X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao_log.c;h=7284121db33c47b61b1f85659df69e54175badfc;hp=3bb2f84562f4de8a74c669ee8c676b392b5815a3;hb=bf140966e9649e75b884c8aa5f25ffbf9eed10ea;hpb=ed6f67dc47d750d5ff8bea63ae7cbb560689b9b6

diff --git a/ao_log.c b/ao_log.c
index 3bb2f845..7284121d 100644
--- 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;
@@ -141,7 +137,7 @@ ao_log(void)
 			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 == 0) {
+			if ((ao_log_adc_pos & 0x1f) == 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;
@@ -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);
 	}
 }
 
@@ -178,6 +188,29 @@ ao_log_stop(void)
 	ao_log_flush();
 }
 
+static void
+dump_log(void)
+{
+	uint8_t	more;
+
+	for (more = ao_log_dump_first(); more; more = ao_log_dump_next()) {
+		printf("%c %4x %4x %4x\n",
+		       ao_log_dump.type,
+		       ao_log_dump.tick,
+		       ao_log_dump.u.anon.d0,
+		       ao_log_dump.u.anon.d1);
+		if (ao_log_dump.type == AO_LOG_STATE &&
+		    ao_log_dump.u.state.state == ao_flight_landed)
+			break;
+	}
+	printf("end\n");
+}
+
+__code struct ao_cmds ao_log_cmds[] = {
+	{ 'l',	dump_log,		"l                                  Dump last flight log" },
+	{ 0, dump_log, NULL },
+};
+
 static __xdata struct ao_task ao_log_task;
 
 void
@@ -192,4 +225,5 @@ ao_log_init(void)
 
 	/* Create a task to log events to eeprom */
 	ao_add_task(&ao_log_task, ao_log, "log");
+	ao_cmd_register(&ao_log_cmds[0]);
 }