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Improved handling for higher update rates

pull/30/head
Pawel Jalocha 2020-12-29 00:00:50 +00:00
rodzic 4a8f0661aa
commit 59063d965f
1 zmienionych plików z 7 dodań i 6 usunięć
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13
main/gps.cpp
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@ -85,8 +85,8 @@ const int GPS_BurstTimeout = 100; // [ms]
// uint32_t GPS_getBaudRate (void) { return BaudRate[BaudRateIdx]; } // uint32_t GPS_getBaudRate (void) { return BaudRate[BaudRateIdx]; }
// uint32_t GPS_nextBaudRate(void) { BaudRateIdx++; if(BaudRateIdx>=BaudRates) BaudRateIdx=0; return GPS_getBaudRate(); } // uint32_t GPS_nextBaudRate(void) { BaudRateIdx++; if(BaudRateIdx>=BaudRates) BaudRateIdx=0; return GPS_getBaudRate(); }
static uint32_t GPS_BaudRate = 4800; // [bps] static uint32_t GPS_BaudRate = 4800; // [bps] current baudrate on the GPS port
static uint32_t GPS_nextBaudRate(void) static uint32_t GPS_nextBaudRate(void) // produce next (possible) GPS baudrate (for autobaud)
{ if(GPS_BaudRate>=230400) GPS_BaudRate=4800; { if(GPS_BaudRate>=230400) GPS_BaudRate=4800;
else if(GPS_BaudRate==38400) GPS_BaudRate=57600; else if(GPS_BaudRate==38400) GPS_BaudRate=57600;
else GPS_BaudRate<<=1; else GPS_BaudRate<<=1;
@ -243,9 +243,10 @@ static void GPS_LockEnd(void) // called when GPS looses a
// ---------------------------------------------------------------------------- // ----------------------------------------------------------------------------
static void GPS_BurstStart(void) // when GPS starts sending the data on the serial port static void GPS_BurstStart(int CharDelay=0) // when GPS starts sending the data on the serial port
{ GPS_Burst.Active=1; { GPS_Burst.Active=1;
Burst_Tick=xTaskGetTickCount(); Burst_Tick=xTaskGetTickCount();
if(CharDelay) Burst_Tick -= (CharDelay*10000)/GPS_BaudRate; // correct for the data already received on the GPS port
#ifdef DEBUG_PRINT #ifdef DEBUG_PRINT
xSemaphoreTake(CONS_Mutex, portMAX_DELAY); xSemaphoreTake(CONS_Mutex, portMAX_DELAY);
Format_UnsDec(CONS_UART_Write, TimeSync_Time(Burst_Tick)%60, 2); Format_UnsDec(CONS_UART_Write, TimeSync_Time(Burst_Tick)%60, 2);
@ -611,11 +612,11 @@ static void GPS_NMEA(void) // wh
if(NMEA.isGxGSV()) ProcessGSV(NMEA); // process satellite data if(NMEA.isGxGSV()) ProcessGSV(NMEA); // process satellite data
else if(NMEA.isGxRMC()) else if(NMEA.isGxRMC())
{ int8_t SameTime = GPS_DateTime.ReadTime((const char *)NMEA.ParmPtr(0)); // 1=same time, 0=diff. time, -1=error { int8_t SameTime = GPS_DateTime.ReadTime((const char *)NMEA.ParmPtr(0)); // 1=same time, 0=diff. time, -1=error
if(SameTime==0 && GPS_Burst.GxRMC) { GPS_BurstComplete(); GPS_BurstEnd(); GPS_BurstStart(); } if(SameTime==0 && GPS_Burst.GxRMC) { GPS_BurstComplete(); GPS_BurstEnd(); GPS_BurstStart(NMEA.Len); }
GPS_Burst.GxRMC=1; } GPS_Burst.GxRMC=1; }
else if(NMEA.isGxGGA()) else if(NMEA.isGxGGA())
{ int8_t SameTime = GPS_DateTime.ReadTime((const char *)NMEA.ParmPtr(0)); // 1=same time, 0=diff. time, -1=error { int8_t SameTime = GPS_DateTime.ReadTime((const char *)NMEA.ParmPtr(0)); // 1=same time, 0=diff. time, -1=error
if(SameTime==0 && GPS_Burst.GxGGA) { GPS_BurstComplete(); GPS_BurstEnd(); GPS_BurstStart(); } if(SameTime==0 && GPS_Burst.GxGGA) { GPS_BurstComplete(); GPS_BurstEnd(); GPS_BurstStart(NMEA.Len); }
GPS_Burst.GxGGA=1; } GPS_Burst.GxGGA=1; }
else if(NMEA.isGxGSA()) else if(NMEA.isGxGSA())
{ GPS_Burst.GxGSA=1; } { GPS_Burst.GxGSA=1; }
@ -733,7 +734,7 @@ static void GPS_UBX(void)
if(UBX.isCFG_SBAS()) // if CFG-SBAS if(UBX.isCFG_SBAS()) // if CFG-SBAS
{ class UBX_CFG_SBAS *CFG = (class UBX_CFG_SBAS *)UBX.Word; { class UBX_CFG_SBAS *CFG = (class UBX_CFG_SBAS *)UBX.Word;
CFG->mode = Parameters.EnableSBAS; CFG->mode = Parameters.EnableSBAS;
CFG->usage=7; CFG->usage=3; // integrity | diff.corr. | range
CFG->maxSBAS=3; CFG->maxSBAS=3;
CFG->scanmode1=0; CFG->scanmode1=0;
CFG->scanmode2=0; CFG->scanmode2=0;