fixup! Allow in-systick logging over bluetooth with DMA

Bulebots · Nov 24, 2018 · cdefc49 · cdefc49
1 parent d55aa28
commit cdefc49
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Showing 3 changed files with 38 additions and 32 deletions.
diff --git a/src/logging.c b/src/logging.c
@@ -1,5 +1,39 @@
 #include "logging.h"
 
+#define TX_SIZE 100
+
+static volatile bool systick_logging;
+static char systick_log_buffer[TX_SIZE];
+
+void enable_systick_logging(void)
+{
+	LOG_INFO("Systick logging on");
+	sleep_ticks(2);
+	led_right_on();
+	systick_logging = true;
+}
+
+void disable_systick_logging(void)
+{
+	systick_logging = false;
+	led_right_off();
+	sleep_ticks(2);
+	LOG_INFO("Systick logging off");
+}
+
+void log_data(void)
+{
+	uint32_t time;
+
+	if (!systick_logging)
+		return;
+	time = get_clock_ticks();
+	sprintf(systick_log_buffer, "%" PRIu32 ",DATA,,,%.4f,%.4f,%.4f,%.4f\n",
+		time, get_front_left_distance(), get_front_right_distance(),
+		get_side_left_distance(), get_side_right_distance());
+	dma_write(systick_log_buffer, strlen(systick_log_buffer));
+}
+
 /**
  * @brief Log the current battery voltage.
  */

diff --git a/src/logging.h b/src/logging.h
@@ -36,6 +36,9 @@ static const char *const log_level_strings[] = {"DEBUG", "INFO", "WARNING",
 	LOG_MESSAGE(LOG_LEVEL_WARNING, format, ##arg)
 #define LOG_ERROR(format, arg...) LOG_MESSAGE(LOG_LEVEL_ERROR, format, ##arg)
 
+void enable_systick_logging(void);
+void disable_systick_logging(void);
+void log_data(void);
 void log_battery_voltage(void);
 void log_configuration_variables(void);
 void log_linear_speed(void);

diff --git a/src/main.c b/src/main.c
@@ -16,38 +16,8 @@
 #include "speaker.h"
 #include "speed.h"
 
-static volatile bool systick_logging;
-#define TX_SIZE 100
-static char systick_log_buffer[TX_SIZE];
-
 static void competition(void);
 
-static void enable_systick_logging(void)
-{
-	LOG_INFO("Systick logging on: %d", TX_SIZE);
-	sleep_ticks(2);
-	led_right_on();
-	systick_logging = true;
-}
-
-static void disable_systick_logging(void)
-{
-	systick_logging = false;
-	led_right_off();
-	sleep_ticks(2);
-	LOG_INFO("Systick logging off");
-}
-
-static void systick_log(void)
-{
-	uint32_t time = get_clock_ticks();
-
-	sprintf(systick_log_buffer, "%" PRIu32 ",DATA,,,%.4f,%.4f,%.4f,%.4f\n",
-		time, get_front_left_distance(), get_front_right_distance(),
-		get_side_left_distance(), get_side_right_distance());
-	dma_write(systick_log_buffer, strlen(systick_log_buffer));
-}
-
 /**
  * @brief Handle the SysTick interruptions.
  */
@@ -59,8 +29,7 @@ void sys_tick_handler(void)
 	update_gyro_readings();
 	update_encoder_readings();
 	motor_control();
-	if (systick_logging)
-		systick_log();
+	log_data();
 }
 
 /**