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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 |
- | |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
- | |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
- | |
| 8 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 7 | // + Software Nutzungsbedingungen (english version: see below) |
|
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
- | |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| 22 | // + eindeutig als Ursprung verlinkt werden |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 25 | // + Benutzung auf eigene Gefahr |
22 | // + des Mitverschuldens offen. |
| - | 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
|
| - | 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
|
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| - | 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
|
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| 29 | // + mit unserer Zustimmung zulässig |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| - | 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
|
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
32 | // + Software LICENSING TERMS |
| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 34 | // + this list of conditions and the following disclaimer. |
35 | // + 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 |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| 36 | // + from this software without specific prior written permission. |
37 | // + The Software may only be used with the Licensor's products. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| 38 | // + for non-commercial use (directly or indirectly) |
- | |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| 40 | // + with our written permission |
40 | // + agreement shall be the property of the Licensor. |
| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| 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 |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
| 44 | // |
- | |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
43 | // + The customer shall be responsible for taking reasonable precautions |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
53 | // + #### END OF LICENSING TERMS #### |
| - | 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
|
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | #include <stdio.h> |
56 | #include <stdio.h> |
| 58 | #include "91x_lib.h" |
57 | #include "91x_lib.h" |
| 59 | #include "main.h" |
58 | #include "main.h" |
| 60 | #include "timer1.h" |
59 | #include "timer1.h" |
| 61 | #include "uart1.h" |
60 | #include "uart1.h" |
| 62 | #include "kml.h" |
61 | #include "kml.h" |
| 63 | #include "gpx.h" |
62 | #include "gpx.h" |
| 64 | #include "ssc.h" |
63 | #include "ssc.h" |
| 65 | #include "settings.h" |
64 | #include "settings.h" |
| 66 | 65 | ||
| 67 | u8 SD_LoggingError = 0; |
66 | u8 SD_LoggingError = 0; |
| 68 | 67 | ||
| 69 | #define LOG_FLUSH_INTERVAL 20000 // 20s |
68 | #define LOG_FLUSH_INTERVAL 20000 // 20s |
| 70 | 69 | ||
| 71 | typedef enum |
70 | typedef enum |
| 72 | { |
71 | { |
| 73 | LOGFILE_IDLE, |
72 | LOGFILE_IDLE, |
| 74 | LOGFILE_START, |
73 | LOGFILE_START, |
| 75 | LOGFILE_CLOSED, |
74 | LOGFILE_CLOSED, |
| 76 | LOGFILE_OPENED, |
75 | LOGFILE_OPENED, |
| 77 | LOGFILE_ERROR |
76 | LOGFILE_ERROR |
| 78 | } logfilestate_t; |
77 | } logfilestate_t; |
| 79 | 78 | ||
| 80 | // logger handler prototypes |
79 | // logger handler prototypes |
| 81 | logfilestate_t Logging_KML(u32 LogDelay); |
80 | logfilestate_t Logging_KML(u32 LogDelay); |
| 82 | logfilestate_t Logging_GPX(u32 LogDelay); |
81 | logfilestate_t Logging_GPX(u32 LogDelay); |
| 83 | 82 | ||
| 84 | typedef struct |
83 | typedef struct |
| 85 | { |
84 | { |
| 86 | u32 KML_Interval; // the kml-log interval (0 = off) |
85 | u32 KML_Interval; // the kml-log interval (0 = off) |
| 87 | u32 GPX_Interval; // the gpx-log interval (0 = off) |
86 | u32 GPX_Interval; // the gpx-log interval (0 = off) |
| 88 | } LogCfg_t; |
87 | } LogCfg_t; |
| 89 | 88 | ||
| 90 | LogCfg_t LogCfg = {500 , 1000}; |
89 | LogCfg_t LogCfg = {500 , 1000}; |
| 91 | 90 | ||
| 92 | 91 | ||
| 93 | //---------------------------------------------------------------------------------------------------- |
92 | //---------------------------------------------------------------------------------------------------- |
| 94 | s8* GenerateKMLLogFileName(void) |
93 | s8* GenerateKMLLogFileName(void) |
| 95 | { |
94 | { |
| 96 | static u16 filenum = 0; // file name counter |
95 | static u16 filenum = 0; // file name counter |
| 97 | static s8 filename[35]; |
96 | static s8 filename[35]; |
| 98 | 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}; |
| 99 | 98 | ||
| 100 | if(SystemTime.Valid) |
99 | if(SystemTime.Valid) |
| 101 | { |
100 | { |
| 102 | // if the day has been changed |
101 | // if the day has been changed |
| 103 | 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)) |
| 104 | { |
103 | { |
| 105 | LastTime.Year = SystemTime.Year; |
104 | LastTime.Year = SystemTime.Year; |
| 106 | LastTime.Month = SystemTime.Month; |
105 | LastTime.Month = SystemTime.Month; |
| 107 | LastTime.Day = SystemTime.Day; |
106 | LastTime.Day = SystemTime.Day; |
| 108 | LastTime.Valid = 1; |
107 | LastTime.Valid = 1; |
| 109 | filenum = 0; // reset file counter |
108 | filenum = 0; // reset file counter |
| 110 | } |
109 | } |
| 111 | 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); |
| 112 | filenum++; |
111 | filenum++; |
| 113 | return filename; |
112 | return filename; |
| 114 | } |
113 | } |
| 115 | else return NULL; |
114 | else return NULL; |
| 116 | } |
115 | } |
| 117 | 116 | ||
| 118 | //---------------------------------------------------------------------------------------------------- |
117 | //---------------------------------------------------------------------------------------------------- |
| 119 | s8* GenerateGPXLogFileName(void) |
118 | s8* GenerateGPXLogFileName(void) |
| 120 | { |
119 | { |
| 121 | static u16 filenum = 0; // file name counter |
120 | static u16 filenum = 0; // file name counter |
| 122 | static s8 filename[35]; |
121 | static s8 filename[35]; |
| 123 | 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}; |
| 124 | 123 | ||
| 125 | if(SystemTime.Valid) |
124 | if(SystemTime.Valid) |
| 126 | { |
125 | { |
| 127 | // if the day has been changed |
126 | // if the day has been changed |
| 128 | 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)) |
| 129 | { |
128 | { |
| 130 | LastTime.Year = SystemTime.Year; |
129 | LastTime.Year = SystemTime.Year; |
| 131 | LastTime.Month = SystemTime.Month; |
130 | LastTime.Month = SystemTime.Month; |
| 132 | LastTime.Day = SystemTime.Day; |
131 | LastTime.Day = SystemTime.Day; |
| 133 | LastTime.Valid = 1; |
132 | LastTime.Valid = 1; |
| 134 | filenum = 0; // reset file counter |
133 | filenum = 0; // reset file counter |
| 135 | } |
134 | } |
| 136 | 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); |
| 137 | filenum++; |
136 | filenum++; |
| 138 | return filename; |
137 | return filename; |
| 139 | } |
138 | } |
| 140 | else return NULL; |
139 | else return NULL; |
| 141 | } |
140 | } |
| 142 | 141 | ||
| 143 | 142 | ||
| 144 | 143 | ||
| 145 | //---------------------------------------------------------------------------------------------------- |
144 | //---------------------------------------------------------------------------------------------------- |
| 146 | // logs the current gps position to a kml file |
145 | // logs the current gps position to a kml file |
| 147 | logfilestate_t Logging_KML(u32 LogDelay) |
146 | logfilestate_t Logging_KML(u32 LogDelay) |
| 148 | { |
147 | { |
| 149 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
148 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
| 150 | static s8* logfilename = NULL; // the pointer to the logfilename |
149 | static s8* logfilename = NULL; // the pointer to the logfilename |
| 151 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
150 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
| 152 | static KML_Document_t logfile; // the logfilehandle |
151 | static KML_Document_t logfile; // the logfilehandle |
| 153 | 152 | ||
| 154 | // initialize if LogDelay is zero |
153 | // initialize if LogDelay is zero |
| 155 | if(!LogDelay) |
154 | if(!LogDelay) |
| 156 | { |
155 | { |
| 157 | switch(logfilestate) |
156 | switch(logfilestate) |
| 158 | { |
157 | { |
| 159 | case LOGFILE_OPENED: |
158 | case LOGFILE_OPENED: |
| 160 | KML_DocumentClose(&logfile); // try to close it |
159 | KML_DocumentClose(&logfile); // try to close it |
| 161 | break; |
160 | break; |
| 162 | default: |
161 | default: |
| 163 | break; |
162 | break; |
| 164 | } |
163 | } |
| 165 | logfilestate = LOGFILE_IDLE; |
164 | logfilestate = LOGFILE_IDLE; |
| 166 | logfilename = NULL; |
165 | logfilename = NULL; |
| 167 | KML_DocumentInit(&logfile); |
166 | KML_DocumentInit(&logfile); |
| 168 | logtimer = SetDelay(0); // set logtimer to now |
167 | logtimer = SetDelay(0); // set logtimer to now |
| 169 | return logfilestate; |
168 | return logfilestate; |
| 170 | } |
169 | } |
| 171 | // no init |
170 | // no init |
| 172 | if(CheckDelay(logtimer)) |
171 | if(CheckDelay(logtimer)) |
| 173 | { |
172 | { |
| 174 | logtimer = SetDelay(LogDelay); // standard interval |
173 | logtimer = SetDelay(LogDelay); // standard interval |
| 175 | 174 | ||
| 176 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
175 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
| 177 | { |
176 | { |
| 178 | switch(logfilestate) |
177 | switch(logfilestate) |
| 179 | { |
178 | { |
| 180 | case LOGFILE_IDLE: |
179 | case LOGFILE_IDLE: |
| 181 | case LOGFILE_CLOSED: |
180 | case LOGFILE_CLOSED: |
| 182 | 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)) |
| 183 | { |
182 | { |
| 184 | logfilestate = LOGFILE_START; |
183 | logfilestate = LOGFILE_START; |
| 185 | } |
184 | } |
| 186 | break; |
185 | break; |
| 187 | case LOGFILE_START: |
186 | case LOGFILE_START: |
| 188 | // find unused logfile name |
187 | // find unused logfile name |
| 189 | do |
188 | do |
| 190 | { // try to generate a new logfile name |
189 | { // try to generate a new logfile name |
| 191 | logfilename = GenerateKMLLogFileName(); |
190 | logfilename = GenerateKMLLogFileName(); |
| 192 | }while((logfilename != NULL) && fexist_(logfilename)); |
191 | }while((logfilename != NULL) && fexist_(logfilename)); |
| 193 | // if logfilename exist |
192 | // if logfilename exist |
| 194 | if(logfilename != NULL) |
193 | if(logfilename != NULL) |
| 195 | { |
194 | { |
| 196 | // try to create the log file |
195 | // try to create the log file |
| 197 | if(KML_DocumentOpen(logfilename, &logfile)) |
196 | if(KML_DocumentOpen(logfilename, &logfile)) |
| 198 | { |
197 | { |
| 199 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
198 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 200 | logfilestate = LOGFILE_OPENED; // goto next step |
199 | logfilestate = LOGFILE_OPENED; // goto next step |
| 201 | UART1_PutString("\r\nOpening kml-file:"); |
200 | UART1_PutString("\r\nOpening kml-file:"); |
| 202 | UART1_PutString(logfilename); |
201 | UART1_PutString(logfilename); |
| 203 | UART1_PutString("\r\n"); |
202 | UART1_PutString("\r\n"); |
| 204 | } |
203 | } |
| 205 | else // could not be openend |
204 | else // could not be openend |
| 206 | { |
205 | { |
| 207 | logfilestate = LOGFILE_ERROR; |
206 | logfilestate = LOGFILE_ERROR; |
| 208 | UART1_PutString("\r\nError opening kml-file: "); |
207 | UART1_PutString("\r\nError opening kml-file: "); |
| 209 | UART1_PutString(logfilename); |
208 | UART1_PutString(logfilename); |
| 210 | UART1_PutString("\r\n"); |
209 | UART1_PutString("\r\n"); |
| 211 | 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 |
| 212 | SD_LoggingError = 1; |
211 | SD_LoggingError = 1; |
| 213 | } |
212 | } |
| 214 | } |
213 | } |
| 215 | else |
214 | else |
| 216 | { |
215 | { |
| 217 | logfilestate = LOGFILE_ERROR; |
216 | logfilestate = LOGFILE_ERROR; |
| 218 | UART1_PutString("\r\nError getting free kml-file name\r\n"); |
217 | UART1_PutString("\r\nError getting free kml-file name\r\n"); |
| 219 | SD_LoggingError = 2; |
218 | SD_LoggingError = 2; |
| 220 | } |
219 | } |
| 221 | // else retry in next loop |
220 | // else retry in next loop |
| 222 | break; |
221 | break; |
| 223 | case LOGFILE_OPENED: |
222 | case LOGFILE_OPENED: |
| 224 | // append new gps log data |
223 | // append new gps log data |
| 225 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
224 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
| 226 | { |
225 | { |
| 227 | if(!KML_LoggGPSCoordinates(&logfile)) |
226 | if(!KML_LoggGPSCoordinates(&logfile)) |
| 228 | { // error logging data |
227 | { // error logging data |
| 229 | UART1_PutString("\r\nError logging to kml-file\r\n"); |
228 | UART1_PutString("\r\nError logging to kml-file\r\n"); |
| 230 | SD_LoggingError = 3; |
229 | SD_LoggingError = 3; |
| 231 | KML_DocumentClose(&logfile); |
230 | KML_DocumentClose(&logfile); |
| 232 | logfilestate = LOGFILE_ERROR; |
231 | logfilestate = LOGFILE_ERROR; |
| 233 | } |
232 | } |
| 234 | else // sucessfully logged |
233 | else // sucessfully logged |
| 235 | { |
234 | { |
| 236 | SD_LoggingError = 0; |
235 | SD_LoggingError = 0; |
| 237 | if(CheckDelay(flushtimer)) |
236 | if(CheckDelay(flushtimer)) |
| 238 | { |
237 | { |
| 239 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
238 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 240 | fflush_(logfile.file); |
239 | fflush_(logfile.file); |
| 241 | } |
240 | } |
| 242 | } |
241 | } |
| 243 | 242 | ||
| 244 | } |
243 | } |
| 245 | break; |
244 | break; |
| 246 | 245 | ||
| 247 | case LOGFILE_ERROR: |
246 | case LOGFILE_ERROR: |
| 248 | break; |
247 | break; |
| 249 | 248 | ||
| 250 | default: |
249 | default: |
| 251 | logfilestate = LOGFILE_IDLE; |
250 | logfilestate = LOGFILE_IDLE; |
| 252 | break; |
251 | break; |
| 253 | } |
252 | } |
| 254 | } // EOF motors are not running |
253 | } // EOF motors are not running |
| 255 | else // model is not flying |
254 | else // model is not flying |
| 256 | { // close log file if opened |
255 | { // close log file if opened |
| 257 | if(logfilestate == LOGFILE_OPENED) |
256 | if(logfilestate == LOGFILE_OPENED) |
| 258 | { |
257 | { |
| 259 | if(KML_DocumentClose(&logfile)) |
258 | if(KML_DocumentClose(&logfile)) |
| 260 | { |
259 | { |
| 261 | UART1_PutString("\r\nClosing kml-file\r\n"); |
260 | UART1_PutString("\r\nClosing kml-file\r\n"); |
| 262 | logfilestate = LOGFILE_CLOSED; |
261 | logfilestate = LOGFILE_CLOSED; |
| 263 | } |
262 | } |
| 264 | else // could not be closed |
263 | else // could not be closed |
| 265 | { |
264 | { |
| 266 | UART1_PutString("\r\nError closing kml-file\r\n"); |
265 | UART1_PutString("\r\nError closing kml-file\r\n"); |
| 267 | SD_LoggingError = 4; |
266 | SD_LoggingError = 4; |
| 268 | logfilestate = LOGFILE_ERROR; |
267 | logfilestate = LOGFILE_ERROR; |
| 269 | } |
268 | } |
| 270 | } |
269 | } |
| 271 | } //EOF motors are not running |
270 | } //EOF motors are not running |
| 272 | } // EOF Check LogTimer |
271 | } // EOF Check LogTimer |
| 273 | 272 | ||
| 274 | return logfilestate; |
273 | return logfilestate; |
| 275 | } |
274 | } |
| 276 | 275 | ||
| 277 | //---------------------------------------------------------------------------------------------------- |
276 | //---------------------------------------------------------------------------------------------------- |
| 278 | // logs gps and state info to a gpx file |
277 | // logs gps and state info to a gpx file |
| 279 | logfilestate_t Logging_GPX(u32 LogDelay) |
278 | logfilestate_t Logging_GPX(u32 LogDelay) |
| 280 | { |
279 | { |
| 281 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
280 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
| 282 | static s8* logfilename = NULL; // the pointer to the logfilename |
281 | static s8* logfilename = NULL; // the pointer to the logfilename |
| 283 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
282 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
| 284 | static GPX_Document_t logfile; // the logfilehandle |
283 | static GPX_Document_t logfile; // the logfilehandle |
| 285 | static u8 part = 0; |
284 | static u8 part = 0; |
| 286 | u32 measure_time; |
285 | u32 measure_time; |
| 287 | 286 | ||
| 288 | // initialize if LogDelay is zero |
287 | // initialize if LogDelay is zero |
| 289 | if(!LogDelay) |
288 | if(!LogDelay) |
| 290 | { |
289 | { |
| 291 | switch(logfilestate) |
290 | switch(logfilestate) |
| 292 | { |
291 | { |
| 293 | case LOGFILE_OPENED: |
292 | case LOGFILE_OPENED: |
| 294 | GPX_DocumentClose(&logfile); // try to close it |
293 | GPX_DocumentClose(&logfile); // try to close it |
| 295 | break; |
294 | break; |
| 296 | default: |
295 | default: |
| 297 | break; |
296 | break; |
| 298 | } |
297 | } |
| 299 | logfilestate = LOGFILE_IDLE; |
298 | logfilestate = LOGFILE_IDLE; |
| 300 | logfilename = NULL; |
299 | logfilename = NULL; |
| 301 | GPX_DocumentInit(&logfile); |
300 | GPX_DocumentInit(&logfile); |
| 302 | logtimer = SetDelay(0); // set logtimer to now |
301 | logtimer = SetDelay(0); // set logtimer to now |
| 303 | return logfilestate; |
302 | return logfilestate; |
| 304 | } |
303 | } |
| 305 | // no init |
304 | // no init |
| 306 | if(CheckDelay(logtimer) || part) |
305 | if(CheckDelay(logtimer) || part) |
| 307 | { |
306 | { |
| 308 | logtimer = SetDelay(LogDelay); // standard interval |
307 | logtimer = SetDelay(LogDelay); // standard interval |
| 309 | 308 | ||
| 310 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN || part) |
309 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN || part) |
| 311 | { |
310 | { |
| 312 | switch(logfilestate) |
311 | switch(logfilestate) |
| 313 | { |
312 | { |
| 314 | case LOGFILE_IDLE: |
313 | case LOGFILE_IDLE: |
| 315 | case LOGFILE_CLOSED: |
314 | case LOGFILE_CLOSED: |
| 316 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.StatusFlags & FC_STATUS_FLY)) |
315 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.StatusFlags & FC_STATUS_FLY)) |
| 317 | { |
316 | { |
| 318 | logfilestate = LOGFILE_START; |
317 | logfilestate = LOGFILE_START; |
| 319 | } |
318 | } |
| 320 | part = 0; |
319 | part = 0; |
| 321 | break; |
320 | break; |
| 322 | case LOGFILE_START: |
321 | case LOGFILE_START: |
| 323 | // find unused logfile name |
322 | // find unused logfile name |
| 324 | do |
323 | do |
| 325 | { // try to generate a new logfile name |
324 | { // try to generate a new logfile name |
| 326 | logfilename = GenerateGPXLogFileName(); |
325 | logfilename = GenerateGPXLogFileName(); |
| 327 | }while((logfilename != NULL) && fexist_(logfilename)); |
326 | }while((logfilename != NULL) && fexist_(logfilename)); |
| 328 | // if logfilename exist |
327 | // if logfilename exist |
| 329 | if(logfilename != NULL) |
328 | if(logfilename != NULL) |
| 330 | { |
329 | { |
| 331 | // try to create the log file |
330 | // try to create the log file |
| 332 | if(GPX_DocumentOpen(logfilename, &logfile)) |
331 | if(GPX_DocumentOpen(logfilename, &logfile)) |
| 333 | { |
332 | { |
| 334 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
333 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 335 | logfilestate = LOGFILE_OPENED; // goto next step |
334 | logfilestate = LOGFILE_OPENED; // goto next step |
| 336 | UART1_PutString("\r\nOpening gpx-file:"); |
335 | UART1_PutString("\r\nOpening gpx-file:"); |
| 337 | UART1_PutString(logfilename); |
336 | UART1_PutString(logfilename); |
| 338 | UART1_PutString("\r\n"); |
337 | UART1_PutString("\r\n"); |
| 339 | } |
338 | } |
| 340 | else // could not be openend |
339 | else // could not be openend |
| 341 | { |
340 | { |
| 342 | logfilestate = LOGFILE_ERROR; |
341 | logfilestate = LOGFILE_ERROR; |
| 343 | UART1_PutString("\r\nError opening gpx-file: "); |
342 | UART1_PutString("\r\nError opening gpx-file: "); |
| 344 | UART1_PutString(logfilename); |
343 | UART1_PutString(logfilename); |
| 345 | UART1_PutString("\r\n"); |
344 | UART1_PutString("\r\n"); |
| 346 | SD_LoggingError = 11; |
345 | SD_LoggingError = 11; |
| 347 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
346 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
| 348 | } |
347 | } |
| 349 | } |
348 | } |
| 350 | else |
349 | else |
| 351 | { |
350 | { |
| 352 | logfilestate = LOGFILE_ERROR; |
351 | logfilestate = LOGFILE_ERROR; |
| 353 | UART1_PutString("\r\nError getting free gpx-file name\r\n"); |
352 | UART1_PutString("\r\nError getting free gpx-file name\r\n"); |
| 354 | SD_LoggingError = 12; |
353 | SD_LoggingError = 12; |
| 355 | } |
354 | } |
| 356 | // else retry in next loop |
355 | // else retry in next loop |
| 357 | part = 0; |
356 | part = 0; |
| 358 | break; |
357 | break; |
| 359 | case LOGFILE_OPENED: |
358 | case LOGFILE_OPENED: |
| 360 | // append new gps log data |
359 | // append new gps log data |
| 361 | measure_time = CountMilliseconds; |
360 | measure_time = CountMilliseconds; |
| 362 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
361 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
| 363 | { |
362 | { |
| 364 | if(!GPX_LoggGPSCoordinates(&logfile,part)) |
363 | if(!GPX_LoggGPSCoordinates(&logfile,part)) |
| 365 | { // error logging data |
364 | { // error logging data |
| 366 | UART1_PutString("\r\nError logging to gpx-file\r\n"); |
365 | UART1_PutString("\r\nError logging to gpx-file\r\n"); |
| 367 | GPX_DocumentClose(&logfile); |
366 | GPX_DocumentClose(&logfile); |
| 368 | SD_LoggingError = 13; |
367 | SD_LoggingError = 13; |
| 369 | logfilestate = LOGFILE_ERROR; |
368 | logfilestate = LOGFILE_ERROR; |
| 370 | } |
369 | } |
| 371 | else // successful log |
370 | else // successful log |
| 372 | { |
371 | { |
| 373 | if(CheckDelay(flushtimer)) |
372 | if(CheckDelay(flushtimer)) |
| 374 | { |
373 | { |
| 375 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
374 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 376 | fflush_(logfile.file); |
375 | fflush_(logfile.file); |
| 377 | } |
376 | } |
| 378 | } |
377 | } |
| 379 | } |
378 | } |
| 380 | if(++part == 9) part = 0; |
379 | if(++part == 9) part = 0; |
| 381 | //DebugOut.Analog[19] = CountMilliseconds - measure_time; |
380 | //DebugOut.Analog[19] = CountMilliseconds - measure_time; |
| 382 | break; |
381 | break; |
| 383 | 382 | ||
| 384 | case LOGFILE_ERROR: |
383 | case LOGFILE_ERROR: |
| 385 | part = 0; |
384 | part = 0; |
| 386 | break; |
385 | break; |
| 387 | 386 | ||
| 388 | default: |
387 | default: |
| 389 | part = 0; |
388 | part = 0; |
| 390 | logfilestate = LOGFILE_IDLE; |
389 | logfilestate = LOGFILE_IDLE; |
| 391 | break; |
390 | break; |
| 392 | } |
391 | } |
| 393 | } // EOF model is flying |
392 | } // EOF model is flying |
| 394 | else // model is not flying |
393 | else // model is not flying |
| 395 | { // close log file if opened |
394 | { // close log file if opened |
| 396 | if(logfilestate == LOGFILE_OPENED) |
395 | if(logfilestate == LOGFILE_OPENED) |
| 397 | { |
396 | { |
| 398 | if(GPX_DocumentClose(&logfile)) |
397 | if(GPX_DocumentClose(&logfile)) |
| 399 | { |
398 | { |
| 400 | UART1_PutString("\r\nClosing gpx-file\r\n"); |
399 | UART1_PutString("\r\nClosing gpx-file\r\n"); |
| 401 | logfilestate = LOGFILE_CLOSED; |
400 | logfilestate = LOGFILE_CLOSED; |
| 402 | part = 0; |
401 | part = 0; |
| 403 | } |
402 | } |
| 404 | else // could not be closed |
403 | else // could not be closed |
| 405 | { |
404 | { |
| 406 | UART1_PutString("\r\nError closing gpx-file\r\n"); |
405 | UART1_PutString("\r\nError closing gpx-file\r\n"); |
| 407 | SD_LoggingError = 14; |
406 | SD_LoggingError = 14; |
| 408 | logfilestate = LOGFILE_ERROR; |
407 | logfilestate = LOGFILE_ERROR; |
| 409 | part = 0; |
408 | part = 0; |
| 410 | } |
409 | } |
| 411 | } |
410 | } |
| 412 | } //EOF model is not flying |
411 | } //EOF model is not flying |
| 413 | } // EOF Check LogTimer |
412 | } // EOF Check LogTimer |
| 414 | 413 | ||
| 415 | return logfilestate; |
414 | return logfilestate; |
| 416 | } |
415 | } |
| 417 | 416 | ||
| 418 | //---------------------------------------------------------------------------------------------------- |
417 | //---------------------------------------------------------------------------------------------------- |
| 419 | // initialize logging |
418 | // initialize logging |
| 420 | void Logging_Init(void) |
419 | void Logging_Init(void) |
| 421 | { |
420 | { |
| 422 | SD_LoggingError = 0; |
421 | SD_LoggingError = 0; |
| 423 | LogCfg.KML_Interval = 500; //default |
422 | LogCfg.KML_Interval = 500; //default |
| 424 | Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
423 | Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
| 425 | if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < 500) LogCfg.KML_Interval = 500; |
424 | if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < 500) LogCfg.KML_Interval = 500; |
| 426 | 425 | ||
| 427 | Logging_KML(0); // initialize |
426 | Logging_KML(0); // initialize |
| 428 | LogCfg.GPX_Interval = 0; //default |
427 | LogCfg.GPX_Interval = 0; //default |
| 429 | Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
428 | Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
| 430 | if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < 500) LogCfg.GPX_Interval = 500; |
429 | if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < 500) LogCfg.GPX_Interval = 500; |
| 431 | Logging_GPX(0); // initialize |
430 | Logging_GPX(0); // initialize |
| 432 | } |
431 | } |
| 433 | 432 | ||
| 434 | //---------------------------------------------------------------------------------------------------- |
433 | //---------------------------------------------------------------------------------------------------- |
| 435 | // gobal logging handler |
434 | // gobal logging handler |
| 436 | void Logging_Update(void) |
435 | void Logging_Update(void) |
| 437 | { |
436 | { |
| 438 | static u8 logmodule = 0; |
437 | static u8 logmodule = 0; |
| 439 | static u32 logtimer = 0; |
438 | static u32 logtimer = 0; |
| 440 | static logfilestate_t logstate = LOGFILE_IDLE; |
439 | static logfilestate_t logstate = LOGFILE_IDLE; |
| 441 | 440 | ||
| 442 | if(SD_SWITCH) // a card is in slot |
441 | if(SD_SWITCH) // a card is in slot |
| 443 | { |
442 | { |
| 444 | if((logstate == LOGFILE_ERROR) && (FC.StatusFlags & FC_STATUS_START)) SD_LoggingError = 100; |
443 | if((logstate == LOGFILE_ERROR) && (FC.StatusFlags & FC_STATUS_START)) SD_LoggingError = 100; |
| 445 | if(CheckDelay(logtimer)) |
444 | if(CheckDelay(logtimer)) |
| 446 | { |
445 | { |
| 447 | logtimer = SetDelay(10); // faster makes no sense |
446 | logtimer = SetDelay(10); // faster makes no sense |
| 448 | // call the logger handlers if no error has occured |
447 | // call the logger handlers if no error has occured |
| 449 | if(logstate != LOGFILE_ERROR) |
448 | if(logstate != LOGFILE_ERROR) |
| 450 | { // run only one logging handler per loop |
449 | { // run only one logging handler per loop |
| 451 | switch(logmodule++) |
450 | switch(logmodule++) |
| 452 | { |
451 | { |
| 453 | case 0: |
452 | case 0: |
| 454 | logstate = Logging_KML(LogCfg.KML_Interval); |
453 | logstate = Logging_KML(LogCfg.KML_Interval); |
| 455 | break; |
454 | break; |
| 456 | case 1: |
455 | case 1: |
| 457 | logstate = Logging_GPX(LogCfg.GPX_Interval); |
456 | logstate = Logging_GPX(LogCfg.GPX_Interval); |
| 458 | logmodule = 0; // resart with first log module |
457 | logmodule = 0; // resart with first log module |
| 459 | break; |
458 | break; |
| 460 | default: |
459 | default: |
| 461 | logmodule = 0; |
460 | logmodule = 0; |
| 462 | break; |
461 | break; |
| 463 | } |
462 | } |
| 464 | } |
463 | } |
| 465 | else // a logging error has occured |
464 | else // a logging error has occured |
| 466 | { |
465 | { |
| 467 | // /* |
466 | // /* |
| 468 | // try to reinitialize sd-card when motors are not running |
467 | // try to reinitialize sd-card when motors are not running |
| 469 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) |
468 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) |
| 470 | { |
469 | { |
| 471 | if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
470 | if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
| 472 | { |
471 | { |
| 473 | Logging_Init(); // initialize the logs |
472 | Logging_Init(); // initialize the logs |
| 474 | logstate = LOGFILE_IDLE; |
473 | logstate = LOGFILE_IDLE; |
| 475 | logtimer = SetDelay(100); // try next log in 100 mili sec |
474 | logtimer = SetDelay(100); // try next log in 100 mili sec |
| 476 | } |
475 | } |
| 477 | else |
476 | else |
| 478 | { // retry in 5 seconds |
477 | { // retry in 5 seconds |
| 479 | logtimer = SetDelay(5000); // try again in 5 sec |
478 | logtimer = SetDelay(5000); // try again in 5 sec |
| 480 | } |
479 | } |
| 481 | } // EOF motors are not running |
480 | } // EOF motors are not running |
| 482 | // */ |
481 | // */ |
| 483 | } //EOF logfile error |
482 | } //EOF logfile error |
| 484 | } // EOF CheckDelay |
483 | } // EOF CheckDelay |
| 485 | }// EOF Card in Slot |
484 | }// EOF Card in Slot |
| 486 | } |
485 | } |
| 487 | 486 | ||