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717 | holgerb | 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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7 | // + Software Nutzungsbedingungen (english version: see below) |
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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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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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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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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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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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31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | // + Software LICENSING TERMS |
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33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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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 |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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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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55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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56 | #include <stdio.h> |
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57 | #include <stdlib.h> |
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58 | #include "91x_lib.h" |
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59 | #include "main.h" |
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60 | #include "timer1.h" |
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61 | #include "timer2.h" |
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62 | #include "uart1.h" |
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63 | #include "triggerlog.h" |
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64 | #include "gpx.h" |
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65 | #include "ssc.h" |
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66 | #include "settings.h" |
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67 | #include "led.h" |
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68 | #include "logging.h" |
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69 | #include "timer1.h" |
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70 | #include "gps.h" |
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71 | #include "spi_slave.h" |
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72 | |||
73 | u16 Logged_TRIG_Counter = 0; |
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74 | u16 TRIG_Filenum = 0; |
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75 | u8 BlitzSchuhConnected = 1; |
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76 | |||
77 | TrigLog_t TrigLogging; |
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78 | |||
79 | void TriggerInput(void) // triggerinput on IO1 |
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80 | { |
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81 | TrigLogging.Longitude = GPSData.Position.Longitude; |
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82 | TrigLogging.Latitude = GPSData.Position.Latitude; |
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83 | TrigLogging.Count++; |
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84 | TrigLogging.AltiBaro = NaviData.Altimeter * 5; // in cm |
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85 | TrigLogging.AltiGPS = GPSData.Position.Altitude; |
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86 | TrigLogging.ShutterCounter = NaviData_Volatile.ShutterCounter; |
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87 | |||
88 | TrigLogging.Hour = SystemTime.Hour; |
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89 | TrigLogging.Min = SystemTime.Min; |
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90 | TrigLogging.Sec = SystemTime.Sec; |
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91 | TrigLogging.mSec = SystemTime.mSec; |
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92 | TrigLogging.ServoControlNick = ServoParams.NickControl; |
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93 | TrigLogging.ServoControlPoi = POI_KameraNick; |
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94 | if(SimulationFlags) TrigLogging.Yaw = CompassSetpointCorrected; |
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95 | else TrigLogging.Yaw = GyroCompassCorrected; |
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96 | TrigLogging.NewData++; |
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97 | } |
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98 | |||
99 | const s8 TRIG_DOCUMENT_FOOTER[] = |
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100 | { |
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101 | "\r\n" |
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102 | "#Triggerlogfile closed\r\n" |
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103 | }; |
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104 | |||
105 | //________________________________________________________________________________________________________________________________________ |
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106 | // Function: TRIG_DocumentInit(TRIG_Document_t *) |
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107 | // |
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108 | // Description: This function initializes the kml-document for further use. |
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109 | // |
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110 | // |
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111 | // Returnvalue: '1' if document was initialized |
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112 | //________________________________________________________________________________________________________________________________________ |
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113 | |||
114 | u8 TRIG_DocumentInit(TRIG_Document_t *doc) |
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115 | { |
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116 | doc->state = TRIG_DOC_CLOSED; // state of the kml-document |
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117 | doc->file = NULL; |
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118 | return(1); |
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119 | } |
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120 | |||
121 | |||
122 | //________________________________________________________________________________________________________________________________________ |
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123 | // Function: DocumentClose(TRIG_Document_t *doc); |
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124 | // |
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125 | // Description: This function closes the document specified by doc. |
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126 | // |
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127 | // |
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128 | // Returnvalue: '1' if the KML- file could be closed. |
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129 | //________________________________________________________________________________________________________________________________________ |
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130 | |||
131 | u8 TRIG_DocumentClose(TRIG_Document_t *doc) |
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132 | { |
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133 | |||
134 | u8 retvalue = 1; |
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135 | |||
136 | if(doc == NULL) return(0); |
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137 | |||
138 | while(doc->state != TRIG_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
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139 | { |
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140 | switch(doc->state) |
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141 | { |
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142 | case TRIG_DOC_LINESTRING_OPENED: |
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143 | TRIG_LineStringEnd(doc); // write terminating tag to end linestring. |
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144 | break; |
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145 | |||
146 | case TRIG_DOC_PLACEMARK_OPENED: // write terminating tag to close placemark. |
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147 | TRIG_PlaceMarkClose(doc); |
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148 | break; |
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149 | |||
150 | case TRIG_DOC_OPENED: // close the file on the memorycard |
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151 | if(doc->file != NULL) |
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152 | { |
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153 | fwrite_((void*)TRIG_DOCUMENT_FOOTER, sizeof(TRIG_DOCUMENT_FOOTER)-1,1,doc->file); // write the KML- footer to the document. |
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154 | fclose_(doc->file); |
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155 | retvalue = 1; |
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156 | } |
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157 | doc->state = TRIG_DOC_CLOSED; |
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158 | break; |
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159 | |||
160 | default: |
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161 | doc->state = TRIG_DOC_CLOSED; |
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162 | break; |
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163 | |||
164 | } |
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165 | } |
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166 | return(retvalue); |
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167 | } |
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168 | |||
169 | //________________________________________________________________________________________________________________________________________ |
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170 | // Function: u8 TRIG_PlaceMarkOpen(TRIG_Document_t *doc); |
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171 | // |
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172 | // Description: This function adds a placemark to the document. |
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173 | // |
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174 | // |
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175 | // Returnvalue: '1' if the PlaceMark could be opened |
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176 | //________________________________________________________________________________________________________________________________________ |
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177 | |||
178 | u8 TRIG_PlaceMarkOpen(TRIG_Document_t *doc) |
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179 | { |
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180 | u8 retvalue = 0; |
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181 | if(doc->state == TRIG_DOC_OPENED) |
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182 | { |
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183 | if(doc->file != NULL) |
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184 | { |
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185 | doc->state = TRIG_DOC_PLACEMARK_OPENED; |
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186 | retvalue = 1; |
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187 | // fwrite_((void*)TRIG_PLACEMARK_HEADER, sizeof(TRIG_PLACEMARK_HEADER)-1,1,doc->file); |
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188 | } |
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189 | } |
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190 | return(retvalue); |
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191 | } |
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192 | |||
193 | //________________________________________________________________________________________________________________________________________ |
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194 | // Function: u8 PlaceMarkClose(TRIG_PlaceMark_t *place, File *file); |
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195 | // |
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196 | // Description: This function ends the placemark opened before. |
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197 | // |
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198 | // |
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199 | // Returnvalue: 1' if the PlaceMark could be closed |
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200 | //________________________________________________________________________________________________________________________________________ |
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201 | |||
202 | u8 TRIG_PlaceMarkClose(TRIG_Document_t *doc) |
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203 | { |
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204 | |||
205 | u8 retvalue = 0; // close the Placemark-tag of the corosponding document. |
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206 | |||
207 | if(doc->state == TRIG_DOC_PLACEMARK_OPENED) |
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208 | { |
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209 | if(doc->file != NULL) |
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210 | { |
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211 | doc->state = TRIG_DOC_OPENED; |
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212 | // fwrite_((void*)TRIG_PLACEMARK_FOOTER, sizeof(TRIG_PLACEMARK_FOOTER)-1,1,doc->file); |
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213 | retvalue = 1; |
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214 | } |
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215 | } |
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216 | |||
217 | return(retvalue); |
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218 | } |
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219 | |||
220 | //________________________________________________________________________________________________________________________________________ |
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221 | // Function: u8 LineStringBegin(TRIG_Document_t *doc); |
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222 | // |
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223 | // Description: This function ends the placemark opened before. |
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224 | // |
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225 | // |
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226 | // Returnvalue: '1' if the LineString could be started |
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227 | //________________________________________________________________________________________________________________________________________ |
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228 | |||
229 | u8 TRIG_LineStringBegin(TRIG_Document_t *doc) |
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230 | { |
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231 | |||
232 | u8 retvalue = 0; |
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233 | |||
234 | if(doc->state == TRIG_DOC_PLACEMARK_OPENED) |
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235 | { |
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236 | if(doc->file != NULL) |
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237 | { |
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238 | doc->state = TRIG_DOC_LINESTRING_OPENED; |
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239 | // fwrite_((void*)TRIG_LINESTRING_HEADER, sizeof(TRIG_LINESTRING_HEADER)-1,1,doc->file); |
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240 | Logged_TRIG_Counter = 0; |
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241 | TrigLogging.NewData = 0; |
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242 | retvalue = 1; |
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243 | } |
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244 | } |
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245 | return(retvalue); |
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246 | } |
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247 | |||
248 | //________________________________________________________________________________________________________________________________________ |
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249 | // Function: u8 TRIG_LineStringEnd(TRIG_Document_t *doc) |
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250 | // |
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251 | // Description: This function ends the placemark opened before. |
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252 | // |
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253 | // |
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254 | // Returnvalue: '1' if the LineString could be terminated |
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255 | //________________________________________________________________________________________________________________________________________ |
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256 | |||
257 | u8 TRIG_LineStringEnd(TRIG_Document_t *doc) |
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258 | { |
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259 | u8 retvalue = 0; |
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260 | if(doc->state == TRIG_DOC_LINESTRING_OPENED) |
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261 | { |
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262 | if(doc->file != NULL) |
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263 | { |
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264 | doc->state = TRIG_DOC_PLACEMARK_OPENED; |
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265 | // fwrite_((void*)TRIG_LINESTRING_FOOTER, sizeof(TRIG_LINESTRING_FOOTER)-1,1,doc->file); |
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266 | retvalue = 1; |
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267 | } |
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268 | } |
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269 | return(retvalue); |
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270 | } |
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271 | |||
272 | //________________________________________________________________________________________________________________________________________ |
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273 | // Function: TRIG_Document_Open(void); |
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274 | // |
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275 | // Description: This function opens a new KML- document with the specified name and creates the document header within the file. |
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276 | // |
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277 | // |
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278 | // Returnvalue: '1' if the KML- file could be created. |
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279 | //________________________________________________________________________________________________________________________________________ |
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280 | |||
281 | u8 TRIG_DocumentOpen(s8 *name, TRIG_Document_t *doc) |
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282 | { |
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283 | |||
284 | u8 retvalue = 0; |
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285 | s8 string[150]; |
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286 | |||
287 | if(doc == NULL) return(0); |
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288 | |||
289 | TRIG_DocumentInit(doc); // intialize the document with resetvalues |
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290 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
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291 | |||
292 | if(doc->file != NULL) // could the file be opened? |
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293 | { |
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294 | retvalue = 1; // the document could be created on the drive. |
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295 | doc->state = TRIG_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
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296 | sprintf(string, "#Counter;Time;Longitude;Latitude;GPSAltitude[m](raw);BaroAltitude[m];Compass[deg];ServoSetpoint(raw);ServoPoi[deg]"); |
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297 | fputs_(string, doc->file); |
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298 | 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); |
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299 | fputs_(string, doc->file); |
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300 | if(SimulationFlags) { sprintf(string, " SIMULATED"); fputs_(string, doc->file);}; |
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301 | if(BlitzSchuhConnected){ sprintf(string, "\r\n#External hotshoe sensor connected"); fputs_(string, doc->file);}; |
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302 | } |
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303 | return(retvalue); |
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304 | } |
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305 | |||
306 | |||
307 | //________________________________________________________________________________________________________________________________________ |
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308 | // Function: u8 LineStringAddPoint(gps_data_t, TRIG_Document_t *doc) |
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309 | // |
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310 | // Description: This function adds a point to the specified document. |
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311 | // |
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312 | // |
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313 | // Returnvalue: '1' if a ppoint was added could be started |
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314 | //________________________________________________________________________________________________________________________________________ |
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315 | |||
316 | u8 TRIG_LineStringAddPoint(TRIG_Document_t *doc) |
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317 | { |
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318 | |||
319 | u8 retvalue = 0; |
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320 | s8 string[70]; |
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321 | s32 rel_altitude = 0; |
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322 | |||
323 | if(doc == NULL) return(0); |
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324 | |||
325 | if(GPSData.Position.Status != INVALID) |
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326 | { |
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327 | if(doc->state == TRIG_DOC_LINESTRING_OPENED) |
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328 | { |
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329 | if(doc->file != NULL) |
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330 | { |
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331 | s32 i1, i2; |
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332 | u8 sign; |
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333 | // Counter |
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334 | sprintf(string,"\r\n%d",TrigLogging.Count); |
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335 | fputs_(string, doc->file); |
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336 | // Time |
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337 | sprintf(string, ";%04d-%02d-%02dT%02d:%02d:%02d.%dZ",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec,SystemTime.mSec/100); |
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338 | fputs_(string, doc->file); |
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339 | // Position |
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340 | if(TrigLogging.Latitude < 0) sign = '-'; |
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341 | else sign = '+'; |
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342 | i1 = abs(TrigLogging.Latitude)/10000000L; |
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343 | i2 = abs(TrigLogging.Latitude)%10000000L; |
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344 | sprintf(string,";%c%ld.%07ld",sign, i1, i2); |
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345 | fputs_(string, doc->file); |
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346 | |||
347 | if(TrigLogging.Longitude < 0) sign = '-'; |
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348 | else sign = '+'; |
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349 | i1 = abs(TrigLogging.Longitude)/10000000L; |
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350 | i2 = abs(TrigLogging.Longitude)%10000000L; |
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351 | sprintf(string,";%c%ld.%07ld",sign, i1, i2); |
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352 | fputs_(string, doc->file); |
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353 | // calculate relative altitude with respect to the altitude of the home position |
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354 | // Altitude GPS |
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355 | rel_altitude = TrigLogging.AltiGPS;// - NaviData.HomePosition.Altitude; |
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356 | // if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log |
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357 | i1 = rel_altitude/1000L; |
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358 | i2 = rel_altitude%1000L; |
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359 | sprintf(string,";%ld.%03ld",i1, abs(i2)); |
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360 | fputs_(string, doc->file); |
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361 | // Altitude Baro |
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362 | sprintf(string,";%ld.%02d",TrigLogging.AltiBaro/100,abs(TrigLogging.AltiBaro%100)); |
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363 | fputs_(string, doc->file); |
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364 | // Yaw angle |
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365 | sprintf(string,";%d.%d",TrigLogging.Yaw/10,abs(TrigLogging.Yaw%10)); |
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366 | fputs_(string, doc->file); |
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367 | // ServoSet; ServoPoi |
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368 | sprintf(string,";%d;%d.%d",TrigLogging.ServoControlNick,TrigLogging.ServoControlPoi/10,abs(TrigLogging.ServoControlPoi%10)); |
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369 | fputs_(string, doc->file); |
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370 | |||
371 | Logged_TRIG_Counter++; |
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372 | retvalue = 1; |
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373 | } |
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374 | } |
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375 | } |
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376 | else |
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377 | { |
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378 | if(doc->state == TRIG_DOC_LINESTRING_OPENED) |
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379 | { |
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380 | if(doc->file != NULL) |
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381 | { |
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382 | sprintf(string,"\r\n"); |
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383 | fputs_(string, doc->file); |
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384 | Logged_TRIG_Counter++; |
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385 | retvalue = 1; |
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386 | } |
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387 | } |
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388 | } |
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389 | return(retvalue); |
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390 | } |
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391 | |||
392 | //________________________________________________________________________________________________________________________________________ |
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393 | // Function: u8 TRIG_LoggGPSCoordinates(gps_data_t *, TRIG_Document_t *) |
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394 | // |
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395 | // Description: This function opens adds gpscoordinates to an KML-Document. The document will be opened, if not already done |
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396 | // |
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397 | // |
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398 | // Returnvalue: '1' if an gps coordinate was logged |
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399 | //________________________________________________________________________________________________________________________________________ |
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400 | |||
401 | u8 TRIG_LoggGPSCoordinates(TRIG_Document_t *doc) |
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402 | { |
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403 | u8 retval = 0; |
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404 | while(doc->state != TRIG_DOC_LINESTRING_OPENED) // automatic create document with default filename on the card. |
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405 | { |
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406 | switch(doc->state) |
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407 | { |
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408 | case TRIG_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
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409 | // retval = TRIG_DocumentOpen("default.kml",doc); // open the kml-document with a standardname. |
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410 | break; |
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411 | |||
412 | case TRIG_DOC_OPENED: // if a document has been opened before but no placemark exists: |
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413 | retval = TRIG_PlaceMarkOpen(doc); |
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414 | break; |
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415 | |||
416 | case TRIG_DOC_PLACEMARK_OPENED: // add linestring to the placemark |
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417 | retval = TRIG_LineStringBegin(doc); |
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418 | break; |
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419 | |||
420 | default: |
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421 | retval = 0; |
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422 | break; |
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423 | |||
424 | } |
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425 | if(retval != 1) return(retval); // stop on error |
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426 | } |
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427 | |||
428 | if(doc->state == TRIG_DOC_LINESTRING_OPENED) // if the document was opened add coordinates to the document. |
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429 | { |
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430 | retval = TRIG_LineStringAddPoint(doc); |
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431 | } |
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432 | return(retval); |
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433 | } |
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434 | |||
435 | |||
436 | |||
437 | //---------------------------------------------------------------------------------------------------- |
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438 | s8* GenerateTriggLogFileName(void) |
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439 | { |
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440 | static u16 filenum = 0; // file name counter |
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441 | static s8 filename[40]; |
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442 | |||
443 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
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444 | if(filenum < GPX_Filenum) filenum = GPX_Filenum; |
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445 | if(SystemTime.Valid) |
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446 | { |
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447 | // if the day has been changed |
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448 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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449 | { |
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450 | LastTime.Year = SystemTime.Year; |
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451 | LastTime.Month = SystemTime.Month; |
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452 | LastTime.Day = SystemTime.Day; |
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453 | LastTime.Valid = 1; |
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454 | filenum = 0; // reset file counter |
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455 | } |
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456 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
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457 | { |
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458 | 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); |
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459 | else sprintf(filename, "/LOG/%04i%02i%02i/GPX/GPS%05i.TXT", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
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460 | } |
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461 | else |
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462 | { |
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463 | 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); |
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464 | else sprintf(filename, "/SIMULATE/%04i%02i%02i/GPX/SIM%05i.TXT", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
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465 | } |
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466 | TRIG_Filenum = filenum; |
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467 | filenum++; |
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468 | return filename; |
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469 | } |
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470 | else return NULL; |
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471 | } |
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472 | |||
473 | |||
474 | |||
475 | //---------------------------------------------------------------------------------------------------- |
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476 | // logs the current gps position to a csv file |
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477 | logfilestate_t LoggingTrigger(u32 LogDelay) |
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478 | { |
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479 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
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480 | static s8* logfilename = NULL; // the pointer to the logfilename |
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481 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
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482 | static TRIG_Document_t logfile; // the logfilehandle |
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483 | static u32 appendtimer = 0; // the log update timer |
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484 | static u8 logging_active = 0; |
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485 | |||
486 | // initialize if LogDelay is zero |
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487 | if(!LogDelay) |
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488 | { |
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489 | switch(logfilestate) |
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490 | { |
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491 | case LOGFILE_OPENED: |
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492 | TRIG_DocumentClose(&logfile); // try to close it |
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493 | break; |
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494 | default: |
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495 | break; |
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496 | } |
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497 | logfilestate = LOGFILE_IDLE; |
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498 | logfilename = NULL; |
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499 | TRIG_DocumentInit(&logfile); |
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500 | logtimer = SetDelay(0); // set logtimer to now |
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501 | return logfilestate; |
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502 | } |
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503 | // no init |
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504 | if(CheckDelay(logtimer) || (TrigLogging.NewData && logging_active)) |
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505 | { |
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506 | logtimer = SetDelay(LogDelay); // standard interval |
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507 | |||
508 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
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509 | { |
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510 | logging_active = 1; |
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511 | appendtimer = SetDelay(APPEND_LOG_TIME_MS); |
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512 | } |
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513 | else |
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514 | { |
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515 | if(CheckDelay(appendtimer)) logging_active = 0; |
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516 | } |
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517 | |||
518 | if(logging_active) |
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519 | { |
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520 | switch(logfilestate) |
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521 | { |
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522 | case LOGFILE_IDLE: |
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523 | case LOGFILE_CLOSED: |
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524 | if(GPX_logging_active == 2) // start after GPX-Log |
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525 | { |
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526 | logfilestate = LOGFILE_START; |
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527 | } |
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528 | break; |
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529 | case LOGFILE_START: |
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530 | // find unused logfile name |
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531 | do |
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532 | { // try to generate a new logfile name |
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533 | logfilename = GenerateTriggLogFileName(); |
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534 | }while((logfilename != NULL) && fexist_(logfilename)); |
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535 | // if logfilename exist |
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536 | if(logfilename != NULL) |
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537 | { |
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538 | // try to create the log file |
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539 | if(TRIG_DocumentOpen(logfilename, &logfile)) |
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540 | { |
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541 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
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542 | logfilestate = LOGFILE_OPENED; // goto next step |
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543 | UART1_PutString("\r\nOpening trigger-file:"); |
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544 | UART1_PutString(logfilename); |
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545 | UART1_PutString("\r\n"); |
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546 | TrigLogging.NewData = 0; |
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547 | TrigLogging.Count = 0; |
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548 | fflush_(logfile.file); |
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549 | } |
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550 | else // could not be openend |
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551 | { |
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552 | logfilestate = LOGFILE_ERROR; |
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553 | UART1_PutString("\r\nError opening trigger-file: "); |
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554 | UART1_PutString(logfilename); |
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555 | UART1_PutString("\r\n"); |
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556 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
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557 | SD_LoggingError = 1; |
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558 | } |
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559 | } |
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560 | else |
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561 | { |
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562 | logfilestate = LOGFILE_ERROR; |
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563 | UART1_PutString("\r\nError getting free trigger-file name\r\n"); |
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564 | SD_LoggingError = 2; |
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565 | } |
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566 | // else retry in next loop |
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567 | break; |
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568 | case LOGFILE_OPENED: |
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569 | // append new gps log data |
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570 | if(TrigLogging.NewData) |
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571 | { |
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572 | TrigLogging.NewData--; |
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573 | if((GPSData.Status != INVALID))// && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
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574 | { |
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575 | if(!TRIG_LoggGPSCoordinates(&logfile)) |
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576 | { // error logging data |
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577 | UART1_PutString("\r\nError logging to trigger-file\r\n"); |
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578 | SD_LoggingError = 3; |
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579 | TRIG_DocumentClose(&logfile); |
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580 | logfilestate = LOGFILE_ERROR; |
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581 | TrigLogging.NewData = 0; |
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582 | } |
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583 | else // sucessfully logged |
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584 | { |
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585 | SD_LoggingError = 0; |
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586 | // if(CheckDelay(flushtimer)) |
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587 | { |
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588 | // flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
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589 | fflush_(logfile.file); |
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590 | } |
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591 | } |
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592 | |||
593 | } |
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594 | } |
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595 | break; |
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596 | |||
597 | case LOGFILE_ERROR: |
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598 | break; |
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599 | |||
600 | default: |
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601 | logfilestate = LOGFILE_IDLE; |
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602 | break; |
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603 | } |
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604 | } // EOF motors are not running |
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605 | else // model is not flying |
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606 | { // close log file if opened |
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607 | if(logfilestate == LOGFILE_OPENED) |
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608 | { |
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609 | if(TRIG_DocumentClose(&logfile)) |
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610 | { |
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611 | UART1_PutString("\r\nClosing trigger-file\r\n"); |
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612 | logfilestate = LOGFILE_CLOSED; |
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613 | } |
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614 | else // could not be closed |
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615 | { |
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616 | UART1_PutString("\r\nError closing trigger-file\r\n"); |
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617 | SD_LoggingError = 4; |
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618 | logfilestate = LOGFILE_ERROR; |
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619 | } |
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620 | } |
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621 | } //EOF motors are not running |
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622 | } // EOF Check LogTimer |
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623 | |||
624 | return logfilestate; |
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625 | } |
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626 | |||
627 | |||
628 |