some cleaning

[protos/imu.git] / gps_venus.c

diff --git a/gps_venus.c b/gps_venus.c
index 7119f8c..01551a6 100644 (file)
--- a/gps_venus.c
+++ b/gps_venus.c
@@ -16,6 +16,7 @@
 #include "partition.h"
 #include "sd_raw.h"
 #include "sd_raw_config.h"
+#include "sd_log.h"
 
 #define debug_printf(args...) do { } while (0)
 /* #define debug_printf(args...) printf(args) */
@@ -533,138 +534,18 @@ int gps_venus_init(void)
        return 0;
 }
 
-static uint8_t find_file_in_dir(struct fat_fs_struct* fs, struct fat_dir_struct* dd, const char* name, struct fat_dir_entry_struct* dir_entry)
+void gps_get_pos(struct gps_pos *pos)
 {
-       (void)fs;
-
-    while(fat_read_dir(dd, dir_entry))
-    {
-       if(strcmp(dir_entry->long_name, name) == 0)
-       {
-           fat_reset_dir(dd);
-           return 1;
-       }
-    }
-
-    return 0;
-}
-
-static struct fat_file_struct* open_file_in_dir(struct fat_fs_struct* fs, struct fat_dir_struct* dd, const char* name)
-{
-    struct fat_dir_entry_struct file_entry;
-    if(!find_file_in_dir(fs, dd, name, &file_entry))
-       return 0;
-
-    return fat_open_file(fs, &file_entry);
-}
-
-static struct fat_file_struct *open_log_file(void)
-{
-       struct fat_file_struct *fd;
-       struct fat_fs_struct *fs;
-       struct partition_struct *partition ;
-       struct fat_dir_struct *dd;
-       struct fat_dir_entry_struct directory;
-       struct fat_dir_entry_struct file_entry;
-       int16_t i = 0;
-       char name[16];
-
-       /* setup sd card slot */
-       if (!sd_raw_init()) {
-#if SD_DEBUG
-               printf_P(PSTR("MMC/SD initialization failed\n"));
-#endif
-               return NULL;
-       }
-
-       /* open first partition */
-       partition = partition_open(sd_raw_read,
-               sd_raw_read_interval,
-#if SD_RAW_WRITE_SUPPORT
-               sd_raw_write, sd_raw_write_interval,
-#else
-               0, 0,
-#endif
-               0);
-
-       if (!partition) {
-               /* If the partition did not open, assume the storage device
-                * is a "superfloppy", i.e. has no MBR.
-                */
-               partition = partition_open(sd_raw_read,
-                       sd_raw_read_interval,
-#if SD_RAW_WRITE_SUPPORT
-                       sd_raw_write,
-                       sd_raw_write_interval,
-#else
-                       0,
-                       0,
-#endif
-                       -1);
-               if (!partition) {
-#if SD_DEBUG
-                       printf_P(PSTR("opening partition failed\n"));
-#endif
-                       return NULL;
-               }
-       }
-
-       /* open file system */
-       fs = fat_open(partition);
-       if (!fs) {
-#if SD_DEBUG
-               printf_P(PSTR("opening filesystem failed\n"));
-#endif
-               return NULL;
-       }
-
-       /* open root directory */
-       fat_get_dir_entry_of_path(fs, "/", &directory);
-       dd = fat_open_dir(fs, &directory);
-       if (!dd) {
-#if SD_DEBUG
-               printf_P(PSTR("opening root directory failed\n"));
-#endif
-               return NULL;
-       }
-
-       /* print some card information as a boot message */
-       //print_disk_info(fs);
-
-       printf("choose log file name\n");
-       while (1) {
-               snprintf(name, sizeof(name), "log%.4d", i++);
-               if (!find_file_in_dir(fs, dd, name, &file_entry))
-                       break;
-       }
-
-       printf("create log file %s\n", name);
-       if (!fat_create_file(dd, name, &file_entry)) {
-               printf_P(PSTR("error creating file: "));
-       }
-
-       fd = open_file_in_dir(fs, dd, name);
-       if (!fd) {
-               printf_P(PSTR("error opening "));
-               return NULL;
-       }
-
-       return fd;
+       memcpy(pos, &gps_pos, sizeof(*pos));
 }
 
 int gps_loop(void)
 {
-       struct fat_file_struct *fd = NULL;
        uint32_t ms;
-       uint8_t flags;
+       uint8_t flags, prio;
        int16_t len;
        char buf[128];
-
-       if (1) {
-               fd = open_log_file();
-               if (fd == NULL)
-                       printf("open log failed\r\n");
-       }
+       struct gps_pos pos;
 
        while (1) {
 
@@ -672,20 +553,26 @@ int gps_loop(void)
                ms = global_ms;
                IRQ_UNLOCK(flags);
 
-               if (fd != NULL) {
+               /* get position (prevent modification of gps pos during copy) */
+               prio = callout_mgr_set_prio(&imuboard.intr_cm, GPS_PRIO);
+               gps_get_pos(&pos);
+               callout_mgr_restore_prio(&imuboard.intr_cm, prio);
+
+               /* XXX copy */
+               len = snprintf(buf, sizeof(buf),
+                       "%"PRIu32" "
+                       "svnum %.2X lat %3.5f long %3.5f "
+                       "alt %3.5f sea_alt %3.5f\n",
+                       ms, gps_pos.sv_num,
+                       (double)gps_pos.latitude/10000000.,
+                       (double)gps_pos.longitude/10000000.,
+                       (double)gps_pos.altitude/100.,
+                       (double)gps_pos.sea_altitude/100.);
+
 
-                       /* XXX copy */
-                       len = snprintf(buf, sizeof(buf),
-                               "%"PRIu32" "
-                               "svnum %.2X lat %3.5f long %3.5f "
-                               "alt %3.5f sea_alt %3.5f\n",
-                               ms, gps_pos.sv_num,
-                               (double)gps_pos.latitude/10000000.,
-                               (double)gps_pos.longitude/10000000.,
-                               (double)gps_pos.altitude/100.,
-                               (double)gps_pos.sea_altitude/100.);
+               if (sd_log_enabled()) {
 
-                       if (fat_write_file(fd, (unsigned char *)buf, len) != len) {
+                       if (sd_log_write(buf, len) != len) {
                                printf_P(PSTR("error writing to file\n"));
                                return -1;
                        }