[gps_ubx] improve polling functions, use GPS_MAXIDLE, tidy indent

firmware/inc/watchdog.h

@@ -45,7 +45,7 @@ typedef enum {
  */
 #define MAXIDLE_WHILE_TELEMETRY_ACTIVE	60000
 #define MAXIDLE_WAIT_FOR_NEXT_TELEMETRY	30000
-#define MAXIDLE_WAIT_FOR_GPS		30000
+#define MAXIDLE_WAIT_FOR_GPS			1000
 
 struct idle_counter {
   uint32_t while_telemetry_active;

firmware/src/data.c

@@ -147,9 +147,10 @@ struct tracker_datapoint* collect_data(void)
    * ---- GPS UBX ----
    */
   /* wait for GPS, if it takes forever the watchdog will save us */
-  kick_the_watchdog();
-  while (gps_update_time_pending() || gps_update_position_pending());
-  kick_the_watchdog();
+  while (gps_update_time_pending() || gps_update_position_pending()) {
+    idle(IDLE_WAIT_FOR_GPS);
+  }
+
 
   if (gps_get_error_state() != GPS_NOERROR) {
     /* Error updating GPS position */

firmware/src/gps_ubx.c

@@ -280,6 +280,16 @@ enum gps_error _ubx_poll(ubx_message_t* message) {
   return gps_error_state;
 }
 
+/**
+ * Implements a microsecond delay
+ */
+static inline void delay_us(uint32_t microseconds)
+{
+  volatile int32_t i = microseconds * 8;
+
+  while(i--);
+}
+
 /**
  * Disable NMEA messages on the uBlox
  */
@@ -298,7 +308,7 @@ void gps_set_io_config(uint32_t baud_rate)
                     (uint8_t*)&ubx_cfg_prt.payload,
                     sizeof(ubx_cfg_prt.payload));
 
-  for (int i = 0; i < 1000*100; i++);
+  delay_us(1000*50);
 }
 
 /**
@@ -314,7 +324,7 @@ void gps_cfg_rst(void)
                     (uint8_t*)&ubx_cfg_rst.payload,
                     sizeof(ubx_cfg_rst.payload));
 
-  for (int i = 0; i < 1000*100; i++);
+  delay_us(1000*50);
 }
 
 
@@ -668,10 +678,6 @@ void gps_init(void)
   /* Incoming ubx messages are handled in an irq */
   usart_register_rx_callback(GPS_SERCOM, gps_rx_callback, GPS_SERCOM_INT_PRIO);
 
-  kick_the_watchdog();
-
-  for (int i = 0; i < 100*1000; i++) { kick_the_watchdog(); }
-
   /* Set the platform model */
   gps_set_platform_model();