WebSVN - NaviCtrl - Diff - Rev 427 and 429


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdio.h>
#include "91x_lib.h"
#include "main.h"
#include "timer1.h"
#include "uart1.h"
#include "kml.h"
#include "gpx.h"
#include "ssc.h"
#include "settings.h"
#include "led.h"
#include "logging.h"
 
#define MIN_SD_INTERVAL_KML  200
#define MIN_SD_INTERVAL_GPX  500
 
u8 SD_LoggingError = 0;
 
#define LOG_FLUSH_INTERVAL 4000 // 4s     //##
 
typedef enum
{
        LOGFILE_IDLE,
        LOGFILE_START,
        LOGFILE_CLOSED,
        LOGFILE_OPENED,
        LOGFILE_ERROR
} logfilestate_t;
 
// logger handler prototypes
logfilestate_t Logging_KML(u32 LogDelay);
logfilestate_t Logging_GPX(u32 LogDelay);
 
LogCfg_t LogCfg = {500 , 1000};
u32 Logged_GPX_Counter = 0, Logged_KML_Counter = 0;
 
 
//----------------------------------------------------------------------------------------------------
s8* GenerateKMLLogFileName(void)
{
        static u16 filenum = 0; // file name counter
        static s8 filename[35];
        static DateTime_t LastTime = {0,0,0,0,0,0,0,0};
 
        if(SystemTime.Valid)
        {
                // if the day has been changed
                if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day))
                {
                        LastTime.Year = SystemTime.Year;
                        LastTime.Month = SystemTime.Month;
                        LastTime.Day = SystemTime.Day;
                        LastTime.Valid = 1;
                        filenum = 0; // reset file counter
                }
        if(filenum < 100) sprintf(filename, "/LOG/%04i%02i%02i/KML/%02i%02i%02i%02i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 100, SystemTime.Month, SystemTime.Day, filenum);
                else sprintf(filename, "/LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum);
                filenum++;
                return filename;
        }
        else return NULL;
}
 
//----------------------------------------------------------------------------------------------------
s8* GenerateGPXLogFileName(void)
{
        static u16 filenum = 0; // file name counter
        static s8 filename[35];
        static DateTime_t LastTime = {0,0,0,0,0,0,0,0};
 
        if(SystemTime.Valid)
        {
                // if the day has been changed
                if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day))
                {
                        LastTime.Year = SystemTime.Year;
                        LastTime.Month = SystemTime.Month;
                        LastTime.Day = SystemTime.Day;
                        LastTime.Valid = 1;
                        filenum = 0; // reset file counter
                }
        if(filenum < 100) sprintf(filename, "/LOG/%04i%02i%02i/GPX/%02i%02i%02i%02i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 100, SystemTime.Month, SystemTime.Day, filenum);
                else sprintf(filename, "/LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum);
                filenum++;
                return filename;
        }
        else return NULL;
}
 
 
 
//----------------------------------------------------------------------------------------------------
// logs the current gps position to a kml file
logfilestate_t Logging_KML(u32 LogDelay)
{
        static  logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate
        static  s8* logfilename = NULL;                                         // the pointer to the logfilename
        static  u32 logtimer = 0, flushtimer = 0;               // the log update timer
        static  KML_Document_t logfile;                                         // the logfilehandle
 
        // initialize if LogDelay is zero
        if(!LogDelay)
        {
                switch(logfilestate)
                {
                        case LOGFILE_OPENED:
                                KML_DocumentClose(&logfile); // try to close it
                                break;
                        default:
                                break;
                }
                logfilestate = LOGFILE_IDLE;
                logfilename = NULL;
                KML_DocumentInit(&logfile);
                logtimer = SetDelay(0); // set logtimer to now
                return logfilestate;
        }
        // no init
        if(CheckDelay(logtimer))
        {
                logtimer = SetDelay(LogDelay);  // standard interval
 
                if(FC.StatusFlags & FC_STATUS_MOTOR_RUN)
                {
                        switch(logfilestate)
                        {
                                case LOGFILE_IDLE:
                                case LOGFILE_CLOSED:
                                        if((GPSData.Status != INVALID) && (SystemTime.Valid) && /*(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)*/ (FC.StatusFlags & FC_STATUS_FLY))
                                        {
                                                logfilestate = LOGFILE_START;
                                        }
                                        break;
                                case LOGFILE_START:
                                        // find unused logfile name
                                        do
                                        {        // try to generate a new logfile name
                                                 logfilename = GenerateKMLLogFileName();
                                        }while((logfilename != NULL) && fexist_(logfilename));
                                        // if logfilename exist
                                        if(logfilename != NULL)
                                        {
                                                // try to create the log file
                                                if(KML_DocumentOpen(logfilename, &logfile))
                                                {
                                                        flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
                                                        logfilestate = LOGFILE_OPENED; // goto next step
                                                        UART1_PutString("\r\nOpening kml-file:");
                                                        UART1_PutString(logfilename);
                                                        UART1_PutString("\r\n");
                                                }
                                                else // could not be openend
                                                {
                                                        logfilestate = LOGFILE_ERROR;
                                                        UART1_PutString("\r\nError opening kml-file: ");
                                                        UART1_PutString(logfilename);
                                                        UART1_PutString("\r\n");
                                                        logtimer = SetDelay(10);  // try again in open logfile in 10 mili sec
                                                        SD_LoggingError = 1;
                                                }
                                        }
                                        else
                                        {
                                                logfilestate = LOGFILE_ERROR;
                                                UART1_PutString("\r\nError getting free kml-file name\r\n");
                                                SD_LoggingError = 2;
                                        }
                                        // else retry in next loop
                                        break;
                                case LOGFILE_OPENED:
                                        // append new gps log data
                                        if((GPSData.Status != INVALID))// && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D))
                                        {
                                                if(!KML_LoggGPSCoordinates(&logfile))
                                                {       // error logging data
                                                        UART1_PutString("\r\nError logging to kml-file\r\n");
                                                        SD_LoggingError = 3;
                                                        KML_DocumentClose(&logfile);
                                                        logfilestate = LOGFILE_ERROR;
                                                }
                                                else // sucessfully logged
                                                {
                                                        SD_LoggingError = 0;
                                                        if(CheckDelay(flushtimer))
                                                        {
                                                                flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
                                                                fflush_(logfile.file);
                                                        }
                                                }
 
                                        }
                                        break;
 
                                case LOGFILE_ERROR:
                                        break;
 
                                default:
                                        logfilestate = LOGFILE_IDLE;
                                        break;
                        }
                } // EOF motors are not running
                else // model is not flying
                {   // close log file if opened
                        if(logfilestate == LOGFILE_OPENED)
                        {
                                if(KML_DocumentClose(&logfile))
                                {
                                        UART1_PutString("\r\nClosing kml-file\r\n");
                                        logfilestate = LOGFILE_CLOSED;
                                }
                                else  // could not be closed
                                {
                                        UART1_PutString("\r\nError closing kml-file\r\n");
                                        SD_LoggingError = 4;
                                        logfilestate =  LOGFILE_ERROR;
                                }
                        }
                } //EOF motors are not running
        } // EOF Check LogTimer
 
        return logfilestate;
}
 
//----------------------------------------------------------------------------------------------------
// logs gps and state info to a gpx file
logfilestate_t Logging_GPX(u32 LogDelay)
{
        static  logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate
        static  s8* logfilename = NULL;                                         // the pointer to the logfilename
        static  u32 logtimer = 0, flushtimer = 0;               // the log update timer
        static  GPX_Document_t logfile;                                         // the logfilehandle
        static  u8 part = 0;
        u32 measure_time;
 
        // initialize if LogDelay is zero
        if(!LogDelay)
        {
                switch(logfilestate)
                {
                        case LOGFILE_OPENED:
                                GPX_DocumentClose(&logfile); // try to close it
                                break;
                        default:
                                break;
                }
                logfilestate = LOGFILE_IDLE;
                logfilename = NULL;
                GPX_DocumentInit(&logfile);
                logtimer = SetDelay(0); // set logtimer to now
                return logfilestate;
        }
        // no init
        if(CheckDelay(logtimer) || part)
        {
                if(!part) logtimer = SetDelay(LogDelay);        // standard interval
 
                if(FC.StatusFlags & FC_STATUS_MOTOR_RUN || part)
                {
                        switch(logfilestate)
                        {
                                case LOGFILE_IDLE:
                                case LOGFILE_CLOSED:
                                        if((GPSData.Status != INVALID) && (SystemTime.Valid) && /*(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)*/ (FC.StatusFlags & FC_STATUS_FLY))
                                        {
                                                logfilestate = LOGFILE_START;
                                        }
                                        part = 0;
                                        break;
                                case LOGFILE_START:
                                        // find unused logfile name
                                        do
                                        {        // try to generate a new logfile name
                                                 logfilename = GenerateGPXLogFileName();
                                        }while((logfilename != NULL) && fexist_(logfilename));
                                        // if logfilename exist
                                        if(logfilename != NULL)
                                        {
                                                // try to create the log file
                                                if(GPX_DocumentOpen(logfilename, &logfile))
                                                {
                                                        flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
                                                        logfilestate = LOGFILE_OPENED; // goto next step
                                                        UART1_PutString("\r\nOpening gpx-file:");
                                                        UART1_PutString(logfilename);
                                                        UART1_PutString("\r\n");
                                                }
                                                else // could not be openend
                                                {
                                                        logfilestate = LOGFILE_ERROR;
                                                        UART1_PutString("\r\nError opening gpx-file: ");
                                                        UART1_PutString(logfilename);
                                                        UART1_PutString("\r\n");
                                                        SD_LoggingError = 11;
                                                        logtimer = SetDelay(10);  // try again in open logfile in 10 mili sec
                                                }
                                        }
                                        else
                                        {
                                                logfilestate = LOGFILE_ERROR;
                                                UART1_PutString("\r\nError getting free gpx-file name\r\n");
                                                SD_LoggingError = 12;
                                        }
                                        // else retry in next loop
                                        part = 0;
                                        break;
                                case LOGFILE_OPENED:
                                        // append new gps log data
                                        measure_time = CountMilliseconds;
                                        if((GPSData.Status != INVALID))// && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D))
                                        {
                                                if(!GPX_LoggGPSCoordinates(&logfile,part))
                                                {       // error logging data
                                                        UART1_PutString("\r\nError logging to gpx-file\r\n");
                                                        GPX_DocumentClose(&logfile);
                                                        SD_LoggingError = 13;
                                                        logfilestate = LOGFILE_ERROR;
                                                }
                                                else // successful log
                                                {
                                                        if(CheckDelay(flushtimer))
                                                        {
                                                                flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
                                                                fflush_(logfile.file);
                                                        }
                                                }
                                        }
                                        if(++part == 9) part = 0;
//DebugOut.Analog[19] = CountMilliseconds - measure_time;
                                        break;
 
                                case LOGFILE_ERROR:
                                        part = 0;
                                        break;
 
                                default:
                                        part = 0;
                                        logfilestate = LOGFILE_IDLE;
                                        break;
                        }
                } // EOF model is flying
                else // model is not flying
                {   // close log file if opened
                        if(logfilestate == LOGFILE_OPENED)
                        {
                                if(GPX_DocumentClose(&logfile))
                                {
                                        UART1_PutString("\r\nClosing gpx-file\r\n");
                                        logfilestate = LOGFILE_CLOSED;
                                        part = 0;
                                }
                                else  // could not be closed
                                {
                                        UART1_PutString("\r\nError closing gpx-file\r\n");
                                        SD_LoggingError = 14;
                                        logfilestate =  LOGFILE_ERROR;
                                        part = 0;
                                }
                        }
                } //EOF model is not flying
        } // EOF Check LogTimer
 
        return logfilestate;
}
 
//----------------------------------------------------------------------------------------------------
// initialize logging
void Logging_Init(void)
{
        SD_LoggingError = 0;
        LogCfg.KML_Interval = 1000; //default
        Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value
        if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < MIN_SD_INTERVAL_KML) LogCfg.KML_Interval = MIN_SD_INTERVAL_KML;
 
        Logging_KML(0); // initialize
        LogCfg.GPX_Interval = 0; //default
        Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value
        if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < MIN_SD_INTERVAL_GPX) LogCfg.GPX_Interval = MIN_SD_INTERVAL_GPX;
        Logging_GPX(0); // initialize
}
 
//----------------------------------------------------------------------------------------------------
// gobal logging handler
void Logging_Update(void)
{
        static u8 logmodule = 0;
        static u32 logtimer = 0;
        static logfilestate_t logstate = LOGFILE_IDLE;
 
        if(SD_SWITCH) // a card is in slot
        {
        if((logstate == LOGFILE_ERROR) && (FC.StatusFlags & FC_STATUS_START)) SD_LoggingError = 100;
                if(CheckDelay(logtimer))
                {
                        logtimer = SetDelay(10);  // faster makes no sense
                        // call the logger handlers if no error has occured
                        if(logstate != LOGFILE_ERROR)
                        {  // run only one logging handler per loop
                                switch(logmodule++)
                                {
                                        case 0:
                                                logstate = Logging_KML(LogCfg.KML_Interval);
                                                break;
                                        case 1:
                                                logstate = Logging_GPX(LogCfg.GPX_Interval);
                                                logmodule = 0; // resart with first log module
                                                break;
                                        default:
                                                logmodule = 0;
                                                break;
                                }
                        }
                        else // a logging error has occured
                        {      
//                              /*
                                // try to reinitialize sd-card when motors are not running
                                if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN))
                                {
                                        if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside
                                        {
                                                Logging_Init(); // initialize the logs
                                                logstate = LOGFILE_IDLE;
                                                logtimer = SetDelay(100);       // try next log in 100 mili sec
                                        }
                                        else
                                        {   // retry in 5 seconds
                                                logtimer = SetDelay(5000);  // try again in 5 sec
                                        }
                                } // EOF motors are not running
//                              */
                        } //EOF logfile error
                }  // EOF CheckDelay
        }// EOF Card in Slot
}
 

Rev 427	Rev 429
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + www.MikroKopter.com	5	// + www.MikroKopter.com
6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7	// + Software Nutzungsbedingungen (english version: see below)	7	// + Software Nutzungsbedingungen (english version: see below)
8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -	8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
9	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den	9	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
10	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool	10	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
11	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.	11	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.	12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im	14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
15	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.	15	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie	16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
17	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.	17	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
18	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren	18	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren	20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
21	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand	21	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
22	// + des Mitverschuldens offen.	22	// + des Mitverschuldens offen.
23	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.	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.	24	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
25	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.	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	26	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.	27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
28	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.	28	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
29	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'	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	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32	// + Software LICENSING TERMS	32	// + Software LICENSING TERMS
33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -	34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
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	// + 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
36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.	36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
37	// + The Software may only be used with the Licensor's products.	37	// + The Software may only be used with the Licensor's products.
38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this	38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this	39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
40	// + agreement shall be the property of the Licensor.	40	// + agreement shall be the property of the Licensor.
41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other	41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
42	// + features that can be used to identify the program may not be altered or defaced by the customer.	42	// + features that can be used to identify the program may not be altered or defaced by the customer.
43	// + The customer shall be responsible for taking reasonable precautions	43	// + The customer shall be responsible for taking reasonable precautions
44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the	44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and	45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product	46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.	47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test	48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.	49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data	50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.	51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.	52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
53	// + #### END OF LICENSING TERMS ####	53	// + #### END OF LICENSING TERMS ####
54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.	54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
56	#include <stdio.h>	56	#include <stdio.h>
57	#include "91x_lib.h"	57	#include "91x_lib.h"
58	#include "main.h"	58	#include "main.h"
59	#include "timer1.h"	59	#include "timer1.h"
60	#include "uart1.h"	60	#include "uart1.h"
61	#include "kml.h"	61	#include "kml.h"
62	#include "gpx.h"	62	#include "gpx.h"
63	#include "ssc.h"	63	#include "ssc.h"
64	#include "settings.h"	64	#include "settings.h"
65	#include "led.h"	65	#include "led.h"
66	#include "logging.h"	66	#include "logging.h"
67		67
68	#define MIN_SD_INTERVAL_KML 200	68	#define MIN_SD_INTERVAL_KML 200
69	#define MIN_SD_INTERVAL_GPX 500	69	#define MIN_SD_INTERVAL_GPX 500
70		70
71	u8 SD_LoggingError = 0;	71	u8 SD_LoggingError = 0;
72		72
73	#define LOG_FLUSH_INTERVAL 20000 // 20s //##	73	#define LOG_FLUSH_INTERVAL 4000 // 4s //##
74		74
75	typedef enum	75	typedef enum
76	{	76	{
77	LOGFILE_IDLE,	77	LOGFILE_IDLE,
78	LOGFILE_START,	78	LOGFILE_START,
79	LOGFILE_CLOSED,	79	LOGFILE_CLOSED,
80	LOGFILE_OPENED,	80	LOGFILE_OPENED,
81	LOGFILE_ERROR	81	LOGFILE_ERROR
82	} logfilestate_t;	82	} logfilestate_t;
83		83
84	// logger handler prototypes	84	// logger handler prototypes
85	logfilestate_t Logging_KML(u32 LogDelay);	85	logfilestate_t Logging_KML(u32 LogDelay);
86	logfilestate_t Logging_GPX(u32 LogDelay);	86	logfilestate_t Logging_GPX(u32 LogDelay);
87		87
88	LogCfg_t LogCfg = {500 , 1000};	88	LogCfg_t LogCfg = {500 , 1000};
89	u32 Logged_GPX_Counter = 0, Logged_KML_Counter = 0;	89	u32 Logged_GPX_Counter = 0, Logged_KML_Counter = 0;
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	// use filename with absolute path i.e. leading	110	if(filenum < 100) sprintf(filename, "/LOG/%04i%02i%02i/KML/%02i%02i%02i%02i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 100, SystemTime.Month, SystemTime.Day, filenum);
111	sprintf(filename, "/LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum);	111	else sprintf(filename, "/LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum);
112	filenum++;	112	filenum++;
113	return filename;	113	return filename;
114	}	114	}
115	else return NULL;	115	else return NULL;
116	}	116	}
117		117
118	//----------------------------------------------------------------------------------------------------	118	//----------------------------------------------------------------------------------------------------
119	s8* GenerateGPXLogFileName(void)	119	s8* GenerateGPXLogFileName(void)
120	{	120	{
121	static u16 filenum = 0; // file name counter	121	static u16 filenum = 0; // file name counter
122	static s8 filename[35];	122	static s8 filename[35];
123	static DateTime_t LastTime = {0,0,0,0,0,0,0,0};	123	static DateTime_t LastTime = {0,0,0,0,0,0,0,0};
124		124
125	if(SystemTime.Valid)	125	if(SystemTime.Valid)
126	{	126	{
127	// if the day has been changed	127	// if the day has been changed
128	if((LastTime.Year != SystemTime.Year) \|\| (LastTime.Month != SystemTime.Month) \|\| (LastTime.Day != SystemTime.Day))	128	if((LastTime.Year != SystemTime.Year) \|\| (LastTime.Month != SystemTime.Month) \|\| (LastTime.Day != SystemTime.Day))
129	{	129	{
130	LastTime.Year = SystemTime.Year;	130	LastTime.Year = SystemTime.Year;
131	LastTime.Month = SystemTime.Month;	131	LastTime.Month = SystemTime.Month;
132	LastTime.Day = SystemTime.Day;	132	LastTime.Day = SystemTime.Day;
133	LastTime.Valid = 1;	133	LastTime.Valid = 1;
134	filenum = 0; // reset file counter	134	filenum = 0; // reset file counter
135	}	135	}
136	// use filename with absolute path i.e. leading	136	if(filenum < 100) sprintf(filename, "/LOG/%04i%02i%02i/GPX/%02i%02i%02i%02i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 100, SystemTime.Month, SystemTime.Day, filenum);
137	sprintf(filename, "/LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum);	137	else sprintf(filename, "/LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum);
138	filenum++;	138	filenum++;
139	return filename;	139	return filename;
140	}	140	}
141	else return NULL;	141	else return NULL;
142	}	142	}
143		143
144		144
145		145
146	//----------------------------------------------------------------------------------------------------	146	//----------------------------------------------------------------------------------------------------
147	// logs the current gps position to a kml file	147	// logs the current gps position to a kml file
148	logfilestate_t Logging_KML(u32 LogDelay)	148	logfilestate_t Logging_KML(u32 LogDelay)
149	{	149	{
150	static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate	150	static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate
151	static s8* logfilename = NULL; // the pointer to the logfilename	151	static s8* logfilename = NULL; // the pointer to the logfilename
152	static u32 logtimer = 0, flushtimer = 0; // the log update timer	152	static u32 logtimer = 0, flushtimer = 0; // the log update timer
153	static KML_Document_t logfile; // the logfilehandle	153	static KML_Document_t logfile; // the logfilehandle
154		154
155	// initialize if LogDelay is zero	155	// initialize if LogDelay is zero
156	if(!LogDelay)	156	if(!LogDelay)
157	{	157	{
158	switch(logfilestate)	158	switch(logfilestate)
159	{	159	{
160	case LOGFILE_OPENED:	160	case LOGFILE_OPENED:
161	KML_DocumentClose(&logfile); // try to close it	161	KML_DocumentClose(&logfile); // try to close it
162	break;	162	break;
163	default:	163	default:
164	break;	164	break;
165	}	165	}
166	logfilestate = LOGFILE_IDLE;	166	logfilestate = LOGFILE_IDLE;
167	logfilename = NULL;	167	logfilename = NULL;
168	KML_DocumentInit(&logfile);	168	KML_DocumentInit(&logfile);
169	logtimer = SetDelay(0); // set logtimer to now	169	logtimer = SetDelay(0); // set logtimer to now
170	return logfilestate;	170	return logfilestate;
171	}	171	}
172	// no init	172	// no init
173	if(CheckDelay(logtimer))	173	if(CheckDelay(logtimer))
174	{	174	{
175	logtimer = SetDelay(LogDelay); // standard interval	175	logtimer = SetDelay(LogDelay); // standard interval
176		176
177	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN)	177	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN)
178	{	178	{
179	switch(logfilestate)	179	switch(logfilestate)
180	{	180	{
181	case LOGFILE_IDLE:	181	case LOGFILE_IDLE:
182	case LOGFILE_CLOSED:	182	case LOGFILE_CLOSED:
183	if((GPSData.Status != INVALID) && (GPSData.NumOfSats > 2) && /(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)/ (FC.StatusFlags & FC_STATUS_FLY))	183	if((GPSData.Status != INVALID) && (SystemTime.Valid) && /(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)/ (FC.StatusFlags & FC_STATUS_FLY))
184	{	184	{
185	logfilestate = LOGFILE_START;	185	logfilestate = LOGFILE_START;
186	}	186	}
187	break;	187	break;
188	case LOGFILE_START:	188	case LOGFILE_START:
189	// find unused logfile name	189	// find unused logfile name
190	do	190	do
191	{ // try to generate a new logfile name	191	{ // try to generate a new logfile name
192	logfilename = GenerateKMLLogFileName();	192	logfilename = GenerateKMLLogFileName();
193	}while((logfilename != NULL) && fexist_(logfilename));	193	}while((logfilename != NULL) && fexist_(logfilename));
194	// if logfilename exist	194	// if logfilename exist
195	if(logfilename != NULL)	195	if(logfilename != NULL)
196	{	196	{
197	// try to create the log file	197	// try to create the log file
198	if(KML_DocumentOpen(logfilename, &logfile))	198	if(KML_DocumentOpen(logfilename, &logfile))
199	{	199	{
200	flushtimer = SetDelay(LOG_FLUSH_INTERVAL);	200	flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
201	logfilestate = LOGFILE_OPENED; // goto next step	201	logfilestate = LOGFILE_OPENED; // goto next step
202	UART1_PutString("\r\nOpening kml-file:");	202	UART1_PutString("\r\nOpening kml-file:");
203	UART1_PutString(logfilename);	203	UART1_PutString(logfilename);
204	UART1_PutString("\r\n");	204	UART1_PutString("\r\n");
205	}	205	}
206	else // could not be openend	206	else // could not be openend
207	{	207	{
208	logfilestate = LOGFILE_ERROR;	208	logfilestate = LOGFILE_ERROR;
209	UART1_PutString("\r\nError opening kml-file: ");	209	UART1_PutString("\r\nError opening kml-file: ");
210	UART1_PutString(logfilename);	210	UART1_PutString(logfilename);
211	UART1_PutString("\r\n");	211	UART1_PutString("\r\n");
212	logtimer = SetDelay(10); // try again in open logfile in 10 mili sec	212	logtimer = SetDelay(10); // try again in open logfile in 10 mili sec
213	SD_LoggingError = 1;	213	SD_LoggingError = 1;
214	}	214	}
215	}	215	}
216	else	216	else
217	{	217	{
218	logfilestate = LOGFILE_ERROR;	218	logfilestate = LOGFILE_ERROR;
219	UART1_PutString("\r\nError getting free kml-file name\r\n");	219	UART1_PutString("\r\nError getting free kml-file name\r\n");
220	SD_LoggingError = 2;	220	SD_LoggingError = 2;
221	}	221	}
222	// else retry in next loop	222	// else retry in next loop
223	break;	223	break;
224	case LOGFILE_OPENED:	224	case LOGFILE_OPENED:
225	// append new gps log data	225	// append new gps log data
226	if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D))	226	if((GPSData.Status != INVALID))// && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D))
227	{	227	{
228	if(!KML_LoggGPSCoordinates(&logfile))	228	if(!KML_LoggGPSCoordinates(&logfile))
229	{ // error logging data	229	{ // error logging data
230	UART1_PutString("\r\nError logging to kml-file\r\n");	230	UART1_PutString("\r\nError logging to kml-file\r\n");
231	SD_LoggingError = 3;	231	SD_LoggingError = 3;
232	KML_DocumentClose(&logfile);	232	KML_DocumentClose(&logfile);
233	logfilestate = LOGFILE_ERROR;	233	logfilestate = LOGFILE_ERROR;
234	}	234	}
235	else // sucessfully logged	235	else // sucessfully logged
236	{	236	{
237	SD_LoggingError = 0;	237	SD_LoggingError = 0;
238	if(CheckDelay(flushtimer))	238	if(CheckDelay(flushtimer))
239	{	239	{
240	flushtimer = SetDelay(LOG_FLUSH_INTERVAL);	240	flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
241	fflush_(logfile.file);	241	fflush_(logfile.file);
242	}	242	}
243	}	243	}
244		244
245	}	245	}
246	break;	246	break;
247		247
248	case LOGFILE_ERROR:	248	case LOGFILE_ERROR:
249	break;	249	break;
250		250
251	default:	251	default:
252	logfilestate = LOGFILE_IDLE;	252	logfilestate = LOGFILE_IDLE;
253	break;	253	break;
254	}	254	}
255	} // EOF motors are not running	255	} // EOF motors are not running
256	else // model is not flying	256	else // model is not flying
257	{ // close log file if opened	257	{ // close log file if opened
258	if(logfilestate == LOGFILE_OPENED)	258	if(logfilestate == LOGFILE_OPENED)
259	{	259	{
260	if(KML_DocumentClose(&logfile))	260	if(KML_DocumentClose(&logfile))
261	{	261	{
262	UART1_PutString("\r\nClosing kml-file\r\n");	262	UART1_PutString("\r\nClosing kml-file\r\n");
263	logfilestate = LOGFILE_CLOSED;	263	logfilestate = LOGFILE_CLOSED;
264	}	264	}
265	else // could not be closed	265	else // could not be closed
266	{	266	{
267	UART1_PutString("\r\nError closing kml-file\r\n");	267	UART1_PutString("\r\nError closing kml-file\r\n");
268	SD_LoggingError = 4;	268	SD_LoggingError = 4;
269	logfilestate = LOGFILE_ERROR;	269	logfilestate = LOGFILE_ERROR;
270	}	270	}
271	}	271	}
272	} //EOF motors are not running	272	} //EOF motors are not running
273	} // EOF Check LogTimer	273	} // EOF Check LogTimer
274		274
275	return logfilestate;	275	return logfilestate;
276	}	276	}
277		277
278	//----------------------------------------------------------------------------------------------------	278	//----------------------------------------------------------------------------------------------------
279	// logs gps and state info to a gpx file	279	// logs gps and state info to a gpx file
280	logfilestate_t Logging_GPX(u32 LogDelay)	280	logfilestate_t Logging_GPX(u32 LogDelay)
281	{	281	{
282	static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate	282	static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate
283	static s8* logfilename = NULL; // the pointer to the logfilename	283	static s8* logfilename = NULL; // the pointer to the logfilename
284	static u32 logtimer = 0, flushtimer = 0; // the log update timer	284	static u32 logtimer = 0, flushtimer = 0; // the log update timer
285	static GPX_Document_t logfile; // the logfilehandle	285	static GPX_Document_t logfile; // the logfilehandle
286	static u8 part = 0;	286	static u8 part = 0;
287	u32 measure_time;	287	u32 measure_time;
288		288
289	// initialize if LogDelay is zero	289	// initialize if LogDelay is zero
290	if(!LogDelay)	290	if(!LogDelay)
291	{	291	{
292	switch(logfilestate)	292	switch(logfilestate)
293	{	293	{
294	case LOGFILE_OPENED:	294	case LOGFILE_OPENED:
295	GPX_DocumentClose(&logfile); // try to close it	295	GPX_DocumentClose(&logfile); // try to close it
296	break;	296	break;
297	default:	297	default:
298	break;	298	break;
299	}	299	}
300	logfilestate = LOGFILE_IDLE;	300	logfilestate = LOGFILE_IDLE;
301	logfilename = NULL;	301	logfilename = NULL;
302	GPX_DocumentInit(&logfile);	302	GPX_DocumentInit(&logfile);
303	logtimer = SetDelay(0); // set logtimer to now	303	logtimer = SetDelay(0); // set logtimer to now
304	return logfilestate;	304	return logfilestate;
305	}	305	}
306	// no init	306	// no init
307	if(CheckDelay(logtimer) \|\| part)	307	if(CheckDelay(logtimer) \|\| part)
308	{	308	{
309	if(!part) logtimer = SetDelay(LogDelay); // standard interval	309	if(!part) logtimer = SetDelay(LogDelay); // standard interval
310		310
311	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN \|\| part)	311	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN \|\| part)
312	{	312	{
313	switch(logfilestate)	313	switch(logfilestate)
314	{	314	{
315	case LOGFILE_IDLE:	315	case LOGFILE_IDLE:
316	case LOGFILE_CLOSED:	316	case LOGFILE_CLOSED:
317	if((GPSData.Status != INVALID) && (GPSData.NumOfSats > 2) && /(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)/ (FC.StatusFlags & FC_STATUS_FLY))	317	if((GPSData.Status != INVALID) && (SystemTime.Valid) && /(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)/ (FC.StatusFlags & FC_STATUS_FLY))
318	{	318	{
319	logfilestate = LOGFILE_START;	319	logfilestate = LOGFILE_START;
320	}	320	}
321	part = 0;	321	part = 0;
322	break;	322	break;
323	case LOGFILE_START:	323	case LOGFILE_START:
324	// find unused logfile name	324	// find unused logfile name
325	do	325	do
326	{ // try to generate a new logfile name	326	{ // try to generate a new logfile name
327	logfilename = GenerateGPXLogFileName();	327	logfilename = GenerateGPXLogFileName();
328	}while((logfilename != NULL) && fexist_(logfilename));	328	}while((logfilename != NULL) && fexist_(logfilename));
329	// if logfilename exist	329	// if logfilename exist
330	if(logfilename != NULL)	330	if(logfilename != NULL)
331	{	331	{
332	// try to create the log file	332	// try to create the log file
333	if(GPX_DocumentOpen(logfilename, &logfile))	333	if(GPX_DocumentOpen(logfilename, &logfile))
334	{	334	{
335	flushtimer = SetDelay(LOG_FLUSH_INTERVAL);	335	flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
336	logfilestate = LOGFILE_OPENED; // goto next step	336	logfilestate = LOGFILE_OPENED; // goto next step
337	UART1_PutString("\r\nOpening gpx-file:");	337	UART1_PutString("\r\nOpening gpx-file:");
338	UART1_PutString(logfilename);	338	UART1_PutString(logfilename);
339	UART1_PutString("\r\n");	339	UART1_PutString("\r\n");
340	}	340	}
341	else // could not be openend	341	else // could not be openend
342	{	342	{
343	logfilestate = LOGFILE_ERROR;	343	logfilestate = LOGFILE_ERROR;
344	UART1_PutString("\r\nError opening gpx-file: ");	344	UART1_PutString("\r\nError opening gpx-file: ");
345	UART1_PutString(logfilename);	345	UART1_PutString(logfilename);
346	UART1_PutString("\r\n");	346	UART1_PutString("\r\n");
347	SD_LoggingError = 11;	347	SD_LoggingError = 11;
348	logtimer = SetDelay(10); // try again in open logfile in 10 mili sec	348	logtimer = SetDelay(10); // try again in open logfile in 10 mili sec
349	}	349	}
350	}	350	}
351	else	351	else
352	{	352	{
353	logfilestate = LOGFILE_ERROR;	353	logfilestate = LOGFILE_ERROR;
354	UART1_PutString("\r\nError getting free gpx-file name\r\n");	354	UART1_PutString("\r\nError getting free gpx-file name\r\n");
355	SD_LoggingError = 12;	355	SD_LoggingError = 12;
356	}	356	}
357	// else retry in next loop	357	// else retry in next loop
358	part = 0;	358	part = 0;
359	break;	359	break;
360	case LOGFILE_OPENED:	360	case LOGFILE_OPENED:
361	// append new gps log data	361	// append new gps log data
362	measure_time = CountMilliseconds;	362	measure_time = CountMilliseconds;
363	if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D))	363	if((GPSData.Status != INVALID))// && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D))
364	{	364	{
365	if(!GPX_LoggGPSCoordinates(&logfile,part))	365	if(!GPX_LoggGPSCoordinates(&logfile,part))
366	{ // error logging data	366	{ // error logging data
367	UART1_PutString("\r\nError logging to gpx-file\r\n");	367	UART1_PutString("\r\nError logging to gpx-file\r\n");
368	GPX_DocumentClose(&logfile);	368	GPX_DocumentClose(&logfile);
369	SD_LoggingError = 13;	369	SD_LoggingError = 13;
370	logfilestate = LOGFILE_ERROR;	370	logfilestate = LOGFILE_ERROR;
371	}	371	}
372	else // successful log	372	else // successful log
373	{	373	{
374	if(CheckDelay(flushtimer))	374	if(CheckDelay(flushtimer))
375	{	375	{
376	flushtimer = SetDelay(LOG_FLUSH_INTERVAL);	376	flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
377	fflush_(logfile.file);	377	fflush_(logfile.file);
378	}	378	}
379	}	379	}
380	}	380	}
381	if(++part == 9) part = 0;	381	if(++part == 9) part = 0;
382	//DebugOut.Analog[19] = CountMilliseconds - measure_time;	382	//DebugOut.Analog[19] = CountMilliseconds - measure_time;
383	break;	383	break;
384		384
385	case LOGFILE_ERROR:	385	case LOGFILE_ERROR:
386	part = 0;	386	part = 0;
387	break;	387	break;
388		388
389	default:	389	default:
390	part = 0;	390	part = 0;
391	logfilestate = LOGFILE_IDLE;	391	logfilestate = LOGFILE_IDLE;
392	break;	392	break;
393	}	393	}
394	} // EOF model is flying	394	} // EOF model is flying
395	else // model is not flying	395	else // model is not flying
396	{ // close log file if opened	396	{ // close log file if opened
397	if(logfilestate == LOGFILE_OPENED)	397	if(logfilestate == LOGFILE_OPENED)
398	{	398	{
399	if(GPX_DocumentClose(&logfile))	399	if(GPX_DocumentClose(&logfile))
400	{	400	{
401	UART1_PutString("\r\nClosing gpx-file\r\n");	401	UART1_PutString("\r\nClosing gpx-file\r\n");
402	logfilestate = LOGFILE_CLOSED;	402	logfilestate = LOGFILE_CLOSED;
403	part = 0;	403	part = 0;
404	}	404	}
405	else // could not be closed	405	else // could not be closed
406	{	406	{
407	UART1_PutString("\r\nError closing gpx-file\r\n");	407	UART1_PutString("\r\nError closing gpx-file\r\n");
408	SD_LoggingError = 14;	408	SD_LoggingError = 14;
409	logfilestate = LOGFILE_ERROR;	409	logfilestate = LOGFILE_ERROR;
410	part = 0;	410	part = 0;
411	}	411	}
412	}	412	}
413	} //EOF model is not flying	413	} //EOF model is not flying
414	} // EOF Check LogTimer	414	} // EOF Check LogTimer
415		415
416	return logfilestate;	416	return logfilestate;
417	}	417	}
418		418
419	//----------------------------------------------------------------------------------------------------	419	//----------------------------------------------------------------------------------------------------
420	// initialize logging	420	// initialize logging
421	void Logging_Init(void)	421	void Logging_Init(void)
422	{	422	{
423	SD_LoggingError = 0;	423	SD_LoggingError = 0;
424	LogCfg.KML_Interval = 1000; //default	424	LogCfg.KML_Interval = 1000; //default
425	Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value	425	Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value
426	if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < MIN_SD_INTERVAL_KML) LogCfg.KML_Interval = MIN_SD_INTERVAL_KML;	426	if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < MIN_SD_INTERVAL_KML) LogCfg.KML_Interval = MIN_SD_INTERVAL_KML;
427		427
428	Logging_KML(0); // initialize	428	Logging_KML(0); // initialize
429	LogCfg.GPX_Interval = 0; //default	429	LogCfg.GPX_Interval = 0; //default
430	Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value	430	Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value
431	if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < MIN_SD_INTERVAL_GPX) LogCfg.GPX_Interval = MIN_SD_INTERVAL_GPX;	431	if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < MIN_SD_INTERVAL_GPX) LogCfg.GPX_Interval = MIN_SD_INTERVAL_GPX;
432	Logging_GPX(0); // initialize	432	Logging_GPX(0); // initialize
433	}	433	}
434		434
435	//----------------------------------------------------------------------------------------------------	435	//----------------------------------------------------------------------------------------------------
436	// gobal logging handler	436	// gobal logging handler
437	void Logging_Update(void)	437	void Logging_Update(void)
438	{	438	{
439	static u8 logmodule = 0;	439	static u8 logmodule = 0;
440	static u32 logtimer = 0;	440	static u32 logtimer = 0;
441	static logfilestate_t logstate = LOGFILE_IDLE;	441	static logfilestate_t logstate = LOGFILE_IDLE;
442		442
443	if(SD_SWITCH) // a card is in slot	443	if(SD_SWITCH) // a card is in slot
444	{	444	{
445	if((logstate == LOGFILE_ERROR) && (FC.StatusFlags & FC_STATUS_START)) SD_LoggingError = 100;	445	if((logstate == LOGFILE_ERROR) && (FC.StatusFlags & FC_STATUS_START)) SD_LoggingError = 100;
446	if(CheckDelay(logtimer))	446	if(CheckDelay(logtimer))
447	{	447	{
448	logtimer = SetDelay(10); // faster makes no sense	448	logtimer = SetDelay(10); // faster makes no sense
449	// call the logger handlers if no error has occured	449	// call the logger handlers if no error has occured
450	if(logstate != LOGFILE_ERROR)	450	if(logstate != LOGFILE_ERROR)
451	{ // run only one logging handler per loop	451	{ // run only one logging handler per loop
452	switch(logmodule++)	452	switch(logmodule++)
453	{	453	{
454	case 0:	454	case 0:
455	logstate = Logging_KML(LogCfg.KML_Interval);	455	logstate = Logging_KML(LogCfg.KML_Interval);
456	break;	456	break;
457	case 1:	457	case 1:
458	logstate = Logging_GPX(LogCfg.GPX_Interval);	458	logstate = Logging_GPX(LogCfg.GPX_Interval);
459	logmodule = 0; // resart with first log module	459	logmodule = 0; // resart with first log module
460	break;	460	break;
461	default:	461	default:
462	logmodule = 0;	462	logmodule = 0;
463	break;	463	break;
464	}	464	}
465	}	465	}
466	else // a logging error has occured	466	else // a logging error has occured
467	{	467	{
468	// /*	468	// /*
469	// try to reinitialize sd-card when motors are not running	469	// try to reinitialize sd-card when motors are not running
470	if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN))	470	if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN))
471	{	471	{
472	if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside	472	if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside
473	{	473	{
474	Logging_Init(); // initialize the logs	474	Logging_Init(); // initialize the logs
475	logstate = LOGFILE_IDLE;	475	logstate = LOGFILE_IDLE;
476	logtimer = SetDelay(100); // try next log in 100 mili sec	476	logtimer = SetDelay(100); // try next log in 100 mili sec
477	}	477	}
478	else	478	else
479	{ // retry in 5 seconds	479	{ // retry in 5 seconds
480	logtimer = SetDelay(5000); // try again in 5 sec	480	logtimer = SetDelay(5000); // try again in 5 sec
481	}	481	}
482	} // EOF motors are not running	482	} // EOF motors are not running
483	// */	483	// */
484	} //EOF logfile error	484	} //EOF logfile error
485	} // EOF CheckDelay	485	} // EOF CheckDelay
486	}// EOF Card in Slot	486	}// EOF Card in Slot
487	}	487	}
488		488

Subversion Repositories NaviCtrl

(root)/tags/V2.10a/logging.c @ 666 - Rev 427 → 429