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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
| 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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 |
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 |
| 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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. |
37 | // + The Software may only be used with the Licensor's products. |
| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| 40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
| 43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| 53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 56 | #include <stdio.h> |
56 | #include <stdio.h> |
| 57 | #include "91x_lib.h" |
57 | #include "91x_lib.h" |
| 58 | #include "main.h" |
58 | #include "main.h" |
| 59 | #include "timer1.h" |
59 | #include "timer1.h" |
| 60 | #include "uart1.h" |
60 | #include "uart1.h" |
| 61 | #include "kml.h" |
61 | #include "kml.h" |
| 62 | #include "gpx.h" |
62 | #include "gpx.h" |
| 63 | #include "ssc.h" |
63 | #include "ssc.h" |
| 64 | #include "settings.h" |
64 | #include "settings.h" |
| 65 | #include "led.h" |
65 | #include "led.h" |
| 66 | #include "logging.h" |
66 | #include "logging.h" |
| 67 | 67 | ||
| 68 | #define MIN_SD_INTERVAL_KML 200 |
68 | #define MIN_SD_INTERVAL_KML 200 |
| 69 | #define MIN_SD_INTERVAL_GPX 500 |
69 | #define MIN_SD_INTERVAL_GPX 500 |
| 70 | 70 | ||
| 71 | u8 SD_LoggingError = 0; |
71 | u8 SD_LoggingError = 0; |
| 72 | 72 | ||
| 73 | #define LOG_FLUSH_INTERVAL 20000 // 20s //## |
73 | #define LOG_FLUSH_INTERVAL 20000 // 20s //## |
| 74 | 74 | ||
| 75 | typedef enum |
75 | typedef enum |
| 76 | { |
76 | { |
| 77 | LOGFILE_IDLE, |
77 | LOGFILE_IDLE, |
| 78 | LOGFILE_START, |
78 | LOGFILE_START, |
| 79 | LOGFILE_CLOSED, |
79 | LOGFILE_CLOSED, |
| 80 | LOGFILE_OPENED, |
80 | LOGFILE_OPENED, |
| 81 | LOGFILE_ERROR |
81 | LOGFILE_ERROR |
| 82 | } logfilestate_t; |
82 | } logfilestate_t; |
| 83 | 83 | ||
| 84 | // logger handler prototypes |
84 | // logger handler prototypes |
| 85 | logfilestate_t Logging_KML(u32 LogDelay); |
85 | logfilestate_t Logging_KML(u32 LogDelay); |
| 86 | logfilestate_t Logging_GPX(u32 LogDelay); |
86 | logfilestate_t Logging_GPX(u32 LogDelay); |
| 87 | 87 | ||
| 88 | LogCfg_t LogCfg = {500 , 1000}; |
88 | LogCfg_t LogCfg = {500 , 1000}; |
| 89 | u32 Logged_GPX_Counter = 0, Logged_KML_Counter = 0; |
89 | u32 Logged_GPX_Counter = 0, Logged_KML_Counter = 0; |
| 90 | 90 | ||
| 91 | 91 | ||
| 92 | //---------------------------------------------------------------------------------------------------- |
92 | //---------------------------------------------------------------------------------------------------- |
| 93 | s8* GenerateKMLLogFileName(void) |
93 | s8* GenerateKMLLogFileName(void) |
| 94 | { |
94 | { |
| 95 | static u16 filenum = 0; // file name counter |
95 | static u16 filenum = 0; // file name counter |
| 96 | static s8 filename[35]; |
96 | static s8 filename[35]; |
| 97 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
97 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
| 98 | 98 | ||
| 99 | if(SystemTime.Valid) |
99 | if(SystemTime.Valid) |
| 100 | { |
100 | { |
| 101 | // if the day has been changed |
101 | // if the day has been changed |
| 102 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
102 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
| 103 | { |
103 | { |
| 104 | LastTime.Year = SystemTime.Year; |
104 | LastTime.Year = SystemTime.Year; |
| 105 | LastTime.Month = SystemTime.Month; |
105 | LastTime.Month = SystemTime.Month; |
| 106 | LastTime.Day = SystemTime.Day; |
106 | LastTime.Day = SystemTime.Day; |
| 107 | LastTime.Valid = 1; |
107 | LastTime.Valid = 1; |
| 108 | filenum = 0; // reset file counter |
108 | filenum = 0; // reset file counter |
| 109 | } |
109 | } |
| - | 110 | // use filename with absolute path i.e. leading |
|
| 110 | sprintf(filename, "LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
111 | sprintf(filename, "/LOG/%04i%02i%02i/KML/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| 111 | filenum++; |
112 | filenum++; |
| 112 | return filename; |
113 | return filename; |
| 113 | } |
114 | } |
| 114 | else return NULL; |
115 | else return NULL; |
| 115 | } |
116 | } |
| 116 | 117 | ||
| 117 | //---------------------------------------------------------------------------------------------------- |
118 | //---------------------------------------------------------------------------------------------------- |
| 118 | s8* GenerateGPXLogFileName(void) |
119 | s8* GenerateGPXLogFileName(void) |
| 119 | { |
120 | { |
| 120 | static u16 filenum = 0; // file name counter |
121 | static u16 filenum = 0; // file name counter |
| 121 | static s8 filename[35]; |
122 | static s8 filename[35]; |
| 122 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
123 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
| 123 | 124 | ||
| 124 | if(SystemTime.Valid) |
125 | if(SystemTime.Valid) |
| 125 | { |
126 | { |
| 126 | // if the day has been changed |
127 | // if the day has been changed |
| 127 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
128 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
| 128 | { |
129 | { |
| 129 | LastTime.Year = SystemTime.Year; |
130 | LastTime.Year = SystemTime.Year; |
| 130 | LastTime.Month = SystemTime.Month; |
131 | LastTime.Month = SystemTime.Month; |
| 131 | LastTime.Day = SystemTime.Day; |
132 | LastTime.Day = SystemTime.Day; |
| 132 | LastTime.Valid = 1; |
133 | LastTime.Valid = 1; |
| 133 | filenum = 0; // reset file counter |
134 | filenum = 0; // reset file counter |
| 134 | } |
135 | } |
| - | 136 | // use filename with absolute path i.e. leading |
|
| 135 | sprintf(filename, "LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
137 | sprintf(filename, "/LOG/%04i%02i%02i/GPX/GPS%05i.GPX", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| 136 | filenum++; |
138 | filenum++; |
| 137 | return filename; |
139 | return filename; |
| 138 | } |
140 | } |
| 139 | else return NULL; |
141 | else return NULL; |
| 140 | } |
142 | } |
| 141 | 143 | ||
| 142 | 144 | ||
| 143 | 145 | ||
| 144 | //---------------------------------------------------------------------------------------------------- |
146 | //---------------------------------------------------------------------------------------------------- |
| 145 | // logs the current gps position to a kml file |
147 | // logs the current gps position to a kml file |
| 146 | logfilestate_t Logging_KML(u32 LogDelay) |
148 | logfilestate_t Logging_KML(u32 LogDelay) |
| 147 | { |
149 | { |
| 148 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
150 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
| 149 | static s8* logfilename = NULL; // the pointer to the logfilename |
151 | static s8* logfilename = NULL; // the pointer to the logfilename |
| 150 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
152 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
| 151 | static KML_Document_t logfile; // the logfilehandle |
153 | static KML_Document_t logfile; // the logfilehandle |
| 152 | 154 | ||
| 153 | // initialize if LogDelay is zero |
155 | // initialize if LogDelay is zero |
| 154 | if(!LogDelay) |
156 | if(!LogDelay) |
| 155 | { |
157 | { |
| 156 | switch(logfilestate) |
158 | switch(logfilestate) |
| 157 | { |
159 | { |
| 158 | case LOGFILE_OPENED: |
160 | case LOGFILE_OPENED: |
| 159 | KML_DocumentClose(&logfile); // try to close it |
161 | KML_DocumentClose(&logfile); // try to close it |
| 160 | break; |
162 | break; |
| 161 | default: |
163 | default: |
| 162 | break; |
164 | break; |
| 163 | } |
165 | } |
| 164 | logfilestate = LOGFILE_IDLE; |
166 | logfilestate = LOGFILE_IDLE; |
| 165 | logfilename = NULL; |
167 | logfilename = NULL; |
| 166 | KML_DocumentInit(&logfile); |
168 | KML_DocumentInit(&logfile); |
| 167 | logtimer = SetDelay(0); // set logtimer to now |
169 | logtimer = SetDelay(0); // set logtimer to now |
| 168 | return logfilestate; |
170 | return logfilestate; |
| 169 | } |
171 | } |
| 170 | // no init |
172 | // no init |
| 171 | if(CheckDelay(logtimer)) |
173 | if(CheckDelay(logtimer)) |
| 172 | { |
174 | { |
| 173 | logtimer = SetDelay(LogDelay); // standard interval |
175 | logtimer = SetDelay(LogDelay); // standard interval |
| 174 | 176 | ||
| 175 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
177 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) |
| 176 | { |
178 | { |
| 177 | switch(logfilestate) |
179 | switch(logfilestate) |
| 178 | { |
180 | { |
| 179 | case LOGFILE_IDLE: |
181 | case LOGFILE_IDLE: |
| 180 | case LOGFILE_CLOSED: |
182 | case LOGFILE_CLOSED: |
| 181 | if((GPSData.Status != INVALID) && (GPSData.NumOfSats > 2) && /*(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)*/ (FC.StatusFlags & FC_STATUS_FLY)) |
183 | if((GPSData.Status != INVALID) && (GPSData.NumOfSats > 2) && /*(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)*/ (FC.StatusFlags & FC_STATUS_FLY)) |
| 182 | { |
184 | { |
| 183 | logfilestate = LOGFILE_START; |
185 | logfilestate = LOGFILE_START; |
| 184 | } |
186 | } |
| 185 | break; |
187 | break; |
| 186 | case LOGFILE_START: |
188 | case LOGFILE_START: |
| 187 | // find unused logfile name |
189 | // find unused logfile name |
| 188 | do |
190 | do |
| 189 | { // try to generate a new logfile name |
191 | { // try to generate a new logfile name |
| 190 | logfilename = GenerateKMLLogFileName(); |
192 | logfilename = GenerateKMLLogFileName(); |
| 191 | }while((logfilename != NULL) && fexist_(logfilename)); |
193 | }while((logfilename != NULL) && fexist_(logfilename)); |
| 192 | // if logfilename exist |
194 | // if logfilename exist |
| 193 | if(logfilename != NULL) |
195 | if(logfilename != NULL) |
| 194 | { |
196 | { |
| 195 | // try to create the log file |
197 | // try to create the log file |
| 196 | if(KML_DocumentOpen(logfilename, &logfile)) |
198 | if(KML_DocumentOpen(logfilename, &logfile)) |
| 197 | { |
199 | { |
| 198 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
200 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 199 | logfilestate = LOGFILE_OPENED; // goto next step |
201 | logfilestate = LOGFILE_OPENED; // goto next step |
| 200 | UART1_PutString("\r\nOpening kml-file:"); |
202 | UART1_PutString("\r\nOpening kml-file:"); |
| 201 | UART1_PutString(logfilename); |
203 | UART1_PutString(logfilename); |
| 202 | UART1_PutString("\r\n"); |
204 | UART1_PutString("\r\n"); |
| 203 | } |
205 | } |
| 204 | else // could not be openend |
206 | else // could not be openend |
| 205 | { |
207 | { |
| 206 | logfilestate = LOGFILE_ERROR; |
208 | logfilestate = LOGFILE_ERROR; |
| 207 | UART1_PutString("\r\nError opening kml-file: "); |
209 | UART1_PutString("\r\nError opening kml-file: "); |
| 208 | UART1_PutString(logfilename); |
210 | UART1_PutString(logfilename); |
| 209 | UART1_PutString("\r\n"); |
211 | UART1_PutString("\r\n"); |
| 210 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
212 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
| 211 | SD_LoggingError = 1; |
213 | SD_LoggingError = 1; |
| 212 | } |
214 | } |
| 213 | } |
215 | } |
| 214 | else |
216 | else |
| 215 | { |
217 | { |
| 216 | logfilestate = LOGFILE_ERROR; |
218 | logfilestate = LOGFILE_ERROR; |
| 217 | UART1_PutString("\r\nError getting free kml-file name\r\n"); |
219 | UART1_PutString("\r\nError getting free kml-file name\r\n"); |
| 218 | SD_LoggingError = 2; |
220 | SD_LoggingError = 2; |
| 219 | } |
221 | } |
| 220 | // else retry in next loop |
222 | // else retry in next loop |
| 221 | break; |
223 | break; |
| 222 | case LOGFILE_OPENED: |
224 | case LOGFILE_OPENED: |
| 223 | // append new gps log data |
225 | // append new gps log data |
| 224 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
226 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
| 225 | { |
227 | { |
| 226 | if(!KML_LoggGPSCoordinates(&logfile)) |
228 | if(!KML_LoggGPSCoordinates(&logfile)) |
| 227 | { // error logging data |
229 | { // error logging data |
| 228 | UART1_PutString("\r\nError logging to kml-file\r\n"); |
230 | UART1_PutString("\r\nError logging to kml-file\r\n"); |
| 229 | SD_LoggingError = 3; |
231 | SD_LoggingError = 3; |
| 230 | KML_DocumentClose(&logfile); |
232 | KML_DocumentClose(&logfile); |
| 231 | logfilestate = LOGFILE_ERROR; |
233 | logfilestate = LOGFILE_ERROR; |
| 232 | } |
234 | } |
| 233 | else // sucessfully logged |
235 | else // sucessfully logged |
| 234 | { |
236 | { |
| 235 | SD_LoggingError = 0; |
237 | SD_LoggingError = 0; |
| 236 | if(CheckDelay(flushtimer)) |
238 | if(CheckDelay(flushtimer)) |
| 237 | { |
239 | { |
| 238 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
240 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 239 | fflush_(logfile.file); |
241 | fflush_(logfile.file); |
| 240 | } |
242 | } |
| 241 | } |
243 | } |
| 242 | 244 | ||
| 243 | } |
245 | } |
| 244 | break; |
246 | break; |
| 245 | 247 | ||
| 246 | case LOGFILE_ERROR: |
248 | case LOGFILE_ERROR: |
| 247 | break; |
249 | break; |
| 248 | 250 | ||
| 249 | default: |
251 | default: |
| 250 | logfilestate = LOGFILE_IDLE; |
252 | logfilestate = LOGFILE_IDLE; |
| 251 | break; |
253 | break; |
| 252 | } |
254 | } |
| 253 | } // EOF motors are not running |
255 | } // EOF motors are not running |
| 254 | else // model is not flying |
256 | else // model is not flying |
| 255 | { // close log file if opened |
257 | { // close log file if opened |
| 256 | if(logfilestate == LOGFILE_OPENED) |
258 | if(logfilestate == LOGFILE_OPENED) |
| 257 | { |
259 | { |
| 258 | if(KML_DocumentClose(&logfile)) |
260 | if(KML_DocumentClose(&logfile)) |
| 259 | { |
261 | { |
| 260 | UART1_PutString("\r\nClosing kml-file\r\n"); |
262 | UART1_PutString("\r\nClosing kml-file\r\n"); |
| 261 | logfilestate = LOGFILE_CLOSED; |
263 | logfilestate = LOGFILE_CLOSED; |
| 262 | } |
264 | } |
| 263 | else // could not be closed |
265 | else // could not be closed |
| 264 | { |
266 | { |
| 265 | UART1_PutString("\r\nError closing kml-file\r\n"); |
267 | UART1_PutString("\r\nError closing kml-file\r\n"); |
| 266 | SD_LoggingError = 4; |
268 | SD_LoggingError = 4; |
| 267 | logfilestate = LOGFILE_ERROR; |
269 | logfilestate = LOGFILE_ERROR; |
| 268 | } |
270 | } |
| 269 | } |
271 | } |
| 270 | } //EOF motors are not running |
272 | } //EOF motors are not running |
| 271 | } // EOF Check LogTimer |
273 | } // EOF Check LogTimer |
| 272 | 274 | ||
| 273 | return logfilestate; |
275 | return logfilestate; |
| 274 | } |
276 | } |
| 275 | 277 | ||
| 276 | //---------------------------------------------------------------------------------------------------- |
278 | //---------------------------------------------------------------------------------------------------- |
| 277 | // logs gps and state info to a gpx file |
279 | // logs gps and state info to a gpx file |
| 278 | logfilestate_t Logging_GPX(u32 LogDelay) |
280 | logfilestate_t Logging_GPX(u32 LogDelay) |
| 279 | { |
281 | { |
| 280 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
282 | static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate |
| 281 | static s8* logfilename = NULL; // the pointer to the logfilename |
283 | static s8* logfilename = NULL; // the pointer to the logfilename |
| 282 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
284 | static u32 logtimer = 0, flushtimer = 0; // the log update timer |
| 283 | static GPX_Document_t logfile; // the logfilehandle |
285 | static GPX_Document_t logfile; // the logfilehandle |
| 284 | static u8 part = 0; |
286 | static u8 part = 0; |
| 285 | u32 measure_time; |
287 | u32 measure_time; |
| 286 | 288 | ||
| 287 | // initialize if LogDelay is zero |
289 | // initialize if LogDelay is zero |
| 288 | if(!LogDelay) |
290 | if(!LogDelay) |
| 289 | { |
291 | { |
| 290 | switch(logfilestate) |
292 | switch(logfilestate) |
| 291 | { |
293 | { |
| 292 | case LOGFILE_OPENED: |
294 | case LOGFILE_OPENED: |
| 293 | GPX_DocumentClose(&logfile); // try to close it |
295 | GPX_DocumentClose(&logfile); // try to close it |
| 294 | break; |
296 | break; |
| 295 | default: |
297 | default: |
| 296 | break; |
298 | break; |
| 297 | } |
299 | } |
| 298 | logfilestate = LOGFILE_IDLE; |
300 | logfilestate = LOGFILE_IDLE; |
| 299 | logfilename = NULL; |
301 | logfilename = NULL; |
| 300 | GPX_DocumentInit(&logfile); |
302 | GPX_DocumentInit(&logfile); |
| 301 | logtimer = SetDelay(0); // set logtimer to now |
303 | logtimer = SetDelay(0); // set logtimer to now |
| 302 | return logfilestate; |
304 | return logfilestate; |
| 303 | } |
305 | } |
| 304 | // no init |
306 | // no init |
| 305 | if(CheckDelay(logtimer) || part) |
307 | if(CheckDelay(logtimer) || part) |
| 306 | { |
308 | { |
| 307 | if(!part) logtimer = SetDelay(LogDelay); // standard interval |
309 | if(!part) logtimer = SetDelay(LogDelay); // standard interval |
| 308 | 310 | ||
| 309 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN || part) |
311 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN || part) |
| 310 | { |
312 | { |
| 311 | switch(logfilestate) |
313 | switch(logfilestate) |
| 312 | { |
314 | { |
| 313 | case LOGFILE_IDLE: |
315 | case LOGFILE_IDLE: |
| 314 | case LOGFILE_CLOSED: |
316 | case LOGFILE_CLOSED: |
| 315 | if((GPSData.Status != INVALID) && (GPSData.NumOfSats > 2) && /*(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)*/ (FC.StatusFlags & FC_STATUS_FLY)) |
317 | if((GPSData.Status != INVALID) && (GPSData.NumOfSats > 2) && /*(GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)*/ (FC.StatusFlags & FC_STATUS_FLY)) |
| 316 | { |
318 | { |
| 317 | logfilestate = LOGFILE_START; |
319 | logfilestate = LOGFILE_START; |
| 318 | } |
320 | } |
| 319 | part = 0; |
321 | part = 0; |
| 320 | break; |
322 | break; |
| 321 | case LOGFILE_START: |
323 | case LOGFILE_START: |
| 322 | // find unused logfile name |
324 | // find unused logfile name |
| 323 | do |
325 | do |
| 324 | { // try to generate a new logfile name |
326 | { // try to generate a new logfile name |
| 325 | logfilename = GenerateGPXLogFileName(); |
327 | logfilename = GenerateGPXLogFileName(); |
| 326 | }while((logfilename != NULL) && fexist_(logfilename)); |
328 | }while((logfilename != NULL) && fexist_(logfilename)); |
| 327 | // if logfilename exist |
329 | // if logfilename exist |
| 328 | if(logfilename != NULL) |
330 | if(logfilename != NULL) |
| 329 | { |
331 | { |
| 330 | // try to create the log file |
332 | // try to create the log file |
| 331 | if(GPX_DocumentOpen(logfilename, &logfile)) |
333 | if(GPX_DocumentOpen(logfilename, &logfile)) |
| 332 | { |
334 | { |
| 333 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
335 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 334 | logfilestate = LOGFILE_OPENED; // goto next step |
336 | logfilestate = LOGFILE_OPENED; // goto next step |
| 335 | UART1_PutString("\r\nOpening gpx-file:"); |
337 | UART1_PutString("\r\nOpening gpx-file:"); |
| 336 | UART1_PutString(logfilename); |
338 | UART1_PutString(logfilename); |
| 337 | UART1_PutString("\r\n"); |
339 | UART1_PutString("\r\n"); |
| 338 | } |
340 | } |
| 339 | else // could not be openend |
341 | else // could not be openend |
| 340 | { |
342 | { |
| 341 | logfilestate = LOGFILE_ERROR; |
343 | logfilestate = LOGFILE_ERROR; |
| 342 | UART1_PutString("\r\nError opening gpx-file: "); |
344 | UART1_PutString("\r\nError opening gpx-file: "); |
| 343 | UART1_PutString(logfilename); |
345 | UART1_PutString(logfilename); |
| 344 | UART1_PutString("\r\n"); |
346 | UART1_PutString("\r\n"); |
| 345 | SD_LoggingError = 11; |
347 | SD_LoggingError = 11; |
| 346 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
348 | logtimer = SetDelay(10); // try again in open logfile in 10 mili sec |
| 347 | } |
349 | } |
| 348 | } |
350 | } |
| 349 | else |
351 | else |
| 350 | { |
352 | { |
| 351 | logfilestate = LOGFILE_ERROR; |
353 | logfilestate = LOGFILE_ERROR; |
| 352 | UART1_PutString("\r\nError getting free gpx-file name\r\n"); |
354 | UART1_PutString("\r\nError getting free gpx-file name\r\n"); |
| 353 | SD_LoggingError = 12; |
355 | SD_LoggingError = 12; |
| 354 | } |
356 | } |
| 355 | // else retry in next loop |
357 | // else retry in next loop |
| 356 | part = 0; |
358 | part = 0; |
| 357 | break; |
359 | break; |
| 358 | case LOGFILE_OPENED: |
360 | case LOGFILE_OPENED: |
| 359 | // append new gps log data |
361 | // append new gps log data |
| 360 | measure_time = CountMilliseconds; |
362 | measure_time = CountMilliseconds; |
| 361 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
363 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
| 362 | { |
364 | { |
| 363 | if(!GPX_LoggGPSCoordinates(&logfile,part)) |
365 | if(!GPX_LoggGPSCoordinates(&logfile,part)) |
| 364 | { // error logging data |
366 | { // error logging data |
| 365 | UART1_PutString("\r\nError logging to gpx-file\r\n"); |
367 | UART1_PutString("\r\nError logging to gpx-file\r\n"); |
| 366 | GPX_DocumentClose(&logfile); |
368 | GPX_DocumentClose(&logfile); |
| 367 | SD_LoggingError = 13; |
369 | SD_LoggingError = 13; |
| 368 | logfilestate = LOGFILE_ERROR; |
370 | logfilestate = LOGFILE_ERROR; |
| 369 | } |
371 | } |
| 370 | else // successful log |
372 | else // successful log |
| 371 | { |
373 | { |
| 372 | if(CheckDelay(flushtimer)) |
374 | if(CheckDelay(flushtimer)) |
| 373 | { |
375 | { |
| 374 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
376 | flushtimer = SetDelay(LOG_FLUSH_INTERVAL); |
| 375 | fflush_(logfile.file); |
377 | fflush_(logfile.file); |
| 376 | } |
378 | } |
| 377 | } |
379 | } |
| 378 | } |
380 | } |
| 379 | if(++part == 9) part = 0; |
381 | if(++part == 9) part = 0; |
| 380 | //DebugOut.Analog[19] = CountMilliseconds - measure_time; |
382 | //DebugOut.Analog[19] = CountMilliseconds - measure_time; |
| 381 | break; |
383 | break; |
| 382 | 384 | ||
| 383 | case LOGFILE_ERROR: |
385 | case LOGFILE_ERROR: |
| 384 | part = 0; |
386 | part = 0; |
| 385 | break; |
387 | break; |
| 386 | 388 | ||
| 387 | default: |
389 | default: |
| 388 | part = 0; |
390 | part = 0; |
| 389 | logfilestate = LOGFILE_IDLE; |
391 | logfilestate = LOGFILE_IDLE; |
| 390 | break; |
392 | break; |
| 391 | } |
393 | } |
| 392 | } // EOF model is flying |
394 | } // EOF model is flying |
| 393 | else // model is not flying |
395 | else // model is not flying |
| 394 | { // close log file if opened |
396 | { // close log file if opened |
| 395 | if(logfilestate == LOGFILE_OPENED) |
397 | if(logfilestate == LOGFILE_OPENED) |
| 396 | { |
398 | { |
| 397 | if(GPX_DocumentClose(&logfile)) |
399 | if(GPX_DocumentClose(&logfile)) |
| 398 | { |
400 | { |
| 399 | UART1_PutString("\r\nClosing gpx-file\r\n"); |
401 | UART1_PutString("\r\nClosing gpx-file\r\n"); |
| 400 | logfilestate = LOGFILE_CLOSED; |
402 | logfilestate = LOGFILE_CLOSED; |
| 401 | part = 0; |
403 | part = 0; |
| 402 | } |
404 | } |
| 403 | else // could not be closed |
405 | else // could not be closed |
| 404 | { |
406 | { |
| 405 | UART1_PutString("\r\nError closing gpx-file\r\n"); |
407 | UART1_PutString("\r\nError closing gpx-file\r\n"); |
| 406 | SD_LoggingError = 14; |
408 | SD_LoggingError = 14; |
| 407 | logfilestate = LOGFILE_ERROR; |
409 | logfilestate = LOGFILE_ERROR; |
| 408 | part = 0; |
410 | part = 0; |
| 409 | } |
411 | } |
| 410 | } |
412 | } |
| 411 | } //EOF model is not flying |
413 | } //EOF model is not flying |
| 412 | } // EOF Check LogTimer |
414 | } // EOF Check LogTimer |
| 413 | 415 | ||
| 414 | return logfilestate; |
416 | return logfilestate; |
| 415 | } |
417 | } |
| 416 | 418 | ||
| 417 | //---------------------------------------------------------------------------------------------------- |
419 | //---------------------------------------------------------------------------------------------------- |
| 418 | // initialize logging |
420 | // initialize logging |
| 419 | void Logging_Init(void) |
421 | void Logging_Init(void) |
| 420 | { |
422 | { |
| 421 | SD_LoggingError = 0; |
423 | SD_LoggingError = 0; |
| 422 | LogCfg.KML_Interval = 1000; //default |
424 | LogCfg.KML_Interval = 1000; //default |
| 423 | Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
425 | Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value |
| 424 | if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < MIN_SD_INTERVAL_KML) LogCfg.KML_Interval = MIN_SD_INTERVAL_KML; |
426 | if(LogCfg.KML_Interval != 0 && LogCfg.KML_Interval < MIN_SD_INTERVAL_KML) LogCfg.KML_Interval = MIN_SD_INTERVAL_KML; |
| 425 | 427 | ||
| 426 | Logging_KML(0); // initialize |
428 | Logging_KML(0); // initialize |
| 427 | LogCfg.GPX_Interval = 0; //default |
429 | LogCfg.GPX_Interval = 0; //default |
| 428 | Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
430 | Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value |
| 429 | if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < MIN_SD_INTERVAL_GPX) LogCfg.GPX_Interval = MIN_SD_INTERVAL_GPX; |
431 | if(LogCfg.GPX_Interval != 0 && LogCfg.GPX_Interval < MIN_SD_INTERVAL_GPX) LogCfg.GPX_Interval = MIN_SD_INTERVAL_GPX; |
| 430 | Logging_GPX(0); // initialize |
432 | Logging_GPX(0); // initialize |
| 431 | } |
433 | } |
| 432 | 434 | ||
| 433 | //---------------------------------------------------------------------------------------------------- |
435 | //---------------------------------------------------------------------------------------------------- |
| 434 | // gobal logging handler |
436 | // gobal logging handler |
| 435 | void Logging_Update(void) |
437 | void Logging_Update(void) |
| 436 | { |
438 | { |
| 437 | static u8 logmodule = 0; |
439 | static u8 logmodule = 0; |
| 438 | static u32 logtimer = 0; |
440 | static u32 logtimer = 0; |
| 439 | static logfilestate_t logstate = LOGFILE_IDLE; |
441 | static logfilestate_t logstate = LOGFILE_IDLE; |
| 440 | 442 | ||
| 441 | if(SD_SWITCH) // a card is in slot |
443 | if(SD_SWITCH) // a card is in slot |
| 442 | { |
444 | { |
| 443 | if((logstate == LOGFILE_ERROR) && (FC.StatusFlags & FC_STATUS_START)) SD_LoggingError = 100; |
445 | if((logstate == LOGFILE_ERROR) && (FC.StatusFlags & FC_STATUS_START)) SD_LoggingError = 100; |
| 444 | if(CheckDelay(logtimer)) |
446 | if(CheckDelay(logtimer)) |
| 445 | { |
447 | { |
| 446 | logtimer = SetDelay(10); // faster makes no sense |
448 | logtimer = SetDelay(10); // faster makes no sense |
| 447 | // call the logger handlers if no error has occured |
449 | // call the logger handlers if no error has occured |
| 448 | if(logstate != LOGFILE_ERROR) |
450 | if(logstate != LOGFILE_ERROR) |
| 449 | { // run only one logging handler per loop |
451 | { // run only one logging handler per loop |
| 450 | switch(logmodule++) |
452 | switch(logmodule++) |
| 451 | { |
453 | { |
| 452 | case 0: |
454 | case 0: |
| 453 | logstate = Logging_KML(LogCfg.KML_Interval); |
455 | logstate = Logging_KML(LogCfg.KML_Interval); |
| 454 | break; |
456 | break; |
| 455 | case 1: |
457 | case 1: |
| 456 | logstate = Logging_GPX(LogCfg.GPX_Interval); |
458 | logstate = Logging_GPX(LogCfg.GPX_Interval); |
| 457 | logmodule = 0; // resart with first log module |
459 | logmodule = 0; // resart with first log module |
| 458 | break; |
460 | break; |
| 459 | default: |
461 | default: |
| 460 | logmodule = 0; |
462 | logmodule = 0; |
| 461 | break; |
463 | break; |
| 462 | } |
464 | } |
| 463 | } |
465 | } |
| 464 | else // a logging error has occured |
466 | else // a logging error has occured |
| 465 | { |
467 | { |
| 466 | // /* |
468 | // /* |
| 467 | // try to reinitialize sd-card when motors are not running |
469 | // try to reinitialize sd-card when motors are not running |
| 468 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) |
470 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) |
| 469 | { |
471 | { |
| 470 | if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
472 | if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside |
| 471 | { |
473 | { |
| 472 | Logging_Init(); // initialize the logs |
474 | Logging_Init(); // initialize the logs |
| 473 | logstate = LOGFILE_IDLE; |
475 | logstate = LOGFILE_IDLE; |
| 474 | logtimer = SetDelay(100); // try next log in 100 mili sec |
476 | logtimer = SetDelay(100); // try next log in 100 mili sec |
| 475 | } |
477 | } |
| 476 | else |
478 | else |
| 477 | { // retry in 5 seconds |
479 | { // retry in 5 seconds |
| 478 | logtimer = SetDelay(5000); // try again in 5 sec |
480 | logtimer = SetDelay(5000); // try again in 5 sec |
| 479 | } |
481 | } |
| 480 | } // EOF motors are not running |
482 | } // EOF motors are not running |
| 481 | // */ |
483 | // */ |
| 482 | } //EOF logfile error |
484 | } //EOF logfile error |
| 483 | } // EOF CheckDelay |
485 | } // EOF CheckDelay |
| 484 | }// EOF Card in Slot |
486 | }// EOF Card in Slot |
| 485 | } |
487 | } |
| 486 | 488 | ||