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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" |
82 | killagreg | 66 | |
378 | holgerb | 67 | #define MIN_SD_INTERVAL 500 |
68 | |||
351 | holgerb | 69 | u8 SD_LoggingError = 0; |
92 | killagreg | 70 | |
378 | holgerb | 71 | #define LOG_FLUSH_INTERVAL 2000 // 20s //## |
92 | killagreg | 72 | |
82 | killagreg | 73 | typedef enum |
74 | { |
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75 | LOGFILE_IDLE, |
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76 | LOGFILE_START, |
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77 | LOGFILE_CLOSED, |
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78 | LOGFILE_OPENED, |
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79 | LOGFILE_ERROR |
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80 | } logfilestate_t; |
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81 | |||
82 | // logger handler prototypes |
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83 | logfilestate_t Logging_KML(u32 LogDelay); |
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84 | logfilestate_t Logging_GPX(u32 LogDelay); |
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85 | |||
86 | typedef struct |
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87 | { |
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88 | u32 KML_Interval; // the kml-log interval (0 = off) |
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88 | killagreg | 89 | u32 GPX_Interval; // the gpx-log interval (0 = off) |
82 | killagreg | 90 | } LogCfg_t; |
91 | |||
101 | holgerb | 92 | LogCfg_t LogCfg = {500 , 1000}; |
82 | killagreg | 93 | |
94 | |||
95 | //---------------------------------------------------------------------------------------------------- |
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96 | s8* GenerateKMLLogFileName(void) |
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97 | { |
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98 | static u16 filenum = 0; // file name counter |
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99 | static s8 filename[35]; |
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100 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
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101 | |||
102 | if(SystemTime.Valid) |
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103 | { |
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104 | // if the day has been changed |
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105 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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106 | { |
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107 | LastTime.Year = SystemTime.Year; |
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108 | LastTime.Month = SystemTime.Month; |
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109 | LastTime.Day = SystemTime.Day; |
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110 | LastTime.Valid = 1; |
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111 | filenum = 0; // reset file counter |
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112 | } |
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85 | killagreg | 113 | sprintf(filename, "LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
82 | killagreg | 114 | filenum++; |
115 | return filename; |
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116 | } |
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117 | else return NULL; |
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118 | } |
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119 | |||
120 | //---------------------------------------------------------------------------------------------------- |
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121 | s8* GenerateGPXLogFileName(void) |
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122 | { |
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123 | static u16 filenum = 0; // file name counter |
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124 | static s8 filename[35]; |
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125 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
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126 | |||
127 | if(SystemTime.Valid) |
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128 | { |
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129 | // if the day has been changed |
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130 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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131 | { |
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132 | LastTime.Year = SystemTime.Year; |
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133 | LastTime.Month = SystemTime.Month; |
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134 | LastTime.Day = SystemTime.Day; |
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135 | LastTime.Valid = 1; |
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136 | filenum = 0; // reset file counter |
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137 | } |
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138 | sprintf(filename, "LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
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139 | filenum++; |
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140 | return filename; |
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141 | } |
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142 | else return NULL; |
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143 | } |
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144 | |||
145 | |||
146 | |||
147 | //---------------------------------------------------------------------------------------------------- |
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148 | // logs the current gps position to a kml file |
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149 | logfilestate_t Logging_KML(u32 LogDelay) |
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150 | { |
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151 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
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152 | static s8* logfilename = NULL; // the pointer to the logfilename |
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92 | killagreg | 153 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
82 | killagreg | 154 | static KML_Document_t logfile; // the logfilehandle |
155 | |||
146 | killagreg | 156 | // initialize if LogDelay is zero |
82 | killagreg | 157 | if(!LogDelay) |
158 | { |
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159 | switch(logfilestate) |
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160 | { |
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88 | killagreg | 161 | case LOGFILE_OPENED: |
82 | killagreg | 162 | KML_DocumentClose(&logfile); // try to close it |
163 | break; |
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164 | default: |
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165 | break; |
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166 | } |
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167 | logfilestate = LOGFILE_IDLE; |
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168 | logfilename = NULL; |
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169 | KML_DocumentInit(&logfile); |
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170 | logtimer = SetDelay(0); // set logtimer to now |
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88 | killagreg | 171 | return logfilestate; |
82 | killagreg | 172 | } |
173 | // no init |
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174 | if(CheckDelay(logtimer)) |
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175 | { |
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176 | logtimer = SetDelay(LogDelay); // standard interval |
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88 | killagreg | 177 | |
255 | killagreg | 178 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
82 | killagreg | 179 | { |
180 | switch(logfilestate) |
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181 | { |
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182 | case LOGFILE_IDLE: |
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183 | case LOGFILE_CLOSED: |
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255 | killagreg | 184 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.StatusFlags & FC_STATUS_FLY)) |
82 | killagreg | 185 | { |
186 | logfilestate = LOGFILE_START; |
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187 | } |
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188 | break; |
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189 | case LOGFILE_START: |
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190 | // find unused logfile name |
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191 | do |
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192 | { // try to generate a new logfile name |
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193 | logfilename = GenerateKMLLogFileName(); |
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378 | holgerb | 194 | }while((logfilename != NULL) && fexist_(logfilename)); |
82 | killagreg | 195 | // if logfilename exist |
196 | if(logfilename != NULL) |
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197 | { |
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198 | // try to create the log file |
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199 | if(KML_DocumentOpen(logfilename, &logfile)) |
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200 | { |
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92 | killagreg | 201 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
82 | killagreg | 202 | logfilestate = LOGFILE_OPENED; // goto next step |
110 | killagreg | 203 | UART1_PutString("\r\nOpening kml-file:"); |
204 | UART1_PutString(logfilename); |
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205 | UART1_PutString("\r\n"); |
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82 | killagreg | 206 | } |
207 | else // could not be openend |
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208 | { |
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209 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 210 | UART1_PutString("\r\nError opening kml-file: "); |
211 | UART1_PutString(logfilename); |
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212 | UART1_PutString("\r\n"); |
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82 | killagreg | 213 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
351 | holgerb | 214 | SD_LoggingError = 1; |
82 | killagreg | 215 | } |
216 | } |
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217 | else |
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218 | { |
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219 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 220 | UART1_PutString("\r\nError getting free kml-file name\r\n"); |
351 | holgerb | 221 | SD_LoggingError = 2; |
82 | killagreg | 222 | } |
223 | // else retry in next loop |
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224 | break; |
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225 | case LOGFILE_OPENED: |
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226 | // append new gps log data |
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227 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
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228 | { |
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85 | killagreg | 229 | if(!KML_LoggGPSCoordinates(&logfile)) |
82 | killagreg | 230 | { // error logging data |
110 | killagreg | 231 | UART1_PutString("\r\nError logging to kml-file\r\n"); |
351 | holgerb | 232 | SD_LoggingError = 3; |
82 | killagreg | 233 | KML_DocumentClose(&logfile); |
234 | logfilestate = LOGFILE_ERROR; |
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235 | } |
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92 | killagreg | 236 | else // sucessfully logged |
237 | { |
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351 | holgerb | 238 | SD_LoggingError = 0; |
92 | killagreg | 239 | if(CheckDelay(flushtimer)) |
240 | { |
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241 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
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242 | fflush_(logfile.file); |
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243 | } |
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244 | } |
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245 | |||
82 | killagreg | 246 | } |
247 | break; |
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88 | killagreg | 248 | |
82 | killagreg | 249 | case LOGFILE_ERROR: |
250 | break; |
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88 | killagreg | 251 | |
82 | killagreg | 252 | default: |
253 | logfilestate = LOGFILE_IDLE; |
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254 | break; |
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255 | } |
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92 | killagreg | 256 | } // EOF motors are not running |
82 | killagreg | 257 | else // model is not flying |
258 | { // close log file if opened |
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259 | if(logfilestate == LOGFILE_OPENED) |
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260 | { |
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261 | if(KML_DocumentClose(&logfile)) |
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262 | { |
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110 | killagreg | 263 | UART1_PutString("\r\nClosing kml-file\r\n"); |
82 | killagreg | 264 | logfilestate = LOGFILE_CLOSED; |
265 | } |
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266 | else // could not be closed |
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267 | { |
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110 | killagreg | 268 | UART1_PutString("\r\nError closing kml-file\r\n"); |
351 | holgerb | 269 | SD_LoggingError = 4; |
82 | killagreg | 270 | logfilestate = LOGFILE_ERROR; |
271 | } |
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272 | } |
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92 | killagreg | 273 | } //EOF motors are not running |
82 | killagreg | 274 | } // EOF Check LogTimer |
275 | |||
276 | return logfilestate; |
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277 | } |
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88 | killagreg | 278 | |
82 | killagreg | 279 | //---------------------------------------------------------------------------------------------------- |
280 | // logs gps and state info to a gpx file |
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281 | logfilestate_t Logging_GPX(u32 LogDelay) |
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282 | { |
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85 | killagreg | 283 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
284 | static s8* logfilename = NULL; // the pointer to the logfilename |
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92 | killagreg | 285 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
85 | killagreg | 286 | static GPX_Document_t logfile; // the logfilehandle |
345 | holgerb | 287 | static u8 part = 0; |
288 | u32 measure_time; |
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82 | killagreg | 289 | |
218 | killagreg | 290 | // initialize if LogDelay is zero |
85 | killagreg | 291 | if(!LogDelay) |
292 | { |
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293 | switch(logfilestate) |
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294 | { |
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88 | killagreg | 295 | case LOGFILE_OPENED: |
85 | killagreg | 296 | GPX_DocumentClose(&logfile); // try to close it |
297 | break; |
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298 | default: |
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299 | break; |
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300 | } |
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301 | logfilestate = LOGFILE_IDLE; |
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302 | logfilename = NULL; |
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303 | GPX_DocumentInit(&logfile); |
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304 | logtimer = SetDelay(0); // set logtimer to now |
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88 | killagreg | 305 | return logfilestate; |
85 | killagreg | 306 | } |
307 | // no init |
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345 | holgerb | 308 | if(CheckDelay(logtimer) || part) |
85 | killagreg | 309 | { |
378 | holgerb | 310 | if(!part) logtimer = SetDelay(LogDelay); // standard interval |
88 | killagreg | 311 | |
345 | holgerb | 312 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN || part) |
85 | killagreg | 313 | { |
314 | switch(logfilestate) |
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315 | { |
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316 | case LOGFILE_IDLE: |
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317 | case LOGFILE_CLOSED: |
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255 | killagreg | 318 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.StatusFlags & FC_STATUS_FLY)) |
85 | killagreg | 319 | { |
320 | logfilestate = LOGFILE_START; |
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321 | } |
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345 | holgerb | 322 | part = 0; |
85 | killagreg | 323 | break; |
324 | case LOGFILE_START: |
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325 | // find unused logfile name |
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326 | do |
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327 | { // try to generate a new logfile name |
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328 | logfilename = GenerateGPXLogFileName(); |
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378 | holgerb | 329 | }while((logfilename != NULL) && fexist_(logfilename)); |
85 | killagreg | 330 | // if logfilename exist |
331 | if(logfilename != NULL) |
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332 | { |
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333 | // try to create the log file |
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334 | if(GPX_DocumentOpen(logfilename, &logfile)) |
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335 | { |
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92 | killagreg | 336 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
85 | killagreg | 337 | logfilestate = LOGFILE_OPENED; // goto next step |
110 | killagreg | 338 | UART1_PutString("\r\nOpening gpx-file:"); |
339 | UART1_PutString(logfilename); |
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340 | UART1_PutString("\r\n"); |
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85 | killagreg | 341 | } |
342 | else // could not be openend |
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343 | { |
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344 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 345 | UART1_PutString("\r\nError opening gpx-file: "); |
346 | UART1_PutString(logfilename); |
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347 | UART1_PutString("\r\n"); |
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351 | holgerb | 348 | SD_LoggingError = 11; |
85 | killagreg | 349 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
350 | } |
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351 | } |
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352 | else |
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353 | { |
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354 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 355 | UART1_PutString("\r\nError getting free gpx-file name\r\n"); |
351 | holgerb | 356 | SD_LoggingError = 12; |
85 | killagreg | 357 | } |
358 | // else retry in next loop |
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345 | holgerb | 359 | part = 0; |
85 | killagreg | 360 | break; |
361 | case LOGFILE_OPENED: |
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362 | // append new gps log data |
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345 | holgerb | 363 | measure_time = CountMilliseconds; |
85 | killagreg | 364 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
365 | { |
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345 | holgerb | 366 | if(!GPX_LoggGPSCoordinates(&logfile,part)) |
85 | killagreg | 367 | { // error logging data |
110 | killagreg | 368 | UART1_PutString("\r\nError logging to gpx-file\r\n"); |
85 | killagreg | 369 | GPX_DocumentClose(&logfile); |
351 | holgerb | 370 | SD_LoggingError = 13; |
85 | killagreg | 371 | logfilestate = LOGFILE_ERROR; |
372 | } |
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92 | killagreg | 373 | else // successful log |
374 | { |
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375 | if(CheckDelay(flushtimer)) |
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376 | { |
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377 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
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378 | holgerb | 378 | LED_RED_ON; |
379 | |||
92 | killagreg | 380 | fflush_(logfile.file); |
378 | holgerb | 381 | LED_RED_OFF; |
382 | |||
92 | killagreg | 383 | } |
384 | } |
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85 | killagreg | 385 | } |
345 | holgerb | 386 | if(++part == 9) part = 0; |
357 | holgerb | 387 | //DebugOut.Analog[19] = CountMilliseconds - measure_time; |
85 | killagreg | 388 | break; |
88 | killagreg | 389 | |
85 | killagreg | 390 | case LOGFILE_ERROR: |
345 | holgerb | 391 | part = 0; |
85 | killagreg | 392 | break; |
88 | killagreg | 393 | |
85 | killagreg | 394 | default: |
345 | holgerb | 395 | part = 0; |
85 | killagreg | 396 | logfilestate = LOGFILE_IDLE; |
397 | break; |
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398 | } |
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399 | } // EOF model is flying |
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400 | else // model is not flying |
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401 | { // close log file if opened |
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402 | if(logfilestate == LOGFILE_OPENED) |
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403 | { |
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404 | if(GPX_DocumentClose(&logfile)) |
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405 | { |
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110 | killagreg | 406 | UART1_PutString("\r\nClosing gpx-file\r\n"); |
85 | killagreg | 407 | logfilestate = LOGFILE_CLOSED; |
345 | holgerb | 408 | part = 0; |
85 | killagreg | 409 | } |
410 | else // could not be closed |
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411 | { |
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110 | killagreg | 412 | UART1_PutString("\r\nError closing gpx-file\r\n"); |
351 | holgerb | 413 | SD_LoggingError = 14; |
85 | killagreg | 414 | logfilestate = LOGFILE_ERROR; |
345 | holgerb | 415 | part = 0; |
85 | killagreg | 416 | } |
417 | } |
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418 | } //EOF model is not flying |
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419 | } // EOF Check LogTimer |
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420 | |||
82 | killagreg | 421 | return logfilestate; |
422 | } |
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423 | |||
424 | //---------------------------------------------------------------------------------------------------- |
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425 | // initialize logging |
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426 | void Logging_Init(void) |
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427 | { |
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351 | holgerb | 428 | SD_LoggingError = 0; |
378 | holgerb | 429 | LogCfg.KML_Interval = 1000; //default |
88 | killagreg | 430 | Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
378 | holgerb | 431 | if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < MIN_SD_INTERVAL) LogCfg.KML_Interval = MIN_SD_INTERVAL; |
310 | holgerb | 432 | |
92 | killagreg | 433 | Logging_KML(0); // initialize |
146 | killagreg | 434 | LogCfg.GPX_Interval = 0; //default |
88 | killagreg | 435 | Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
378 | holgerb | 436 | if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < MIN_SD_INTERVAL) LogCfg.GPX_Interval = MIN_SD_INTERVAL; |
92 | killagreg | 437 | Logging_GPX(0); // initialize |
82 | killagreg | 438 | } |
439 | |||
440 | //---------------------------------------------------------------------------------------------------- |
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441 | // gobal logging handler |
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442 | void Logging_Update(void) |
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443 | { |
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115 | killagreg | 444 | static u8 logmodule = 0; |
82 | killagreg | 445 | static u32 logtimer = 0; |
446 | static logfilestate_t logstate = LOGFILE_IDLE; |
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86 | killagreg | 447 | |
92 | killagreg | 448 | if(SD_SWITCH) // a card is in slot |
84 | killagreg | 449 | { |
351 | holgerb | 450 | if((logstate == LOGFILE_ERROR) && (FC.StatusFlags & FC_STATUS_START)) SD_LoggingError = 100; |
92 | killagreg | 451 | if(CheckDelay(logtimer)) |
84 | killagreg | 452 | { |
92 | killagreg | 453 | logtimer = SetDelay(10); // faster makes no sense |
454 | // call the logger handlers if no error has occured |
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115 | killagreg | 455 | if(logstate != LOGFILE_ERROR) |
176 | killagreg | 456 | { // run only one logging handler per loop |
115 | killagreg | 457 | switch(logmodule++) |
458 | { |
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459 | case 0: |
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460 | logstate = Logging_KML(LogCfg.KML_Interval); |
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461 | break; |
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462 | case 1: |
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463 | logstate = Logging_GPX(LogCfg.GPX_Interval); |
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464 | logmodule = 0; // resart with first log module |
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465 | break; |
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466 | default: |
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467 | logmodule = 0; |
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468 | break; |
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469 | } |
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470 | } |
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471 | else // a logging error has occured |
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176 | killagreg | 472 | { |
351 | holgerb | 473 | // /* |
176 | killagreg | 474 | // try to reinitialize sd-card when motors are not running |
351 | holgerb | 475 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) |
92 | killagreg | 476 | { |
159 | killagreg | 477 | if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
478 | { |
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479 | Logging_Init(); // initialize the logs |
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480 | logstate = LOGFILE_IDLE; |
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351 | holgerb | 481 | logtimer = SetDelay(100); // try next log in 100 mili sec |
159 | killagreg | 482 | } |
483 | else |
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484 | { // retry in 5 seconds |
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485 | logtimer = SetDelay(5000); // try again in 5 sec |
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486 | } |
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487 | } // EOF motors are not running |
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351 | holgerb | 488 | // */ |
92 | killagreg | 489 | } //EOF logfile error |
490 | } // EOF CheckDelay |
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491 | }// EOF Card in Slot |
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88 | killagreg | 492 | } |