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406 | joko | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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6 | // + Nur für den privaten Gebrauch |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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29 | // + mit unserer Zustimmung zulässig |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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44 | // |
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45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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57 | #include <stdio.h> |
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58 | #include "main.h" |
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59 | #include "timer0.h" |
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60 | #include "uart1.h" |
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61 | #include "kml.h" |
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413 | killagreg | 62 | //#include "gpx.h" |
406 | joko | 63 | #include "ssc.h" |
64 | #include "settings.h" |
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65 | |||
66 | |||
67 | #define LOG_FLUSH_INTERVAL 20000 // 20s |
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68 | |||
69 | typedef enum |
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70 | { |
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71 | LOGFILE_IDLE, |
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72 | LOGFILE_START, |
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73 | LOGFILE_CLOSED, |
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74 | LOGFILE_OPENED, |
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75 | LOGFILE_ERROR |
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76 | } logfilestate_t; |
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77 | |||
78 | // logger handler prototypes |
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413 | killagreg | 79 | logfilestate_t Logging_KML(uint16_t LogDelay); |
80 | //logfilestate_t Logging_GPX(uint16_t LogDelay); |
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406 | joko | 81 | |
82 | typedef struct |
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83 | { |
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413 | killagreg | 84 | uint16_t KML_Interval; // the kml-log interval (0 = off) |
85 | uint16_t GPX_Interval; // the gpx-log interval (0 = off) |
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406 | joko | 86 | } LogCfg_t; |
87 | |||
88 | LogCfg_t LogCfg = {500 , 1000}; |
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89 | |||
90 | |||
91 | //---------------------------------------------------------------------------------------------------- |
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92 | int8_t* GenerateKMLLogFileName(void) |
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93 | { |
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94 | static uint16_t filenum = 0; // file name counter |
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95 | static int8_t filename[35]; |
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96 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
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97 | |||
98 | if(SystemTime.Valid) |
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99 | { |
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100 | // if the day has been changed |
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101 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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102 | { |
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103 | LastTime.Year = SystemTime.Year; |
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104 | LastTime.Month = SystemTime.Month; |
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105 | LastTime.Day = SystemTime.Day; |
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106 | LastTime.Valid = 1; |
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107 | filenum = 0; // reset file counter |
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108 | } |
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109 | sprintf(filename, "LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
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110 | filenum++; |
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111 | return filename; |
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112 | } |
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113 | else return NULL; |
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114 | } |
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115 | |||
116 | //---------------------------------------------------------------------------------------------------- |
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413 | killagreg | 117 | /* |
406 | joko | 118 | int8_t* GenerateGPXLogFileName(void) |
119 | { |
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120 | static uint16_t filenum = 0; // file name counter |
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121 | static int8_t filename[35]; |
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122 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
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123 | |||
124 | if(SystemTime.Valid) |
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125 | { |
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126 | // if the day has been changed |
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127 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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128 | { |
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129 | LastTime.Year = SystemTime.Year; |
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130 | LastTime.Month = SystemTime.Month; |
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131 | LastTime.Day = SystemTime.Day; |
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132 | LastTime.Valid = 1; |
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133 | filenum = 0; // reset file counter |
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134 | } |
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135 | sprintf(filename, "LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
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136 | filenum++; |
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137 | return filename; |
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138 | } |
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139 | else return NULL; |
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140 | } |
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413 | killagreg | 141 | */ |
406 | joko | 142 | |
143 | |||
144 | //---------------------------------------------------------------------------------------------------- |
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145 | // logs the current gps position to a kml file |
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413 | killagreg | 146 | logfilestate_t Logging_KML(uint16_t LogDelay) |
406 | joko | 147 | { |
148 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
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149 | static int8_t* logfilename = NULL; // the pointer to the logfilename |
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413 | killagreg | 150 | static uint16_t logtimer = 0, flushtimer = 0; // the log update timer |
406 | joko | 151 | static KML_Document_t logfile; // the logfilehandle |
152 | |||
153 | // initialize if LogDelay os zero |
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154 | if(!LogDelay) |
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155 | { |
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156 | switch(logfilestate) |
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157 | { |
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158 | case LOGFILE_OPENED: |
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159 | KML_DocumentClose(&logfile); // try to close it |
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160 | break; |
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161 | default: |
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162 | break; |
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163 | } |
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164 | logfilestate = LOGFILE_IDLE; |
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165 | logfilename = NULL; |
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166 | KML_DocumentInit(&logfile); |
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167 | logtimer = SetDelay(0); // set logtimer to now |
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168 | return logfilestate; |
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169 | } |
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170 | // no init |
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171 | if(CheckDelay(logtimer)) |
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172 | { |
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173 | logtimer = SetDelay(LogDelay); // standard interval |
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174 | |||
413 | killagreg | 175 | if(SysState == STATE_SEND_FOLLOWME) |
406 | joko | 176 | { |
177 | switch(logfilestate) |
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178 | { |
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179 | case LOGFILE_IDLE: |
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180 | case LOGFILE_CLOSED: |
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413 | killagreg | 181 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
406 | joko | 182 | { |
183 | logfilestate = LOGFILE_START; |
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184 | } |
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185 | break; |
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186 | case LOGFILE_START: |
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187 | // find unused logfile name |
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188 | do |
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189 | { // try to generate a new logfile name |
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190 | logfilename = GenerateKMLLogFileName(); |
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191 | }while((logfilename != NULL) && fexist_(logfilename)); |
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192 | // if logfilename exist |
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193 | if(logfilename != NULL) |
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194 | { |
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195 | // try to create the log file |
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196 | if(KML_DocumentOpen(logfilename, &logfile)) |
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197 | { |
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198 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
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199 | logfilestate = LOGFILE_OPENED; // goto next step |
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200 | printf("\r\nOpening kml-file:"); |
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201 | printf(logfilename); |
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202 | printf("\r\n"); |
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203 | } |
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204 | else // could not be openend |
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205 | { |
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206 | logfilestate = LOGFILE_ERROR; |
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207 | printf("\r\nError opening kml-file: "); |
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208 | printf(logfilename); |
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209 | printf("\r\n"); |
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210 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
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211 | } |
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212 | } |
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213 | else |
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214 | { |
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215 | logfilestate = LOGFILE_ERROR; |
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216 | printf("\r\nError getting free kml-file name\r\n"); |
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217 | } |
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218 | // else retry in next loop |
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219 | break; |
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220 | case LOGFILE_OPENED: |
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221 | // append new gps log data |
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222 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
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223 | { |
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224 | if(!KML_LoggGPSCoordinates(&logfile)) |
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225 | { // error logging data |
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226 | printf("\r\nError logging to kml-file\r\n"); |
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227 | KML_DocumentClose(&logfile); |
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228 | logfilestate = LOGFILE_ERROR; |
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229 | } |
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230 | else // sucessfully logged |
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231 | { |
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232 | if(CheckDelay(flushtimer)) |
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233 | { |
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234 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
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235 | fflush_(logfile.file); |
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236 | } |
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237 | } |
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238 | |||
239 | } |
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240 | break; |
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241 | |||
242 | case LOGFILE_ERROR: |
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243 | break; |
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244 | |||
245 | default: |
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246 | logfilestate = LOGFILE_IDLE; |
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247 | break; |
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248 | } |
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413 | killagreg | 249 | } // EOF follow me on |
250 | else // follow me off |
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406 | joko | 251 | { // close log file if opened |
252 | if(logfilestate == LOGFILE_OPENED) |
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253 | { |
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254 | if(KML_DocumentClose(&logfile)) |
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255 | { |
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256 | printf("\r\nClosing kml-file\r\n"); |
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257 | logfilestate = LOGFILE_CLOSED; |
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258 | } |
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259 | else // could not be closed |
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260 | { |
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261 | printf("\r\nError closing kml-file\r\n"); |
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413 | killagreg | 262 | logfilestate = LOGFILE_ERROR; |
406 | joko | 263 | } |
264 | } |
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413 | killagreg | 265 | } //EOF follow me off |
266 | |||
406 | joko | 267 | } // EOF Check LogTimer |
268 | |||
269 | return logfilestate; |
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270 | } |
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271 | |||
272 | //---------------------------------------------------------------------------------------------------- |
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413 | killagreg | 273 | /* |
406 | joko | 274 | // logs gps and state info to a gpx file |
413 | killagreg | 275 | logfilestate_t Logging_GPX(uint16_t LogDelay) |
406 | joko | 276 | { |
277 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
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278 | static int8_t* logfilename = NULL; // the pointer to the logfilename |
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413 | killagreg | 279 | static uint16_t logtimer = 0, flushtimer = 0; // the log update timer |
406 | joko | 280 | static GPX_Document_t logfile; // the logfilehandle |
281 | |||
282 | // initialize if LogDelay os zero |
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283 | if(!LogDelay) |
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284 | { |
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285 | switch(logfilestate) |
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286 | { |
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287 | case LOGFILE_OPENED: |
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288 | GPX_DocumentClose(&logfile); // try to close it |
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289 | break; |
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290 | default: |
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291 | break; |
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292 | } |
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293 | logfilestate = LOGFILE_IDLE; |
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294 | logfilename = NULL; |
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295 | GPX_DocumentInit(&logfile); |
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296 | logtimer = SetDelay(0); // set logtimer to now |
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297 | return logfilestate; |
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298 | } |
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299 | // no init |
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300 | if(CheckDelay(logtimer)) |
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301 | { |
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302 | logtimer = SetDelay(LogDelay); // standard interval |
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303 | |||
304 | //if(FC.MKFlags & MKFLAG_MOTOR_RUN) |
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305 | { |
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306 | switch(logfilestate) |
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307 | { |
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308 | case LOGFILE_IDLE: |
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309 | case LOGFILE_CLOSED: |
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310 | //if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.MKFlags & MKFLAG_FLY)) |
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311 | { |
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312 | logfilestate = LOGFILE_START; |
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313 | } |
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314 | break; |
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315 | case LOGFILE_START: |
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316 | // find unused logfile name |
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317 | do |
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318 | { // try to generate a new logfile name |
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319 | logfilename = GenerateGPXLogFileName(); |
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320 | }while((logfilename != NULL) && fexist_(logfilename)); |
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321 | // if logfilename exist |
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322 | if(logfilename != NULL) |
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323 | { |
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324 | // try to create the log file |
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325 | if(GPX_DocumentOpen(logfilename, &logfile)) |
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326 | { |
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327 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
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328 | logfilestate = LOGFILE_OPENED; // goto next step |
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329 | printf("\r\nOpening gpx-file:"); |
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330 | printf(logfilename); |
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331 | printf("\r\n"); |
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332 | } |
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333 | else // could not be openend |
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334 | { |
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335 | logfilestate = LOGFILE_ERROR; |
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336 | printf("\r\nError opening gpx-file: "); |
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337 | printf(logfilename); |
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338 | printf("\r\n"); |
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339 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
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340 | } |
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341 | } |
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342 | else |
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343 | { |
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344 | logfilestate = LOGFILE_ERROR; |
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345 | printf("\r\nError getting free gpx-file name\r\n"); |
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346 | } |
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347 | // else retry in next loop |
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348 | break; |
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349 | case LOGFILE_OPENED: |
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350 | // append new gps log data |
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351 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
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352 | { |
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353 | if(!GPX_LoggGPSCoordinates(&logfile)) |
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354 | { // error logging data |
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355 | printf("\r\nError logging to gpx-file\r\n"); |
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356 | GPX_DocumentClose(&logfile); |
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357 | logfilestate = LOGFILE_ERROR; |
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358 | } |
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359 | else // successful log |
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360 | { |
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361 | if(CheckDelay(flushtimer)) |
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362 | { |
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363 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
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364 | fflush_(logfile.file); |
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365 | } |
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366 | } |
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367 | } |
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368 | break; |
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369 | |||
370 | case LOGFILE_ERROR: |
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371 | break; |
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372 | |||
373 | default: |
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374 | logfilestate = LOGFILE_IDLE; |
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375 | break; |
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376 | } |
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377 | } // EOF model is flying |
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378 | } // EOF Check LogTimer |
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379 | |||
380 | return logfilestate; |
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381 | } |
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413 | killagreg | 382 | */ |
406 | joko | 383 | |
384 | //---------------------------------------------------------------------------------------------------- |
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385 | // initialize logging |
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386 | void Logging_Init(void) |
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387 | { |
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388 | LogCfg.KML_Interval = 500; //default |
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389 | Settings_GetParamValue(PID_KML_LOGGING, (uint16_t*)&LogCfg.KML_Interval); // overwrite by settings value |
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390 | Logging_KML(0); // initialize |
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413 | killagreg | 391 | //LogCfg.GPX_Interval = 1000; //default |
392 | //Settings_GetParamValue(PID_GPX_LOGGING, (uint16_t*)&LogCfg.GPX_Interval); // overwrite by settings value |
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393 | //Logging_GPX(0); // initialize |
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406 | joko | 394 | } |
395 | |||
396 | //---------------------------------------------------------------------------------------------------- |
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397 | // gobal logging handler |
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398 | void Logging_Update(void) |
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399 | { |
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413 | killagreg | 400 | static uint16_t logtimer = 0; |
406 | joko | 401 | static logfilestate_t logstate = LOGFILE_IDLE; |
402 | |||
403 | |||
404 | if(SD_SWITCH) // a card is in slot |
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405 | { |
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406 | if(CheckDelay(logtimer)) |
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407 | { |
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408 | logtimer = SetDelay(10); // faster makes no sense |
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409 | // call the logger handlers if no error has occured |
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410 | if(logstate != LOGFILE_ERROR) logstate = Logging_KML(LogCfg.KML_Interval); |
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413 | killagreg | 411 | //if(logstate != LOGFILE_ERROR) logstate = Logging_GPX(LogCfg.GPX_Interval); |
412 | |||
406 | joko | 413 | // a logging error has occured |
414 | if(logstate == LOGFILE_ERROR) |
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415 | { |
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416 | if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
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417 | { |
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418 | Logging_Init(); // initialize the logs |
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419 | logstate = LOGFILE_IDLE; |
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420 | logtimer = SetDelay(10); // try next log in 10 mili sec |
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421 | } |
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422 | else |
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423 | { // retry in 5 seconds |
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424 | logtimer = SetDelay(5000); // try again in 5 sec |
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425 | } |
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426 | } //EOF logfile error |
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427 | } // EOF CheckDelay |
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428 | }// EOF Card in Slot |
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429 | } |