Rev 350 | Rev 357 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 350 | Rev 351 | ||
|---|---|---|---|
| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 40 | // + with our written permission |
40 | // + with our written permission |
| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
| 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 44 | // |
44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | #include <stdio.h> |
57 | #include <stdio.h> |
| 58 | #include "91x_lib.h" |
58 | #include "91x_lib.h" |
| 59 | #include "main.h" |
59 | #include "main.h" |
| 60 | #include "timer1.h" |
60 | #include "timer1.h" |
| 61 | #include "uart1.h" |
61 | #include "uart1.h" |
| 62 | #include "kml.h" |
62 | #include "kml.h" |
| 63 | #include "gpx.h" |
63 | #include "gpx.h" |
| 64 | #include "ssc.h" |
64 | #include "ssc.h" |
| 65 | #include "settings.h" |
65 | #include "settings.h" |
| - | 66 | ||
| 66 | 67 | u8 SD_LoggingError = 0; |
|
| 67 | 68 | ||
| 68 | #define LOG_FLUSH_INTERVAL 20000 // 20s |
69 | #define LOG_FLUSH_INTERVAL 20000 // 20s |
| 69 | 70 | ||
| 70 | typedef enum |
71 | typedef enum |
| 71 | { |
72 | { |
| 72 | LOGFILE_IDLE, |
73 | LOGFILE_IDLE, |
| 73 | LOGFILE_START, |
74 | LOGFILE_START, |
| 74 | LOGFILE_CLOSED, |
75 | LOGFILE_CLOSED, |
| 75 | LOGFILE_OPENED, |
76 | LOGFILE_OPENED, |
| 76 | LOGFILE_ERROR |
77 | LOGFILE_ERROR |
| 77 | } logfilestate_t; |
78 | } logfilestate_t; |
| 78 | 79 | ||
| 79 | // logger handler prototypes |
80 | // logger handler prototypes |
| 80 | logfilestate_t Logging_KML(u32 LogDelay); |
81 | logfilestate_t Logging_KML(u32 LogDelay); |
| 81 | logfilestate_t Logging_GPX(u32 LogDelay); |
82 | logfilestate_t Logging_GPX(u32 LogDelay); |
| 82 | 83 | ||
| 83 | typedef struct |
84 | typedef struct |
| 84 | { |
85 | { |
| 85 | u32 KML_Interval; // the kml-log interval (0 = off) |
86 | u32 KML_Interval; // the kml-log interval (0 = off) |
| 86 | u32 GPX_Interval; // the gpx-log interval (0 = off) |
87 | u32 GPX_Interval; // the gpx-log interval (0 = off) |
| 87 | } LogCfg_t; |
88 | } LogCfg_t; |
| 88 | 89 | ||
| 89 | LogCfg_t LogCfg = {500 , 1000}; |
90 | LogCfg_t LogCfg = {500 , 1000}; |
| 90 | 91 | ||
| 91 | 92 | ||
| 92 | //---------------------------------------------------------------------------------------------------- |
93 | //---------------------------------------------------------------------------------------------------- |
| 93 | s8* GenerateKMLLogFileName(void) |
94 | s8* GenerateKMLLogFileName(void) |
| 94 | { |
95 | { |
| 95 | static u16 filenum = 0; // file name counter |
96 | static u16 filenum = 0; // file name counter |
| 96 | static s8 filename[35]; |
97 | static s8 filename[35]; |
| 97 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
98 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
| 98 | 99 | ||
| 99 | if(SystemTime.Valid) |
100 | if(SystemTime.Valid) |
| 100 | { |
101 | { |
| 101 | // if the day has been changed |
102 | // if the day has been changed |
| 102 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
103 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
| 103 | { |
104 | { |
| 104 | LastTime.Year = SystemTime.Year; |
105 | LastTime.Year = SystemTime.Year; |
| 105 | LastTime.Month = SystemTime.Month; |
106 | LastTime.Month = SystemTime.Month; |
| 106 | LastTime.Day = SystemTime.Day; |
107 | LastTime.Day = SystemTime.Day; |
| 107 | LastTime.Valid = 1; |
108 | LastTime.Valid = 1; |
| 108 | filenum = 0; // reset file counter |
109 | filenum = 0; // reset file counter |
| 109 | } |
110 | } |
| 110 | sprintf(filename, "LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
111 | sprintf(filename, "LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| 111 | filenum++; |
112 | filenum++; |
| 112 | return filename; |
113 | return filename; |
| 113 | } |
114 | } |
| 114 | else return NULL; |
115 | else return NULL; |
| 115 | } |
116 | } |
| 116 | 117 | ||
| 117 | //---------------------------------------------------------------------------------------------------- |
118 | //---------------------------------------------------------------------------------------------------- |
| 118 | s8* GenerateGPXLogFileName(void) |
119 | s8* GenerateGPXLogFileName(void) |
| 119 | { |
120 | { |
| 120 | static u16 filenum = 0; // file name counter |
121 | static u16 filenum = 0; // file name counter |
| 121 | static s8 filename[35]; |
122 | static s8 filename[35]; |
| 122 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
123 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
| 123 | 124 | ||
| 124 | if(SystemTime.Valid) |
125 | if(SystemTime.Valid) |
| 125 | { |
126 | { |
| 126 | // if the day has been changed |
127 | // if the day has been changed |
| 127 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
128 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
| 128 | { |
129 | { |
| 129 | LastTime.Year = SystemTime.Year; |
130 | LastTime.Year = SystemTime.Year; |
| 130 | LastTime.Month = SystemTime.Month; |
131 | LastTime.Month = SystemTime.Month; |
| 131 | LastTime.Day = SystemTime.Day; |
132 | LastTime.Day = SystemTime.Day; |
| 132 | LastTime.Valid = 1; |
133 | LastTime.Valid = 1; |
| 133 | filenum = 0; // reset file counter |
134 | filenum = 0; // reset file counter |
| 134 | } |
135 | } |
| 135 | sprintf(filename, "LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
136 | sprintf(filename, "LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| 136 | filenum++; |
137 | filenum++; |
| 137 | return filename; |
138 | return filename; |
| 138 | } |
139 | } |
| 139 | else return NULL; |
140 | else return NULL; |
| 140 | } |
141 | } |
| 141 | 142 | ||
| 142 | 143 | ||
| 143 | 144 | ||
| 144 | //---------------------------------------------------------------------------------------------------- |
145 | //---------------------------------------------------------------------------------------------------- |
| 145 | // logs the current gps position to a kml file |
146 | // logs the current gps position to a kml file |
| 146 | logfilestate_t Logging_KML(u32 LogDelay) |
147 | logfilestate_t Logging_KML(u32 LogDelay) |
| 147 | { |
148 | { |
| 148 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
149 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
| 149 | static s8* logfilename = NULL; // the pointer to the logfilename |
150 | static s8* logfilename = NULL; // the pointer to the logfilename |
| 150 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
151 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
| 151 | static KML_Document_t logfile; // the logfilehandle |
152 | static KML_Document_t logfile; // the logfilehandle |
| 152 | 153 | ||
| 153 | // initialize if LogDelay is zero |
154 | // initialize if LogDelay is zero |
| 154 | if(!LogDelay) |
155 | if(!LogDelay) |
| 155 | { |
156 | { |
| 156 | switch(logfilestate) |
157 | switch(logfilestate) |
| 157 | { |
158 | { |
| 158 | case LOGFILE_OPENED: |
159 | case LOGFILE_OPENED: |
| 159 | KML_DocumentClose(&logfile); // try to close it |
160 | KML_DocumentClose(&logfile); // try to close it |
| 160 | break; |
161 | break; |
| 161 | default: |
162 | default: |
| 162 | break; |
163 | break; |
| 163 | } |
164 | } |
| 164 | logfilestate = LOGFILE_IDLE; |
165 | logfilestate = LOGFILE_IDLE; |
| 165 | logfilename = NULL; |
166 | logfilename = NULL; |
| 166 | KML_DocumentInit(&logfile); |
167 | KML_DocumentInit(&logfile); |
| 167 | logtimer = SetDelay(0); // set logtimer to now |
168 | logtimer = SetDelay(0); // set logtimer to now |
| 168 | return logfilestate; |
169 | return logfilestate; |
| 169 | } |
170 | } |
| 170 | // no init |
171 | // no init |
| 171 | if(CheckDelay(logtimer)) |
172 | if(CheckDelay(logtimer)) |
| 172 | { |
173 | { |
| 173 | logtimer = SetDelay(LogDelay); // standard interval |
174 | logtimer = SetDelay(LogDelay); // standard interval |
| 174 | 175 | ||
| 175 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
176 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
| 176 | { |
177 | { |
| 177 | switch(logfilestate) |
178 | switch(logfilestate) |
| 178 | { |
179 | { |
| 179 | case LOGFILE_IDLE: |
180 | case LOGFILE_IDLE: |
| 180 | case LOGFILE_CLOSED: |
181 | case LOGFILE_CLOSED: |
| 181 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.StatusFlags & FC_STATUS_FLY)) |
182 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.StatusFlags & FC_STATUS_FLY)) |
| 182 | { |
183 | { |
| 183 | logfilestate = LOGFILE_START; |
184 | logfilestate = LOGFILE_START; |
| 184 | } |
185 | } |
| 185 | break; |
186 | break; |
| 186 | case LOGFILE_START: |
187 | case LOGFILE_START: |
| 187 | // find unused logfile name |
188 | // find unused logfile name |
| 188 | do |
189 | do |
| 189 | { // try to generate a new logfile name |
190 | { // try to generate a new logfile name |
| 190 | logfilename = GenerateKMLLogFileName(); |
191 | logfilename = GenerateKMLLogFileName(); |
| 191 | }while((logfilename != NULL) && fexist_(logfilename)); |
192 | }while((logfilename != NULL) && fexist_(logfilename)); |
| 192 | // if logfilename exist |
193 | // if logfilename exist |
| 193 | if(logfilename != NULL) |
194 | if(logfilename != NULL) |
| 194 | { |
195 | { |
| 195 | // try to create the log file |
196 | // try to create the log file |
| 196 | if(KML_DocumentOpen(logfilename, &logfile)) |
197 | if(KML_DocumentOpen(logfilename, &logfile)) |
| 197 | { |
198 | { |
| 198 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
199 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 199 | logfilestate = LOGFILE_OPENED; // goto next step |
200 | logfilestate = LOGFILE_OPENED; // goto next step |
| 200 | UART1_PutString("\r\nOpening kml-file:"); |
201 | UART1_PutString("\r\nOpening kml-file:"); |
| 201 | UART1_PutString(logfilename); |
202 | UART1_PutString(logfilename); |
| 202 | UART1_PutString("\r\n"); |
203 | UART1_PutString("\r\n"); |
| 203 | } |
204 | } |
| 204 | else // could not be openend |
205 | else // could not be openend |
| 205 | { |
206 | { |
| 206 | logfilestate = LOGFILE_ERROR; |
207 | logfilestate = LOGFILE_ERROR; |
| 207 | UART1_PutString("\r\nError opening kml-file: "); |
208 | UART1_PutString("\r\nError opening kml-file: "); |
| 208 | UART1_PutString(logfilename); |
209 | UART1_PutString(logfilename); |
| 209 | UART1_PutString("\r\n"); |
210 | UART1_PutString("\r\n"); |
| 210 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
211 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
| - | 212 | SD_LoggingError = 1; |
|
| 211 | } |
213 | } |
| 212 | } |
214 | } |
| 213 | else |
215 | else |
| 214 | { |
216 | { |
| 215 | logfilestate = LOGFILE_ERROR; |
217 | logfilestate = LOGFILE_ERROR; |
| 216 | UART1_PutString("\r\nError getting free kml-file name\r\n"); |
218 | UART1_PutString("\r\nError getting free kml-file name\r\n"); |
| - | 219 | SD_LoggingError = 2; |
|
| 217 | } |
220 | } |
| 218 | // else retry in next loop |
221 | // else retry in next loop |
| 219 | break; |
222 | break; |
| 220 | case LOGFILE_OPENED: |
223 | case LOGFILE_OPENED: |
| 221 | // append new gps log data |
224 | // append new gps log data |
| 222 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
225 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
| 223 | { |
226 | { |
| 224 | if(!KML_LoggGPSCoordinates(&logfile)) |
227 | if(!KML_LoggGPSCoordinates(&logfile)) |
| 225 | { // error logging data |
228 | { // error logging data |
| 226 | UART1_PutString("\r\nError logging to kml-file\r\n"); |
229 | UART1_PutString("\r\nError logging to kml-file\r\n"); |
| - | 230 | SD_LoggingError = 3; |
|
| 227 | KML_DocumentClose(&logfile); |
231 | KML_DocumentClose(&logfile); |
| 228 | logfilestate = LOGFILE_ERROR; |
232 | logfilestate = LOGFILE_ERROR; |
| 229 | } |
233 | } |
| 230 | else // sucessfully logged |
234 | else // sucessfully logged |
| 231 | { |
235 | { |
| - | 236 | SD_LoggingError = 0; |
|
| 232 | if(CheckDelay(flushtimer)) |
237 | if(CheckDelay(flushtimer)) |
| 233 | { |
238 | { |
| 234 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
239 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 235 | fflush_(logfile.file); |
240 | fflush_(logfile.file); |
| 236 | } |
241 | } |
| 237 | } |
242 | } |
| 238 | 243 | ||
| 239 | } |
244 | } |
| 240 | break; |
245 | break; |
| 241 | 246 | ||
| 242 | case LOGFILE_ERROR: |
247 | case LOGFILE_ERROR: |
| 243 | break; |
248 | break; |
| 244 | 249 | ||
| 245 | default: |
250 | default: |
| 246 | logfilestate = LOGFILE_IDLE; |
251 | logfilestate = LOGFILE_IDLE; |
| 247 | break; |
252 | break; |
| 248 | } |
253 | } |
| 249 | } // EOF motors are not running |
254 | } // EOF motors are not running |
| 250 | else // model is not flying |
255 | else // model is not flying |
| 251 | { // close log file if opened |
256 | { // close log file if opened |
| 252 | if(logfilestate == LOGFILE_OPENED) |
257 | if(logfilestate == LOGFILE_OPENED) |
| 253 | { |
258 | { |
| 254 | if(KML_DocumentClose(&logfile)) |
259 | if(KML_DocumentClose(&logfile)) |
| 255 | { |
260 | { |
| 256 | UART1_PutString("\r\nClosing kml-file\r\n"); |
261 | UART1_PutString("\r\nClosing kml-file\r\n"); |
| 257 | logfilestate = LOGFILE_CLOSED; |
262 | logfilestate = LOGFILE_CLOSED; |
| 258 | } |
263 | } |
| 259 | else // could not be closed |
264 | else // could not be closed |
| 260 | { |
265 | { |
| 261 | UART1_PutString("\r\nError closing kml-file\r\n"); |
266 | UART1_PutString("\r\nError closing kml-file\r\n"); |
| - | 267 | SD_LoggingError = 4; |
|
| 262 | logfilestate = LOGFILE_ERROR; |
268 | logfilestate = LOGFILE_ERROR; |
| 263 | } |
269 | } |
| 264 | } |
270 | } |
| 265 | } //EOF motors are not running |
271 | } //EOF motors are not running |
| 266 | } // EOF Check LogTimer |
272 | } // EOF Check LogTimer |
| 267 | 273 | ||
| 268 | return logfilestate; |
274 | return logfilestate; |
| 269 | } |
275 | } |
| 270 | 276 | ||
| 271 | //---------------------------------------------------------------------------------------------------- |
277 | //---------------------------------------------------------------------------------------------------- |
| 272 | // logs gps and state info to a gpx file |
278 | // logs gps and state info to a gpx file |
| 273 | logfilestate_t Logging_GPX(u32 LogDelay) |
279 | logfilestate_t Logging_GPX(u32 LogDelay) |
| 274 | { |
280 | { |
| 275 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
281 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
| 276 | static s8* logfilename = NULL; // the pointer to the logfilename |
282 | static s8* logfilename = NULL; // the pointer to the logfilename |
| 277 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
283 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
| 278 | static GPX_Document_t logfile; // the logfilehandle |
284 | static GPX_Document_t logfile; // the logfilehandle |
| 279 | static u8 part = 0; |
285 | static u8 part = 0; |
| 280 | u32 measure_time; |
286 | u32 measure_time; |
| 281 | 287 | ||
| 282 | // initialize if LogDelay is zero |
288 | // initialize if LogDelay is zero |
| 283 | if(!LogDelay) |
289 | if(!LogDelay) |
| 284 | { |
290 | { |
| 285 | switch(logfilestate) |
291 | switch(logfilestate) |
| 286 | { |
292 | { |
| 287 | case LOGFILE_OPENED: |
293 | case LOGFILE_OPENED: |
| 288 | GPX_DocumentClose(&logfile); // try to close it |
294 | GPX_DocumentClose(&logfile); // try to close it |
| 289 | break; |
295 | break; |
| 290 | default: |
296 | default: |
| 291 | break; |
297 | break; |
| 292 | } |
298 | } |
| 293 | logfilestate = LOGFILE_IDLE; |
299 | logfilestate = LOGFILE_IDLE; |
| 294 | logfilename = NULL; |
300 | logfilename = NULL; |
| 295 | GPX_DocumentInit(&logfile); |
301 | GPX_DocumentInit(&logfile); |
| 296 | logtimer = SetDelay(0); // set logtimer to now |
302 | logtimer = SetDelay(0); // set logtimer to now |
| 297 | return logfilestate; |
303 | return logfilestate; |
| 298 | } |
304 | } |
| 299 | // no init |
305 | // no init |
| 300 | if(CheckDelay(logtimer) || part) |
306 | if(CheckDelay(logtimer) || part) |
| 301 | { |
307 | { |
| 302 | logtimer = SetDelay(LogDelay); // standard interval |
308 | logtimer = SetDelay(LogDelay); // standard interval |
| 303 | 309 | ||
| 304 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN || part) |
310 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN || part) |
| 305 | { |
311 | { |
| 306 | switch(logfilestate) |
312 | switch(logfilestate) |
| 307 | { |
313 | { |
| 308 | case LOGFILE_IDLE: |
314 | case LOGFILE_IDLE: |
| 309 | case LOGFILE_CLOSED: |
315 | case LOGFILE_CLOSED: |
| 310 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.StatusFlags & FC_STATUS_FLY)) |
316 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.StatusFlags & FC_STATUS_FLY)) |
| 311 | { |
317 | { |
| 312 | logfilestate = LOGFILE_START; |
318 | logfilestate = LOGFILE_START; |
| 313 | } |
319 | } |
| 314 | part = 0; |
320 | part = 0; |
| 315 | break; |
321 | break; |
| 316 | case LOGFILE_START: |
322 | case LOGFILE_START: |
| 317 | // find unused logfile name |
323 | // find unused logfile name |
| 318 | do |
324 | do |
| 319 | { // try to generate a new logfile name |
325 | { // try to generate a new logfile name |
| 320 | logfilename = GenerateGPXLogFileName(); |
326 | logfilename = GenerateGPXLogFileName(); |
| 321 | }while((logfilename != NULL) && fexist_(logfilename)); |
327 | }while((logfilename != NULL) && fexist_(logfilename)); |
| 322 | // if logfilename exist |
328 | // if logfilename exist |
| 323 | if(logfilename != NULL) |
329 | if(logfilename != NULL) |
| 324 | { |
330 | { |
| 325 | // try to create the log file |
331 | // try to create the log file |
| 326 | if(GPX_DocumentOpen(logfilename, &logfile)) |
332 | if(GPX_DocumentOpen(logfilename, &logfile)) |
| 327 | { |
333 | { |
| 328 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
334 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 329 | logfilestate = LOGFILE_OPENED; // goto next step |
335 | logfilestate = LOGFILE_OPENED; // goto next step |
| 330 | UART1_PutString("\r\nOpening gpx-file:"); |
336 | UART1_PutString("\r\nOpening gpx-file:"); |
| 331 | UART1_PutString(logfilename); |
337 | UART1_PutString(logfilename); |
| 332 | UART1_PutString("\r\n"); |
338 | UART1_PutString("\r\n"); |
| 333 | } |
339 | } |
| 334 | else // could not be openend |
340 | else // could not be openend |
| 335 | { |
341 | { |
| 336 | logfilestate = LOGFILE_ERROR; |
342 | logfilestate = LOGFILE_ERROR; |
| 337 | UART1_PutString("\r\nError opening gpx-file: "); |
343 | UART1_PutString("\r\nError opening gpx-file: "); |
| 338 | UART1_PutString(logfilename); |
344 | UART1_PutString(logfilename); |
| 339 | UART1_PutString("\r\n"); |
345 | UART1_PutString("\r\n"); |
| - | 346 | SD_LoggingError = 11; |
|
| 340 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
347 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
| 341 | } |
348 | } |
| 342 | } |
349 | } |
| 343 | else |
350 | else |
| 344 | { |
351 | { |
| 345 | logfilestate = LOGFILE_ERROR; |
352 | logfilestate = LOGFILE_ERROR; |
| 346 | UART1_PutString("\r\nError getting free gpx-file name\r\n"); |
353 | UART1_PutString("\r\nError getting free gpx-file name\r\n"); |
| - | 354 | SD_LoggingError = 12; |
|
| 347 | } |
355 | } |
| 348 | // else retry in next loop |
356 | // else retry in next loop |
| 349 | part = 0; |
357 | part = 0; |
| 350 | break; |
358 | break; |
| 351 | case LOGFILE_OPENED: |
359 | case LOGFILE_OPENED: |
| 352 | // append new gps log data |
360 | // append new gps log data |
| 353 | measure_time = CountMilliseconds; |
361 | measure_time = CountMilliseconds; |
| 354 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
362 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
| 355 | { |
363 | { |
| 356 | if(!GPX_LoggGPSCoordinates(&logfile,part)) |
364 | if(!GPX_LoggGPSCoordinates(&logfile,part)) |
| 357 | { // error logging data |
365 | { // error logging data |
| 358 | UART1_PutString("\r\nError logging to gpx-file\r\n"); |
366 | UART1_PutString("\r\nError logging to gpx-file\r\n"); |
| 359 | GPX_DocumentClose(&logfile); |
367 | GPX_DocumentClose(&logfile); |
| - | 368 | SD_LoggingError = 13; |
|
| 360 | logfilestate = LOGFILE_ERROR; |
369 | logfilestate = LOGFILE_ERROR; |
| 361 | } |
370 | } |
| 362 | else // successful log |
371 | else // successful log |
| 363 | { |
372 | { |
| 364 | if(CheckDelay(flushtimer)) |
373 | if(CheckDelay(flushtimer)) |
| 365 | { |
374 | { |
| 366 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
375 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 367 | fflush_(logfile.file); |
376 | fflush_(logfile.file); |
| 368 | } |
377 | } |
| 369 | } |
378 | } |
| 370 | } |
379 | } |
| 371 | if(++part == 9) part = 0; |
380 | if(++part == 9) part = 0; |
| 372 | DebugOut.Analog[19] = CountMilliseconds - measure_time; |
381 | DebugOut.Analog[19] = CountMilliseconds - measure_time; |
| 373 | break; |
382 | break; |
| 374 | 383 | ||
| 375 | case LOGFILE_ERROR: |
384 | case LOGFILE_ERROR: |
| 376 | part = 0; |
385 | part = 0; |
| 377 | break; |
386 | break; |
| 378 | 387 | ||
| 379 | default: |
388 | default: |
| 380 | part = 0; |
389 | part = 0; |
| 381 | logfilestate = LOGFILE_IDLE; |
390 | logfilestate = LOGFILE_IDLE; |
| 382 | break; |
391 | break; |
| 383 | } |
392 | } |
| 384 | } // EOF model is flying |
393 | } // EOF model is flying |
| 385 | else // model is not flying |
394 | else // model is not flying |
| 386 | { // close log file if opened |
395 | { // close log file if opened |
| 387 | if(logfilestate == LOGFILE_OPENED) |
396 | if(logfilestate == LOGFILE_OPENED) |
| 388 | { |
397 | { |
| 389 | if(GPX_DocumentClose(&logfile)) |
398 | if(GPX_DocumentClose(&logfile)) |
| 390 | { |
399 | { |
| 391 | UART1_PutString("\r\nClosing gpx-file\r\n"); |
400 | UART1_PutString("\r\nClosing gpx-file\r\n"); |
| 392 | logfilestate = LOGFILE_CLOSED; |
401 | logfilestate = LOGFILE_CLOSED; |
| 393 | part = 0; |
402 | part = 0; |
| 394 | } |
403 | } |
| 395 | else // could not be closed |
404 | else // could not be closed |
| 396 | { |
405 | { |
| 397 | UART1_PutString("\r\nError closing gpx-file\r\n"); |
406 | UART1_PutString("\r\nError closing gpx-file\r\n"); |
| - | 407 | SD_LoggingError = 14; |
|
| 398 | logfilestate = LOGFILE_ERROR; |
408 | logfilestate = LOGFILE_ERROR; |
| 399 | part = 0; |
409 | part = 0; |
| 400 | } |
410 | } |
| 401 | } |
411 | } |
| 402 | } //EOF model is not flying |
412 | } //EOF model is not flying |
| 403 | } // EOF Check LogTimer |
413 | } // EOF Check LogTimer |
| 404 | 414 | ||
| 405 | return logfilestate; |
415 | return logfilestate; |
| 406 | } |
416 | } |
| 407 | 417 | ||
| 408 | //---------------------------------------------------------------------------------------------------- |
418 | //---------------------------------------------------------------------------------------------------- |
| 409 | // initialize logging |
419 | // initialize logging |
| 410 | void Logging_Init(void) |
420 | void Logging_Init(void) |
| 411 | { |
421 | { |
| - | 422 | SD_LoggingError = 0; |
|
| 412 | LogCfg.KML_Interval = 500; //default |
423 | LogCfg.KML_Interval = 500; //default |
| 413 | Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
424 | Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
| 414 | if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < 500) LogCfg.KML_Interval = 500; |
425 | if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < 500) LogCfg.KML_Interval = 500; |
| 415 | 426 | ||
| 416 | Logging_KML(0); // initialize |
427 | Logging_KML(0); // initialize |
| 417 | LogCfg.GPX_Interval = 0; //default |
428 | LogCfg.GPX_Interval = 0; //default |
| 418 | Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
429 | Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
| 419 | if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < 500) LogCfg.GPX_Interval = 500; |
430 | if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < 500) LogCfg.GPX_Interval = 500; |
| 420 | Logging_GPX(0); // initialize |
431 | Logging_GPX(0); // initialize |
| 421 | } |
432 | } |
| 422 | 433 | ||
| 423 | //---------------------------------------------------------------------------------------------------- |
434 | //---------------------------------------------------------------------------------------------------- |
| 424 | // gobal logging handler |
435 | // gobal logging handler |
| 425 | void Logging_Update(void) |
436 | void Logging_Update(void) |
| 426 | { |
437 | { |
| 427 | static u8 logmodule = 0; |
438 | static u8 logmodule = 0; |
| 428 | static u32 logtimer = 0; |
439 | static u32 logtimer = 0; |
| 429 | static logfilestate_t logstate = LOGFILE_IDLE; |
440 | static logfilestate_t logstate = LOGFILE_IDLE; |
| 430 | 441 | ||
| 431 | if(SD_SWITCH) // a card is in slot |
442 | if(SD_SWITCH) // a card is in slot |
| 432 | { |
443 | { |
| - | 444 | if((logstate == LOGFILE_ERROR) && (FC.StatusFlags & FC_STATUS_START)) SD_LoggingError = 100; |
|
| 433 | if(CheckDelay(logtimer)) |
445 | if(CheckDelay(logtimer)) |
| 434 | { |
446 | { |
| 435 | logtimer = SetDelay(10); // faster makes no sense |
447 | logtimer = SetDelay(10); // faster makes no sense |
| 436 | // call the logger handlers if no error has occured |
448 | // call the logger handlers if no error has occured |
| 437 | if(logstate != LOGFILE_ERROR) |
449 | if(logstate != LOGFILE_ERROR) |
| 438 | { // run only one logging handler per loop |
450 | { // run only one logging handler per loop |
| 439 | switch(logmodule++) |
451 | switch(logmodule++) |
| 440 | { |
452 | { |
| 441 | case 0: |
453 | case 0: |
| 442 | logstate = Logging_KML(LogCfg.KML_Interval); |
454 | logstate = Logging_KML(LogCfg.KML_Interval); |
| 443 | break; |
455 | break; |
| 444 | case 1: |
456 | case 1: |
| 445 | logstate = Logging_GPX(LogCfg.GPX_Interval); |
457 | logstate = Logging_GPX(LogCfg.GPX_Interval); |
| 446 | logmodule = 0; // resart with first log module |
458 | logmodule = 0; // resart with first log module |
| 447 | break; |
459 | break; |
| 448 | default: |
460 | default: |
| 449 | logmodule = 0; |
461 | logmodule = 0; |
| 450 | break; |
462 | break; |
| 451 | } |
463 | } |
| 452 | } |
464 | } |
| 453 | else // a logging error has occured |
465 | else // a logging error has occured |
| 454 | { |
466 | { |
| 455 | /* |
467 | // /* |
| 456 | // try to reinitialize sd-card when motors are not running |
468 | // try to reinitialize sd-card when motors are not running |
| 457 | if(!(FC.Flags & FCFLAG_MOTOR_RUN)) |
469 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) |
| 458 | { |
470 | { |
| 459 | if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
471 | if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
| 460 | { |
472 | { |
| 461 | Logging_Init(); // initialize the logs |
473 | Logging_Init(); // initialize the logs |
| 462 | logstate = LOGFILE_IDLE; |
474 | logstate = LOGFILE_IDLE; |
| 463 | logtimer = SetDelay(10); // try next log in 10 mili sec |
475 | logtimer = SetDelay(100); // try next log in 100 mili sec |
| 464 | } |
476 | } |
| 465 | else |
477 | else |
| 466 | { // retry in 5 seconds |
478 | { // retry in 5 seconds |
| 467 | logtimer = SetDelay(5000); // try again in 5 sec |
479 | logtimer = SetDelay(5000); // try again in 5 sec |
| 468 | } |
480 | } |
| 469 | } // EOF motors are not running |
481 | } // EOF motors are not running |
| 470 | */ |
482 | // */ |
| 471 | } //EOF logfile error |
483 | } //EOF logfile error |
| 472 | } // EOF CheckDelay |
484 | } // EOF CheckDelay |
| 473 | }// EOF Card in Slot |
485 | }// EOF Card in Slot |
| 474 | } |
486 | } |
| 475 | 487 | ||