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| /*#######################################################################################*/ |
| /* !!! 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.StatusFlags & FC_STATUS_MOTOR_RUN) |
| { |
| switch(logfilestate) |
| { |
| case LOGFILE_IDLE: |
| case LOGFILE_CLOSED: |
| if((GPSData.Status != INVALID) && (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 |
| } |
| } |
| 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.StatusFlags & FC_STATUS_MOTOR_RUN) |
| { |
| switch(logfilestate) |
| { |
| case LOGFILE_IDLE: |
| case LOGFILE_CLOSED: |
| if((GPSData.Status != INVALID) && (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 = 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 |
| if(LogCfg.KML_Interval < 500) LogCfg.KML_Interval = 500; |
| |
| 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 < 500) LogCfg.GPX_Interval = 500; |
| 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 |
| } |