altos-avr: Store TM tick and state in log, get logging on/off working

[fw/altos] / src-avr / ao_spi_slave.c

diff --git a/src-avr/ao_spi_slave.c b/src-avr/ao_spi_slave.c
index 8e01f586ed5d959d16485cc8d0e47371291903dd..d44e4d0e0bafa81b0029b1475ed3185eaa77da3c 100644 (file)
--- a/src-avr/ao_spi_slave.c
+++ b/src-avr/ao_spi_slave.c
@@ -26,7 +26,7 @@ static const struct ao_companion_setup        ao_companion_setup = {
        .channels               = NUM_ADC
 };
 
-static void ao_spi_slave_recv(void)
+static uint8_t ao_spi_slave_recv(void)
 {
        uint8_t *buf;
        uint8_t len;
@@ -35,7 +35,8 @@ static void ao_spi_slave_recv(void)
        buf = (uint8_t *) &ao_companion_command;
        while (len--) {
                while (!(SPSR & (1 << SPIF)))
-                       ;
+                       if ((PINB & (1 << PINB0)))
+                               return 0;
                *buf++ = SPDR;
        }
 
@@ -49,17 +50,28 @@ static void ao_spi_slave_recv(void)
                buf = (uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc;
                len = NUM_ADC * sizeof (uint16_t);
                break;
+       case AO_COMPANION_STATE:
+               break;
        default:
-               return;
+               return 0;
        }
 
-       /* Send the outbound data */
-       while (len--) {
-               SPDR = *buf++;
-               while (!(SPSR & (1 << SPIF)))
-                       ;
+       if (len) {
+               /* Send the outbound data */
+               while (len--) {
+                       SPDR = *buf++;
+                       while (!(SPSR & (1 << SPIF)))
+                               if ((PINB & (1 << PINB0)))
+                                       return 0;
+               }
+               (void) SPDR;
        }
-       (void) SPDR;
+       ao_log_store.tm_tick = ao_companion_command.tick;
+       if (ao_log_store.tm_state != ao_companion_command.flight_state) {
+               ao_log_store.tm_state = ao_companion_command.flight_state;
+               return 1;
+       }
+       return 0;
 }
 
 static uint8_t ao_spi_slave_running;
@@ -67,16 +79,18 @@ static uint8_t ao_spi_slave_running;
 ISR(PCINT0_vect)
 {
        if ((PINB & (1 << PINB0)) == 0) {
-               if (!(PCMSK0 & (1 << PCINT1)))
-                       PCMSK0 |= (1 << PCINT1);
-               else {
-                       PCMSK0 &= ~(1 << PCINT1);
+               if (!ao_spi_slave_running) {
+                       uint8_t changed;
+                       ao_spi_slave_running = 1;
                        cli();
-                       if (!ao_spi_slave_running) {
-                               ao_spi_slave_running = 1;
-                               ao_spi_slave_recv();
-                       }
+                       changed = ao_spi_slave_recv();
                        sei();
+                       if (changed && ao_flight_boost <= ao_log_store.tm_state) {
+                               if (ao_log_store.tm_state < ao_flight_landed)
+                                       ao_log_start();
+                               else
+                                       ao_log_stop();
+                       }
                }
        } else {
                ao_spi_slave_running = 0;