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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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489 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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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489 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
360 | holgerb | 22 | // + des Mitverschuldens offen. |
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 - |
489 | killagreg | 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 |
360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
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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 |
456 | holgerb | 69 | #define MIN_SD_INTERVAL_GPX 200 |
436 | holgerb | 70 | #define APPEND_LOG_TIME_MS 2510 // log some more time |
378 | holgerb | 71 | |
351 | holgerb | 72 | u8 SD_LoggingError = 0; |
92 | killagreg | 73 | |
437 | holgerb | 74 | #define LOG_FLUSH_INTERVAL 4000 // 4s // -> and if an Error occures |
92 | killagreg | 75 | |
82 | killagreg | 76 | typedef enum |
77 | { |
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78 | LOGFILE_IDLE, |
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79 | LOGFILE_START, |
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80 | LOGFILE_CLOSED, |
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81 | LOGFILE_OPENED, |
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82 | LOGFILE_ERROR |
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83 | } logfilestate_t; |
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84 | |||
85 | // logger handler prototypes |
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86 | logfilestate_t Logging_KML(u32 LogDelay); |
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87 | logfilestate_t Logging_GPX(u32 LogDelay); |
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88 | |||
101 | holgerb | 89 | LogCfg_t LogCfg = {500 , 1000}; |
489 | killagreg | 90 | u32 Logged_GPX_Counter = 0, Logged_KML_Counter = 0; |
516 | holgerb | 91 | u16 KML_Filenum = 0; |
82 | killagreg | 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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565 | holgerb | 111 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
112 | { |
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515 | killagreg | 113 | if(filenum < 100) sprintf(filename, "/LOG/%04i%02i%02i/KML/%02i%02i%02i%02i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 100, SystemTime.Month, SystemTime.Day, filenum); |
429 | holgerb | 114 | else sprintf(filename, "/LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
565 | holgerb | 115 | } |
116 | else |
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117 | { |
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573 | holgerb | 118 | if(filenum < 100&& SystemTime.Year > 2000) sprintf(filename, "/SIMULATE/%04i%02i%02i/KML/S%1i%02i%02i%02i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 10, SystemTime.Month, SystemTime.Day, filenum); |
565 | holgerb | 119 | else sprintf(filename, "/SIMULATE/%04i%02i%02i/KML/SIM%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
120 | } |
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121 | |||
82 | killagreg | 122 | filenum++; |
516 | holgerb | 123 | KML_Filenum = filenum; |
82 | killagreg | 124 | return filename; |
125 | } |
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126 | else return NULL; |
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127 | } |
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128 | |||
129 | //---------------------------------------------------------------------------------------------------- |
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130 | s8* GenerateGPXLogFileName(void) |
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131 | { |
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132 | static u16 filenum = 0; // file name counter |
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133 | static s8 filename[35]; |
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134 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
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135 | |||
136 | if(SystemTime.Valid) |
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137 | { |
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138 | // if the day has been changed |
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139 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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140 | { |
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141 | LastTime.Year = SystemTime.Year; |
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142 | LastTime.Month = SystemTime.Month; |
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143 | LastTime.Day = SystemTime.Day; |
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144 | LastTime.Valid = 1; |
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145 | filenum = 0; // reset file counter |
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146 | } |
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565 | holgerb | 147 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
148 | { |
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515 | killagreg | 149 | if(filenum < 100) sprintf(filename, "/LOG/%04i%02i%02i/GPX/%02i%02i%02i%02i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 100, SystemTime.Month, SystemTime.Day, filenum); |
429 | holgerb | 150 | else sprintf(filename, "/LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
565 | holgerb | 151 | } |
152 | else |
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153 | { |
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573 | holgerb | 154 | if(filenum < 100 && SystemTime.Year > 2000) sprintf(filename, "/SIMULATE/%04i%02i%02i/GPX/S%i%02i%02i%02i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Year % 10, SystemTime.Month, SystemTime.Day, filenum); |
565 | holgerb | 155 | else sprintf(filename, "/SIMULATE/%04i%02i%02i/GPX/SIM%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
156 | } |
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82 | killagreg | 157 | filenum++; |
516 | holgerb | 158 | KML_Filenum = filenum; |
82 | killagreg | 159 | return filename; |
160 | } |
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161 | else return NULL; |
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162 | } |
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163 | |||
164 | |||
165 | |||
166 | //---------------------------------------------------------------------------------------------------- |
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167 | // logs the current gps position to a kml file |
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168 | logfilestate_t Logging_KML(u32 LogDelay) |
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169 | { |
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170 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
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171 | static s8* logfilename = NULL; // the pointer to the logfilename |
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92 | killagreg | 172 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
82 | killagreg | 173 | static KML_Document_t logfile; // the logfilehandle |
432 | holgerb | 174 | static u32 appendtimer = 0; // the log update timer |
175 | static u8 logging_active = 0; |
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82 | killagreg | 176 | |
146 | killagreg | 177 | // initialize if LogDelay is zero |
82 | killagreg | 178 | if(!LogDelay) |
179 | { |
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180 | switch(logfilestate) |
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181 | { |
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88 | killagreg | 182 | case LOGFILE_OPENED: |
82 | killagreg | 183 | KML_DocumentClose(&logfile); // try to close it |
184 | break; |
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185 | default: |
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186 | break; |
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187 | } |
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188 | logfilestate = LOGFILE_IDLE; |
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189 | logfilename = NULL; |
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190 | KML_DocumentInit(&logfile); |
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191 | logtimer = SetDelay(0); // set logtimer to now |
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88 | killagreg | 192 | return logfilestate; |
82 | killagreg | 193 | } |
194 | // no init |
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195 | if(CheckDelay(logtimer)) |
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196 | { |
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197 | logtimer = SetDelay(LogDelay); // standard interval |
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88 | killagreg | 198 | |
489 | killagreg | 199 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
515 | killagreg | 200 | { |
201 | logging_active = 1; |
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202 | appendtimer = SetDelay(APPEND_LOG_TIME_MS); |
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203 | } |
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489 | killagreg | 204 | else |
515 | killagreg | 205 | { |
206 | if(CheckDelay(appendtimer)) logging_active = 0; |
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207 | } |
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432 | holgerb | 208 | |
209 | if(logging_active) |
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82 | killagreg | 210 | { |
211 | switch(logfilestate) |
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212 | { |
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213 | case LOGFILE_IDLE: |
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214 | case LOGFILE_CLOSED: |
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429 | holgerb | 215 | if((GPSData.Status != INVALID) && (SystemTime.Valid) && /*(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)*/ (FC.StatusFlags & FC_STATUS_FLY)) |
82 | killagreg | 216 | { |
217 | logfilestate = LOGFILE_START; |
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218 | } |
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219 | break; |
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220 | case LOGFILE_START: |
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221 | // find unused logfile name |
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222 | do |
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223 | { // try to generate a new logfile name |
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224 | logfilename = GenerateKMLLogFileName(); |
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378 | holgerb | 225 | }while((logfilename != NULL) && fexist_(logfilename)); |
82 | killagreg | 226 | // if logfilename exist |
227 | if(logfilename != NULL) |
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228 | { |
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229 | // try to create the log file |
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230 | if(KML_DocumentOpen(logfilename, &logfile)) |
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231 | { |
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92 | killagreg | 232 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
82 | killagreg | 233 | logfilestate = LOGFILE_OPENED; // goto next step |
110 | killagreg | 234 | UART1_PutString("\r\nOpening kml-file:"); |
235 | UART1_PutString(logfilename); |
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236 | UART1_PutString("\r\n"); |
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82 | killagreg | 237 | } |
238 | else // could not be openend |
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239 | { |
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240 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 241 | UART1_PutString("\r\nError opening kml-file: "); |
242 | UART1_PutString(logfilename); |
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243 | UART1_PutString("\r\n"); |
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82 | killagreg | 244 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
351 | holgerb | 245 | SD_LoggingError = 1; |
82 | killagreg | 246 | } |
247 | } |
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248 | else |
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249 | { |
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250 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 251 | UART1_PutString("\r\nError getting free kml-file name\r\n"); |
351 | holgerb | 252 | SD_LoggingError = 2; |
82 | killagreg | 253 | } |
254 | // else retry in next loop |
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255 | break; |
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256 | case LOGFILE_OPENED: |
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257 | // append new gps log data |
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429 | holgerb | 258 | if((GPSData.Status != INVALID))// && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
82 | killagreg | 259 | { |
85 | killagreg | 260 | if(!KML_LoggGPSCoordinates(&logfile)) |
82 | killagreg | 261 | { // error logging data |
110 | killagreg | 262 | UART1_PutString("\r\nError logging to kml-file\r\n"); |
351 | holgerb | 263 | SD_LoggingError = 3; |
82 | killagreg | 264 | KML_DocumentClose(&logfile); |
265 | logfilestate = LOGFILE_ERROR; |
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266 | } |
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92 | killagreg | 267 | else // sucessfully logged |
268 | { |
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351 | holgerb | 269 | SD_LoggingError = 0; |
92 | killagreg | 270 | if(CheckDelay(flushtimer)) |
271 | { |
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272 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
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273 | fflush_(logfile.file); |
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274 | } |
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275 | } |
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276 | |||
82 | killagreg | 277 | } |
278 | break; |
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88 | killagreg | 279 | |
82 | killagreg | 280 | case LOGFILE_ERROR: |
281 | break; |
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88 | killagreg | 282 | |
82 | killagreg | 283 | default: |
284 | logfilestate = LOGFILE_IDLE; |
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285 | break; |
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286 | } |
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92 | killagreg | 287 | } // EOF motors are not running |
82 | killagreg | 288 | else // model is not flying |
289 | { // close log file if opened |
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290 | if(logfilestate == LOGFILE_OPENED) |
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291 | { |
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292 | if(KML_DocumentClose(&logfile)) |
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293 | { |
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110 | killagreg | 294 | UART1_PutString("\r\nClosing kml-file\r\n"); |
82 | killagreg | 295 | logfilestate = LOGFILE_CLOSED; |
296 | } |
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297 | else // could not be closed |
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298 | { |
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110 | killagreg | 299 | UART1_PutString("\r\nError closing kml-file\r\n"); |
351 | holgerb | 300 | SD_LoggingError = 4; |
82 | killagreg | 301 | logfilestate = LOGFILE_ERROR; |
302 | } |
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303 | } |
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92 | killagreg | 304 | } //EOF motors are not running |
82 | killagreg | 305 | } // EOF Check LogTimer |
306 | |||
307 | return logfilestate; |
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308 | } |
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88 | killagreg | 309 | |
82 | killagreg | 310 | //---------------------------------------------------------------------------------------------------- |
311 | // logs gps and state info to a gpx file |
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312 | logfilestate_t Logging_GPX(u32 LogDelay) |
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313 | { |
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85 | killagreg | 314 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
315 | static s8* logfilename = NULL; // the pointer to the logfilename |
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432 | holgerb | 316 | static u32 logtimer = 0, flushtimer = 0, appendtimer = 0; // the log update timer |
85 | killagreg | 317 | static GPX_Document_t logfile; // the logfilehandle |
437 | holgerb | 318 | static u8 part = 0, logging_active = 0, old_errorcode = 0; |
345 | holgerb | 319 | u32 measure_time; |
82 | killagreg | 320 | |
218 | killagreg | 321 | // initialize if LogDelay is zero |
85 | killagreg | 322 | if(!LogDelay) |
323 | { |
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515 | killagreg | 324 | switch(logfilestate) |
85 | killagreg | 325 | { |
88 | killagreg | 326 | case LOGFILE_OPENED: |
85 | killagreg | 327 | GPX_DocumentClose(&logfile); // try to close it |
328 | break; |
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515 | killagreg | 329 | default: |
85 | killagreg | 330 | break; |
331 | } |
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332 | logfilestate = LOGFILE_IDLE; |
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333 | logfilename = NULL; |
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334 | GPX_DocumentInit(&logfile); |
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335 | logtimer = SetDelay(0); // set logtimer to now |
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88 | killagreg | 336 | return logfilestate; |
85 | killagreg | 337 | } |
338 | // no init |
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345 | holgerb | 339 | if(CheckDelay(logtimer) || part) |
85 | killagreg | 340 | { |
378 | holgerb | 341 | if(!part) logtimer = SetDelay(LogDelay); // standard interval |
88 | killagreg | 342 | |
489 | killagreg | 343 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
432 | holgerb | 344 | { |
345 | logging_active = 1; |
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489 | killagreg | 346 | appendtimer = SetDelay(APPEND_LOG_TIME_MS); |
432 | holgerb | 347 | } |
489 | killagreg | 348 | else |
432 | holgerb | 349 | { |
350 | if(CheckDelay(appendtimer)) logging_active = 0; |
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351 | } |
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352 | |||
353 | if(logging_active || part) |
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85 | killagreg | 354 | { |
355 | switch(logfilestate) |
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356 | { |
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357 | case LOGFILE_IDLE: |
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358 | case LOGFILE_CLOSED: |
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429 | holgerb | 359 | if((GPSData.Status != INVALID) && (SystemTime.Valid) && /*(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)*/ (FC.StatusFlags & FC_STATUS_FLY)) |
85 | killagreg | 360 | { |
361 | logfilestate = LOGFILE_START; |
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362 | } |
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345 | holgerb | 363 | part = 0; |
85 | killagreg | 364 | break; |
365 | case LOGFILE_START: |
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366 | // find unused logfile name |
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367 | do |
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368 | { // try to generate a new logfile name |
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369 | logfilename = GenerateGPXLogFileName(); |
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378 | holgerb | 370 | }while((logfilename != NULL) && fexist_(logfilename)); |
85 | killagreg | 371 | // if logfilename exist |
372 | if(logfilename != NULL) |
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373 | { |
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374 | // try to create the log file |
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375 | if(GPX_DocumentOpen(logfilename, &logfile)) |
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376 | { |
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92 | killagreg | 377 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
85 | killagreg | 378 | logfilestate = LOGFILE_OPENED; // goto next step |
110 | killagreg | 379 | UART1_PutString("\r\nOpening gpx-file:"); |
380 | UART1_PutString(logfilename); |
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381 | UART1_PutString("\r\n"); |
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85 | killagreg | 382 | } |
383 | else // could not be openend |
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384 | { |
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385 | logfilestate = LOGFILE_ERROR; |
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110 | killagreg | 386 | UART1_PutString("\r\nError opening gpx-file: "); |
387 | UART1_PutString(logfilename); |
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388 | UART1_PutString("\r\n"); |
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351 | holgerb | 389 | SD_LoggingError = 11; |
85 | killagreg | 390 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
391 | } |
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515 | killagreg | 392 | old_errorcode = ErrorCode; |
85 | killagreg | 393 | } |
394 | else |
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395 | { |
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396 | logfilestate = LOGFILE_ERROR; |
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515 | killagreg | 397 | UART1_PutString("\r\nError getting free gpx-file name\r\n"); |
351 | holgerb | 398 | SD_LoggingError = 12; |
85 | killagreg | 399 | } |
400 | // else retry in next loop |
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345 | holgerb | 401 | part = 0; |
85 | killagreg | 402 | break; |
403 | case LOGFILE_OPENED: |
||
404 | // append new gps log data |
||
421 | holgerb | 405 | measure_time = CountMilliseconds; |
429 | holgerb | 406 | if((GPSData.Status != INVALID))// && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
85 | killagreg | 407 | { |
345 | holgerb | 408 | if(!GPX_LoggGPSCoordinates(&logfile,part)) |
85 | killagreg | 409 | { // error logging data |
110 | killagreg | 410 | UART1_PutString("\r\nError logging to gpx-file\r\n"); |
515 | killagreg | 411 | GPX_DocumentClose(&logfile); |
351 | holgerb | 412 | SD_LoggingError = 13; |
85 | killagreg | 413 | logfilestate = LOGFILE_ERROR; |
414 | } |
||
92 | killagreg | 415 | else // successful log |
416 | { |
||
437 | holgerb | 417 | if(ErrorCode != old_errorcode || CheckDelay(flushtimer)) |
92 | killagreg | 418 | { |
530 | holgerb | 419 | if(ErrorCode) { while(++part < 9) GPX_LoggGPSCoordinates(&logfile,part); }; // close this chapter |
489 | killagreg | 420 | if(ErrorCode != old_errorcode) flushtimer = SetDelay(1000); |
485 | holgerb | 421 | else flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
92 | killagreg | 422 | fflush_(logfile.file); |
485 | holgerb | 423 | old_errorcode = ErrorCode; |
92 | killagreg | 424 | } |
425 | } |
||
85 | killagreg | 426 | } |
536 | holgerb | 427 | if(++part >= 9) part = 0; |
357 | holgerb | 428 | //DebugOut.Analog[19] = CountMilliseconds - measure_time; |
85 | killagreg | 429 | break; |
88 | killagreg | 430 | |
85 | killagreg | 431 | case LOGFILE_ERROR: |
345 | holgerb | 432 | part = 0; |
85 | killagreg | 433 | break; |
88 | killagreg | 434 | |
85 | killagreg | 435 | default: |
345 | holgerb | 436 | part = 0; |
85 | killagreg | 437 | logfilestate = LOGFILE_IDLE; |
438 | break; |
||
439 | } |
||
440 | } // EOF model is flying |
||
441 | else // model is not flying |
||
442 | { // close log file if opened |
||
443 | if(logfilestate == LOGFILE_OPENED) |
||
444 | { |
||
445 | if(GPX_DocumentClose(&logfile)) |
||
446 | { |
||
110 | killagreg | 447 | UART1_PutString("\r\nClosing gpx-file\r\n"); |
85 | killagreg | 448 | logfilestate = LOGFILE_CLOSED; |
345 | holgerb | 449 | part = 0; |
85 | killagreg | 450 | } |
451 | else // could not be closed |
||
452 | { |
||
110 | killagreg | 453 | UART1_PutString("\r\nError closing gpx-file\r\n"); |
351 | holgerb | 454 | SD_LoggingError = 14; |
85 | killagreg | 455 | logfilestate = LOGFILE_ERROR; |
345 | holgerb | 456 | part = 0; |
85 | killagreg | 457 | } |
458 | } |
||
459 | } //EOF model is not flying |
||
460 | } // EOF Check LogTimer |
||
461 | |||
82 | killagreg | 462 | return logfilestate; |
463 | } |
||
464 | |||
465 | //---------------------------------------------------------------------------------------------------- |
||
466 | // initialize logging |
||
467 | void Logging_Init(void) |
||
468 | { |
||
351 | holgerb | 469 | SD_LoggingError = 0; |
378 | holgerb | 470 | LogCfg.KML_Interval = 1000; //default |
88 | killagreg | 471 | Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
380 | holgerb | 472 | if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < MIN_SD_INTERVAL_KML) LogCfg.KML_Interval = MIN_SD_INTERVAL_KML; |
310 | holgerb | 473 | |
92 | killagreg | 474 | Logging_KML(0); // initialize |
146 | killagreg | 475 | LogCfg.GPX_Interval = 0; //default |
88 | killagreg | 476 | Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
380 | holgerb | 477 | if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < MIN_SD_INTERVAL_GPX) LogCfg.GPX_Interval = MIN_SD_INTERVAL_GPX; |
515 | killagreg | 478 | Logging_GPX(0); // initialize |
82 | killagreg | 479 | } |
480 | |||
481 | //---------------------------------------------------------------------------------------------------- |
||
482 | // gobal logging handler |
||
483 | void Logging_Update(void) |
||
484 | { |
||
115 | killagreg | 485 | static u8 logmodule = 0; |
82 | killagreg | 486 | static u32 logtimer = 0; |
487 | static logfilestate_t logstate = LOGFILE_IDLE; |
||
86 | killagreg | 488 | |
92 | killagreg | 489 | if(SD_SWITCH) // a card is in slot |
84 | killagreg | 490 | { |
351 | holgerb | 491 | if((logstate == LOGFILE_ERROR) && (FC.StatusFlags & FC_STATUS_START)) SD_LoggingError = 100; |
92 | killagreg | 492 | if(CheckDelay(logtimer)) |
84 | killagreg | 493 | { |
92 | killagreg | 494 | logtimer = SetDelay(10); // faster makes no sense |
495 | // call the logger handlers if no error has occured |
||
115 | killagreg | 496 | if(logstate != LOGFILE_ERROR) |
176 | killagreg | 497 | { // run only one logging handler per loop |
115 | killagreg | 498 | switch(logmodule++) |
499 | { |
||
500 | case 0: |
||
501 | logstate = Logging_KML(LogCfg.KML_Interval); |
||
502 | break; |
||
503 | case 1: |
||
504 | logstate = Logging_GPX(LogCfg.GPX_Interval); |
||
505 | logmodule = 0; // resart with first log module |
||
506 | break; |
||
507 | default: |
||
508 | logmodule = 0; |
||
509 | break; |
||
510 | } |
||
511 | } |
||
512 | else // a logging error has occured |
||
489 | killagreg | 513 | { |
351 | holgerb | 514 | // /* |
176 | killagreg | 515 | // try to reinitialize sd-card when motors are not running |
351 | holgerb | 516 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) |
92 | killagreg | 517 | { |
159 | killagreg | 518 | if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
519 | { |
||
520 | Logging_Init(); // initialize the logs |
||
521 | logstate = LOGFILE_IDLE; |
||
351 | holgerb | 522 | logtimer = SetDelay(100); // try next log in 100 mili sec |
159 | killagreg | 523 | } |
524 | else |
||
525 | { // retry in 5 seconds |
||
526 | logtimer = SetDelay(5000); // try again in 5 sec |
||
527 | } |
||
528 | } // EOF motors are not running |
||
351 | holgerb | 529 | // */ |
92 | killagreg | 530 | } //EOF logfile error |
531 | } // EOF CheckDelay |
||
532 | }// EOF Card in Slot |
||
88 | killagreg | 533 | } |