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If GPS serial data remains, reschedule task to run again after 1ms

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This commit is contained in:
Steve Evans 2021-12-19 20:26:36 +00:00
parent aa4f0f7517
commit 7f147479fc
3 changed files with 13 additions and 4 deletions
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2
src/main/fc/tasks.c
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@ -489,7 +489,7 @@ task_t tasks[TASK_COUNT] = {
#endif
#ifdef USE_GPS
[TASK_GPS] = DEFINE_TASK("GPS", NULL, NULL, gpsUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_MEDIUM), // Required to prevent buffer overruns if running at 115200 baud (115 bytes / period < 256 bytes buffer)
[TASK_GPS] = DEFINE_TASK("GPS", NULL, NULL, gpsUpdate, TASK_PERIOD_HZ(TASK_GPS_RATE), TASK_PRIORITY_MEDIUM), // Required to prevent buffer overruns if running at 115200 baud (115 bytes / period < 256 bytes buffer)
#endif
#ifdef USE_MAG

12
src/main/io/gps.c
View file

@ -683,13 +683,19 @@ void gpsUpdate(timeUs_t currentTimeUs)
timeUs_t executeTimeUs;
gpsState_e gpsCurState = gpsData.state;
// read out available GPS bytes
if (gpsPort) {
while (serialRxBytesWaiting(gpsPort) && (cmpTimeUs(micros(), currentTimeUs) < GPS_MAX_WAIT_DATA_RX)) {
while (serialRxBytesWaiting(gpsPort)) {
if (cmpTimeUs(micros(), currentTimeUs) > GPS_MAX_WAIT_DATA_RX) {
// Wait 1ms and come back
rescheduleTask(TASK_SELF, TASK_PERIOD_HZ(TASK_GPS_RATE_FAST));
return;
}
gpsNewData(serialRead(gpsPort));
}
} else if (GPS_update & GPS_MSP_UPDATE) { // GPS data received via MSP
// Restore default task rate
rescheduleTask(TASK_SELF, TASK_PERIOD_HZ(TASK_GPS_RATE));
} else if (GPS_update & GPS_MSP_UPDATE) { // GPS data received via MSP
gpsSetState(GPS_STATE_RECEIVING_DATA);
gpsData.lastMessage = millis();
sensorsSet(SENSOR_GPS);

3
src/main/io/gps.h
View file

@ -180,6 +180,9 @@ extern uint8_t GPS_svinfo_cno[16]; // Carrier to Noise Ratio (Signal Str
#define GPS_DBHZ_MIN 0
#define GPS_DBHZ_MAX 55
#define TASK_GPS_RATE 100
#define TASK_GPS_RATE_FAST 1000
void gpsInit(void);
void gpsUpdate(timeUs_t currentTimeUs);
bool gpsNewFrame(uint8_t c);