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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 | #include "settings.h" |
73 | #include "settings.h" |
74 | 74 | ||
75 | //________________________________________________________________________________________________________________________________________ |
75 | //________________________________________________________________________________________________________________________________________ |
76 | // Function: GPX_DocumentInit(GPX_Document_t *) |
76 | // Function: GPX_DocumentInit(GPX_Document_t *) |
77 | // |
77 | // |
78 | // Description: This function initializes the gpx-document for further use. |
78 | // Description: This function initializes the gpx-document for further use. |
79 | // |
79 | // |
80 | // |
80 | // |
81 | // Returnvalue: '1' if document was initialized |
81 | // Returnvalue: '1' if document was initialized |
82 | //________________________________________________________________________________________________________________________________________ |
82 | //________________________________________________________________________________________________________________________________________ |
83 | 83 | ||
84 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
84 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
85 | { |
85 | { |
86 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
86 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
87 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
87 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
88 | doc->file = NULL; |
88 | doc->file = NULL; |
89 | return(1); |
89 | return(1); |
90 | } |
90 | } |
91 | 91 | ||
92 | //________________________________________________________________________________________________________________________________________ |
92 | //________________________________________________________________________________________________________________________________________ |
93 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
93 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
94 | // |
94 | // |
95 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
95 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
96 | // |
96 | // |
97 | // |
97 | // |
98 | // Returnvalue: '1' if the gpx-file could be created. |
98 | // Returnvalue: '1' if the gpx-file could be created. |
99 | //________________________________________________________________________________________________________________________________________ |
99 | //________________________________________________________________________________________________________________________________________ |
100 | 100 | ||
101 | 101 | ||
102 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
102 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
103 | { |
103 | { |
104 | s8 string[200]; |
104 | s8 string[200]; |
105 | u8 retvalue = 0; |
105 | u8 retvalue = 0; |
106 | u8 BLv = 1; |
106 | u8 BLv = 1; |
107 | u16 gps_receive_config; |
107 | u16 gps_receive_config; |
108 | LicenseS_t *tmp_license; |
108 | LicenseS_t *tmp_license; |
109 | tmp_license = (LicenseS_t *) LicensePtr; |
109 | tmp_license = (LicenseS_t *) LicensePtr; |
110 | 110 | ||
111 | if(doc == NULL) return(0); |
111 | if(doc == NULL) return(0); |
112 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
112 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
113 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
113 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
114 | 114 | ||
115 | if(Motor_Version[0] & MOTOR_STATE_BL30) BLv = 3; |
115 | if(Motor_Version[0] & MOTOR_STATE_BL30) BLv = 3; |
116 | else if(Motor_Version[0] & MOTOR_STATE_NEW_PROTOCOL_MASK) BLv = 2; |
116 | else if(Motor_Version[0] & MOTOR_STATE_NEW_PROTOCOL_MASK) BLv = 2; |
117 | 117 | ||
118 | if(doc->file != NULL) // could the file be opened? |
118 | if(doc->file != NULL) // could the file be opened? |
119 | { |
119 | { |
120 | retvalue = 1; // the document could be created on the drive. |
120 | retvalue = 1; // the document could be created on the drive. |
121 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
121 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
122 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
122 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
123 | 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); |
123 | 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); |
124 | fputs_(string, doc->file); |
124 | fputs_(string, doc->file); |
125 | if(SimulationFlags) { sprintf(string, " SIMULATED"); fputs_(string, doc->file);}; |
125 | if(SimulationFlags) { sprintf(string, " SIMULATED"); fputs_(string, doc->file);}; |
126 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) sprintf(string, " (Redundant)</desc>\r\n"); |
126 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) sprintf(string, " (Redundant)</desc>\r\n"); |
127 | else sprintf(string, "</desc>\r\n"); |
127 | else sprintf(string, "</desc>\r\n"); |
128 | fputs_(string, doc->file); |
128 | fputs_(string, doc->file); |
129 | sprintf(string, "<extensions>\r\n"); fputs_(string, doc->file); |
129 | sprintf(string, "<extensions>\r\n"); fputs_(string, doc->file); |
130 | sprintf(string, "<MK_Time>%imin</MK_Time>\r\n",FlugMinutenGesamt);fputs_(string, doc->file); |
130 | sprintf(string, "<MK_Time>%imin</MK_Time>\r\n",FlugMinutenGesamt);fputs_(string, doc->file); |
131 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
131 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
132 | sprintf(string, "<GpsVersion>%d.%03d</GpsVersion>\r\n",GPS_Version/1000,GPS_Version%1000);fputs_(string, doc->file); |
132 | sprintf(string, "<GpsVersion>%d.%03d</GpsVersion>\r\n",GPS_Version/1000,GPS_Version%1000);fputs_(string, doc->file); |
133 | if(GPS_Version >= 3000) |
133 | if(GPS_Version >= 3000) |
134 | { |
134 | { |
135 | Settings_GetParamValue(PID_GPS_SYSTEM_CFG,&gps_receive_config); |
135 | Settings_GetParamValue(PID_GPS_SYSTEM_CFG,&gps_receive_config); |
136 | sprintf(string, "<GNSS_System>%d</GNSS_System>\r\n",gps_receive_config); |
136 | sprintf(string, "<GNSS_System>%d</GNSS_System>\r\n",gps_receive_config); |
137 | fputs_(string, doc->file); |
137 | fputs_(string, doc->file); |
138 | } |
138 | } |
139 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
139 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
140 | sprintf(string, "<License>\r\n"); fputs_(string, doc->file); |
140 | sprintf(string, "<License>\r\n"); fputs_(string, doc->file); |
141 | if(tmp_license->User[0] != 0) |
141 | if(tmp_license->User[0] != 0) |
142 | { |
142 | { |
143 | sprintf(string, "<name>%s</name>\r\n",tmp_license->User); fputs_(string, doc->file); |
143 | sprintf(string, "<name>%s</name>\r\n",tmp_license->User); fputs_(string, doc->file); |
144 | sprintf(string, "<email>%s</email>\r\n",tmp_license->eMail); fputs_(string, doc->file); |
144 | sprintf(string, "<email>%s</email>\r\n",tmp_license->eMail); fputs_(string, doc->file); |
145 | sprintf(string, "<features>%s</features>\r\n",tmp_license->Feature); fputs_(string, doc->file); |
145 | sprintf(string, "<features>%s</features>\r\n",tmp_license->Feature); fputs_(string, doc->file); |
146 | sprintf(string, "<expires>%s</expires>\r\n",tmp_license->Expire);fputs_(string, doc->file); |
146 | sprintf(string, "<expires>%s</expires>\r\n",tmp_license->Expire);fputs_(string, doc->file); |
147 | } |
147 | } |
148 | else |
148 | else |
149 | { |
149 | { |
150 | sprintf(string, "<info>No License installed</info>\r\n"); fputs_(string, doc->file); |
150 | sprintf(string, "<info>No License installed</info>\r\n"); fputs_(string, doc->file); |
151 | } |
151 | } |
152 | sprintf(string, "</License>\r\n"); fputs_(string, doc->file); |
152 | sprintf(string, "</License>\r\n"); fputs_(string, doc->file); |
153 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
153 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
154 | sprintf(string, "<settings>\r\n"); fputs_(string, doc->file); |
154 | sprintf(string, "<settings>\r\n"); fputs_(string, doc->file); |
155 | sprintf(string, "<Number>%i</Number>\r\n",Parameter.ActiveSetting);fputs_(string, doc->file); |
155 | sprintf(string, "<Number>%i</Number>\r\n",Parameter.ActiveSetting);fputs_(string, doc->file); |
156 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
156 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
157 | // Reciever Type |
157 | // Reciever Type |
158 | sprintf(string, "<Receiver>");fputs_(string, doc->file); |
158 | sprintf(string, "<Receiver>");fputs_(string, doc->file); |
159 | switch(Parameter.ReceiverType) |
159 | switch(Parameter.ReceiverType) |
160 | { |
160 | { |
161 | case RECEIVER_PPM: sprintf(string, "PPM"); break; |
161 | case RECEIVER_PPM: sprintf(string, "PPM"); break; |
162 | case RECEIVER_SPEKTRUM: sprintf(string, "SPEKTRUM"); break; |
162 | case RECEIVER_SPEKTRUM: sprintf(string, "SPEKTRUM"); break; |
163 | case RECEIVER_SPEKTRUM_HI_RES: sprintf(string, "SPEKTRUM_HI_RES"); break; |
163 | case RECEIVER_SPEKTRUM_HI_RES: sprintf(string, "SPEKTRUM_HI_RES"); break; |
164 | case RECEIVER_SPEKTRUM_LOW_RES: sprintf(string, "SPEKTRUM_LOW_RES"); break; |
164 | case RECEIVER_SPEKTRUM_LOW_RES: sprintf(string, "SPEKTRUM_LOW_RES"); break; |
165 | case RECEIVER_JETI: sprintf(string, "JETI"); break; |
165 | case RECEIVER_JETI: sprintf(string, "JETI"); break; |
166 | case RECEIVER_ACT_DSL: sprintf(string, "ACT_DSL"); break; |
166 | case RECEIVER_ACT_DSL: sprintf(string, "ACT_DSL"); break; |
167 | case RECEIVER_HOTT: sprintf(string, "HOTT"); break; |
167 | case RECEIVER_HOTT: sprintf(string, "HOTT"); break; |
168 | case RECEIVER_SBUS: sprintf(string, "SBUS"); break; |
168 | case RECEIVER_SBUS: sprintf(string, "SBUS"); break; |
169 | case RECEIVER_USER: sprintf(string, "USER"); break; |
169 | case RECEIVER_USER: sprintf(string, "USER"); break; |
170 | default: sprintf(string, "? %d",Parameter.ReceiverType); break; |
170 | default: sprintf(string, "? %d",Parameter.ReceiverType); break; |
171 | } |
171 | } |
172 | fputs_(string, doc->file); |
172 | fputs_(string, doc->file); |
173 | sprintf(string, "</Receiver>\r\n"); fputs_(string, doc->file); |
173 | sprintf(string, "</Receiver>\r\n"); fputs_(string, doc->file); |
174 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
174 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
175 | if(FC.FromFC_CompassOffset > 30) {sprintf(string, "<CompassOffset>%i !</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);fputs_(string, doc->file);} |
175 | if(FC.FromFC_CompassOffset > 30) {sprintf(string, "<CompassOffset>%i !</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);fputs_(string, doc->file);} |
176 | else {sprintf(string, "<CompassOffset>%i</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);fputs_(string, doc->file);} |
176 | else {sprintf(string, "<CompassOffset>%i</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);fputs_(string, doc->file);} |
177 | sprintf(string, "<FCOrientation>%i</FCOrientation>\r\n",Parameter.OrientationAngle*15);fputs_(string, doc->file); |
177 | sprintf(string, "<FCOrientation>%i</FCOrientation>\r\n",Parameter.OrientationAngle*15);fputs_(string, doc->file); |
178 | sprintf(string, "<GeoMag>%i.%1d</GeoMag>\r\n",GeoMagDec/10,abs(GeoMagDec)%10);fputs_(string, doc->file); |
178 | sprintf(string, "<GeoMag>%i.%1d</GeoMag>\r\n",GeoMagDec/10,abs(GeoMagDec)%10);fputs_(string, doc->file); |
179 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw);fputs_(string, doc->file); |
179 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw);fputs_(string, doc->file); |
180 | sprintf(string, "<Kalibr.>%d,%d,%d</Kalibr.>\r\n", FC.BoatNeutralNick,FC.BoatNeutralRoll,FC.BoatNeutralYaw);fputs_(string, doc->file); |
180 | sprintf(string, "<Kalibr.>%d,%d,%d</Kalibr.>\r\n", FC.BoatNeutralNick,FC.BoatNeutralRoll,FC.BoatNeutralYaw);fputs_(string, doc->file); |
181 | if((FC.StatusFlags3 & FC_STATUS3_BOAT)) {sprintf(string, "<BoatMode>On</BoatMode>\r\n");fputs_(string, doc->file);} |
181 | if((FC.StatusFlags3 & FC_STATUS3_BOAT)) {sprintf(string, "<BoatMode>On</BoatMode>\r\n");fputs_(string, doc->file);} |
182 | if(Parameter.Driftkomp) {sprintf(string, "<DriftComp>%i</DriftComp>\r\n",Parameter.Driftkomp);fputs_(string, doc->file);}; |
182 | if(Parameter.Driftkomp) {sprintf(string, "<DriftComp>%i</DriftComp>\r\n",Parameter.Driftkomp);fputs_(string, doc->file);}; |
183 | 183 | ||
184 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
184 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
185 | // Magnetometer |
185 | // Magnetometer |
186 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) sprintf(string, "<MagSensor>external,(%i),",NCMAG_Orientation); |
186 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) sprintf(string, "<MagSensor>external2,(%i),",NCMAG_Orientation); |
- | 187 | else if(NCMAG_Compass_use_Orientation) sprintf(string, "<MagSensor>external1,(%i),",NCMAG_Orientation); |
|
187 | else sprintf(string, "<MagSensor>internal,"); |
188 | else sprintf(string, "<MagSensor>internal,"); |
- | 189 | ||
188 | fputs_(string, doc->file); |
190 | fputs_(string, doc->file); |
189 | switch(NCMAG_SensorType) |
191 | switch(NCMAG_SensorType) |
190 | { |
192 | { |
191 | case TYPE_HMC5843: sprintf(string, "HMC"); break; |
193 | case TYPE_HMC5843: sprintf(string, "HMC"); break; |
192 | case TYPE_LSM303DLH: sprintf(string, "DLH"); break; |
194 | case TYPE_LSM303DLH: sprintf(string, "DLH"); break; |
193 | case TYPE_LSM303DLM: sprintf(string, "DLM"); break; |
195 | case TYPE_LSM303DLM: sprintf(string, "DLM"); break; |
194 | case TYPE_LSM303D: sprintf(string, "D"); break; |
196 | case TYPE_LSM303D: sprintf(string, "D"); break; |
195 | default: sprintf(string, "? %d",NCMAG_SensorType); break; |
197 | default: sprintf(string, "? %d",NCMAG_SensorType); break; |
196 | } |
198 | } |
197 | fputs_(string, doc->file); |
199 | fputs_(string, doc->file); |
198 | sprintf(string, "</MagSensor>\r\n");fputs_(string, doc->file); |
200 | sprintf(string, "</MagSensor>\r\n");fputs_(string, doc->file); |
199 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
201 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
200 | sprintf(string, "<FailSafeTime>%d</FailSafeTime>\r\n",Parameter.FailSafeTime);fputs_(string, doc->file); |
202 | sprintf(string, "<FailSafeTime>%d</FailSafeTime>\r\n",Parameter.FailSafeTime);fputs_(string, doc->file); |
201 | if(AbsoluteFlyingAltitude) {sprintf(string, "<MaxAltitude>%i</MaxAltitude>\r\n",AbsoluteFlyingAltitude);fputs_(string, doc->file);} |
203 | if(AbsoluteFlyingAltitude) {sprintf(string, "<MaxAltitude>%i</MaxAltitude>\r\n",AbsoluteFlyingAltitude);fputs_(string, doc->file);} |
202 | if(AbsoluteFlyingRange_m) {sprintf(string, "<FlyRange>%i</FlyRange>\r\n",AbsoluteFlyingRange_m);fputs_(string, doc->file);} |
204 | if(AbsoluteFlyingRange_m) {sprintf(string, "<FlyRange>%i</FlyRange>\r\n",AbsoluteFlyingRange_m);fputs_(string, doc->file);} |
203 | if(AutoDescendRange_m) {sprintf(string, "<Descend>%i</Descend>\r\n",AutoDescendRange_m);fputs_(string, doc->file);}; |
205 | if(AutoDescendRange_m) {sprintf(string, "<Descend>%i</Descend>\r\n",AutoDescendRange_m);fputs_(string, doc->file);}; |
204 | 206 | ||
205 | if((Parameter.GlobalConfig & FC_CFG_HEADING_HOLD)) {sprintf(string, "<HeadingHold>ON!</HeadingHold>\r\n");fputs_(string, doc->file);} |
207 | if((Parameter.GlobalConfig & FC_CFG_HEADING_HOLD)) {sprintf(string, "<HeadingHold>ON!</HeadingHold>\r\n");fputs_(string, doc->file);} |
206 | if((Parameter.GlobalConfig & FC_CFG_KOMPASS_FIX)) {sprintf(string, "<KompassFixedValue>ON!</KompassFixedValue>\r\n");fputs_(string, doc->file);} |
208 | if((Parameter.GlobalConfig & FC_CFG_KOMPASS_FIX)) {sprintf(string, "<KompassFixedValue>ON!</KompassFixedValue>\r\n");fputs_(string, doc->file);} |
207 | if((Parameter.GlobalConfig & FC_CFG_DREHRATEN_BEGRENZER)) {sprintf(string, "<RotationRateLimiter>ON!</RotationRateLimiter>\r\n");fputs_(string, doc->file);} |
209 | if((Parameter.GlobalConfig & FC_CFG_DREHRATEN_BEGRENZER)) {sprintf(string, "<RotationRateLimiter>ON!</RotationRateLimiter>\r\n");fputs_(string, doc->file);} |
208 | if(!(Parameter.GlobalConfig & FC_CFG_ACHSENKOPPLUNG_AKTIV)) {sprintf(string, "<AxisCoupling>OFF!</AxisCoupling>\r\n");fputs_(string, doc->file);} |
210 | if(!(Parameter.GlobalConfig & FC_CFG_ACHSENKOPPLUNG_AKTIV)) {sprintf(string, "<AxisCoupling>OFF!</AxisCoupling>\r\n");fputs_(string, doc->file);} |
209 | if(!(Parameter.GlobalConfig & FC_CFG_KOMPASS_AKTIV)) {sprintf(string, "<CompassActive>OFF!</CompassActive>\r\n");fputs_(string, doc->file);} |
211 | if(!(Parameter.GlobalConfig & FC_CFG_KOMPASS_AKTIV)) {sprintf(string, "<CompassActive>OFF!</CompassActive>\r\n");fputs_(string, doc->file);} |
210 | if((Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)) {sprintf(string, "<VarioFailsafe>On</VarioFailsafe>\r\n");fputs_(string, doc->file);} |
212 | if((Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)) {sprintf(string, "<VarioFailsafe>On</VarioFailsafe>\r\n");fputs_(string, doc->file);} |
211 | if((Parameter.ExtraConfig & CFG_3_3V_REFERENCE)) {sprintf(string, "<3.3V_Reference>On</3.3V_Reference>\r\n");fputs_(string, doc->file);} |
213 | if((Parameter.ExtraConfig & CFG_3_3V_REFERENCE)) {sprintf(string, "<3.3V_Reference>On</3.3V_Reference>\r\n");fputs_(string, doc->file);} |
212 | if((Parameter.ExtraConfig & CFG_IGNORE_MAG_ERR_AT_STARTUP)) {sprintf(string, "<IgnoreMagnetError>ON!</IgnoreMagnetError>\r\n");fputs_(string, doc->file);} |
214 | if((Parameter.ExtraConfig & CFG_IGNORE_MAG_ERR_AT_STARTUP)) {sprintf(string, "<IgnoreMagnetError>ON!</IgnoreMagnetError>\r\n");fputs_(string, doc->file);} |
213 | if(FC.FromFC_DisableDeclination) {sprintf(string, "<DisableDeclinationCalc>ON!</DisableDeclinationCalc>\r\n");fputs_(string, doc->file);} |
215 | if(FC.FromFC_DisableDeclination) {sprintf(string, "<DisableDeclinationCalc>ON!</DisableDeclinationCalc>\r\n");fputs_(string, doc->file);} |
214 | 216 | ||
215 | sprintf(string, "<Bytes>%02x,%02x,%02x</Bytes>\r\n",Parameter.GlobalConfig,Parameter.ExtraConfig,Parameter.GlobalConfig3);fputs_(string, doc->file); |
217 | sprintf(string, "<Bytes>%02x,%02x,%02x</Bytes>\r\n",Parameter.GlobalConfig,Parameter.ExtraConfig,Parameter.GlobalConfig3);fputs_(string, doc->file); |
216 | sprintf(string, "</settings>\r\n"); fputs_(string, doc->file); |
218 | sprintf(string, "</settings>\r\n"); fputs_(string, doc->file); |
217 | sprintf(string, "</extensions>\r\n"); fputs_(string, doc->file); |
219 | sprintf(string, "</extensions>\r\n"); fputs_(string, doc->file); |
218 | 220 | ||
219 | fwrite_((void*)GPX_DOCUMENT_METADATA_END, sizeof(GPX_DOCUMENT_METADATA_END)-1,1,doc->file);// write the gpx-header to the document. |
221 | fwrite_((void*)GPX_DOCUMENT_METADATA_END, sizeof(GPX_DOCUMENT_METADATA_END)-1,1,doc->file);// write the gpx-header to the document. |
220 | } |
222 | } |
221 | Logging_FCStatusFlags1 = 0; |
223 | Logging_FCStatusFlags1 = 0; |
222 | Logging_FCStatusFlags2 = 0; |
224 | Logging_FCStatusFlags2 = 0; |
223 | Logged_GPX_Counter = 0; |
225 | Logged_GPX_Counter = 0; |
224 | LogFC_WP_EventChannel = 0; |
226 | LogFC_WP_EventChannel = 0; |
225 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
227 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
226 | return(retvalue); |
228 | return(retvalue); |
227 | } |
229 | } |
228 | 230 | ||
229 | //________________________________________________________________________________________________________________________________________ |
231 | //________________________________________________________________________________________________________________________________________ |
230 | // Function: DocumentClose(GPX_Document_t *doc); |
232 | // Function: DocumentClose(GPX_Document_t *doc); |
231 | // |
233 | // |
232 | // Description: This function closes the document specified by doc. |
234 | // Description: This function closes the document specified by doc. |
233 | // |
235 | // |
234 | // |
236 | // |
235 | // Returnvalue: '1' if the gpx-file could be closed. |
237 | // Returnvalue: '1' if the gpx-file could be closed. |
236 | //________________________________________________________________________________________________________________________________________ |
238 | //________________________________________________________________________________________________________________________________________ |
237 | 239 | ||
238 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
240 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
239 | { |
241 | { |
240 | 242 | ||
241 | u8 retvalue = 1; |
243 | u8 retvalue = 1; |
242 | 244 | ||
243 | if(doc == NULL) return(0); |
245 | if(doc == NULL) return(0); |
244 | 246 | ||
245 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
247 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
246 | { |
248 | { |
247 | switch(doc->state) |
249 | switch(doc->state) |
248 | { |
250 | { |
249 | case GPX_DOC_TRACKSEGMENT_OPENED: |
251 | case GPX_DOC_TRACKSEGMENT_OPENED: |
250 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
252 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
251 | break; |
253 | break; |
252 | 254 | ||
253 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
255 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
254 | GPX_TrackEnd(doc); |
256 | GPX_TrackEnd(doc); |
255 | break; |
257 | break; |
256 | 258 | ||
257 | case GPX_DOC_OPENED: // close the file on the memorycard |
259 | case GPX_DOC_OPENED: // close the file on the memorycard |
258 | if(doc->file != NULL) |
260 | if(doc->file != NULL) |
259 | { |
261 | { |
260 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
262 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
261 | fclose_(doc->file); |
263 | fclose_(doc->file); |
262 | retvalue = 1; |
264 | retvalue = 1; |
263 | } |
265 | } |
264 | doc->state = GPX_DOC_CLOSED; |
266 | doc->state = GPX_DOC_CLOSED; |
265 | break; |
267 | break; |
266 | 268 | ||
267 | default: |
269 | default: |
268 | doc->state = GPX_DOC_CLOSED; |
270 | doc->state = GPX_DOC_CLOSED; |
269 | break; |
271 | break; |
270 | } |
272 | } |
271 | } |
273 | } |
272 | return(retvalue); |
274 | return(retvalue); |
273 | } |
275 | } |
274 | 276 | ||
275 | 277 | ||
276 | 278 | ||
277 | //________________________________________________________________________________________________________________________________________ |
279 | //________________________________________________________________________________________________________________________________________ |
278 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
280 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
279 | // |
281 | // |
280 | // Description: This function adds a track to the document. |
282 | // Description: This function adds a track to the document. |
281 | // |
283 | // |
282 | // |
284 | // |
283 | // Returnvalue: '1' if the track could be opened |
285 | // Returnvalue: '1' if the track could be opened |
284 | //________________________________________________________________________________________________________________________________________ |
286 | //________________________________________________________________________________________________________________________________________ |
285 | 287 | ||
286 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
288 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
287 | { |
289 | { |
288 | 290 | ||
289 | u8 retvalue = 0; |
291 | u8 retvalue = 0; |
290 | if(doc->state == GPX_DOC_OPENED) |
292 | if(doc->state == GPX_DOC_OPENED) |
291 | { |
293 | { |
292 | if(doc->file != NULL) |
294 | if(doc->file != NULL) |
293 | { |
295 | { |
294 | doc->state = GPX_DOC_TRACK_OPENED; |
296 | doc->state = GPX_DOC_TRACK_OPENED; |
295 | retvalue = 1; |
297 | retvalue = 1; |
296 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
298 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
297 | } |
299 | } |
298 | } |
300 | } |
299 | return(retvalue); |
301 | return(retvalue); |
300 | } |
302 | } |
301 | 303 | ||
302 | 304 | ||
303 | //________________________________________________________________________________________________________________________________________ |
305 | //________________________________________________________________________________________________________________________________________ |
304 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
306 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
305 | // |
307 | // |
306 | // Description: This function ends the track opened before. |
308 | // Description: This function ends the track opened before. |
307 | // |
309 | // |
308 | // |
310 | // |
309 | // Returnvalue: 1' if the track could be closed |
311 | // Returnvalue: 1' if the track could be closed |
310 | //________________________________________________________________________________________________________________________________________ |
312 | //________________________________________________________________________________________________________________________________________ |
311 | 313 | ||
312 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
314 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
313 | { |
315 | { |
314 | 316 | ||
315 | u8 retvalue = 0; |
317 | u8 retvalue = 0; |
316 | 318 | ||
317 | if(doc->state == GPX_DOC_TRACK_OPENED) |
319 | if(doc->state == GPX_DOC_TRACK_OPENED) |
318 | { |
320 | { |
319 | if(doc->file != NULL) |
321 | if(doc->file != NULL) |
320 | { |
322 | { |
321 | doc->state = GPX_DOC_OPENED; |
323 | doc->state = GPX_DOC_OPENED; |
322 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
324 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
323 | retvalue = 1; |
325 | retvalue = 1; |
324 | } |
326 | } |
325 | } |
327 | } |
326 | 328 | ||
327 | return(retvalue); |
329 | return(retvalue); |
328 | } |
330 | } |
329 | 331 | ||
330 | //________________________________________________________________________________________________________________________________________ |
332 | //________________________________________________________________________________________________________________________________________ |
331 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
333 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
332 | // |
334 | // |
333 | // Description: This function starts a track segment. |
335 | // Description: This function starts a track segment. |
334 | // |
336 | // |
335 | // |
337 | // |
336 | // Returnvalue: '1' if the track segement could be started |
338 | // Returnvalue: '1' if the track segement could be started |
337 | //________________________________________________________________________________________________________________________________________ |
339 | //________________________________________________________________________________________________________________________________________ |
338 | 340 | ||
339 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
341 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
340 | { |
342 | { |
341 | 343 | ||
342 | u8 retvalue = 0; |
344 | u8 retvalue = 0; |
343 | 345 | ||
344 | if(doc->state == GPX_DOC_TRACK_OPENED) |
346 | if(doc->state == GPX_DOC_TRACK_OPENED) |
345 | { |
347 | { |
346 | if(doc->file != NULL) |
348 | if(doc->file != NULL) |
347 | { |
349 | { |
348 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
350 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
349 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
351 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
350 | retvalue = 1; |
352 | retvalue = 1; |
351 | } |
353 | } |
352 | } |
354 | } |
353 | return(retvalue); |
355 | return(retvalue); |
354 | } |
356 | } |
355 | 357 | ||
356 | //________________________________________________________________________________________________________________________________________ |
358 | //________________________________________________________________________________________________________________________________________ |
357 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
359 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
358 | // |
360 | // |
359 | // Description: This function ends the tracksegment opened before. |
361 | // Description: This function ends the tracksegment opened before. |
360 | // |
362 | // |
361 | // |
363 | // |
362 | // Returnvalue: '1' if the track segment could be terminated |
364 | // Returnvalue: '1' if the track segment could be terminated |
363 | //________________________________________________________________________________________________________________________________________ |
365 | //________________________________________________________________________________________________________________________________________ |
364 | 366 | ||
365 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
367 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
366 | { |
368 | { |
367 | 369 | ||
368 | u8 retvalue = 0; |
370 | u8 retvalue = 0; |
369 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
371 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
370 | { |
372 | { |
371 | if(doc->file != NULL) |
373 | if(doc->file != NULL) |
372 | { |
374 | { |
373 | doc->state = GPX_DOC_TRACK_OPENED; |
375 | doc->state = GPX_DOC_TRACK_OPENED; |
374 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
376 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
375 | retvalue = 1; |
377 | retvalue = 1; |
376 | } |
378 | } |
377 | } |
379 | } |
378 | return(retvalue); |
380 | return(retvalue); |
379 | } |
381 | } |
380 | 382 | ||
381 | //________________________________________________________________________________________________________________________________________ |
383 | //________________________________________________________________________________________________________________________________________ |
382 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
384 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
383 | // |
385 | // |
384 | // Description: This function adds a pointof a track segement to the specified document. |
386 | // Description: This function adds a pointof a track segement to the specified document. |
385 | // |
387 | // |
386 | // |
388 | // |
387 | // Returnvalue: '1' if a point was added |
389 | // Returnvalue: '1' if a point was added |
388 | //________________________________________________________________________________________________________________________________________ |
390 | //________________________________________________________________________________________________________________________________________ |
389 | 391 | ||
390 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
392 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
391 | { |
393 | { |
392 | 394 | ||
393 | u8 retvalue = 0; |
395 | u8 retvalue = 0; |
394 | static u8 LastLoggedFlags2 = 0; |
396 | static u8 LastLoggedFlags2 = 0; |
395 | s8 string[120]; |
397 | s8 string[120]; |
396 | s8 name[] = "----\0"; |
398 | s8 name[] = "----\0"; |
397 | 399 | ||
398 | if(doc == NULL) return(0); |
400 | if(doc == NULL) return(0); |
399 | 401 | ||
400 | // if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
402 | // if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
401 | { |
403 | { |
402 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
404 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
403 | { |
405 | { |
404 | if(doc->file != NULL) |
406 | if(doc->file != NULL) |
405 | { |
407 | { |
406 | static s32 altitude; // store to make sure they are all recorded in one timestamp |
408 | static s32 altitude; // store to make sure they are all recorded in one timestamp |
407 | s32 i32_1, i32_2; |
409 | s32 i32_1, i32_2; |
408 | s16 i16_1; |
410 | s16 i16_1; |
409 | u8 u8_1, u8_2; |
411 | u8 u8_1, u8_2; |
410 | // write <trkpt> tag |
412 | // write <trkpt> tag |
411 | switch(part) |
413 | switch(part) |
412 | { |
414 | { |
413 | case 0: |
415 | case 0: |
414 | Logged_GPX_Counter++; |
416 | Logged_GPX_Counter++; |
415 | if(GPSData.Position.Status != INVALID) |
417 | if(GPSData.Position.Status != INVALID) |
416 | { |
418 | { |
417 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
419 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
418 | else u8_1 = '+'; |
420 | else u8_1 = '+'; |
419 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
421 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
420 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
422 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
421 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
423 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
422 | fputs_(string, doc->file); |
424 | fputs_(string, doc->file); |
423 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
425 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
424 | else u8_1 = '+'; |
426 | else u8_1 = '+'; |
425 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
427 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
426 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
428 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
427 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
429 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
428 | } else sprintf(string, "<trkpt lat=\"\" lon=\"\">"); |
430 | } else sprintf(string, "<trkpt lat=\"\" lon=\"\">"); |
429 | fputs_(string, doc->file); |
431 | fputs_(string, doc->file); |
430 | altitude = GPSData.Position.Altitude; |
432 | altitude = GPSData.Position.Altitude; |
431 | break; |
433 | break; |
432 | case 1: |
434 | case 1: |
433 | // write <ele> tag |
435 | // write <ele> tag |
434 | i32_2 = altitude - NaviData.HomePosition.Altitude; |
436 | i32_2 = altitude - NaviData.HomePosition.Altitude; |
435 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
437 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
436 | i32_1 = i32_2/1000L; |
438 | i32_1 = i32_2/1000L; |
437 | i32_2 = i32_2%1000L; |
439 | i32_2 = i32_2%1000L; |
438 | if(altitude - NaviData.HomePosition.Altitude < 0) sprintf(string,"<ele>-%ld.%03ld</ele>\r\n",labs(i32_1),labs(i32_2)); |
440 | if(altitude - NaviData.HomePosition.Altitude < 0) sprintf(string,"<ele>-%ld.%03ld</ele>\r\n",labs(i32_1),labs(i32_2)); |
439 | else sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1,i32_2); |
441 | else sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1,i32_2); |
440 | fputs_(string, doc->file); |
442 | fputs_(string, doc->file); |
441 | // write <time> tag only at a resolution of 1/100 second |
443 | // write <time> tag only at a resolution of 1/100 second |
442 | 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); |
444 | 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); |
443 | fputs_(string, doc->file); |
445 | fputs_(string, doc->file); |
444 | // write <sat> tag |
446 | // write <sat> tag |
445 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
447 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
446 | fputs_(string, doc->file); |
448 | fputs_(string, doc->file); |
447 | // todo: add <extensions> tag with additional data to be logged |
449 | // todo: add <extensions> tag with additional data to be logged |
448 | sprintf(string, "<extensions>\r\n"); |
450 | sprintf(string, "<extensions>\r\n"); |
449 | fputs_(string, doc->file); |
451 | fputs_(string, doc->file); |
450 | break; |
452 | break; |
451 | case 2: |
453 | case 2: |
452 | // Flight duration |
454 | // Flight duration |
453 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
455 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
454 | fputs_(string, doc->file); |
456 | fputs_(string, doc->file); |
455 | // Status of the complete MikroKopter |
457 | // Status of the complete MikroKopter |
456 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
458 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
457 | fputs_(string, doc->file); |
459 | fputs_(string, doc->file); |
458 | // Flags |
460 | // Flags |
459 | if(LastLoggedFlags2 & FC_STATUS2_OUT1_ACTIVE && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) Logging_FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // to avoid that the OUT-Flags are longer high than required |
461 | if(LastLoggedFlags2 & FC_STATUS2_OUT1_ACTIVE && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) Logging_FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // to avoid that the OUT-Flags are longer high than required |
460 | if(LastLoggedFlags2 & FC_STATUS2_OUT2_ACTIVE && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) Logging_FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
462 | if(LastLoggedFlags2 & FC_STATUS2_OUT2_ACTIVE && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) Logging_FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
461 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
463 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
462 | fputs_(string, doc->file); |
464 | fputs_(string, doc->file); |
463 | LastLoggedFlags2 = Logging_FCStatusFlags2; |
465 | LastLoggedFlags2 = Logging_FCStatusFlags2; |
464 | Logging_FCStatusFlags1 = FC.StatusFlags; |
466 | Logging_FCStatusFlags1 = FC.StatusFlags; |
465 | Logging_FCStatusFlags2 = FC.StatusFlags2; |
467 | Logging_FCStatusFlags2 = FC.StatusFlags2; |
466 | // NC Mode (contains the status) |
468 | // NC Mode (contains the status) |
467 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
469 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
468 | fputs_(string, doc->file); |
470 | fputs_(string, doc->file); |
469 | // Altimeter according to air pressure |
471 | // Altimeter according to air pressure |
470 | sprintf(string, "<Speak>%d</Speak>\r\n",FC.FromFC_SpeakHoTT); |
472 | sprintf(string, "<Speak>%d</Speak>\r\n",FC.FromFC_SpeakHoTT); |
471 | FC.FromFC_SpeakHoTT = 0; // can be cleared now |
473 | FC.FromFC_SpeakHoTT = 0; // can be cleared now |
472 | fputs_(string, doc->file); |
474 | fputs_(string, doc->file); |
473 | // Altimeter according to air pressure |
475 | // Altimeter according to air pressure |
474 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter); |
476 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter,FromFC_VarioCharacter); |
475 | fputs_(string, doc->file); |
477 | fputs_(string, doc->file); |
476 | // Variometer according to air pressure |
478 | // Variometer according to air pressure |
477 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
479 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
478 | fputs_(string, doc->file); |
480 | fputs_(string, doc->file); |
479 | break; |
481 | break; |
480 | case 3: |
482 | case 3: |
481 | // Ubat |
483 | // Ubat |
482 | u8_1 = FC.BAT_Voltage / 10; |
484 | u8_1 = FC.BAT_Voltage / 10; |
483 | u8_2 = FC.BAT_Voltage % 10; |
485 | u8_2 = FC.BAT_Voltage % 10; |
484 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
486 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
485 | fputs_(string, doc->file); |
487 | fputs_(string, doc->file); |
486 | // Current |
488 | // Current |
487 | sprintf(string, "<Current>%d.%01d</Current>\r\n", NaviData.Current / 10, NaviData.Current % 10); |
489 | sprintf(string, "<Current>%d.%01d</Current>\r\n", NaviData.Current / 10, NaviData.Current % 10); |
488 | fputs_(string, doc->file); |
490 | fputs_(string, doc->file); |
489 | // Capacity |
491 | // Capacity |
490 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
492 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
491 | fputs_(string, doc->file); |
493 | fputs_(string, doc->file); |
492 | break; |
494 | break; |
493 | case 4: |
495 | case 4: |
494 | // Compass in deg |
496 | // Compass in deg |
495 | if(SimulationFlags) sprintf(string, "<Compass>%03d,%03d,%03d.%1d,%03d.0</Compass>\r\n",SimulatedDirection,SimulatedDirection,CompassSetpointCorrected/10,CompassSetpointCorrected%10,SimulatedDirection); |
497 | if(SimulationFlags) sprintf(string, "<Compass>%03d,%03d,%03d.%1d,%03d.0</Compass>\r\n",SimulatedDirection,SimulatedDirection,CompassSetpointCorrected/10,CompassSetpointCorrected%10,SimulatedDirection); |
496 | 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); |
498 | 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); |
497 | fputs_(string, doc->file); |
499 | fputs_(string, doc->file); |
498 | // magnetic field |
500 | // magnetic field |
499 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
501 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
500 | fputs_(string, doc->file); |
502 | fputs_(string, doc->file); |
501 | // magnetic inclination & error |
503 | // magnetic inclination & error |
502 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
504 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
503 | fputs_(string, doc->file); |
505 | fputs_(string, doc->file); |
504 | // Nick Angle ind deg |
506 | // Nick Angle ind deg |
505 | i16_1 = abs(FromFlightCtrl.AngleNick); |
507 | i16_1 = abs(FromFlightCtrl.AngleNick); |
506 | if(FromFlightCtrl.AngleNick < 0) sprintf(string, "<NickAngle>-%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
508 | if(FromFlightCtrl.AngleNick < 0) sprintf(string, "<NickAngle>-%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
507 | else sprintf(string, "<NickAngle>%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
509 | else sprintf(string, "<NickAngle>%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
508 | fputs_(string, doc->file); |
510 | fputs_(string, doc->file); |
509 | // Roll Angle in deg |
511 | // Roll Angle in deg |
510 | i16_1 = abs(FromFlightCtrl.AngleRoll); |
512 | i16_1 = abs(FromFlightCtrl.AngleRoll); |
511 | if(FromFlightCtrl.AngleRoll < 0) sprintf(string, "<RollAngle>-%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
513 | if(FromFlightCtrl.AngleRoll < 0) sprintf(string, "<RollAngle>-%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
512 | else sprintf(string, "<RollAngle>%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
514 | else sprintf(string, "<RollAngle>%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
513 | fputs_(string, doc->file); |
515 | fputs_(string, doc->file); |
514 | break; |
516 | break; |
515 | case 5: |
517 | case 5: |
516 | // BL Information |
518 | // BL Information |
517 | switch(AmountOfMotors) |
519 | switch(AmountOfMotors) |
518 | { |
520 | { |
519 | case 4: |
521 | case 4: |
520 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3)); |
522 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3)); |
521 | fputs_(string, doc->file); |
523 | fputs_(string, doc->file); |
522 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
524 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
523 | fputs_(string, doc->file); |
525 | fputs_(string, doc->file); |
524 | sprintf(string, "<MotorNOK>%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt); |
526 | sprintf(string, "<MotorNOK>%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt); |
525 | fputs_(string, doc->file); |
527 | fputs_(string, doc->file); |
526 | break; |
528 | break; |
527 | case 6: |
529 | case 6: |
528 | 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)); |
530 | 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)); |
529 | fputs_(string, doc->file); |
531 | fputs_(string, doc->file); |
530 | 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); |
532 | 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); |
531 | fputs_(string, doc->file); |
533 | fputs_(string, doc->file); |
532 | 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); |
534 | 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); |
533 | fputs_(string, doc->file); |
535 | fputs_(string, doc->file); |
534 | break; |
536 | break; |
535 | case 8: |
537 | case 8: |
536 | 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)); |
538 | 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)); |
537 | fputs_(string, doc->file); |
539 | fputs_(string, doc->file); |
538 | 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); |
540 | 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); |
539 | fputs_(string, doc->file); |
541 | fputs_(string, doc->file); |
540 | 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); |
542 | 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); |
541 | fputs_(string, doc->file); |
543 | fputs_(string, doc->file); |
542 | break; |
544 | break; |
543 | case 10: |
545 | case 10: |
544 | case 12: |
546 | case 12: |
545 | 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)); |
547 | 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)); |
546 | fputs_(string, doc->file); |
548 | fputs_(string, doc->file); |
547 | 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); |
549 | 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); |
548 | fputs_(string, doc->file); |
550 | fputs_(string, doc->file); |
549 | 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); |
551 | 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); |
550 | fputs_(string, doc->file); |
552 | fputs_(string, doc->file); |
551 | break; |
553 | break; |
552 | default: |
554 | default: |
553 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%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),BL3_Current(12),BL3_Current(13),BL3_Current(14),BL3_Current(15)); |
555 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%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),BL3_Current(12),BL3_Current(13),BL3_Current(14),BL3_Current(15)); |
554 | fputs_(string, doc->file); |
556 | fputs_(string, doc->file); |
555 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d,%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,Motor[12].Temperature,Motor[13].Temperature,Motor[14].Temperature,Motor[15].Temperature); |
557 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d,%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,Motor[12].Temperature,Motor[13].Temperature,Motor[14].Temperature,Motor[15].Temperature); |
556 | fputs_(string, doc->file); |
558 | fputs_(string, doc->file); |
557 | sprintf(string, "<MotorNOK>%d,%d,%d,%d,%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,Motor[12].NotReadyCnt,Motor[13].NotReadyCnt,Motor[14].NotReadyCnt,Motor[15].NotReadyCnt); |
559 | sprintf(string, "<MotorNOK>%d,%d,%d,%d,%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,Motor[12].NotReadyCnt,Motor[13].NotReadyCnt,Motor[14].NotReadyCnt,Motor[15].NotReadyCnt); |
558 | fputs_(string, doc->file); |
560 | fputs_(string, doc->file); |
559 | break; |
561 | break; |
560 | } |
562 | } |
561 | break; |
563 | break; |
562 | case 6: |
564 | case 6: |
563 | /* 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]); |
565 | /* 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]); |
564 | fputs_(string, doc->file); |
566 | fputs_(string, doc->file); |
565 | 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]); |
567 | 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]); |
566 | fputs_(string, doc->file); |
568 | fputs_(string, doc->file); |
567 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM); |
569 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM); |
568 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
570 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
569 | fputs_(string, doc->file); |
571 | fputs_(string, doc->file); |
570 | 572 | ||
571 | // Gas values |
573 | // Gas values |
572 | if(LoggingGasCnt > 1) LoggingGasFilter = LoggingGasFilter / LoggingGasCnt; |
574 | if(LoggingGasCnt > 1) LoggingGasFilter = LoggingGasFilter / LoggingGasCnt; |
573 | sprintf(string, "<Gas>%03d,%03d</Gas>\r\n",(u16)LoggingGasFilter,HoverGas); |
575 | sprintf(string, "<Gas>%03d,%03d</Gas>\r\n",(u16)LoggingGasFilter,HoverGas); |
574 | LoggingGasCnt = 0; |
576 | LoggingGasCnt = 0; |
575 | 577 | ||
576 | fputs_(string, doc->file); |
578 | fputs_(string, doc->file); |
577 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
579 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
578 | fputs_(string, doc->file); |
580 | fputs_(string, doc->file); |
579 | sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]); |
581 | sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]); |
580 | fputs_(string, doc->file); |
582 | fputs_(string, doc->file); |
581 | // Analog inputs of the NC |
583 | // Analog inputs of the NC |
582 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
584 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
583 | fputs_(string, doc->file); |
585 | fputs_(string, doc->file); |
584 | 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° |
586 | 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° |
585 | fputs_(string, doc->file); |
587 | fputs_(string, doc->file); |
586 | 588 | ||
587 | if(NC_GPS_ModeCharacter == 'F') // Failsafe Point is active |
589 | if(NC_GPS_ModeCharacter == 'F') // Failsafe Point is active |
588 | { |
590 | { |
589 | sprintf(string, "<WP>FAIL,%d,%d,%d</WP>\r\n",NaviData.WaypointIndex,NaviData.WaypointNumber,LogFC_WP_EventChannel); // x of y Waypoints and the actual value of the Event Channel |
591 | sprintf(string, "<WP>FAIL,%d,%d,%d</WP>\r\n",NaviData.WaypointIndex,NaviData.WaypointNumber,LogFC_WP_EventChannel); // x of y Waypoints and the actual value of the Event Channel |
590 | LogFC_WP_EventChannel = 0; |
592 | LogFC_WP_EventChannel = 0; |
591 | } |
593 | } |
592 | else |
594 | else |
593 | { |
595 | { |
594 | if(GPS_pWaypoint != NULL) // if WP exist |
596 | if(GPS_pWaypoint != NULL) // if WP exist |
595 | { // copy that name |
597 | { // copy that name |
596 | u8 i; |
598 | u8 i; |
597 | for(i=0;i<4;i++) |
599 | for(i=0;i<4;i++) |
598 | { |
600 | { |
599 | name[i] = GPS_pWaypoint->Name[i]; |
601 | name[i] = GPS_pWaypoint->Name[i]; |
600 | if(name[i] < ' ') name[i] = ' '; |
602 | if(name[i] < ' ') name[i] = ' '; |
601 | } |
603 | } |
602 | } |
604 | } |
603 | 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 |
605 | 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 |
604 | LogFC_WP_EventChannel = 0; // can be cleared now |
606 | LogFC_WP_EventChannel = 0; // can be cleared now |
605 | } |
607 | } |
606 | fputs_(string, doc->file); |
608 | fputs_(string, doc->file); |
607 | 609 | ||
608 | sprintf(string, "<ShutterCnt>%d</ShutterCnt>\r\n",NaviData_Volatile.ShutterCounter); |
610 | sprintf(string, "<ShutterCnt>%d</ShutterCnt>\r\n",NaviData_Volatile.ShutterCounter); |
609 | LogFC_WP_EventChannel = 0; // can be cleared now |
611 | LogFC_WP_EventChannel = 0; // can be cleared now |
610 | fputs_(string, doc->file); |
612 | fputs_(string, doc->file); |
611 | break; |
613 | break; |
612 | case 7: |
614 | case 7: |
613 | // Target Bearing in deg |
615 | // Target Bearing in deg |
614 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
616 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
615 | fputs_(string, doc->file); |
617 | fputs_(string, doc->file); |
616 | // Target Distance in dm |
618 | // Target Distance in dm |
617 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
619 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance); |
618 | fputs_(string, doc->file); |
620 | fputs_(string, doc->file); |
619 | // Course in deg |
621 | // Course in deg |
620 | sprintf(string, "<Course>%03d</Course>\r\n", NaviData.Heading); |
622 | sprintf(string, "<Course>%03d</Course>\r\n", NaviData.Heading); |
621 | fputs_(string, doc->file); |
623 | fputs_(string, doc->file); |
622 | // Ground Speed in cm/s |
624 | // Ground Speed in cm/s |
623 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
625 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
624 | fputs_(string, doc->file); |
626 | fputs_(string, doc->file); |
625 | // Vertical Speed in cm/s |
627 | // Vertical Speed in cm/s |
626 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
628 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
627 | fputs_(string, doc->file); |
629 | fputs_(string, doc->file); |
628 | // RC Sticks as Nick/Roll/Yaw |
630 | // RC Sticks as Nick/Roll/Yaw |
629 | 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]); |
631 | 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]); |
630 | fputs_(string, doc->file); |
632 | fputs_(string, doc->file); |
631 | // GPS Sticks as Nick/Roll/Yaw |
633 | // GPS Sticks as Nick/Roll/Yaw |
632 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, 0 ,NC_GPS_ModeCharacter); |
634 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, 0 ,NC_GPS_ModeCharacter); |
633 | fputs_(string, doc->file); |
635 | fputs_(string, doc->file); |
634 | // RC Quality |
636 | // RC Quality |
635 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
637 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
636 | fputs_(string, doc->file); |
638 | fputs_(string, doc->file); |
637 | // raw GPS altitude |
639 | // raw GPS altitude |
638 | i32_2 = altitude; |
640 | i32_2 = altitude; |
639 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
641 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
640 | i32_1 = i32_2/1000L; |
642 | i32_1 = i32_2/1000L; |
641 | i32_2 = i32_2%1000L; |
643 | i32_2 = i32_2%1000L; |
642 | if(altitude < 0) sprintf(string,"<ele_raw>-%ld.%03ld</ele_raw>\r\n",labs(i32_1),labs(i32_2)); |
644 | if(altitude < 0) sprintf(string,"<ele_raw>-%ld.%03ld</ele_raw>\r\n",labs(i32_1),labs(i32_2)); |
643 | else sprintf(string,"<ele_raw>%ld.%03ld</ele_raw>\r\n",i32_1,i32_2); |
645 | else sprintf(string,"<ele_raw>%ld.%03ld</ele_raw>\r\n",i32_1,i32_2); |
644 | fputs_(string, doc->file); |
646 | fputs_(string, doc->file); |
645 | break; |
647 | break; |
646 | case 8: |
648 | case 8: |
647 | // Drift compensation |
649 | // Drift compensation |
648 | /* |
650 | /* |
649 | if(Parameter.Driftkomp) |
651 | if(Parameter.Driftkomp) |
650 | { |
652 | { |
651 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw); |
653 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw); |
652 | fputs_(string, doc->file); |
654 | fputs_(string, doc->file); |
653 | } |
655 | } |
654 | */ |
656 | */ |
655 | // Navigation Update speed (in 0.1Hz) |
657 | // Navigation Update speed (in 0.1Hz) |
656 | sprintf(string, "<GPSInfo>%d,%d,%d</GPSInfo>\r\n",FreqNewGpsData,GPSData.Flags,GPSData.SatFix); // FreqGpsNavProcessed |
658 | sprintf(string, "<GPSInfo>%d,%d,%d</GPSInfo>\r\n",FreqNewGpsData,GPSData.Flags,GPSData.SatFix); // FreqGpsNavProcessed |
657 | fputs_(string, doc->file); |
659 | fputs_(string, doc->file); |
658 | // eof extensions |
660 | // eof extensions |
659 | sprintf(string, "</extensions>\r\n"); |
661 | sprintf(string, "</extensions>\r\n"); |
660 | fputs_(string, doc->file); |
662 | fputs_(string, doc->file); |
661 | sprintf(string, "</trkpt>\r\n"); |
663 | sprintf(string, "</trkpt>\r\n"); |
662 | fputs_(string, doc->file); |
664 | fputs_(string, doc->file); |
663 | break; |
665 | break; |
664 | } |
666 | } |
665 | retvalue = 1; |
667 | retvalue = 1; |
666 | } |
668 | } |
667 | } |
669 | } |
668 | } |
670 | } |
669 | return(retvalue); |
671 | return(retvalue); |
670 | } |
672 | } |
671 | 673 | ||
672 | //________________________________________________________________________________________________________________________________________ |
674 | //________________________________________________________________________________________________________________________________________ |
673 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
675 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
674 | // |
676 | // |
675 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
677 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
676 | // |
678 | // |
677 | // |
679 | // |
678 | // Returnvalue: '1' if an gps coordinate was logged |
680 | // Returnvalue: '1' if an gps coordinate was logged |
679 | //________________________________________________________________________________________________________________________________________ |
681 | //________________________________________________________________________________________________________________________________________ |
680 | 682 | ||
681 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
683 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
682 | { |
684 | { |
683 | u8 retval = 0; |
685 | u8 retval = 0; |
684 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
686 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
685 | { |
687 | { |
686 | switch(doc->state) |
688 | switch(doc->state) |
687 | { |
689 | { |
688 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
690 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
689 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
691 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
690 | break; |
692 | break; |
691 | 693 | ||
692 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
694 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
693 | retval = GPX_TrackBegin(doc); |
695 | retval = GPX_TrackBegin(doc); |
694 | break; |
696 | break; |
695 | 697 | ||
696 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
698 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
697 | retval = GPX_TrackSegmentBegin(doc); |
699 | retval = GPX_TrackSegmentBegin(doc); |
698 | break; |
700 | break; |
699 | 701 | ||
700 | default: |
702 | default: |
701 | retval = 0; |
703 | retval = 0; |
702 | break; |
704 | break; |
703 | 705 | ||
704 | } |
706 | } |
705 | if(retval != 1) return(retval); // stop on error |
707 | if(retval != 1) return(retval); // stop on error |
706 | } |
708 | } |
707 | 709 | ||
708 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
710 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
709 | { |
711 | { |
710 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
712 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
711 | } |
713 | } |
712 | return(retval); |
714 | return(retval); |
713 | } |
715 | } |
714 | 716 | ||
715 | 717 |