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Improve serial port timing

master
Pawel Jalocha 2022-11-30 05:11:07 +00:00
rodzic 9bcccbc1ca
commit 670043d468
2 zmienionych plików z 12 dodań i 10 usunięć
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21
main/gps.cpp
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@ -100,7 +100,7 @@ static uint32_t GPS_nextBaudRate(void) // produce next (possible) GPS baudrate
uint32_t GPS_getBaudRate (void) { return GPS_BaudRate; } uint32_t GPS_getBaudRate (void) { return GPS_BaudRate; }
const uint32_t GPS_TargetBaudRate = 57600; // [bps] const uint32_t GPS_TargetBaudRate = 115200; // [bps]
// const uint8_t GPS_TargetDynModel = 7; // for UBX GPS's: 6 = airborne with >1g, 7 = with >2g // const uint8_t GPS_TargetDynModel = 7; // for UBX GPS's: 6 = airborne with >1g, 7 = with >2g
#ifdef WITH_MAVLINK #ifdef WITH_MAVLINK
@ -119,7 +119,7 @@ static uint32_t RndID_TimeToChange = 0;
void FlightProcess(void) void FlightProcess(void)
{ bool PrevInFlight=Flight.inFlight(); { bool PrevInFlight=Flight.inFlight();
GPS_Position &GPS = GPS_Pos[GPS_PosIdx]; GPS_Position &GPS = GPS_Pos[GPS_PosIdx];
Flight.Process(GPS_Pos[GPS_PosIdx]); Flight.Process(GPS);
GPS.InFlight=Flight.inFlight(); GPS.InFlight=Flight.inFlight();
if(Parameters.AddrType!=0) return; if(Parameters.AddrType!=0) return;
uint32_t Random = GPS_Random^RX_Random; uint32_t Random = GPS_Random^RX_Random;
@ -320,9 +320,9 @@ static void GPS_BurstStart(int CharDelay=0) // when GPS starts sending the data
#ifdef WITH_GPS_UBX #ifdef WITH_GPS_UBX
if(Parameters.NavRate) if(Parameters.NavRate)
{ UBX_CFG_RATE CFG_RATE; { UBX_CFG_RATE CFG_RATE;
CFG_RATE.measRate = 1000/Parameters.NavRate; CFG_RATE.measRate = 1000/Parameters.NavRate; // set the requested measuring period
CFG_RATE.navRate = 1; CFG_RATE.navRate = 1;
CFG_RATE.timeRef = 0; CFG_RATE.timeRef = 0; //
UBX_RxMsg::Send(0x06, 0x08, GPS_UART_Write, (uint8_t*)(&CFG_RATE), sizeof(CFG_RATE)); UBX_RxMsg::Send(0x06, 0x08, GPS_UART_Write, (uint8_t*)(&CFG_RATE), sizeof(CFG_RATE));
#ifdef DEBUG_PRINT #ifdef DEBUG_PRINT
Format_String(CONS_UART_Write, "GPS <- CFG-RATE: "); Format_String(CONS_UART_Write, "GPS <- CFG-RATE: ");
@ -331,7 +331,7 @@ static void GPS_BurstStart(int CharDelay=0) // when GPS starts sending the data
#endif #endif
} }
{ UBX_CFG_NAV5 CFG_NAV5; { UBX_CFG_NAV5 CFG_NAV5;
CFG_NAV5.setDynModel(Parameters.NavMode); CFG_NAV5.setDynModel(Parameters.NavMode); // set the navigation/dynamic model
UBX_RxMsg::Send(0x06, 0x24, GPS_UART_Write, (uint8_t*)(&CFG_NAV5), sizeof(CFG_NAV5)); UBX_RxMsg::Send(0x06, 0x24, GPS_UART_Write, (uint8_t*)(&CFG_NAV5), sizeof(CFG_NAV5));
#ifdef DEBUG_PRINT #ifdef DEBUG_PRINT
Format_String(CONS_UART_Write, "GPS <- CFG-NAV5: "); Format_String(CONS_UART_Write, "GPS <- CFG-NAV5: ");
@ -461,7 +461,8 @@ static void GPS_BurstStart(int CharDelay=0) // when GPS starts sending the data
// GPS_UART_Flush(500); // wait for all data to be sent to the GPS // GPS_UART_Flush(500); // wait for all data to be sent to the GPS
// GPS_UART_SetBaudrate(GPS_TargetBaudRate); GPS_BaudRate=GPS_TargetBaudRate; // switch serial port to the new baudrate // GPS_UART_SetBaudrate(GPS_TargetBaudRate); GPS_BaudRate=GPS_TargetBaudRate; // switch serial port to the new baudrate
} }
QueryWait=60;
QueryWait=60; if(Parameters.NavRate) QueryWait+=Parameters.NavRate;
} }
} }
else { QueryWait=0; } else { QueryWait=0; }
@ -1089,12 +1090,12 @@ void vTaskGPS(void* pvParameters)
#endif #endif
LineIdle+=Delta; // count idle time LineIdle+=Delta; // count idle time
NoValidData+=Delta; // count time without any valid NMEA nor UBX packet NoValidData+=Delta; // count time without any valid NMEA nor UBX packet
uint16_t Bytes=0; // uint16_t Bytes=0;
uint16_t MaxBytesPerTick = 1+(GPS_getBaudRate()+2500)/5000; // uint16_t MaxBytesPerTick = 1+(GPS_getBaudRate()+2500)/5000;
for( ; ; ) // loop over bytes in the GPS UART buffer for( ; ; ) // loop over bytes in the GPS UART buffer
{ uint8_t Byte; int Err=GPS_UART_Read(Byte); if(Err<=0) break; // get Byte from serial port, if no bytes then break this loop { uint8_t Byte; int Err=GPS_UART_Read(Byte); if(Err<=0) break; // get Byte from serial port, if no bytes then break this loop
// CONS_UART_Write(Byte); // copy the GPS output to console (for debug only) // CONS_UART_Write(Byte); // copy the GPS output to console (for debug only)
Bytes++; // Bytes++;
LineIdle=0; // if there was a byte: restart idle counting LineIdle=0; // if there was a byte: restart idle counting
NMEA.ProcessByte(Byte); // process through the NMEA interpreter NMEA.ProcessByte(Byte); // process through the NMEA interpreter
#ifdef WITH_GPS_UBX #ifdef WITH_GPS_UBX
@ -1112,7 +1113,7 @@ void vTaskGPS(void* pvParameters)
#ifdef WITH_MAVLINK #ifdef WITH_MAVLINK
if(MAV.isComplete()) { GPS_MAV(); NoValidData=0; MAV.Clear(); break; } if(MAV.isComplete()) { GPS_MAV(); NoValidData=0; MAV.Clear(); break; }
#endif #endif
if(Bytes>=MaxBytesPerTick) break; // if(Bytes>=MaxBytesPerTick) break;
} }
/* /*
#ifdef DEBUG_PRINT #ifdef DEBUG_PRINT

1
main/hal.cpp
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@ -1607,6 +1607,7 @@ void IO_Configuration(void)
uart_param_config (GPS_UART, &GPS_UART_Config); uart_param_config (GPS_UART, &GPS_UART_Config);
uart_set_pin (GPS_UART, PIN_GPS_TXD, PIN_GPS_RXD, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE); uart_set_pin (GPS_UART, PIN_GPS_TXD, PIN_GPS_RXD, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
uart_driver_install(GPS_UART, 512, 512, 0, 0, 0); uart_driver_install(GPS_UART, 512, 512, 0, 0, 0);
uart_set_rx_full_threshold(GPS_UART, 24);
#endif #endif
#ifdef AERO_UART #ifdef AERO_UART