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| Rev | Author | Line No. | Line |
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| 82 | killagreg | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 6 | // + Nur für den privaten Gebrauch |
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| 7 | // + FOR NON COMMERCIAL USE ONLY |
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| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 29 | // + mit unserer Zustimmung zulässig |
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| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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| 44 | // |
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| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 57 | #include <stdio.h> |
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| 58 | #include "91x_lib.h" |
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| 59 | #include "main.h" |
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| 60 | #include "timer.h" |
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| 61 | #include "uart1.h" |
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| 62 | #include "kml.h" |
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| 85 | killagreg | 63 | #include "gpx.h" |
| 82 | killagreg | 64 | |
| 65 | typedef enum |
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| 66 | { |
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| 67 | LOGFILE_IDLE, |
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| 68 | LOGFILE_START, |
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| 69 | LOGFILE_CLOSED, |
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| 70 | LOGFILE_OPENED, |
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| 71 | LOGFILE_ERROR |
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| 72 | } logfilestate_t; |
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| 73 | |||
| 74 | // logger handler prototypes |
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| 75 | logfilestate_t Logging_KML(u32 LogDelay); |
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| 76 | logfilestate_t Logging_GPX(u32 LogDelay); |
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| 77 | |||
| 78 | typedef struct |
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| 79 | { |
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| 80 | u32 KML_Interval; // the kml-log interval (0 = off) |
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| 81 | u32 GPX_Interval; // the gpx-log interval (0 = off) |
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| 82 | } LogCfg_t; |
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| 83 | |||
| 84 | LogCfg_t LogCfg = {500 , 0}; |
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| 85 | |||
| 86 | |||
| 87 | //---------------------------------------------------------------------------------------------------- |
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| 88 | s8* GenerateKMLLogFileName(void) |
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| 89 | { |
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| 90 | static u16 filenum = 0; // file name counter |
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| 91 | static s8 filename[35]; |
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| 92 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
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| 93 | |||
| 94 | if(SystemTime.Valid) |
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| 95 | { |
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| 96 | // if the day has been changed |
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| 97 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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| 98 | { |
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| 99 | LastTime.Year = SystemTime.Year; |
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| 100 | LastTime.Month = SystemTime.Month; |
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| 101 | LastTime.Day = SystemTime.Day; |
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| 102 | LastTime.Valid = 1; |
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| 103 | filenum = 0; // reset file counter |
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| 104 | } |
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| 85 | killagreg | 105 | sprintf(filename, "LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| 82 | killagreg | 106 | filenum++; |
| 107 | return filename; |
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| 108 | } |
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| 109 | else return NULL; |
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| 110 | } |
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| 111 | |||
| 112 | //---------------------------------------------------------------------------------------------------- |
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| 113 | s8* GenerateGPXLogFileName(void) |
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| 114 | { |
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| 115 | static u16 filenum = 0; // file name counter |
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| 116 | static s8 filename[35]; |
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| 117 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
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| 118 | |||
| 119 | if(SystemTime.Valid) |
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| 120 | { |
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| 121 | // if the day has been changed |
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| 122 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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| 123 | { |
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| 124 | LastTime.Year = SystemTime.Year; |
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| 125 | LastTime.Month = SystemTime.Month; |
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| 126 | LastTime.Day = SystemTime.Day; |
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| 127 | LastTime.Valid = 1; |
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| 128 | filenum = 0; // reset file counter |
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| 129 | } |
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| 130 | sprintf(filename, "LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
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| 131 | filenum++; |
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| 132 | return filename; |
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| 133 | } |
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| 134 | else return NULL; |
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| 135 | } |
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| 136 | |||
| 137 | |||
| 138 | |||
| 139 | //---------------------------------------------------------------------------------------------------- |
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| 140 | // logs the current gps position to a kml file |
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| 141 | logfilestate_t Logging_KML(u32 LogDelay) |
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| 142 | { |
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| 143 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
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| 144 | static s8* logfilename = NULL; // the pointer to the logfilename |
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| 145 | static u32 logtimer = 0; // the log update timer |
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| 146 | static KML_Document_t logfile; // the logfilehandle |
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| 147 | |||
| 148 | // initialize if LogDelay os zero |
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| 149 | if(!LogDelay) |
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| 150 | { |
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| 151 | switch(logfilestate) |
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| 152 | { |
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| 153 | case LOGFILE_OPENED: |
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| 154 | KML_DocumentClose(&logfile); // try to close it |
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| 155 | break; |
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| 156 | default: |
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| 157 | break; |
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| 158 | } |
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| 159 | logfilestate = LOGFILE_IDLE; |
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| 160 | logfilename = NULL; |
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| 161 | KML_DocumentInit(&logfile); |
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| 162 | logtimer = SetDelay(0); // set logtimer to now |
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| 163 | return logfilestate; |
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| 164 | } |
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| 165 | // no init |
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| 166 | if(CheckDelay(logtimer)) |
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| 167 | { |
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| 168 | logtimer = SetDelay(LogDelay); // standard interval |
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| 169 | |||
| 170 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) |
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| 171 | { |
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| 172 | switch(logfilestate) |
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| 173 | { |
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| 174 | case LOGFILE_IDLE: |
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| 175 | case LOGFILE_CLOSED: |
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| 85 | killagreg | 176 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D))// && (FC.MKFlags & MKFLAG_FLY)) |
| 82 | killagreg | 177 | { |
| 178 | logfilestate = LOGFILE_START; |
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| 179 | } |
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| 180 | break; |
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| 181 | case LOGFILE_START: |
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| 182 | // find unused logfile name |
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| 183 | do |
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| 184 | { // try to generate a new logfile name |
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| 185 | logfilename = GenerateKMLLogFileName(); |
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| 186 | }while((logfilename != NULL) && fexist_(logfilename)); |
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| 187 | // if logfilename exist |
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| 188 | if(logfilename != NULL) |
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| 189 | { |
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| 190 | // try to create the log file |
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| 191 | if(KML_DocumentOpen(logfilename, &logfile)) |
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| 192 | { |
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| 193 | logfilestate = LOGFILE_OPENED; // goto next step |
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| 194 | SerialPutString("\r\nOpening kml-file:"); |
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| 195 | SerialPutString(logfilename); |
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| 196 | SerialPutString("\r\n"); |
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| 197 | } |
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| 198 | else // could not be openend |
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| 199 | { |
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| 200 | logfilestate = LOGFILE_ERROR; |
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| 201 | SerialPutString("\r\nError opening kml-file: "); |
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| 202 | SerialPutString(logfilename); |
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| 203 | SerialPutString("\r\n"); |
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| 204 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
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| 205 | } |
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| 206 | } |
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| 207 | else |
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| 208 | { |
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| 209 | logfilestate = LOGFILE_ERROR; |
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| 210 | SerialPutString("\r\nError getting free kml-file name\r\n"); |
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| 211 | } |
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| 212 | // else retry in next loop |
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| 213 | break; |
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| 214 | case LOGFILE_OPENED: |
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| 215 | // append new gps log data |
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| 216 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
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| 217 | { |
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| 85 | killagreg | 218 | if(!KML_LoggGPSCoordinates(&logfile)) |
| 82 | killagreg | 219 | { // error logging data |
| 220 | SerialPutString("\r\nError logging to kml-file\r\n"); |
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| 221 | KML_DocumentClose(&logfile); |
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| 222 | logfilestate = LOGFILE_ERROR; |
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| 223 | } |
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| 224 | //else DebugOut.Analog[26]++; // count SD-Logs |
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| 225 | } |
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| 226 | break; |
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| 227 | |||
| 228 | case LOGFILE_ERROR: |
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| 229 | break; |
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| 230 | |||
| 231 | default: |
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| 232 | logfilestate = LOGFILE_IDLE; |
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| 233 | break; |
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| 234 | } |
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| 235 | } // EOF model is flying |
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| 236 | else // model is not flying |
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| 237 | { // close log file if opened |
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| 238 | if(logfilestate == LOGFILE_OPENED) |
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| 239 | { |
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| 240 | if(KML_DocumentClose(&logfile)) |
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| 241 | { |
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| 242 | SerialPutString("\r\nClosing kml-file\r\n"); |
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| 243 | logfilestate = LOGFILE_CLOSED; |
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| 244 | } |
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| 245 | else // could not be closed |
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| 246 | { |
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| 247 | logfilestate = LOGFILE_ERROR; |
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| 248 | } |
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| 249 | } |
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| 250 | } //EOF model is not flying |
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| 251 | } // EOF Check LogTimer |
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| 252 | |||
| 253 | return logfilestate; |
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| 254 | } |
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| 255 | |||
| 256 | //---------------------------------------------------------------------------------------------------- |
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| 257 | // logs gps and state info to a gpx file |
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| 258 | logfilestate_t Logging_GPX(u32 LogDelay) |
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| 259 | { |
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| 85 | killagreg | 260 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
| 261 | static s8* logfilename = NULL; // the pointer to the logfilename |
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| 262 | static u32 logtimer = 0; // the log update timer |
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| 263 | static GPX_Document_t logfile; // the logfilehandle |
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| 82 | killagreg | 264 | |
| 85 | killagreg | 265 | // initialize if LogDelay os zero |
| 266 | if(!LogDelay) |
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| 267 | { |
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| 268 | switch(logfilestate) |
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| 269 | { |
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| 270 | case LOGFILE_OPENED: |
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| 271 | GPX_DocumentClose(&logfile); // try to close it |
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| 272 | break; |
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| 273 | default: |
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| 274 | break; |
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| 275 | } |
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| 276 | logfilestate = LOGFILE_IDLE; |
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| 277 | logfilename = NULL; |
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| 278 | GPX_DocumentInit(&logfile); |
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| 279 | logtimer = SetDelay(0); // set logtimer to now |
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| 280 | return logfilestate; |
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| 281 | } |
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| 282 | // no init |
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| 283 | if(CheckDelay(logtimer)) |
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| 284 | { |
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| 285 | logtimer = SetDelay(LogDelay); // standard interval |
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| 286 | |||
| 287 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) |
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| 288 | { |
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| 289 | switch(logfilestate) |
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| 290 | { |
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| 291 | case LOGFILE_IDLE: |
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| 292 | case LOGFILE_CLOSED: |
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| 293 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D))// && (FC.MKFlags & MKFLAG_FLY)) |
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| 294 | { |
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| 295 | logfilestate = LOGFILE_START; |
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| 296 | } |
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| 297 | break; |
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| 298 | case LOGFILE_START: |
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| 299 | // find unused logfile name |
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| 300 | do |
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| 301 | { // try to generate a new logfile name |
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| 302 | logfilename = GenerateGPXLogFileName(); |
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| 303 | }while((logfilename != NULL) && fexist_(logfilename)); |
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| 304 | // if logfilename exist |
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| 305 | if(logfilename != NULL) |
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| 306 | { |
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| 307 | // try to create the log file |
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| 308 | if(GPX_DocumentOpen(logfilename, &logfile)) |
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| 309 | { |
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| 310 | logfilestate = LOGFILE_OPENED; // goto next step |
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| 311 | SerialPutString("\r\nOpening gpx-file:"); |
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| 312 | SerialPutString(logfilename); |
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| 313 | SerialPutString("\r\n"); |
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| 314 | } |
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| 315 | else // could not be openend |
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| 316 | { |
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| 317 | logfilestate = LOGFILE_ERROR; |
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| 318 | SerialPutString("\r\nError opening gpx-file: "); |
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| 319 | SerialPutString(logfilename); |
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| 320 | SerialPutString("\r\n"); |
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| 321 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
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| 322 | } |
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| 323 | } |
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| 324 | else |
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| 325 | { |
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| 326 | logfilestate = LOGFILE_ERROR; |
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| 327 | SerialPutString("\r\nError getting free gpx-file name\r\n"); |
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| 328 | } |
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| 329 | // else retry in next loop |
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| 330 | break; |
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| 331 | case LOGFILE_OPENED: |
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| 332 | // append new gps log data |
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| 333 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
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| 334 | { |
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| 335 | if(!GPX_LoggGPSCoordinates(&logfile)) |
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| 336 | { // error logging data |
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| 337 | SerialPutString("\r\nError logging to gpx-file\r\n"); |
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| 338 | GPX_DocumentClose(&logfile); |
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| 339 | logfilestate = LOGFILE_ERROR; |
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| 340 | } |
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| 341 | } |
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| 342 | break; |
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| 343 | |||
| 344 | case LOGFILE_ERROR: |
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| 345 | break; |
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| 346 | |||
| 347 | default: |
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| 348 | logfilestate = LOGFILE_IDLE; |
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| 349 | break; |
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| 350 | } |
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| 351 | } // EOF model is flying |
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| 352 | else // model is not flying |
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| 353 | { // close log file if opened |
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| 354 | if(logfilestate == LOGFILE_OPENED) |
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| 355 | { |
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| 356 | if(GPX_DocumentClose(&logfile)) |
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| 357 | { |
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| 358 | SerialPutString("\r\nClosing gpx-file\r\n"); |
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| 359 | logfilestate = LOGFILE_CLOSED; |
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| 360 | } |
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| 361 | else // could not be closed |
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| 362 | { |
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| 363 | logfilestate = LOGFILE_ERROR; |
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| 364 | } |
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| 365 | } |
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| 366 | } //EOF model is not flying |
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| 367 | } // EOF Check LogTimer |
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| 368 | |||
| 82 | killagreg | 369 | return logfilestate; |
| 370 | } |
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| 371 | |||
| 372 | //---------------------------------------------------------------------------------------------------- |
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| 373 | // initialize logging |
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| 374 | void Logging_Init(void) |
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| 375 | { |
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| 376 | Logging_KML(0); |
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| 377 | Logging_GPX(0); |
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| 378 | } |
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| 379 | |||
| 380 | //---------------------------------------------------------------------------------------------------- |
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| 381 | // gobal logging handler |
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| 382 | void Logging_Update(void) |
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| 383 | { |
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| 384 | static u32 logtimer = 0; |
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| 385 | static logfilestate_t logstate = LOGFILE_IDLE; |
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| 84 | killagreg | 386 | |
| 387 | if(CheckDelay(logtimer)) |
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| 388 | { |
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| 389 | logtimer = SetDelay(10); // faster makes no sense |
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| 390 | // call the sub logger handlers if no error has occured |
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| 391 | if(logstate != LOGFILE_ERROR) logstate = Logging_KML(LogCfg.KML_Interval); |
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| 392 | if(logstate != LOGFILE_ERROR) logstate = Logging_GPX(LogCfg.GPX_Interval); |
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| 393 | |||
| 394 | // a logging error has occured |
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| 395 | if(logstate == LOGFILE_ERROR) |
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| 396 | { |
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| 397 | Logging_Init(); // initialize the logs |
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| 398 | // try to initialize the Fat 16 filesystem |
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| 399 | if(0 == Fat16_Init()) |
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| 400 | { // Fat 16 successfully initialized |
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| 401 | logstate = LOGFILE_IDLE; |
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| 402 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
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| 403 | } |
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| 404 | else |
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| 405 | { // retry in 5 seconds |
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| 406 | logtimer = SetDelay(5000); // try again in 5 sec |
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| 407 | } |
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| 82 | killagreg | 408 | } |
| 84 | killagreg | 409 | } |
| 82 | killagreg | 410 | } |