prevent modification of GPS position during dump

diff --git a/gps_venus.c b/gps_venus.c
index 7119f8c..7150ef2 100644 (file)
--- a/gps_venus.c
+++ b/gps_venus.c
@@ -652,13 +652,19 @@ static struct fat_file_struct *open_log_file(void)
        return fd;
 }
 
        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;
 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];
        int16_t len;
        char buf[128];

+       struct gps_pos pos;

 
        if (1) {
                fd = open_log_file();
 
        if (1) {
                fd = open_log_file();


@@ -672,18 +678,24 @@ int gps_loop(void)
                ms = global_ms;
                IRQ_UNLOCK(flags);
 
                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"));
 
                        if (fat_write_file(fd, (unsigned char *)buf, len) != len) {
                                printf_P(PSTR("error writing to file\n"));

diff --git a/gps_venus.h b/gps_venus.h
index 18327c8..641bcbb 100644 (file)
--- a/gps_venus.h
+++ b/gps_venus.h
@@ -37,4 +37,7 @@ struct gps_pos {
 int gps_venus_init(void);
 int gps_loop(void);
 
 int gps_venus_init(void);
 int gps_loop(void);
 

+/* does not lock intr, must be done by user */
+void gps_get_pos(struct gps_pos *pos);
+

 #endif
 #endif