From c754759a2d503633d527da4ebb20eb859cd506fd Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 28 Mar 2011 17:54:44 -0700 Subject: altos: Split up flight code into separate flight/sample/kalman bits The flight code mashed together data processing, filtering and actual flight managament into one giant pile. Split things up so that we have: ao_sample.c: Sensor data processing. Reads the ring, handles calibration ao_kalman.c: Filter the data to track the accel/speed/height values ao_flight.c: Flight state management, specific to rocketry. The plan is to re-use ao_sample.c and ao_kalman.c for hardware not specifically designed for rocketry, like TeleNano. Signed-off-by: Keith Packard --- src/ao_log_big.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'src/ao_log_big.c') diff --git a/src/ao_log_big.c b/src/ao_log_big.c index ab6b02f5..0c6cff85 100644 --- a/src/ao_log_big.c +++ b/src/ao_log_big.c @@ -82,7 +82,7 @@ ao_log(void) ao_sleep(&ao_log_running); log.type = AO_LOG_FLIGHT; - log.tick = ao_flight_tick; + log.tick = ao_sample_tick; #if HAS_ACCEL log.u.flight.ground_accel = ao_ground_accel; #endif @@ -92,12 +92,12 @@ ao_log(void) /* Write the whole contents of the ring to the log * when starting up. */ - ao_log_adc_pos = ao_adc_ring_next(ao_flight_adc); + ao_log_adc_pos = ao_adc_ring_next(ao_sample_adc); next_other = next_sensor = ao_adc_ring[ao_log_adc_pos].tick; ao_log_state = ao_flight_startup; for (;;) { /* Write samples to EEPROM */ - while (ao_log_adc_pos != ao_flight_adc) { + while (ao_log_adc_pos != ao_sample_adc) { log.tick = ao_adc_ring[ao_log_adc_pos].tick; if ((int16_t) (log.tick - next_sensor) >= 0) { log.type = AO_LOG_SENSOR; @@ -126,7 +126,7 @@ ao_log(void) if (ao_flight_state != ao_log_state) { ao_log_state = ao_flight_state; log.type = AO_LOG_STATE; - log.tick = ao_flight_tick; + log.tick = ao_sample_tick; log.u.state.state = ao_log_state; log.u.state.reason = 0; ao_log_data(&log); -- cgit v1.2.3