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82 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + 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" |
82 | killagreg | 67 | |
380 | holgerb | 68 | #define MIN_SD_INTERVAL_KML 200 |
456 | holgerb | 69 | #define MIN_SD_INTERVAL_GPX 200 |
436 | holgerb | 70 | #define APPEND_LOG_TIME_MS 2510 // log some more time |
378 | holgerb | 71 | |
351 | holgerb | 72 | u8 SD_LoggingError = 0; |
92 | killagreg | 73 | |
437 | holgerb | 74 | #define LOG_FLUSH_INTERVAL 4000 // 4s // -> and if an Error occures |
92 | killagreg | 75 | |
581 | holgerb | 76 | |
82 | killagreg | 77 | typedef enum |
78 | { |
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79 | LOGFILE_IDLE, |
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80 | LOGFILE_START, |
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81 | LOGFILE_CLOSED, |
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82 | LOGFILE_OPENED, |
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83 | LOGFILE_ERROR |
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84 | } logfilestate_t; |
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85 | |||
86 | // logger handler prototypes |
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87 | logfilestate_t Logging_KML(u32 LogDelay); |
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88 | logfilestate_t Logging_GPX(u32 LogDelay); |
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89 | |||
101 | holgerb | 90 | LogCfg_t LogCfg = {500 , 1000}; |
489 | killagreg | 91 | u32 Logged_GPX_Counter = 0, Logged_KML_Counter = 0; |
516 | holgerb | 92 | u16 KML_Filenum = 0; |
82 | killagreg | 93 | |
94 | //---------------------------------------------------------------------------------------------------- |
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95 | s8* GenerateKMLLogFileName(void) |
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96 | { |
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97 | static u16 filenum = 0; // file name counter |
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98 | static s8 filename[35]; |
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99 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
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100 | |||
101 | if(SystemTime.Valid) |
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102 | { |
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103 | // if the day has been changed |
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104 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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105 | { |
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106 | LastTime.Year = SystemTime.Year; |
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107 | LastTime.Month = SystemTime.Month; |
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108 | LastTime.Day = SystemTime.Day; |
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109 | LastTime.Valid = 1; |
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110 | filenum = 0; // reset file counter |
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111 | } |
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565 | holgerb | 112 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
113 | { |
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515 | killagreg | 114 | 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 | 115 | else sprintf(filename, "/LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
565 | holgerb | 116 | } |
117 | else |
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118 | { |
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573 | holgerb | 119 | 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 | 120 | else sprintf(filename, "/SIMULATE/%04i%02i%02i/KML/SIM%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
121 | } |
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122 | |||
82 | killagreg | 123 | filenum++; |
516 | holgerb | 124 | KML_Filenum = filenum; |
82 | killagreg | 125 | return filename; |
126 | } |
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127 | else return NULL; |
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128 | } |
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129 | |||
130 | //---------------------------------------------------------------------------------------------------- |
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131 | s8* GenerateGPXLogFileName(void) |
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132 | { |
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133 | static u16 filenum = 0; // file name counter |
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134 | static s8 filename[35]; |
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135 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
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136 | |||
137 | if(SystemTime.Valid) |
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138 | { |
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139 | // if the day has been changed |
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140 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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141 | { |
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142 | LastTime.Year = SystemTime.Year; |
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143 | LastTime.Month = SystemTime.Month; |
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144 | LastTime.Day = SystemTime.Day; |
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145 | LastTime.Valid = 1; |
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146 | filenum = 0; // reset file counter |
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147 | } |
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565 | holgerb | 148 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
149 | { |
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515 | killagreg | 150 | 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 | 151 | else sprintf(filename, "/LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
565 | holgerb | 152 | } |
153 | else |
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154 | { |
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573 | holgerb | 155 | 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 | 156 | else sprintf(filename, "/SIMULATE/%04i%02i%02i/GPX/SIM%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
157 | } |
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82 | killagreg | 158 | filenum++; |
516 | holgerb | 159 | KML_Filenum = filenum; |
82 | killagreg | 160 | return filename; |
161 | } |
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162 | else return NULL; |
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163 | } |
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164 | |||
165 | |||
166 | |||
167 | //---------------------------------------------------------------------------------------------------- |
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168 | // logs the current gps position to a kml file |
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169 | logfilestate_t Logging_KML(u32 LogDelay) |
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170 | { |
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171 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
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172 | static s8* logfilename = NULL; // the pointer to the logfilename |
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92 | killagreg | 173 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
82 | killagreg | 174 | static KML_Document_t logfile; // the logfilehandle |
432 | holgerb | 175 | static u32 appendtimer = 0; // the log update timer |
176 | static u8 logging_active = 0; |
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82 | killagreg | 177 | |
146 | killagreg | 178 | // initialize if LogDelay is zero |
82 | killagreg | 179 | if(!LogDelay) |
180 | { |
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181 | switch(logfilestate) |
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182 | { |
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88 | killagreg | 183 | case LOGFILE_OPENED: |
82 | killagreg | 184 | KML_DocumentClose(&logfile); // try to close it |
185 | break; |
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186 | default: |
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187 | break; |
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188 | } |
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189 | logfilestate = LOGFILE_IDLE; |
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190 | logfilename = NULL; |
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191 | KML_DocumentInit(&logfile); |
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192 | logtimer = SetDelay(0); // set logtimer to now |
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88 | killagreg | 193 | return logfilestate; |
82 | killagreg | 194 | } |
195 | // no init |
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196 | if(CheckDelay(logtimer)) |
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197 | { |
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198 | logtimer = SetDelay(LogDelay); // standard interval |
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88 | killagreg | 199 | |
489 | killagreg | 200 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
515 | killagreg | 201 | { |
202 | logging_active = 1; |
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203 | appendtimer = SetDelay(APPEND_LOG_TIME_MS); |
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204 | } |
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489 | killagreg | 205 | else |
515 | killagreg | 206 | { |
207 | if(CheckDelay(appendtimer)) logging_active = 0; |
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208 | } |
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432 | holgerb | 209 | |
210 | if(logging_active) |
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82 | killagreg | 211 | { |
212 | switch(logfilestate) |
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213 | { |
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214 | case LOGFILE_IDLE: |
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215 | case LOGFILE_CLOSED: |
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429 | holgerb | 216 | if((GPSData.Status != INVALID) && (SystemTime.Valid) && /*(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)*/ (FC.StatusFlags & FC_STATUS_FLY)) |
82 | killagreg | 217 | { |
218 | logfilestate = LOGFILE_START; |
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219 | } |
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220 | break; |
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221 | case LOGFILE_START: |
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222 | // find unused logfile name |
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223 | do |
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224 | { // try to generate a new logfile name |
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225 | logfilename = GenerateKMLLogFileName(); |
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378 | holgerb | 226 | }while((logfilename != NULL) && fexist_(logfilename)); |
82 | killagreg | 227 | // if logfilename exist |
228 | if(logfilename != NULL) |
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229 | { |
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230 | // try to create the log file |
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231 | if(KML_DocumentOpen(logfilename, &logfile)) |
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232 | { |
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92 | killagreg | 233 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
82 | killagreg | 234 | logfilestate = LOGFILE_OPENED; // goto next step |
110 | killagreg | 235 | UART1_PutString("\r\nOpening kml-file:"); |
236 | UART1_PutString(logfilename); |
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237 | UART1_PutString("\r\n"); |
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82 | killagreg | 238 | } |
239 | else // could not be openend |
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240 | { |
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241 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 242 | UART1_PutString("\r\nError opening kml-file: "); |
243 | UART1_PutString(logfilename); |
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244 | UART1_PutString("\r\n"); |
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82 | killagreg | 245 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
351 | holgerb | 246 | SD_LoggingError = 1; |
82 | killagreg | 247 | } |
248 | } |
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249 | else |
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250 | { |
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251 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 252 | UART1_PutString("\r\nError getting free kml-file name\r\n"); |
351 | holgerb | 253 | SD_LoggingError = 2; |
82 | killagreg | 254 | } |
255 | // else retry in next loop |
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256 | break; |
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257 | case LOGFILE_OPENED: |
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258 | // append new gps log data |
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429 | holgerb | 259 | if((GPSData.Status != INVALID))// && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
82 | killagreg | 260 | { |
85 | killagreg | 261 | if(!KML_LoggGPSCoordinates(&logfile)) |
82 | killagreg | 262 | { // error logging data |
110 | killagreg | 263 | UART1_PutString("\r\nError logging to kml-file\r\n"); |
351 | holgerb | 264 | SD_LoggingError = 3; |
82 | killagreg | 265 | KML_DocumentClose(&logfile); |
266 | logfilestate = LOGFILE_ERROR; |
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267 | } |
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92 | killagreg | 268 | else // sucessfully logged |
269 | { |
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351 | holgerb | 270 | SD_LoggingError = 0; |
92 | killagreg | 271 | if(CheckDelay(flushtimer)) |
272 | { |
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273 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
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274 | fflush_(logfile.file); |
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275 | } |
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276 | } |
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277 | |||
82 | killagreg | 278 | } |
279 | break; |
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88 | killagreg | 280 | |
82 | killagreg | 281 | case LOGFILE_ERROR: |
282 | break; |
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88 | killagreg | 283 | |
82 | killagreg | 284 | default: |
285 | logfilestate = LOGFILE_IDLE; |
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286 | break; |
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287 | } |
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92 | killagreg | 288 | } // EOF motors are not running |
82 | killagreg | 289 | else // model is not flying |
290 | { // close log file if opened |
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291 | if(logfilestate == LOGFILE_OPENED) |
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292 | { |
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293 | if(KML_DocumentClose(&logfile)) |
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294 | { |
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110 | killagreg | 295 | UART1_PutString("\r\nClosing kml-file\r\n"); |
82 | killagreg | 296 | logfilestate = LOGFILE_CLOSED; |
297 | } |
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298 | else // could not be closed |
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299 | { |
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110 | killagreg | 300 | UART1_PutString("\r\nError closing kml-file\r\n"); |
351 | holgerb | 301 | SD_LoggingError = 4; |
82 | killagreg | 302 | logfilestate = LOGFILE_ERROR; |
303 | } |
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304 | } |
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92 | killagreg | 305 | } //EOF motors are not running |
82 | killagreg | 306 | } // EOF Check LogTimer |
307 | |||
308 | return logfilestate; |
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309 | } |
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88 | killagreg | 310 | |
82 | killagreg | 311 | //---------------------------------------------------------------------------------------------------- |
312 | // logs gps and state info to a gpx file |
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313 | logfilestate_t Logging_GPX(u32 LogDelay) |
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314 | { |
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85 | killagreg | 315 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
316 | static s8* logfilename = NULL; // the pointer to the logfilename |
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432 | holgerb | 317 | static u32 logtimer = 0, flushtimer = 0, appendtimer = 0; // the log update timer |
85 | killagreg | 318 | static GPX_Document_t logfile; // the logfilehandle |
437 | holgerb | 319 | static u8 part = 0, logging_active = 0, old_errorcode = 0; |
582 | holgerb | 320 | // u32 measure_time; |
82 | killagreg | 321 | |
218 | killagreg | 322 | // initialize if LogDelay is zero |
85 | killagreg | 323 | if(!LogDelay) |
324 | { |
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515 | killagreg | 325 | switch(logfilestate) |
85 | killagreg | 326 | { |
88 | killagreg | 327 | case LOGFILE_OPENED: |
85 | killagreg | 328 | GPX_DocumentClose(&logfile); // try to close it |
329 | break; |
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515 | killagreg | 330 | default: |
85 | killagreg | 331 | break; |
332 | } |
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333 | logfilestate = LOGFILE_IDLE; |
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334 | logfilename = NULL; |
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335 | GPX_DocumentInit(&logfile); |
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336 | logtimer = SetDelay(0); // set logtimer to now |
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88 | killagreg | 337 | return logfilestate; |
85 | killagreg | 338 | } |
339 | // no init |
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345 | holgerb | 340 | if(CheckDelay(logtimer) || part) |
85 | killagreg | 341 | { |
378 | holgerb | 342 | if(!part) logtimer = SetDelay(LogDelay); // standard interval |
88 | killagreg | 343 | |
489 | killagreg | 344 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
432 | holgerb | 345 | { |
346 | logging_active = 1; |
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489 | killagreg | 347 | appendtimer = SetDelay(APPEND_LOG_TIME_MS); |
432 | holgerb | 348 | } |
489 | killagreg | 349 | else |
432 | holgerb | 350 | { |
351 | if(CheckDelay(appendtimer)) logging_active = 0; |
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352 | } |
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353 | |||
354 | if(logging_active || part) |
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85 | killagreg | 355 | { |
356 | switch(logfilestate) |
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357 | { |
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358 | case LOGFILE_IDLE: |
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359 | case LOGFILE_CLOSED: |
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581 | holgerb | 360 | if((GPSData.Status != INVALID) && (SystemTime.Valid) && |
361 | ((FC.StatusFlags & FC_STATUS_FLY) || (LogCfg.StartAtMotorrun && (FC.StatusFlags & FC_STATUS_MOTOR_RUN)))) |
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85 | killagreg | 362 | { |
363 | logfilestate = LOGFILE_START; |
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364 | } |
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345 | holgerb | 365 | part = 0; |
85 | killagreg | 366 | break; |
367 | case LOGFILE_START: |
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368 | // find unused logfile name |
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369 | do |
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370 | { // try to generate a new logfile name |
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371 | logfilename = GenerateGPXLogFileName(); |
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378 | holgerb | 372 | }while((logfilename != NULL) && fexist_(logfilename)); |
85 | killagreg | 373 | // if logfilename exist |
374 | if(logfilename != NULL) |
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375 | { |
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376 | // try to create the log file |
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377 | if(GPX_DocumentOpen(logfilename, &logfile)) |
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378 | { |
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92 | killagreg | 379 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
85 | killagreg | 380 | logfilestate = LOGFILE_OPENED; // goto next step |
110 | killagreg | 381 | UART1_PutString("\r\nOpening gpx-file:"); |
382 | UART1_PutString(logfilename); |
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383 | UART1_PutString("\r\n"); |
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85 | killagreg | 384 | } |
385 | else // could not be openend |
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386 | { |
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387 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 388 | UART1_PutString("\r\nError opening gpx-file: "); |
389 | UART1_PutString(logfilename); |
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390 | UART1_PutString("\r\n"); |
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351 | holgerb | 391 | SD_LoggingError = 11; |
85 | killagreg | 392 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
393 | } |
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515 | killagreg | 394 | old_errorcode = ErrorCode; |
85 | killagreg | 395 | } |
396 | else |
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397 | { |
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398 | logfilestate = LOGFILE_ERROR; |
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515 | killagreg | 399 | UART1_PutString("\r\nError getting free gpx-file name\r\n"); |
351 | holgerb | 400 | SD_LoggingError = 12; |
85 | killagreg | 401 | } |
402 | // else retry in next loop |
||
345 | holgerb | 403 | part = 0; |
85 | killagreg | 404 | break; |
405 | case LOGFILE_OPENED: |
||
406 | // append new gps log data |
||
581 | holgerb | 407 | // measure_time = CountMilliseconds; |
429 | holgerb | 408 | if((GPSData.Status != INVALID))// && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
85 | killagreg | 409 | { |
345 | holgerb | 410 | if(!GPX_LoggGPSCoordinates(&logfile,part)) |
85 | killagreg | 411 | { // error logging data |
110 | killagreg | 412 | UART1_PutString("\r\nError logging to gpx-file\r\n"); |
515 | killagreg | 413 | GPX_DocumentClose(&logfile); |
351 | holgerb | 414 | SD_LoggingError = 13; |
85 | killagreg | 415 | logfilestate = LOGFILE_ERROR; |
416 | } |
||
92 | killagreg | 417 | else // successful log |
418 | { |
||
581 | holgerb | 419 | if(ErrorCode != old_errorcode || CheckDelay(flushtimer) || part == 8) |
92 | killagreg | 420 | { |
530 | holgerb | 421 | if(ErrorCode) { while(++part < 9) GPX_LoggGPSCoordinates(&logfile,part); }; // close this chapter |
489 | killagreg | 422 | if(ErrorCode != old_errorcode) flushtimer = SetDelay(1000); |
485 | holgerb | 423 | else flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
92 | killagreg | 424 | fflush_(logfile.file); |
485 | holgerb | 425 | old_errorcode = ErrorCode; |
92 | killagreg | 426 | } |
427 | } |
||
85 | killagreg | 428 | } |
536 | holgerb | 429 | if(++part >= 9) part = 0; |
610 | holgerb | 430 | //DebugOut.Analog[] = CountMilliseconds - measure_time; |
85 | killagreg | 431 | break; |
88 | killagreg | 432 | |
85 | killagreg | 433 | case LOGFILE_ERROR: |
345 | holgerb | 434 | part = 0; |
85 | killagreg | 435 | break; |
88 | killagreg | 436 | |
85 | killagreg | 437 | default: |
345 | holgerb | 438 | part = 0; |
85 | killagreg | 439 | logfilestate = LOGFILE_IDLE; |
440 | break; |
||
441 | } |
||
442 | } // EOF model is flying |
||
443 | else // model is not flying |
||
444 | { // close log file if opened |
||
445 | if(logfilestate == LOGFILE_OPENED) |
||
446 | { |
||
447 | if(GPX_DocumentClose(&logfile)) |
||
448 | { |
||
110 | killagreg | 449 | UART1_PutString("\r\nClosing gpx-file\r\n"); |
85 | killagreg | 450 | logfilestate = LOGFILE_CLOSED; |
345 | holgerb | 451 | part = 0; |
85 | killagreg | 452 | } |
453 | else // could not be closed |
||
454 | { |
||
110 | killagreg | 455 | UART1_PutString("\r\nError closing gpx-file\r\n"); |
351 | holgerb | 456 | SD_LoggingError = 14; |
85 | killagreg | 457 | logfilestate = LOGFILE_ERROR; |
345 | holgerb | 458 | part = 0; |
85 | killagreg | 459 | } |
460 | } |
||
461 | } //EOF model is not flying |
||
462 | } // EOF Check LogTimer |
||
463 | |||
82 | killagreg | 464 | return logfilestate; |
465 | } |
||
466 | |||
467 | //---------------------------------------------------------------------------------------------------- |
||
468 | // initialize logging |
||
469 | void Logging_Init(void) |
||
470 | { |
||
351 | holgerb | 471 | SD_LoggingError = 0; |
378 | holgerb | 472 | LogCfg.KML_Interval = 1000; //default |
88 | killagreg | 473 | Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
380 | holgerb | 474 | if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < MIN_SD_INTERVAL_KML) LogCfg.KML_Interval = MIN_SD_INTERVAL_KML; |
310 | holgerb | 475 | |
92 | killagreg | 476 | Logging_KML(0); // initialize |
146 | killagreg | 477 | LogCfg.GPX_Interval = 0; //default |
88 | killagreg | 478 | Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
581 | holgerb | 479 | Settings_GetParamValue(PID_LOG_AT_MOTORRUN, (u16*)&LogCfg.StartAtMotorrun); // overwrite by settings value |
380 | holgerb | 480 | if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < MIN_SD_INTERVAL_GPX) LogCfg.GPX_Interval = MIN_SD_INTERVAL_GPX; |
515 | killagreg | 481 | Logging_GPX(0); // initialize |
82 | killagreg | 482 | } |
483 | |||
484 | //---------------------------------------------------------------------------------------------------- |
||
485 | // gobal logging handler |
||
486 | void Logging_Update(void) |
||
487 | { |
||
115 | killagreg | 488 | static u8 logmodule = 0; |
82 | killagreg | 489 | static u32 logtimer = 0; |
490 | static logfilestate_t logstate = LOGFILE_IDLE; |
||
86 | killagreg | 491 | |
92 | killagreg | 492 | if(SD_SWITCH) // a card is in slot |
84 | killagreg | 493 | { |
351 | holgerb | 494 | if((logstate == LOGFILE_ERROR) && (FC.StatusFlags & FC_STATUS_START)) SD_LoggingError = 100; |
92 | killagreg | 495 | if(CheckDelay(logtimer)) |
84 | killagreg | 496 | { |
92 | killagreg | 497 | logtimer = SetDelay(10); // faster makes no sense |
498 | // call the logger handlers if no error has occured |
||
115 | killagreg | 499 | if(logstate != LOGFILE_ERROR) |
176 | killagreg | 500 | { // run only one logging handler per loop |
115 | killagreg | 501 | switch(logmodule++) |
502 | { |
||
503 | case 0: |
||
504 | logstate = Logging_KML(LogCfg.KML_Interval); |
||
505 | break; |
||
506 | case 1: |
||
507 | logstate = Logging_GPX(LogCfg.GPX_Interval); |
||
508 | logmodule = 0; // resart with first log module |
||
509 | break; |
||
510 | default: |
||
511 | logmodule = 0; |
||
512 | break; |
||
513 | } |
||
514 | } |
||
515 | else // a logging error has occured |
||
489 | killagreg | 516 | { |
351 | holgerb | 517 | // /* |
176 | killagreg | 518 | // try to reinitialize sd-card when motors are not running |
351 | holgerb | 519 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) |
92 | killagreg | 520 | { |
159 | killagreg | 521 | if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
522 | { |
||
523 | Logging_Init(); // initialize the logs |
||
524 | logstate = LOGFILE_IDLE; |
||
351 | holgerb | 525 | logtimer = SetDelay(100); // try next log in 100 mili sec |
159 | killagreg | 526 | } |
527 | else |
||
528 | { // retry in 5 seconds |
||
529 | logtimer = SetDelay(5000); // try again in 5 sec |
||
530 | } |
||
531 | } // EOF motors are not running |
||
351 | holgerb | 532 | // */ |
92 | killagreg | 533 | } //EOF logfile error |
534 | } // EOF CheckDelay |
||
535 | }// EOF Card in Slot |
||
88 | killagreg | 536 | } |