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covarience thread #6

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covarience thread #6

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8 changes: 7 additions & 1 deletion nand_teensy/src/sd_logging.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ volatile char gps_buf [20000]; //Ashley
volatile char encoder_buf [20000]; //Gyan
volatile char filter_buf [20000];
volatile char covarience_buf [20000]; //Nnenna
volatile size_t covarience_size = 0;

Threads::Mutex steering_m;
Threads::Mutex gps_m;
Expand All @@ -31,7 +32,12 @@ void sd_thread() {
}

void multithread_covarience() {

char temp_buf[20000];
covarience_m.lock();
snprint(temp_buf, 20000, (const char *)covarience_buf);
covarience_size = 0;
covarience_m.unlock();
File.write(covarience_buf, sizeof(temp_buf), COVARIANCE_FILE);
}

void init() {
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