Rev 310 | Rev 350 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 310 | Rev 345 | ||
|---|---|---|---|
| 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 / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 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 oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung 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 the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except 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 "timer1.h" |
60 | #include "timer1.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 | #include "settings.h" |
| 66 | 66 | ||
| 67 | 67 | ||
| 68 | #define LOG_FLUSH_INTERVAL 20000 // 20s |
68 | #define LOG_FLUSH_INTERVAL 20000 // 20s |
| 69 | 69 | ||
| 70 | typedef enum |
70 | typedef enum |
| 71 | { |
71 | { |
| 72 | LOGFILE_IDLE, |
72 | LOGFILE_IDLE, |
| 73 | LOGFILE_START, |
73 | LOGFILE_START, |
| 74 | LOGFILE_CLOSED, |
74 | LOGFILE_CLOSED, |
| 75 | LOGFILE_OPENED, |
75 | LOGFILE_OPENED, |
| 76 | LOGFILE_ERROR |
76 | LOGFILE_ERROR |
| 77 | } logfilestate_t; |
77 | } logfilestate_t; |
| 78 | 78 | ||
| 79 | // logger handler prototypes |
79 | // logger handler prototypes |
| 80 | logfilestate_t Logging_KML(u32 LogDelay); |
80 | logfilestate_t Logging_KML(u32 LogDelay); |
| 81 | logfilestate_t Logging_GPX(u32 LogDelay); |
81 | logfilestate_t Logging_GPX(u32 LogDelay); |
| 82 | 82 | ||
| 83 | typedef struct |
83 | typedef struct |
| 84 | { |
84 | { |
| 85 | u32 KML_Interval; // the kml-log interval (0 = off) |
85 | u32 KML_Interval; // the kml-log interval (0 = off) |
| 86 | u32 GPX_Interval; // the gpx-log interval (0 = off) |
86 | u32 GPX_Interval; // the gpx-log interval (0 = off) |
| 87 | } LogCfg_t; |
87 | } LogCfg_t; |
| 88 | 88 | ||
| 89 | LogCfg_t LogCfg = {500 , 1000}; |
89 | LogCfg_t LogCfg = {500 , 1000}; |
| 90 | 90 | ||
| 91 | 91 | ||
| 92 | //---------------------------------------------------------------------------------------------------- |
92 | //---------------------------------------------------------------------------------------------------- |
| 93 | s8* GenerateKMLLogFileName(void) |
93 | s8* GenerateKMLLogFileName(void) |
| 94 | { |
94 | { |
| 95 | static u16 filenum = 0; // file name counter |
95 | static u16 filenum = 0; // file name counter |
| 96 | static s8 filename[35]; |
96 | static s8 filename[35]; |
| 97 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
97 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
| 98 | 98 | ||
| 99 | if(SystemTime.Valid) |
99 | if(SystemTime.Valid) |
| 100 | { |
100 | { |
| 101 | // if the day has been changed |
101 | // if the day has been changed |
| 102 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
102 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
| 103 | { |
103 | { |
| 104 | LastTime.Year = SystemTime.Year; |
104 | LastTime.Year = SystemTime.Year; |
| 105 | LastTime.Month = SystemTime.Month; |
105 | LastTime.Month = SystemTime.Month; |
| 106 | LastTime.Day = SystemTime.Day; |
106 | LastTime.Day = SystemTime.Day; |
| 107 | LastTime.Valid = 1; |
107 | LastTime.Valid = 1; |
| 108 | filenum = 0; // reset file counter |
108 | filenum = 0; // reset file counter |
| 109 | } |
109 | } |
| 110 | sprintf(filename, "LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
110 | sprintf(filename, "LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| 111 | filenum++; |
111 | filenum++; |
| 112 | return filename; |
112 | return filename; |
| 113 | } |
113 | } |
| 114 | else return NULL; |
114 | else return NULL; |
| 115 | } |
115 | } |
| 116 | 116 | ||
| 117 | //---------------------------------------------------------------------------------------------------- |
117 | //---------------------------------------------------------------------------------------------------- |
| 118 | s8* GenerateGPXLogFileName(void) |
118 | s8* GenerateGPXLogFileName(void) |
| 119 | { |
119 | { |
| 120 | static u16 filenum = 0; // file name counter |
120 | static u16 filenum = 0; // file name counter |
| 121 | static s8 filename[35]; |
121 | static s8 filename[35]; |
| 122 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
122 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
| 123 | 123 | ||
| 124 | if(SystemTime.Valid) |
124 | if(SystemTime.Valid) |
| 125 | { |
125 | { |
| 126 | // if the day has been changed |
126 | // if the day has been changed |
| 127 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
127 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
| 128 | { |
128 | { |
| 129 | LastTime.Year = SystemTime.Year; |
129 | LastTime.Year = SystemTime.Year; |
| 130 | LastTime.Month = SystemTime.Month; |
130 | LastTime.Month = SystemTime.Month; |
| 131 | LastTime.Day = SystemTime.Day; |
131 | LastTime.Day = SystemTime.Day; |
| 132 | LastTime.Valid = 1; |
132 | LastTime.Valid = 1; |
| 133 | filenum = 0; // reset file counter |
133 | filenum = 0; // reset file counter |
| 134 | } |
134 | } |
| 135 | sprintf(filename, "LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
135 | sprintf(filename, "LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| 136 | filenum++; |
136 | filenum++; |
| 137 | return filename; |
137 | return filename; |
| 138 | } |
138 | } |
| 139 | else return NULL; |
139 | else return NULL; |
| 140 | } |
140 | } |
| 141 | 141 | ||
| 142 | 142 | ||
| 143 | 143 | ||
| 144 | //---------------------------------------------------------------------------------------------------- |
144 | //---------------------------------------------------------------------------------------------------- |
| 145 | // logs the current gps position to a kml file |
145 | // logs the current gps position to a kml file |
| 146 | logfilestate_t Logging_KML(u32 LogDelay) |
146 | logfilestate_t Logging_KML(u32 LogDelay) |
| 147 | { |
147 | { |
| 148 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
148 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
| 149 | static s8* logfilename = NULL; // the pointer to the logfilename |
149 | static s8* logfilename = NULL; // the pointer to the logfilename |
| 150 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
150 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
| 151 | static KML_Document_t logfile; // the logfilehandle |
151 | static KML_Document_t logfile; // the logfilehandle |
| 152 | 152 | ||
| 153 | // initialize if LogDelay is zero |
153 | // initialize if LogDelay is zero |
| 154 | if(!LogDelay) |
154 | if(!LogDelay) |
| 155 | { |
155 | { |
| 156 | switch(logfilestate) |
156 | switch(logfilestate) |
| 157 | { |
157 | { |
| 158 | case LOGFILE_OPENED: |
158 | case LOGFILE_OPENED: |
| 159 | KML_DocumentClose(&logfile); // try to close it |
159 | KML_DocumentClose(&logfile); // try to close it |
| 160 | break; |
160 | break; |
| 161 | default: |
161 | default: |
| 162 | break; |
162 | break; |
| 163 | } |
163 | } |
| 164 | logfilestate = LOGFILE_IDLE; |
164 | logfilestate = LOGFILE_IDLE; |
| 165 | logfilename = NULL; |
165 | logfilename = NULL; |
| 166 | KML_DocumentInit(&logfile); |
166 | KML_DocumentInit(&logfile); |
| 167 | logtimer = SetDelay(0); // set logtimer to now |
167 | logtimer = SetDelay(0); // set logtimer to now |
| 168 | return logfilestate; |
168 | return logfilestate; |
| 169 | } |
169 | } |
| 170 | // no init |
170 | // no init |
| 171 | if(CheckDelay(logtimer)) |
171 | if(CheckDelay(logtimer)) |
| 172 | { |
172 | { |
| 173 | logtimer = SetDelay(LogDelay); // standard interval |
173 | logtimer = SetDelay(LogDelay); // standard interval |
| 174 | 174 | ||
| 175 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
175 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
| 176 | { |
176 | { |
| 177 | switch(logfilestate) |
177 | switch(logfilestate) |
| 178 | { |
178 | { |
| 179 | case LOGFILE_IDLE: |
179 | case LOGFILE_IDLE: |
| 180 | case LOGFILE_CLOSED: |
180 | case LOGFILE_CLOSED: |
| 181 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.StatusFlags & FC_STATUS_FLY)) |
181 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.StatusFlags & FC_STATUS_FLY)) |
| 182 | { |
182 | { |
| 183 | logfilestate = LOGFILE_START; |
183 | logfilestate = LOGFILE_START; |
| 184 | } |
184 | } |
| 185 | break; |
185 | break; |
| 186 | case LOGFILE_START: |
186 | case LOGFILE_START: |
| 187 | // find unused logfile name |
187 | // find unused logfile name |
| 188 | do |
188 | do |
| 189 | { // try to generate a new logfile name |
189 | { // try to generate a new logfile name |
| 190 | logfilename = GenerateKMLLogFileName(); |
190 | logfilename = GenerateKMLLogFileName(); |
| 191 | }while((logfilename != NULL) && fexist_(logfilename)); |
191 | }while((logfilename != NULL) && fexist_(logfilename)); |
| 192 | // if logfilename exist |
192 | // if logfilename exist |
| 193 | if(logfilename != NULL) |
193 | if(logfilename != NULL) |
| 194 | { |
194 | { |
| 195 | // try to create the log file |
195 | // try to create the log file |
| 196 | if(KML_DocumentOpen(logfilename, &logfile)) |
196 | if(KML_DocumentOpen(logfilename, &logfile)) |
| 197 | { |
197 | { |
| 198 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
198 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 199 | logfilestate = LOGFILE_OPENED; // goto next step |
199 | logfilestate = LOGFILE_OPENED; // goto next step |
| 200 | UART1_PutString("\r\nOpening kml-file:"); |
200 | UART1_PutString("\r\nOpening kml-file:"); |
| 201 | UART1_PutString(logfilename); |
201 | UART1_PutString(logfilename); |
| 202 | UART1_PutString("\r\n"); |
202 | UART1_PutString("\r\n"); |
| 203 | } |
203 | } |
| 204 | else // could not be openend |
204 | else // could not be openend |
| 205 | { |
205 | { |
| 206 | logfilestate = LOGFILE_ERROR; |
206 | logfilestate = LOGFILE_ERROR; |
| 207 | UART1_PutString("\r\nError opening kml-file: "); |
207 | UART1_PutString("\r\nError opening kml-file: "); |
| 208 | UART1_PutString(logfilename); |
208 | UART1_PutString(logfilename); |
| 209 | UART1_PutString("\r\n"); |
209 | UART1_PutString("\r\n"); |
| 210 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
210 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
| 211 | } |
211 | } |
| 212 | } |
212 | } |
| 213 | else |
213 | else |
| 214 | { |
214 | { |
| 215 | logfilestate = LOGFILE_ERROR; |
215 | logfilestate = LOGFILE_ERROR; |
| 216 | UART1_PutString("\r\nError getting free kml-file name\r\n"); |
216 | UART1_PutString("\r\nError getting free kml-file name\r\n"); |
| 217 | } |
217 | } |
| 218 | // else retry in next loop |
218 | // else retry in next loop |
| 219 | break; |
219 | break; |
| 220 | case LOGFILE_OPENED: |
220 | case LOGFILE_OPENED: |
| 221 | // append new gps log data |
221 | // append new gps log data |
| 222 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
222 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
| 223 | { |
223 | { |
| 224 | if(!KML_LoggGPSCoordinates(&logfile)) |
224 | if(!KML_LoggGPSCoordinates(&logfile)) |
| 225 | { // error logging data |
225 | { // error logging data |
| 226 | UART1_PutString("\r\nError logging to kml-file\r\n"); |
226 | UART1_PutString("\r\nError logging to kml-file\r\n"); |
| 227 | KML_DocumentClose(&logfile); |
227 | KML_DocumentClose(&logfile); |
| 228 | logfilestate = LOGFILE_ERROR; |
228 | logfilestate = LOGFILE_ERROR; |
| 229 | } |
229 | } |
| 230 | else // sucessfully logged |
230 | else // sucessfully logged |
| 231 | { |
231 | { |
| 232 | if(CheckDelay(flushtimer)) |
232 | if(CheckDelay(flushtimer)) |
| 233 | { |
233 | { |
| 234 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
234 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 235 | fflush_(logfile.file); |
235 | fflush_(logfile.file); |
| 236 | } |
236 | } |
| 237 | } |
237 | } |
| 238 | 238 | ||
| 239 | } |
239 | } |
| 240 | break; |
240 | break; |
| 241 | 241 | ||
| 242 | case LOGFILE_ERROR: |
242 | case LOGFILE_ERROR: |
| 243 | break; |
243 | break; |
| 244 | 244 | ||
| 245 | default: |
245 | default: |
| 246 | logfilestate = LOGFILE_IDLE; |
246 | logfilestate = LOGFILE_IDLE; |
| 247 | break; |
247 | break; |
| 248 | } |
248 | } |
| 249 | } // EOF motors are not running |
249 | } // EOF motors are not running |
| 250 | else // model is not flying |
250 | else // model is not flying |
| 251 | { // close log file if opened |
251 | { // close log file if opened |
| 252 | if(logfilestate == LOGFILE_OPENED) |
252 | if(logfilestate == LOGFILE_OPENED) |
| 253 | { |
253 | { |
| 254 | if(KML_DocumentClose(&logfile)) |
254 | if(KML_DocumentClose(&logfile)) |
| 255 | { |
255 | { |
| 256 | UART1_PutString("\r\nClosing kml-file\r\n"); |
256 | UART1_PutString("\r\nClosing kml-file\r\n"); |
| 257 | logfilestate = LOGFILE_CLOSED; |
257 | logfilestate = LOGFILE_CLOSED; |
| 258 | } |
258 | } |
| 259 | else // could not be closed |
259 | else // could not be closed |
| 260 | { |
260 | { |
| 261 | UART1_PutString("\r\nError closing kml-file\r\n"); |
261 | UART1_PutString("\r\nError closing kml-file\r\n"); |
| 262 | logfilestate = LOGFILE_ERROR; |
262 | logfilestate = LOGFILE_ERROR; |
| 263 | } |
263 | } |
| 264 | } |
264 | } |
| 265 | } //EOF motors are not running |
265 | } //EOF motors are not running |
| 266 | } // EOF Check LogTimer |
266 | } // EOF Check LogTimer |
| 267 | 267 | ||
| 268 | return logfilestate; |
268 | return logfilestate; |
| 269 | } |
269 | } |
| 270 | 270 | ||
| 271 | //---------------------------------------------------------------------------------------------------- |
271 | //---------------------------------------------------------------------------------------------------- |
| 272 | // logs gps and state info to a gpx file |
272 | // logs gps and state info to a gpx file |
| 273 | logfilestate_t Logging_GPX(u32 LogDelay) |
273 | logfilestate_t Logging_GPX(u32 LogDelay) |
| 274 | { |
274 | { |
| 275 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
275 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
| 276 | static s8* logfilename = NULL; // the pointer to the logfilename |
276 | static s8* logfilename = NULL; // the pointer to the logfilename |
| 277 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
277 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
| 278 | static GPX_Document_t logfile; // the logfilehandle |
278 | static GPX_Document_t logfile; // the logfilehandle |
| - | 279 | static u8 part = 0; |
|
| - | 280 | u32 measure_time; |
|
| 279 | 281 | ||
| 280 | // initialize if LogDelay is zero |
282 | // initialize if LogDelay is zero |
| 281 | if(!LogDelay) |
283 | if(!LogDelay) |
| 282 | { |
284 | { |
| 283 | switch(logfilestate) |
285 | switch(logfilestate) |
| 284 | { |
286 | { |
| 285 | case LOGFILE_OPENED: |
287 | case LOGFILE_OPENED: |
| 286 | GPX_DocumentClose(&logfile); // try to close it |
288 | GPX_DocumentClose(&logfile); // try to close it |
| 287 | break; |
289 | break; |
| 288 | default: |
290 | default: |
| 289 | break; |
291 | break; |
| 290 | } |
292 | } |
| 291 | logfilestate = LOGFILE_IDLE; |
293 | logfilestate = LOGFILE_IDLE; |
| 292 | logfilename = NULL; |
294 | logfilename = NULL; |
| 293 | GPX_DocumentInit(&logfile); |
295 | GPX_DocumentInit(&logfile); |
| 294 | logtimer = SetDelay(0); // set logtimer to now |
296 | logtimer = SetDelay(0); // set logtimer to now |
| 295 | return logfilestate; |
297 | return logfilestate; |
| 296 | } |
298 | } |
| 297 | // no init |
299 | // no init |
| 298 | if(CheckDelay(logtimer)) |
300 | if(CheckDelay(logtimer) || part) |
| 299 | { |
301 | { |
| 300 | logtimer = SetDelay(LogDelay); // standard interval |
302 | logtimer = SetDelay(LogDelay); // standard interval |
| 301 | 303 | ||
| 302 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
304 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN || part) |
| 303 | { |
305 | { |
| 304 | switch(logfilestate) |
306 | switch(logfilestate) |
| 305 | { |
307 | { |
| 306 | case LOGFILE_IDLE: |
308 | case LOGFILE_IDLE: |
| 307 | case LOGFILE_CLOSED: |
309 | case LOGFILE_CLOSED: |
| 308 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.StatusFlags & FC_STATUS_FLY)) |
310 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.StatusFlags & FC_STATUS_FLY)) |
| 309 | { |
311 | { |
| 310 | logfilestate = LOGFILE_START; |
312 | logfilestate = LOGFILE_START; |
| 311 | } |
313 | } |
| - | 314 | part = 0; |
|
| 312 | break; |
315 | break; |
| 313 | case LOGFILE_START: |
316 | case LOGFILE_START: |
| 314 | // find unused logfile name |
317 | // find unused logfile name |
| 315 | do |
318 | do |
| 316 | { // try to generate a new logfile name |
319 | { // try to generate a new logfile name |
| 317 | logfilename = GenerateGPXLogFileName(); |
320 | logfilename = GenerateGPXLogFileName(); |
| 318 | }while((logfilename != NULL) && fexist_(logfilename)); |
321 | }while((logfilename != NULL) && fexist_(logfilename)); |
| 319 | // if logfilename exist |
322 | // if logfilename exist |
| 320 | if(logfilename != NULL) |
323 | if(logfilename != NULL) |
| 321 | { |
324 | { |
| 322 | // try to create the log file |
325 | // try to create the log file |
| 323 | if(GPX_DocumentOpen(logfilename, &logfile)) |
326 | if(GPX_DocumentOpen(logfilename, &logfile)) |
| 324 | { |
327 | { |
| 325 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
328 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 326 | logfilestate = LOGFILE_OPENED; // goto next step |
329 | logfilestate = LOGFILE_OPENED; // goto next step |
| 327 | UART1_PutString("\r\nOpening gpx-file:"); |
330 | UART1_PutString("\r\nOpening gpx-file:"); |
| 328 | UART1_PutString(logfilename); |
331 | UART1_PutString(logfilename); |
| 329 | UART1_PutString("\r\n"); |
332 | UART1_PutString("\r\n"); |
| 330 | } |
333 | } |
| 331 | else // could not be openend |
334 | else // could not be openend |
| 332 | { |
335 | { |
| 333 | logfilestate = LOGFILE_ERROR; |
336 | logfilestate = LOGFILE_ERROR; |
| 334 | UART1_PutString("\r\nError opening gpx-file: "); |
337 | UART1_PutString("\r\nError opening gpx-file: "); |
| 335 | UART1_PutString(logfilename); |
338 | UART1_PutString(logfilename); |
| 336 | UART1_PutString("\r\n"); |
339 | UART1_PutString("\r\n"); |
| 337 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
340 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
| 338 | } |
341 | } |
| 339 | } |
342 | } |
| 340 | else |
343 | else |
| 341 | { |
344 | { |
| 342 | logfilestate = LOGFILE_ERROR; |
345 | logfilestate = LOGFILE_ERROR; |
| 343 | UART1_PutString("\r\nError getting free gpx-file name\r\n"); |
346 | UART1_PutString("\r\nError getting free gpx-file name\r\n"); |
| 344 | } |
347 | } |
| 345 | // else retry in next loop |
348 | // else retry in next loop |
| - | 349 | part = 0; |
|
| 346 | break; |
350 | break; |
| 347 | case LOGFILE_OPENED: |
351 | case LOGFILE_OPENED: |
| 348 | // append new gps log data |
352 | // append new gps log data |
| - | 353 | measure_time = CountMilliseconds; |
|
| 349 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
354 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
| 350 | { |
355 | { |
| 351 | if(!GPX_LoggGPSCoordinates(&logfile)) |
356 | if(!GPX_LoggGPSCoordinates(&logfile,part)) |
| 352 | { // error logging data |
357 | { // error logging data |
| 353 | UART1_PutString("\r\nError logging to gpx-file\r\n"); |
358 | UART1_PutString("\r\nError logging to gpx-file\r\n"); |
| 354 | GPX_DocumentClose(&logfile); |
359 | GPX_DocumentClose(&logfile); |
| 355 | logfilestate = LOGFILE_ERROR; |
360 | logfilestate = LOGFILE_ERROR; |
| 356 | } |
361 | } |
| 357 | else // successful log |
362 | else // successful log |
| 358 | { |
363 | { |
| 359 | if(CheckDelay(flushtimer)) |
364 | if(CheckDelay(flushtimer)) |
| 360 | { |
365 | { |
| 361 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
366 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 362 | fflush_(logfile.file); |
367 | fflush_(logfile.file); |
| 363 | } |
368 | } |
| 364 | } |
369 | } |
| 365 | } |
370 | } |
| - | 371 | if(++part == 9) part = 0; |
|
| - | 372 | DebugOut.Analog[19] = CountMilliseconds - measure_time; |
|
| 366 | break; |
373 | break; |
| 367 | 374 | ||
| 368 | case LOGFILE_ERROR: |
375 | case LOGFILE_ERROR: |
| - | 376 | part = 0; |
|
| 369 | break; |
377 | break; |
| 370 | 378 | ||
| 371 | default: |
379 | default: |
| - | 380 | part = 0; |
|
| 372 | logfilestate = LOGFILE_IDLE; |
381 | logfilestate = LOGFILE_IDLE; |
| 373 | break; |
382 | break; |
| 374 | } |
383 | } |
| 375 | } // EOF model is flying |
384 | } // EOF model is flying |
| 376 | else // model is not flying |
385 | else // model is not flying |
| 377 | { // close log file if opened |
386 | { // close log file if opened |
| 378 | if(logfilestate == LOGFILE_OPENED) |
387 | if(logfilestate == LOGFILE_OPENED) |
| 379 | { |
388 | { |
| 380 | if(GPX_DocumentClose(&logfile)) |
389 | if(GPX_DocumentClose(&logfile)) |
| 381 | { |
390 | { |
| 382 | UART1_PutString("\r\nClosing gpx-file\r\n"); |
391 | UART1_PutString("\r\nClosing gpx-file\r\n"); |
| 383 | logfilestate = LOGFILE_CLOSED; |
392 | logfilestate = LOGFILE_CLOSED; |
| - | 393 | part = 0; |
|
| 384 | } |
394 | } |
| 385 | else // could not be closed |
395 | else // could not be closed |
| 386 | { |
396 | { |
| 387 | UART1_PutString("\r\nError closing gpx-file\r\n"); |
397 | UART1_PutString("\r\nError closing gpx-file\r\n"); |
| 388 | logfilestate = LOGFILE_ERROR; |
398 | logfilestate = LOGFILE_ERROR; |
| - | 399 | part = 0; |
|
| 389 | } |
400 | } |
| 390 | } |
401 | } |
| 391 | } //EOF model is not flying |
402 | } //EOF model is not flying |
| 392 | } // EOF Check LogTimer |
403 | } // EOF Check LogTimer |
| 393 | 404 | ||
| 394 | return logfilestate; |
405 | return logfilestate; |
| 395 | } |
406 | } |
| 396 | 407 | ||
| 397 | //---------------------------------------------------------------------------------------------------- |
408 | //---------------------------------------------------------------------------------------------------- |
| 398 | // initialize logging |
409 | // initialize logging |
| 399 | void Logging_Init(void) |
410 | void Logging_Init(void) |
| 400 | { |
411 | { |
| 401 | LogCfg.KML_Interval = 500; //default |
412 | LogCfg.KML_Interval = 500; //default |
| 402 | Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
413 | Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
| 403 | if(LogCfg.KML_Interval < 500) LogCfg.KML_Interval = 500; |
414 | if(LogCfg.KML_Interval < 500) LogCfg.KML_Interval = 500; |
| 404 | 415 | ||
| 405 | Logging_KML(0); // initialize |
416 | Logging_KML(0); // initialize |
| 406 | LogCfg.GPX_Interval = 0; //default |
417 | LogCfg.GPX_Interval = 0; //default |
| 407 | Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
418 | Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
| 408 | if(LogCfg.GPX_Interval < 500) LogCfg.GPX_Interval = 500; |
419 | if(LogCfg.GPX_Interval < 500) LogCfg.GPX_Interval = 500; |
| 409 | Logging_GPX(0); // initialize |
420 | Logging_GPX(0); // initialize |
| 410 | } |
421 | } |
| 411 | 422 | ||
| 412 | //---------------------------------------------------------------------------------------------------- |
423 | //---------------------------------------------------------------------------------------------------- |
| 413 | // gobal logging handler |
424 | // gobal logging handler |
| 414 | void Logging_Update(void) |
425 | void Logging_Update(void) |
| 415 | { |
426 | { |
| 416 | static u8 logmodule = 0; |
427 | static u8 logmodule = 0; |
| 417 | static u32 logtimer = 0; |
428 | static u32 logtimer = 0; |
| 418 | static logfilestate_t logstate = LOGFILE_IDLE; |
429 | static logfilestate_t logstate = LOGFILE_IDLE; |
| 419 | 430 | ||
| 420 | if(SD_SWITCH) // a card is in slot |
431 | if(SD_SWITCH) // a card is in slot |
| 421 | { |
432 | { |
| 422 | if(CheckDelay(logtimer)) |
433 | if(CheckDelay(logtimer)) |
| 423 | { |
434 | { |
| 424 | logtimer = SetDelay(10); // faster makes no sense |
435 | logtimer = SetDelay(10); // faster makes no sense |
| 425 | // call the logger handlers if no error has occured |
436 | // call the logger handlers if no error has occured |
| 426 | if(logstate != LOGFILE_ERROR) |
437 | if(logstate != LOGFILE_ERROR) |
| 427 | { // run only one logging handler per loop |
438 | { // run only one logging handler per loop |
| 428 | switch(logmodule++) |
439 | switch(logmodule++) |
| 429 | { |
440 | { |
| 430 | case 0: |
441 | case 0: |
| 431 | logstate = Logging_KML(LogCfg.KML_Interval); |
442 | logstate = Logging_KML(LogCfg.KML_Interval); |
| 432 | break; |
443 | break; |
| 433 | case 1: |
444 | case 1: |
| 434 | logstate = Logging_GPX(LogCfg.GPX_Interval); |
445 | logstate = Logging_GPX(LogCfg.GPX_Interval); |
| 435 | logmodule = 0; // resart with first log module |
446 | logmodule = 0; // resart with first log module |
| 436 | break; |
447 | break; |
| 437 | default: |
448 | default: |
| 438 | logmodule = 0; |
449 | logmodule = 0; |
| 439 | break; |
450 | break; |
| 440 | } |
451 | } |
| 441 | } |
452 | } |
| 442 | else // a logging error has occured |
453 | else // a logging error has occured |
| 443 | { |
454 | { |
| 444 | /* |
455 | /* |
| 445 | // try to reinitialize sd-card when motors are not running |
456 | // try to reinitialize sd-card when motors are not running |
| 446 | if(!(FC.Flags & FCFLAG_MOTOR_RUN)) |
457 | if(!(FC.Flags & FCFLAG_MOTOR_RUN)) |
| 447 | { |
458 | { |
| 448 | if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
459 | if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
| 449 | { |
460 | { |
| 450 | Logging_Init(); // initialize the logs |
461 | Logging_Init(); // initialize the logs |
| 451 | logstate = LOGFILE_IDLE; |
462 | logstate = LOGFILE_IDLE; |
| 452 | logtimer = SetDelay(10); // try next log in 10 mili sec |
463 | logtimer = SetDelay(10); // try next log in 10 mili sec |
| 453 | } |
464 | } |
| 454 | else |
465 | else |
| 455 | { // retry in 5 seconds |
466 | { // retry in 5 seconds |
| 456 | logtimer = SetDelay(5000); // try again in 5 sec |
467 | logtimer = SetDelay(5000); // try again in 5 sec |
| 457 | } |
468 | } |
| 458 | } // EOF motors are not running |
469 | } // EOF motors are not running |
| 459 | */ |
470 | */ |
| 460 | } //EOF logfile error |
471 | } //EOF logfile error |
| 461 | } // EOF CheckDelay |
472 | } // EOF CheckDelay |
| 462 | }// EOF Card in Slot |
473 | }// EOF Card in Slot |
| 463 | } |
474 | } |
| 464 | 475 | ||