When logging starts up, right the whole ring to the log.

[fw/altos] / ao_log.c

diff --git a/ao_log.c b/ao_log.c
index 1b473c14eb1d6f3702696c399260c944517d34d1..107c4323b53d41cab23df34a9324e8d99e23fc6c 100644 (file)
--- a/ao_log.c
+++ b/ao_log.c
@@ -121,19 +121,15 @@ ao_log(void)
        
        log.type = AO_LOG_FLIGHT;
        log.tick = ao_flight_tick;
-       log.u.flight.serial = 0;
+       log.u.flight.ground_accel = ao_ground_accel;
        log.u.flight.flight = ao_log_dump_flight + 1;
        ao_log_data(&log);
+
+       /* Write the whole contents of the ring to the log
+        * when starting up.
+        */
+       ao_log_adc_pos = ao_adc_ring_next(ao_adc_head);
        for (;;) {
-               /* Write state change to EEPROM */
-               if (ao_flight_state != ao_log_state) {
-                       ao_log_state = ao_flight_state;
-                       log.type = AO_LOG_STATE;
-                       log.tick = ao_flight_tick;
-                       log.u.state.state = ao_log_state;
-                       log.u.state.reason = 0;
-                       ao_log_data(&log);
-               }
                /* Write samples to EEPROM */
                while (ao_log_adc_pos != ao_adc_head) {
                        log.type = AO_LOG_SENSOR;
@@ -153,13 +149,27 @@ ao_log(void)
                                log.u.deploy.main = ao_adc_ring[ao_log_adc_pos].sense_m;
                                ao_log_data(&log);
                        }
-                       ao_log_adc_pos++;
-                       if (ao_log_adc_pos == AO_ADC_RING)
-                               ao_log_adc_pos = 0;
+                       ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos);
+               }
+               /* Write state change to EEPROM */
+               if (ao_flight_state != ao_log_state) {
+                       ao_log_state = ao_flight_state;
+                       log.type = AO_LOG_STATE;
+                       log.tick = ao_flight_tick;
+                       log.u.state.state = ao_log_state;
+                       log.u.state.reason = 0;
+                       ao_log_data(&log);
+
+                       if (ao_log_state == ao_flight_landed)
+                               ao_log_stop();
                }
                
                /* Wait for a while */
                ao_delay(AO_MS_TO_TICKS(100));
+
+               /* Stop logging when told to */
+               while (!ao_log_running)
+                       ao_sleep(&ao_log_running);
        }
 }