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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| 6 | // + Nur für den privaten Gebrauch |
6 | // + Nur für den privaten Gebrauch |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 40 | // + with our written permission |
40 | // + with our written permission |
| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
| 43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| 44 | // |
44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | #include <stdio.h> |
57 | #include <stdio.h> |
| 58 | #include "91x_lib.h" |
58 | #include "91x_lib.h" |
| 59 | #include "main.h" |
59 | #include "main.h" |
| 60 | #include "timer.h" |
60 | #include "timer.h" |
| 61 | #include "uart1.h" |
61 | #include "uart1.h" |
| 62 | #include "kml.h" |
62 | #include "kml.h" |
| 63 | #include "gpx.h" |
63 | #include "gpx.h" |
| 64 | #include "ssc.h" |
64 | #include "ssc.h" |
| - | 65 | #include "settings.h" |
|
| 65 | 66 | ||
| 66 | typedef enum |
67 | typedef enum |
| 67 | { |
68 | { |
| 68 | LOGFILE_IDLE, |
69 | LOGFILE_IDLE, |
| 69 | LOGFILE_START, |
70 | LOGFILE_START, |
| 70 | LOGFILE_CLOSED, |
71 | LOGFILE_CLOSED, |
| 71 | LOGFILE_OPENED, |
72 | LOGFILE_OPENED, |
| 72 | LOGFILE_ERROR |
73 | LOGFILE_ERROR |
| 73 | } logfilestate_t; |
74 | } logfilestate_t; |
| 74 | 75 | ||
| 75 | // logger handler prototypes |
76 | // logger handler prototypes |
| 76 | logfilestate_t Logging_KML(u32 LogDelay); |
77 | logfilestate_t Logging_KML(u32 LogDelay); |
| 77 | logfilestate_t Logging_GPX(u32 LogDelay); |
78 | logfilestate_t Logging_GPX(u32 LogDelay); |
| 78 | 79 | ||
| 79 | typedef struct |
80 | typedef struct |
| 80 | { |
81 | { |
| 81 | u32 KML_Interval; // the kml-log interval (0 = off) |
82 | u32 KML_Interval; // the kml-log interval (0 = off) |
| 82 | u32 GPX_Interval; // the gpx-log interval (0 = off) |
83 | u32 GPX_Interval; // the gpx-log interval (0 = off) |
| 83 | } LogCfg_t; |
84 | } LogCfg_t; |
| 84 | 85 | ||
| 85 | LogCfg_t LogCfg = {0 , 1000}; |
86 | LogCfg_t LogCfg = {500 , 1000}; |
| 86 | 87 | ||
| 87 | 88 | ||
| 88 | //---------------------------------------------------------------------------------------------------- |
89 | //---------------------------------------------------------------------------------------------------- |
| 89 | s8* GenerateKMLLogFileName(void) |
90 | s8* GenerateKMLLogFileName(void) |
| 90 | { |
91 | { |
| 91 | static u16 filenum = 0; // file name counter |
92 | static u16 filenum = 0; // file name counter |
| 92 | static s8 filename[35]; |
93 | static s8 filename[35]; |
| 93 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
94 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
| 94 | 95 | ||
| 95 | if(SystemTime.Valid) |
96 | if(SystemTime.Valid) |
| 96 | { |
97 | { |
| 97 | // if the day has been changed |
98 | // if the day has been changed |
| 98 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
99 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
| 99 | { |
100 | { |
| 100 | LastTime.Year = SystemTime.Year; |
101 | LastTime.Year = SystemTime.Year; |
| 101 | LastTime.Month = SystemTime.Month; |
102 | LastTime.Month = SystemTime.Month; |
| 102 | LastTime.Day = SystemTime.Day; |
103 | LastTime.Day = SystemTime.Day; |
| 103 | LastTime.Valid = 1; |
104 | LastTime.Valid = 1; |
| 104 | filenum = 0; // reset file counter |
105 | filenum = 0; // reset file counter |
| 105 | } |
106 | } |
| 106 | sprintf(filename, "LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
107 | sprintf(filename, "LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| 107 | filenum++; |
108 | filenum++; |
| 108 | return filename; |
109 | return filename; |
| 109 | } |
110 | } |
| 110 | else return NULL; |
111 | else return NULL; |
| 111 | } |
112 | } |
| 112 | 113 | ||
| 113 | //---------------------------------------------------------------------------------------------------- |
114 | //---------------------------------------------------------------------------------------------------- |
| 114 | s8* GenerateGPXLogFileName(void) |
115 | s8* GenerateGPXLogFileName(void) |
| 115 | { |
116 | { |
| 116 | static u16 filenum = 0; // file name counter |
117 | static u16 filenum = 0; // file name counter |
| 117 | static s8 filename[35]; |
118 | static s8 filename[35]; |
| 118 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
119 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
| 119 | 120 | ||
| 120 | if(SystemTime.Valid) |
121 | if(SystemTime.Valid) |
| 121 | { |
122 | { |
| 122 | // if the day has been changed |
123 | // if the day has been changed |
| 123 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
124 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
| 124 | { |
125 | { |
| 125 | LastTime.Year = SystemTime.Year; |
126 | LastTime.Year = SystemTime.Year; |
| 126 | LastTime.Month = SystemTime.Month; |
127 | LastTime.Month = SystemTime.Month; |
| 127 | LastTime.Day = SystemTime.Day; |
128 | LastTime.Day = SystemTime.Day; |
| 128 | LastTime.Valid = 1; |
129 | LastTime.Valid = 1; |
| 129 | filenum = 0; // reset file counter |
130 | filenum = 0; // reset file counter |
| 130 | } |
131 | } |
| 131 | sprintf(filename, "LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
132 | sprintf(filename, "LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| 132 | filenum++; |
133 | filenum++; |
| 133 | return filename; |
134 | return filename; |
| 134 | } |
135 | } |
| 135 | else return NULL; |
136 | else return NULL; |
| 136 | } |
137 | } |
| 137 | 138 | ||
| 138 | 139 | ||
| 139 | 140 | ||
| 140 | //---------------------------------------------------------------------------------------------------- |
141 | //---------------------------------------------------------------------------------------------------- |
| 141 | // logs the current gps position to a kml file |
142 | // logs the current gps position to a kml file |
| 142 | logfilestate_t Logging_KML(u32 LogDelay) |
143 | logfilestate_t Logging_KML(u32 LogDelay) |
| 143 | { |
144 | { |
| 144 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
145 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
| 145 | static s8* logfilename = NULL; // the pointer to the logfilename |
146 | static s8* logfilename = NULL; // the pointer to the logfilename |
| 146 | static u32 logtimer = 0; // the log update timer |
147 | static u32 logtimer = 0; // the log update timer |
| 147 | static KML_Document_t logfile; // the logfilehandle |
148 | static KML_Document_t logfile; // the logfilehandle |
| 148 | 149 | ||
| 149 | // initialize if LogDelay os zero |
150 | // initialize if LogDelay os zero |
| 150 | if(!LogDelay) |
151 | if(!LogDelay) |
| 151 | { |
152 | { |
| 152 | switch(logfilestate) |
153 | switch(logfilestate) |
| 153 | { |
154 | { |
| 154 | case LOGFILE_OPENED: |
155 | case LOGFILE_OPENED: |
| 155 | KML_DocumentClose(&logfile); // try to close it |
156 | KML_DocumentClose(&logfile); // try to close it |
| 156 | break; |
157 | break; |
| 157 | default: |
158 | default: |
| 158 | break; |
159 | break; |
| 159 | } |
160 | } |
| 160 | logfilestate = LOGFILE_IDLE; |
161 | logfilestate = LOGFILE_IDLE; |
| 161 | logfilename = NULL; |
162 | logfilename = NULL; |
| 162 | KML_DocumentInit(&logfile); |
163 | KML_DocumentInit(&logfile); |
| 163 | logtimer = SetDelay(0); // set logtimer to now |
164 | logtimer = SetDelay(0); // set logtimer to now |
| 164 | return logfilestate; |
165 | return logfilestate; |
| 165 | } |
166 | } |
| 166 | // no init |
167 | // no init |
| 167 | if(CheckDelay(logtimer)) |
168 | if(CheckDelay(logtimer)) |
| 168 | { |
169 | { |
| 169 | logtimer = SetDelay(LogDelay); // standard interval |
170 | logtimer = SetDelay(LogDelay); // standard interval |
| 170 | 171 | ||
| 171 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) |
172 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) |
| 172 | { |
173 | { |
| 173 | switch(logfilestate) |
174 | switch(logfilestate) |
| 174 | { |
175 | { |
| 175 | case LOGFILE_IDLE: |
176 | case LOGFILE_IDLE: |
| 176 | case LOGFILE_CLOSED: |
177 | case LOGFILE_CLOSED: |
| 177 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.MKFlags & MKFLAG_FLY)) |
178 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.MKFlags & MKFLAG_FLY)) |
| 178 | { |
179 | { |
| 179 | logfilestate = LOGFILE_START; |
180 | logfilestate = LOGFILE_START; |
| 180 | } |
181 | } |
| 181 | break; |
182 | break; |
| 182 | case LOGFILE_START: |
183 | case LOGFILE_START: |
| 183 | // find unused logfile name |
184 | // find unused logfile name |
| 184 | do |
185 | do |
| 185 | { // try to generate a new logfile name |
186 | { // try to generate a new logfile name |
| 186 | logfilename = GenerateKMLLogFileName(); |
187 | logfilename = GenerateKMLLogFileName(); |
| 187 | }while((logfilename != NULL) && fexist_(logfilename)); |
188 | }while((logfilename != NULL) && fexist_(logfilename)); |
| 188 | // if logfilename exist |
189 | // if logfilename exist |
| 189 | if(logfilename != NULL) |
190 | if(logfilename != NULL) |
| 190 | { |
191 | { |
| 191 | // try to create the log file |
192 | // try to create the log file |
| 192 | if(KML_DocumentOpen(logfilename, &logfile)) |
193 | if(KML_DocumentOpen(logfilename, &logfile)) |
| 193 | { |
194 | { |
| 194 | logfilestate = LOGFILE_OPENED; // goto next step |
195 | logfilestate = LOGFILE_OPENED; // goto next step |
| 195 | SerialPutString("\r\nOpening kml-file:"); |
196 | SerialPutString("\r\nOpening kml-file:"); |
| 196 | SerialPutString(logfilename); |
197 | SerialPutString(logfilename); |
| 197 | SerialPutString("\r\n"); |
198 | SerialPutString("\r\n"); |
| 198 | } |
199 | } |
| 199 | else // could not be openend |
200 | else // could not be openend |
| 200 | { |
201 | { |
| 201 | logfilestate = LOGFILE_ERROR; |
202 | logfilestate = LOGFILE_ERROR; |
| 202 | SerialPutString("\r\nError opening kml-file: "); |
203 | SerialPutString("\r\nError opening kml-file: "); |
| 203 | SerialPutString(logfilename); |
204 | SerialPutString(logfilename); |
| 204 | SerialPutString("\r\n"); |
205 | SerialPutString("\r\n"); |
| 205 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
206 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
| 206 | } |
207 | } |
| 207 | } |
208 | } |
| 208 | else |
209 | else |
| 209 | { |
210 | { |
| 210 | logfilestate = LOGFILE_ERROR; |
211 | logfilestate = LOGFILE_ERROR; |
| 211 | SerialPutString("\r\nError getting free kml-file name\r\n"); |
212 | SerialPutString("\r\nError getting free kml-file name\r\n"); |
| 212 | } |
213 | } |
| 213 | // else retry in next loop |
214 | // else retry in next loop |
| 214 | break; |
215 | break; |
| 215 | case LOGFILE_OPENED: |
216 | case LOGFILE_OPENED: |
| 216 | // append new gps log data |
217 | // append new gps log data |
| 217 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
218 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
| 218 | { |
219 | { |
| 219 | if(!KML_LoggGPSCoordinates(&logfile)) |
220 | if(!KML_LoggGPSCoordinates(&logfile)) |
| 220 | { // error logging data |
221 | { // error logging data |
| 221 | SerialPutString("\r\nError logging to kml-file\r\n"); |
222 | SerialPutString("\r\nError logging to kml-file\r\n"); |
| 222 | KML_DocumentClose(&logfile); |
223 | KML_DocumentClose(&logfile); |
| 223 | logfilestate = LOGFILE_ERROR; |
224 | logfilestate = LOGFILE_ERROR; |
| 224 | } |
225 | } |
| 225 | //else DebugOut.Analog[26]++; // count SD-Logs |
226 | //else DebugOut.Analog[26]++; // count SD-Logs |
| 226 | } |
227 | } |
| 227 | break; |
228 | break; |
| 228 | 229 | ||
| 229 | case LOGFILE_ERROR: |
230 | case LOGFILE_ERROR: |
| 230 | break; |
231 | break; |
| 231 | 232 | ||
| 232 | default: |
233 | default: |
| 233 | logfilestate = LOGFILE_IDLE; |
234 | logfilestate = LOGFILE_IDLE; |
| 234 | break; |
235 | break; |
| 235 | } |
236 | } |
| 236 | } // EOF model is flying |
237 | } // EOF model is flying |
| 237 | else // model is not flying |
238 | else // model is not flying |
| 238 | { // close log file if opened |
239 | { // close log file if opened |
| 239 | if(logfilestate == LOGFILE_OPENED) |
240 | if(logfilestate == LOGFILE_OPENED) |
| 240 | { |
241 | { |
| 241 | if(KML_DocumentClose(&logfile)) |
242 | if(KML_DocumentClose(&logfile)) |
| 242 | { |
243 | { |
| 243 | SerialPutString("\r\nClosing kml-file\r\n"); |
244 | SerialPutString("\r\nClosing kml-file\r\n"); |
| 244 | logfilestate = LOGFILE_CLOSED; |
245 | logfilestate = LOGFILE_CLOSED; |
| 245 | } |
246 | } |
| 246 | else // could not be closed |
247 | else // could not be closed |
| 247 | { |
248 | { |
| 248 | logfilestate = LOGFILE_ERROR; |
249 | logfilestate = LOGFILE_ERROR; |
| 249 | } |
250 | } |
| 250 | } |
251 | } |
| 251 | } //EOF model is not flying |
252 | } //EOF model is not flying |
| 252 | } // EOF Check LogTimer |
253 | } // EOF Check LogTimer |
| 253 | 254 | ||
| 254 | return logfilestate; |
255 | return logfilestate; |
| 255 | } |
256 | } |
| 256 | 257 | ||
| 257 | //---------------------------------------------------------------------------------------------------- |
258 | //---------------------------------------------------------------------------------------------------- |
| 258 | // logs gps and state info to a gpx file |
259 | // logs gps and state info to a gpx file |
| 259 | logfilestate_t Logging_GPX(u32 LogDelay) |
260 | logfilestate_t Logging_GPX(u32 LogDelay) |
| 260 | { |
261 | { |
| 261 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
262 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
| 262 | static s8* logfilename = NULL; // the pointer to the logfilename |
263 | static s8* logfilename = NULL; // the pointer to the logfilename |
| 263 | static u32 logtimer = 0; // the log update timer |
264 | static u32 logtimer = 0; // the log update timer |
| 264 | static GPX_Document_t logfile; // the logfilehandle |
265 | static GPX_Document_t logfile; // the logfilehandle |
| 265 | 266 | ||
| 266 | // initialize if LogDelay os zero |
267 | // initialize if LogDelay os zero |
| 267 | if(!LogDelay) |
268 | if(!LogDelay) |
| 268 | { |
269 | { |
| 269 | switch(logfilestate) |
270 | switch(logfilestate) |
| 270 | { |
271 | { |
| 271 | case LOGFILE_OPENED: |
272 | case LOGFILE_OPENED: |
| 272 | GPX_DocumentClose(&logfile); // try to close it |
273 | GPX_DocumentClose(&logfile); // try to close it |
| 273 | break; |
274 | break; |
| 274 | default: |
275 | default: |
| 275 | break; |
276 | break; |
| 276 | } |
277 | } |
| 277 | logfilestate = LOGFILE_IDLE; |
278 | logfilestate = LOGFILE_IDLE; |
| 278 | logfilename = NULL; |
279 | logfilename = NULL; |
| 279 | GPX_DocumentInit(&logfile); |
280 | GPX_DocumentInit(&logfile); |
| 280 | logtimer = SetDelay(0); // set logtimer to now |
281 | logtimer = SetDelay(0); // set logtimer to now |
| 281 | return logfilestate; |
282 | return logfilestate; |
| 282 | } |
283 | } |
| 283 | // no init |
284 | // no init |
| 284 | if(CheckDelay(logtimer)) |
285 | if(CheckDelay(logtimer)) |
| 285 | { |
286 | { |
| 286 | logtimer = SetDelay(LogDelay); // standard interval |
287 | logtimer = SetDelay(LogDelay); // standard interval |
| 287 | 288 | ||
| 288 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) |
289 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) |
| 289 | { |
290 | { |
| 290 | switch(logfilestate) |
291 | switch(logfilestate) |
| 291 | { |
292 | { |
| 292 | case LOGFILE_IDLE: |
293 | case LOGFILE_IDLE: |
| 293 | case LOGFILE_CLOSED: |
294 | case LOGFILE_CLOSED: |
| 294 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.MKFlags & MKFLAG_FLY)) |
295 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.MKFlags & MKFLAG_FLY)) |
| 295 | { |
296 | { |
| 296 | logfilestate = LOGFILE_START; |
297 | logfilestate = LOGFILE_START; |
| 297 | } |
298 | } |
| 298 | break; |
299 | break; |
| 299 | case LOGFILE_START: |
300 | case LOGFILE_START: |
| 300 | // find unused logfile name |
301 | // find unused logfile name |
| 301 | do |
302 | do |
| 302 | { // try to generate a new logfile name |
303 | { // try to generate a new logfile name |
| 303 | logfilename = GenerateGPXLogFileName(); |
304 | logfilename = GenerateGPXLogFileName(); |
| 304 | }while((logfilename != NULL) && fexist_(logfilename)); |
305 | }while((logfilename != NULL) && fexist_(logfilename)); |
| 305 | // if logfilename exist |
306 | // if logfilename exist |
| 306 | if(logfilename != NULL) |
307 | if(logfilename != NULL) |
| 307 | { |
308 | { |
| 308 | // try to create the log file |
309 | // try to create the log file |
| 309 | if(GPX_DocumentOpen(logfilename, &logfile)) |
310 | if(GPX_DocumentOpen(logfilename, &logfile)) |
| 310 | { |
311 | { |
| 311 | logfilestate = LOGFILE_OPENED; // goto next step |
312 | logfilestate = LOGFILE_OPENED; // goto next step |
| 312 | SerialPutString("\r\nOpening gpx-file:"); |
313 | SerialPutString("\r\nOpening gpx-file:"); |
| 313 | SerialPutString(logfilename); |
314 | SerialPutString(logfilename); |
| 314 | SerialPutString("\r\n"); |
315 | SerialPutString("\r\n"); |
| 315 | } |
316 | } |
| 316 | else // could not be openend |
317 | else // could not be openend |
| 317 | { |
318 | { |
| 318 | logfilestate = LOGFILE_ERROR; |
319 | logfilestate = LOGFILE_ERROR; |
| 319 | SerialPutString("\r\nError opening gpx-file: "); |
320 | SerialPutString("\r\nError opening gpx-file: "); |
| 320 | SerialPutString(logfilename); |
321 | SerialPutString(logfilename); |
| 321 | SerialPutString("\r\n"); |
322 | SerialPutString("\r\n"); |
| 322 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
323 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
| 323 | } |
324 | } |
| 324 | } |
325 | } |
| 325 | else |
326 | else |
| 326 | { |
327 | { |
| 327 | logfilestate = LOGFILE_ERROR; |
328 | logfilestate = LOGFILE_ERROR; |
| 328 | SerialPutString("\r\nError getting free gpx-file name\r\n"); |
329 | SerialPutString("\r\nError getting free gpx-file name\r\n"); |
| 329 | } |
330 | } |
| 330 | // else retry in next loop |
331 | // else retry in next loop |
| 331 | break; |
332 | break; |
| 332 | case LOGFILE_OPENED: |
333 | case LOGFILE_OPENED: |
| 333 | // append new gps log data |
334 | // append new gps log data |
| 334 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
335 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
| 335 | { |
336 | { |
| 336 | if(!GPX_LoggGPSCoordinates(&logfile)) |
337 | if(!GPX_LoggGPSCoordinates(&logfile)) |
| 337 | { // error logging data |
338 | { // error logging data |
| 338 | SerialPutString("\r\nError logging to gpx-file\r\n"); |
339 | SerialPutString("\r\nError logging to gpx-file\r\n"); |
| 339 | GPX_DocumentClose(&logfile); |
340 | GPX_DocumentClose(&logfile); |
| 340 | logfilestate = LOGFILE_ERROR; |
341 | logfilestate = LOGFILE_ERROR; |
| 341 | } |
342 | } |
| 342 | } |
343 | } |
| 343 | break; |
344 | break; |
| 344 | 345 | ||
| 345 | case LOGFILE_ERROR: |
346 | case LOGFILE_ERROR: |
| 346 | break; |
347 | break; |
| 347 | 348 | ||
| 348 | default: |
349 | default: |
| 349 | logfilestate = LOGFILE_IDLE; |
350 | logfilestate = LOGFILE_IDLE; |
| 350 | break; |
351 | break; |
| 351 | } |
352 | } |
| 352 | } // EOF model is flying |
353 | } // EOF model is flying |
| 353 | else // model is not flying |
354 | else // model is not flying |
| 354 | { // close log file if opened |
355 | { // close log file if opened |
| 355 | if(logfilestate == LOGFILE_OPENED) |
356 | if(logfilestate == LOGFILE_OPENED) |
| 356 | { |
357 | { |
| 357 | if(GPX_DocumentClose(&logfile)) |
358 | if(GPX_DocumentClose(&logfile)) |
| 358 | { |
359 | { |
| 359 | SerialPutString("\r\nClosing gpx-file\r\n"); |
360 | SerialPutString("\r\nClosing gpx-file\r\n"); |
| 360 | logfilestate = LOGFILE_CLOSED; |
361 | logfilestate = LOGFILE_CLOSED; |
| 361 | } |
362 | } |
| 362 | else // could not be closed |
363 | else // could not be closed |
| 363 | { |
364 | { |
| 364 | logfilestate = LOGFILE_ERROR; |
365 | logfilestate = LOGFILE_ERROR; |
| 365 | } |
366 | } |
| 366 | } |
367 | } |
| 367 | } //EOF model is not flying |
368 | } //EOF model is not flying |
| 368 | } // EOF Check LogTimer |
369 | } // EOF Check LogTimer |
| 369 | 370 | ||
| 370 | return logfilestate; |
371 | return logfilestate; |
| 371 | } |
372 | } |
| 372 | 373 | ||
| 373 | //---------------------------------------------------------------------------------------------------- |
374 | //---------------------------------------------------------------------------------------------------- |
| 374 | // initialize logging |
375 | // initialize logging |
| 375 | void Logging_Init(void) |
376 | void Logging_Init(void) |
| 376 | { |
377 | { |
| - | 378 | LogCfg.KML_Interval = 500; //default |
|
| - | 379 | Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
|
| 377 | Logging_KML(0); |
380 | Logging_KML(0); |
| - | 381 | LogCfg.GPX_Interval = 0; //default |
|
| - | 382 | Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
|
| 378 | Logging_GPX(0); |
383 | Logging_GPX(0); |
| 379 | } |
384 | } |
| 380 | 385 | ||
| 381 | //---------------------------------------------------------------------------------------------------- |
386 | //---------------------------------------------------------------------------------------------------- |
| 382 | // gobal logging handler |
387 | // gobal logging handler |
| 383 | void Logging_Update(void) |
388 | void Logging_Update(void) |
| 384 | { |
389 | { |
| 385 | static u32 logtimer = 0; |
390 | static u32 logtimer = 0; |
| 386 | static logfilestate_t logstate = LOGFILE_IDLE; |
391 | static logfilestate_t logstate = LOGFILE_IDLE; |
| 387 | 392 | ||
| 388 | 393 | ||
| 389 | if(SD_SWITCH && CheckDelay(logtimer)) // a card is in slot |
394 | if(SD_SWITCH && CheckDelay(logtimer)) // a card is in slot |
| 390 | { |
395 | { |
| 391 | logtimer = SetDelay(10); // faster makes no sense |
396 | logtimer = SetDelay(10); // faster makes no sense |
| 392 | // call the logger handlers if no error has occured |
397 | // call the logger handlers if no error has occured |
| 393 | if(logstate != LOGFILE_ERROR) logstate = Logging_KML(LogCfg.KML_Interval); |
398 | if(logstate != LOGFILE_ERROR) logstate = Logging_KML(LogCfg.KML_Interval); |
| 394 | if(logstate != LOGFILE_ERROR) logstate = Logging_GPX(LogCfg.GPX_Interval); |
399 | if(logstate != LOGFILE_ERROR) logstate = Logging_GPX(LogCfg.GPX_Interval); |
| 395 | 400 | ||
| 396 | // a logging error has occured |
401 | // a logging error has occured |
| 397 | if(logstate == LOGFILE_ERROR) |
402 | if(logstate == LOGFILE_ERROR) |
| 398 | { |
403 | { |
| 399 | Logging_Init(); // initialize the logs |
404 | Logging_Init(); // initialize the logs |
| 400 | // try to initialize the Fat 16 filesystem |
405 | // try to initialize the Fat 16 filesystem |
| 401 | if(0 == Fat16_Init()) |
406 | if(0 == Fat16_Init()) |
| 402 | { // Fat 16 successfully initialized |
407 | { // Fat 16 successfully initialized |
| 403 | logstate = LOGFILE_IDLE; |
408 | logstate = LOGFILE_IDLE; |
| 404 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
409 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
| 405 | } |
410 | } |
| 406 | else |
411 | else |
| 407 | { // retry in 5 seconds |
412 | { // retry in 5 seconds |
| 408 | logtimer = SetDelay(5000); // try again in 5 sec |
413 | logtimer = SetDelay(5000); // try again in 5 sec |
| 409 | } |
414 | } |
| 410 | } //EOF logfile error |
415 | } //EOF logfile error |
| 411 | }// EOF CheckDelay |
416 | }// EOF CheckDelay |
| 412 | } |
417 | } |
| 413 | 418 | ||