altos: Remove spurious ao_mma655x_spi_index variable

[fw/altos] / src / kernel / ao_log_mega.c

diff --git a/src/kernel/ao_log_mega.c b/src/kernel/ao_log_mega.c
index 768947d541728159f7e86d16c30d2122ad4a4914..c6bdf1e23c53cba1d4329bccdfdc21a591c8c851 100644 (file)
--- a/src/kernel/ao_log_mega.c
+++ b/src/kernel/ao_log_mega.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -20,52 +21,7 @@
 #include <ao_data.h>
 #include <ao_flight.h>
 
-static __xdata uint8_t ao_log_mutex;
-static __xdata struct ao_log_mega log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMEGA;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
-       uint8_t sum = 0x5a;
-       uint8_t i;
-
-       for (i = 0; i < sizeof (struct ao_log_mega); i++)
-               sum += *b++;
-       return -sum;
-}
-
-uint8_t
-ao_log_mega(__xdata struct ao_log_mega *log) __reentrant
-{
-       uint8_t wrote = 0;
-       /* set checksum */
-       log->csum = 0;
-       log->csum = ao_log_csum((__xdata uint8_t *) log);
-       ao_mutex_get(&ao_log_mutex); {
-               if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
-                       ao_log_stop();
-               if (ao_log_running) {
-                       wrote = 1;
-                       ao_storage_write(ao_log_current_pos,
-                                        log,
-                                        sizeof (struct ao_log_mega));
-                       ao_log_current_pos += sizeof (struct ao_log_mega);
-               }
-       } ao_mutex_put(&ao_log_mutex);
-       return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
-       if (ao_log_csum((uint8_t *) &log) != 0)
-               return 0;
-       return 1;
-}
-
-#if HAS_ADC
+#if HAS_FLIGHT
 static __data uint8_t  ao_log_data_pos;
 
 /* a hack to make sure that ao_log_megas fill the eeprom block in even units */
@@ -100,13 +56,13 @@ ao_log(void)
        log.u.flight.ground_accel_along = ao_ground_accel_along;
        log.u.flight.ground_accel_across = ao_ground_accel_across;
        log.u.flight.ground_accel_through = ao_ground_accel_through;
+       log.u.flight.ground_roll = ao_ground_roll;
        log.u.flight.ground_pitch = ao_ground_pitch;
        log.u.flight.ground_yaw = ao_ground_yaw;
-       log.u.flight.ground_roll = ao_ground_roll;
 #endif
        log.u.flight.ground_pres = ao_ground_pres;
        log.u.flight.flight = ao_flight_number;
-       ao_log_mega(&log);
+       ao_log_write(&log);
 #endif
 
        /* Write the whole contents of the ring to the log
@@ -135,11 +91,22 @@ ao_log(void)
 #endif
 #if HAS_HMC5883
                                log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x;
-                               log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
                                log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z;
+                               log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
+#endif
+#if HAS_MPU9250
+                               log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu9250.accel_x;
+                               log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu9250.accel_y;
+                               log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu9250.accel_z;
+                               log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu9250.gyro_x;
+                               log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu9250.gyro_y;
+                               log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu9250.gyro_z;
+                               log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].mpu9250.mag_x;
+                               log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].mpu9250.mag_z;
+                               log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].mpu9250.mag_y;
 #endif
                                log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
-                               ao_log_mega(&log);
+                               ao_log_write(&log);
                                if (ao_log_state <= ao_flight_coast)
                                        next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
                                else
@@ -153,7 +120,7 @@ ao_log(void)
                                for (i = 0; i < AO_ADC_NUM_SENSE; i++)
                                        log.u.volt.sense[i] = ao_data_ring[ao_log_data_pos].adc.sense[i];
                                log.u.volt.pyro = ao_pyro_fired;
-                               ao_log_mega(&log);
+                               ao_log_write(&log);
                                next_other = log.tick + AO_OTHER_INTERVAL;
                        }
                        ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
@@ -166,7 +133,7 @@ ao_log(void)
                        log.tick = ao_time();
                        log.u.state.state = ao_log_state;
                        log.u.state.reason = 0;
-                       ao_log_mega(&log);
+                       ao_log_write(&log);
 
                        if (ao_log_state == ao_flight_landed)
                                ao_log_stop();
@@ -183,17 +150,5 @@ ao_log(void)
                        ao_sleep(&ao_log_running);
        }
 }
-#endif
+#endif /* HAS_FLIGHT */
 
-uint16_t
-ao_log_flight(uint8_t slot)
-{
-       if (!ao_storage_read(ao_log_pos(slot),
-                            &log,
-                            sizeof (struct ao_log_mega)))
-               return 0;
-
-       if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
-               return log.u.flight.flight;
-       return 0;
-}