Rev 739 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
717 | holgerb | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
||
3 | /*#######################################################################################*/ |
||
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
5 | // + www.MikroKopter.com |
||
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
7 | // + Software Nutzungsbedingungen (english version: see below) |
||
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
||
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
||
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
||
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
||
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
||
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
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. |
||
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
||
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
||
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
||
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
||
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
||
22 | // + des Mitverschuldens offen. |
||
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
||
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
||
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
||
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
||
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
||
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
||
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
||
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
32 | // + Software LICENSING TERMS |
||
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
||
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 |
||
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. |
||
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
||
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
||
40 | // + agreement shall be the property of the Licensor. |
||
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
||
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
||
43 | // + The customer shall be responsible for taking reasonable precautions |
||
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
||
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
||
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
||
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
||
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
||
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
||
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
||
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
||
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
||
53 | // + #### END OF LICENSING TERMS #### |
||
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
||
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
56 | #include <stdio.h> |
||
57 | #include <stdlib.h> |
||
58 | #include "91x_lib.h" |
||
59 | #include "main.h" |
||
60 | #include "timer1.h" |
||
61 | #include "timer2.h" |
||
62 | #include "uart1.h" |
||
63 | #include "triggerlog.h" |
||
64 | #include "gpx.h" |
||
65 | #include "ssc.h" |
||
66 | #include "settings.h" |
||
67 | #include "led.h" |
||
68 | #include "logging.h" |
||
69 | #include "timer1.h" |
||
70 | #include "gps.h" |
||
71 | #include "spi_slave.h" |
||
72 | |||
73 | u16 Logged_TRIG_Counter = 0; |
||
74 | u16 TRIG_Filenum = 0; |
||
75 | u8 BlitzSchuhConnected = 1; |
||
76 | |||
77 | TrigLog_t TrigLogging; |
||
78 | |||
79 | void TriggerInput(void) // triggerinput on IO1 |
||
80 | { |
||
81 | TrigLogging.Longitude = GPSData.Position.Longitude; |
||
82 | TrigLogging.Latitude = GPSData.Position.Latitude; |
||
83 | TrigLogging.Count++; |
||
726 | holgerb | 84 | if(BlitzSchuhConnected) TrigLogging.CountExternal++; |
85 | else TrigLogging.CountExternal = 0; |
||
739 | holgerb | 86 | TrigLogging.AltiBaro = NaviData.Altimeter_5cm * 5; // in cm |
717 | holgerb | 87 | TrigLogging.AltiGPS = GPSData.Position.Altitude; |
88 | TrigLogging.ShutterCounter = NaviData_Volatile.ShutterCounter; |
||
89 | |||
90 | TrigLogging.Hour = SystemTime.Hour; |
||
91 | TrigLogging.Min = SystemTime.Min; |
||
92 | TrigLogging.Sec = SystemTime.Sec; |
||
93 | TrigLogging.mSec = SystemTime.mSec; |
||
94 | TrigLogging.ServoControlNick = ServoParams.NickControl; |
||
95 | TrigLogging.ServoControlPoi = POI_KameraNick; |
||
96 | if(SimulationFlags) TrigLogging.Yaw = CompassSetpointCorrected; |
||
97 | else TrigLogging.Yaw = GyroCompassCorrected; |
||
98 | TrigLogging.NewData++; |
||
99 | } |
||
100 | |||
101 | const s8 TRIG_DOCUMENT_FOOTER[] = |
||
102 | { |
||
103 | "\r\n" |
||
104 | "#Triggerlogfile closed\r\n" |
||
105 | }; |
||
106 | |||
107 | //________________________________________________________________________________________________________________________________________ |
||
108 | // Function: TRIG_DocumentInit(TRIG_Document_t *) |
||
109 | // |
||
110 | // Description: This function initializes the kml-document for further use. |
||
111 | // |
||
112 | // |
||
113 | // Returnvalue: '1' if document was initialized |
||
114 | //________________________________________________________________________________________________________________________________________ |
||
115 | |||
116 | u8 TRIG_DocumentInit(TRIG_Document_t *doc) |
||
117 | { |
||
118 | doc->state = TRIG_DOC_CLOSED; // state of the kml-document |
||
119 | doc->file = NULL; |
||
120 | return(1); |
||
121 | } |
||
122 | |||
123 | |||
124 | //________________________________________________________________________________________________________________________________________ |
||
125 | // Function: DocumentClose(TRIG_Document_t *doc); |
||
126 | // |
||
127 | // Description: This function closes the document specified by doc. |
||
128 | // |
||
129 | // |
||
130 | // Returnvalue: '1' if the KML- file could be closed. |
||
131 | //________________________________________________________________________________________________________________________________________ |
||
132 | |||
133 | u8 TRIG_DocumentClose(TRIG_Document_t *doc) |
||
134 | { |
||
135 | |||
136 | u8 retvalue = 1; |
||
137 | |||
138 | if(doc == NULL) return(0); |
||
139 | |||
140 | while(doc->state != TRIG_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
||
141 | { |
||
142 | switch(doc->state) |
||
143 | { |
||
144 | case TRIG_DOC_LINESTRING_OPENED: |
||
145 | TRIG_LineStringEnd(doc); // write terminating tag to end linestring. |
||
146 | break; |
||
147 | |||
148 | case TRIG_DOC_PLACEMARK_OPENED: // write terminating tag to close placemark. |
||
149 | TRIG_PlaceMarkClose(doc); |
||
150 | break; |
||
151 | |||
152 | case TRIG_DOC_OPENED: // close the file on the memorycard |
||
153 | if(doc->file != NULL) |
||
154 | { |
||
155 | fwrite_((void*)TRIG_DOCUMENT_FOOTER, sizeof(TRIG_DOCUMENT_FOOTER)-1,1,doc->file); // write the KML- footer to the document. |
||
156 | fclose_(doc->file); |
||
157 | retvalue = 1; |
||
158 | } |
||
159 | doc->state = TRIG_DOC_CLOSED; |
||
160 | break; |
||
161 | |||
162 | default: |
||
163 | doc->state = TRIG_DOC_CLOSED; |
||
164 | break; |
||
165 | |||
166 | } |
||
167 | } |
||
168 | return(retvalue); |
||
169 | } |
||
170 | |||
171 | //________________________________________________________________________________________________________________________________________ |
||
172 | // Function: u8 TRIG_PlaceMarkOpen(TRIG_Document_t *doc); |
||
173 | // |
||
174 | // Description: This function adds a placemark to the document. |
||
175 | // |
||
176 | // |
||
177 | // Returnvalue: '1' if the PlaceMark could be opened |
||
178 | //________________________________________________________________________________________________________________________________________ |
||
179 | |||
180 | u8 TRIG_PlaceMarkOpen(TRIG_Document_t *doc) |
||
181 | { |
||
182 | u8 retvalue = 0; |
||
183 | if(doc->state == TRIG_DOC_OPENED) |
||
184 | { |
||
185 | if(doc->file != NULL) |
||
186 | { |
||
187 | doc->state = TRIG_DOC_PLACEMARK_OPENED; |
||
188 | retvalue = 1; |
||
189 | // fwrite_((void*)TRIG_PLACEMARK_HEADER, sizeof(TRIG_PLACEMARK_HEADER)-1,1,doc->file); |
||
190 | } |
||
191 | } |
||
192 | return(retvalue); |
||
193 | } |
||
194 | |||
195 | //________________________________________________________________________________________________________________________________________ |
||
196 | // Function: u8 PlaceMarkClose(TRIG_PlaceMark_t *place, File *file); |
||
197 | // |
||
198 | // Description: This function ends the placemark opened before. |
||
199 | // |
||
200 | // |
||
201 | // Returnvalue: 1' if the PlaceMark could be closed |
||
202 | //________________________________________________________________________________________________________________________________________ |
||
203 | |||
204 | u8 TRIG_PlaceMarkClose(TRIG_Document_t *doc) |
||
205 | { |
||
206 | |||
207 | u8 retvalue = 0; // close the Placemark-tag of the corosponding document. |
||
208 | |||
209 | if(doc->state == TRIG_DOC_PLACEMARK_OPENED) |
||
210 | { |
||
211 | if(doc->file != NULL) |
||
212 | { |
||
213 | doc->state = TRIG_DOC_OPENED; |
||
214 | // fwrite_((void*)TRIG_PLACEMARK_FOOTER, sizeof(TRIG_PLACEMARK_FOOTER)-1,1,doc->file); |
||
215 | retvalue = 1; |
||
216 | } |
||
217 | } |
||
218 | |||
219 | return(retvalue); |
||
220 | } |
||
221 | |||
222 | //________________________________________________________________________________________________________________________________________ |
||
223 | // Function: u8 LineStringBegin(TRIG_Document_t *doc); |
||
224 | // |
||
225 | // Description: This function ends the placemark opened before. |
||
226 | // |
||
227 | // |
||
228 | // Returnvalue: '1' if the LineString could be started |
||
229 | //________________________________________________________________________________________________________________________________________ |
||
230 | |||
231 | u8 TRIG_LineStringBegin(TRIG_Document_t *doc) |
||
232 | { |
||
233 | |||
234 | u8 retvalue = 0; |
||
235 | |||
236 | if(doc->state == TRIG_DOC_PLACEMARK_OPENED) |
||
237 | { |
||
238 | if(doc->file != NULL) |
||
239 | { |
||
240 | doc->state = TRIG_DOC_LINESTRING_OPENED; |
||
241 | // fwrite_((void*)TRIG_LINESTRING_HEADER, sizeof(TRIG_LINESTRING_HEADER)-1,1,doc->file); |
||
242 | Logged_TRIG_Counter = 0; |
||
243 | TrigLogging.NewData = 0; |
||
244 | retvalue = 1; |
||
245 | } |
||
246 | } |
||
247 | return(retvalue); |
||
248 | } |
||
249 | |||
250 | //________________________________________________________________________________________________________________________________________ |
||
251 | // Function: u8 TRIG_LineStringEnd(TRIG_Document_t *doc) |
||
252 | // |
||
253 | // Description: This function ends the placemark opened before. |
||
254 | // |
||
255 | // |
||
256 | // Returnvalue: '1' if the LineString could be terminated |
||
257 | //________________________________________________________________________________________________________________________________________ |
||
258 | |||
259 | u8 TRIG_LineStringEnd(TRIG_Document_t *doc) |
||
260 | { |
||
261 | u8 retvalue = 0; |
||
262 | if(doc->state == TRIG_DOC_LINESTRING_OPENED) |
||
263 | { |
||
264 | if(doc->file != NULL) |
||
265 | { |
||
266 | doc->state = TRIG_DOC_PLACEMARK_OPENED; |
||
267 | // fwrite_((void*)TRIG_LINESTRING_FOOTER, sizeof(TRIG_LINESTRING_FOOTER)-1,1,doc->file); |
||
268 | retvalue = 1; |
||
269 | } |
||
270 | } |
||
271 | return(retvalue); |
||
272 | } |
||
273 | |||
274 | //________________________________________________________________________________________________________________________________________ |
||
275 | // Function: TRIG_Document_Open(void); |
||
276 | // |
||
277 | // Description: This function opens a new KML- document with the specified name and creates the document header within the file. |
||
278 | // |
||
279 | // |
||
280 | // Returnvalue: '1' if the KML- file could be created. |
||
281 | //________________________________________________________________________________________________________________________________________ |
||
282 | |||
283 | u8 TRIG_DocumentOpen(s8 *name, TRIG_Document_t *doc) |
||
284 | { |
||
285 | |||
286 | u8 retvalue = 0; |
||
287 | s8 string[150]; |
||
288 | |||
289 | if(doc == NULL) return(0); |
||
290 | |||
291 | TRIG_DocumentInit(doc); // intialize the document with resetvalues |
||
292 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
||
293 | |||
294 | if(doc->file != NULL) // could the file be opened? |
||
295 | { |
||
296 | retvalue = 1; // the document could be created on the drive. |
||
297 | doc->state = TRIG_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
||
742 | holgerb | 298 | sprintf(string, "#Counter;Time;Latitude;Longitude;GPSAltitude[m](raw);BaroAltitude[m];Compass[deg];ServoSetpoint(raw);ServoPoi[deg]"); |
717 | holgerb | 299 | fputs_(string, doc->file); |
300 | sprintf(string, "\r\n#%4i.%02i.%02i Nr:%i (%02i%02i%02i%02i.GPX)", SystemTime.Year, SystemTime.Month, SystemTime.Day, TRIG_Filenum, SystemTime.Year%100, SystemTime.Month, SystemTime.Day, GPX_Filenum); |
||
301 | fputs_(string, doc->file); |
||
302 | if(SimulationFlags) { sprintf(string, " SIMULATED"); fputs_(string, doc->file);}; |
||
303 | if(BlitzSchuhConnected){ sprintf(string, "\r\n#External hotshoe sensor connected"); fputs_(string, doc->file);}; |
||
304 | } |
||
305 | return(retvalue); |
||
306 | } |
||
307 | |||
308 | |||
309 | //________________________________________________________________________________________________________________________________________ |
||
310 | // Function: u8 LineStringAddPoint(gps_data_t, TRIG_Document_t *doc) |
||
311 | // |
||
312 | // Description: This function adds a point to the specified document. |
||
313 | // |
||
314 | // |
||
315 | // Returnvalue: '1' if a ppoint was added could be started |
||
316 | //________________________________________________________________________________________________________________________________________ |
||
317 | |||
318 | u8 TRIG_LineStringAddPoint(TRIG_Document_t *doc) |
||
319 | { |
||
320 | |||
321 | u8 retvalue = 0; |
||
322 | s8 string[70]; |
||
323 | s32 rel_altitude = 0; |
||
324 | |||
325 | if(doc == NULL) return(0); |
||
326 | |||
327 | if(GPSData.Position.Status != INVALID) |
||
328 | { |
||
329 | if(doc->state == TRIG_DOC_LINESTRING_OPENED) |
||
330 | { |
||
331 | if(doc->file != NULL) |
||
332 | { |
||
333 | s32 i1, i2; |
||
334 | u8 sign; |
||
335 | // Counter |
||
336 | sprintf(string,"\r\n%d",TrigLogging.Count); |
||
337 | fputs_(string, doc->file); |
||
338 | // Time |
||
339 | sprintf(string, ";%04d-%02d-%02dT%02d:%02d:%02d.%dZ",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec,SystemTime.mSec/100); |
||
340 | fputs_(string, doc->file); |
||
341 | // Position |
||
342 | if(TrigLogging.Latitude < 0) sign = '-'; |
||
343 | else sign = '+'; |
||
344 | i1 = abs(TrigLogging.Latitude)/10000000L; |
||
345 | i2 = abs(TrigLogging.Latitude)%10000000L; |
||
346 | sprintf(string,";%c%ld.%07ld",sign, i1, i2); |
||
347 | fputs_(string, doc->file); |
||
348 | |||
349 | if(TrigLogging.Longitude < 0) sign = '-'; |
||
350 | else sign = '+'; |
||
351 | i1 = abs(TrigLogging.Longitude)/10000000L; |
||
352 | i2 = abs(TrigLogging.Longitude)%10000000L; |
||
353 | sprintf(string,";%c%ld.%07ld",sign, i1, i2); |
||
354 | fputs_(string, doc->file); |
||
355 | // calculate relative altitude with respect to the altitude of the home position |
||
356 | // Altitude GPS |
||
357 | rel_altitude = TrigLogging.AltiGPS;// - NaviData.HomePosition.Altitude; |
||
358 | // if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log |
||
359 | i1 = rel_altitude/1000L; |
||
360 | i2 = rel_altitude%1000L; |
||
721 | holgerb | 361 | sprintf(string,";%ld.%03ld",i1, labs(i2)); |
717 | holgerb | 362 | fputs_(string, doc->file); |
363 | // Altitude Baro |
||
364 | sprintf(string,";%ld.%02d",TrigLogging.AltiBaro/100,abs(TrigLogging.AltiBaro%100)); |
||
365 | fputs_(string, doc->file); |
||
366 | // Yaw angle |
||
367 | sprintf(string,";%d.%d",TrigLogging.Yaw/10,abs(TrigLogging.Yaw%10)); |
||
368 | fputs_(string, doc->file); |
||
369 | // ServoSet; ServoPoi |
||
370 | sprintf(string,";%d;%d.%d",TrigLogging.ServoControlNick,TrigLogging.ServoControlPoi/10,abs(TrigLogging.ServoControlPoi%10)); |
||
371 | fputs_(string, doc->file); |
||
372 | |||
373 | Logged_TRIG_Counter++; |
||
374 | retvalue = 1; |
||
375 | } |
||
376 | } |
||
377 | } |
||
378 | else |
||
379 | { |
||
380 | if(doc->state == TRIG_DOC_LINESTRING_OPENED) |
||
381 | { |
||
382 | if(doc->file != NULL) |
||
383 | { |
||
384 | sprintf(string,"\r\n"); |
||
385 | fputs_(string, doc->file); |
||
386 | Logged_TRIG_Counter++; |
||
387 | retvalue = 1; |
||
388 | } |
||
389 | } |
||
390 | } |
||
391 | return(retvalue); |
||
392 | } |
||
393 | |||
394 | //________________________________________________________________________________________________________________________________________ |
||
395 | // Function: u8 TRIG_LoggGPSCoordinates(gps_data_t *, TRIG_Document_t *) |
||
396 | // |
||
397 | // Description: This function opens adds gpscoordinates to an KML-Document. The document will be opened, if not already done |
||
398 | // |
||
399 | // |
||
400 | // Returnvalue: '1' if an gps coordinate was logged |
||
401 | //________________________________________________________________________________________________________________________________________ |
||
402 | |||
403 | u8 TRIG_LoggGPSCoordinates(TRIG_Document_t *doc) |
||
404 | { |
||
405 | u8 retval = 0; |
||
406 | while(doc->state != TRIG_DOC_LINESTRING_OPENED) // automatic create document with default filename on the card. |
||
407 | { |
||
408 | switch(doc->state) |
||
409 | { |
||
410 | case TRIG_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
||
411 | // retval = TRIG_DocumentOpen("default.kml",doc); // open the kml-document with a standardname. |
||
412 | break; |
||
413 | |||
414 | case TRIG_DOC_OPENED: // if a document has been opened before but no placemark exists: |
||
415 | retval = TRIG_PlaceMarkOpen(doc); |
||
416 | break; |
||
417 | |||
418 | case TRIG_DOC_PLACEMARK_OPENED: // add linestring to the placemark |
||
419 | retval = TRIG_LineStringBegin(doc); |
||
420 | break; |
||
421 | |||
422 | default: |
||
423 | retval = 0; |
||
424 | break; |
||
425 | |||
426 | } |
||
427 | if(retval != 1) return(retval); // stop on error |
||
428 | } |
||
429 | |||
430 | if(doc->state == TRIG_DOC_LINESTRING_OPENED) // if the document was opened add coordinates to the document. |
||
431 | { |
||
432 | retval = TRIG_LineStringAddPoint(doc); |
||
433 | } |
||
434 | return(retval); |
||
435 | } |
||
436 | |||
437 | |||
438 | |||
439 | //---------------------------------------------------------------------------------------------------- |
||
440 | s8* GenerateTriggLogFileName(void) |
||
441 | { |
||
442 | static u16 filenum = 0; // file name counter |
||
443 | static s8 filename[40]; |
||
444 | |||
445 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
||
446 | if(filenum < GPX_Filenum) filenum = GPX_Filenum; |
||
447 | if(SystemTime.Valid) |
||
448 | { |
||
449 | // if the day has been changed |
||
450 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
||
451 | { |
||
452 | LastTime.Year = SystemTime.Year; |
||
453 | LastTime.Month = SystemTime.Month; |
||
454 | LastTime.Day = SystemTime.Day; |
||
455 | LastTime.Valid = 1; |
||
456 | filenum = 0; // reset file counter |
||
457 | } |
||
458 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
||
459 | { |
||
460 | if(filenum < 100) sprintf(filename, "/LOG/%04i%02i%02i/GPX/%02i%02i%02i%02i.TXT", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 100, SystemTime.Month, SystemTime.Day, filenum); |
||
461 | else sprintf(filename, "/LOG/%04i%02i%02i/GPX/GPS%05i.TXT", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
||
462 | } |
||
463 | else |
||
464 | { |
||
465 | if(filenum < 100 && SystemTime.Year > 2000) sprintf(filename, "/SIMULATE/%04i%02i%02i/GPX/S%i%02i%02i%02i.TXT", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 10, SystemTime.Month, SystemTime.Day, filenum); |
||
466 | else sprintf(filename, "/SIMULATE/%04i%02i%02i/GPX/SIM%05i.TXT", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
||
467 | } |
||
468 | TRIG_Filenum = filenum; |
||
469 | filenum++; |
||
470 | return filename; |
||
471 | } |
||
472 | else return NULL; |
||
473 | } |
||
474 | |||
475 | |||
476 | |||
477 | //---------------------------------------------------------------------------------------------------- |
||
478 | // logs the current gps position to a csv file |
||
722 | ingob | 479 | logfilestate_t LoggingTrigger(u32 LogDelay) |
717 | holgerb | 480 | { |
481 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
||
482 | static s8* logfilename = NULL; // the pointer to the logfilename |
||
483 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
||
484 | static TRIG_Document_t logfile; // the logfilehandle |
||
485 | static u32 appendtimer = 0; // the log update timer |
||
486 | static u8 logging_active = 0; |
||
487 | |||
488 | // initialize if LogDelay is zero |
||
489 | if(!LogDelay) |
||
490 | { |
||
491 | switch(logfilestate) |
||
492 | { |
||
493 | case LOGFILE_OPENED: |
||
494 | TRIG_DocumentClose(&logfile); // try to close it |
||
495 | break; |
||
496 | default: |
||
497 | break; |
||
498 | } |
||
499 | logfilestate = LOGFILE_IDLE; |
||
500 | logfilename = NULL; |
||
501 | TRIG_DocumentInit(&logfile); |
||
502 | logtimer = SetDelay(0); // set logtimer to now |
||
503 | return logfilestate; |
||
504 | } |
||
505 | // no init |
||
506 | if(CheckDelay(logtimer) || (TrigLogging.NewData && logging_active)) |
||
507 | { |
||
508 | logtimer = SetDelay(LogDelay); // standard interval |
||
509 | |||
510 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
||
511 | { |
||
512 | logging_active = 1; |
||
513 | appendtimer = SetDelay(APPEND_LOG_TIME_MS); |
||
514 | } |
||
515 | else |
||
516 | { |
||
517 | if(CheckDelay(appendtimer)) logging_active = 0; |
||
518 | } |
||
519 | |||
520 | if(logging_active) |
||
521 | { |
||
522 | switch(logfilestate) |
||
523 | { |
||
524 | case LOGFILE_IDLE: |
||
525 | case LOGFILE_CLOSED: |
||
526 | if(GPX_logging_active == 2) // start after GPX-Log |
||
527 | { |
||
528 | logfilestate = LOGFILE_START; |
||
529 | } |
||
530 | break; |
||
531 | case LOGFILE_START: |
||
532 | // find unused logfile name |
||
533 | do |
||
534 | { // try to generate a new logfile name |
||
535 | logfilename = GenerateTriggLogFileName(); |
||
536 | }while((logfilename != NULL) && fexist_(logfilename)); |
||
537 | // if logfilename exist |
||
538 | if(logfilename != NULL) |
||
539 | { |
||
540 | // try to create the log file |
||
541 | if(TRIG_DocumentOpen(logfilename, &logfile)) |
||
542 | { |
||
543 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
||
544 | logfilestate = LOGFILE_OPENED; // goto next step |
||
545 | UART1_PutString("\r\nOpening trigger-file:"); |
||
546 | UART1_PutString(logfilename); |
||
547 | UART1_PutString("\r\n"); |
||
548 | TrigLogging.NewData = 0; |
||
549 | TrigLogging.Count = 0; |
||
726 | holgerb | 550 | TrigLogging.CountExternal = 0; |
717 | holgerb | 551 | fflush_(logfile.file); |
552 | } |
||
553 | else // could not be openend |
||
554 | { |
||
555 | logfilestate = LOGFILE_ERROR; |
||
556 | UART1_PutString("\r\nError opening trigger-file: "); |
||
557 | UART1_PutString(logfilename); |
||
558 | UART1_PutString("\r\n"); |
||
559 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
||
560 | SD_LoggingError = 1; |
||
561 | } |
||
562 | } |
||
563 | else |
||
564 | { |
||
565 | logfilestate = LOGFILE_ERROR; |
||
566 | UART1_PutString("\r\nError getting free trigger-file name\r\n"); |
||
567 | SD_LoggingError = 2; |
||
568 | } |
||
569 | // else retry in next loop |
||
570 | break; |
||
571 | case LOGFILE_OPENED: |
||
572 | // append new gps log data |
||
573 | if(TrigLogging.NewData) |
||
574 | { |
||
575 | TrigLogging.NewData--; |
||
576 | if((GPSData.Status != INVALID))// && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
||
577 | { |
||
578 | if(!TRIG_LoggGPSCoordinates(&logfile)) |
||
579 | { // error logging data |
||
580 | UART1_PutString("\r\nError logging to trigger-file\r\n"); |
||
581 | SD_LoggingError = 3; |
||
582 | TRIG_DocumentClose(&logfile); |
||
583 | logfilestate = LOGFILE_ERROR; |
||
584 | TrigLogging.NewData = 0; |
||
585 | } |
||
586 | else // sucessfully logged |
||
587 | { |
||
588 | SD_LoggingError = 0; |
||
589 | // if(CheckDelay(flushtimer)) |
||
590 | { |
||
591 | // flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
||
592 | fflush_(logfile.file); |
||
593 | } |
||
594 | } |
||
595 | |||
596 | } |
||
597 | } |
||
598 | break; |
||
599 | |||
600 | case LOGFILE_ERROR: |
||
601 | break; |
||
602 | |||
603 | default: |
||
604 | logfilestate = LOGFILE_IDLE; |
||
605 | break; |
||
606 | } |
||
607 | } // EOF motors are not running |
||
608 | else // model is not flying |
||
609 | { // close log file if opened |
||
610 | if(logfilestate == LOGFILE_OPENED) |
||
611 | { |
||
612 | if(TRIG_DocumentClose(&logfile)) |
||
613 | { |
||
614 | UART1_PutString("\r\nClosing trigger-file\r\n"); |
||
615 | logfilestate = LOGFILE_CLOSED; |
||
616 | } |
||
617 | else // could not be closed |
||
618 | { |
||
619 | UART1_PutString("\r\nError closing trigger-file\r\n"); |
||
620 | SD_LoggingError = 4; |
||
621 | logfilestate = LOGFILE_ERROR; |
||
622 | } |
||
623 | } |
||
624 | } //EOF motors are not running |
||
625 | } // EOF Check LogTimer |
||
626 | |||
627 | return logfilestate; |
||
628 | } |
||
629 | |||
630 | |||
631 |