X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_log_gps.c;h=2b45f35e06ba11b07a35f3d4c84f791e6336606a;hp=3b728c25f1f7887f8d5db5d9403218e0550bbe5f;hb=3ed101d634968666cd3ee2d8c49737970caf406b;hpb=8117ba3553789a2bae9beb92fbe9e14e3cc79389

diff --git a/src/kernel/ao_log_gps.c b/src/kernel/ao_log_gps.c
index 3b728c25..2b45f35e 100644
--- a/src/kernel/ao_log_gps.c
+++ b/src/kernel/ao_log_gps.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
@@ -23,75 +24,40 @@
 #include <ao_distance.h>
 #include <ao_tracker.h>
 
-static __xdata struct ao_log_gps log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEGPS;
-
-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_gps); i++)
-		sum += *b++;
-	return -sum;
-}
-
-uint8_t
-ao_log_gps(__xdata struct ao_log_gps *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_gps));
-			ao_log_current_pos += sizeof (struct ao_log_gps);
-		}
-	} ao_mutex_put(&ao_log_mutex);
-	return wrote;
-}
-
 void
 ao_log_gps_flight(void)
 {
-	log.type = AO_LOG_FLIGHT;
-	log.tick = ao_time();
-	log.u.flight.flight = ao_flight_number;
-	ao_log_gps(&log);
+	ao_log_data.type = AO_LOG_FLIGHT;
+	ao_log_data.tick = ao_time();
+	ao_log_data.u.flight.flight = ao_flight_number;
+	ao_log_write(&ao_log_data);
 }
 
 void
 ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data)
 {
-	log.tick = tick;
-	log.type = AO_LOG_GPS_TIME;
-	log.u.gps.latitude = gps_data->latitude;
-	log.u.gps.longitude = gps_data->longitude;
-	log.u.gps.altitude = gps_data->altitude;
+	ao_log_data.tick = tick;
+	ao_log_data.type = AO_LOG_GPS_TIME;
+	ao_log_data.u.gps.latitude = gps_data->latitude;
+	ao_log_data.u.gps.longitude = gps_data->longitude;
+	ao_log_data.u.gps.altitude_low = gps_data->altitude_low;
+	ao_log_data.u.gps.altitude_high = gps_data->altitude_high;
 
-	log.u.gps.hour = gps_data->hour;
-	log.u.gps.minute = gps_data->minute;
-	log.u.gps.second = gps_data->second;
-	log.u.gps.flags = gps_data->flags;
-	log.u.gps.year = gps_data->year;
-	log.u.gps.month = gps_data->month;
-	log.u.gps.day = gps_data->day;
-	log.u.gps.course = gps_data->course;
-	log.u.gps.ground_speed = gps_data->ground_speed;
-	log.u.gps.climb_rate = gps_data->climb_rate;
-	log.u.gps.pdop = gps_data->pdop;
-	log.u.gps.hdop = gps_data->hdop;
-	log.u.gps.vdop = gps_data->vdop;
-	log.u.gps.mode = gps_data->mode;
-	ao_log_gps(&log);
+	ao_log_data.u.gps.hour = gps_data->hour;
+	ao_log_data.u.gps.minute = gps_data->minute;
+	ao_log_data.u.gps.second = gps_data->second;
+	ao_log_data.u.gps.flags = gps_data->flags;
+	ao_log_data.u.gps.year = gps_data->year;
+	ao_log_data.u.gps.month = gps_data->month;
+	ao_log_data.u.gps.day = gps_data->day;
+	ao_log_data.u.gps.course = gps_data->course;
+	ao_log_data.u.gps.ground_speed = gps_data->ground_speed;
+	ao_log_data.u.gps.climb_rate = gps_data->climb_rate;
+	ao_log_data.u.gps.pdop = gps_data->pdop;
+	ao_log_data.u.gps.hdop = gps_data->hdop;
+	ao_log_data.u.gps.vdop = gps_data->vdop;
+	ao_log_data.u.gps.mode = gps_data->mode;
+	ao_log_write(&ao_log_data);
 }
 
 void
@@ -99,39 +65,47 @@ ao_log_gps_tracking(uint16_t tick, struct ao_telemetry_satellite *gps_tracking_d
 {
 	uint8_t c, n, i;
 
-	log.tick = tick;
-	log.type = AO_LOG_GPS_SAT;
+	ao_log_data.tick = tick;
+	ao_log_data.type = AO_LOG_GPS_SAT;
 	i = 0;
 	n = gps_tracking_data->channels;
 	for (c = 0; c < n; c++)
-		if ((log.u.gps_sat.sats[i].svid = gps_tracking_data->sats[c].svid))
+		if ((ao_log_data.u.gps_sat.sats[i].svid = gps_tracking_data->sats[c].svid))
 		{
-			log.u.gps_sat.sats[i].c_n = gps_tracking_data->sats[c].c_n_1;
+			ao_log_data.u.gps_sat.sats[i].c_n = gps_tracking_data->sats[c].c_n_1;
 			i++;
 			if (i >= 12)
 				break;
 		}
-	log.u.gps_sat.channels = i;
-	ao_log_gps(&log);
+	ao_log_data.u.gps_sat.channels = i;
+	ao_log_write(&ao_log_data);
 }
 
 static uint8_t
-ao_log_dump_check_data(void)
+ao_log_check_empty(void)
 {
-	if (ao_log_csum((uint8_t *) &log) != 0)
-		return 0;
+	uint8_t *b = (void *) &ao_log_data;
+	unsigned i;
+
+	for (i = 0; i < sizeof (ao_log_type); i++)
+		if (*b++ != AO_STORAGE_ERASED_BYTE)
+			return 0;
 	return 1;
 }
 
-uint16_t
-ao_log_flight(uint8_t slot)
+int8_t
+ao_log_check(uint32_t pos)
 {
-	if (!ao_storage_read(ao_log_pos(slot),
-			     &log,
+	if (!ao_storage_read(pos,
+			     &ao_log_data,
 			     sizeof (struct ao_log_gps)))
-		return 0;
+		return AO_LOG_INVALID;
+
+	if (ao_log_check_empty())
+		return AO_LOG_EMPTY;
+
+	if (!ao_log_check_data())
+		return AO_LOG_INVALID;
 
-	if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
-		return log.u.flight.flight;
-	return 0;
+	return AO_LOG_VALID;
 }