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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 | #include "crc16.h" |
74 | #include "crc16.h" |
75 | 75 | ||
76 | 76 | ||
77 | u16 Check16File; |
77 | u16 Check16File; |
78 | u16 Check16Block; |
78 | u16 Check16Block; |
79 | 79 | ||
80 | //________________________________________________________________________________________________________________________________________ |
80 | //________________________________________________________________________________________________________________________________________ |
81 | // Function: GPX_DocumentInit(GPX_Document_t *) |
81 | // Function: GPX_DocumentInit(GPX_Document_t *) |
82 | // |
82 | // |
83 | // Description: This function initializes the gpx-document for further use. |
83 | // Description: This function initializes the gpx-document for further use. |
84 | // |
84 | // |
85 | // |
85 | // |
86 | // Returnvalue: '1' if document was initialized |
86 | // Returnvalue: '1' if document was initialized |
87 | //________________________________________________________________________________________________________________________________________ |
87 | //________________________________________________________________________________________________________________________________________ |
88 | 88 | ||
89 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
89 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
90 | { |
90 | { |
91 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
91 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
92 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
92 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
93 | doc->file = NULL; |
93 | doc->file = NULL; |
94 | return(1); |
94 | return(1); |
95 | } |
95 | } |
96 | 96 | ||
97 | 97 | ||
98 | 98 | ||
99 | u16 CheckSumAndWrite(u16 *checksum, s8 * const string, File_t * const file) |
99 | u16 CheckSumAndWrite(u16 *checksum, s8 * const string, File_t * const file) |
100 | { |
100 | { |
101 | u8 i=0; |
101 | u8 i=0; |
102 | while(string[i] != 0) |
102 | while(string[i] != 0) |
103 | { |
103 | { |
104 | *checksum = CRC16x(*checksum, string[i]); |
104 | *checksum = CRC16x(*checksum, string[i]); |
105 | i++; |
105 | i++; |
106 | } |
106 | } |
107 | 107 | ||
108 | return fputs_(string, file); // write to SD scard |
108 | return fputs_(string, file); // write to SD scard |
109 | 109 | ||
110 | 110 | ||
111 | } |
111 | } |
112 | 112 | ||
113 | //________________________________________________________________________________________________________________________________________ |
113 | //________________________________________________________________________________________________________________________________________ |
114 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
114 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
115 | // |
115 | // |
116 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
116 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
117 | // |
117 | // |
118 | // |
118 | // |
119 | // Returnvalue: '1' if the gpx-file could be created. |
119 | // Returnvalue: '1' if the gpx-file could be created. |
120 | //________________________________________________________________________________________________________________________________________ |
120 | //________________________________________________________________________________________________________________________________________ |
121 | 121 | ||
122 | 122 | ||
123 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
123 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
124 | { |
124 | { |
125 | s8 string[200]; |
125 | s8 string[200]; |
126 | u8 retvalue = 0; |
126 | u8 retvalue = 0; |
127 | u8 BLv = 1; |
127 | u8 BLv = 1; |
128 | u16 gps_receive_config; |
128 | u16 gps_receive_config; |
129 | LicenseS_t *tmp_license; |
129 | LicenseS_t *tmp_license; |
130 | tmp_license = (LicenseS_t *) LicensePtr; |
130 | tmp_license = (LicenseS_t *) LicensePtr; |
131 | 131 | ||
132 | Check16File = 0x55AA; |
132 | Check16File = 0x55AA; |
133 | - | ||
134 | - | ||
135 | - | ||
136 | - | ||
137 | 133 | ||
138 | if(doc == NULL) return(0); |
134 | if(doc == NULL) return(0); |
139 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
135 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
140 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
136 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
141 | 137 | ||
142 | if(Motor_Version[0] & MOTOR_STATE_BL30) BLv = 3; |
138 | if(Motor_Version[0] & MOTOR_STATE_BL30) BLv = 3; |
143 | else if(Motor_Version[0] & MOTOR_STATE_NEW_PROTOCOL_MASK) BLv = 2; |
139 | else if(Motor_Version[0] & MOTOR_STATE_NEW_PROTOCOL_MASK) BLv = 2; |
144 | 140 | ||
145 | if(doc->file != NULL) // could the file be opened? |
141 | if(doc->file != NULL) // could the file be opened? |
146 | { |
142 | { |
147 | retvalue = 1; // the document could be created on the drive. |
143 | retvalue = 1; // the document could be created on the drive. |
148 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
144 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
149 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
145 | fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
- | 146 | if(OEM_String[0] == 255) |
|
150 | 147 | { |
|
- | 148 | sprintf(string, "<link href=\"http://www.mikrokopter.de\">\r\n<text>MikroKopter</text>\r\n</link>\r\n"); |
|
- | 149 | CheckSumAndWrite(&Check16File,string, doc->file); |
|
- | 150 | } |
|
151 | 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); |
151 | 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); |
152 | CheckSumAndWrite(&Check16File,string, doc->file); |
152 | CheckSumAndWrite(&Check16File,string, doc->file); |
153 | if(SimulationFlags) { sprintf(string, " SIMULATED"); CheckSumAndWrite(&Check16File,string, doc->file);}; |
153 | if(SimulationFlags) { sprintf(string, " SIMULATED"); CheckSumAndWrite(&Check16File,string, doc->file);}; |
154 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) sprintf(string, " (Redundant)</desc>\r\n"); |
154 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) sprintf(string, " (Redundant)</desc>\r\n"); |
155 | else sprintf(string, "</desc>\r\n"); |
155 | else sprintf(string, "</desc>\r\n"); |
156 | CheckSumAndWrite(&Check16File,string, doc->file); |
156 | CheckSumAndWrite(&Check16File,string, doc->file); |
157 | sprintf(string, "<extensions>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
157 | sprintf(string, "<extensions>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
158 | sprintf(string, "<MK_Time>%imin</MK_Time>\r\n",FlugMinutenGesamt);CheckSumAndWrite(&Check16File,string, doc->file); |
158 | sprintf(string, "<MK_Time>%imin</MK_Time>\r\n",FlugMinutenGesamt);CheckSumAndWrite(&Check16File,string, doc->file); |
159 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
159 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
160 | sprintf(string, "<GpsVersion>%d.%03d</GpsVersion>\r\n",GPS_Version/1000,GPS_Version%1000);CheckSumAndWrite(&Check16File,string, doc->file); |
160 | sprintf(string, "<GpsVersion>%d.%03d</GpsVersion>\r\n",GPS_Version/1000,GPS_Version%1000);CheckSumAndWrite(&Check16File,string, doc->file); |
161 | if(GPS_Version >= 3000) |
161 | if(GPS_Version >= 3000) |
162 | { |
162 | { |
163 | Settings_GetParamValue(PID_GPS_SYSTEM_CFG,&gps_receive_config); |
163 | Settings_GetParamValue(PID_GPS_SYSTEM_CFG,&gps_receive_config); |
164 | sprintf(string, "<GNSS_System>%d</GNSS_System>\r\n",gps_receive_config); |
164 | sprintf(string, "<GNSS_System>%d</GNSS_System>\r\n",gps_receive_config); |
165 | CheckSumAndWrite(&Check16File,string, doc->file); |
165 | CheckSumAndWrite(&Check16File,string, doc->file); |
166 | } |
166 | } |
167 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
167 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
168 | sprintf(string, "<License>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
168 | sprintf(string, "<License>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
169 | if(tmp_license->User[0] != 0) |
169 | if(tmp_license->User[0] != 0) |
170 | { |
170 | { |
171 | sprintf(string, "<name>%s</name>\r\n",tmp_license->User); CheckSumAndWrite(&Check16File,string, doc->file); |
171 | sprintf(string, "<name>%s</name>\r\n",tmp_license->User); CheckSumAndWrite(&Check16File,string, doc->file); |
172 | sprintf(string, "<email>%s</email>\r\n",tmp_license->eMail); CheckSumAndWrite(&Check16File,string, doc->file); |
172 | sprintf(string, "<email>%s</email>\r\n",tmp_license->eMail); CheckSumAndWrite(&Check16File,string, doc->file); |
173 | if(OEM_String[0] != 255) {sprintf(string, "<manufact>%s</manufact>\r\n",OEM_String); CheckSumAndWrite(&Check16File,string, doc->file);} |
173 | if(OEM_String[0] != 255) {sprintf(string, "<manufacturer>%s</manufacturer>\r\n",OEM_String); CheckSumAndWrite(&Check16File,string, doc->file);} |
- | 174 | else {sprintf(string, "<manufacturer>HiSystems GmbH</manufacturer>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file);} |
|
174 | sprintf(string, "<features>%s</features>\r\n",tmp_license->Feature); CheckSumAndWrite(&Check16File,string, doc->file); |
175 | sprintf(string, "<features>%s</features>\r\n",tmp_license->Feature); CheckSumAndWrite(&Check16File,string, doc->file); |
175 | sprintf(string, "<expires>%s</expires>\r\n",tmp_license->Expire);CheckSumAndWrite(&Check16File,string, doc->file); |
176 | sprintf(string, "<expires>%s</expires>\r\n",tmp_license->Expire);CheckSumAndWrite(&Check16File,string, doc->file); |
176 | } |
177 | } |
177 | else |
178 | else |
178 | { |
179 | { |
179 | sprintf(string, "<info>No License installed</info>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
180 | sprintf(string, "<info>No License installed</info>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
180 | } |
181 | } |
181 | sprintf(string, "</License>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
182 | sprintf(string, "</License>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
182 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
183 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
183 | sprintf(string, "<settings>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
184 | sprintf(string, "<settings>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
184 | sprintf(string, "<Number>%i,%s</Number>\r\n",Parameter.ActiveSetting,EE_Parameter.Name);CheckSumAndWrite(&Check16File,string, doc->file); |
185 | sprintf(string, "<Number>%i,%s</Number>\r\n",Parameter.ActiveSetting,EE_Parameter.Name);CheckSumAndWrite(&Check16File,string, doc->file); |
185 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
186 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
186 | // Reciever Type |
187 | // Reciever Type |
187 | sprintf(string, "<Receiver>");CheckSumAndWrite(&Check16File,string, doc->file); |
188 | sprintf(string, "<Receiver>");CheckSumAndWrite(&Check16File,string, doc->file); |
188 | switch(Parameter.ReceiverType) |
189 | switch(Parameter.ReceiverType) |
189 | { |
190 | { |
190 | case RECEIVER_PPM: sprintf(string, "PPM"); break; |
191 | case RECEIVER_PPM: sprintf(string, "PPM"); break; |
191 | case RECEIVER_SPEKTRUM: sprintf(string, "SPEKTRUM"); break; |
192 | case RECEIVER_SPEKTRUM: sprintf(string, "SPEKTRUM"); break; |
192 | case RECEIVER_SPEKTRUM_HI_RES: sprintf(string, "SPEKTRUM_HI_RES"); break; |
193 | case RECEIVER_SPEKTRUM_HI_RES: sprintf(string, "SPEKTRUM_HI_RES"); break; |
193 | case RECEIVER_SPEKTRUM_LOW_RES: sprintf(string, "SPEKTRUM_LOW_RES"); break; |
194 | case RECEIVER_SPEKTRUM_LOW_RES: sprintf(string, "SPEKTRUM_LOW_RES"); break; |
194 | case RECEIVER_JETI: sprintf(string, "JETI"); break; |
195 | case RECEIVER_JETI: sprintf(string, "JETI"); break; |
195 | case RECEIVER_ACT_DSL: sprintf(string, "ACT_DSL"); break; |
196 | case RECEIVER_ACT_DSL: sprintf(string, "ACT_DSL"); break; |
196 | case RECEIVER_HOTT: sprintf(string, "HOTT"); break; |
197 | case RECEIVER_HOTT: sprintf(string, "HOTT"); break; |
197 | case RECEIVER_SBUS: sprintf(string, "SBUS"); break; |
198 | case RECEIVER_SBUS: sprintf(string, "SBUS"); break; |
198 | case RECEIVER_USER: sprintf(string, "USER"); break; |
199 | case RECEIVER_USER: sprintf(string, "USER"); break; |
199 | default: sprintf(string, "? %d",Parameter.ReceiverType); break; |
200 | default: sprintf(string, "? %d",Parameter.ReceiverType); break; |
200 | } |
201 | } |
201 | CheckSumAndWrite(&Check16File,string, doc->file); |
202 | CheckSumAndWrite(&Check16File,string, doc->file); |
202 | sprintf(string, "</Receiver>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
203 | sprintf(string, "</Receiver>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
203 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
204 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
204 | if(FC.FromFC_CompassOffset > 30) {sprintf(string, "<CompassOffset>%i !</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);CheckSumAndWrite(&Check16File,string, doc->file);} |
205 | if(FC.FromFC_CompassOffset > 30) {sprintf(string, "<CompassOffset>%i !</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);CheckSumAndWrite(&Check16File,string, doc->file);} |
205 | else {sprintf(string, "<CompassOffset>%i</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);CheckSumAndWrite(&Check16File,string, doc->file);} |
206 | else {sprintf(string, "<CompassOffset>%i</CompassOffset>\r\n",FC.FromFC_CompassOffset/10);CheckSumAndWrite(&Check16File,string, doc->file);} |
206 | sprintf(string, "<FCOrientation>%i</FCOrientation>\r\n",Parameter.OrientationAngle*15);CheckSumAndWrite(&Check16File,string, doc->file); |
207 | sprintf(string, "<FCOrientation>%i</FCOrientation>\r\n",Parameter.OrientationAngle*15);CheckSumAndWrite(&Check16File,string, doc->file); |
207 | sprintf(string, "<GeoMag>%i.%1d</GeoMag>\r\n",GeoMagDec/10,abs(GeoMagDec)%10);CheckSumAndWrite(&Check16File,string, doc->file); |
208 | sprintf(string, "<GeoMag>%i.%1d</GeoMag>\r\n",GeoMagDec/10,abs(GeoMagDec)%10);CheckSumAndWrite(&Check16File,string, doc->file); |
208 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw);CheckSumAndWrite(&Check16File,string, doc->file); |
209 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw);CheckSumAndWrite(&Check16File,string, doc->file); |
209 | sprintf(string, "<Kalibr.>%d,%d,%d</Kalibr.>\r\n", FC.BoatNeutralNick,FC.BoatNeutralRoll,FC.BoatNeutralYaw);CheckSumAndWrite(&Check16File,string, doc->file); |
210 | sprintf(string, "<Kalibr.>%d,%d,%d</Kalibr.>\r\n", FC.BoatNeutralNick,FC.BoatNeutralRoll,FC.BoatNeutralYaw);CheckSumAndWrite(&Check16File,string, doc->file); |
210 | if((FC.StatusFlags3 & FC_STATUS3_BOAT)) {sprintf(string, "<BoatMode>On</BoatMode>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
211 | if((FC.StatusFlags3 & FC_STATUS3_BOAT)) {sprintf(string, "<BoatMode>On</BoatMode>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
211 | if(Parameter.Driftkomp) {sprintf(string, "<DriftComp>%i</DriftComp>\r\n",Parameter.Driftkomp);CheckSumAndWrite(&Check16File,string, doc->file);}; |
212 | if(Parameter.Driftkomp) {sprintf(string, "<DriftComp>%i</DriftComp>\r\n",Parameter.Driftkomp);CheckSumAndWrite(&Check16File,string, doc->file);}; |
212 | 213 | ||
213 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
214 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
214 | // Magnetometer |
215 | // Magnetometer |
215 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) sprintf(string, "<MagSensor>external2,(%i),",NCMAG_Orientation); |
216 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) sprintf(string, "<MagSensor>external2,(%i),",NCMAG_Orientation); |
216 | else if(NCMAG_Compass_use_Orientation) sprintf(string, "<MagSensor>external1,(%i),",NCMAG_Orientation); |
217 | else if(NCMAG_Compass_use_Orientation) sprintf(string, "<MagSensor>external1,(%i),",NCMAG_Orientation); |
217 | else sprintf(string, "<MagSensor>internal,"); |
218 | else sprintf(string, "<MagSensor>internal,"); |
218 | 219 | ||
219 | CheckSumAndWrite(&Check16File,string, doc->file); |
220 | CheckSumAndWrite(&Check16File,string, doc->file); |
220 | switch(NCMAG_SensorType) |
221 | switch(NCMAG_SensorType) |
221 | { |
222 | { |
222 | case TYPE_HMC5843: sprintf(string, "HMC"); break; |
223 | case TYPE_HMC5843: sprintf(string, "HMC"); break; |
223 | case TYPE_LSM303DLH: sprintf(string, "DLH"); break; |
224 | case TYPE_LSM303DLH: sprintf(string, "DLH"); break; |
224 | case TYPE_LSM303DLM: sprintf(string, "DLM"); break; |
225 | case TYPE_LSM303DLM: sprintf(string, "DLM"); break; |
225 | case TYPE_LSM303D: sprintf(string, "D"); break; |
226 | case TYPE_LSM303D: sprintf(string, "D"); break; |
226 | default: sprintf(string, "? %d",NCMAG_SensorType); break; |
227 | default: sprintf(string, "? %d",NCMAG_SensorType); break; |
227 | } |
228 | } |
228 | CheckSumAndWrite(&Check16File,string, doc->file); |
229 | CheckSumAndWrite(&Check16File,string, doc->file); |
229 | sprintf(string, "</MagSensor>\r\n");CheckSumAndWrite(&Check16File,string, doc->file); |
230 | sprintf(string, "</MagSensor>\r\n");CheckSumAndWrite(&Check16File,string, doc->file); |
230 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
231 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
231 | sprintf(string, "<FailSafeTime>%d</FailSafeTime>\r\n",Parameter.FailSafeTime);CheckSumAndWrite(&Check16File,string, doc->file); |
232 | sprintf(string, "<FailSafeTime>%d</FailSafeTime>\r\n",Parameter.FailSafeTime);CheckSumAndWrite(&Check16File,string, doc->file); |
232 | if(AbsoluteFlyingAltitude) {sprintf(string, "<MaxAltitude>%i</MaxAltitude>\r\n",AbsoluteFlyingAltitude);CheckSumAndWrite(&Check16File,string, doc->file);} |
233 | if(AbsoluteFlyingAltitude) {sprintf(string, "<MaxAltitude>%i</MaxAltitude>\r\n",AbsoluteFlyingAltitude);CheckSumAndWrite(&Check16File,string, doc->file);} |
233 | if(AbsoluteFlyingRange_m) {sprintf(string, "<FlyRange>%i</FlyRange>\r\n",AbsoluteFlyingRange_m);CheckSumAndWrite(&Check16File,string, doc->file);} |
234 | if(AbsoluteFlyingRange_m) {sprintf(string, "<FlyRange>%i</FlyRange>\r\n",AbsoluteFlyingRange_m);CheckSumAndWrite(&Check16File,string, doc->file);} |
234 | if(AutoDescendRange_m) {sprintf(string, "<Descend>%i</Descend>\r\n",AutoDescendRange_m);CheckSumAndWrite(&Check16File,string, doc->file);}; |
235 | if(AutoDescendRange_m) {sprintf(string, "<Descend>%i</Descend>\r\n",AutoDescendRange_m);CheckSumAndWrite(&Check16File,string, doc->file);}; |
235 | 236 | ||
236 | if((Parameter.GlobalConfig & FC_CFG_HEADING_HOLD)) {sprintf(string, "<HeadingHold>ON!</HeadingHold>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
237 | if((Parameter.GlobalConfig & FC_CFG_HEADING_HOLD)) {sprintf(string, "<HeadingHold>ON!</HeadingHold>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
237 | if((Parameter.GlobalConfig & FC_CFG_KOMPASS_FIX)) {sprintf(string, "<KompassFixedValue>ON!</KompassFixedValue>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
238 | if((Parameter.GlobalConfig & FC_CFG_KOMPASS_FIX)) {sprintf(string, "<KompassFixedValue>ON!</KompassFixedValue>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
238 | if((Parameter.GlobalConfig & FC_CFG_DREHRATEN_BEGRENZER)) {sprintf(string, "<RotationRateLimiter>ON!</RotationRateLimiter>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
239 | if((Parameter.GlobalConfig & FC_CFG_DREHRATEN_BEGRENZER)) {sprintf(string, "<RotationRateLimiter>ON!</RotationRateLimiter>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
239 | if(!(Parameter.GlobalConfig & FC_CFG_ACHSENKOPPLUNG_AKTIV)) {sprintf(string, "<AxisCoupling>OFF!</AxisCoupling>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
240 | if(!(Parameter.GlobalConfig & FC_CFG_ACHSENKOPPLUNG_AKTIV)) {sprintf(string, "<AxisCoupling>OFF!</AxisCoupling>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
240 | if(!(Parameter.GlobalConfig & FC_CFG_KOMPASS_AKTIV)) {sprintf(string, "<CompassActive>OFF!</CompassActive>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
241 | if(!(Parameter.GlobalConfig & FC_CFG_KOMPASS_AKTIV)) {sprintf(string, "<CompassActive>OFF!</CompassActive>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
241 | if((Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)) {sprintf(string, "<VarioFailsafe>On</VarioFailsafe>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
242 | if((Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)) {sprintf(string, "<VarioFailsafe>On</VarioFailsafe>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
242 | if((Parameter.ExtraConfig & CFG_3_3V_REFERENCE)) {sprintf(string, "<3.3V_Reference>On</3.3V_Reference>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
243 | if((Parameter.ExtraConfig & CFG_3_3V_REFERENCE)) {sprintf(string, "<3.3V_Reference>On</3.3V_Reference>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
243 | if((Parameter.ExtraConfig & CFG_IGNORE_MAG_ERR_AT_STARTUP)) {sprintf(string, "<IgnoreMagnetError>ON!</IgnoreMagnetError>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
244 | if((Parameter.ExtraConfig & CFG_IGNORE_MAG_ERR_AT_STARTUP)) {sprintf(string, "<IgnoreMagnetError>ON!</IgnoreMagnetError>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
244 | if(FC.FromFC_DisableDeclination) {sprintf(string, "<DisableDeclinationCalc>ON!</DisableDeclinationCalc>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
245 | if(FC.FromFC_DisableDeclination) {sprintf(string, "<DisableDeclinationCalc>ON!</DisableDeclinationCalc>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
245 | 246 | ||
246 | if(IO1_Function == IO1FUNC_PARACHUTE) {sprintf(string, "<IO1Function>Parachute!</IO1Function>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
247 | if(IO1_Function == IO1FUNC_PARACHUTE) {sprintf(string, "<IO1Function>Parachute!</IO1Function>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);} |
247 | 248 | ||
248 | sprintf(string, "<Bytes>%02x,%02x,%02x</Bytes>\r\n",Parameter.GlobalConfig,Parameter.ExtraConfig,Parameter.GlobalConfig3);CheckSumAndWrite(&Check16File,string, doc->file); |
249 | sprintf(string, "<Bytes>%02x,%02x,%02x</Bytes>\r\n",Parameter.GlobalConfig,Parameter.ExtraConfig,Parameter.GlobalConfig3);CheckSumAndWrite(&Check16File,string, doc->file); |
249 | sprintf(string, "</settings>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
250 | sprintf(string, "</settings>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
250 | sprintf(string, "</extensions>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
251 | sprintf(string, "</extensions>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file); |
251 | fwrite_((void*)GPX_DOCUMENT_METADATA_END, sizeof(GPX_DOCUMENT_METADATA_END)-1,1,doc->file);// write the gpx-header to the document. |
252 | fwrite_((void*)GPX_DOCUMENT_METADATA_END, sizeof(GPX_DOCUMENT_METADATA_END)-1,1,doc->file);// write the gpx-header to the document. |
252 | 253 | ||
253 | } |
254 | } |
254 | Logging_FCStatusFlags1 = 0; |
255 | Logging_FCStatusFlags1 = 0; |
255 | Logging_FCStatusFlags2 = 0; |
256 | Logging_FCStatusFlags2 = 0; |
256 | Logged_GPX_Counter = 0; |
257 | Logged_GPX_Counter = 0; |
257 | LogFC_WP_EventChannel = 0; |
258 | LogFC_WP_EventChannel = 0; |
258 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
259 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
259 | 260 | ||
260 | Check16Block = Check16File; // init. value for first block |
261 | Check16Block = Check16File; // init. value for first block |
261 | 262 | ||
262 | return(retvalue); |
263 | return(retvalue); |
263 | } |
264 | } |
264 | 265 | ||
265 | //________________________________________________________________________________________________________________________________________ |
266 | //________________________________________________________________________________________________________________________________________ |
266 | // Function: DocumentClose(GPX_Document_t *doc); |
267 | // Function: DocumentClose(GPX_Document_t *doc); |
267 | // |
268 | // |
268 | // Description: This function closes the document specified by doc. |
269 | // Description: This function closes the document specified by doc. |
269 | // |
270 | // |
270 | // |
271 | // |
271 | // Returnvalue: '1' if the gpx-file could be closed. |
272 | // Returnvalue: '1' if the gpx-file could be closed. |
272 | //________________________________________________________________________________________________________________________________________ |
273 | //________________________________________________________________________________________________________________________________________ |
273 | 274 | ||
274 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
275 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
275 | { |
276 | { |
276 | 277 | ||
277 | u8 retvalue = 1; |
278 | u8 retvalue = 1; |
278 | s8 string[50]; |
279 | s8 string[50]; |
279 | 280 | ||
280 | if(doc == NULL) return(0); |
281 | if(doc == NULL) return(0); |
281 | 282 | ||
282 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
283 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
283 | { |
284 | { |
284 | switch(doc->state) |
285 | switch(doc->state) |
285 | { |
286 | { |
286 | case GPX_DOC_TRACKSEGMENT_OPENED: |
287 | case GPX_DOC_TRACKSEGMENT_OPENED: |
287 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
288 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
288 | break; |
289 | break; |
289 | 290 | ||
290 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
291 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
291 | GPX_TrackEnd(doc); |
292 | GPX_TrackEnd(doc); |
292 | break; |
293 | break; |
293 | 294 | ||
294 | case GPX_DOC_OPENED: // close the file on the memorycard |
295 | case GPX_DOC_OPENED: // close the file on the memorycard |
295 | if(doc->file != NULL) |
296 | if(doc->file != NULL) |
296 | { |
297 | { |
297 | sprintf(string, "<!-- %d -->\r\n", Check16File); |
298 | sprintf(string, "<!-- %d -->\r\n", Check16File); |
298 | fputs_(string, doc->file); |
299 | fputs_(string, doc->file); |
299 | 300 | ||
300 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
301 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
301 | fclose_(doc->file); |
302 | fclose_(doc->file); |
302 | retvalue = 1; |
303 | retvalue = 1; |
303 | } |
304 | } |
304 | doc->state = GPX_DOC_CLOSED; |
305 | doc->state = GPX_DOC_CLOSED; |
305 | break; |
306 | break; |
306 | 307 | ||
307 | default: |
308 | default: |
308 | doc->state = GPX_DOC_CLOSED; |
309 | doc->state = GPX_DOC_CLOSED; |
309 | break; |
310 | break; |
310 | } |
311 | } |
311 | } |
312 | } |
312 | return(retvalue); |
313 | return(retvalue); |
313 | } |
314 | } |
314 | 315 | ||
315 | 316 | ||
316 | 317 | ||
317 | //________________________________________________________________________________________________________________________________________ |
318 | //________________________________________________________________________________________________________________________________________ |
318 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
319 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
319 | // |
320 | // |
320 | // Description: This function adds a track to the document. |
321 | // Description: This function adds a track to the document. |
321 | // |
322 | // |
322 | // |
323 | // |
323 | // Returnvalue: '1' if the track could be opened |
324 | // Returnvalue: '1' if the track could be opened |
324 | //________________________________________________________________________________________________________________________________________ |
325 | //________________________________________________________________________________________________________________________________________ |
325 | 326 | ||
326 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
327 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
327 | { |
328 | { |
328 | 329 | ||
329 | u8 retvalue = 0; |
330 | u8 retvalue = 0; |
330 | if(doc->state == GPX_DOC_OPENED) |
331 | if(doc->state == GPX_DOC_OPENED) |
331 | { |
332 | { |
332 | if(doc->file != NULL) |
333 | if(doc->file != NULL) |
333 | { |
334 | { |
334 | doc->state = GPX_DOC_TRACK_OPENED; |
335 | doc->state = GPX_DOC_TRACK_OPENED; |
335 | retvalue = 1; |
336 | retvalue = 1; |
336 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
337 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
337 | } |
338 | } |
338 | } |
339 | } |
339 | return(retvalue); |
340 | return(retvalue); |
340 | } |
341 | } |
341 | 342 | ||
342 | 343 | ||
343 | //________________________________________________________________________________________________________________________________________ |
344 | //________________________________________________________________________________________________________________________________________ |
344 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
345 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
345 | // |
346 | // |
346 | // Description: This function ends the track opened before. |
347 | // Description: This function ends the track opened before. |
347 | // |
348 | // |
348 | // |
349 | // |
349 | // Returnvalue: 1' if the track could be closed |
350 | // Returnvalue: 1' if the track could be closed |
350 | //________________________________________________________________________________________________________________________________________ |
351 | //________________________________________________________________________________________________________________________________________ |
351 | 352 | ||
352 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
353 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
353 | { |
354 | { |
354 | 355 | ||
355 | u8 retvalue = 0; |
356 | u8 retvalue = 0; |
356 | 357 | ||
357 | if(doc->state == GPX_DOC_TRACK_OPENED) |
358 | if(doc->state == GPX_DOC_TRACK_OPENED) |
358 | { |
359 | { |
359 | if(doc->file != NULL) |
360 | if(doc->file != NULL) |
360 | { |
361 | { |
361 | doc->state = GPX_DOC_OPENED; |
362 | doc->state = GPX_DOC_OPENED; |
362 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
363 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
363 | retvalue = 1; |
364 | retvalue = 1; |
364 | } |
365 | } |
365 | } |
366 | } |
366 | 367 | ||
367 | return(retvalue); |
368 | return(retvalue); |
368 | } |
369 | } |
369 | 370 | ||
370 | //________________________________________________________________________________________________________________________________________ |
371 | //________________________________________________________________________________________________________________________________________ |
371 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
372 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
372 | // |
373 | // |
373 | // Description: This function starts a track segment. |
374 | // Description: This function starts a track segment. |
374 | // |
375 | // |
375 | // |
376 | // |
376 | // Returnvalue: '1' if the track segement could be started |
377 | // Returnvalue: '1' if the track segement could be started |
377 | //________________________________________________________________________________________________________________________________________ |
378 | //________________________________________________________________________________________________________________________________________ |
378 | 379 | ||
379 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
380 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
380 | { |
381 | { |
381 | 382 | ||
382 | u8 retvalue = 0; |
383 | u8 retvalue = 0; |
383 | 384 | ||
384 | if(doc->state == GPX_DOC_TRACK_OPENED) |
385 | if(doc->state == GPX_DOC_TRACK_OPENED) |
385 | { |
386 | { |
386 | if(doc->file != NULL) |
387 | if(doc->file != NULL) |
387 | { |
388 | { |
388 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
389 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
389 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
390 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
390 | retvalue = 1; |
391 | retvalue = 1; |
391 | } |
392 | } |
392 | } |
393 | } |
393 | return(retvalue); |
394 | return(retvalue); |
394 | } |
395 | } |
395 | 396 | ||
396 | //________________________________________________________________________________________________________________________________________ |
397 | //________________________________________________________________________________________________________________________________________ |
397 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
398 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
398 | // |
399 | // |
399 | // Description: This function ends the tracksegment opened before. |
400 | // Description: This function ends the tracksegment opened before. |
400 | // |
401 | // |
401 | // |
402 | // |
402 | // Returnvalue: '1' if the track segment could be terminated |
403 | // Returnvalue: '1' if the track segment could be terminated |
403 | //________________________________________________________________________________________________________________________________________ |
404 | //________________________________________________________________________________________________________________________________________ |
404 | 405 | ||
405 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
406 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
406 | { |
407 | { |
407 | 408 | ||
408 | u8 retvalue = 0; |
409 | u8 retvalue = 0; |
409 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
410 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
410 | { |
411 | { |
411 | if(doc->file != NULL) |
412 | if(doc->file != NULL) |
412 | { |
413 | { |
413 | doc->state = GPX_DOC_TRACK_OPENED; |
414 | doc->state = GPX_DOC_TRACK_OPENED; |
414 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
415 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
415 | retvalue = 1; |
416 | retvalue = 1; |
416 | } |
417 | } |
417 | } |
418 | } |
418 | return(retvalue); |
419 | return(retvalue); |
419 | } |
420 | } |
420 | 421 | ||
421 | //________________________________________________________________________________________________________________________________________ |
422 | //________________________________________________________________________________________________________________________________________ |
422 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
423 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
423 | // |
424 | // |
424 | // Description: This function adds a pointof a track segement to the specified document. |
425 | // Description: This function adds a pointof a track segement to the specified document. |
425 | // |
426 | // |
426 | // |
427 | // |
427 | // Returnvalue: '1' if a point was added |
428 | // Returnvalue: '1' if a point was added |
428 | //________________________________________________________________________________________________________________________________________ |
429 | //________________________________________________________________________________________________________________________________________ |
429 | 430 | ||
430 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
431 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc,unsigned char part) |
431 | { |
432 | { |
432 | 433 | ||
433 | u8 retvalue = 0; |
434 | u8 retvalue = 0; |
434 | static u8 LastLoggedFlags2 = 0; |
435 | static u8 LastLoggedFlags2 = 0; |
435 | s8 string[150]; |
436 | s8 string[150]; |
436 | s8 name[] = "----\0"; |
437 | s8 name[] = "----\0"; |
437 | 438 | ||
438 | 439 | ||
439 | 440 | ||
440 | if(doc == NULL) return(0); |
441 | if(doc == NULL) return(0); |
441 | 442 | ||
442 | // if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
443 | // if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID)) |
443 | { |
444 | { |
444 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
445 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
445 | { |
446 | { |
446 | if(doc->file != NULL) |
447 | if(doc->file != NULL) |
447 | { |
448 | { |
448 | static s32 altitude; // store to make sure they are all recorded in one timestamp |
449 | static s32 altitude; // store to make sure they are all recorded in one timestamp |
449 | s32 i32_1, i32_2; |
450 | s32 i32_1, i32_2; |
450 | s16 i16_1; |
451 | s16 i16_1; |
451 | u8 u8_1, u8_2; |
452 | u8 u8_1, u8_2; |
452 | // write <trkpt> tag |
453 | // write <trkpt> tag |
453 | switch(part) |
454 | switch(part) |
454 | { |
455 | { |
455 | case 0: |
456 | case 0: |
456 | Logged_GPX_Counter++; |
457 | Logged_GPX_Counter++; |
457 | if(GPSData.Position.Status != INVALID) |
458 | if(GPSData.Position.Status != INVALID) |
458 | { |
459 | { |
459 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
460 | if(GPSData.Position.Latitude < 0) u8_1 = '-'; |
460 | else u8_1 = '+'; |
461 | else u8_1 = '+'; |
461 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
462 | i32_1 = abs(GPSData.Position.Latitude)/10000000L; |
462 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
463 | i32_2 = abs(GPSData.Position.Latitude)%10000000L; |
463 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
464 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1, i32_1, i32_2); |
464 | CheckSumAndWrite(&Check16Block,string, doc->file); |
465 | CheckSumAndWrite(&Check16Block,string, doc->file); |
465 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
466 | if(GPSData.Position.Longitude < 0) u8_1 = '-'; |
466 | else u8_1 = '+'; |
467 | else u8_1 = '+'; |
467 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
468 | i32_1 = abs(GPSData.Position.Longitude)/10000000L; |
468 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
469 | i32_2 = abs(GPSData.Position.Longitude)%10000000L; |
469 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
470 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2); |
470 | } else sprintf(string, "<trkpt lat=\"\" lon=\"\">"); |
471 | } else sprintf(string, "<trkpt lat=\"\" lon=\"\">"); |
471 | CheckSumAndWrite(&Check16Block,string, doc->file); |
472 | CheckSumAndWrite(&Check16Block,string, doc->file); |
472 | altitude = GPSData.Position.Altitude; |
473 | altitude = GPSData.Position.Altitude; |
473 | break; |
474 | break; |
474 | case 1: |
475 | case 1: |
475 | // write <ele> tag |
476 | // write <ele> tag |
476 | i32_2 = altitude - NaviData.HomePosition.Altitude; |
477 | i32_2 = altitude - NaviData.HomePosition.Altitude; |
477 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
478 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
478 | i32_1 = i32_2/1000L; |
479 | i32_1 = i32_2/1000L; |
479 | i32_2 = i32_2%1000L; |
480 | i32_2 = i32_2%1000L; |
480 | if(altitude - NaviData.HomePosition.Altitude < 0) sprintf(string,"<ele>-%ld.%03ld</ele>\r\n",labs(i32_1),labs(i32_2)); |
481 | if(altitude - NaviData.HomePosition.Altitude < 0) sprintf(string,"<ele>-%ld.%03ld</ele>\r\n",labs(i32_1),labs(i32_2)); |
481 | else sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1,i32_2); |
482 | else sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i32_1,i32_2); |
482 | CheckSumAndWrite(&Check16Block,string, doc->file); |
483 | CheckSumAndWrite(&Check16Block,string, doc->file); |
483 | // write <time> tag only at a resolution of 1/100 second |
484 | // write <time> tag only at a resolution of 1/100 second |
484 | 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); |
485 | 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); |
485 | CheckSumAndWrite(&Check16Block,string, doc->file); |
486 | CheckSumAndWrite(&Check16Block,string, doc->file); |
486 | // write <sat> tag |
487 | // write <sat> tag |
487 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
488 | sprintf(string, "<sat>%d</sat>\r\n", NaviData.SatsInUse); |
488 | CheckSumAndWrite(&Check16Block,string, doc->file); |
489 | CheckSumAndWrite(&Check16Block,string, doc->file); |
489 | // todo: add <extensions> tag with additional data to be logged |
490 | // todo: add <extensions> tag with additional data to be logged |
490 | sprintf(string, "<extensions>\r\n"); |
491 | sprintf(string, "<extensions>\r\n"); |
491 | CheckSumAndWrite(&Check16Block,string, doc->file); |
492 | CheckSumAndWrite(&Check16Block,string, doc->file); |
492 | break; |
493 | break; |
493 | case 2: |
494 | case 2: |
494 | // Flight duration |
495 | // Flight duration |
495 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
496 | sprintf(string, "<FlightTime>%d</FlightTime>\r\n", NaviData.FlyingTime); |
496 | CheckSumAndWrite(&Check16Block,string, doc->file); |
497 | CheckSumAndWrite(&Check16Block,string, doc->file); |
497 | // Status of the complete MikroKopter |
498 | // Status of the complete MikroKopter |
498 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
499 | sprintf(string, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode); |
499 | CheckSumAndWrite(&Check16Block,string, doc->file); |
500 | CheckSumAndWrite(&Check16Block,string, doc->file); |
500 | // Flags |
501 | // Flags |
501 | 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 |
502 | 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 |
502 | if(LastLoggedFlags2 & FC_STATUS2_OUT2_ACTIVE && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) Logging_FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
503 | if(LastLoggedFlags2 & FC_STATUS2_OUT2_ACTIVE && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) Logging_FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
503 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
504 | sprintf(string, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1,Logging_FCStatusFlags2); |
504 | CheckSumAndWrite(&Check16Block,string, doc->file); |
505 | CheckSumAndWrite(&Check16Block,string, doc->file); |
505 | LastLoggedFlags2 = Logging_FCStatusFlags2; |
506 | LastLoggedFlags2 = Logging_FCStatusFlags2; |
506 | Logging_FCStatusFlags1 = FC.StatusFlags; |
507 | Logging_FCStatusFlags1 = FC.StatusFlags; |
507 | Logging_FCStatusFlags2 = FC.StatusFlags2; |
508 | Logging_FCStatusFlags2 = FC.StatusFlags2; |
508 | // NC Mode (contains the status) |
509 | // NC Mode (contains the status) |
509 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
510 | sprintf(string, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags); |
510 | CheckSumAndWrite(&Check16Block,string, doc->file); |
511 | CheckSumAndWrite(&Check16Block,string, doc->file); |
511 | // Altimeter according to air pressure |
512 | // Altimeter according to air pressure |
512 | sprintf(string, "<Speak>%d</Speak>\r\n",FC.FromFC_SpeakHoTT); |
513 | sprintf(string, "<Speak>%d</Speak>\r\n",FC.FromFC_SpeakHoTT); |
513 | FC.FromFC_SpeakHoTT = 0; // can be cleared now |
514 | FC.FromFC_SpeakHoTT = 0; // can be cleared now |
514 | CheckSumAndWrite(&Check16Block,string, doc->file); |
515 | CheckSumAndWrite(&Check16Block,string, doc->file); |
515 | // Altimeter according to air pressure |
516 | // Altimeter according to air pressure |
516 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter_5cm,FromFC_VarioCharacter); |
517 | sprintf(string, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.Altimeter_5cm,FromFC_VarioCharacter); |
517 | CheckSumAndWrite(&Check16Block,string, doc->file); |
518 | CheckSumAndWrite(&Check16Block,string, doc->file); |
518 | // Variometer according to air pressure |
519 | // Variometer according to air pressure |
519 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
520 | sprintf(string, "<Variometer>%d</Variometer>\r\n", NaviData.Variometer); |
520 | CheckSumAndWrite(&Check16Block,string, doc->file); |
521 | CheckSumAndWrite(&Check16Block,string, doc->file); |
521 | break; |
522 | break; |
522 | case 3: |
523 | case 3: |
523 | // Ubat |
524 | // Ubat |
524 | u8_1 = FC.BAT_Voltage / 10; |
525 | u8_1 = FC.BAT_Voltage / 10; |
525 | u8_2 = FC.BAT_Voltage % 10; |
526 | u8_2 = FC.BAT_Voltage % 10; |
526 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
527 | sprintf(string, "<Voltage>%d.%01d</Voltage>\r\n", u8_1, u8_2); |
527 | CheckSumAndWrite(&Check16Block,string, doc->file); |
528 | CheckSumAndWrite(&Check16Block,string, doc->file); |
528 | // Current |
529 | // Current |
529 | sprintf(string, "<Current>%d.%01d</Current>\r\n", NaviData.Current / 10, NaviData.Current % 10); |
530 | sprintf(string, "<Current>%d.%01d</Current>\r\n", NaviData.Current / 10, NaviData.Current % 10); |
530 | CheckSumAndWrite(&Check16Block,string, doc->file); |
531 | CheckSumAndWrite(&Check16Block,string, doc->file); |
531 | // Capacity |
532 | // Capacity |
532 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
533 | sprintf(string, "<Capacity>%d</Capacity>\r\n", NaviData.UsedCapacity); |
533 | CheckSumAndWrite(&Check16Block,string, doc->file); |
534 | CheckSumAndWrite(&Check16Block,string, doc->file); |
534 | break; |
535 | break; |
535 | case 4: |
536 | case 4: |
536 | // Compass in deg |
537 | // Compass in deg |
537 | if(SimulationFlags) sprintf(string, "<Compass>%03d,%03d,%03d.%1d,%03d.0</Compass>\r\n",SimulatedDirection,SimulatedDirection,CompassSetpointCorrected/10,CompassSetpointCorrected%10,SimulatedDirection); |
538 | if(SimulationFlags) sprintf(string, "<Compass>%03d,%03d,%03d.%1d,%03d.0</Compass>\r\n",SimulatedDirection,SimulatedDirection,CompassSetpointCorrected/10,CompassSetpointCorrected%10,SimulatedDirection); |
538 | 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); |
539 | 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); |
539 | CheckSumAndWrite(&Check16Block,string, doc->file); |
540 | CheckSumAndWrite(&Check16Block,string, doc->file); |
540 | // magnetic field |
541 | // magnetic field |
541 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
542 | sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5)); |
542 | CheckSumAndWrite(&Check16Block,string, doc->file); |
543 | CheckSumAndWrite(&Check16Block,string, doc->file); |
543 | // magnetic inclination & error |
544 | // magnetic inclination & error |
544 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
545 | sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
545 | CheckSumAndWrite(&Check16Block,string, doc->file); |
546 | CheckSumAndWrite(&Check16Block,string, doc->file); |
546 | // Nick Angle ind deg |
547 | // Nick Angle ind deg |
547 | i16_1 = abs(FromFlightCtrl.AngleNick); |
548 | i16_1 = abs(FromFlightCtrl.AngleNick); |
548 | if(FromFlightCtrl.AngleNick < 0) sprintf(string, "<NickAngle>-%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
549 | if(FromFlightCtrl.AngleNick < 0) sprintf(string, "<NickAngle>-%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
549 | else sprintf(string, "<NickAngle>%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
550 | else sprintf(string, "<NickAngle>%d.%d</NickAngle>\r\n",i16_1/10,i16_1%10); |
550 | CheckSumAndWrite(&Check16Block,string, doc->file); |
551 | CheckSumAndWrite(&Check16Block,string, doc->file); |
551 | // Roll Angle in deg |
552 | // Roll Angle in deg |
552 | i16_1 = abs(FromFlightCtrl.AngleRoll); |
553 | i16_1 = abs(FromFlightCtrl.AngleRoll); |
553 | if(FromFlightCtrl.AngleRoll < 0) sprintf(string, "<RollAngle>-%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
554 | if(FromFlightCtrl.AngleRoll < 0) sprintf(string, "<RollAngle>-%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
554 | else sprintf(string, "<RollAngle>%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
555 | else sprintf(string, "<RollAngle>%d.%d</RollAngle>\r\n",i16_1/10,i16_1%10); |
555 | CheckSumAndWrite(&Check16Block,string, doc->file); |
556 | CheckSumAndWrite(&Check16Block,string, doc->file); |
556 | break; |
557 | break; |
557 | case 5: |
558 | case 5: |
558 | // BL Information |
559 | // BL Information |
559 | switch(AmountOfMotors) |
560 | switch(AmountOfMotors) |
560 | { |
561 | { |
561 | case 4: |
562 | case 4: |
562 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3)); |
563 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current(0),BL3_Current(1),BL3_Current(2),BL3_Current(3)); |
563 | CheckSumAndWrite(&Check16Block,string, doc->file); |
564 | CheckSumAndWrite(&Check16Block,string, doc->file); |
564 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
565 | sprintf(string, "<BL_Temperature>%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
565 | CheckSumAndWrite(&Check16Block,string, doc->file); |
566 | CheckSumAndWrite(&Check16Block,string, doc->file); |
566 | sprintf(string, "<MotorNOK>%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt); |
567 | sprintf(string, "<MotorNOK>%d,%d,%d,%d</MotorNOK>\r\n",Motor[0].NotReadyCnt,Motor[1].NotReadyCnt,Motor[2].NotReadyCnt,Motor[3].NotReadyCnt); |
567 | CheckSumAndWrite(&Check16Block,string, doc->file); |
568 | CheckSumAndWrite(&Check16Block,string, doc->file); |
568 | break; |
569 | break; |
569 | case 6: |
570 | case 6: |
570 | 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)); |
571 | 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)); |
571 | CheckSumAndWrite(&Check16Block,string, doc->file); |
572 | CheckSumAndWrite(&Check16Block,string, doc->file); |
572 | 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); |
573 | 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); |
573 | CheckSumAndWrite(&Check16Block,string, doc->file); |
574 | CheckSumAndWrite(&Check16Block,string, doc->file); |
574 | 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); |
575 | 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); |
575 | CheckSumAndWrite(&Check16Block,string, doc->file); |
576 | CheckSumAndWrite(&Check16Block,string, doc->file); |
576 | break; |
577 | break; |
577 | case 8: |
578 | case 8: |
578 | 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)); |
579 | 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)); |
579 | CheckSumAndWrite(&Check16Block,string, doc->file); |
580 | CheckSumAndWrite(&Check16Block,string, doc->file); |
580 | 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); |
581 | 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); |
581 | CheckSumAndWrite(&Check16Block,string, doc->file); |
582 | CheckSumAndWrite(&Check16Block,string, doc->file); |
582 | 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); |
583 | 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); |
583 | CheckSumAndWrite(&Check16Block,string, doc->file); |
584 | CheckSumAndWrite(&Check16Block,string, doc->file); |
584 | break; |
585 | break; |
585 | case 10: |
586 | case 10: |
586 | case 12: |
587 | case 12: |
587 | 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)); |
588 | 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)); |
588 | CheckSumAndWrite(&Check16Block,string, doc->file); |
589 | CheckSumAndWrite(&Check16Block,string, doc->file); |
589 | 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); |
590 | 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); |
590 | CheckSumAndWrite(&Check16Block,string, doc->file); |
591 | CheckSumAndWrite(&Check16Block,string, doc->file); |
591 | 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); |
592 | 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); |
592 | CheckSumAndWrite(&Check16Block,string, doc->file); |
593 | CheckSumAndWrite(&Check16Block,string, doc->file); |
593 | break; |
594 | break; |
594 | default: |
595 | default: |
595 | 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)); |
596 | 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)); |
596 | CheckSumAndWrite(&Check16Block,string, doc->file); |
597 | CheckSumAndWrite(&Check16Block,string, doc->file); |
597 | 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); |
598 | 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); |
598 | CheckSumAndWrite(&Check16Block,string, doc->file); |
599 | CheckSumAndWrite(&Check16Block,string, doc->file); |
599 | 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); |
600 | 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); |
600 | CheckSumAndWrite(&Check16Block,string, doc->file); |
601 | CheckSumAndWrite(&Check16Block,string, doc->file); |
601 | break; |
602 | break; |
602 | } |
603 | } |
603 | break; |
604 | break; |
604 | case 6: |
605 | case 6: |
605 | /* 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]); |
606 | /* 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]); |
606 | CheckSumAndWrite(&Check16Block,string, doc->file); |
607 | CheckSumAndWrite(&Check16Block,string, doc->file); |
607 | 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]); |
608 | 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]); |
608 | CheckSumAndWrite(&Check16Block,string, doc->file); |
609 | CheckSumAndWrite(&Check16Block,string, doc->file); |
609 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM); |
610 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM); |
610 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
611 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
611 | CheckSumAndWrite(&Check16Block,string, doc->file); |
612 | CheckSumAndWrite(&Check16Block,string, doc->file); |
612 | 613 | ||
613 | // Gas values |
614 | // Gas values |
614 | if(LoggingGasCnt > 1) LoggingGasFilter = LoggingGasFilter / LoggingGasCnt; |
615 | if(LoggingGasCnt > 1) LoggingGasFilter = LoggingGasFilter / LoggingGasCnt; |
615 | sprintf(string, "<Gas>%03d,%03d</Gas>\r\n",(u16)LoggingGasFilter,HoverGas); |
616 | sprintf(string, "<Gas>%03d,%03d</Gas>\r\n",(u16)LoggingGasFilter,HoverGas); |
616 | LoggingGasCnt = 0; |
617 | LoggingGasCnt = 0; |
617 | 618 | ||
618 | CheckSumAndWrite(&Check16Block,string, doc->file); |
619 | CheckSumAndWrite(&Check16Block,string, doc->file); |
619 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
620 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
620 | CheckSumAndWrite(&Check16Block,string, doc->file); |
621 | CheckSumAndWrite(&Check16Block,string, doc->file); |
621 | sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]); |
622 | sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]); |
622 | CheckSumAndWrite(&Check16Block,string, doc->file); |
623 | CheckSumAndWrite(&Check16Block,string, doc->file); |
623 | // Analog inputs of the NC |
624 | // Analog inputs of the NC |
624 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
625 | sprintf(string, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.Ch4,AnalogData.Ch5,AnalogData.Ch6,AnalogData.Ch7); |
625 | CheckSumAndWrite(&Check16Block,string, doc->file); |
626 | CheckSumAndWrite(&Check16Block,string, doc->file); |
626 | 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° |
627 | 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° |
627 | CheckSumAndWrite(&Check16Block,string, doc->file); |
628 | CheckSumAndWrite(&Check16Block,string, doc->file); |
628 | 629 | ||
629 | if(NC_GPS_ModeCharacter == 'F') // Failsafe Point is active |
630 | if(NC_GPS_ModeCharacter == 'F') // Failsafe Point is active |
630 | { |
631 | { |
631 | 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 |
632 | 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 |
632 | LogFC_WP_EventChannel = 0; |
633 | LogFC_WP_EventChannel = 0; |
633 | } |
634 | } |
634 | else |
635 | else |
635 | { |
636 | { |
636 | if(GPS_pWaypoint != NULL) // if WP exist |
637 | if(GPS_pWaypoint != NULL) // if WP exist |
637 | { // copy that name |
638 | { // copy that name |
638 | u8 i; |
639 | u8 i; |
639 | for(i=0;i<4;i++) |
640 | for(i=0;i<4;i++) |
640 | { |
641 | { |
641 | name[i] = GPS_pWaypoint->Name[i]; |
642 | name[i] = GPS_pWaypoint->Name[i]; |
642 | if(name[i] < ' ') name[i] = ' '; |
643 | if(name[i] < ' ') name[i] = ' '; |
643 | } |
644 | } |
644 | } |
645 | } |
645 | 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 |
646 | 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 |
646 | LogFC_WP_EventChannel = 0; // can be cleared now |
647 | LogFC_WP_EventChannel = 0; // can be cleared now |
647 | } |
648 | } |
648 | CheckSumAndWrite(&Check16Block,string, doc->file); |
649 | CheckSumAndWrite(&Check16Block,string, doc->file); |
649 | 650 | ||
650 | sprintf(string, "<ShutterCnt>%d</ShutterCnt>\r\n",NaviData_Volatile.ShutterCounter); |
651 | sprintf(string, "<ShutterCnt>%d</ShutterCnt>\r\n",NaviData_Volatile.ShutterCounter); |
651 | LogFC_WP_EventChannel = 0; // can be cleared now |
652 | LogFC_WP_EventChannel = 0; // can be cleared now |
652 | CheckSumAndWrite(&Check16Block,string, doc->file); |
653 | CheckSumAndWrite(&Check16Block,string, doc->file); |
653 | break; |
654 | break; |
654 | case 7: |
655 | case 7: |
655 | // Target Bearing in deg |
656 | // Target Bearing in deg |
656 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
657 | sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing); |
657 | CheckSumAndWrite(&Check16Block,string, doc->file); |
658 | CheckSumAndWrite(&Check16Block,string, doc->file); |
658 | // Target Distance in dm |
659 | // Target Distance in dm |
659 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance_dm); |
660 | sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance_dm); |
660 | CheckSumAndWrite(&Check16Block,string, doc->file); |
661 | CheckSumAndWrite(&Check16Block,string, doc->file); |
661 | // Course in deg |
662 | // Course in deg |
662 | sprintf(string, "<Course>%03d</Course>\r\n", NaviData.Heading); |
663 | sprintf(string, "<Course>%03d</Course>\r\n", NaviData.Heading); |
663 | CheckSumAndWrite(&Check16Block,string, doc->file); |
664 | CheckSumAndWrite(&Check16Block,string, doc->file); |
664 | // Ground Speed in cm/s |
665 | // Ground Speed in cm/s |
665 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
666 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
666 | CheckSumAndWrite(&Check16Block,string, doc->file); |
667 | CheckSumAndWrite(&Check16Block,string, doc->file); |
667 | // Vertical Speed in cm/s |
668 | // Vertical Speed in cm/s |
668 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
669 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
669 | CheckSumAndWrite(&Check16Block,string, doc->file); |
670 | CheckSumAndWrite(&Check16Block,string, doc->file); |
670 | // RC Sticks as Nick/Roll/Yaw |
671 | // RC Sticks as Nick/Roll/Yaw |
671 | 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]); |
672 | 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]); |
672 | CheckSumAndWrite(&Check16Block,string, doc->file); |
673 | CheckSumAndWrite(&Check16Block,string, doc->file); |
673 | // GPS Sticks as Nick/Roll/Yaw |
674 | // GPS Sticks as Nick/Roll/Yaw |
674 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, 0 ,NC_GPS_ModeCharacter); |
675 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, 0 ,NC_GPS_ModeCharacter); |
675 | CheckSumAndWrite(&Check16Block,string, doc->file); |
676 | CheckSumAndWrite(&Check16Block,string, doc->file); |
676 | // RC Quality |
677 | // RC Quality |
677 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
678 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
678 | CheckSumAndWrite(&Check16Block,string, doc->file); |
679 | CheckSumAndWrite(&Check16Block,string, doc->file); |
679 | // raw GPS altitude |
680 | // raw GPS altitude |
680 | i32_2 = altitude; |
681 | i32_2 = altitude; |
681 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
682 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
682 | i32_1 = i32_2/1000L; |
683 | i32_1 = i32_2/1000L; |
683 | i32_2 = i32_2%1000L; |
684 | i32_2 = i32_2%1000L; |
684 | if(altitude < 0) sprintf(string,"<ele_raw>-%ld.%03ld</ele_raw>\r\n",labs(i32_1),labs(i32_2)); |
685 | if(altitude < 0) sprintf(string,"<ele_raw>-%ld.%03ld</ele_raw>\r\n",labs(i32_1),labs(i32_2)); |
685 | else sprintf(string,"<ele_raw>%ld.%03ld</ele_raw>\r\n",i32_1,i32_2); |
686 | else sprintf(string,"<ele_raw>%ld.%03ld</ele_raw>\r\n",i32_1,i32_2); |
686 | CheckSumAndWrite(&Check16Block,string, doc->file); |
687 | CheckSumAndWrite(&Check16Block,string, doc->file); |
687 | break; |
688 | break; |
688 | case 8: |
689 | case 8: |
689 | // Drift compensation |
690 | // Drift compensation |
690 | /* |
691 | /* |
691 | if(Parameter.Driftkomp) |
692 | if(Parameter.Driftkomp) |
692 | { |
693 | { |
693 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw); |
694 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw); |
694 | CheckSumAndWrite(&Check16Block,string, doc->file); |
695 | CheckSumAndWrite(&Check16Block,string, doc->file); |
695 | } |
696 | } |
696 | */ |
697 | */ |
697 | // Navigation Update speed (in 0.1Hz) |
698 | // Navigation Update speed (in 0.1Hz) |
698 | sprintf(string, "<GPSInfo>%d,%d,%d</GPSInfo>\r\n",FreqNewGpsData,GPSData.Flags,GPSData.SatFix); // FreqGpsNavProcessed |
699 | sprintf(string, "<GPSInfo>%d,%d,%d</GPSInfo>\r\n",FreqNewGpsData,GPSData.Flags,GPSData.SatFix); // FreqGpsNavProcessed |
699 | CheckSumAndWrite(&Check16Block,string, doc->file); |
700 | CheckSumAndWrite(&Check16Block,string, doc->file); |
700 | // eof extensions |
701 | // eof extensions |
701 | sprintf(string, "</extensions>\r\n"); |
702 | sprintf(string, "</extensions>\r\n"); |
702 | CheckSumAndWrite(&Check16Block,string, doc->file); |
703 | CheckSumAndWrite(&Check16Block,string, doc->file); |
703 | sprintf(string, "</trkpt>\r\n"); |
704 | sprintf(string, "</trkpt>\r\n"); |
704 | CheckSumAndWrite(&Check16Block,string, doc->file); |
705 | CheckSumAndWrite(&Check16Block,string, doc->file); |
705 | 706 | ||
706 | sprintf(string, "<!-- %d -->\r\n", Check16Block); |
707 | sprintf(string, "<!-- %d -->\r\n", Check16Block); |
707 | fputs_(string, doc->file); |
708 | fputs_(string, doc->file); |
708 | 709 | ||
709 | Check16File += Check16Block; |
710 | Check16File += Check16Block; |
710 | 711 | ||
711 | 712 | ||
712 | break; |
713 | break; |
713 | } |
714 | } |
714 | retvalue = 1; |
715 | retvalue = 1; |
715 | } |
716 | } |
716 | } |
717 | } |
717 | } |
718 | } |
718 | return(retvalue); |
719 | return(retvalue); |
719 | } |
720 | } |
720 | 721 | ||
721 | //________________________________________________________________________________________________________________________________________ |
722 | //________________________________________________________________________________________________________________________________________ |
722 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
723 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
723 | // |
724 | // |
724 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
725 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
725 | // |
726 | // |
726 | // |
727 | // |
727 | // Returnvalue: '1' if an gps coordinate was logged |
728 | // Returnvalue: '1' if an gps coordinate was logged |
728 | //________________________________________________________________________________________________________________________________________ |
729 | //________________________________________________________________________________________________________________________________________ |
729 | 730 | ||
730 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
731 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc,unsigned char part) |
731 | { |
732 | { |
732 | u8 retval = 0; |
733 | u8 retval = 0; |
733 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
734 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
734 | { |
735 | { |
735 | switch(doc->state) |
736 | switch(doc->state) |
736 | { |
737 | { |
737 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
738 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
738 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
739 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
739 | break; |
740 | break; |
740 | 741 | ||
741 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
742 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
742 | retval = GPX_TrackBegin(doc); |
743 | retval = GPX_TrackBegin(doc); |
743 | break; |
744 | break; |
744 | 745 | ||
745 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
746 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
746 | retval = GPX_TrackSegmentBegin(doc); |
747 | retval = GPX_TrackSegmentBegin(doc); |
747 | break; |
748 | break; |
748 | 749 | ||
749 | default: |
750 | default: |
750 | retval = 0; |
751 | retval = 0; |
751 | break; |
752 | break; |
752 | 753 | ||
753 | } |
754 | } |
754 | if(retval != 1) return(retval); // stop on error |
755 | if(retval != 1) return(retval); // stop on error |
755 | } |
756 | } |
756 | 757 | ||
757 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
758 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
758 | { |
759 | { |
759 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
760 | retval = GPX_TrackSegementAddPoint(doc,part); // add a track segment point |
760 | } |
761 | } |
761 | return(retval); |
762 | return(retval); |
762 | } |
763 | } |
763 | 764 | ||
764 | 765 |