| 0,0 → 1,628 |
|---|
| /*#######################################################################################*/ |
| /* !!! 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 <stdio.h> |
| #include <stdlib.h> |
| #include "91x_lib.h" |
| #include "main.h" |
| #include "timer1.h" |
| #include "timer2.h" |
| #include "uart1.h" |
| #include "triggerlog.h" |
| #include "gpx.h" |
| #include "ssc.h" |
| #include "settings.h" |
| #include "led.h" |
| #include "logging.h" |
| #include "timer1.h" |
| #include "gps.h" |
| #include "spi_slave.h" |
| |
| u16 Logged_TRIG_Counter = 0; |
| u16 TRIG_Filenum = 0; |
| u8 BlitzSchuhConnected = 1; |
| |
| TrigLog_t TrigLogging; |
| |
| void TriggerInput(void) // triggerinput on IO1 |
| { |
| TrigLogging.Longitude = GPSData.Position.Longitude; |
| TrigLogging.Latitude = GPSData.Position.Latitude; |
| TrigLogging.Count++; |
| TrigLogging.AltiBaro = NaviData.Altimeter * 5; // in cm |
| TrigLogging.AltiGPS = GPSData.Position.Altitude; |
| TrigLogging.ShutterCounter = NaviData_Volatile.ShutterCounter; |
| |
| TrigLogging.Hour = SystemTime.Hour; |
| TrigLogging.Min = SystemTime.Min; |
| TrigLogging.Sec = SystemTime.Sec; |
| TrigLogging.mSec = SystemTime.mSec; |
| TrigLogging.ServoControlNick = ServoParams.NickControl; |
| TrigLogging.ServoControlPoi = POI_KameraNick; |
| if(SimulationFlags) TrigLogging.Yaw = CompassSetpointCorrected; |
| else TrigLogging.Yaw = GyroCompassCorrected; |
| TrigLogging.NewData++; |
| } |
| |
| const s8 TRIG_DOCUMENT_FOOTER[] = |
| { |
| "\r\n" |
| "#Triggerlogfile closed\r\n" |
| }; |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: TRIG_DocumentInit(TRIG_Document_t *) |
| // |
| // Description: This function initializes the kml-document for further use. |
| // |
| // |
| // Returnvalue: '1' if document was initialized |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 TRIG_DocumentInit(TRIG_Document_t *doc) |
| { |
| doc->state = TRIG_DOC_CLOSED; // state of the kml-document |
| doc->file = NULL; |
| return(1); |
| } |
| |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: DocumentClose(TRIG_Document_t *doc); |
| // |
| // Description: This function closes the document specified by doc. |
| // |
| // |
| // Returnvalue: '1' if the KML- file could be closed. |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 TRIG_DocumentClose(TRIG_Document_t *doc) |
| { |
| |
| u8 retvalue = 1; |
| |
| if(doc == NULL) return(0); |
| |
| while(doc->state != TRIG_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
| { |
| switch(doc->state) |
| { |
| case TRIG_DOC_LINESTRING_OPENED: |
| TRIG_LineStringEnd(doc); // write terminating tag to end linestring. |
| break; |
| |
| case TRIG_DOC_PLACEMARK_OPENED: // write terminating tag to close placemark. |
| TRIG_PlaceMarkClose(doc); |
| break; |
| |
| case TRIG_DOC_OPENED: // close the file on the memorycard |
| if(doc->file != NULL) |
| { |
| fwrite_((void*)TRIG_DOCUMENT_FOOTER, sizeof(TRIG_DOCUMENT_FOOTER)-1,1,doc->file); // write the KML- footer to the document. |
| fclose_(doc->file); |
| retvalue = 1; |
| } |
| doc->state = TRIG_DOC_CLOSED; |
| break; |
| |
| default: |
| doc->state = TRIG_DOC_CLOSED; |
| break; |
| |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 TRIG_PlaceMarkOpen(TRIG_Document_t *doc); |
| // |
| // Description: This function adds a placemark to the document. |
| // |
| // |
| // Returnvalue: '1' if the PlaceMark could be opened |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 TRIG_PlaceMarkOpen(TRIG_Document_t *doc) |
| { |
| u8 retvalue = 0; |
| if(doc->state == TRIG_DOC_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = TRIG_DOC_PLACEMARK_OPENED; |
| retvalue = 1; |
| // fwrite_((void*)TRIG_PLACEMARK_HEADER, sizeof(TRIG_PLACEMARK_HEADER)-1,1,doc->file); |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 PlaceMarkClose(TRIG_PlaceMark_t *place, File *file); |
| // |
| // Description: This function ends the placemark opened before. |
| // |
| // |
| // Returnvalue: 1' if the PlaceMark could be closed |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 TRIG_PlaceMarkClose(TRIG_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; // close the Placemark-tag of the corosponding document. |
| |
| if(doc->state == TRIG_DOC_PLACEMARK_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = TRIG_DOC_OPENED; |
| // fwrite_((void*)TRIG_PLACEMARK_FOOTER, sizeof(TRIG_PLACEMARK_FOOTER)-1,1,doc->file); |
| retvalue = 1; |
| } |
| } |
| |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 LineStringBegin(TRIG_Document_t *doc); |
| // |
| // Description: This function ends the placemark opened before. |
| // |
| // |
| // Returnvalue: '1' if the LineString could be started |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 TRIG_LineStringBegin(TRIG_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; |
| |
| if(doc->state == TRIG_DOC_PLACEMARK_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = TRIG_DOC_LINESTRING_OPENED; |
| // fwrite_((void*)TRIG_LINESTRING_HEADER, sizeof(TRIG_LINESTRING_HEADER)-1,1,doc->file); |
| Logged_TRIG_Counter = 0; |
| TrigLogging.NewData = 0; |
| retvalue = 1; |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 TRIG_LineStringEnd(TRIG_Document_t *doc) |
| // |
| // Description: This function ends the placemark opened before. |
| // |
| // |
| // Returnvalue: '1' if the LineString could be terminated |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 TRIG_LineStringEnd(TRIG_Document_t *doc) |
| { |
| u8 retvalue = 0; |
| if(doc->state == TRIG_DOC_LINESTRING_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| doc->state = TRIG_DOC_PLACEMARK_OPENED; |
| // fwrite_((void*)TRIG_LINESTRING_FOOTER, sizeof(TRIG_LINESTRING_FOOTER)-1,1,doc->file); |
| retvalue = 1; |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: TRIG_Document_Open(void); |
| // |
| // Description: This function opens a new KML- document with the specified name and creates the document header within the file. |
| // |
| // |
| // Returnvalue: '1' if the KML- file could be created. |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 TRIG_DocumentOpen(s8 *name, TRIG_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; |
| s8 string[150]; |
| |
| if(doc == NULL) return(0); |
| |
| TRIG_DocumentInit(doc); // intialize the document with resetvalues |
| doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
| |
| if(doc->file != NULL) // could the file be opened? |
| { |
| retvalue = 1; // the document could be created on the drive. |
| doc->state = TRIG_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
| sprintf(string, "#Counter;Time;Longitude;Latitude;GPSAltitude[m](raw);BaroAltitude[m];Compass[deg];ServoSetpoint(raw);ServoPoi[deg]"); |
| fputs_(string, doc->file); |
| sprintf(string, "\r\n#%4i.%02i.%02i Nr:%i (%02i%02i%02i%02i.GPX)", SystemTime.Year, SystemTime.Month, SystemTime.Day, TRIG_Filenum, SystemTime.Year%100, SystemTime.Month, SystemTime.Day, GPX_Filenum); |
| fputs_(string, doc->file); |
| if(SimulationFlags) { sprintf(string, " SIMULATED"); fputs_(string, doc->file);}; |
| if(BlitzSchuhConnected){ sprintf(string, "\r\n#External hotshoe sensor connected"); fputs_(string, doc->file);}; |
| } |
| return(retvalue); |
| } |
| |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 LineStringAddPoint(gps_data_t, TRIG_Document_t *doc) |
| // |
| // Description: This function adds a point to the specified document. |
| // |
| // |
| // Returnvalue: '1' if a ppoint was added could be started |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 TRIG_LineStringAddPoint(TRIG_Document_t *doc) |
| { |
| |
| u8 retvalue = 0; |
| s8 string[70]; |
| s32 rel_altitude = 0; |
| |
| if(doc == NULL) return(0); |
| |
| if(GPSData.Position.Status != INVALID) |
| { |
| if(doc->state == TRIG_DOC_LINESTRING_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| s32 i1, i2; |
| u8 sign; |
| // Counter |
| sprintf(string,"\r\n%d",TrigLogging.Count); |
| fputs_(string, doc->file); |
| // Time |
| sprintf(string, ";%04d-%02d-%02dT%02d:%02d:%02d.%dZ",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec,SystemTime.mSec/100); |
| fputs_(string, doc->file); |
| // Position |
| if(TrigLogging.Latitude < 0) sign = '-'; |
| else sign = '+'; |
| i1 = abs(TrigLogging.Latitude)/10000000L; |
| i2 = abs(TrigLogging.Latitude)%10000000L; |
| sprintf(string,";%c%ld.%07ld",sign, i1, i2); |
| fputs_(string, doc->file); |
| |
| if(TrigLogging.Longitude < 0) sign = '-'; |
| else sign = '+'; |
| i1 = abs(TrigLogging.Longitude)/10000000L; |
| i2 = abs(TrigLogging.Longitude)%10000000L; |
| sprintf(string,";%c%ld.%07ld",sign, i1, i2); |
| fputs_(string, doc->file); |
| // calculate relative altitude with respect to the altitude of the home position |
| // Altitude GPS |
| rel_altitude = TrigLogging.AltiGPS;// - NaviData.HomePosition.Altitude; |
| // if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log |
| i1 = rel_altitude/1000L; |
| i2 = rel_altitude%1000L; |
| sprintf(string,";%ld.%03ld",i1, abs(i2)); |
| fputs_(string, doc->file); |
| // Altitude Baro |
| sprintf(string,";%ld.%02d",TrigLogging.AltiBaro/100,abs(TrigLogging.AltiBaro%100)); |
| fputs_(string, doc->file); |
| // Yaw angle |
| sprintf(string,";%d.%d",TrigLogging.Yaw/10,abs(TrigLogging.Yaw%10)); |
| fputs_(string, doc->file); |
| // ServoSet; ServoPoi |
| sprintf(string,";%d;%d.%d",TrigLogging.ServoControlNick,TrigLogging.ServoControlPoi/10,abs(TrigLogging.ServoControlPoi%10)); |
| fputs_(string, doc->file); |
| |
| Logged_TRIG_Counter++; |
| retvalue = 1; |
| } |
| } |
| } |
| else |
| { |
| if(doc->state == TRIG_DOC_LINESTRING_OPENED) |
| { |
| if(doc->file != NULL) |
| { |
| sprintf(string,"\r\n"); |
| fputs_(string, doc->file); |
| Logged_TRIG_Counter++; |
| retvalue = 1; |
| } |
| } |
| } |
| return(retvalue); |
| } |
| |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 TRIG_LoggGPSCoordinates(gps_data_t *, TRIG_Document_t *) |
| // |
| // Description: This function opens adds gpscoordinates to an KML-Document. The document will be opened, if not already done |
| // |
| // |
| // Returnvalue: '1' if an gps coordinate was logged |
| //________________________________________________________________________________________________________________________________________ |
| |
| u8 TRIG_LoggGPSCoordinates(TRIG_Document_t *doc) |
| { |
| u8 retval = 0; |
| while(doc->state != TRIG_DOC_LINESTRING_OPENED) // automatic create document with default filename on the card. |
| { |
| switch(doc->state) |
| { |
| case TRIG_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
| // retval = TRIG_DocumentOpen("default.kml",doc); // open the kml-document with a standardname. |
| break; |
| |
| case TRIG_DOC_OPENED: // if a document has been opened before but no placemark exists: |
| retval = TRIG_PlaceMarkOpen(doc); |
| break; |
| |
| case TRIG_DOC_PLACEMARK_OPENED: // add linestring to the placemark |
| retval = TRIG_LineStringBegin(doc); |
| break; |
| |
| default: |
| retval = 0; |
| break; |
| |
| } |
| if(retval != 1) return(retval); // stop on error |
| } |
| |
| if(doc->state == TRIG_DOC_LINESTRING_OPENED) // if the document was opened add coordinates to the document. |
| { |
| retval = TRIG_LineStringAddPoint(doc); |
| } |
| return(retval); |
| } |
| |
| |
| |
| //---------------------------------------------------------------------------------------------------- |
| s8* GenerateTriggLogFileName(void) |
| { |
| static u16 filenum = 0; // file name counter |
| static s8 filename[40]; |
| |
| static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
| if(filenum < GPX_Filenum) filenum = GPX_Filenum; |
| if(SystemTime.Valid) |
| { |
| // if the day has been changed |
| if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
| { |
| LastTime.Year = SystemTime.Year; |
| LastTime.Month = SystemTime.Month; |
| LastTime.Day = SystemTime.Day; |
| LastTime.Valid = 1; |
| filenum = 0; // reset file counter |
| } |
| if(!(SimulationFlags & SIMULATION_ACTIVE)) |
| { |
| if(filenum < 100) sprintf(filename, "/LOG/%04i%02i%02i/GPX/%02i%02i%02i%02i.TXT", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 100, SystemTime.Month, SystemTime.Day, filenum); |
| else sprintf(filename, "/LOG/%04i%02i%02i/GPX/GPS%05i.TXT", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| } |
| else |
| { |
| if(filenum < 100 && SystemTime.Year > 2000) sprintf(filename, "/SIMULATE/%04i%02i%02i/GPX/S%i%02i%02i%02i.TXT", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 10, SystemTime.Month, SystemTime.Day, filenum); |
| else sprintf(filename, "/SIMULATE/%04i%02i%02i/GPX/SIM%05i.TXT", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| } |
| TRIG_Filenum = filenum; |
| filenum++; |
| return filename; |
| } |
| else return NULL; |
| } |
| |
| |
| |
| //---------------------------------------------------------------------------------------------------- |
| // logs the current gps position to a csv file |
| logfilestate_t LoggingTrigger(u32 LogDelay) |
| { |
| static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
| static s8* logfilename = NULL; // the pointer to the logfilename |
| static u32 logtimer = 0, flushtimer = 0; // the log update timer |
| static TRIG_Document_t logfile; // the logfilehandle |
| static u32 appendtimer = 0; // the log update timer |
| static u8 logging_active = 0; |
| |
| // initialize if LogDelay is zero |
| if(!LogDelay) |
| { |
| switch(logfilestate) |
| { |
| case LOGFILE_OPENED: |
| TRIG_DocumentClose(&logfile); // try to close it |
| break; |
| default: |
| break; |
| } |
| logfilestate = LOGFILE_IDLE; |
| logfilename = NULL; |
| TRIG_DocumentInit(&logfile); |
| logtimer = SetDelay(0); // set logtimer to now |
| return logfilestate; |
| } |
| // no init |
| if(CheckDelay(logtimer) || (TrigLogging.NewData && logging_active)) |
| { |
| logtimer = SetDelay(LogDelay); // standard interval |
| |
| if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
| { |
| logging_active = 1; |
| appendtimer = SetDelay(APPEND_LOG_TIME_MS); |
| } |
| else |
| { |
| if(CheckDelay(appendtimer)) logging_active = 0; |
| } |
| |
| if(logging_active) |
| { |
| switch(logfilestate) |
| { |
| case LOGFILE_IDLE: |
| case LOGFILE_CLOSED: |
| if(GPX_logging_active == 2) // start after GPX-Log |
| { |
| logfilestate = LOGFILE_START; |
| } |
| break; |
| case LOGFILE_START: |
| // find unused logfile name |
| do |
| { // try to generate a new logfile name |
| logfilename = GenerateTriggLogFileName(); |
| }while((logfilename != NULL) && fexist_(logfilename)); |
| // if logfilename exist |
| if(logfilename != NULL) |
| { |
| // try to create the log file |
| if(TRIG_DocumentOpen(logfilename, &logfile)) |
| { |
| flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| logfilestate = LOGFILE_OPENED; // goto next step |
| UART1_PutString("\r\nOpening trigger-file:"); |
| UART1_PutString(logfilename); |
| UART1_PutString("\r\n"); |
| TrigLogging.NewData = 0; |
| TrigLogging.Count = 0; |
| fflush_(logfile.file); |
| } |
| else // could not be openend |
| { |
| logfilestate = LOGFILE_ERROR; |
| UART1_PutString("\r\nError opening trigger-file: "); |
| UART1_PutString(logfilename); |
| UART1_PutString("\r\n"); |
| logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
| SD_LoggingError = 1; |
| } |
| } |
| else |
| { |
| logfilestate = LOGFILE_ERROR; |
| UART1_PutString("\r\nError getting free trigger-file name\r\n"); |
| SD_LoggingError = 2; |
| } |
| // else retry in next loop |
| break; |
| case LOGFILE_OPENED: |
| // append new gps log data |
| if(TrigLogging.NewData) |
| { |
| TrigLogging.NewData--; |
| if((GPSData.Status != INVALID))// && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
| { |
| if(!TRIG_LoggGPSCoordinates(&logfile)) |
| { // error logging data |
| UART1_PutString("\r\nError logging to trigger-file\r\n"); |
| SD_LoggingError = 3; |
| TRIG_DocumentClose(&logfile); |
| logfilestate = LOGFILE_ERROR; |
| TrigLogging.NewData = 0; |
| } |
| else // sucessfully logged |
| { |
| SD_LoggingError = 0; |
| // if(CheckDelay(flushtimer)) |
| { |
| // flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| fflush_(logfile.file); |
| } |
| } |
| |
| } |
| } |
| break; |
| |
| case LOGFILE_ERROR: |
| break; |
| |
| default: |
| logfilestate = LOGFILE_IDLE; |
| break; |
| } |
| } // EOF motors are not running |
| else // model is not flying |
| { // close log file if opened |
| if(logfilestate == LOGFILE_OPENED) |
| { |
| if(TRIG_DocumentClose(&logfile)) |
| { |
| UART1_PutString("\r\nClosing trigger-file\r\n"); |
| logfilestate = LOGFILE_CLOSED; |
| } |
| else // could not be closed |
| { |
| UART1_PutString("\r\nError closing trigger-file\r\n"); |
| SD_LoggingError = 4; |
| logfilestate = LOGFILE_ERROR; |
| } |
| } |
| } //EOF motors are not running |
| } // EOF Check LogTimer |
| |
| return logfilestate; |
| } |
| |
| |
| |