From eaa64690b71e3f43743f52e6d2e1dfce389100e6 Mon Sep 17 00:00:00 2001
From: Richard Meadows <richardeoin@gmail.com>
Date: Fri, 24 Jul 2015 20:25:57 +0100
Subject: [PATCH] Timeout and retries on gps position and time. Lock and wait
 for hardware reset after 5 tries

---
 firmware/inc/cron.h |  1 +
 firmware/src/cron.c | 28 +++++++++++++++++++++++++---
 firmware/src/data.c | 34 +++++++++++++++++++++++++++-------
 3 files changed, 53 insertions(+), 10 deletions(-)

diff --git a/firmware/inc/cron.h b/firmware/inc/cron.h
index 810fe8f..709232c 100644
--- a/firmware/inc/cron.h
+++ b/firmware/inc/cron.h
@@ -32,6 +32,7 @@ typedef struct tracker_time {
   uint8_t valid;
 } tracker_time;
 
+uint32_t cron_current_job_ticks(void);
 void do_cron(void);
 void cron_tick(void);
 
diff --git a/firmware/src/cron.c b/firmware/src/cron.c
index 6920cbe..2229ddb 100644
--- a/firmware/src/cron.c
+++ b/firmware/src/cron.c
@@ -54,6 +54,11 @@ void contestia_telemetry(struct tracker_datapoint* dp);
 void aprs_telemetry(struct tracker_datapoint* dp);
 void pips_telemetry(void);
 
+/**
+ * For GPS time timeout
+ */
+uint32_t ticks_delta_start;
+
 /**
  * Number of days in month. This won't be used much but I guess I have
  * to implement it. Sigh
@@ -85,20 +90,37 @@ uint8_t days_in_month(struct tracker_time* t)
   }
 }
 
+/**
+ * Returns the number of ticks the current cron job has been running for
+ *
+ * ticks = seconds. Can be used for timeouts etc.
+ */
+uint32_t cron_current_job_ticks(void)
+{
+  return ticks;
+}
+
 /**
  * Reads current time from the GPS
  */
 void read_gps_time(void)
 {
+  /* Record current ticks */
+  ticks_delta_start = cron_current_job_ticks();
+
   /* GPS Time */
   gps_update_time();
 
-  /* Sleep Wait */
-  while (gps_update_time_pending()) {
+  /* Sleep Wait. Timeout after 3 ticks */
+  while (gps_update_time_pending() &&
+         (cron_current_job_ticks() - ticks_delta_start) <= 3) {
+
     idle(IDLE_WAIT_FOR_GPS);
   }
 
-  if (gps_get_error_state() == GPS_NOERROR) {
+  /* If no error and no timeout */
+  if ((gps_get_error_state() == GPS_NOERROR) &&
+      (cron_current_job_ticks() - ticks_delta_start) <= 3) {
 
     /* Time */
     struct ubx_nav_timeutc gt = gps_get_nav_timeutc();
diff --git a/firmware/src/data.c b/firmware/src/data.c
index f448f5e..5d3ee67 100644
--- a/firmware/src/data.c
+++ b/firmware/src/data.c
@@ -34,6 +34,12 @@
 #include "telemetry.h"
 #include "watchdog.h"
 
+/**
+ * GPS timeout and retries
+ */
+#define GPS_POSITION_RETRIES	5
+uint32_t ticks_delta_start;
+
 struct tracker_datapoint datapoint = {.time={0}};
 
 void xosc_measure_callback(uint32_t result)
@@ -58,6 +64,8 @@ void collect_data_async(void)
  */
 struct tracker_datapoint* collect_data(void)
 {
+  uint8_t gps_retries = 0;
+
   /**
    * ---- Analogue ----
    */
@@ -69,15 +77,27 @@ struct tracker_datapoint* collect_data(void)
   /**
    * ---- GPS ----
    */
-  gps_update_position();
+  do {
+    /* Record current ticks */
+    ticks_delta_start = cron_current_job_ticks();
 
-  /* Wait for the gps update */
-  while (gps_update_position_pending()) {
-    idle(IDLE_WAIT_FOR_GPS);
-  }
+    gps_update_position();
 
-  /* At this point the gps could be in an error state */
-  /* We still use the old values however. */
+    /* Wait for the gps update. Timeout after 3 ticks */
+    while (gps_update_position_pending() &&
+           (cron_current_job_ticks() - ticks_delta_start) <= 3) {
+
+      idle(IDLE_WAIT_FOR_GPS);
+    }
+
+    /* In the case of a error or timeout keep retrying up to 5
+     * times */
+  } while (((gps_get_error_state() == GPS_NOERROR) ||
+            (cron_current_job_ticks() - ticks_delta_start) > 3)
+           && gps_retries++ < GPS_POSITION_RETRIES);
+
+  /* Halt and wait for hw watchdog */
+  if (gps_retries >= GPS_POSITION_RETRIES) { while (1); }
 
   /* GPS Status */
   struct ubx_nav_sol sol = gps_get_nav_sol();