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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 82 | killagreg | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + www.MikroKopter.com |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 489 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 82 | killagreg | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 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. |
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| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 489 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 360 | holgerb | 22 | // + des Mitverschuldens offen. |
| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 82 | killagreg | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 32 | // + Software LICENSING TERMS |
| 82 | killagreg | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 489 | killagreg | 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 |
| 360 | holgerb | 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. |
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| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 40 | // + agreement shall be the property of the Licensor. |
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| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 43 | // + The customer shall be responsible for taking reasonable precautions |
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| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 53 | // + #### END OF LICENSING TERMS #### |
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| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 82 | killagreg | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 56 | #include <stdio.h> |
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| 57 | #include "91x_lib.h" |
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| 58 | #include "main.h" |
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| 119 | killagreg | 59 | #include "timer1.h" |
| 82 | killagreg | 60 | #include "uart1.h" |
| 61 | #include "kml.h" |
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| 85 | killagreg | 62 | #include "gpx.h" |
| 86 | killagreg | 63 | #include "ssc.h" |
| 88 | killagreg | 64 | #include "settings.h" |
| 378 | holgerb | 65 | #include "led.h" |
| 380 | holgerb | 66 | #include "logging.h" |
| 721 | holgerb | 67 | #include "triggerlog.h" |
| 82 | killagreg | 68 | |
| 380 | holgerb | 69 | #define MIN_SD_INTERVAL_KML 200 |
| 456 | holgerb | 70 | #define MIN_SD_INTERVAL_GPX 200 |
| 378 | holgerb | 71 | |
| 351 | holgerb | 72 | u8 SD_LoggingError = 0; |
| 92 | killagreg | 73 | |
| 74 | |||
| 82 | killagreg | 75 | |
| 722 | ingob | 76 | |
| 82 | killagreg | 77 | // logger handler prototypes |
| 78 | logfilestate_t Logging_KML(u32 LogDelay); |
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| 79 | logfilestate_t Logging_GPX(u32 LogDelay); |
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| 80 | |||
| 101 | holgerb | 81 | LogCfg_t LogCfg = {500 , 1000}; |
| 489 | killagreg | 82 | u32 Logged_GPX_Counter = 0, Logged_KML_Counter = 0; |
| 705 | holgerb | 83 | u16 KML_Filenum = 0, GPX_Filenum = 0, GPX_logging_active = 0; |
| 82 | killagreg | 84 | |
| 85 | //---------------------------------------------------------------------------------------------------- |
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| 86 | s8* GenerateKMLLogFileName(void) |
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| 87 | { |
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| 88 | static u16 filenum = 0; // file name counter |
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| 705 | holgerb | 89 | static s8 filename[40]; |
| 82 | killagreg | 90 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
| 91 | |||
| 92 | if(SystemTime.Valid) |
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| 93 | { |
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| 94 | // if the day has been changed |
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| 95 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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| 96 | { |
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| 97 | LastTime.Year = SystemTime.Year; |
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| 98 | LastTime.Month = SystemTime.Month; |
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| 99 | LastTime.Day = SystemTime.Day; |
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| 100 | LastTime.Valid = 1; |
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| 101 | filenum = 0; // reset file counter |
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| 102 | } |
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| 565 | holgerb | 103 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
| 104 | { |
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| 515 | killagreg | 105 | if(filenum < 100) sprintf(filename, "/LOG/%04i%02i%02i/KML/%02i%02i%02i%02i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 100, SystemTime.Month, SystemTime.Day, filenum); |
| 429 | holgerb | 106 | else sprintf(filename, "/LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| 565 | holgerb | 107 | } |
| 108 | else |
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| 109 | { |
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| 573 | holgerb | 110 | if(filenum < 100&& SystemTime.Year > 2000) sprintf(filename, "/SIMULATE/%04i%02i%02i/KML/S%1i%02i%02i%02i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 10, SystemTime.Month, SystemTime.Day, filenum); |
| 565 | holgerb | 111 | else sprintf(filename, "/SIMULATE/%04i%02i%02i/KML/SIM%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| 112 | } |
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| 113 | |||
| 82 | killagreg | 114 | filenum++; |
| 516 | holgerb | 115 | KML_Filenum = filenum; |
| 82 | killagreg | 116 | return filename; |
| 117 | } |
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| 118 | else return NULL; |
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| 119 | } |
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| 120 | |||
| 121 | //---------------------------------------------------------------------------------------------------- |
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| 122 | s8* GenerateGPXLogFileName(void) |
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| 123 | { |
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| 124 | static u16 filenum = 0; // file name counter |
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| 705 | holgerb | 125 | static s8 filename[40]; |
| 82 | killagreg | 126 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
| 127 | |||
| 128 | if(SystemTime.Valid) |
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| 129 | { |
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| 130 | // if the day has been changed |
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| 131 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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| 132 | { |
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| 133 | LastTime.Year = SystemTime.Year; |
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| 134 | LastTime.Month = SystemTime.Month; |
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| 135 | LastTime.Day = SystemTime.Day; |
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| 136 | LastTime.Valid = 1; |
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| 137 | filenum = 0; // reset file counter |
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| 138 | } |
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| 565 | holgerb | 139 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
| 140 | { |
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| 515 | killagreg | 141 | if(filenum < 100) sprintf(filename, "/LOG/%04i%02i%02i/GPX/%02i%02i%02i%02i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 100, SystemTime.Month, SystemTime.Day, filenum); |
| 429 | holgerb | 142 | else sprintf(filename, "/LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| 565 | holgerb | 143 | } |
| 144 | else |
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| 145 | { |
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| 573 | holgerb | 146 | if(filenum < 100 && SystemTime.Year > 2000) sprintf(filename, "/SIMULATE/%04i%02i%02i/GPX/S%i%02i%02i%02i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 10, SystemTime.Month, SystemTime.Day, filenum); |
| 565 | holgerb | 147 | else sprintf(filename, "/SIMULATE/%04i%02i%02i/GPX/SIM%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| 148 | } |
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| 705 | holgerb | 149 | GPX_Filenum = filenum; |
| 82 | killagreg | 150 | filenum++; |
| 151 | return filename; |
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| 152 | } |
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| 153 | else return NULL; |
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| 154 | } |
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| 155 | |||
| 156 | |||
| 157 | |||
| 158 | //---------------------------------------------------------------------------------------------------- |
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| 159 | // logs the current gps position to a kml file |
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| 160 | logfilestate_t Logging_KML(u32 LogDelay) |
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| 161 | { |
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| 162 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
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| 163 | static s8* logfilename = NULL; // the pointer to the logfilename |
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| 92 | killagreg | 164 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
| 82 | killagreg | 165 | static KML_Document_t logfile; // the logfilehandle |
| 432 | holgerb | 166 | static u32 appendtimer = 0; // the log update timer |
| 167 | static u8 logging_active = 0; |
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| 82 | killagreg | 168 | |
| 146 | killagreg | 169 | // initialize if LogDelay is zero |
| 82 | killagreg | 170 | if(!LogDelay) |
| 171 | { |
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| 172 | switch(logfilestate) |
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| 173 | { |
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| 88 | killagreg | 174 | case LOGFILE_OPENED: |
| 82 | killagreg | 175 | KML_DocumentClose(&logfile); // try to close it |
| 176 | break; |
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| 177 | default: |
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| 178 | break; |
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| 179 | } |
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| 180 | logfilestate = LOGFILE_IDLE; |
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| 181 | logfilename = NULL; |
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| 182 | KML_DocumentInit(&logfile); |
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| 183 | logtimer = SetDelay(0); // set logtimer to now |
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| 88 | killagreg | 184 | return logfilestate; |
| 82 | killagreg | 185 | } |
| 186 | // no init |
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| 187 | if(CheckDelay(logtimer)) |
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| 188 | { |
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| 189 | logtimer = SetDelay(LogDelay); // standard interval |
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| 88 | killagreg | 190 | |
| 489 | killagreg | 191 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
| 515 | killagreg | 192 | { |
| 193 | logging_active = 1; |
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| 194 | appendtimer = SetDelay(APPEND_LOG_TIME_MS); |
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| 195 | } |
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| 489 | killagreg | 196 | else |
| 515 | killagreg | 197 | { |
| 198 | if(CheckDelay(appendtimer)) logging_active = 0; |
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| 199 | } |
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| 432 | holgerb | 200 | |
| 201 | if(logging_active) |
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| 82 | killagreg | 202 | { |
| 203 | switch(logfilestate) |
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| 204 | { |
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| 205 | case LOGFILE_IDLE: |
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| 206 | case LOGFILE_CLOSED: |
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| 429 | holgerb | 207 | if((GPSData.Status != INVALID) && (SystemTime.Valid) && /*(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)*/ (FC.StatusFlags & FC_STATUS_FLY)) |
| 82 | killagreg | 208 | { |
| 209 | logfilestate = LOGFILE_START; |
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| 210 | } |
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| 211 | break; |
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| 212 | case LOGFILE_START: |
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| 213 | // find unused logfile name |
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| 214 | do |
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| 215 | { // try to generate a new logfile name |
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| 216 | logfilename = GenerateKMLLogFileName(); |
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| 378 | holgerb | 217 | }while((logfilename != NULL) && fexist_(logfilename)); |
| 82 | killagreg | 218 | // if logfilename exist |
| 219 | if(logfilename != NULL) |
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| 220 | { |
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| 221 | // try to create the log file |
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| 222 | if(KML_DocumentOpen(logfilename, &logfile)) |
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| 223 | { |
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| 92 | killagreg | 224 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 82 | killagreg | 225 | logfilestate = LOGFILE_OPENED; // goto next step |
| 110 | killagreg | 226 | UART1_PutString("\r\nOpening kml-file:"); |
| 227 | UART1_PutString(logfilename); |
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| 228 | UART1_PutString("\r\n"); |
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| 82 | killagreg | 229 | } |
| 230 | else // could not be openend |
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| 231 | { |
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| 232 | logfilestate = LOGFILE_ERROR; |
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| 110 | killagreg | 233 | UART1_PutString("\r\nError opening kml-file: "); |
| 234 | UART1_PutString(logfilename); |
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| 235 | UART1_PutString("\r\n"); |
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| 82 | killagreg | 236 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
| 351 | holgerb | 237 | SD_LoggingError = 1; |
| 82 | killagreg | 238 | } |
| 239 | } |
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| 240 | else |
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| 241 | { |
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| 242 | logfilestate = LOGFILE_ERROR; |
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| 110 | killagreg | 243 | UART1_PutString("\r\nError getting free kml-file name\r\n"); |
| 351 | holgerb | 244 | SD_LoggingError = 2; |
| 82 | killagreg | 245 | } |
| 246 | // else retry in next loop |
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| 247 | break; |
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| 248 | case LOGFILE_OPENED: |
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| 249 | // append new gps log data |
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| 85 | killagreg | 250 | if(!KML_LoggGPSCoordinates(&logfile)) |
| 82 | killagreg | 251 | { // error logging data |
| 110 | killagreg | 252 | UART1_PutString("\r\nError logging to kml-file\r\n"); |
| 351 | holgerb | 253 | SD_LoggingError = 3; |
| 82 | killagreg | 254 | KML_DocumentClose(&logfile); |
| 255 | logfilestate = LOGFILE_ERROR; |
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| 256 | } |
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| 92 | killagreg | 257 | else // sucessfully logged |
| 258 | { |
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| 351 | holgerb | 259 | SD_LoggingError = 0; |
| 92 | killagreg | 260 | if(CheckDelay(flushtimer)) |
| 261 | { |
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| 262 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
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| 263 | fflush_(logfile.file); |
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| 264 | } |
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| 265 | } |
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| 82 | killagreg | 266 | break; |
| 88 | killagreg | 267 | |
| 82 | killagreg | 268 | case LOGFILE_ERROR: |
| 269 | break; |
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| 88 | killagreg | 270 | |
| 82 | killagreg | 271 | default: |
| 272 | logfilestate = LOGFILE_IDLE; |
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| 273 | break; |
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| 274 | } |
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| 92 | killagreg | 275 | } // EOF motors are not running |
| 82 | killagreg | 276 | else // model is not flying |
| 277 | { // close log file if opened |
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| 278 | if(logfilestate == LOGFILE_OPENED) |
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| 279 | { |
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| 280 | if(KML_DocumentClose(&logfile)) |
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| 281 | { |
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| 110 | killagreg | 282 | UART1_PutString("\r\nClosing kml-file\r\n"); |
| 82 | killagreg | 283 | logfilestate = LOGFILE_CLOSED; |
| 284 | } |
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| 285 | else // could not be closed |
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| 286 | { |
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| 110 | killagreg | 287 | UART1_PutString("\r\nError closing kml-file\r\n"); |
| 351 | holgerb | 288 | SD_LoggingError = 4; |
| 82 | killagreg | 289 | logfilestate = LOGFILE_ERROR; |
| 290 | } |
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| 291 | } |
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| 92 | killagreg | 292 | } //EOF motors are not running |
| 82 | killagreg | 293 | } // EOF Check LogTimer |
| 294 | |||
| 295 | return logfilestate; |
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| 296 | } |
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| 88 | killagreg | 297 | |
| 82 | killagreg | 298 | //---------------------------------------------------------------------------------------------------- |
| 299 | // logs gps and state info to a gpx file |
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| 300 | logfilestate_t Logging_GPX(u32 LogDelay) |
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| 301 | { |
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| 85 | killagreg | 302 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
| 303 | static s8* logfilename = NULL; // the pointer to the logfilename |
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| 867 | holgerb | 304 | static u32 logtimer = 0, flushtimer = 0, appendtimer = 0, errortimer = 0; // the log update timer |
| 85 | killagreg | 305 | static GPX_Document_t logfile; // the logfilehandle |
| 867 | holgerb | 306 | static u8 part = 0, old_errorcode = 0, cnt_retry = 0; |
| 582 | holgerb | 307 | // u32 measure_time; |
| 82 | killagreg | 308 | |
| 218 | killagreg | 309 | // initialize if LogDelay is zero |
| 85 | killagreg | 310 | if(!LogDelay) |
| 311 | { |
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| 515 | killagreg | 312 | switch(logfilestate) |
| 85 | killagreg | 313 | { |
| 88 | killagreg | 314 | case LOGFILE_OPENED: |
| 85 | killagreg | 315 | GPX_DocumentClose(&logfile); // try to close it |
| 316 | break; |
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| 515 | killagreg | 317 | default: |
| 85 | killagreg | 318 | break; |
| 319 | } |
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| 320 | logfilestate = LOGFILE_IDLE; |
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| 321 | logfilename = NULL; |
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| 322 | GPX_DocumentInit(&logfile); |
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| 323 | logtimer = SetDelay(0); // set logtimer to now |
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| 88 | killagreg | 324 | return logfilestate; |
| 85 | killagreg | 325 | } |
| 326 | // no init |
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| 345 | holgerb | 327 | if(CheckDelay(logtimer) || part) |
| 85 | killagreg | 328 | { |
| 378 | holgerb | 329 | if(!part) logtimer = SetDelay(LogDelay); // standard interval |
| 88 | killagreg | 330 | |
| 489 | killagreg | 331 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
| 432 | holgerb | 332 | { |
| 705 | holgerb | 333 | if(!GPX_logging_active) GPX_logging_active = 1; |
| 489 | killagreg | 334 | appendtimer = SetDelay(APPEND_LOG_TIME_MS); |
| 432 | holgerb | 335 | } |
| 489 | killagreg | 336 | else |
| 432 | holgerb | 337 | { |
| 705 | holgerb | 338 | if(CheckDelay(appendtimer)) GPX_logging_active = 0; |
| 432 | holgerb | 339 | } |
| 340 | |||
| 705 | holgerb | 341 | if(GPX_logging_active || part) |
| 85 | killagreg | 342 | { |
| 343 | switch(logfilestate) |
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| 344 | { |
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| 345 | case LOGFILE_IDLE: |
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| 346 | case LOGFILE_CLOSED: |
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| 581 | holgerb | 347 | if((GPSData.Status != INVALID) && (SystemTime.Valid) && |
| 348 | ((FC.StatusFlags & FC_STATUS_FLY) || (LogCfg.StartAtMotorrun && (FC.StatusFlags & FC_STATUS_MOTOR_RUN)))) |
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| 85 | killagreg | 349 | { |
| 350 | logfilestate = LOGFILE_START; |
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| 878 | holgerb | 351 | logtimer = SetDelay(1500); // wait 1,5 seconds to make sure, that Redundance is detected |
| 85 | killagreg | 352 | } |
| 345 | holgerb | 353 | part = 0; |
| 85 | killagreg | 354 | break; |
| 355 | case LOGFILE_START: |
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| 356 | // find unused logfile name |
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| 357 | do |
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| 358 | { // try to generate a new logfile name |
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| 359 | logfilename = GenerateGPXLogFileName(); |
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| 378 | holgerb | 360 | }while((logfilename != NULL) && fexist_(logfilename)); |
| 85 | killagreg | 361 | // if logfilename exist |
| 362 | if(logfilename != NULL) |
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| 363 | { |
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| 364 | // try to create the log file |
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| 365 | if(GPX_DocumentOpen(logfilename, &logfile)) |
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| 366 | { |
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| 92 | killagreg | 367 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 85 | killagreg | 368 | logfilestate = LOGFILE_OPENED; // goto next step |
| 110 | killagreg | 369 | UART1_PutString("\r\nOpening gpx-file:"); |
| 370 | UART1_PutString(logfilename); |
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| 371 | UART1_PutString("\r\n"); |
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| 705 | holgerb | 372 | GPX_logging_active = 2; |
| 85 | killagreg | 373 | } |
| 374 | else // could not be openend |
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| 375 | { |
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| 376 | logfilestate = LOGFILE_ERROR; |
||
| 867 | holgerb | 377 | errortimer = SetDelay(2000); // retry in 2 sec |
| 110 | killagreg | 378 | UART1_PutString("\r\nError opening gpx-file: "); |
| 379 | UART1_PutString(logfilename); |
||
| 380 | UART1_PutString("\r\n"); |
||
| 351 | holgerb | 381 | SD_LoggingError = 11; |
| 85 | killagreg | 382 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
| 383 | } |
||
| 515 | killagreg | 384 | old_errorcode = ErrorCode; |
| 85 | killagreg | 385 | } |
| 386 | else |
||
| 387 | { |
||
| 388 | logfilestate = LOGFILE_ERROR; |
||
| 515 | killagreg | 389 | UART1_PutString("\r\nError getting free gpx-file name\r\n"); |
| 867 | holgerb | 390 | errortimer = SetDelay(2000); // retry in 2 sec |
| 351 | holgerb | 391 | SD_LoggingError = 12; |
| 85 | killagreg | 392 | } |
| 393 | // else retry in next loop |
||
| 345 | holgerb | 394 | part = 0; |
| 85 | killagreg | 395 | break; |
| 396 | case LOGFILE_OPENED: |
||
| 397 | // append new gps log data |
||
| 581 | holgerb | 398 | // measure_time = CountMilliseconds; |
| 808 | holgerb | 399 | // if((GPSData.Status != INVALID))// && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
| 85 | killagreg | 400 | { |
| 867 | holgerb | 401 | if(!GPX_LoggGPSCoordinates(&logfile,part)/* || (Parameter.User5 > 100)*/) |
| 85 | killagreg | 402 | { // error logging data |
| 110 | killagreg | 403 | UART1_PutString("\r\nError logging to gpx-file\r\n"); |
| 515 | killagreg | 404 | GPX_DocumentClose(&logfile); |
| 351 | holgerb | 405 | SD_LoggingError = 13; |
| 85 | killagreg | 406 | logfilestate = LOGFILE_ERROR; |
| 867 | holgerb | 407 | errortimer = SetDelay(2000); // retry in 2 sec |
| 85 | killagreg | 408 | } |
| 92 | killagreg | 409 | else // successful log |
| 410 | { |
||
| 581 | holgerb | 411 | if(ErrorCode != old_errorcode || CheckDelay(flushtimer) || part == 8) |
| 92 | killagreg | 412 | { |
| 530 | holgerb | 413 | if(ErrorCode) { while(++part < 9) GPX_LoggGPSCoordinates(&logfile,part); }; // close this chapter |
| 489 | killagreg | 414 | if(ErrorCode != old_errorcode) flushtimer = SetDelay(1000); |
| 485 | holgerb | 415 | else flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 92 | killagreg | 416 | fflush_(logfile.file); |
| 485 | holgerb | 417 | old_errorcode = ErrorCode; |
| 92 | killagreg | 418 | } |
| 419 | } |
||
| 85 | killagreg | 420 | } |
| 536 | holgerb | 421 | if(++part >= 9) part = 0; |
| 610 | holgerb | 422 | //DebugOut.Analog[] = CountMilliseconds - measure_time; |
| 85 | killagreg | 423 | break; |
| 88 | killagreg | 424 | |
| 85 | killagreg | 425 | case LOGFILE_ERROR: |
| 867 | holgerb | 426 | if((cnt_retry < 3) && CheckDelay(errortimer) ) |
| 427 | { |
||
| 428 | logfilestate = LOGFILE_IDLE; |
||
| 429 | errortimer = SetDelay(2000); |
||
| 430 | UART1_PutString("\r\nRetry gpx-file\r\n"); |
||
| 431 | cnt_retry++; |
||
| 432 | } |
||
| 345 | holgerb | 433 | part = 0; |
| 85 | killagreg | 434 | break; |
| 88 | killagreg | 435 | |
| 85 | killagreg | 436 | default: |
| 345 | holgerb | 437 | part = 0; |
| 85 | killagreg | 438 | logfilestate = LOGFILE_IDLE; |
| 439 | break; |
||
| 440 | } |
||
| 441 | } // EOF model is flying |
||
| 442 | else // model is not flying |
||
| 443 | { // close log file if opened |
||
| 444 | if(logfilestate == LOGFILE_OPENED) |
||
| 445 | { |
||
| 446 | if(GPX_DocumentClose(&logfile)) |
||
| 447 | { |
||
| 110 | killagreg | 448 | UART1_PutString("\r\nClosing gpx-file\r\n"); |
| 85 | killagreg | 449 | logfilestate = LOGFILE_CLOSED; |
| 345 | holgerb | 450 | part = 0; |
| 85 | killagreg | 451 | } |
| 452 | else // could not be closed |
||
| 453 | { |
||
| 110 | killagreg | 454 | UART1_PutString("\r\nError closing gpx-file\r\n"); |
| 351 | holgerb | 455 | SD_LoggingError = 14; |
| 867 | holgerb | 456 | logfilestate = LOGFILE_ERROR; |
| 345 | holgerb | 457 | part = 0; |
| 85 | killagreg | 458 | } |
| 459 | } |
||
| 867 | holgerb | 460 | else |
| 461 | { |
||
| 462 | if(logfilestate == LOGFILE_ERROR) logfilestate = LOGFILE_IDLE; |
||
| 463 | cnt_retry = 0; |
||
| 464 | } |
||
| 85 | killagreg | 465 | } //EOF model is not flying |
| 466 | } // EOF Check LogTimer |
||
| 467 | |||
| 82 | killagreg | 468 | return logfilestate; |
| 469 | } |
||
| 470 | |||
| 471 | //---------------------------------------------------------------------------------------------------- |
||
| 472 | // initialize logging |
||
| 473 | void Logging_Init(void) |
||
| 474 | { |
||
| 351 | holgerb | 475 | SD_LoggingError = 0; |
| 378 | holgerb | 476 | LogCfg.KML_Interval = 1000; //default |
| 88 | killagreg | 477 | Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
| 380 | holgerb | 478 | if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < MIN_SD_INTERVAL_KML) LogCfg.KML_Interval = MIN_SD_INTERVAL_KML; |
| 310 | holgerb | 479 | |
| 92 | killagreg | 480 | Logging_KML(0); // initialize |
| 146 | killagreg | 481 | LogCfg.GPX_Interval = 0; //default |
| 88 | killagreg | 482 | Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
| 581 | holgerb | 483 | Settings_GetParamValue(PID_LOG_AT_MOTORRUN, (u16*)&LogCfg.StartAtMotorrun); // overwrite by settings value |
| 380 | holgerb | 484 | if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < MIN_SD_INTERVAL_GPX) LogCfg.GPX_Interval = MIN_SD_INTERVAL_GPX; |
| 515 | killagreg | 485 | Logging_GPX(0); // initialize |
| 82 | killagreg | 486 | } |
| 487 | |||
| 488 | //---------------------------------------------------------------------------------------------------- |
||
| 489 | // gobal logging handler |
||
| 490 | void Logging_Update(void) |
||
| 491 | { |
||
| 867 | holgerb | 492 | static u8 logmodule = 0, retry_in_flight_cnt = 0; |
| 82 | killagreg | 493 | static u32 logtimer = 0; |
| 494 | static logfilestate_t logstate = LOGFILE_IDLE; |
||
| 86 | killagreg | 495 | |
| 838 | holgerb | 496 | // if(SD_SWITCH) // a card is in slot |
| 84 | killagreg | 497 | { |
| 351 | holgerb | 498 | if((logstate == LOGFILE_ERROR) && (FC.StatusFlags & FC_STATUS_START)) SD_LoggingError = 100; |
| 92 | killagreg | 499 | if(CheckDelay(logtimer)) |
| 84 | killagreg | 500 | { |
| 92 | killagreg | 501 | logtimer = SetDelay(10); // faster makes no sense |
| 502 | // call the logger handlers if no error has occured |
||
| 115 | killagreg | 503 | if(logstate != LOGFILE_ERROR) |
| 176 | killagreg | 504 | { // run only one logging handler per loop |
| 115 | killagreg | 505 | switch(logmodule++) |
| 506 | { |
||
| 507 | case 0: |
||
| 508 | logstate = Logging_KML(LogCfg.KML_Interval); |
||
| 509 | break; |
||
| 510 | case 1: |
||
| 511 | logstate = Logging_GPX(LogCfg.GPX_Interval); |
||
| 705 | holgerb | 512 | break; |
| 513 | case 2: |
||
| 514 | if(UART_VersionInfo.HWMajor >= 30) logstate = LoggingTrigger(200); |
||
| 115 | killagreg | 515 | logmodule = 0; // resart with first log module |
| 516 | break; |
||
| 517 | default: |
||
| 518 | logmodule = 0; |
||
| 519 | break; |
||
| 520 | } |
||
| 521 | } |
||
| 522 | else // a logging error has occured |
||
| 489 | killagreg | 523 | { |
| 351 | holgerb | 524 | // /* |
| 176 | killagreg | 525 | // try to reinitialize sd-card when motors are not running |
| 351 | holgerb | 526 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) |
| 92 | killagreg | 527 | { |
| 159 | killagreg | 528 | if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
| 529 | { |
||
| 530 | Logging_Init(); // initialize the logs |
||
| 531 | logstate = LOGFILE_IDLE; |
||
| 351 | holgerb | 532 | logtimer = SetDelay(100); // try next log in 100 mili sec |
| 159 | killagreg | 533 | } |
| 534 | else |
||
| 535 | { // retry in 5 seconds |
||
| 536 | logtimer = SetDelay(5000); // try again in 5 sec |
||
| 537 | } |
||
| 867 | holgerb | 538 | retry_in_flight_cnt = 0; |
| 159 | killagreg | 539 | } // EOF motors are not running |
| 867 | holgerb | 540 | else |
| 541 | { |
||
| 542 | if(retry_in_flight_cnt < 5) |
||
| 543 | { |
||
| 544 | logtimer = SetDelay(2000); // try again in 2 sec |
||
| 545 | logstate = LOGFILE_IDLE; |
||
| 546 | retry_in_flight_cnt++; |
||
| 547 | } |
||
| 548 | else |
||
| 549 | if(retry_in_flight_cnt < 8) |
||
| 550 | { |
||
| 551 | Logging_Init(); // initialize the logs |
||
| 552 | logtimer = SetDelay(5000); // try again in 5 sec |
||
| 553 | logstate = LOGFILE_IDLE; |
||
| 554 | retry_in_flight_cnt++; |
||
| 555 | } |
||
| 556 | } |
||
| 557 | |||
| 351 | holgerb | 558 | // */ |
| 92 | killagreg | 559 | } //EOF logfile error |
| 560 | } // EOF CheckDelay |
||
| 561 | }// EOF Card in Slot |
||
| 88 | killagreg | 562 | } |