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82 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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82 | killagreg | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 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. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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82 | killagreg | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
82 | killagreg | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 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 |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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82 | killagreg | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <stdio.h> |
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57 | #include "91x_lib.h" |
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58 | #include "main.h" |
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119 | killagreg | 59 | #include "timer1.h" |
82 | killagreg | 60 | #include "uart1.h" |
61 | #include "kml.h" |
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85 | killagreg | 62 | #include "gpx.h" |
86 | killagreg | 63 | #include "ssc.h" |
88 | killagreg | 64 | #include "settings.h" |
378 | holgerb | 65 | #include "led.h" |
380 | holgerb | 66 | #include "logging.h" |
82 | killagreg | 67 | |
380 | holgerb | 68 | #define MIN_SD_INTERVAL_KML 200 |
69 | #define MIN_SD_INTERVAL_GPX 500 |
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378 | holgerb | 70 | |
351 | holgerb | 71 | u8 SD_LoggingError = 0; |
92 | killagreg | 72 | |
379 | holgerb | 73 | #define LOG_FLUSH_INTERVAL 20000 // 20s //## |
92 | killagreg | 74 | |
82 | killagreg | 75 | typedef enum |
76 | { |
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77 | LOGFILE_IDLE, |
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78 | LOGFILE_START, |
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79 | LOGFILE_CLOSED, |
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80 | LOGFILE_OPENED, |
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81 | LOGFILE_ERROR |
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82 | } logfilestate_t; |
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83 | |||
84 | // logger handler prototypes |
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85 | logfilestate_t Logging_KML(u32 LogDelay); |
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86 | logfilestate_t Logging_GPX(u32 LogDelay); |
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87 | |||
101 | holgerb | 88 | LogCfg_t LogCfg = {500 , 1000}; |
380 | holgerb | 89 | u32 Logged_GPX_Counter = 0, Logged_KML_Counter = 0; |
82 | killagreg | 90 | |
91 | |||
92 | //---------------------------------------------------------------------------------------------------- |
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93 | s8* GenerateKMLLogFileName(void) |
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94 | { |
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95 | static u16 filenum = 0; // file name counter |
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96 | static s8 filename[35]; |
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97 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
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98 | |||
99 | if(SystemTime.Valid) |
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100 | { |
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101 | // if the day has been changed |
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102 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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103 | { |
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104 | LastTime.Year = SystemTime.Year; |
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105 | LastTime.Month = SystemTime.Month; |
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106 | LastTime.Day = SystemTime.Day; |
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107 | LastTime.Valid = 1; |
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108 | filenum = 0; // reset file counter |
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109 | } |
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85 | killagreg | 110 | sprintf(filename, "LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
82 | killagreg | 111 | filenum++; |
112 | return filename; |
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113 | } |
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114 | else return NULL; |
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115 | } |
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116 | |||
117 | //---------------------------------------------------------------------------------------------------- |
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118 | s8* GenerateGPXLogFileName(void) |
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119 | { |
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120 | static u16 filenum = 0; // file name counter |
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121 | static s8 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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141 | |||
142 | |||
143 | |||
144 | //---------------------------------------------------------------------------------------------------- |
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145 | // logs the current gps position to a kml file |
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146 | logfilestate_t Logging_KML(u32 LogDelay) |
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147 | { |
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148 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
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149 | static s8* logfilename = NULL; // the pointer to the logfilename |
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92 | killagreg | 150 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
82 | killagreg | 151 | static KML_Document_t logfile; // the logfilehandle |
152 | |||
146 | killagreg | 153 | // initialize if LogDelay is zero |
82 | killagreg | 154 | if(!LogDelay) |
155 | { |
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156 | switch(logfilestate) |
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157 | { |
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88 | killagreg | 158 | case LOGFILE_OPENED: |
82 | killagreg | 159 | KML_DocumentClose(&logfile); // try to close it |
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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88 | killagreg | 168 | return logfilestate; |
82 | killagreg | 169 | } |
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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88 | killagreg | 174 | |
255 | killagreg | 175 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
82 | killagreg | 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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255 | killagreg | 181 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.StatusFlags & FC_STATUS_FLY)) |
82 | killagreg | 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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378 | holgerb | 191 | }while((logfilename != NULL) && fexist_(logfilename)); |
82 | killagreg | 192 | // if logfilename exist |
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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92 | killagreg | 198 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
82 | killagreg | 199 | logfilestate = LOGFILE_OPENED; // goto next step |
110 | killagreg | 200 | UART1_PutString("\r\nOpening kml-file:"); |
201 | UART1_PutString(logfilename); |
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202 | UART1_PutString("\r\n"); |
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82 | killagreg | 203 | } |
204 | else // could not be openend |
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205 | { |
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206 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 207 | UART1_PutString("\r\nError opening kml-file: "); |
208 | UART1_PutString(logfilename); |
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209 | UART1_PutString("\r\n"); |
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82 | killagreg | 210 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
351 | holgerb | 211 | SD_LoggingError = 1; |
82 | killagreg | 212 | } |
213 | } |
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214 | else |
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215 | { |
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216 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 217 | UART1_PutString("\r\nError getting free kml-file name\r\n"); |
351 | holgerb | 218 | SD_LoggingError = 2; |
82 | killagreg | 219 | } |
220 | // else retry in next loop |
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221 | break; |
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222 | case LOGFILE_OPENED: |
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223 | // append new gps log data |
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224 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
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225 | { |
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85 | killagreg | 226 | if(!KML_LoggGPSCoordinates(&logfile)) |
82 | killagreg | 227 | { // error logging data |
110 | killagreg | 228 | UART1_PutString("\r\nError logging to kml-file\r\n"); |
351 | holgerb | 229 | SD_LoggingError = 3; |
82 | killagreg | 230 | KML_DocumentClose(&logfile); |
231 | logfilestate = LOGFILE_ERROR; |
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232 | } |
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92 | killagreg | 233 | else // sucessfully logged |
234 | { |
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351 | holgerb | 235 | SD_LoggingError = 0; |
92 | killagreg | 236 | if(CheckDelay(flushtimer)) |
237 | { |
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238 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
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239 | fflush_(logfile.file); |
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240 | } |
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241 | } |
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242 | |||
82 | killagreg | 243 | } |
244 | break; |
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88 | killagreg | 245 | |
82 | killagreg | 246 | case LOGFILE_ERROR: |
247 | break; |
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88 | killagreg | 248 | |
82 | killagreg | 249 | default: |
250 | logfilestate = LOGFILE_IDLE; |
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251 | break; |
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252 | } |
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92 | killagreg | 253 | } // EOF motors are not running |
82 | killagreg | 254 | else // model is not flying |
255 | { // close log file if opened |
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256 | if(logfilestate == LOGFILE_OPENED) |
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257 | { |
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258 | if(KML_DocumentClose(&logfile)) |
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259 | { |
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110 | killagreg | 260 | UART1_PutString("\r\nClosing kml-file\r\n"); |
82 | killagreg | 261 | logfilestate = LOGFILE_CLOSED; |
262 | } |
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263 | else // could not be closed |
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264 | { |
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110 | killagreg | 265 | UART1_PutString("\r\nError closing kml-file\r\n"); |
351 | holgerb | 266 | SD_LoggingError = 4; |
82 | killagreg | 267 | logfilestate = LOGFILE_ERROR; |
268 | } |
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269 | } |
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92 | killagreg | 270 | } //EOF motors are not running |
82 | killagreg | 271 | } // EOF Check LogTimer |
272 | |||
273 | return logfilestate; |
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274 | } |
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88 | killagreg | 275 | |
82 | killagreg | 276 | //---------------------------------------------------------------------------------------------------- |
277 | // logs gps and state info to a gpx file |
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278 | logfilestate_t Logging_GPX(u32 LogDelay) |
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279 | { |
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85 | killagreg | 280 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
281 | static s8* logfilename = NULL; // the pointer to the logfilename |
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92 | killagreg | 282 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
85 | killagreg | 283 | static GPX_Document_t logfile; // the logfilehandle |
345 | holgerb | 284 | static u8 part = 0; |
285 | u32 measure_time; |
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82 | killagreg | 286 | |
218 | killagreg | 287 | // initialize if LogDelay is zero |
85 | killagreg | 288 | if(!LogDelay) |
289 | { |
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290 | switch(logfilestate) |
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291 | { |
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88 | killagreg | 292 | case LOGFILE_OPENED: |
85 | killagreg | 293 | GPX_DocumentClose(&logfile); // try to close it |
294 | break; |
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295 | default: |
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296 | break; |
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297 | } |
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298 | logfilestate = LOGFILE_IDLE; |
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299 | logfilename = NULL; |
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300 | GPX_DocumentInit(&logfile); |
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301 | logtimer = SetDelay(0); // set logtimer to now |
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88 | killagreg | 302 | return logfilestate; |
85 | killagreg | 303 | } |
304 | // no init |
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345 | holgerb | 305 | if(CheckDelay(logtimer) || part) |
85 | killagreg | 306 | { |
378 | holgerb | 307 | if(!part) logtimer = SetDelay(LogDelay); // standard interval |
88 | killagreg | 308 | |
345 | holgerb | 309 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN || part) |
85 | killagreg | 310 | { |
311 | switch(logfilestate) |
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312 | { |
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313 | case LOGFILE_IDLE: |
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314 | case LOGFILE_CLOSED: |
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255 | killagreg | 315 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.StatusFlags & FC_STATUS_FLY)) |
85 | killagreg | 316 | { |
317 | logfilestate = LOGFILE_START; |
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318 | } |
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345 | holgerb | 319 | part = 0; |
85 | killagreg | 320 | break; |
321 | case LOGFILE_START: |
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322 | // find unused logfile name |
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323 | do |
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324 | { // try to generate a new logfile name |
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325 | logfilename = GenerateGPXLogFileName(); |
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378 | holgerb | 326 | }while((logfilename != NULL) && fexist_(logfilename)); |
85 | killagreg | 327 | // if logfilename exist |
328 | if(logfilename != NULL) |
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329 | { |
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330 | // try to create the log file |
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331 | if(GPX_DocumentOpen(logfilename, &logfile)) |
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332 | { |
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92 | killagreg | 333 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
85 | killagreg | 334 | logfilestate = LOGFILE_OPENED; // goto next step |
110 | killagreg | 335 | UART1_PutString("\r\nOpening gpx-file:"); |
336 | UART1_PutString(logfilename); |
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337 | UART1_PutString("\r\n"); |
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85 | killagreg | 338 | } |
339 | else // could not be openend |
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340 | { |
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341 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 342 | UART1_PutString("\r\nError opening gpx-file: "); |
343 | UART1_PutString(logfilename); |
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344 | UART1_PutString("\r\n"); |
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351 | holgerb | 345 | SD_LoggingError = 11; |
85 | killagreg | 346 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
347 | } |
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348 | } |
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349 | else |
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350 | { |
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351 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 352 | UART1_PutString("\r\nError getting free gpx-file name\r\n"); |
351 | holgerb | 353 | SD_LoggingError = 12; |
85 | killagreg | 354 | } |
355 | // else retry in next loop |
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345 | holgerb | 356 | part = 0; |
85 | killagreg | 357 | break; |
358 | case LOGFILE_OPENED: |
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359 | // append new gps log data |
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345 | holgerb | 360 | measure_time = CountMilliseconds; |
85 | killagreg | 361 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
362 | { |
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345 | holgerb | 363 | if(!GPX_LoggGPSCoordinates(&logfile,part)) |
85 | killagreg | 364 | { // error logging data |
110 | killagreg | 365 | UART1_PutString("\r\nError logging to gpx-file\r\n"); |
85 | killagreg | 366 | GPX_DocumentClose(&logfile); |
351 | holgerb | 367 | SD_LoggingError = 13; |
85 | killagreg | 368 | logfilestate = LOGFILE_ERROR; |
369 | } |
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92 | killagreg | 370 | else // successful log |
371 | { |
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372 | if(CheckDelay(flushtimer)) |
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373 | { |
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374 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
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375 | fflush_(logfile.file); |
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376 | } |
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377 | } |
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85 | killagreg | 378 | } |
345 | holgerb | 379 | if(++part == 9) part = 0; |
357 | holgerb | 380 | //DebugOut.Analog[19] = CountMilliseconds - measure_time; |
85 | killagreg | 381 | break; |
88 | killagreg | 382 | |
85 | killagreg | 383 | case LOGFILE_ERROR: |
345 | holgerb | 384 | part = 0; |
85 | killagreg | 385 | break; |
88 | killagreg | 386 | |
85 | killagreg | 387 | default: |
345 | holgerb | 388 | part = 0; |
85 | killagreg | 389 | logfilestate = LOGFILE_IDLE; |
390 | break; |
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391 | } |
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392 | } // EOF model is flying |
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393 | else // model is not flying |
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394 | { // close log file if opened |
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395 | if(logfilestate == LOGFILE_OPENED) |
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396 | { |
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397 | if(GPX_DocumentClose(&logfile)) |
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398 | { |
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110 | killagreg | 399 | UART1_PutString("\r\nClosing gpx-file\r\n"); |
85 | killagreg | 400 | logfilestate = LOGFILE_CLOSED; |
345 | holgerb | 401 | part = 0; |
85 | killagreg | 402 | } |
403 | else // could not be closed |
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404 | { |
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110 | killagreg | 405 | UART1_PutString("\r\nError closing gpx-file\r\n"); |
351 | holgerb | 406 | SD_LoggingError = 14; |
85 | killagreg | 407 | logfilestate = LOGFILE_ERROR; |
345 | holgerb | 408 | part = 0; |
85 | killagreg | 409 | } |
410 | } |
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411 | } //EOF model is not flying |
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412 | } // EOF Check LogTimer |
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413 | |||
82 | killagreg | 414 | return logfilestate; |
415 | } |
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416 | |||
417 | //---------------------------------------------------------------------------------------------------- |
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418 | // initialize logging |
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419 | void Logging_Init(void) |
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420 | { |
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351 | holgerb | 421 | SD_LoggingError = 0; |
378 | holgerb | 422 | LogCfg.KML_Interval = 1000; //default |
88 | killagreg | 423 | Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
380 | holgerb | 424 | if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < MIN_SD_INTERVAL_KML) LogCfg.KML_Interval = MIN_SD_INTERVAL_KML; |
310 | holgerb | 425 | |
92 | killagreg | 426 | Logging_KML(0); // initialize |
146 | killagreg | 427 | LogCfg.GPX_Interval = 0; //default |
88 | killagreg | 428 | Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
380 | holgerb | 429 | if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < MIN_SD_INTERVAL_GPX) LogCfg.GPX_Interval = MIN_SD_INTERVAL_GPX; |
92 | killagreg | 430 | Logging_GPX(0); // initialize |
82 | killagreg | 431 | } |
432 | |||
433 | //---------------------------------------------------------------------------------------------------- |
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434 | // gobal logging handler |
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435 | void Logging_Update(void) |
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436 | { |
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115 | killagreg | 437 | static u8 logmodule = 0; |
82 | killagreg | 438 | static u32 logtimer = 0; |
439 | static logfilestate_t logstate = LOGFILE_IDLE; |
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86 | killagreg | 440 | |
92 | killagreg | 441 | if(SD_SWITCH) // a card is in slot |
84 | killagreg | 442 | { |
351 | holgerb | 443 | if((logstate == LOGFILE_ERROR) && (FC.StatusFlags & FC_STATUS_START)) SD_LoggingError = 100; |
92 | killagreg | 444 | if(CheckDelay(logtimer)) |
84 | killagreg | 445 | { |
92 | killagreg | 446 | logtimer = SetDelay(10); // faster makes no sense |
447 | // call the logger handlers if no error has occured |
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115 | killagreg | 448 | if(logstate != LOGFILE_ERROR) |
176 | killagreg | 449 | { // run only one logging handler per loop |
115 | killagreg | 450 | switch(logmodule++) |
451 | { |
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452 | case 0: |
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453 | logstate = Logging_KML(LogCfg.KML_Interval); |
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454 | break; |
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455 | case 1: |
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456 | logstate = Logging_GPX(LogCfg.GPX_Interval); |
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457 | logmodule = 0; // resart with first log module |
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458 | break; |
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459 | default: |
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460 | logmodule = 0; |
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461 | break; |
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462 | } |
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463 | } |
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464 | else // a logging error has occured |
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176 | killagreg | 465 | { |
351 | holgerb | 466 | // /* |
176 | killagreg | 467 | // try to reinitialize sd-card when motors are not running |
351 | holgerb | 468 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) |
92 | killagreg | 469 | { |
159 | killagreg | 470 | if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
471 | { |
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472 | Logging_Init(); // initialize the logs |
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473 | logstate = LOGFILE_IDLE; |
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351 | holgerb | 474 | logtimer = SetDelay(100); // try next log in 100 mili sec |
159 | killagreg | 475 | } |
476 | else |
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477 | { // retry in 5 seconds |
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478 | logtimer = SetDelay(5000); // try again in 5 sec |
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479 | } |
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480 | } // EOF motors are not running |
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351 | holgerb | 481 | // */ |
92 | killagreg | 482 | } //EOF logfile error |
483 | } // EOF CheckDelay |
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484 | }// EOF Card in Slot |
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88 | killagreg | 485 | } |