0,0 → 1,460 |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 2008 Ingo Busker, Holger Buss |
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
// + FOR NON COMMERCIAL USE ONLY |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <stdio.h> |
#include "91x_lib.h" |
#include "main.h" |
#include "timer1.h" |
#include "uart1.h" |
#include "kml.h" |
#include "gpx.h" |
#include "ssc.h" |
#include "settings.h" |
|
|
#define LOG_FLUSH_INTERVAL 20000 // 20s |
|
typedef enum |
{ |
LOGFILE_IDLE, |
LOGFILE_START, |
LOGFILE_CLOSED, |
LOGFILE_OPENED, |
LOGFILE_ERROR |
} logfilestate_t; |
|
// logger handler prototypes |
logfilestate_t Logging_KML(u32 LogDelay); |
logfilestate_t Logging_GPX(u32 LogDelay); |
|
typedef struct |
{ |
u32 KML_Interval; // the kml-log interval (0 = off) |
u32 GPX_Interval; // the gpx-log interval (0 = off) |
} LogCfg_t; |
|
LogCfg_t LogCfg = {500 , 1000}; |
|
|
//---------------------------------------------------------------------------------------------------- |
s8* GenerateKMLLogFileName(void) |
{ |
static u16 filenum = 0; // file name counter |
static s8 filename[35]; |
static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
|
if(SystemTime.Valid) |
{ |
// if the day has been changed |
if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
{ |
LastTime.Year = SystemTime.Year; |
LastTime.Month = SystemTime.Month; |
LastTime.Day = SystemTime.Day; |
LastTime.Valid = 1; |
filenum = 0; // reset file counter |
} |
sprintf(filename, "LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
filenum++; |
return filename; |
} |
else return NULL; |
} |
|
//---------------------------------------------------------------------------------------------------- |
s8* GenerateGPXLogFileName(void) |
{ |
static u16 filenum = 0; // file name counter |
static s8 filename[35]; |
static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
|
if(SystemTime.Valid) |
{ |
// if the day has been changed |
if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
{ |
LastTime.Year = SystemTime.Year; |
LastTime.Month = SystemTime.Month; |
LastTime.Day = SystemTime.Day; |
LastTime.Valid = 1; |
filenum = 0; // reset file counter |
} |
sprintf(filename, "LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
filenum++; |
return filename; |
} |
else return NULL; |
} |
|
|
|
//---------------------------------------------------------------------------------------------------- |
// logs the current gps position to a kml file |
logfilestate_t Logging_KML(u32 LogDelay) |
{ |
static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
static s8* logfilename = NULL; // the pointer to the logfilename |
static u32 logtimer = 0, flushtimer = 0; // the log update timer |
static KML_Document_t logfile; // the logfilehandle |
|
// initialize if LogDelay is zero |
if(!LogDelay) |
{ |
switch(logfilestate) |
{ |
case LOGFILE_OPENED: |
KML_DocumentClose(&logfile); // try to close it |
break; |
default: |
break; |
} |
logfilestate = LOGFILE_IDLE; |
logfilename = NULL; |
KML_DocumentInit(&logfile); |
logtimer = SetDelay(0); // set logtimer to now |
return logfilestate; |
} |
// no init |
if(CheckDelay(logtimer)) |
{ |
logtimer = SetDelay(LogDelay); // standard interval |
|
if(FC.Flags & FCFLAG_MOTOR_RUN) |
{ |
switch(logfilestate) |
{ |
case LOGFILE_IDLE: |
case LOGFILE_CLOSED: |
if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.Flags & FCFLAG_FLY)) |
{ |
logfilestate = LOGFILE_START; |
} |
break; |
case LOGFILE_START: |
// find unused logfile name |
do |
{ // try to generate a new logfile name |
logfilename = GenerateKMLLogFileName(); |
}while((logfilename != NULL) && fexist_(logfilename)); |
// if logfilename exist |
if(logfilename != NULL) |
{ |
// try to create the log file |
if(KML_DocumentOpen(logfilename, &logfile)) |
{ |
flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
logfilestate = LOGFILE_OPENED; // goto next step |
UART1_PutString("\r\nOpening kml-file:"); |
UART1_PutString(logfilename); |
UART1_PutString("\r\n"); |
} |
else // could not be openend |
{ |
logfilestate = LOGFILE_ERROR; |
UART1_PutString("\r\nError opening kml-file: "); |
UART1_PutString(logfilename); |
UART1_PutString("\r\n"); |
logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
} |
} |
else |
{ |
logfilestate = LOGFILE_ERROR; |
UART1_PutString("\r\nError getting free kml-file name\r\n"); |
} |
// else retry in next loop |
break; |
case LOGFILE_OPENED: |
// append new gps log data |
if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
{ |
if(!KML_LoggGPSCoordinates(&logfile)) |
{ // error logging data |
UART1_PutString("\r\nError logging to kml-file\r\n"); |
KML_DocumentClose(&logfile); |
logfilestate = LOGFILE_ERROR; |
} |
else // sucessfully logged |
{ |
if(CheckDelay(flushtimer)) |
{ |
flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
fflush_(logfile.file); |
} |
} |
|
} |
break; |
|
case LOGFILE_ERROR: |
break; |
|
default: |
logfilestate = LOGFILE_IDLE; |
break; |
} |
} // EOF motors are not running |
else // model is not flying |
{ // close log file if opened |
if(logfilestate == LOGFILE_OPENED) |
{ |
if(KML_DocumentClose(&logfile)) |
{ |
UART1_PutString("\r\nClosing kml-file\r\n"); |
logfilestate = LOGFILE_CLOSED; |
} |
else // could not be closed |
{ |
UART1_PutString("\r\nError closing kml-file\r\n"); |
logfilestate = LOGFILE_ERROR; |
} |
} |
} //EOF motors are not running |
} // EOF Check LogTimer |
|
return logfilestate; |
} |
|
//---------------------------------------------------------------------------------------------------- |
// logs gps and state info to a gpx file |
logfilestate_t Logging_GPX(u32 LogDelay) |
{ |
static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
static s8* logfilename = NULL; // the pointer to the logfilename |
static u32 logtimer = 0, flushtimer = 0; // the log update timer |
static GPX_Document_t logfile; // the logfilehandle |
|
// initialize if LogDelay is zero |
if(!LogDelay) |
{ |
switch(logfilestate) |
{ |
case LOGFILE_OPENED: |
GPX_DocumentClose(&logfile); // try to close it |
break; |
default: |
break; |
} |
logfilestate = LOGFILE_IDLE; |
logfilename = NULL; |
GPX_DocumentInit(&logfile); |
logtimer = SetDelay(0); // set logtimer to now |
return logfilestate; |
} |
// no init |
if(CheckDelay(logtimer)) |
{ |
logtimer = SetDelay(LogDelay); // standard interval |
|
if(FC.Flags & FCFLAG_MOTOR_RUN) |
{ |
switch(logfilestate) |
{ |
case LOGFILE_IDLE: |
case LOGFILE_CLOSED: |
if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.Flags & FCFLAG_FLY)) |
{ |
logfilestate = LOGFILE_START; |
} |
break; |
case LOGFILE_START: |
// find unused logfile name |
do |
{ // try to generate a new logfile name |
logfilename = GenerateGPXLogFileName(); |
}while((logfilename != NULL) && fexist_(logfilename)); |
// if logfilename exist |
if(logfilename != NULL) |
{ |
// try to create the log file |
if(GPX_DocumentOpen(logfilename, &logfile)) |
{ |
flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
logfilestate = LOGFILE_OPENED; // goto next step |
UART1_PutString("\r\nOpening gpx-file:"); |
UART1_PutString(logfilename); |
UART1_PutString("\r\n"); |
} |
else // could not be openend |
{ |
logfilestate = LOGFILE_ERROR; |
UART1_PutString("\r\nError opening gpx-file: "); |
UART1_PutString(logfilename); |
UART1_PutString("\r\n"); |
logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
} |
} |
else |
{ |
logfilestate = LOGFILE_ERROR; |
UART1_PutString("\r\nError getting free gpx-file name\r\n"); |
} |
// else retry in next loop |
break; |
case LOGFILE_OPENED: |
// append new gps log data |
if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
{ |
if(!GPX_LoggGPSCoordinates(&logfile)) |
{ // error logging data |
UART1_PutString("\r\nError logging to gpx-file\r\n"); |
GPX_DocumentClose(&logfile); |
logfilestate = LOGFILE_ERROR; |
} |
else // successful log |
{ |
if(CheckDelay(flushtimer)) |
{ |
flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
fflush_(logfile.file); |
} |
} |
} |
break; |
|
case LOGFILE_ERROR: |
break; |
|
default: |
logfilestate = LOGFILE_IDLE; |
break; |
} |
} // EOF model is flying |
else // model is not flying |
{ // close log file if opened |
if(logfilestate == LOGFILE_OPENED) |
{ |
if(GPX_DocumentClose(&logfile)) |
{ |
UART1_PutString("\r\nClosing gpx-file\r\n"); |
logfilestate = LOGFILE_CLOSED; |
} |
else // could not be closed |
{ |
UART1_PutString("\r\nError closing gpx-file\r\n"); |
logfilestate = LOGFILE_ERROR; |
} |
} |
} //EOF model is not flying |
} // EOF Check LogTimer |
|
return logfilestate; |
} |
|
//---------------------------------------------------------------------------------------------------- |
// initialize logging |
void Logging_Init(void) |
{ |
LogCfg.KML_Interval = 500; //default |
Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
Logging_KML(0); // initialize |
LogCfg.GPX_Interval = 0; //default |
Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
Logging_GPX(0); // initialize |
} |
|
//---------------------------------------------------------------------------------------------------- |
// gobal logging handler |
void Logging_Update(void) |
{ |
static u8 logmodule = 0; |
static u32 logtimer = 0; |
static logfilestate_t logstate = LOGFILE_IDLE; |
|
if(SD_SWITCH) // a card is in slot |
{ |
if(CheckDelay(logtimer)) |
{ |
logtimer = SetDelay(10); // faster makes no sense |
// call the logger handlers if no error has occured |
if(logstate != LOGFILE_ERROR) |
{ // run only one logging handler per loop |
switch(logmodule++) |
{ |
case 0: |
logstate = Logging_KML(LogCfg.KML_Interval); |
break; |
case 1: |
logstate = Logging_GPX(LogCfg.GPX_Interval); |
logmodule = 0; // resart with first log module |
break; |
default: |
logmodule = 0; |
break; |
} |
} |
else // a logging error has occured |
{ |
/* |
// try to reinitialize sd-card when motors are not running |
if(!(FC.Flags & FCFLAG_MOTOR_RUN)) |
{ |
if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
{ |
Logging_Init(); // initialize the logs |
logstate = LOGFILE_IDLE; |
logtimer = SetDelay(10); // try next log in 10 mili sec |
} |
else |
{ // retry in 5 seconds |
logtimer = SetDelay(5000); // try again in 5 sec |
} |
} // EOF motors are not running |
*/ |
} //EOF logfile error |
} // EOF CheckDelay |
}// EOF Card in Slot |
} |