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1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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6 | // + Nur für den privaten Gebrauch |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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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1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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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41 | ingob | 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
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41 | ingob | 32 | // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 34 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 35 | // + this list of conditions and the following disclaimer. |
36 | // + * 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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37 | // + from this software without specific prior written permission. |
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41 | ingob | 38 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
1 | ingob | 39 | // + for non-commercial use (directly or indirectly) |
41 | ingob | 40 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 41 | // + with our written permission |
41 | ingob | 42 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
43 | // + clearly linked as origin |
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1 | ingob | 44 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
45 | // |
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46 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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47 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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48 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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49 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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50 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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51 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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52 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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53 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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54 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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55 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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41 | ingob | 56 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 57 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 58 | //#define MCLK96MHZ |
1 | ingob | 59 | const unsigned long _Main_Crystal = 25000; |
41 | ingob | 60 | #include <stdio.h> |
61 | #include "91x_lib.h" |
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62 | #include "led.h" |
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63 | #include "uart0.h" |
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64 | #include "uart1.h" |
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65 | #include "uart2.h" |
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66 | #include "GPS.h" |
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67 | #include "i2c.h" |
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68 | #include "timer.h" |
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69 | #include "spi_slave.h" |
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70 | #include "fat16.h" |
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71 | #include "usb.h" |
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72 | #include "sdc.h" |
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73 | #include "kml.h" |
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1 | ingob | 74 | #include "main.h" |
75 | |||
41 | ingob | 76 | |
77 | typedef enum |
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78 | { |
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79 | LOGFILE_IDLE, |
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78 | holgerb | 80 | LOGFILE_START, |
41 | ingob | 81 | LOGFILE_CLOSED, |
82 | LOGFILE_OPENED, |
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83 | LOGFILE_ERROR, |
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84 | } logfilestate_t; |
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85 | |||
1 | ingob | 86 | u32 TimerCompassUpdate; |
41 | ingob | 87 | u32 TimerKmlAddPointDelay; |
88 | u32 TimerCheckError; |
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89 | u32 ErrorCode = 0; |
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90 | u16 BeepTime; |
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1 | ingob | 91 | |
41 | ingob | 92 | u8 ClearMKFlags = 0; |
93 | u8 StopNavigation = 0; |
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94 | Param_t Parameter; |
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78 | holgerb | 95 | volatile FC_t FC; |
1 | ingob | 96 | |
41 | ingob | 97 | s8 ErrorMSG[25]; |
98 | |||
1 | ingob | 99 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 100 | void SCU_Config(void) |
1 | ingob | 101 | { |
41 | ingob | 102 | /* configure PLL and set it as master clock source */ |
103 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
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104 | SCU_PLLCmd(DISABLE); // now disable the PLL |
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105 | #ifdef MCLK96MHZ |
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106 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
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107 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
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108 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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109 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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110 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
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111 | #else |
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112 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
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113 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
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114 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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115 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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116 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
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117 | #endif |
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118 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
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119 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
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120 | } |
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1 | ingob | 121 | |
41 | ingob | 122 | //---------------------------------------------------------------------------------------------------- |
123 | void GetNaviCtrlVersion(void) |
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1 | ingob | 124 | { |
41 | ingob | 125 | u8 msg[25]; |
1 | ingob | 126 | |
41 | ingob | 127 | sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
128 | SerialPutString(msg); |
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1 | ingob | 129 | } |
130 | |||
41 | ingob | 131 | |
1 | ingob | 132 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 133 | s8* GenerateGPSLogFileName(void) |
1 | ingob | 134 | { |
41 | ingob | 135 | static u16 filenum = 0; // file name counter |
136 | static s8 filename[30]; |
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137 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
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1 | ingob | 138 | |
41 | ingob | 139 | if(SystemTime.Valid) |
140 | { |
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141 | // if the day has been changed |
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142 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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143 | { |
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144 | LastTime.Year = SystemTime.Year; |
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145 | LastTime.Month = SystemTime.Month; |
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146 | LastTime.Day = SystemTime.Day; |
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147 | LastTime.Valid = 1; |
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148 | filenum = 0; // reset file counter |
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149 | } |
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150 | sprintf(filename, "LOG/%04i%02i%02i/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
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151 | filenum++; |
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152 | return filename; |
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153 | } |
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154 | else return NULL; |
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155 | } |
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24 | StephanB | 156 | |
157 | |||
41 | ingob | 158 | //---------------------------------------------------------------------------------------------------- |
159 | void CheckErrors(void) |
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160 | { |
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161 | if(!CheckSPIOkay) |
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162 | { |
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163 | LED_RED_ON; |
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164 | sprintf(ErrorMSG,"no FC communication "); |
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165 | ErrorCode = 3; |
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166 | StopNavigation = 1; |
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167 | } |
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168 | else if(!CheckI2COkay) |
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169 | { |
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170 | LED_RED_ON; |
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171 | sprintf(ErrorMSG,"no MK3Mag communication "); |
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172 | ErrorCode = 4; |
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173 | StopNavigation = 1; |
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174 | } |
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175 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
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176 | { |
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177 | LED_RED_ON; |
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178 | sprintf(ErrorMSG,"FC not compatible "); |
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179 | ErrorCode = 1; |
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180 | StopNavigation = 1; |
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181 | } |
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182 | else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
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183 | { |
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184 | sprintf(ErrorMSG,"MK3Mag not compatible "); |
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185 | LED_RED_ON; |
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186 | ErrorCode = 2; |
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187 | StopNavigation = 1; |
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188 | } |
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189 | else if(!CheckGPSOkay) |
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190 | { |
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191 | LED_RED_ON; |
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192 | sprintf(ErrorMSG,"no GPS communication "); |
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193 | ErrorCode = 5; |
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194 | StopNavigation = 1; |
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195 | } |
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196 | else if(I2C_Heading.Heading < 0) |
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197 | { |
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198 | LED_RED_ON; |
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199 | sprintf(ErrorMSG,"bad compass value "); |
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200 | ErrorCode = 6; |
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201 | StopNavigation = 1; |
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202 | } |
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203 | else if(FC.RC_Quality < 100) |
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204 | { |
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205 | LED_RED_ON; |
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206 | sprintf(ErrorMSG,"RC Signal lost "); |
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207 | ErrorCode = 7; |
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208 | } |
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209 | else // no error occured |
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210 | { |
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211 | sprintf(ErrorMSG,"No Error "); |
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212 | ErrorCode = 0; |
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213 | StopNavigation = 0; |
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214 | LED_RED_OFF; |
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215 | } |
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216 | CheckSPIOkay = 0; |
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217 | CheckGPSOkay = 0; |
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218 | CheckI2COkay = 0; |
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219 | } |
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24 | StephanB | 220 | |
221 | |||
1 | ingob | 222 | |
41 | ingob | 223 | //---------------------------------------------------------------------------------------------------- |
224 | int main(void) |
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225 | { |
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226 | KML_Document_t gpslogfile; |
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78 | holgerb | 227 | logfilestate_t logfilestate = LOGFILE_IDLE; |
41 | ingob | 228 | s8* gpslogfilename = NULL; |
229 | /* Configure the system clocks */ |
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230 | SCU_Config(); |
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231 | KML_DocumentInit(&gpslogfile); // Initialize the new kml-document for further use. |
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232 | /* init VIC (Vectored Interrupt Controller) */ |
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233 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
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234 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
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235 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
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236 | // initialize the interrupt handler |
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237 | Interrupt_Init(); |
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238 | // initialize timer 1 |
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239 | TIMER1_Init(); |
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240 | // initialize the LEDs (needs Timer 1) |
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241 | Led_Init(); |
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242 | // initialize the debug UART1 |
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243 | UART1_Init(); |
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244 | SerialPutString("\r\n---------------------------------------------"); |
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245 | // initialize UART2 to FLIGHTCTRL |
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246 | UART2_Init(); |
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247 | // initialize UART0 (to MKGPS or MK3MAG) |
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248 | UART0_Init(); |
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249 | // initialize usb |
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250 | USB_ConfigInit(); |
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251 | // initialize SPI0 to FC |
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252 | SPI0_Init(); |
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253 | // initialize i2c bus to MK3MAG (needs Timer 1) |
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254 | I2C1_Init(); |
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255 | // initialize the gps position controller (needs Timer 1) |
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256 | GPS_Init(); |
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257 | // initialize fat16 partition on sd card (needs Timer 1) |
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258 | Fat16_Init(); |
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1 | ingob | 259 | |
41 | ingob | 260 | TimerCompassUpdate = SetDelay(5); |
261 | TimerKmlAddPointDelay = SetDelay(250); |
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262 | TimerCheckError = SetDelay(3000); |
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263 | SerialPutString("\r\n---------------------------------------------"); |
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264 | SerialPutString("\n\r Version information:"); |
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265 | GetNaviCtrlVersion(); |
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266 | SPI0_GetFlightCtrlVersion(); |
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267 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
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268 | { |
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269 | //sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE); |
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270 | //SerialPutString(ErrorMSG); |
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271 | SerialPutString("\n\r Flight-Ctrl not compatible"); |
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272 | LED_RED_ON; |
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273 | } |
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78 | holgerb | 274 | |
41 | ingob | 275 | I2C1_GetMK3MagVersion(); |
276 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
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277 | { |
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278 | SerialPutString("\n\r MK3Mag not compatible"); |
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279 | LED_RED_ON; |
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280 | } |
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1 | ingob | 281 | |
41 | ingob | 282 | /* |
283 | ReadSetting(1); |
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284 | */ |
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78 | holgerb | 285 | SerialPutString("\r\n---------------------------------------------\r\n\r\n "); |
24 | StephanB | 286 | |
41 | ingob | 287 | for (;;) |
288 | { |
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289 | if(rxd_buffer_locked) // new incomming command |
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290 | { |
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291 | UART1_ProcessRxData(); // process request |
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292 | } |
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293 | UART1_TransmitTxData(); // send answer |
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24 | StephanB | 294 | |
41 | ingob | 295 | SPI0_UpdateBuffer(); |
49 | ingob | 296 | UART0_Transmit(); // empty txd buffer |
41 | ingob | 297 | UART1_Transmit(); // empty txd buffer |
24 | StephanB | 298 | |
41 | ingob | 299 | // ------------------------- I2C Timing -------------------------------- |
300 | if(I2C_State != I2C_OFF) |
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301 | { |
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302 | if (CheckDelay(TimerCompassUpdate)) |
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303 | { |
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304 | // check for hanging I2C bus |
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305 | if(CheckDelay(I2C1_Timeout)) |
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306 | { // reset I2C |
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307 | SerialPutString("\n\rCommunication-Error: MK3Mag\n\r"); |
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308 | I2C1_Deinit(); |
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309 | I2C1_Init(); |
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310 | } |
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311 | else |
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312 | { // check for incomming compass calibration request |
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313 | // update CalByte from spi input queue |
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314 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
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315 | // send new calstate |
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316 | if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
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317 | { |
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318 | I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
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319 | } |
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320 | else // request current heading |
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321 | { |
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322 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
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323 | } |
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324 | TimerCompassUpdate = SetDelay(25); // every 25 ms |
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325 | } |
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24 | StephanB | 326 | |
41 | ingob | 327 | } |
328 | } |
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1 | ingob | 329 | |
41 | ingob | 330 | // ---------------- Error Check Timing ---------------------------- |
331 | if(CheckDelay(TimerCheckError)) |
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1 | ingob | 332 | { |
41 | ingob | 333 | if(!CheckSPIOkay) GPS_Navigation(); // process the GPS data even if the FC is not connected |
334 | CheckErrors(); |
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77 | holgerb | 335 | if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
336 | // else NaviData.FlyingTime = 0; |
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41 | ingob | 337 | TimerCheckError = SetDelay(1000); |
338 | Request_SendFollowMe = TRUE; |
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1 | ingob | 339 | } |
41 | ingob | 340 | // ---------------- KML Timing ------------------------------------ |
341 | if(CheckDelay(TimerKmlAddPointDelay)) |
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342 | { |
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343 | TimerKmlAddPointDelay = SetDelay(500); // every 500 ms |
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78 | holgerb | 344 | |
345 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) |
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41 | ingob | 346 | { |
347 | switch(logfilestate) |
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348 | { |
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349 | case LOGFILE_IDLE: |
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350 | case LOGFILE_CLOSED: |
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78 | holgerb | 351 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.MKFlags & MKFLAG_FLY)) |
352 | logfilestate = LOGFILE_START; |
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353 | break; |
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354 | case LOGFILE_START: |
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41 | ingob | 355 | // find unused logfile name |
356 | do |
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357 | { // try to generate a new logfile name |
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358 | gpslogfilename = GenerateGPSLogFileName(); |
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359 | }while((gpslogfilename != NULL) && fexist_(gpslogfilename)); |
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360 | // if logfilename exist |
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361 | if(gpslogfilename != NULL) |
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362 | { |
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363 | // try to create the log file |
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364 | if(KML_DocumentOpen(gpslogfilename, &gpslogfile)) |
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365 | { |
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366 | logfilestate = LOGFILE_OPENED; // goto next step |
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77 | holgerb | 367 | SerialPutString("\r\nOpening kml-file:"); |
41 | ingob | 368 | SerialPutString(gpslogfilename); |
369 | SerialPutString("\r\n"); |
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370 | } |
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371 | else |
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372 | { |
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373 | logfilestate = LOGFILE_ERROR; |
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374 | SerialPutString("\r\nError opening kml-file: "); |
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375 | SerialPutString(gpslogfilename); |
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376 | SerialPutString("\r\n"); |
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377 | TimerKmlAddPointDelay = SetDelay(10); // try again in open logfile in 10 mili sec |
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378 | } |
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379 | } |
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380 | // else retry in next loop |
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381 | break; |
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382 | case LOGFILE_OPENED: |
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383 | // append new gps log data |
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384 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
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385 | { |
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386 | if(!KML_LoggGPSCoordinates(&(GPSData.Position), &gpslogfile)) |
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387 | { // error logging data |
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388 | SerialPutString("\r\nError Logging GPS data\r\n"); |
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389 | KML_DocumentClose(&gpslogfile); |
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390 | logfilestate = LOGFILE_ERROR; |
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391 | } |
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78 | holgerb | 392 | else DebugOut.Analog[26]++; // count SD-Logs |
77 | holgerb | 393 | } |
41 | ingob | 394 | break; |
24 | StephanB | 395 | |
41 | ingob | 396 | case LOGFILE_ERROR: |
397 | // try to reinitialize the fat16 filesystem |
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398 | if(0 == Fat16_Init()) |
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24 | StephanB | 399 | { |
41 | ingob | 400 | logfilestate = LOGFILE_IDLE; |
401 | TimerKmlAddPointDelay = SetDelay(10); // try again in open logfile in 10 mili sec |
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24 | StephanB | 402 | } |
41 | ingob | 403 | else |
404 | { |
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405 | logfilestate = LOGFILE_ERROR; |
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406 | TimerKmlAddPointDelay = SetDelay(5000); // try again in 5 sec |
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407 | } |
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408 | break; |
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409 | |||
75 | holgerb | 410 | default: |
41 | ingob | 411 | break; |
412 | } |
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413 | } // EOF model is flying |
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414 | else // model is not flying |
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415 | { // close log file if opened |
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416 | if(logfilestate == LOGFILE_OPENED) |
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417 | { |
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418 | if(KML_DocumentClose(&gpslogfile)) |
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419 | { |
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420 | SerialPutString("\r\nClosing kml-file\r\n"); |
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421 | logfilestate = LOGFILE_CLOSED; |
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24 | StephanB | 422 | } |
423 | else |
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424 | { |
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41 | ingob | 425 | logfilestate = LOGFILE_ERROR; |
24 | StephanB | 426 | } |
427 | } |
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41 | ingob | 428 | } //EOF model is not flying |
429 | } |
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24 | StephanB | 430 | } |
1 | ingob | 431 | } |
432 | |||
24 | StephanB | 433 |