/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + 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
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdlib.h>
#include <stdio.h>
#include "91x_lib.h"
#include "gpx.h"
#include "gpx_header.h"
#include "timer1.h"
#include "spi_slave.h"
#include "main.h"
#include "uart1.h"
#include "compass.h"
#include "analog.h"
#include "main.h"
#include "led.h"
#include "timer2.h"
#include "logging.h"
#include "ncmag.h"
//________________________________________________________________________________________________________________________________________
// Function: GPX_DocumentInit(GPX_Document_t *)
//
// Description: This function initializes the gpx-document for further use.
//
//
// Returnvalue: '1' if document was initialized
//________________________________________________________________________________________________________________________________________
u8 GPX_DocumentInit
(GPX_Document_t
*doc
)
{
if(doc
->state
!= GPX_DOC_CLOSED
) GPX_DocumentClose
(doc
); // close file if it was opened before
doc
->state
= GPX_DOC_CLOSED
; // init state of the gpx-document
doc
->file
= NULL
;
return(1);
}
//________________________________________________________________________________________________________________________________________
// Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc);
//
// Description: This function opens a new gpx-document with the specified name and creates the document header within the file.
//
//
// Returnvalue: '1' if the gpx-file could be created.
//________________________________________________________________________________________________________________________________________
u8 GPX_DocumentOpen
(s8
*name
, GPX_Document_t
*doc
)
{
s8 string
[200];
u8 retvalue
= 0;
u8 BLv
= 1;
LicenseS_t
*tmp_license
;
tmp_license
= (LicenseS_t
*) LicensePtr
;
if(doc
== NULL
) return(0);
GPX_DocumentInit
(doc
); // intialize the document with resetvalues
doc
->file
= fopen_
(name
,'a'); // open a new file with the specified filename on the memorycard.
if(Motor_Version
[0] & MOTOR_STATE_BL30
) BLv
= 3;
else if(Motor_Version
[0] & MOTOR_STATE_NEW_PROTOCOL_MASK
) BLv
= 2;
if(doc
->file
!= NULL
) // could the file be opened?
{
retvalue
= 1; // the document could be created on the drive.
doc
->state
= GPX_DOC_OPENED
; // change document state to opened. At next a placemark has to be opened.
fwrite_
((void*)GPX_DOCUMENT_HEADER1
, sizeof(GPX_DOCUMENT_HEADER1
)-1,1,doc
->file
);// write the gpx-header to the document.
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);
fputs_
(string
, doc
->file
);
if(SimulationFlags
) { sprintf(string
, " SIMULATED"); fputs_
(string
, doc
->file
);};
if(FC.
RedundanceBlOperation) sprintf(string
, " (Redundant)</desc>\r\n");
else sprintf(string
, "</desc>\r\n");
fputs_
(string
, doc
->file
);
sprintf(string
, "<extensions>\r\n"); fputs_
(string
, doc
->file
);
sprintf(string
, "<MK_Time>%imin</MK_Time>\r\n",FlugMinutenGesamt
);fputs_
(string
, doc
->file
);
sprintf(string
, "<License>\r\n"); fputs_
(string
, doc
->file
);
if(tmp_license
->User
[0] != 0)
{
sprintf(string
, "<name>%s</name>\r\n",tmp_license
->User
); fputs_
(string
, doc
->file
);
sprintf(string
, "<email>%s</email>\r\n",tmp_license
->eMail
); fputs_
(string
, doc
->file
);
sprintf(string
, "<features>%s</features>\r\n",tmp_license
->Feature
); fputs_
(string
, doc
->file
);
sprintf(string
, "<expires>%s</expires>\r\n",tmp_license
->Expire
);fputs_
(string
, doc
->file
);
}
else
{
sprintf(string
, "<info>No License installed</info>\r\n"); fputs_
(string
, doc
->file
);
}
sprintf(string
, "</License>\r\n"); fputs_
(string
, doc
->file
);
sprintf(string
, "<settings>\r\n"); fputs_
(string
, doc
->file
);
sprintf(string
, "<Number>%i</Number>\r\n",Parameter.
ActiveSetting);fputs_
(string
, doc
->file
);
sprintf(string
, "<CompassOffset>%i</CompassOffset>\r\n",FC.
FromFC_CompassOffset/10);fputs_
(string
, doc
->file
);
sprintf(string
, "<FCOrientation>%i</FCOrientation>\r\n",Parameter.
OrientationAngle*15);fputs_
(string
, doc
->file
);
sprintf(string
, "<GeoMag>%i</GeoMag>\r\n",GeoMagDec
/10);fputs_
(string
, doc
->file
);
if(Compass_I2CPort
== NCMAG_PORT_EXTERN
) sprintf(string
, "<MagSensor>external (%i)</MagSensor>\r\n",NCMAG_Orientation
);
else sprintf(string
, "<MagSensor>internal</MagSensor>\r\n");fputs_
(string
, doc
->file
);
if(AbsoluteFlyingAltitude
) {sprintf(string
, "<MaxAltitude>%i</MaxAltitude>\r\n",AbsoluteFlyingAltitude
);fputs_
(string
, doc
->file
);}
if(AbsoluteFlyingRange_m
) {sprintf(string
, "<FlyRange>%i</FlyRange>\r\n",AbsoluteFlyingRange_m
);fputs_
(string
, doc
->file
);}
if(AutoDescendRange_m
) {sprintf(string
, "<Descend>%i</Descend>\r\n",AutoDescendRange_m
);fputs_
(string
, doc
->file
);};
if((Parameter.
GlobalConfig & FC_CFG_HEADING_HOLD
)) {sprintf(string
, "<HeadingHold>ON!</HeadingHold>\r\n");fputs_
(string
, doc
->file
);}
if((Parameter.
GlobalConfig & FC_CFG_KOMPASS_FIX
)) {sprintf(string
, "<KompassFixedValue>ON!</KompassFixedValue>\r\n");fputs_
(string
, doc
->file
);}
if((Parameter.
GlobalConfig & FC_CFG_DREHRATEN_BEGRENZER
)) {sprintf(string
, "<RotationRateLimiter>ON!</RotationRateLimiter>\r\n");fputs_
(string
, doc
->file
);}
if(!(Parameter.
GlobalConfig & FC_CFG_ACHSENKOPPLUNG_AKTIV
)) {sprintf(string
, "<AxisCoupling>OFF!</AxisCoupling>\r\n");fputs_
(string
, doc
->file
);}
if(!(Parameter.
GlobalConfig & FC_CFG_KOMPASS_AKTIV
)) {sprintf(string
, "<KompassActive>OFF!</KompassActive>\r\n");fputs_
(string
, doc
->file
);}
if((Parameter.
GlobalConfig3 & CFG3_VARIO_FAILSAFE
)) {sprintf(string
, "<VarioFailsafe>On</VarioFailsafe>\r\n");fputs_
(string
, doc
->file
);}
if((Parameter.
ExtraConfig & CFG_3_3V_REFERENCE
)) {sprintf(string
, "<3.3V_Reference>On</3.3V_Reference>\r\n");fputs_
(string
, doc
->file
);}
if((Parameter.
ExtraConfig & CFG_IGNORE_MAG_ERR_AT_STARTUP
)) {sprintf(string
, "<IgnoreMagnetError>ON!</IgnoreMagnetError>\r\n");fputs_
(string
, doc
->file
);}
sprintf(string
, "<Bytes>%02x,%02x,%02x</Bytes>\r\n",Parameter.
GlobalConfig,Parameter.
ExtraConfig,Parameter.
GlobalConfig3);fputs_
(string
, doc
->file
);
sprintf(string
, "</settings>\r\n"); fputs_
(string
, doc
->file
);
sprintf(string
, "</extensions>\r\n"); fputs_
(string
, doc
->file
);
fwrite_
((void*)GPX_DOCUMENT_METADATA_END
, sizeof(GPX_DOCUMENT_METADATA_END
)-1,1,doc
->file
);// write the gpx-header to the document.
}
Logging_FCStatusFlags1
= 0;
Logging_FCStatusFlags2
= 0;
Logged_GPX_Counter
= 0;
LogFC_WP_EventChannel
= 0;
Logging_BL_MinOfMaxPWM
= BL_MinOfMaxPWM
;
return(retvalue
);
}
//________________________________________________________________________________________________________________________________________
// Function: DocumentClose(GPX_Document_t *doc);
//
// Description: This function closes the document specified by doc.
//
//
// Returnvalue: '1' if the gpx-file could be closed.
//________________________________________________________________________________________________________________________________________
u8 GPX_DocumentClose
(GPX_Document_t
*doc
)
{
u8 retvalue
= 1;
if(doc
== NULL
) return(0);
while(doc
->state
!= GPX_DOC_CLOSED
) // close linestring, placemark and document before closing the file on the memorycard
{
switch(doc
->state
)
{
case GPX_DOC_TRACKSEGMENT_OPENED
:
GPX_TrackSegmentEnd
(doc
); // write terminating tag to end tracksegment.
break;
case GPX_DOC_TRACK_OPENED
: // write terminating tag to close track.
GPX_TrackEnd
(doc
);
break;
case GPX_DOC_OPENED
: // close the file on the memorycard
if(doc
->file
!= NULL
)
{
fwrite_
((void*)GPX_DOCUMENT_FOOTER
, sizeof(GPX_DOCUMENT_FOOTER
)-1,1,doc
->file
); // write the gpx-footer to the document.
fclose_
(doc
->file
);
retvalue
= 1;
}
doc
->state
= GPX_DOC_CLOSED
;
break;
default:
doc
->state
= GPX_DOC_CLOSED
;
break;
}
}
return(retvalue
);
}
//________________________________________________________________________________________________________________________________________
// Function: u8 GPX_TrackBegin(GPX_Document_t);
//
// Description: This function adds a track to the document.
//
//
// Returnvalue: '1' if the track could be opened
//________________________________________________________________________________________________________________________________________
u8 GPX_TrackBegin
(GPX_Document_t
*doc
)
{
u8 retvalue
= 0;
if(doc
->state
== GPX_DOC_OPENED
)
{
if(doc
->file
!= NULL
)
{
doc
->state
= GPX_DOC_TRACK_OPENED
;
retvalue
= 1;
fwrite_
((void*)GPX_TRACK_HEADER
, sizeof(GPX_TRACK_HEADER
)-1,1,doc
->file
);
}
}
return(retvalue
);
}
//________________________________________________________________________________________________________________________________________
// Function: u8 GPX_TrackEnd(KML_Document_t *doc)
//
// Description: This function ends the track opened before.
//
//
// Returnvalue: 1' if the track could be closed
//________________________________________________________________________________________________________________________________________
u8 GPX_TrackEnd
(GPX_Document_t
*doc
)
{
u8 retvalue
= 0;
if(doc
->state
== GPX_DOC_TRACK_OPENED
)
{
if(doc
->file
!= NULL
)
{
doc
->state
= GPX_DOC_OPENED
;
fwrite_
((void*)GPX_TRACK_FOOTER
, sizeof(GPX_TRACK_FOOTER
)-1,1,doc
->file
);
retvalue
= 1;
}
}
return(retvalue
);
}
//________________________________________________________________________________________________________________________________________
// Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc);
//
// Description: This function starts a track segment.
//
//
// Returnvalue: '1' if the track segement could be started
//________________________________________________________________________________________________________________________________________
u8 GPX_TrackSegmentBegin
(GPX_Document_t
*doc
)
{
u8 retvalue
= 0;
if(doc
->state
== GPX_DOC_TRACK_OPENED
)
{
if(doc
->file
!= NULL
)
{
doc
->state
= GPX_DOC_TRACKSEGMENT_OPENED
;
fwrite_
((void*)GPX_TRACKSEGMENT_HEADER
, sizeof(GPX_TRACKSEGMENT_HEADER
)-1,1,doc
->file
);
retvalue
= 1;
}
}
return(retvalue
);
}
//________________________________________________________________________________________________________________________________________
// Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc);
//
// Description: This function ends the tracksegment opened before.
//
//
// Returnvalue: '1' if the track segment could be terminated
//________________________________________________________________________________________________________________________________________
u8 GPX_TrackSegmentEnd
(GPX_Document_t
*doc
)
{
u8 retvalue
= 0;
if(doc
->state
== GPX_DOC_TRACKSEGMENT_OPENED
)
{
if(doc
->file
!= NULL
)
{
doc
->state
= GPX_DOC_TRACK_OPENED
;
fwrite_
((void*)GPX_TRACKSEGMENT_FOOTER
, sizeof(GPX_TRACKSEGMENT_FOOTER
)-1,1,doc
->file
);
retvalue
= 1;
}
}
return(retvalue
);
}
//________________________________________________________________________________________________________________________________________
// Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc);
//
// Description: This function adds a pointof a track segement to the specified document.
//
//
// Returnvalue: '1' if a point was added
//________________________________________________________________________________________________________________________________________
u8 GPX_TrackSegementAddPoint
(GPX_Document_t
*doc
,unsigned char part
)
{
u8 retvalue
= 0;
s8 string
[120];
s8 name
[] = "----\0";
if(doc
== NULL
) return(0);
// if((GPSData.Position.Status != INVALID) && (NaviData.HomePosition.Status != INVALID))
{
if(doc
->state
== GPX_DOC_TRACKSEGMENT_OPENED
)
{
if(doc
->file
!= NULL
)
{
static s32 altitude
; // store to make sure they are all recorded in one timestamp
s32 i32_1
, i32_2
;
s16 i16_1
;
u8 u8_1
, u8_2
;
// write <trkpt> tag
switch(part
)
{
case 0:
Logged_GPX_Counter
++;
if(GPSData.
Position.
Status != INVALID
)
{
if(GPSData.
Position.
Latitude < 0) u8_1
= '-';
else u8_1
= '+';
i32_1
= abs(GPSData.
Position.
Latitude)/10000000L;
i32_2
= abs(GPSData.
Position.
Latitude)%10000000L
;
sprintf(string
, "<trkpt lat=\"%c%ld.%07ld\" ",u8_1
, i32_1
, i32_2
);
fputs_
(string
, doc
->file
);
if(GPSData.
Position.
Longitude < 0) u8_1
= '-';
else u8_1
= '+';
i32_1
= abs(GPSData.
Position.
Longitude)/10000000L;
i32_2
= abs(GPSData.
Position.
Longitude)%10000000L
;
sprintf(string
, "lon=\"%c%ld.%07ld\">\r\n",u8_1
, i32_1
, i32_2
);
} else sprintf(string
, "<trkpt lat=\"\" lon=\"\">");
fputs_
(string
, doc
->file
);
altitude
= GPSData.
Position.
Altitude;
break;
case 1:
// write <ele> tag
i32_2
= altitude
- NaviData.
HomePosition.
Altitude;
if(GPSData.
Position.
Status == INVALID
) i32_2
= 0;
i32_1
= i32_2
/1000L;
i32_2
= i32_2
%1000L
;
if(altitude
- NaviData.
HomePosition.
Altitude < 0) sprintf(string
,"<ele>-%ld.%03ld</ele>\r\n",abs(i32_1
),abs(i32_2
));
else sprintf(string
,"<ele>%ld.%03ld</ele>\r\n",i32_1
,i32_2
);
fputs_
(string
, doc
->file
);
// write <time> tag only at a resolution of 1/100 second
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);
fputs_
(string
, doc
->file
);
// write <sat> tag
sprintf(string
, "<sat>%d</sat>\r\n", NaviData.
SatsInUse);
fputs_
(string
, doc
->file
);
// todo: add <extensions> tag with additional data to be logged
sprintf(string
, "<extensions>\r\n");
fputs_
(string
, doc
->file
);
break;
case 2:
// Flight duration
sprintf(string
, "<FlightTime>%d</FlightTime>\r\n", NaviData.
FlyingTime);
fputs_
(string
, doc
->file
);
// Status of the complete MikroKopter
sprintf(string
, "<ErrorCode>%03d</ErrorCode>\r\n",ErrorCode
);
fputs_
(string
, doc
->file
);
// Flags
sprintf(string
, "<FCFlags2>0x%02x,0x%02x</FCFlags2>\r\n",Logging_FCStatusFlags1
,Logging_FCStatusFlags2
);
fputs_
(string
, doc
->file
);
Logging_FCStatusFlags1
= FC.
StatusFlags;
Logging_FCStatusFlags2
= FC.
StatusFlags2;
// NC Mode (contains the status)
sprintf(string
, "<NCFlag>0x%02X</NCFlag>\r\n", NCFlags
);
fputs_
(string
, doc
->file
);
// Altimeter according to air pressure
sprintf(string
, "<Speak>%d</Speak>\r\n",FC.
FromFC_SpeakHoTT);
FC.
FromFC_SpeakHoTT = 0; // can be cleared now
fputs_
(string
, doc
->file
);
// Altimeter according to air pressure
sprintf(string
, "<Altimeter>%d,'%c'</Altimeter>\r\n", NaviData.
Altimeter,FromFC_VarioCharacter
);
fputs_
(string
, doc
->file
);
// Variometer according to air pressure
sprintf(string
, "<Variometer>%d</Variometer>\r\n", NaviData.
Variometer);
fputs_
(string
, doc
->file
);
break;
case 3:
// Ubat
u8_1
= NaviData.
UBat / 10;
u8_2
= NaviData.
UBat % 10;
sprintf(string
, "<Voltage>%d.%01d</Voltage>\r\n", u8_1
, u8_2
);
fputs_
(string
, doc
->file
);
// Current
u8_1
= NaviData.
Current / 10;
u8_2
= NaviData.
Current % 10;
sprintf(string
, "<Current>%d.%01d</Current>\r\n", u8_1
, u8_2
);
fputs_
(string
, doc
->file
);
// Capacity
sprintf(string
, "<Capacity>%d</Capacity>\r\n", NaviData.
UsedCapacity);
fputs_
(string
, doc
->file
);
break;
case 4:
// Compass in deg
if(SimulationFlags
) sprintf(string
, "<Compass>%03d,%03d,%03d,%03d</Compass>\r\n",SimulatedDirection
,SimulatedDirection
,CompassSetpointCorrected
/10,SimulatedDirection
);
else sprintf(string
, "<Compass>%03d,%03d,%03d,%03d</Compass>\r\n",FromFlightCtrl.
GyroHeading/10,ToFlightCtrl.
CompassHeading,CompassSetpointCorrected
/10,GyroCompassCorrected
/10);
fputs_
(string
, doc
->file
);
// magnetic field
sprintf(string
, "<MagnetField>%03d</MagnetField>\r\n",(u16
) (EarthMagneticFieldFiltered
/5));
fputs_
(string
, doc
->file
);
// magnetic inclination & error
sprintf(string
, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16
)EarthMagneticInclinationFiltered
/10,(s16
)(EarthMagneticInclinationFiltered
/10 - EarthMagneticInclinationTheoretic
));
fputs_
(string
, doc
->file
);
// Nick Angle ind deg
i16_1
= abs(FromFlightCtrl.
AngleNick);
if(FromFlightCtrl.
AngleNick < 0) sprintf(string
, "<NickAngle>-%d.%d</NickAngle>\r\n",i16_1
/10,i16_1
%10);
else sprintf(string
, "<NickAngle>%d.%d</NickAngle>\r\n",i16_1
/10,i16_1
%10);
fputs_
(string
, doc
->file
);
// Roll Angle in deg
i16_1
= abs(FromFlightCtrl.
AngleRoll);
if(FromFlightCtrl.
AngleRoll < 0) sprintf(string
, "<RollAngle>-%d.%d</RollAngle>\r\n",i16_1
/10,i16_1
%10);
else sprintf(string
, "<RollAngle>%d.%d</RollAngle>\r\n",i16_1
/10,i16_1
%10);
fputs_
(string
, doc
->file
);
break;
case 5:
// BL Information
switch(AmountOfMotors
)
{
case 4:
sprintf(string
, "<MotorCurrent>%d,%d,%d,%d</MotorCurrent>\r\n",BL3_Current
(0),BL3_Current
(1),BL3_Current
(2),BL3_Current
(3));
fputs_
(string
, doc
->file
);
sprintf(string
, "<BL_Temperature>%d,%d,%d,%d</BL_Temperature>\r\n",Motor
[0].
Temperature,Motor
[1].
Temperature,Motor
[2].
Temperature,Motor
[3].
Temperature);
fputs_
(string
, doc
->file
);
sprintf(string
, "<MotorNOK>%d,%d,%d,%d</MotorNOK>\r\n",Motor
[0].
NotReadyCnt,Motor
[1].
NotReadyCnt,Motor
[2].
NotReadyCnt,Motor
[3].
NotReadyCnt);
fputs_
(string
, doc
->file
);
break;
case 6:
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));
fputs_
(string
, doc
->file
);
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);
fputs_
(string
, doc
->file
);
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);
fputs_
(string
, doc
->file
);
break;
case 8:
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));
fputs_
(string
, doc
->file
);
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);
fputs_
(string
, doc
->file
);
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);
fputs_
(string
, doc
->file
);
break;
default:
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));
fputs_
(string
, doc
->file
);
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);
fputs_
(string
, doc
->file
);
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);
fputs_
(string
, doc
->file
);
break;
}
break;
case 6:
/* 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]);
fputs_(string, doc->file);
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]);
fputs_(string, doc->file);
*/ sprintf(string
, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM
);
Logging_BL_MinOfMaxPWM
= BL_MinOfMaxPWM
;
fputs_
(string
, doc
->file
);
sprintf(string
, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16
)FC_I2C_ErrorConter
);
fputs_
(string
, doc
->file
);
sprintf(string
, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16
)DebugOut.
Analog[12]);
fputs_
(string
, doc
->file
);
// Analog inputs of the NC
sprintf(string
, "<AnalogInputs>%d,%d,%d,%d</AnalogInputs>\r\n",AnalogData.
Ch4,AnalogData.
Ch5,AnalogData.
Ch6,AnalogData.
Ch7);
fputs_
(string
, doc
->file
);
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°
fputs_
(string
, doc
->file
);
if(GPS_pWaypoint
!= NULL
) // if WP exist
{ // copy that name
u8 i
;
for(i
=0;i
<4;i
++)
{
name
[i
] = GPS_pWaypoint
->Name
[i
];
if(name
[i
] < ' ') name
[i
] = ' ';
}
}
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
LogFC_WP_EventChannel
= 0; // can be cleared now
fputs_
(string
, doc
->file
);
break;
case 7:
// Target Bearing in deg
sprintf(string
, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.
TargetPositionDeviation.
Bearing);
fputs_
(string
, doc
->file
);
// Target Distance in dm
sprintf(string
, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.
TargetPositionDeviation.
Distance);
fputs_
(string
, doc
->file
);
// Course in deg
i16_1
= GPSData.
Heading/100000L;
sprintf(string
, "<Course>%03d</Course>\r\n", i16_1
);
fputs_
(string
, doc
->file
);
// Ground Speed in cm/s
sprintf(string
, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.
GroundSpeed);
fputs_
(string
, doc
->file
);
// Vertical Speed in cm/s
sprintf(string
, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.
TopSpeed);
fputs_
(string
, doc
->file
);
break;
case 8:
// RC Sticks as Nick/Roll/Yaw
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]);
fputs_
(string
, doc
->file
);
// GPS Sticks as Nick/Roll/Yaw
sprintf(string
, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.
GPSStick.
Nick, ToFlightCtrl.
GPSStick.
Roll, 0 ,NC_GPS_ModeCharacter
);
fputs_
(string
, doc
->file
);
// RC Quality
sprintf(string
, "<RCQuality>%d</RCQuality>\r\n", FC.
RC_Quality);
fputs_
(string
, doc
->file
);
// Navigation Update speed (in 0.1Hz)
// sprintf(string, "<NaviUpdate>%d,%d</NaviUpdate>\r\n",FreqGpsProcessedIn5Sec,FreqNewGpsDataIn5Sec);
// fputs_(string, doc->file);
// eof extensions
i32_2
= altitude
;
if(GPSData.
Position.
Status == INVALID
) i32_2
= 0;
i32_1
= i32_2
/1000L;
i32_2
= i32_2
%1000L
;
if(altitude
< 0) sprintf(string
,"<ele_raw>-%ld.%03ld</ele_raw>\r\n",abs(i32_1
),abs(i32_2
));
else sprintf(string
,"<ele_raw>%ld.%03ld</ele_raw>\r\n",i32_1
,i32_2
);
fputs_
(string
, doc
->file
);
sprintf(string
, "</extensions>\r\n");
fputs_
(string
, doc
->file
);
sprintf(string
, "</trkpt>\r\n");
fputs_
(string
, doc
->file
);
break;
}
retvalue
= 1;
}
}
}
return(retvalue
);
}
//________________________________________________________________________________________________________________________________________
// Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *)
//
// Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done
//
//
// Returnvalue: '1' if an gps coordinate was logged
//________________________________________________________________________________________________________________________________________
u8 GPX_LoggGPSCoordinates
(GPX_Document_t
*doc
,unsigned char part
)
{
u8 retval
= 0;
while(doc
->state
!= GPX_DOC_TRACKSEGMENT_OPENED
) // automatic create document with default filename on the card.
{
switch(doc
->state
)
{
case GPX_DOC_CLOSED
: // document hasn't been opened yet therefore it will be initialized automatically
retval
= GPX_DocumentOpen
("default.gpx",doc
); // open the gpx-document with a standardname.
break;
case GPX_DOC_OPENED
: // if a document has been opened before but no track exists:
retval
= GPX_TrackBegin
(doc
);
break;
case GPX_DOC_TRACK_OPENED
: // add tracksegement to the track
retval
= GPX_TrackSegmentBegin
(doc
);
break;
default:
retval
= 0;
break;
}
if(retval
!= 1) return(retval
); // stop on error
}
if(doc
->state
== GPX_DOC_TRACKSEGMENT_OPENED
) // if the document was opened add coordinates to the document.
{
retval
= GPX_TrackSegementAddPoint
(doc
,part
); // add a track segment point
}
return(retval
);
}