0,0 → 1,512 |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software Nutzungsbedingungen (english version: see below) |
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
// + des Mitverschuldens offen. |
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software LICENSING TERMS |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
// + 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 |
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
// + The Software may only be used with the Licensor's products. |
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
// + agreement shall be the property of the Licensor. |
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
// + features that can be used to identify the program may not be altered or defaced by the customer. |
// + The customer shall be responsible for taking reasonable precautions |
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
// + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
// + #### END OF LICENSING TERMS #### |
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#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" |
#include "led.h" |
#include "logging.h" |
|
#define MIN_SD_INTERVAL_KML 200 |
#define MIN_SD_INTERVAL_GPX 200 |
#define APPEND_LOG_TIME_MS 2510 // log some more time |
|
u8 SD_LoggingError = 0; |
|
#define LOG_FLUSH_INTERVAL 4000 // 4s // -> and if an Error occures |
|
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); |
|
LogCfg_t LogCfg = {500 , 1000}; |
u32 Logged_GPX_Counter = 0, Logged_KML_Counter = 0; |
|
|
//---------------------------------------------------------------------------------------------------- |
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 |
} |
if(filenum < 100) sprintf(filename, "/LOG/%04i%02i%02i/KML/%02i%02i%02i%02i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 100, SystemTime.Month, SystemTime.Day, filenum); |
else 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 |
} |
if(filenum < 100) sprintf(filename, "/LOG/%04i%02i%02i/GPX/%02i%02i%02i%02i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 100, SystemTime.Month, SystemTime.Day, filenum); |
else 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 |
static u32 appendtimer = 0; // the log update timer |
static u8 logging_active = 0; |
|
// 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.StatusFlags & FC_STATUS_MOTOR_RUN) |
{ |
logging_active = 1; |
appendtimer = SetDelay(APPEND_LOG_TIME_MS); |
} |
else |
{ |
if(CheckDelay(appendtimer)) logging_active = 0; |
} |
|
if(logging_active) |
{ |
switch(logfilestate) |
{ |
case LOGFILE_IDLE: |
case LOGFILE_CLOSED: |
if((GPSData.Status != INVALID) && (SystemTime.Valid) && /*(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)*/ (FC.StatusFlags & FC_STATUS_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 |
SD_LoggingError = 1; |
} |
} |
else |
{ |
logfilestate = LOGFILE_ERROR; |
UART1_PutString("\r\nError getting free kml-file name\r\n"); |
SD_LoggingError = 2; |
} |
// 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"); |
SD_LoggingError = 3; |
KML_DocumentClose(&logfile); |
logfilestate = LOGFILE_ERROR; |
} |
else // sucessfully logged |
{ |
SD_LoggingError = 0; |
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"); |
SD_LoggingError = 4; |
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, appendtimer = 0; // the log update timer |
static GPX_Document_t logfile; // the logfilehandle |
static u8 part = 0, logging_active = 0, old_errorcode = 0; |
u32 measure_time; |
|
// 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) || part) |
{ |
if(!part) logtimer = SetDelay(LogDelay); // standard interval |
|
if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
{ |
logging_active = 1; |
appendtimer = SetDelay(APPEND_LOG_TIME_MS); |
} |
else |
{ |
if(CheckDelay(appendtimer)) logging_active = 0; |
} |
|
if(logging_active || part) |
{ |
switch(logfilestate) |
{ |
case LOGFILE_IDLE: |
case LOGFILE_CLOSED: |
if((GPSData.Status != INVALID) && (SystemTime.Valid) && /*(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)*/ (FC.StatusFlags & FC_STATUS_FLY)) |
{ |
logfilestate = LOGFILE_START; |
} |
part = 0; |
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"); |
SD_LoggingError = 11; |
logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
} |
old_errorcode = ErrorCode; |
} |
else |
{ |
logfilestate = LOGFILE_ERROR; |
UART1_PutString("\r\nError getting free gpx-file name\r\n"); |
SD_LoggingError = 12; |
} |
// else retry in next loop |
part = 0; |
break; |
case LOGFILE_OPENED: |
// append new gps log data |
measure_time = CountMilliseconds; |
if((GPSData.Status != INVALID))// && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
{ |
if(!GPX_LoggGPSCoordinates(&logfile,part)) |
{ // error logging data |
UART1_PutString("\r\nError logging to gpx-file\r\n"); |
GPX_DocumentClose(&logfile); |
SD_LoggingError = 13; |
logfilestate = LOGFILE_ERROR; |
} |
else // successful log |
{ |
if(ErrorCode != old_errorcode || CheckDelay(flushtimer)) |
{ |
old_errorcode = ErrorCode; |
flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
fflush_(logfile.file); |
} |
} |
} |
if(++part == 9) part = 0; |
//DebugOut.Analog[19] = CountMilliseconds - measure_time; |
break; |
|
case LOGFILE_ERROR: |
part = 0; |
break; |
|
default: |
part = 0; |
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; |
part = 0; |
} |
else // could not be closed |
{ |
UART1_PutString("\r\nError closing gpx-file\r\n"); |
SD_LoggingError = 14; |
logfilestate = LOGFILE_ERROR; |
part = 0; |
} |
} |
} //EOF model is not flying |
} // EOF Check LogTimer |
|
return logfilestate; |
} |
|
//---------------------------------------------------------------------------------------------------- |
// initialize logging |
void Logging_Init(void) |
{ |
SD_LoggingError = 0; |
LogCfg.KML_Interval = 1000; //default |
Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < MIN_SD_INTERVAL_KML) LogCfg.KML_Interval = MIN_SD_INTERVAL_KML; |
|
Logging_KML(0); // initialize |
LogCfg.GPX_Interval = 0; //default |
Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < MIN_SD_INTERVAL_GPX) LogCfg.GPX_Interval = MIN_SD_INTERVAL_GPX; |
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((logstate == LOGFILE_ERROR) && (FC.StatusFlags & FC_STATUS_START)) SD_LoggingError = 100; |
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.StatusFlags & FC_STATUS_MOTOR_RUN)) |
{ |
if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
{ |
Logging_Init(); // initialize the logs |
logstate = LOGFILE_IDLE; |
logtimer = SetDelay(100); // try next log in 100 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 |
} |