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| Rev 76 | Rev 77 | ||
|---|---|---|---|
| Line 220... | Line 220... | ||
| 220 | 220 | ||
| 221 | 221 | ||
| 222 | //---------------------------------------------------------------------------------------------------- |
222 | //---------------------------------------------------------------------------------------------------- |
| 223 | int main(void) |
223 | int main(void) |
| 224 | { |
224 | { |
| 225 | logfilestate_t logfilestate = LOGFILE_IDLE; |
225 | volatile logfilestate_t logfilestate = LOGFILE_IDLE; |
| Line 226... | Line 226... | ||
| 226 | KML_Document_t gpslogfile; |
226 | KML_Document_t gpslogfile; |
| 227 | s8* gpslogfilename = NULL; |
227 | s8* gpslogfilename = NULL; |
| Line 334... | Line 334... | ||
| 334 | // ---------------- Error Check Timing ---------------------------- |
334 | // ---------------- Error Check Timing ---------------------------- |
| 335 | if(CheckDelay(TimerCheckError)) |
335 | if(CheckDelay(TimerCheckError)) |
| 336 | { |
336 | { |
| 337 | if(!CheckSPIOkay) GPS_Navigation(); // process the GPS data even if the FC is not connected |
337 | if(!CheckSPIOkay) GPS_Navigation(); // process the GPS data even if the FC is not connected |
| 338 | CheckErrors(); |
338 | CheckErrors(); |
| 339 | if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; |
339 | if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
| 340 | else NaviData.FlyingTime = 0; |
340 | // else NaviData.FlyingTime = 0; |
| 341 | TimerCheckError = SetDelay(1000); |
341 | TimerCheckError = SetDelay(1000); |
| 342 | Request_SendFollowMe = TRUE; |
342 | Request_SendFollowMe = TRUE; |
| 343 | } |
343 | } |
| 344 | // ---------------- KML Timing ------------------------------------ |
344 | // ---------------- KML Timing ------------------------------------ |
| 345 | if(CheckDelay(TimerKmlAddPointDelay)) |
345 | if(CheckDelay(TimerKmlAddPointDelay)) |
| Line 361... | Line 361... | ||
| 361 | { |
361 | { |
| 362 | // try to create the log file |
362 | // try to create the log file |
| 363 | if(KML_DocumentOpen(gpslogfilename, &gpslogfile)) |
363 | if(KML_DocumentOpen(gpslogfilename, &gpslogfile)) |
| 364 | { |
364 | { |
| 365 | logfilestate = LOGFILE_OPENED; // goto next step |
365 | logfilestate = LOGFILE_OPENED; // goto next step |
| 366 | SerialPutString("\r\nOpening kml-file: "); |
366 | SerialPutString("\r\nOpening kml-file:"); |
| 367 | SerialPutString(gpslogfilename); |
367 | SerialPutString(gpslogfilename); |
| 368 | SerialPutString("\r\n"); |
368 | SerialPutString("\r\n"); |
| 369 | } |
369 | } |
| 370 | else |
370 | else |
| 371 | { |
371 | { |
| Line 376... | Line 376... | ||
| 376 | TimerKmlAddPointDelay = SetDelay(10); // try again in open logfile in 10 mili sec |
376 | TimerKmlAddPointDelay = SetDelay(10); // try again in open logfile in 10 mili sec |
| 377 | } |
377 | } |
| 378 | } |
378 | } |
| 379 | // else retry in next loop |
379 | // else retry in next loop |
| 380 | break; |
380 | break; |
| 381 | - | ||
| 382 | - | ||
| 383 | case LOGFILE_OPENED: |
381 | case LOGFILE_OPENED: |
| 384 | // append new gps log data |
382 | // append new gps log data |
| 385 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
383 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
| 386 | { |
384 | { |
| 387 | if(!KML_LoggGPSCoordinates(&(GPSData.Position), &gpslogfile)) |
385 | if(!KML_LoggGPSCoordinates(&(GPSData.Position), &gpslogfile)) |
| 388 | { // error logging data |
386 | { // error logging data |
| 389 | SerialPutString("\r\nError Logging GPS data\r\n"); |
387 | SerialPutString("\r\nError Logging GPS data\r\n"); |
| 390 | KML_DocumentClose(&gpslogfile); |
388 | KML_DocumentClose(&gpslogfile); |
| 391 | logfilestate = LOGFILE_ERROR; |
389 | logfilestate = LOGFILE_ERROR; |
| 392 | } |
390 | } |
| - | 391 | else DebugOut.Analog[26]++; |
|
| 393 | } |
392 | } |
| 394 | break; |
393 | break; |
| Line 395... | Line 394... | ||
| 395 | 394 | ||
| 396 | case LOGFILE_ERROR: |
395 | case LOGFILE_ERROR: |
| 397 | // try to reinitialize the fat16 filesystem |
396 | // try to reinitialize the fat16 filesystem |