kopia lustrzana https://github.com/cyoung/stratux
Misc cleanup.
Christopher Young
rodzic
d7498169ed
commit
360845b454
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@ -114,7 +114,7 @@ var myGPSPerfStats []gpsPerfStats
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var serialConfig *serial.Config
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var serialPort *serial.Port
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var readyToInitGPS bool // TO-DO: replace with channel control to terminate goroutine when complete
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var readyToInitGPS bool //TODO: replace with channel control to terminate goroutine when complete
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var satelliteMutex *sync.Mutex
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var Satellites map[string]SatelliteInfo
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@ -207,54 +207,6 @@ func initGPSSerial() bool {
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log.Printf("Using %s for GPS\n", device)
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}
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/* Developer option -- uncomment to allow "hot" configuration of GPS (assuming 38.4 kpbs on warm start)
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serialConfig = &serial.Config{Name: device, Baud: 38400}
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p, err := serial.OpenPort(serialConfig)
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if err != nil {
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log.Printf("serial port err: %s\n", err.Error())
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return false
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} else { // reset port to 9600 baud for configuration
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cfg1 := make([]byte, 20)
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cfg1[0] = 0x01 // portID.
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cfg1[1] = 0x00 // res0.
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cfg1[2] = 0x00 // res1.
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cfg1[3] = 0x00 // res1.
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// [ 7 ] [ 6 ] [ 5 ] [ 4 ]
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// 0000 0000 0000 0000 1000 0000 1100 0000
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// UART mode. 0 stop bits, no parity, 8 data bits. Little endian order.
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cfg1[4] = 0xC0
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cfg1[5] = 0x08
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cfg1[6] = 0x00
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cfg1[7] = 0x00
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// Baud rate. Little endian order.
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bdrt1 := uint32(9600)
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cfg1[11] = byte((bdrt1 >> 24) & 0xFF)
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cfg1[10] = byte((bdrt1 >> 16) & 0xFF)
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cfg1[9] = byte((bdrt1 >> 8) & 0xFF)
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cfg1[8] = byte(bdrt1 & 0xFF)
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// inProtoMask. NMEA and UBX. Little endian.
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cfg1[12] = 0x03
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cfg1[13] = 0x00
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// outProtoMask. NMEA. Little endian.
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cfg1[14] = 0x02
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cfg1[15] = 0x00
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cfg1[16] = 0x00 // flags.
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cfg1[17] = 0x00 // flags.
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cfg1[18] = 0x00 //pad.
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cfg1[19] = 0x00 //pad.
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p.Write(makeUBXCFG(0x06, 0x00, 20, cfg1))
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p.Close()
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}
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-- End developer option */
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// Open port at default baud for config.
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serialConfig = &serial.Config{Name: device, Baud: baudrate}
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p, err := serial.OpenPort(serialConfig)
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@ -520,7 +472,7 @@ func calcGPSAttitude() bool {
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// second case: index is behind index-1. This could be result of day rollover. If time is within n seconds of UTC,
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// we rebase to the previous day, and will re-rebase the entire slice forward to the current day once all values roll over.
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// TO-DO: Validate by testing at 0000Z
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//TODO: Validate by testing at 0000Z
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if dt < 0 {
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log.Printf("GPS attitude: Current GPS time (%.2f) is older than last GPS time (%.2f). Checking for 0000Z rollover.\n", t1, t0)
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if myGPSPerfStats[index-1].nmeaTime > 86300 && myGPSPerfStats[index].nmeaTime < 100 { // be generous with the time window at rollover
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@ -1024,7 +976,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
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if err != nil {
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return false
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}
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if groundspeed > 3 { // TO-DO: use average groundspeed over last n seconds to avoid random "jumps"
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if groundspeed > 3 { //TODO: use average groundspeed over last n seconds to avoid random "jumps"
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trueCourse = float32(tc)
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setTrueCourse(uint16(groundspeed), tc)
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tmpSituation.TrueCourse = trueCourse
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@ -1032,7 +984,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
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} else {
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thisGpsPerf.coursef = -999.9 // regression will skip negative values
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// Negligible movement. Don't update course, but do use the slow speed.
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// TO-DO: use average course over last n seconds?
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//TODO: use average course over last n seconds?
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}
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tmpSituation.LastGroundTrackTime = stratuxClock.Time
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@ -1131,7 +1083,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
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svType = SAT_TYPE_SBAS
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svStr = fmt.Sprintf("S%d", sv)
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sv -= 87 // subtract 87 to convert to NMEA from PRN.
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} else { // TO-DO: Galileo
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} else { //TODO: Galileo
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svType = SAT_TYPE_UNKNOWN
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svStr = fmt.Sprintf("U%d", sv)
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}
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@ -1218,9 +1170,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
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log.Printf("GPS week # %v out of scope; not setting time and date\n", utcWeek)
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}
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return false
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} /* else {
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log.Printf("GPS week # %v valid; evaluate time and date\n", utcWeek) //debug option
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} */
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}
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// field 2 is UTC time
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if len(x[2]) < 7 {
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@ -1279,13 +1229,13 @@ func processNMEALine(l string) (sentenceUsed bool) {
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if err != nil {
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return false
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}
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if groundspeed > 3 { // TO-DO: use average groundspeed over last n seconds to avoid random "jumps"
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if groundspeed > 3 { //TODO: use average groundspeed over last n seconds to avoid random "jumps"
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trueCourse = float32(tc)
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setTrueCourse(uint16(groundspeed), tc)
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tmpSituation.TrueCourse = trueCourse
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} else {
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// Negligible movement. Don't update course, but do use the slow speed.
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// TO-DO: use average course over last n seconds?
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//TODO: use average course over last n seconds?
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}
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tmpSituation.LastGroundTrackTime = stratuxClock.Time
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@ -1515,7 +1465,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
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if err != nil && groundspeed > 3 { // some receivers return null COG at low speeds. Need to ignore this condition.
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return false
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}
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if groundspeed > 3 { // TO-DO: use average groundspeed over last n seconds to avoid random "jumps"
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if groundspeed > 3 { //TODO: use average groundspeed over last n seconds to avoid random "jumps"
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trueCourse = float32(tc)
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setTrueCourse(uint16(groundspeed), tc)
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tmpSituation.TrueCourse = trueCourse
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@ -1527,7 +1477,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
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thisGpsPerf.coursef = -999.9
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}
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// Negligible movement. Don't update course, but do use the slow speed.
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// TO-DO: use average course over last n seconds?
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//TODO: use average course over last n seconds?
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}
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if globalStatus.GPS_detected_type != GPS_TYPE_UBX {
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updateGPSPerf = true
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@ -1600,7 +1550,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
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svType = SAT_TYPE_GLONASS
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svStr = fmt.Sprintf("R%d", sv-64) // subtract 64 to convert from NMEA to PRN.
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svGLONASS = true
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} else { // TO-DO: Galileo
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} else { //TODO: Galileo
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svType = SAT_TYPE_UNKNOWN
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svStr = fmt.Sprintf("U%d", sv)
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}
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@ -1638,7 +1588,6 @@ func processNMEALine(l string) (sentenceUsed bool) {
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tmpSituation.Satellites++
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}
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}
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//log.Printf("There are %d satellites in solution from this GSA message\n", sat) // TESTING - DEBUG
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// field 16: HDOP
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// Accuracy estimate
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@ -1725,7 +1674,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
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} else if sv < 97 { // GLONASS
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svType = SAT_TYPE_GLONASS
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svStr = fmt.Sprintf("R%d", sv-64) // subtract 64 to convert from NMEA to PRN.
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} else { // TO-DO: Galileo
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} else { //TODO: Galileo
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svType = SAT_TYPE_UNKNOWN
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svStr = fmt.Sprintf("U%d", sv)
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}
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@ -1803,13 +1752,13 @@ func processNMEALine(l string) (sentenceUsed bool) {
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return true
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}
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// if we've gotten this far, the message isn't one that we want to parse
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// If we've gotten this far, the message isn't one that we can use.
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return false
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}
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func gpsSerialReader() {
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defer serialPort.Close()
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readyToInitGPS = false // TO-DO: replace with channel control to terminate goroutine when complete
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readyToInitGPS = false //TODO: replace with channel control to terminate goroutine when complete
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i := 0 //debug monitor
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scanner := bufio.NewScanner(serialPort)
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@ -1835,7 +1784,7 @@ func gpsSerialReader() {
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log.Printf("Exiting gpsSerialReader() after i=%d loops\n", i) // debug monitor
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}
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globalStatus.GPS_connected = false
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readyToInitGPS = true // TO-DO: replace with channel control to terminate goroutine when complete
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readyToInitGPS = true //TODO: replace with channel control to terminate goroutine when complete
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return
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}
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@ -1986,8 +1935,7 @@ func updateConstellation() {
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// do any other calculations needed for this satellite
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}
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}
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//log.Printf("Satellite counts: %d tracking channels, %d with >0 dB-Hz signal\n", tracked, seen) // DEBUG - REMOVE
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//log.Printf("Satellite struct: %v\n", Satellites) // DEBUG - REMOVE
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mySituation.Satellites = uint16(sats)
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mySituation.SatellitesTracked = uint16(tracked)
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mySituation.SatellitesSeen = uint16(seen)
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@ -2046,13 +1994,13 @@ func initI2CSensors() error {
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}
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func pollGPS() {
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readyToInitGPS = true //TO-DO: Implement more robust method (channel control) to kill zombie serial readers
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readyToInitGPS = true //TODO: Implement more robust method (channel control) to kill zombie serial readers
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timer := time.NewTicker(4 * time.Second)
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go gpsAttitudeSender()
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for {
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<-timer.C
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// GPS enabled, was not connected previously?
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if globalSettings.GPS_Enabled && !globalStatus.GPS_connected && readyToInitGPS { //TO-DO: Implement more robust method (channel control) to kill zombie serial readers
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if globalSettings.GPS_Enabled && !globalStatus.GPS_connected && readyToInitGPS { //TODO: Implement more robust method (channel control) to kill zombie serial readers
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globalStatus.GPS_connected = initGPSSerial()
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if globalStatus.GPS_connected {
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go gpsSerialReader()
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