X-Git-Url: http://git.droids-corp.org/?p=protos%2Fimu.git;a=blobdiff_plain;f=gps_venus.c;h=01551a68d2a7529e2521a29d85e253854dbba688;hp=7119f8ccca504ec79758594c5c0a34ee6a7411c8;hb=f8d665eef7b761e3b769af6b8dd9711754711cdd;hpb=80d45bc2bf74e4f2833ec9427d145ecd7d8c13b7

diff --git a/gps_venus.c b/gps_venus.c
index 7119f8c..01551a6 100644
--- 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;
 			}