc->file); |
535 | fputs_(string, doc->file); |
534 | // Course in deg |
536 | // Course in deg |
535 | sprintf(string, "<Course>%03d</Course>\r\n", NaviData.Heading); |
537 | sprintf(string, "<Course>%03d</Course>\r\n", NaviData.Heading); |
536 | fputs_(string, doc->file); |
538 | fputs_(string, doc->file); |
537 | // Ground Speed in cm/s |
539 | // Ground Speed in cm/s |
538 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
540 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
539 | fputs_(string, doc->file); |
541 | fputs_(string, doc->file); |
540 | // Vertical Speed in cm/s |
542 | // Vertical Speed in cm/s |
541 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
543 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
542 | fputs_(string, doc->file); |
544 | fputs_(string, doc->file); |
543 | break; |
545 | break; |
544 | case 8: |
546 | case 8: |
545 | // RC Sticks as Nick/Roll/Yaw |
547 | // RC Sticks as Nick/Roll/Yaw |
546 | 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]); |
548 | 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]); |
547 | fputs_(string, doc->file); |
549 | fputs_(string, doc->file); |
548 | // GPS Sticks as Nick/Roll/Yaw |
550 | // GPS Sticks as Nick/Roll/Yaw |
549 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, 0 ,NC_GPS_ModeCharacter); |
551 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, 0 ,NC_GPS_ModeCharacter); |
550 | fputs_(string, doc->file); |
552 | fputs_(string, doc->file); |
551 | // RC Quality |
553 | // RC Quality |
552 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
554 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
553 | fputs_(string, doc->file); |
555 | fputs_(string, doc->file); |
554 | // Navigation Update speed (in 0.1Hz) |
556 | // Navigation Update speed (in 0.1Hz) |
- | 557 | if(Parameter.Driftkomp) |
|
- | 558 | { |
|
- | 559 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw); |
|
- | 560 | fputs_(string, doc->file); |
|
- | 561 | } |
|
555 | // sprintf(string, "<NaviUpdate>%d,%d</NaviUpdate>\r\n",FreqGpsProcessedIn5Sec,FreqNewGpsDataIn5Sec); |
562 | // sprintf(string, "<NaviUpdate>%d,%d</NaviUpdate>\r\n",FreqGpsProcessedIn5Sec,FreqNewGpsDataIn5Sec); |
556 | // fputs_(string, doc->file); |
563 | // fputs_(string, doc->file); |
557 | // eof extensions |
564 | // eof extensions |
558 | i32_2 = altitude; |
565 | i32_2 = altitude; |
559 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
566 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
560 | i32_1 = i32_2/1000L; |
567 | i32_1 = i32_2/1000L; |
561 | i32_2 = i32_2%1000L; |
568 | i32_2 = i32_2%1000L; |
562 | if(altitude < 0) sprintf(string,"<ele_raw>-%ld.%03ld</ele_raw>\r\n",abs(i32_1),abs(i32_2)); |
569 | if(altitude < 0) sprintf(string,"<ele_raw>-%ld.%03ld</ele_raw>\r\n",labs(i32_1),labs(i32_2)); |
563 | else sprintf(string,"<ele_raw>%ld.%03ld</ele_raw>\r\n",i32_1,i32_2); |
570 | else sprintf(string,"<ele_raw>%ld.%03ld</ele_raw>\r\n",i32_1,i32_2); |
564 | fputs_(string, doc->file); |
571 | fputs_(string, doc->file); |
565 | 572 | ||
566 | sprintf(string, "</extensions>\r\n"); |
573 | sprintf(string, "</extensions>\r\n"); |
567 | fputs_(string, doc->file); |
574 | fputs_(string, doc->file); |
568 | sprintf(string, "</trkpt>\r\n"); |
575 | sprintf(string, "</trkpt>\r\n"); |
569 | fputs_(string, doc->file); |
576 | fputs_(string, doc->file); |
570 | break; |
577 | break; |
571 | } |
578 | } |
572 | retvalue = 1; |
579 | retvalue = 1; |
573 | } |
580 | } |
574 | } |
581 | } |
575 | } |
582 | } |
576 | return(retvalue); |
583 | return(retvalue); |
577 | } |
584 | } |
578 | 585 | ||
579 | //________________________________________________________________________________________________________________________________________ |
586 | //________________________________________________________________________________________________________________________________________ |
580 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
587 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
581 | // |
588 | // |
582 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
589 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
583 | // |
590 | // |
584 | // |
591 | // |
585 | // Returnvalue: '1' if an gps coordinate was logged |
592 | // Returnvalue: '1' if an gps coordinate was logged |
586 | //________________________________________________________________________________________________________________________________________ |
593 | //________________________________________________________________________________________________________________________________________ |
587 | 594 | ||
588 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
595 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
589 | { |
596 | { |
590 | u8 retval = 0; |
597 | u8 retval = 0; |
591 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
598 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
592 | { |
599 | { |
593 | switch(doc->state) |
600 | switch(doc->state) |
594 | { |
601 | { |
595 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
602 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
596 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
603 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
597 | break; |
604 | break; |
598 | 605 | ||
599 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
606 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
600 | retval = GPX_TrackBegin(doc); |
607 | retval = GPX_TrackBegin(doc); |
601 | break; |
608 | break; |
602 | 609 | ||
603 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
610 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
604 | retval = GPX_TrackSegmentBegin(doc); |
611 | retval = GPX_TrackSegmentBegin(doc); |
605 | break; |
612 | break; |
606 | 613 | ||
607 | default: |
614 | default: |
608 | retval = 0; |
615 | retval = 0; |
609 | break; |
616 | break; |
610 | 617 | ||
611 | } |
618 | } |
612 | if(retval != 1) return(retval); // stop on error |
619 | if(retval != 1) return(retval); // stop on error |
613 | } |
620 | } |
614 | 621 | ||
615 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
622 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
616 | { |
623 | { |
617 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
624 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
618 | } |
625 | } |
619 | return(retval); |
626 | return(retval); |
620 | } |
627 | } |
621 | 628 | ||
622 | 629 |