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Handle timing for gpsUpdate task

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This commit is contained in:
Steve Evans 2021-04-11 23:06:09 +01:00
parent 025ee87a7a
commit a309bea8d7
1 changed files with 24 additions and 1 deletions
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25
src/main/io/gps.c
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@ -54,6 +54,8 @@
#include "flight/pid.h" #include "flight/pid.h"
#include "flight/gps_rescue.h" #include "flight/gps_rescue.h"
#include "scheduler/scheduler.h"
#include "sensors/sensors.h" #include "sensors/sensors.h"
#define LOG_ERROR '?' #define LOG_ERROR '?'
@ -673,10 +675,16 @@ static void updateGpsIndicator(timeUs_t currentTimeUs)
void gpsUpdate(timeUs_t currentTimeUs) void gpsUpdate(timeUs_t currentTimeUs)
{ {
pinioSet(0, 1);
static timeUs_t maxTimeUs = 0;
timeUs_t endTimeUs;
pinioSet(1, 1);
// read out available GPS bytes // read out available GPS bytes
if (gpsPort) { if (gpsPort) {
while (serialRxBytesWaiting(gpsPort)) while (serialRxBytesWaiting(gpsPort)) {
gpsNewData(serialRead(gpsPort)); gpsNewData(serialRead(gpsPort));
}
} else if (GPS_update & GPS_MSP_UPDATE) { // GPS data received via MSP } else if (GPS_update & GPS_MSP_UPDATE) { // GPS data received via MSP
gpsSetState(GPS_RECEIVING_DATA); gpsSetState(GPS_RECEIVING_DATA);
gpsData.lastMessage = millis(); gpsData.lastMessage = millis();
@ -684,7 +692,9 @@ void gpsUpdate(timeUs_t currentTimeUs)
onGpsNewData(); onGpsNewData();
GPS_update &= ~GPS_MSP_UPDATE; GPS_update &= ~GPS_MSP_UPDATE;
} }
pinioSet(1, 0);
pinioSet(2, 1);
switch (gpsData.state) { switch (gpsData.state) {
case GPS_UNKNOWN: case GPS_UNKNOWN:
case GPS_INITIALIZED: case GPS_INITIALIZED:
@ -737,6 +747,7 @@ void gpsUpdate(timeUs_t currentTimeUs)
} }
break; break;
} }
pinioSet(2, 0);
if (sensors(SENSOR_GPS)) { if (sensors(SENSOR_GPS)) {
updateGpsIndicator(currentTimeUs); updateGpsIndicator(currentTimeUs);
} }
@ -748,6 +759,18 @@ void gpsUpdate(timeUs_t currentTimeUs)
updateGPSRescueState(); updateGPSRescueState();
} }
#endif #endif
// Call ignoreTaskTime() unless this took appreciable time
// Note that this will mess up the rate/Hz display under tasks, but the code
// takes widely varying time to complete
endTimeUs = micros();
if ((endTimeUs - currentTimeUs) > maxTimeUs) {
maxTimeUs = endTimeUs - currentTimeUs;
} else {
ignoreTaskTime();
// Decay max time
maxTimeUs--;
}
pinioSet(0, 0);
} }
static void gpsNewData(uint16_t c) static void gpsNewData(uint16_t c)