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| 271 | } |
271 | } |
| 272 | } |
272 | } |
| 273 | return(retvalue); |
273 | return(retvalue); |
| 274 | } |
274 | } |
| Line -... | Line 275... | ||
| - | 275 | ||
| - | 276 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 277 | // + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
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| - | 278 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 279 | unsigned int BL3_Current(unsigned char who) // in 0,1A |
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| - | 280 | { |
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| - | 281 | if(Motor[who].Current <= 200) return((unsigned int) Motor[who].Current); |
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| - | 282 | else |
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| - | 283 | { |
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| - | 284 | if(Motor_Version[who] & MOTOR_STATE_BL30) return(200 + 10 * (unsigned int) (Motor[who].Current-200)); |
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| - | 285 | else return((unsigned int) Motor[who].Current); |
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| - | 286 | } |
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| - | 287 | } |
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| - | 288 | ||
| 275 | 289 | ||
| 276 | //________________________________________________________________________________________________________________________________________ |
290 | //________________________________________________________________________________________________________________________________________ |
| 277 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
291 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
| 278 | // |
292 | // |
| 279 | // Description: This function adds a pointof a track segement to the specified document. |
293 | // Description: This function adds a pointof a track segement to the specified document. |
| Line 404... | Line 418... | ||
| 404 | sprintf(string, "<RollAngle>%03d</RollAngle>\r\n", NaviData.AngleRoll); |
418 | sprintf(string, "<RollAngle>%03d</RollAngle>\r\n", NaviData.AngleRoll); |
| 405 | fputs_(string, doc->file); |
419 | fputs_(string, doc->file); |
| 406 | break; |
420 | break; |
| 407 | case 5: |
421 | case 5: |
| 408 | // BL Information |
422 | // BL Information |
| 409 | sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",Motor[0].Current,Motor[1].Current,Motor[2].Current,Motor[3].Current,Motor[4].Current,Motor[5].Current,Motor[6].Current,Motor[7].Current,Motor[8].Current,Motor[9].Current,Motor[10].Current,Motor[11].Current); |
423 | // sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",Motor[0].Current,Motor[1].Current,Motor[2].Current,Motor[3].Current,Motor[4].Current,Motor[5].Current,Motor[6].Current,Motor[7].Current,Motor[8].Current,Motor[9].Current,Motor[10].Current,Motor[11].Current); |
| - | 424 | 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)); |
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| 410 | fputs_(string, doc->file); |
425 | fputs_(string, doc->file); |
| 411 | 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); |
426 | 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); |
| 412 | fputs_(string, doc->file); |
427 | fputs_(string, doc->file); |
| 413 | break; |
428 | break; |
| 414 | case 6: |
429 | case 6: |
| Line 470... | Line 485... | ||
| 470 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
485 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
| 471 | fputs_(string, doc->file); |
486 | fputs_(string, doc->file); |
| 472 | // Navigation Update speed (in 0.1Hz) |
487 | // Navigation Update speed (in 0.1Hz) |
| 473 | // sprintf(string, "<NaviUpdate>%d,%d</NaviUpdate>\r\n",FreqGpsProcessedIn5Sec,FreqNewGpsDataIn5Sec); |
488 | // sprintf(string, "<NaviUpdate>%d,%d</NaviUpdate>\r\n",FreqGpsProcessedIn5Sec,FreqNewGpsDataIn5Sec); |
| 474 | // fputs_(string, doc->file); |
489 | // fputs_(string, doc->file); |
| 475 | // RC Received Signal Strength Indication |
- | |
| 476 | // eof extensions |
490 | // eof extensions |
| 477 | sprintf(string, "</extensions>\r\n"); |
491 | sprintf(string, "</extensions>\r\n"); |
| 478 | fputs_(string, doc->file); |
492 | fputs_(string, doc->file); |
| 479 | sprintf(string, "</trkpt>\r\n"); |
493 | sprintf(string, "</trkpt>\r\n"); |
| 480 | fputs_(string, doc->file); |
494 | fputs_(string, doc->file); |