altos: Variable log rate in full logging code too

[fw/altos] / src / ao_log_big.c

diff --git a/src/ao_log_big.c b/src/ao_log_big.c
index 6db4a0ff26f13232a9444a06dfb69d7a6b6cb40b..8379ab5f1e36488463db092f93a2933a2b6bf21c 100644 (file)
--- a/src/ao_log_big.c
+++ b/src/ao_log_big.c
@@ -65,9 +65,16 @@ static __xdata uint8_t       ao_log_adc_pos;
 /* a hack to make sure that ao_log_records fill the eeprom block in even units */
 typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_record))] ;
 
+#define AO_SENSOR_INTERVAL_ASCENT      1
+#define AO_SENSOR_INTERVAL_DESCENT     10
+#define AO_OTHER_INTERVAL              32
+
 void
 ao_log(void)
 {
+       uint16_t        next_sensor;
+       uint16_t        next_other;
+
        ao_storage_setup();
 
        ao_log_scan();
@@ -76,7 +83,7 @@ ao_log(void)
                ao_sleep(&ao_log_running);
 
        log.type = AO_LOG_FLIGHT;
-       log.tick = ao_flight_tick;
+       next_other = next_sensor = log.tick = ao_flight_tick;
 #if HAS_ACCEL
        log.u.flight.ground_accel = ao_ground_accel;
 #endif
@@ -90,36 +97,41 @@ ao_log(void)
        for (;;) {
                /* Write samples to EEPROM */
                while (ao_log_adc_pos != ao_flight_adc) {
-                       log.type = AO_LOG_SENSOR;
                        log.tick = ao_adc_ring[ao_log_adc_pos].tick;
-                       log.u.sensor.accel = ao_adc_ring[ao_log_adc_pos].accel;
-                       log.u.sensor.pres = ao_adc_ring[ao_log_adc_pos].pres;
-                       ao_log_data(&log);
-                       if ((ao_log_adc_pos & 0x1f) == 0) {
+                       if ((int16_t) (log.tick - next_sensor) >= 0) {
+                               log.type = AO_LOG_SENSOR;
+                               log.u.sensor.accel = ao_adc_ring[ao_log_adc_pos].accel;
+                               log.u.sensor.pres = ao_adc_ring[ao_log_adc_pos].pres;
+                               ao_log_data(&log);
+                               if (ao_flight_state <= ao_flight_coast)
+                                       next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
+                               else
+                                       next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
+                       }
+                       if ((int16_t) (log.tick - next_other) >= 0) {
                                log.type = AO_LOG_TEMP_VOLT;
-                               log.tick = ao_adc_ring[ao_log_adc_pos].tick;
                                log.u.temp_volt.temp = ao_adc_ring[ao_log_adc_pos].temp;
                                log.u.temp_volt.v_batt = ao_adc_ring[ao_log_adc_pos].v_batt;
                                ao_log_data(&log);
                                log.type = AO_LOG_DEPLOY;
-                               log.tick = ao_adc_ring[ao_log_adc_pos].tick;
                                log.u.deploy.drogue = ao_adc_ring[ao_log_adc_pos].sense_d;
                                log.u.deploy.main = ao_adc_ring[ao_log_adc_pos].sense_m;
                                ao_log_data(&log);
+                               next_other = log.tick + AO_OTHER_INTERVAL;
                        }
                        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();
+                       /* 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 */