[module] High Speed Logger overrun protection

paparazzi · Mar 5, 2013 · 5171ca2 · 5171ca2
1 parent b2e56ff
commit 5171ca2
Showing 1 changed file with 17 additions and 12 deletions.
diff --git a/sw/airborne/modules/loggers/high_speed_logger_spi_link.c b/sw/airborne/modules/loggers/high_speed_logger_spi_link.c
@@ -26,10 +26,10 @@
 #include "mcu_periph/spi.h"
 
 struct high_speed_logger_spi_link_data high_speed_logger_spi_link_data;
-uint16_t testData = 1234;
-
 struct spi_transaction high_speed_logger_spi_link_transaction;
 
+static volatile bool_t high_speed_logger_spi_link_ready = TRUE;
+
 static void high_speed_logger_spi_link_trans_cb( struct spi_transaction *trans );
 
 void high_speed_logger_spi_link_init(void) {
@@ -52,22 +52,27 @@ void high_speed_logger_spi_link_init(void) {
 
 void high_speed_logger_spi_link_periodic(void)
 {
-  high_speed_logger_spi_link_data.gyro_p     = imu.gyro_unscaled.p;
-  high_speed_logger_spi_link_data.gyro_q     = imu.gyro_unscaled.q;
-  high_speed_logger_spi_link_data.gyro_r     = imu.gyro_unscaled.r;
-  high_speed_logger_spi_link_data.acc_x      = imu.accel_unscaled.x;
-  high_speed_logger_spi_link_data.acc_y      = imu.accel_unscaled.y;
-  high_speed_logger_spi_link_data.acc_z      = imu.accel_unscaled.z;
-  high_speed_logger_spi_link_data.mag_x      = imu.mag_unscaled.x;
-  high_speed_logger_spi_link_data.mag_y      = imu.mag_unscaled.x;
-  high_speed_logger_spi_link_data.mag_z      = imu.mag_unscaled.x;
+  if (high_speed_logger_spi_link_ready)
+  {
+    high_speed_logger_spi_link_ready = FALSE;
+    high_speed_logger_spi_link_data.gyro_p     = imu.gyro_unscaled.p;
+    high_speed_logger_spi_link_data.gyro_q     = imu.gyro_unscaled.q;
+    high_speed_logger_spi_link_data.gyro_r     = imu.gyro_unscaled.r;
+    high_speed_logger_spi_link_data.acc_x      = imu.accel_unscaled.x;
+    high_speed_logger_spi_link_data.acc_y      = imu.accel_unscaled.y;
+    high_speed_logger_spi_link_data.acc_z      = imu.accel_unscaled.z;
+    high_speed_logger_spi_link_data.mag_x      = imu.mag_unscaled.x;
+    high_speed_logger_spi_link_data.mag_y      = imu.mag_unscaled.x;
+    high_speed_logger_spi_link_data.mag_z      = imu.mag_unscaled.x;
 
-  spi_submit(&(HIGH_SPEED_LOGGER_SPI_LINK_DEVICE), &high_speed_logger_spi_link_transaction);
+    spi_submit(&(HIGH_SPEED_LOGGER_SPI_LINK_DEVICE), &high_speed_logger_spi_link_transaction);
+  }
 
   high_speed_logger_spi_link_data.id++;
 }
 
 static void high_speed_logger_spi_link_trans_cb( struct spi_transaction *trans ) {
+  high_speed_logger_spi_link_ready = TRUE;
 }