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/tags/V2.20h/logging.c
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/*#######################################################################################*/
/* !!! 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 "91x_lib.h"
#include "main.h"
#include "timer1.h"
#include "uart1.h"
#include "kml.h"
#include "gpx.h"
#include "ssc.h"
#include "settings.h"
#include "led.h"
#include "logging.h"
#include "triggerlog.h"
 
#define MIN_SD_INTERVAL_KML 200
#define MIN_SD_INTERVAL_GPX 200
 
u8 SD_LoggingError = 0;
 
 
 
 
// logger handler prototypes
logfilestate_t Logging_KML(u32 LogDelay);
logfilestate_t Logging_GPX(u32 LogDelay);
 
LogCfg_t LogCfg = {500 , 1000};
u32 Logged_GPX_Counter = 0, Logged_KML_Counter = 0;
u16 KML_Filenum = 0, GPX_Filenum = 0, GPX_logging_active = 0;
 
//----------------------------------------------------------------------------------------------------
s8* GenerateKMLLogFileName(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(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/KML/%02i%02i%02i%02i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 100, SystemTime.Month, SystemTime.Day, filenum);
else sprintf(filename, "/LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum);
}
else
{
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);
else sprintf(filename, "/SIMULATE/%04i%02i%02i/KML/SIM%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum);
}
 
filenum++;
KML_Filenum = filenum;
return filename;
}
else return NULL;
}
 
//----------------------------------------------------------------------------------------------------
s8* GenerateGPXLogFileName(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(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.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 100, SystemTime.Month, SystemTime.Day, filenum);
else sprintf(filename, "/LOG/%04i%02i%02i/GPX/GPS%05i.GPX", 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.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 10, SystemTime.Month, SystemTime.Day, filenum);
else sprintf(filename, "/SIMULATE/%04i%02i%02i/GPX/SIM%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum);
}
GPX_Filenum = filenum;
filenum++;
return filename;
}
else return NULL;
}
 
 
 
//----------------------------------------------------------------------------------------------------
// logs the current gps position to a kml file
logfilestate_t Logging_KML(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 KML_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:
KML_DocumentClose(&logfile); // try to close it
break;
default:
break;
}
logfilestate = LOGFILE_IDLE;
logfilename = NULL;
KML_DocumentInit(&logfile);
logtimer = SetDelay(0); // set logtimer to now
return logfilestate;
}
// no init
if(CheckDelay(logtimer))
{
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((GPSData.Status != INVALID) && (SystemTime.Valid) && /*(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)*/ (FC.StatusFlags & FC_STATUS_FLY))
{
logfilestate = LOGFILE_START;
}
break;
case LOGFILE_START:
// find unused logfile name
do
{ // try to generate a new logfile name
logfilename = GenerateKMLLogFileName();
}while((logfilename != NULL) && fexist_(logfilename));
// if logfilename exist
if(logfilename != NULL)
{
// try to create the log file
if(KML_DocumentOpen(logfilename, &logfile))
{
flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
logfilestate = LOGFILE_OPENED; // goto next step
UART1_PutString("\r\nOpening kml-file:");
UART1_PutString(logfilename);
UART1_PutString("\r\n");
}
else // could not be openend
{
logfilestate = LOGFILE_ERROR;
UART1_PutString("\r\nError opening kml-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 kml-file name\r\n");
SD_LoggingError = 2;
}
// else retry in next loop
break;
case LOGFILE_OPENED:
// append new gps log data
if(!KML_LoggGPSCoordinates(&logfile))
{ // error logging data
UART1_PutString("\r\nError logging to kml-file\r\n");
SD_LoggingError = 3;
KML_DocumentClose(&logfile);
logfilestate = LOGFILE_ERROR;
}
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(KML_DocumentClose(&logfile))
{
UART1_PutString("\r\nClosing kml-file\r\n");
logfilestate = LOGFILE_CLOSED;
}
else // could not be closed
{
UART1_PutString("\r\nError closing kml-file\r\n");
SD_LoggingError = 4;
logfilestate = LOGFILE_ERROR;
}
}
} //EOF motors are not running
} // EOF Check LogTimer
 
return logfilestate;
}
 
//----------------------------------------------------------------------------------------------------
// logs gps and state info to a gpx file
logfilestate_t Logging_GPX(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, appendtimer = 0, errortimer = 0; // the log update timer
static GPX_Document_t logfile; // the logfilehandle
static u8 part = 0, old_errorcode = 0, cnt_retry = 0;
// u32 measure_time;
 
// initialize if LogDelay is zero
if(!LogDelay)
{
switch(logfilestate)
{
case LOGFILE_OPENED:
GPX_DocumentClose(&logfile); // try to close it
break;
default:
break;
}
logfilestate = LOGFILE_IDLE;
logfilename = NULL;
GPX_DocumentInit(&logfile);
logtimer = SetDelay(0); // set logtimer to now
return logfilestate;
}
// no init
if(CheckDelay(logtimer) || part)
{
if(!part) logtimer = SetDelay(LogDelay); // standard interval
 
if(FC.StatusFlags & FC_STATUS_MOTOR_RUN)
{
if(!GPX_logging_active) GPX_logging_active = 1;
appendtimer = SetDelay(APPEND_LOG_TIME_MS);
}
else
{
if(CheckDelay(appendtimer)) GPX_logging_active = 0;
}
 
if(GPX_logging_active || part)
{
switch(logfilestate)
{
case LOGFILE_IDLE:
case LOGFILE_CLOSED:
if((GPSData.Status != INVALID) && (SystemTime.Valid) &&
((FC.StatusFlags & FC_STATUS_FLY) || (LogCfg.StartAtMotorrun && (FC.StatusFlags & FC_STATUS_MOTOR_RUN))))
{
logfilestate = LOGFILE_START;
logtimer = SetDelay(1500); // wait 1,5 seconds to make sure, that Redundance is detected
}
part = 0;
break;
case LOGFILE_START:
// find unused logfile name
do
{ // try to generate a new logfile name
logfilename = GenerateGPXLogFileName();
}while((logfilename != NULL) && fexist_(logfilename));
// if logfilename exist
if(logfilename != NULL)
{
// try to create the log file
if(GPX_DocumentOpen(logfilename, &logfile))
{
flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
logfilestate = LOGFILE_OPENED; // goto next step
UART1_PutString("\r\nOpening gpx-file:");
UART1_PutString(logfilename);
UART1_PutString("\r\n");
GPX_logging_active = 2;
}
else // could not be openend
{
logfilestate = LOGFILE_ERROR;
errortimer = SetDelay(2000); // retry in 2 sec
UART1_PutString("\r\nError opening gpx-file: ");
UART1_PutString(logfilename);
UART1_PutString("\r\n");
SD_LoggingError = 11;
logtimer = SetDelay(10); // try again in open logfile in 10 mili sec
}
old_errorcode = ErrorCode;
}
else
{
logfilestate = LOGFILE_ERROR;
UART1_PutString("\r\nError getting free gpx-file name\r\n");
errortimer = SetDelay(2000); // retry in 2 sec
SD_LoggingError = 12;
}
// else retry in next loop
part = 0;
break;
case LOGFILE_OPENED:
// append new gps log data
// measure_time = CountMilliseconds;
// if((GPSData.Status != INVALID))// && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D))
{
if(!GPX_LoggGPSCoordinates(&logfile,part)/* || (Parameter.User5 > 100)*/)
{ // error logging data
UART1_PutString("\r\nError logging to gpx-file\r\n");
GPX_DocumentClose(&logfile);
SD_LoggingError = 13;
logfilestate = LOGFILE_ERROR;
errortimer = SetDelay(2000); // retry in 2 sec
}
else // successful log
{
if(ErrorCode != old_errorcode || CheckDelay(flushtimer) || part == 8)
{
if(ErrorCode) { while(++part < 9) GPX_LoggGPSCoordinates(&logfile,part); }; // close this chapter
if(ErrorCode != old_errorcode) flushtimer = SetDelay(1000);
else flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
fflush_(logfile.file);
old_errorcode = ErrorCode;
}
}
}
if(++part >= 9) part = 0;
//DebugOut.Analog[] = CountMilliseconds - measure_time;
break;
 
case LOGFILE_ERROR:
if((cnt_retry < 3) && CheckDelay(errortimer) )
{
logfilestate = LOGFILE_IDLE;
errortimer = SetDelay(2000);
UART1_PutString("\r\nRetry gpx-file\r\n");
cnt_retry++;
}
part = 0;
break;
 
default:
part = 0;
logfilestate = LOGFILE_IDLE;
break;
}
} // EOF model is flying
else // model is not flying
{ // close log file if opened
if(logfilestate == LOGFILE_OPENED)
{
if(GPX_DocumentClose(&logfile))
{
UART1_PutString("\r\nClosing gpx-file\r\n");
logfilestate = LOGFILE_CLOSED;
part = 0;
}
else // could not be closed
{
UART1_PutString("\r\nError closing gpx-file\r\n");
SD_LoggingError = 14;
logfilestate = LOGFILE_ERROR;
part = 0;
}
}
else
{
if(logfilestate == LOGFILE_ERROR) logfilestate = LOGFILE_IDLE;
cnt_retry = 0;
}
} //EOF model is not flying
} // EOF Check LogTimer
 
return logfilestate;
}
 
//----------------------------------------------------------------------------------------------------
// initialize logging
void Logging_Init(void)
{
SD_LoggingError = 0;
LogCfg.KML_Interval = 1000; //default
Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value
if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < MIN_SD_INTERVAL_KML) LogCfg.KML_Interval = MIN_SD_INTERVAL_KML;
 
Logging_KML(0); // initialize
LogCfg.GPX_Interval = 0; //default
Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value
Settings_GetParamValue(PID_LOG_AT_MOTORRUN, (u16*)&LogCfg.StartAtMotorrun); // overwrite by settings value
if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < MIN_SD_INTERVAL_GPX) LogCfg.GPX_Interval = MIN_SD_INTERVAL_GPX;
Logging_GPX(0); // initialize
}
 
//----------------------------------------------------------------------------------------------------
// gobal logging handler
void Logging_Update(void)
{
static u8 logmodule = 0, retry_in_flight_cnt = 0;
static u32 logtimer = 0;
static logfilestate_t logstate = LOGFILE_IDLE;
 
// if(SD_SWITCH) // a card is in slot
{
if((logstate == LOGFILE_ERROR) && (FC.StatusFlags & FC_STATUS_START)) SD_LoggingError = 100;
if(CheckDelay(logtimer))
{
logtimer = SetDelay(10); // faster makes no sense
// call the logger handlers if no error has occured
if(logstate != LOGFILE_ERROR)
{ // run only one logging handler per loop
switch(logmodule++)
{
case 0:
logstate = Logging_KML(LogCfg.KML_Interval);
break;
case 1:
logstate = Logging_GPX(LogCfg.GPX_Interval);
break;
case 2:
if(UART_VersionInfo.HWMajor >= 30) logstate = LoggingTrigger(200);
logmodule = 0; // resart with first log module
break;
default:
logmodule = 0;
break;
}
}
else // a logging error has occured
{
// /*
// try to reinitialize sd-card when motors are not running
if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN))
{
if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside
{
Logging_Init(); // initialize the logs
logstate = LOGFILE_IDLE;
logtimer = SetDelay(100); // try next log in 100 mili sec
}
else
{ // retry in 5 seconds
logtimer = SetDelay(5000); // try again in 5 sec
}
retry_in_flight_cnt = 0;
} // EOF motors are not running
else
{
if(retry_in_flight_cnt < 5)
{
logtimer = SetDelay(2000); // try again in 2 sec
logstate = LOGFILE_IDLE;
retry_in_flight_cnt++;
}
else
if(retry_in_flight_cnt < 8)
{
Logging_Init(); // initialize the logs
logtimer = SetDelay(5000); // try again in 5 sec
logstate = LOGFILE_IDLE;
retry_in_flight_cnt++;
}
}
 
// */
} //EOF logfile error
} // EOF CheckDelay
}// EOF Card in Slot
}