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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 | #include "uart0.h" |
72 | #include "uart0.h" |
73 | 73 | ||
74 | //________________________________________________________________________________________________________________________________________ |
74 | //________________________________________________________________________________________________________________________________________ |
75 | // Function: GPX_DocumentInit(GPX_Document_t *) |
75 | // Function: GPX_DocumentInit(GPX_Document_t *) |
76 | // |
76 | // |
77 | // Description: This function initializes the gpx-document for further use. |
77 | // Description: This function initializes the gpx-document for further use. |
78 | // |
78 | // |
79 | // |
79 | // |
80 | // Returnvalue: '1' if document was initialized |
80 | // Returnvalue: '1' if document was initialized |
81 | //________________________________________________________________________________________________________________________________________ |
81 | //________________________________________________________________________________________________________________________________________ |
82 | 82 | ||
83 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
83 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
84 | { |
84 | { |
85 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
85 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
86 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
86 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
87 | doc->file = NULL; |
87 | doc->file = NULL; |
88 | return(1); |
88 | return(1); |
89 | } |
89 | } |
90 | 90 | ||
91 | //________________________________________________________________________________________________________________________________________ |
91 | //________________________________________________________________________________________________________________________________________ |
92 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
92 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
93 | // |
93 | // |
94 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
94 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
95 | // |
95 | // |
96 | // |
96 | // |
97 | // Returnvalue: '1' if the gpx-file could be created. |
97 | // Returnvalue: '1' if the gpx-file could be created. |
98 | //________________________________________________________________________________________________________________________________________ |
98 | //________________________________________________________________________________________________________________________________________ |
99 | 99 | ||
100 | 100 | ||
101 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
101 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
102 | { |
102 | { |
103 | s8 string[200]; |
103 | s8 string[200]; |
104 | u8 retvalue = 0; |
104 | u8 retvalue = 0; |
105 | u8 BLv = 1; |
105 | u8 BLv = 1; |
106 | LicenseS_t *tmp_license; |
106 | LicenseS_t *tmp_license; |
107 | tmp_license = (LicenseS_t *) LicensePtr; |
107 | tmp_license = (LicenseS_t *) LicensePtr; |
108 | 108 | ||
109 | if(doc == NULL) return(0); |
109 | if(doc == NULL) return(0); |
110 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
110 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
111 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
111 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
112 | 112 | ||
113 | if(Motor_Version[0] & MOTOR_STATE_BL30) BLv = 3; |
113 | if(Motor_Version[0] & MOTOR_STATE_BL30) BLv = 3; |
114 | else if(Motor_Version[0] & MOTOR_STATE_NEW_PROTOCOL_MASK) BLv = 2; |
114 | else if(Motor_Version[0] & MOTOR_STATE_NEW_PROTOCOL_MASK) BLv = 2; |
115 | 115 | ||
116 | if(doc->file != NULL) // could the file be opened? |
116 | if(doc->file != NULL) // could the file be opened? |
117 | { |
117 | { |
118 | retvalue = 1; // the document could be created on the drive. |
118 | retvalue = 1; // the document could be created on the drive. |
119 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
119 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
120 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
120 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
121 | 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 | 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); |
122 | fputs_(string, doc->file); |
122 | fputs_(string, doc->file); |
123 | if(SimulationFlags) { sprintf(string, " SIMULATED"); fputs_(string, doc->file);}; |
123 | if(SimulationFlags) { sprintf(string, " SIMULATED"); fputs_(string, doc->file);}; |
124 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE) sprintf(string, " (Redundant)</desc>\r\n"); |
124 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE) sprintf(string, " (Redundant)</desc>\r\n"); |
125 | else sprintf(string, "</desc>\r\n"); |
125 | else sprintf(string, "</desc>\r\n"); |
126 | fputs_(string, doc->file); |
126 | fputs_(string, doc->file); |
127 | sprintf(string, "<extensions>\r\n"); fputs_(string, doc->file); |
127 | sprintf(string, "<extensions>\r\n"); fputs_(string, doc->file); |
128 | sprintf(string, "<MK_Time>%imin</MK_Time>\r\n",FlugMinutenGesamt);fputs_(string, doc->file); |
128 | sprintf(string, "<MK_Time>%imin</MK_Time>\r\n",FlugMinutenGesamt);fputs_(string, doc->file); |
129 | sprintf(string, "<GpsVersion>%d.%03d</GpsVersion>\r\n",GPS_Version/1000,GPS_Version%1000);fputs_(string, doc->file); |
129 | sprintf(string, "<GpsVersion>%d.%03d</GpsVersion>\r\n",GPS_Version/1000,GPS_Version%1000);fputs_(string, doc->file); |
130 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
130 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
131 | sprintf(string, "<License>\r\n"); fputs_(string, doc->file); |
131 | sprintf(string, "<License>\r\n"); fputs_(string, doc->file); |
132 | if(tmp_license->User[0] != 0) |
132 | if(tmp_license->User[0] != 0) |
133 | { |
133 | { |
134 | sprintf(string, "<name>%s</name>\r\n",tmp_license->User); fputs_(string, doc->file); |
134 | sprintf(string, "<name>%s</name>\r\n",tmp_license->User); fputs_(string, doc->file); |
135 | sprintf(string, "<email>%s</email>\r\n",tmp_license->eMail); fputs_(string, doc->file); |
135 | sprintf(string, "<email>%s</email>\r\n",tmp_license->eMail); fputs_(string, doc->file); |
136 | sprintf(string, "<features>%s</features>\r\n",tmp_license->Feature); fputs_(string, doc->file); |
136 | sprintf(string, "<features>%s</features>\r\n",tmp_license->Feature); fputs_(string, doc->file); |
137 | sprintf(string, "<expires>%s</expires>\r\n",tmp_license->Expire);fputs_(string, doc->file); |
137 | sprintf(string, "<expires>%s</expires>\r\n",tmp_license->Expire);fputs_(string, doc->file); |
138 | } |
138 | } |
139 | else |
139 | else |
140 | { |
140 | { |
141 | sprintf(string, "<info>No License installed</info>\r\n"); fputs_(string, doc->file); |
141 | sprintf(string, "<info>No License installed</info>\r\n"); fputs_(string, doc->file); |
142 | } |
142 | } |
143 | sprintf(string, "</License>\r\n"); fputs_(string, doc->file); |
143 | sprintf(string, "</License>\r\n"); fputs_(string, doc->file); |
144 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
144 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
145 | sprintf(string, "<settings>\r\n"); fputs_(string, doc->file); |
145 | sprintf(string, "<settings>\r\n"); fputs_(string, doc->file); |
146 | sprintf(string, "<Number>%i</Number>\r\n",Parameter.ActiveSetting);fputs_(string, doc->file); |
146 | sprintf(string, "<Number>%i</Number>\r\n",Parameter.ActiveSetting);fputs_(string, doc->file); |
147 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
147 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
148 | // Reciever Type |
148 | // Reciever Type |
149 | sprintf(string, "<Receiver>");fputs_(string, doc->file); |
149 | sprintf(string, "<Receiver>");fputs_(string, doc->file); |
150 | switch(Parameter.ReceiverType) |
150 | switch(Parameter.ReceiverType) |
151 | { |
151 | { |
152 | case RECEIVER_PPM: sprintf(string, "PPM"); break; |
152 | case RECEIVER_PPM: sprintf(string, "PPM"); break; |
153 | case RECEIVER_SPEKTRUM: sprintf(string, "SPEKTRUM"); break; |
153 | case RECEIVER_SPEKTRUM: sprintf(string, "SPEKTRUM"); break; |
154 | case RECEIVER_SPEKTRUM_HI_RES: sprintf(string, "SPEKTRUM_HI_RES"); break; |
154 | case RECEIVER_SPEKTRUM_HI_RES: sprintf(string, "SPEKTRUM_HI_RES"); break; |
155 | case RECEIVER_SPEKTRUM_LOW_RES: sprintf(string, "SPEKTRUM_LOW_RES"); break; |
155 | case RECEIVER_SPEKTRUM_LOW_RES: sprintf(string, "SPEKTRUM_LOW_RES"); break; |
156 | case RECEIVER_JETI: sprintf(string, "JETI"); break; |
156 | case RECEIVER_JETI: sprintf(string, "JETI"); break; |
157 | case RECEIVER_ACT_DSL: sprintf(string, "ACT_DSL"); break; |
157 | case RECEIVER_ACT_DSL: sprintf(string, "ACT_DSL"); break; |
158 | case RECEIVER_HOTT: sprintf(string, "HOTT"); break; |
158 | case RECEIVER_HOTT: sprintf(string, "HOTT"); break; |
159 | case RECEIVER_SBUS: sprintf(string, "SBUS"); break; |
159 | case RECEIVER_SBUS: sprintf(string, "SBUS"); break; |
160 | case RECEIVER_USER: sprintf(string, "USER"); break; |
160 | case RECEIVER_USER: sprintf(string, "USER"); break; |
161 | default: sprintf(string, "? %d",Parameter.ReceiverType); break; |
161 | default: sprintf(string, "? %d",Parameter.ReceiverType); break; |
162 | } |
162 | } |
163 | fputs_(string, doc->file); |
163 | fputs_(string, doc->file); |
164 | sprintf(string, "</Receiver>\r\n"); fputs_(string, doc->file); |
164 | sprintf(string, "</Receiver>\r\n"); fputs_(string, doc->file); |
165 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
165 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
166 | sprintf(string, "<CompassOffset>%i</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);fputs_(string, doc->file); |
166 | sprintf(string, "<CompassOffset>%i</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);fputs_(string, doc->file); |
167 | sprintf(string, "<FCOrientation>%i</FCOrientation>\r\n",Parameter.OrientationAngle*15);fputs_(string, doc->file); |
167 | sprintf(string, "<FCOrientation>%i</FCOrientation>\r\n",Parameter.OrientationAngle*15);fputs_(string, doc->file); |
168 | sprintf(string, "<GeoMag>%i.%1d</GeoMag>\r\n",GeoMagDec/10,abs(GeoMagDec)%10);fputs_(string, doc->file); |
168 | sprintf(string, "<GeoMag>%i.%1d</GeoMag>\r\n",GeoMagDec/10,abs(GeoMagDec)%10);fputs_(string, doc->file); |
169 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw);fputs_(string, doc->file); |
169 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw);fputs_(string, doc->file); |
170 | sprintf(string, "<Kalibr.>%d,%d,%d</Kalibr.>\r\n", FC.BoatNeutralNick,FC.BoatNeutralRoll,FC.BoatNeutralYaw);fputs_(string, doc->file); |
170 | sprintf(string, "<Kalibr.>%d,%d,%d</Kalibr.>\r\n", FC.BoatNeutralNick,FC.BoatNeutralRoll,FC.BoatNeutralYaw);fputs_(string, doc->file); |
171 | if((FC.StatusFlags3 & FC_STATUS3_BOAT)) {sprintf(string, "<BoatMode>On</BoatMode>\r\n");fputs_(string, doc->file);} |
171 | if((FC.StatusFlags3 & FC_STATUS3_BOAT)) {sprintf(string, "<BoatMode>On</BoatMode>\r\n");fputs_(string, doc->file);} |
172 | if(Parameter.Driftkomp) {sprintf(string, "<DriftComp>%i</DriftComp>\r\n",Parameter.Driftkomp);fputs_(string, doc->file);}; |
172 | if(Parameter.Driftkomp) {sprintf(string, "<DriftComp>%i</DriftComp>\r\n",Parameter.Driftkomp);fputs_(string, doc->file);}; |
173 | 173 | ||
174 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
174 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
175 | // Magnetometer |
175 | // Magnetometer |
176 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) sprintf(string, "<MagSensor>external,(%i),",NCMAG_Orientation); |
176 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) sprintf(string, "<MagSensor>external,(%i),",NCMAG_Orientation); |
177 | else sprintf(string, "<MagSensor>internal,"); |
177 | else sprintf(string, "<MagSensor>internal,"); |
178 | fputs_(string, doc->file); |
178 | fputs_(string, doc->file); |
179 | switch(NCMAG_SensorType) |
179 | switch(NCMAG_SensorType) |
180 | { |
180 | { |
181 | case TYPE_HMC5843: sprintf(string, "HMC"); break; |
181 | case TYPE_HMC5843: sprintf(string, "HMC"); break; |
182 | case TYPE_LSM303DLH: sprintf(string, "DLH"); break; |
182 | case TYPE_LSM303DLH: sprintf(string, "DLH"); break; |
183 | case TYPE_LSM303DLM: sprintf(string, "DLM"); break; |
183 | case TYPE_LSM303DLM: sprintf(string, "DLM"); break; |
- | 184 | case TYPE_LSM303D: sprintf(string, "D"); break; |
|
184 | default: sprintf(string, "? %d",NCMAG_SensorType); break; |
185 | default: sprintf(string, "? %d",NCMAG_SensorType); break; |
185 | } |
186 | } |
186 | fputs_(string, doc->file); |
187 | fputs_(string, doc->file); |
187 | sprintf(string, "</MagSensor>\r\n");fputs_(string, doc->file); |
188 | sprintf(string, "</MagSensor>\r\n");fputs_(string, doc->file); |
188 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
189 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
189 | 190 | ||
190 | if(AbsoluteFlyingAltitude) {sprintf(string, "<MaxAltitude>%i</MaxAltitude>\r\n",AbsoluteFlyingAltitude);fputs_(string, doc->file);} |
191 | if(AbsoluteFlyingAltitude) {sprintf(string, "<MaxAltitude>%i</MaxAltitude>\r\n",AbsoluteFlyingAltitude);fputs_(string, doc->file);} |
191 | if(AbsoluteFlyingRange_m) {sprintf(string, "<FlyRange>%i</FlyRange>\r\n",AbsoluteFlyingRange_m);fputs_(string, doc->file);} |
192 | if(AbsoluteFlyingRange_m) {sprintf(string, "<FlyRange>%i</FlyRange>\r\n",AbsoluteFlyingRange_m);fputs_(string, doc->file);} |
192 | if(AutoDescendRange_m) {sprintf(string, "<Descend>%i</Descend>\r\n",AutoDescendRange_m);fputs_(string, doc->file);}; |
193 | if(AutoDescendRange_m) {sprintf(string, "<Descend>%i</Descend>\r\n",AutoDescendRange_m);fputs_(string, doc->file);}; |
193 | 194 | ||
194 | if((Parameter.GlobalConfig & FC_CFG_HEADING_HOLD)) {sprintf(string, "<HeadingHold>ON!</HeadingHold>\r\n");fputs_(string, doc->file);} |
195 | if((Parameter.GlobalConfig & FC_CFG_HEADING_HOLD)) {sprintf(string, "<HeadingHold>ON!</HeadingHold>\r\n");fputs_(string, doc->file);} |
195 | if((Parameter.GlobalConfig & FC_CFG_KOMPASS_FIX)) {sprintf(string, "<KompassFixedValue>ON!</KompassFixedValue>\r\n");fputs_(string, doc->file);} |
196 | if((Parameter.GlobalConfig & FC_CFG_KOMPASS_FIX)) {sprintf(string, "<KompassFixedValue>ON!</KompassFixedValue>\r\n");fputs_(string, doc->file);} |
196 | if((Parameter.GlobalConfig & FC_CFG_DREHRATEN_BEGRENZER)) {sprintf(string, "<RotationRateLimiter>ON!</RotationRateLimiter>\r\n");fputs_(string, doc->file);} |
197 | if((Parameter.GlobalConfig & FC_CFG_DREHRATEN_BEGRENZER)) {sprintf(string, "<RotationRateLimiter>ON!</RotationRateLimiter>\r\n");fputs_(string, doc->file);} |
197 | if(!(Parameter.GlobalConfig & FC_CFG_ACHSENKOPPLUNG_AKTIV)) {sprintf(string, "<AxisCoupling>OFF!</AxisCoupling>\r\n");fputs_(string, doc->file);} |
198 | if(!(Parameter.GlobalConfig & FC_CFG_ACHSENKOPPLUNG_AKTIV)) {sprintf(string, "<AxisCoupling>OFF!</AxisCoupling>\r\n");fputs_(string, doc->file);} |
198 | if(!(Parameter.GlobalConfig & FC_CFG_KOMPASS_AKTIV)) {sprintf(string, "<CompassActive>OFF!</CompassActive>\r\n");fputs_(string, doc->file);} |
199 | if(!(Parameter.GlobalConfig & FC_CFG_KOMPASS_AKTIV)) {sprintf(string, "<CompassActive>OFF!</CompassActive>\r\n");fputs_(string, doc->file);} |
199 | if((Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)) {sprintf(string, "<VarioFailsafe>On</VarioFailsafe>\r\n");fputs_(string, doc->file);} |
200 | if((Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)) {sprintf(string, "<VarioFailsafe>On</VarioFailsafe>\r\n");fputs_(string, doc->file);} |
200 | if((Parameter.ExtraConfig & CFG_3_3V_REFERENCE)) {sprintf(string, "<3.3V_Reference>On</3.3V_Reference>\r\n");fputs_(string, doc->file);} |
201 | if((Parameter.ExtraConfig & CFG_3_3V_REFERENCE)) {sprintf(string, "<3.3V_Reference>On</3.3V_Reference>\r\n");fputs_(string, doc->file);} |
201 | if((Parameter.ExtraConfig & CFG_IGNORE_MAG_ERR_AT_STARTUP)) {sprintf(string, "<IgnoreMagnetError>ON!</IgnoreMagnetError>\r\n");fputs_(string, doc->file);} |
202 | if((Parameter.ExtraConfig & CFG_IGNORE_MAG_ERR_AT_STARTUP)) {sprintf(string, "<IgnoreMagnetError>ON!</IgnoreMagnetError>\r\n");fputs_(string, doc->file);} |
202 | if(FC.FromFC_DisableDeclination) {sprintf(string, "<DisableDeclinationCalc>ON!</DisableDeclinationCalc>\r\n");fputs_(string, doc->file);} |
203 | if(FC.FromFC_DisableDeclination) {sprintf(string, "<DisableDeclinationCalc>ON!</DisableDeclinationCalc>\r\n");fputs_(string, doc->file);} |
203 | 204 | ||
204 | sprintf(string, "<Bytes>%02x,%02x,%02x</Bytes>\r\n",Parameter.GlobalConfig,Parameter.ExtraConfig,Parameter.GlobalConfig3);fputs_(string, doc->file); |
205 | sprintf(string, "<Bytes>%02x,%02x,%02x</Bytes>\r\n",Parameter.GlobalConfig,Parameter.ExtraConfig,Parameter.GlobalConfig3);fputs_(string, doc->file); |
205 | sprintf(string, "</settings>\r\n"); fputs_(string, doc->file); |
206 | sprintf(string, "</settings>\r\n"); fputs_(string, doc->file); |
206 | sprintf(string, "</extensions>\r\n"); fputs_(string, doc->file); |
207 | sprintf(string, "</extensions>\r\n"); fputs_(string, doc->file); |
207 | 208 | ||
208 | fwrite_((void*)GPX_DOCUMENT_METADATA_END, sizeof(GPX_DOCUMENT_METADATA_END)-1,1,doc->file);// write the gpx-header to the document. |
209 | fwrite_((void*)GPX_DOCUMENT_METADATA_END, sizeof(GPX_DOCUMENT_METADATA_END)-1,1,doc->file);// write the gpx-header to the document. |
209 | } |
210 | } |
210 | Logging_FCStatusFlags1 = 0; |
211 | Logging_FCStatusFlags1 = 0; |
211 | Logging_FCStatusFlags2 = 0; |
212 | Logging_FCStatusFlags2 = 0; |
212 | Logged_GPX_Counter = 0; |
213 | Logged_GPX_Counter = 0; |
213 | LogFC_WP_EventChannel = 0; |
214 | LogFC_WP_EventChannel = 0; |
214 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
215 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
215 | return(retvalue); |
216 | return(retvalue); |
216 | } |
217 | } |
217 | 218 | ||
218 | //________________________________________________________________________________________________________________________________________ |
219 | //________________________________________________________________________________________________________________________________________ |
219 | // Function: DocumentClose(GPX_Document_t *doc); |
220 | // Function: DocumentClose(GPX_Document_t *doc); |
220 | // |
221 | // |
221 | // Description: This function closes the document specified by doc. |
222 | // Description: This function closes the document specified by doc. |
222 | // |
223 | // |
223 | // |
224 | // |
224 | // Returnvalue: '1' if the gpx-file could be closed. |
225 | // Returnvalue: '1' if the gpx-file could be closed. |
225 | //________________________________________________________________________________________________________________________________________ |
226 | //________________________________________________________________________________________________________________________________________ |
226 | 227 | ||
227 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
228 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
228 | { |
229 | { |
229 | 230 | ||
230 | u8 retvalue = 1; |
231 | u8 retvalue = 1; |
231 | 232 | ||
232 | if(doc == NULL) return(0); |
233 | if(doc == NULL) return(0); |
233 | 234 | ||
234 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
235 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
235 | { |
236 | { |
236 | switch(doc->state) |
237 | switch(doc->state) |
237 | { |
238 | { |
238 | case GPX_DOC_TRACKSEGMENT_OPENED: |
239 | case GPX_DOC_TRACKSEGMENT_OPENED: |
239 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
240 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
240 | break; |
241 | break; |
241 | 242 | ||
242 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
243 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
243 | GPX_TrackEnd(doc); |
244 | GPX_TrackEnd(doc); |
244 | break; |
245 | break; |
245 | 246 | ||
246 | case GPX_DOC_OPENED: // close the file on the memorycard |
247 | case GPX_DOC_OPENED: // close the file on the memorycard |
247 | if(doc->file != NULL) |
248 | if(doc->file != NULL) |
248 | { |
249 | { |
249 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
250 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
250 | fclose_(doc->file); |
251 | fclose_(doc->file); |
251 | retvalue = 1; |
252 | retvalue = 1; |
252 | } |
253 | } |
253 | doc->state = GPX_DOC_CLOSED; |
254 | doc->state = GPX_DOC_CLOSED; |
254 | break; |
255 | break; |
255 | 256 | ||
256 | default: |
257 | default: |
257 | doc->state = GPX_DOC_CLOSED; |
258 | doc->state = GPX_DOC_CLOSED; |
258 | break; |
259 | break; |
259 | } |
260 | } |
260 | } |
261 | } |
261 | return(retvalue); |
262 | return(retvalue); |
262 | } |
263 | } |
263 | 264 | ||
264 | 265 | ||
265 | 266 | ||
266 | //________________________________________________________________________________________________________________________________________ |
267 | //________________________________________________________________________________________________________________________________________ |
267 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
268 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
268 | // |
269 | // |
269 | // Description: This function adds a track to the document. |
270 | // Description: This function adds a track to the document. |
270 | // |
271 | // |
271 | // |
272 | // |
272 | // Returnvalue: '1' if the track could be opened |
273 | // Returnvalue: '1' if the track could be opened |
273 | //________________________________________________________________________________________________________________________________________ |
274 | //________________________________________________________________________________________________________________________________________ |
274 | 275 | ||
275 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
276 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
276 | { |
277 | { |
277 | 278 | ||
278 | u8 retvalue = 0; |
279 | u8 retvalue = 0; |
279 | if(doc->state == GPX_DOC_OPENED) |
280 | if(doc->state == GPX_DOC_OPENED) |
280 | { |
281 | { |
281 | if(doc->file != NULL) |
282 | if(doc->file != NULL) |
282 | { |
283 | { |
283 | doc->state = GPX_DOC_TRACK_OPENED; |
284 | doc->state = GPX_DOC_TRACK_OPENED; |
284 | retvalue = 1; |
285 | retvalue = 1; |
285 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
286 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
286 | } |
287 | } |
287 | } |
288 | } |
288 | return(retvalue); |
289 | return(retvalue); |
289 | } |
290 | } |
290 | 291 | ||
291 | 292 | ||
292 | //________________________________________________________________________________________________________________________________________ |
293 | //________________________________________________________________________________________________________________________________________ |
293 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
294 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
294 | // |
295 | // |
295 | // Description: This function ends the track opened before. |
296 | // Description: This function ends the track opened before. |
296 | // |
297 | // |
297 | // |
298 | // |
298 | // Returnvalue: 1' if the track could be closed |
299 | // Returnvalue: 1' if the track could be closed |
299 | //________________________________________________________________________________________________________________________________________ |
300 | //________________________________________________________________________________________________________________________________________ |
300 | 301 | ||
301 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
302 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
302 | { |
303 | { |
303 | 304 | ||
304 | u8 retvalue = 0; |
305 | u8 retvalue = 0; |
305 | 306 | ||
306 | if(doc->state == GPX_DOC_TRACK_OPENED) |
307 | if(doc->state == GPX_DOC_TRACK_OPENED) |
307 | { |
308 | { |
308 | if(doc->file != NULL) |
309 | if(doc->file != NULL) |
309 | { |
310 | { |
310 | doc->state = GPX_DOC_OPENED; |
311 | doc->state = GPX_DOC_OPENED; |
311 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
312 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
312 | retvalue = 1; |
313 | retvalue = 1; |
313 | } |
314 | } |
314 | } |
315 | } |
315 | 316 | ||
316 | return(retvalue); |
317 | return(retvalue); |
317 | } |
318 | } |
318 | 319 | ||
319 | //________________________________________________________________________________________________________________________________________ |
320 | //________________________________________________________________________________________________________________________________________ |
320 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
321 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
321 | // |
322 | // |
322 | // Description: This function starts a track segment. |
323 | // Description: This function starts a track segment. |
323 | // |
324 | // |
324 | // |
325 | // |
325 | // Returnvalue: '1' if the track segement could be started |
326 | // Returnvalue: '1' if the track segement could be started |
326 | //________________________________________________________________________________________________________________________________________ |
327 | //________________________________________________________________________________________________________________________________________ |
327 | 328 | ||
328 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
329 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
329 | { |
330 | { |
330 | 331 | ||
331 | u8 retvalue = 0; |
332 | u8 retvalue = 0; |
332 | 333 | ||
333 | if(doc->state == GPX_DOC_TRACK_OPENED) |
334 | if(doc->state == GPX_DOC_TRACK_OPENED) |
334 | { |
335 | { |
335 | if(doc->file != NULL) |
336 | if(doc->file != NULL) |
336 | { |
337 | { |
337 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
338 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
338 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
339 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
339 | retvalue = 1; |
340 | retvalue = 1; |
340 | } |
341 | } |
341 | } |
342 | } |
342 | return(retvalue); |
343 | return(retvalue); |
343 | } |
344 | } |
344 | 345 | ||
345 | //________________________________________________________________________________________________________________________________________ |
346 | //________________________________________________________________________________________________________________________________________ |
346 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
347 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
347 | // |
348 | // |
348 | // Description: This function ends the tracksegment opened before. |
349 | // Description: This function ends the tracksegment opened before. |
349 | // |
350 | // |
350 | // |
351 | // |
351 | // Returnvalue: '1' if the track segment could be terminated |
352 | // Returnvalue: '1' if the track segment could be terminated |
352 | //________________________________________________________________________________________________________________________________________ |
353 | //________________________________________________________________________________________________________________________________________ |
353 | 354 | ||
354 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
355 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
355 | { |
356 | { |
356 | 357 | ||
357 | u8 retvalue = 0; |
358 | u8 retvalue = 0; |
358 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
359 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
359 | { |
360 | { |
360 | if(doc->file != NULL) |
361 | if(doc->file != NULL) |
361 | { |
362 | { |
362 | doc->state = GPX_DOC_TRACK_OPENED; |
363 | doc->state = GPX_DOC_TRACK_OPENED; |
363 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
364 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
364 | retvalue = 1; |
365 | retvalue = 1; |
365 | } |
366 | } |
366 | } |
367 | } |
367 | return(retvalue); |
368 | return(retvalue); |
368 | } |
369 | } |
369 | 370 | ||
370 | //________________________________________________________________________________________________________________________________________ |
371 | //________________________________________________________________________________________________________________________________________ |
371 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
372 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
372 | // |
373 | // |
373 | // Description: This function adds a pointof a track segement to the specified document. |
374 | // Description: This function adds a pointof a track segement to the specified document. |
374 | // |
375 | // |
375 | // |
376 | // |
376 | // Returnvalue: '1' if a point was added |
377 | // Returnvalue: '1' if a point was added |
377 | //________________________________________________________________________________________________________________________________________ |
378 | //________________________________________________________________________________________________________________________________________ |
378 | 379 | ||
379 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
380 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
380 | { |
381 | { |
381 | 382 | ||
382 | u8 retvalue = 0; |
383 | u8 retvalue = 0; |
383 | s8 string[120]; |
384 | s8 string[120]; |
384 | s8 name[] = "----\0"; |
385 | s8 name[] = "----\0"; |
385 | 386 | ||
386 | if(doc == NULL) return(0); |
387 | if(doc == NULL) return(0); |
387 | 388 | ||
388 | // if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
389 | // if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
389 | { |
390 | { |
390 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
391 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
391 | { |
392 | { |
392 | if(doc->file != NULL) |
393 | if(doc->file != NULL) |
393 | { |
394 | { |
394 | static s32 altitude; // store to make sure they are all recorded in one timestamp |
395 | static s32 altitude; // store to make sure they are all recorded in one timestamp |
395 | s32 i32_1, i32_2; |
396 | s32 i32_1, i32_2; |
396 | s16 i16_1; |
397 | s16 i16_1; |
397 | u8 u8_1, u8_2; |
398 | u8 u8_1, u8_2; |
398 | // write <trkpt> tag |
399 | // write <trkpt> tag |
399 | switch(part) |
400 | switch(part) |
400 | { |
401 | { |
401 | case 0: |
402 | case 0: |
402 | Logged_GPX_Counter++; |
403 | Logged_GPX_Counter++; |
403 | if(GPSData.Position.Status != INVALID) |
404 | if(GPSData.Position.Status != INVALID) |
404 | { |
405 | { |
405 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
406 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
406 | else u8_1 = '+'; |
407 | else u8_1 = '+'; |
407 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
408 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
408 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
409 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
409 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
410 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
410 | fputs_(string, doc->file); |
411 | fputs_(string, doc->file); |
411 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
412 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
412 | else u8_1 = '+'; |
413 | else u8_1 = '+'; |
413 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
414 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
414 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
415 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
415 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
416 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
416 | } else sprintf(string, "<trkpt lat=\"\" lon=\"\">"); |
417 | } else sprintf(string, "<trkpt lat=\"\" lon=\"\">"); |
417 | fputs_(string, doc->file); |
418 | fputs_(string, doc->file); |
418 | altitude = GPSData.Position.Altitude; |
419 | altitude = GPSData.Position.Altitude; |
419 | break; |
420 | break; |
420 | case 1: |
421 | case 1: |
421 | // write <ele> tag |
422 | // write <ele> tag |
422 | i32_2 = altitude - NaviData.HomePosition.Altitude; |
423 | i32_2 = altitude - NaviData.HomePosition.Altitude; |
423 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
424 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
424 | i32_1 = i32_2/1000L; |
425 | i32_1 = i32_2/1000L; |
425 | i32_2 = i32_2%1000L; |
426 | i32_2 = i32_2%1000L; |
426 | if(altitude - NaviData.HomePosition.Altitude < 0) sprintf(string,"<ele>-%ld.%03ld</ele>\r\n",labs(i32_1),labs(i32_2)); |
427 | if(altitude - NaviData.HomePosition.Altitude < 0) sprintf(string,"<ele>-%ld.%03ld</ele>\r\n",labs(i32_1),labs(i32_2)); |
427 | else sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1,i32_2); |
428 | else sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1,i32_2); |
428 | fputs_(string, doc->file); |
429 | fputs_(string, doc->file); |
429 | // write <time> tag only at a resolution of 1/100 second |
430 | // write <time> tag only at a resolution of 1/100 second |
430 | 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); |
431 | 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); |
431 | fputs_(string, doc->file); |
432 | fputs_(string, doc->file); |
432 | // write <sat> tag |
433 | // write <sat> tag |
433 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
434 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
434 | fputs_(string, doc->file); |
435 | fputs_(string, doc->file); |
435 | // todo: add <extensions> tag with additional data to be logged |
436 | // todo: add <extensions> tag with additional data to be logged |
436 | sprintf(string, "<extensions>\r\n"); |
437 | sprintf(string, "<extensions>\r\n"); |
437 | fputs_(string, doc->file); |
438 | fputs_(string, doc->file); |
438 | break; |
439 | break; |
439 | case 2: |
440 | case 2: |
440 | // Flight duration |
441 | // Flight duration |
441 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
442 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
442 | fputs_(string, doc->file); |
443 | fputs_(string, doc->file); |
443 | // Status of the complete MikroKopter |
444 | // Status of the complete MikroKopter |
444 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
445 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
445 | fputs_(string, doc->file); |
446 | fputs_(string, doc->file); |
446 | // Flags |
447 | // Flags |
447 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
448 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
448 | fputs_(string, doc->file); |
449 | fputs_(string, doc->file); |
449 | Logging_FCStatusFlags1 = FC.StatusFlags; |
450 | Logging_FCStatusFlags1 = FC.StatusFlags; |
450 | Logging_FCStatusFlags2 = FC.StatusFlags2; |
451 | Logging_FCStatusFlags2 = FC.StatusFlags2; |
451 | // NC Mode (contains the status) |
452 | // NC Mode (contains the status) |
452 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
453 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
453 | fputs_(string, doc->file); |
454 | fputs_(string, doc->file); |
454 | // Altimeter according to air pressure |
455 | // Altimeter according to air pressure |
455 | sprintf(string, "<Speak>%d</Speak>\r\n",FC.FromFC_SpeakHoTT); |
456 | sprintf(string, "<Speak>%d</Speak>\r\n",FC.FromFC_SpeakHoTT); |
456 | FC.FromFC_SpeakHoTT = 0; // can be cleared now |
457 | FC.FromFC_SpeakHoTT = 0; // can be cleared now |
457 | fputs_(string, doc->file); |
458 | fputs_(string, doc->file); |
458 | // Altimeter according to air pressure |
459 | // Altimeter according to air pressure |
459 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter); |
460 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter); |
460 | fputs_(string, doc->file); |
461 | fputs_(string, doc->file); |
461 | // Variometer according to air pressure |
462 | // Variometer according to air pressure |
462 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
463 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
463 | fputs_(string, doc->file); |
464 | fputs_(string, doc->file); |
464 | break; |
465 | break; |
465 | case 3: |
466 | case 3: |
466 | // Ubat |
467 | // Ubat |
467 | u8_1 = NaviData.UBat / 10; |
468 | u8_1 = NaviData.UBat / 10; |
468 | u8_2 = NaviData.UBat % 10; |
469 | u8_2 = NaviData.UBat % 10; |
469 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
470 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
470 | fputs_(string, doc->file); |
471 | fputs_(string, doc->file); |
471 | // Current |
472 | // Current |
472 | sprintf(string, "<Current>%d.%01d</Current>\r\n", NaviData.Current / 10, NaviData.Current % 10); |
473 | sprintf(string, "<Current>%d.%01d</Current>\r\n", NaviData.Current / 10, NaviData.Current % 10); |
473 | fputs_(string, doc->file); |
474 | fputs_(string, doc->file); |
474 | // Capacity |
475 | // Capacity |
475 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
476 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
476 | fputs_(string, doc->file); |
477 | fputs_(string, doc->file); |
477 | break; |
478 | break; |
478 | case 4: |
479 | case 4: |
479 | // Compass in deg |
480 | // Compass in deg |
480 | if(SimulationFlags) sprintf(string, "<Compass>%03d,%03d,%03d.%1d,%03d.0</Compass>\r\n",SimulatedDirection,SimulatedDirection,CompassSetpointCorrected/10,CompassSetpointCorrected%10,SimulatedDirection); |
481 | if(SimulationFlags) sprintf(string, "<Compass>%03d,%03d,%03d.%1d,%03d.0</Compass>\r\n",SimulatedDirection,SimulatedDirection,CompassSetpointCorrected/10,CompassSetpointCorrected%10,SimulatedDirection); |
481 | else sprintf(string, "<Compass>%03d,%03d,%03d.%1d,%03d.%1d</Compass>\r\n",FromFlightCtrl.GyroHeading/10,ToFlightCtrl.CompassHeading,CompassSetpointCorrected/10,CompassSetpointCorrected%10,GyroCompassCorrected/10,GyroCompassCorrected%10); |
482 | else sprintf(string, "<Compass>%03d,%03d,%03d.%1d,%03d.%1d</Compass>\r\n",FromFlightCtrl.GyroHeading/10,ToFlightCtrl.CompassHeading,CompassSetpointCorrected/10,CompassSetpointCorrected%10,GyroCompassCorrected/10,GyroCompassCorrected%10); |
482 | fputs_(string, doc->file); |
483 | fputs_(string, doc->file); |
483 | // magnetic field |
484 | // magnetic field |
484 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
485 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
485 | fputs_(string, doc->file); |
486 | fputs_(string, doc->file); |
486 | // magnetic inclination & error |
487 | // magnetic inclination & error |
487 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
488 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
488 | fputs_(string, doc->file); |
489 | fputs_(string, doc->file); |
489 | // Nick Angle ind deg |
490 | // Nick Angle ind deg |
490 | i16_1 = abs(FromFlightCtrl.AngleNick); |
491 | i16_1 = abs(FromFlightCtrl.AngleNick); |
491 | if(FromFlightCtrl.AngleNick < 0) sprintf(string, "<NickAngle>-%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
492 | if(FromFlightCtrl.AngleNick < 0) sprintf(string, "<NickAngle>-%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
492 | else sprintf(string, "<NickAngle>%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
493 | else sprintf(string, "<NickAngle>%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
493 | fputs_(string, doc->file); |
494 | fputs_(string, doc->file); |
494 | // Roll Angle in deg |
495 | // Roll Angle in deg |
495 | i16_1 = abs(FromFlightCtrl.AngleRoll); |
496 | i16_1 = abs(FromFlightCtrl.AngleRoll); |
496 | if(FromFlightCtrl.AngleRoll < 0) sprintf(string, "<RollAngle>-%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
497 | if(FromFlightCtrl.AngleRoll < 0) sprintf(string, "<RollAngle>-%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
497 | else sprintf(string, "<RollAngle>%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
498 | else sprintf(string, "<RollAngle>%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
498 | fputs_(string, doc->file); |
499 | fputs_(string, doc->file); |
499 | break; |
500 | break; |
500 | case 5: |
501 | case 5: |
501 | // BL Information |
502 | // BL Information |
502 | switch(AmountOfMotors) |
503 | switch(AmountOfMotors) |
503 | { |
504 | { |
504 | case 4: |
505 | case 4: |
505 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3)); |
506 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3)); |
506 | fputs_(string, doc->file); |
507 | fputs_(string, doc->file); |
507 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
508 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
508 | fputs_(string, doc->file); |
509 | fputs_(string, doc->file); |
509 | sprintf(string, "<MotorNOK>%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt); |
510 | sprintf(string, "<MotorNOK>%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt); |
510 | fputs_(string, doc->file); |
511 | fputs_(string, doc->file); |
511 | break; |
512 | break; |
512 | case 6: |
513 | case 6: |
513 | 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)); |
514 | 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)); |
514 | fputs_(string, doc->file); |
515 | fputs_(string, doc->file); |
515 | 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); |
516 | 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); |
516 | fputs_(string, doc->file); |
517 | fputs_(string, doc->file); |
517 | 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); |
518 | 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); |
518 | fputs_(string, doc->file); |
519 | fputs_(string, doc->file); |
519 | break; |
520 | break; |
520 | case 8: |
521 | case 8: |
521 | 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)); |
522 | 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)); |
522 | fputs_(string, doc->file); |
523 | fputs_(string, doc->file); |
523 | 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); |
524 | 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); |
524 | fputs_(string, doc->file); |
525 | fputs_(string, doc->file); |
525 | 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); |
526 | 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); |
526 | fputs_(string, doc->file); |
527 | fputs_(string, doc->file); |
527 | break; |
528 | break; |
528 | default: |
529 | default: |
529 | 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)); |
530 | 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)); |
530 | fputs_(string, doc->file); |
531 | fputs_(string, doc->file); |
531 | 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); |
532 | 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); |
532 | fputs_(string, doc->file); |
533 | fputs_(string, doc->file); |
533 | 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); |
534 | 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); |
534 | fputs_(string, doc->file); |
535 | fputs_(string, doc->file); |
535 | break; |
536 | break; |
536 | } |
537 | } |
537 | break; |
538 | break; |
538 | case 6: |
539 | case 6: |
539 | /* 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]); |
540 | /* 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]); |
540 | fputs_(string, doc->file); |
541 | fputs_(string, doc->file); |
541 | 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]); |
542 | 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]); |
542 | fputs_(string, doc->file); |
543 | fputs_(string, doc->file); |
543 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM); |
544 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM); |
544 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
545 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
545 | fputs_(string, doc->file); |
546 | fputs_(string, doc->file); |
546 | 547 | ||
547 | // Gas values |
548 | // Gas values |
548 | if(LoggingGasCnt > 1) LoggingGasFilter = LoggingGasFilter / LoggingGasCnt; |
549 | if(LoggingGasCnt > 1) LoggingGasFilter = LoggingGasFilter / LoggingGasCnt; |
549 | sprintf(string, "<Gas>%03d,%03d</Gas>\r\n",LoggingGasFilter,HoverGas); |
550 | sprintf(string, "<Gas>%03d,%03d</Gas>\r\n",LoggingGasFilter,HoverGas); |
550 | LoggingGasCnt = 0; |
551 | LoggingGasCnt = 0; |
551 | 552 | ||
552 | fputs_(string, doc->file); |
553 | fputs_(string, doc->file); |
553 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
554 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
554 | fputs_(string, doc->file); |
555 | fputs_(string, doc->file); |
555 | sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]); |
556 | sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]); |
556 | fputs_(string, doc->file); |
557 | fputs_(string, doc->file); |
557 | // Analog inputs of the NC |
558 | // Analog inputs of the NC |
558 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
559 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
559 | fputs_(string, doc->file); |
560 | fputs_(string, doc->file); |
560 | 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° |
561 | 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° |
561 | fputs_(string, doc->file); |
562 | fputs_(string, doc->file); |
562 | 563 | ||
563 | if(GPS_pWaypoint != NULL) // if WP exist |
564 | if(GPS_pWaypoint != NULL) // if WP exist |
564 | { // copy that name |
565 | { // copy that name |
565 | u8 i; |
566 | u8 i; |
566 | for(i=0;i<4;i++) |
567 | for(i=0;i<4;i++) |
567 | { |
568 | { |
568 | name[i] = GPS_pWaypoint->Name[i]; |
569 | name[i] = GPS_pWaypoint->Name[i]; |
569 | if(name[i] < ' ') name[i] = ' '; |
570 | if(name[i] < ' ') name[i] = ' '; |
570 | } |
571 | } |
571 | } |
572 | } |
572 | 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 |
573 | 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 |
573 | LogFC_WP_EventChannel = 0; // can be cleared now |
574 | LogFC_WP_EventChannel = 0; // can be cleared now |
574 | fputs_(string, doc->file); |
575 | fputs_(string, doc->file); |
575 | break; |
576 | break; |
576 | case 7: |
577 | case 7: |
577 | // Target Bearing in deg |
578 | // Target Bearing in deg |
578 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
579 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
579 | fputs_(string, doc->file); |
580 | fputs_(string, doc->file); |
580 | // Target Distance in dm |
581 | // Target Distance in dm |
581 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
582 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
582 | fputs_(string, doc->file); |
583 | fputs_(string, doc->file); |
583 | // Course in deg |
584 | // Course in deg |
584 | sprintf(string, "<Course>%03d</Course>\r\n", NaviData.Heading); |
585 | sprintf(string, "<Course>%03d</Course>\r\n", NaviData.Heading); |
585 | fputs_(string, doc->file); |
586 | fputs_(string, doc->file); |
586 | // Ground Speed in cm/s |
587 | // Ground Speed in cm/s |
587 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
588 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
588 | fputs_(string, doc->file); |
589 | fputs_(string, doc->file); |
589 | // Vertical Speed in cm/s |
590 | // Vertical Speed in cm/s |
590 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
591 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
591 | fputs_(string, doc->file); |
592 | fputs_(string, doc->file); |
592 | // RC Sticks as Nick/Roll/Yaw |
593 | // RC Sticks as Nick/Roll/Yaw |
593 | 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]); |
594 | 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]); |
594 | fputs_(string, doc->file); |
595 | fputs_(string, doc->file); |
595 | // GPS Sticks as Nick/Roll/Yaw |
596 | // GPS Sticks as Nick/Roll/Yaw |
596 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, 0 ,NC_GPS_ModeCharacter); |
597 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, 0 ,NC_GPS_ModeCharacter); |
597 | fputs_(string, doc->file); |
598 | fputs_(string, doc->file); |
598 | // RC Quality |
599 | // RC Quality |
599 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
600 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
600 | fputs_(string, doc->file); |
601 | fputs_(string, doc->file); |
601 | // raw GPS altitude |
602 | // raw GPS altitude |
602 | i32_2 = altitude; |
603 | i32_2 = altitude; |
603 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
604 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
604 | i32_1 = i32_2/1000L; |
605 | i32_1 = i32_2/1000L; |
605 | i32_2 = i32_2%1000L; |
606 | i32_2 = i32_2%1000L; |
606 | if(altitude < 0) sprintf(string,"<ele_raw>-%ld.%03ld</ele_raw>\r\n",labs(i32_1),labs(i32_2)); |
607 | if(altitude < 0) sprintf(string,"<ele_raw>-%ld.%03ld</ele_raw>\r\n",labs(i32_1),labs(i32_2)); |
607 | else sprintf(string,"<ele_raw>%ld.%03ld</ele_raw>\r\n",i32_1,i32_2); |
608 | else sprintf(string,"<ele_raw>%ld.%03ld</ele_raw>\r\n",i32_1,i32_2); |
608 | fputs_(string, doc->file); |
609 | fputs_(string, doc->file); |
609 | break; |
610 | break; |
610 | case 8: |
611 | case 8: |
611 | // Drift compensation |
612 | // Drift compensation |
612 | /* |
613 | /* |
613 | if(Parameter.Driftkomp) |
614 | if(Parameter.Driftkomp) |
614 | { |
615 | { |
615 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw); |
616 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw); |
616 | fputs_(string, doc->file); |
617 | fputs_(string, doc->file); |
617 | } |
618 | } |
618 | */ |
619 | */ |
619 | // Navigation Update speed (in 0.1Hz) |
620 | // Navigation Update speed (in 0.1Hz) |
620 | // sprintf(string, "<NaviUpdate>%d,%d</NaviUpdate>\r\n",FreqGpsProcessedIn5Sec,FreqNewGpsDataIn5Sec); |
621 | // sprintf(string, "<NaviUpdate>%d,%d</NaviUpdate>\r\n",FreqGpsProcessedIn5Sec,FreqNewGpsDataIn5Sec); |
621 | // fputs_(string, doc->file); |
622 | // fputs_(string, doc->file); |
622 | // eof extensions |
623 | // eof extensions |
623 | sprintf(string, "</extensions>\r\n"); |
624 | sprintf(string, "</extensions>\r\n"); |
624 | fputs_(string, doc->file); |
625 | fputs_(string, doc->file); |
625 | sprintf(string, "</trkpt>\r\n"); |
626 | sprintf(string, "</trkpt>\r\n"); |
626 | fputs_(string, doc->file); |
627 | fputs_(string, doc->file); |
627 | break; |
628 | break; |
628 | } |
629 | } |
629 | retvalue = 1; |
630 | retvalue = 1; |
630 | } |
631 | } |
631 | } |
632 | } |
632 | } |
633 | } |
633 | return(retvalue); |
634 | return(retvalue); |
634 | } |
635 | } |
635 | 636 | ||
636 | //________________________________________________________________________________________________________________________________________ |
637 | //________________________________________________________________________________________________________________________________________ |
637 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
638 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
638 | // |
639 | // |
639 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
640 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
640 | // |
641 | // |
641 | // |
642 | // |
642 | // Returnvalue: '1' if an gps coordinate was logged |
643 | // Returnvalue: '1' if an gps coordinate was logged |
643 | //________________________________________________________________________________________________________________________________________ |
644 | //________________________________________________________________________________________________________________________________________ |
644 | 645 | ||
645 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
646 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
646 | { |
647 | { |
647 | u8 retval = 0; |
648 | u8 retval = 0; |
648 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
649 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
649 | { |
650 | { |
650 | switch(doc->state) |
651 | switch(doc->state) |
651 | { |
652 | { |
652 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
653 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
653 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
654 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
654 | break; |
655 | break; |
655 | 656 | ||
656 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
657 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
657 | retval = GPX_TrackBegin(doc); |
658 | retval = GPX_TrackBegin(doc); |
658 | break; |
659 | break; |
659 | 660 | ||
660 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
661 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
661 | retval = GPX_TrackSegmentBegin(doc); |
662 | retval = GPX_TrackSegmentBegin(doc); |
662 | break; |
663 | break; |
663 | 664 | ||
664 | default: |
665 | default: |
665 | retval = 0; |
666 | retval = 0; |
666 | break; |
667 | break; |
667 | 668 | ||
668 | } |
669 | } |
669 | if(retval != 1) return(retval); // stop on error |
670 | if(retval != 1) return(retval); // stop on error |
670 | } |
671 | } |
671 | 672 | ||
672 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
673 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
673 | { |
674 | { |
674 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
675 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
675 | } |
676 | } |
676 | return(retval); |
677 | return(retval); |
677 | } |
678 | } |
678 | 679 | ||
679 | 680 |