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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 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
82 | killagreg | 7 | // + FOR NON COMMERCIAL USE ONLY |
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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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
82 | killagreg | 29 | // + mit unserer Zustimmung zulässig |
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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171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
82 | killagreg | 44 | // |
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 "91x_lib.h" |
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59 | #include "main.h" |
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119 | killagreg | 60 | #include "timer1.h" |
82 | killagreg | 61 | #include "uart1.h" |
62 | #include "kml.h" |
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85 | killagreg | 63 | #include "gpx.h" |
86 | killagreg | 64 | #include "ssc.h" |
88 | killagreg | 65 | #include "settings.h" |
82 | killagreg | 66 | |
351 | holgerb | 67 | u8 SD_LoggingError = 0; |
92 | killagreg | 68 | |
69 | #define LOG_FLUSH_INTERVAL 20000 // 20s |
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70 | |||
82 | killagreg | 71 | typedef enum |
72 | { |
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73 | LOGFILE_IDLE, |
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74 | LOGFILE_START, |
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75 | LOGFILE_CLOSED, |
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76 | LOGFILE_OPENED, |
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77 | LOGFILE_ERROR |
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78 | } logfilestate_t; |
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79 | |||
80 | // logger handler prototypes |
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81 | logfilestate_t Logging_KML(u32 LogDelay); |
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82 | logfilestate_t Logging_GPX(u32 LogDelay); |
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83 | |||
84 | typedef struct |
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85 | { |
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86 | u32 KML_Interval; // the kml-log interval (0 = off) |
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88 | killagreg | 87 | u32 GPX_Interval; // the gpx-log interval (0 = off) |
82 | killagreg | 88 | } LogCfg_t; |
89 | |||
101 | holgerb | 90 | LogCfg_t LogCfg = {500 , 1000}; |
82 | killagreg | 91 | |
92 | |||
93 | //---------------------------------------------------------------------------------------------------- |
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94 | s8* GenerateKMLLogFileName(void) |
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95 | { |
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96 | static u16 filenum = 0; // file name counter |
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97 | static s8 filename[35]; |
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98 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
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99 | |||
100 | if(SystemTime.Valid) |
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101 | { |
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102 | // if the day has been changed |
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103 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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104 | { |
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105 | LastTime.Year = SystemTime.Year; |
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106 | LastTime.Month = SystemTime.Month; |
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107 | LastTime.Day = SystemTime.Day; |
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108 | LastTime.Valid = 1; |
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109 | filenum = 0; // reset file counter |
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110 | } |
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85 | killagreg | 111 | sprintf(filename, "LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
82 | killagreg | 112 | filenum++; |
113 | return filename; |
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114 | } |
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115 | else return NULL; |
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116 | } |
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117 | |||
118 | //---------------------------------------------------------------------------------------------------- |
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119 | s8* GenerateGPXLogFileName(void) |
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120 | { |
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121 | static u16 filenum = 0; // file name counter |
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122 | static s8 filename[35]; |
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123 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
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124 | |||
125 | if(SystemTime.Valid) |
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126 | { |
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127 | // if the day has been changed |
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128 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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129 | { |
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130 | LastTime.Year = SystemTime.Year; |
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131 | LastTime.Month = SystemTime.Month; |
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132 | LastTime.Day = SystemTime.Day; |
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133 | LastTime.Valid = 1; |
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134 | filenum = 0; // reset file counter |
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135 | } |
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136 | sprintf(filename, "LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
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137 | filenum++; |
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138 | return filename; |
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139 | } |
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140 | else return NULL; |
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141 | } |
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142 | |||
143 | |||
144 | |||
145 | //---------------------------------------------------------------------------------------------------- |
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146 | // logs the current gps position to a kml file |
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147 | logfilestate_t Logging_KML(u32 LogDelay) |
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148 | { |
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149 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
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150 | static s8* logfilename = NULL; // the pointer to the logfilename |
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92 | killagreg | 151 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
82 | killagreg | 152 | static KML_Document_t logfile; // the logfilehandle |
153 | |||
146 | killagreg | 154 | // initialize if LogDelay is zero |
82 | killagreg | 155 | if(!LogDelay) |
156 | { |
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157 | switch(logfilestate) |
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158 | { |
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88 | killagreg | 159 | case LOGFILE_OPENED: |
82 | killagreg | 160 | KML_DocumentClose(&logfile); // try to close it |
161 | break; |
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162 | default: |
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163 | break; |
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164 | } |
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165 | logfilestate = LOGFILE_IDLE; |
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166 | logfilename = NULL; |
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167 | KML_DocumentInit(&logfile); |
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168 | logtimer = SetDelay(0); // set logtimer to now |
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88 | killagreg | 169 | return logfilestate; |
82 | killagreg | 170 | } |
171 | // no init |
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172 | if(CheckDelay(logtimer)) |
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173 | { |
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174 | logtimer = SetDelay(LogDelay); // standard interval |
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88 | killagreg | 175 | |
255 | killagreg | 176 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
82 | killagreg | 177 | { |
178 | switch(logfilestate) |
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179 | { |
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180 | case LOGFILE_IDLE: |
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181 | case LOGFILE_CLOSED: |
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255 | killagreg | 182 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.StatusFlags & FC_STATUS_FLY)) |
82 | killagreg | 183 | { |
184 | logfilestate = LOGFILE_START; |
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185 | } |
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186 | break; |
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187 | case LOGFILE_START: |
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188 | // find unused logfile name |
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189 | do |
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190 | { // try to generate a new logfile name |
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191 | logfilename = GenerateKMLLogFileName(); |
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192 | }while((logfilename != NULL) && fexist_(logfilename)); |
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193 | // if logfilename exist |
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194 | if(logfilename != NULL) |
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195 | { |
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196 | // try to create the log file |
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197 | if(KML_DocumentOpen(logfilename, &logfile)) |
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198 | { |
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92 | killagreg | 199 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
82 | killagreg | 200 | logfilestate = LOGFILE_OPENED; // goto next step |
110 | killagreg | 201 | UART1_PutString("\r\nOpening kml-file:"); |
202 | UART1_PutString(logfilename); |
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203 | UART1_PutString("\r\n"); |
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82 | killagreg | 204 | } |
205 | else // could not be openend |
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206 | { |
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207 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 208 | UART1_PutString("\r\nError opening kml-file: "); |
209 | UART1_PutString(logfilename); |
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210 | UART1_PutString("\r\n"); |
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82 | killagreg | 211 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
351 | holgerb | 212 | SD_LoggingError = 1; |
82 | killagreg | 213 | } |
214 | } |
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215 | else |
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216 | { |
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217 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 218 | UART1_PutString("\r\nError getting free kml-file name\r\n"); |
351 | holgerb | 219 | SD_LoggingError = 2; |
82 | killagreg | 220 | } |
221 | // else retry in next loop |
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222 | break; |
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223 | case LOGFILE_OPENED: |
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224 | // append new gps log data |
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225 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
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226 | { |
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85 | killagreg | 227 | if(!KML_LoggGPSCoordinates(&logfile)) |
82 | killagreg | 228 | { // error logging data |
110 | killagreg | 229 | UART1_PutString("\r\nError logging to kml-file\r\n"); |
351 | holgerb | 230 | SD_LoggingError = 3; |
82 | killagreg | 231 | KML_DocumentClose(&logfile); |
232 | logfilestate = LOGFILE_ERROR; |
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233 | } |
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92 | killagreg | 234 | else // sucessfully logged |
235 | { |
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351 | holgerb | 236 | SD_LoggingError = 0; |
92 | killagreg | 237 | if(CheckDelay(flushtimer)) |
238 | { |
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239 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
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240 | fflush_(logfile.file); |
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241 | } |
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242 | } |
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243 | |||
82 | killagreg | 244 | } |
245 | break; |
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88 | killagreg | 246 | |
82 | killagreg | 247 | case LOGFILE_ERROR: |
248 | break; |
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88 | killagreg | 249 | |
82 | killagreg | 250 | default: |
251 | logfilestate = LOGFILE_IDLE; |
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252 | break; |
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253 | } |
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92 | killagreg | 254 | } // EOF motors are not running |
82 | killagreg | 255 | else // model is not flying |
256 | { // close log file if opened |
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257 | if(logfilestate == LOGFILE_OPENED) |
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258 | { |
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259 | if(KML_DocumentClose(&logfile)) |
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260 | { |
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110 | killagreg | 261 | UART1_PutString("\r\nClosing kml-file\r\n"); |
82 | killagreg | 262 | logfilestate = LOGFILE_CLOSED; |
263 | } |
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264 | else // could not be closed |
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265 | { |
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110 | killagreg | 266 | UART1_PutString("\r\nError closing kml-file\r\n"); |
351 | holgerb | 267 | SD_LoggingError = 4; |
82 | killagreg | 268 | logfilestate = LOGFILE_ERROR; |
269 | } |
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270 | } |
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92 | killagreg | 271 | } //EOF motors are not running |
82 | killagreg | 272 | } // EOF Check LogTimer |
273 | |||
274 | return logfilestate; |
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275 | } |
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88 | killagreg | 276 | |
82 | killagreg | 277 | //---------------------------------------------------------------------------------------------------- |
278 | // logs gps and state info to a gpx file |
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279 | logfilestate_t Logging_GPX(u32 LogDelay) |
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280 | { |
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85 | killagreg | 281 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
282 | static s8* logfilename = NULL; // the pointer to the logfilename |
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92 | killagreg | 283 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
85 | killagreg | 284 | static GPX_Document_t logfile; // the logfilehandle |
345 | holgerb | 285 | static u8 part = 0; |
286 | u32 measure_time; |
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82 | killagreg | 287 | |
218 | killagreg | 288 | // initialize if LogDelay is zero |
85 | killagreg | 289 | if(!LogDelay) |
290 | { |
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291 | switch(logfilestate) |
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292 | { |
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88 | killagreg | 293 | case LOGFILE_OPENED: |
85 | killagreg | 294 | GPX_DocumentClose(&logfile); // try to close it |
295 | break; |
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296 | default: |
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297 | break; |
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298 | } |
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299 | logfilestate = LOGFILE_IDLE; |
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300 | logfilename = NULL; |
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301 | GPX_DocumentInit(&logfile); |
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302 | logtimer = SetDelay(0); // set logtimer to now |
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88 | killagreg | 303 | return logfilestate; |
85 | killagreg | 304 | } |
305 | // no init |
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345 | holgerb | 306 | if(CheckDelay(logtimer) || part) |
85 | killagreg | 307 | { |
308 | logtimer = SetDelay(LogDelay); // standard interval |
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88 | killagreg | 309 | |
345 | holgerb | 310 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN || part) |
85 | killagreg | 311 | { |
312 | switch(logfilestate) |
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313 | { |
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314 | case LOGFILE_IDLE: |
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315 | case LOGFILE_CLOSED: |
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255 | killagreg | 316 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.StatusFlags & FC_STATUS_FLY)) |
85 | killagreg | 317 | { |
318 | logfilestate = LOGFILE_START; |
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319 | } |
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345 | holgerb | 320 | part = 0; |
85 | killagreg | 321 | break; |
322 | case LOGFILE_START: |
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323 | // find unused logfile name |
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324 | do |
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325 | { // try to generate a new logfile name |
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326 | logfilename = GenerateGPXLogFileName(); |
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327 | }while((logfilename != NULL) && fexist_(logfilename)); |
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328 | // if logfilename exist |
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329 | if(logfilename != NULL) |
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330 | { |
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331 | // try to create the log file |
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332 | if(GPX_DocumentOpen(logfilename, &logfile)) |
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333 | { |
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92 | killagreg | 334 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
85 | killagreg | 335 | logfilestate = LOGFILE_OPENED; // goto next step |
110 | killagreg | 336 | UART1_PutString("\r\nOpening gpx-file:"); |
337 | UART1_PutString(logfilename); |
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338 | UART1_PutString("\r\n"); |
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85 | killagreg | 339 | } |
340 | else // could not be openend |
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341 | { |
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342 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 343 | UART1_PutString("\r\nError opening gpx-file: "); |
344 | UART1_PutString(logfilename); |
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345 | UART1_PutString("\r\n"); |
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351 | holgerb | 346 | SD_LoggingError = 11; |
85 | killagreg | 347 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
348 | } |
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349 | } |
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350 | else |
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351 | { |
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352 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 353 | UART1_PutString("\r\nError getting free gpx-file name\r\n"); |
351 | holgerb | 354 | SD_LoggingError = 12; |
85 | killagreg | 355 | } |
356 | // else retry in next loop |
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345 | holgerb | 357 | part = 0; |
85 | killagreg | 358 | break; |
359 | case LOGFILE_OPENED: |
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360 | // append new gps log data |
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345 | holgerb | 361 | measure_time = CountMilliseconds; |
85 | killagreg | 362 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
363 | { |
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345 | holgerb | 364 | if(!GPX_LoggGPSCoordinates(&logfile,part)) |
85 | killagreg | 365 | { // error logging data |
110 | killagreg | 366 | UART1_PutString("\r\nError logging to gpx-file\r\n"); |
85 | killagreg | 367 | GPX_DocumentClose(&logfile); |
351 | holgerb | 368 | SD_LoggingError = 13; |
85 | killagreg | 369 | logfilestate = LOGFILE_ERROR; |
370 | } |
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92 | killagreg | 371 | else // successful log |
372 | { |
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373 | if(CheckDelay(flushtimer)) |
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374 | { |
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375 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
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376 | fflush_(logfile.file); |
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377 | } |
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378 | } |
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85 | killagreg | 379 | } |
345 | holgerb | 380 | if(++part == 9) part = 0; |
357 | holgerb | 381 | //DebugOut.Analog[19] = CountMilliseconds - measure_time; |
85 | killagreg | 382 | break; |
88 | killagreg | 383 | |
85 | killagreg | 384 | case LOGFILE_ERROR: |
345 | holgerb | 385 | part = 0; |
85 | killagreg | 386 | break; |
88 | killagreg | 387 | |
85 | killagreg | 388 | default: |
345 | holgerb | 389 | part = 0; |
85 | killagreg | 390 | logfilestate = LOGFILE_IDLE; |
391 | break; |
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392 | } |
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393 | } // EOF model is flying |
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394 | else // model is not flying |
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395 | { // close log file if opened |
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396 | if(logfilestate == LOGFILE_OPENED) |
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397 | { |
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398 | if(GPX_DocumentClose(&logfile)) |
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399 | { |
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110 | killagreg | 400 | UART1_PutString("\r\nClosing gpx-file\r\n"); |
85 | killagreg | 401 | logfilestate = LOGFILE_CLOSED; |
345 | holgerb | 402 | part = 0; |
85 | killagreg | 403 | } |
404 | else // could not be closed |
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405 | { |
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110 | killagreg | 406 | UART1_PutString("\r\nError closing gpx-file\r\n"); |
351 | holgerb | 407 | SD_LoggingError = 14; |
85 | killagreg | 408 | logfilestate = LOGFILE_ERROR; |
345 | holgerb | 409 | part = 0; |
85 | killagreg | 410 | } |
411 | } |
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412 | } //EOF model is not flying |
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413 | } // EOF Check LogTimer |
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414 | |||
82 | killagreg | 415 | return logfilestate; |
416 | } |
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417 | |||
418 | //---------------------------------------------------------------------------------------------------- |
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419 | // initialize logging |
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420 | void Logging_Init(void) |
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421 | { |
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351 | holgerb | 422 | SD_LoggingError = 0; |
88 | killagreg | 423 | LogCfg.KML_Interval = 500; //default |
424 | Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
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350 | holgerb | 425 | if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < 500) LogCfg.KML_Interval = 500; |
310 | holgerb | 426 | |
92 | killagreg | 427 | Logging_KML(0); // initialize |
146 | killagreg | 428 | LogCfg.GPX_Interval = 0; //default |
88 | killagreg | 429 | Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
350 | holgerb | 430 | if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < 500) LogCfg.GPX_Interval = 500; |
92 | killagreg | 431 | Logging_GPX(0); // initialize |
82 | killagreg | 432 | } |
433 | |||
434 | //---------------------------------------------------------------------------------------------------- |
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435 | // gobal logging handler |
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436 | void Logging_Update(void) |
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437 | { |
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115 | killagreg | 438 | static u8 logmodule = 0; |
82 | killagreg | 439 | static u32 logtimer = 0; |
440 | static logfilestate_t logstate = LOGFILE_IDLE; |
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86 | killagreg | 441 | |
92 | killagreg | 442 | if(SD_SWITCH) // a card is in slot |
84 | killagreg | 443 | { |
351 | holgerb | 444 | if((logstate == LOGFILE_ERROR) && (FC.StatusFlags & FC_STATUS_START)) SD_LoggingError = 100; |
92 | killagreg | 445 | if(CheckDelay(logtimer)) |
84 | killagreg | 446 | { |
92 | killagreg | 447 | logtimer = SetDelay(10); // faster makes no sense |
448 | // call the logger handlers if no error has occured |
||
115 | killagreg | 449 | if(logstate != LOGFILE_ERROR) |
176 | killagreg | 450 | { // run only one logging handler per loop |
115 | killagreg | 451 | switch(logmodule++) |
452 | { |
||
453 | case 0: |
||
454 | logstate = Logging_KML(LogCfg.KML_Interval); |
||
455 | break; |
||
456 | case 1: |
||
457 | logstate = Logging_GPX(LogCfg.GPX_Interval); |
||
458 | logmodule = 0; // resart with first log module |
||
459 | break; |
||
460 | default: |
||
461 | logmodule = 0; |
||
462 | break; |
||
463 | } |
||
464 | } |
||
465 | else // a logging error has occured |
||
176 | killagreg | 466 | { |
351 | holgerb | 467 | // /* |
176 | killagreg | 468 | // try to reinitialize sd-card when motors are not running |
351 | holgerb | 469 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) |
92 | killagreg | 470 | { |
159 | killagreg | 471 | if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
472 | { |
||
473 | Logging_Init(); // initialize the logs |
||
474 | logstate = LOGFILE_IDLE; |
||
351 | holgerb | 475 | logtimer = SetDelay(100); // try next log in 100 mili sec |
159 | killagreg | 476 | } |
477 | else |
||
478 | { // retry in 5 seconds |
||
479 | logtimer = SetDelay(5000); // try again in 5 sec |
||
480 | } |
||
481 | } // EOF motors are not running |
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351 | holgerb | 482 | // */ |
92 | killagreg | 483 | } //EOF logfile error |
484 | } // EOF CheckDelay |
||
485 | }// EOF Card in Slot |
||
88 | killagreg | 486 | } |