X-Git-Url: http://git.droids-corp.org/?p=protos%2Fimu.git;a=blobdiff_plain;f=gps_venus.c;h=7150ef2fcadbb575fd2b91c9993584a67e5c160a;hp=7119f8ccca504ec79758594c5c0a34ee6a7411c8;hb=b80b5b2fa35d632456556f9940314b565a60e802;hpb=80d45bc2bf74e4f2833ec9427d145ecd7d8c13b7

diff --git a/gps_venus.c b/gps_venus.c
index 7119f8c..7150ef2 100644
--- a/gps_venus.c
+++ b/gps_venus.c
@@ -652,13 +652,19 @@ static struct fat_file_struct *open_log_file(void)
 	return fd;
 }
 
+void gps_get_pos(struct gps_pos *pos)
+{
+	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];
+	struct gps_pos pos;
 
 	if (1) {
 		fd = open_log_file();
@@ -672,18 +678,24 @@ 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 (fd != NULL) {
 
 			if (fat_write_file(fd, (unsigned char *)buf, len) != len) {
 				printf_P(PSTR("error writing to file\n"));