More trials with GPS optimization

A bug was fixed in gps_parse_nmea(), whereby the wrong buffer was given as a param to strlen(), which is used in gps_parse_nmea() to provide a buffer size parameter to nmea_parse. After this, the processor now enters a hard fault ,probably due to segmentation fault. More debug is needed probably with a different board to find out why.

More trials with GPS optimization
A bug was fixed in gps_parse_nmea(), whereby the wrong buffer was given as a param to strlen(), which is used in gps_parse_nmea() to provide a buffer size parameter to nmea_parse. After this, the processor now enters a hard fault ,probably due to segmentation fault. More debug is needed probably with a different board to find out why.
2b4e9a38 · Theodor-Adrian Stana · e18ed9d9 · 2b4e9a38 · 2b4e9a38 · 2b4e9a38
Commit 2b4e9a38 authored Oct 01, 2014 by Theodor-Adrian Stana
5 changed files
--- a/sw/common/drivers/gps/gps.c
+++ b/sw/common/drivers/gps/gps.c
@@ -51,7 +51,7 @@

 static char rxbuf[GPS_RXBUF_SIZE];
 static volatile int idx = 0;
-static volatile int frame_rdy = 0;
+static volatile int framerdy = 0;

 static nmeaINFO info;
 static nmeaPARSER parser;
@@ -64,7 +64,7 @@ void LEUART0_IRQHandler()
                if ((rxbuf[idx-2] == '\r') && (rxbuf[idx-1] == '\n')) {
                        rxbuf[idx] = '\0';
                        idx = 0;
-                        frame_rdy = 1;
+                        gps_set_framerdy(1);
 //                        gps_parse_nmea(rxbuf);
                }
        }
@@ -138,17 +138,30 @@ void gps_reset(int val)
        val ? GPIO_PinOutClear(gpioPortF, 5) : GPIO_PinOutSet(gpioPortF, 5);
 }

-int gps_frame_rdy()
+int gps_get_framerdy()
 {
-    return frame_rdy;
+    return framerdy;
 }

-void gps_parse_nmea(char *buf)
+void gps_set_framerdy(int param)
+{
+    framerdy = param;
+}
+
+static void dbg()
+{
+    int i;
+    GPIO_PinOutSet(gpioPortE, 11);
+    for (i = 0; i < 100000; i++) ;
+    GPIO_PinOutClear(gpioPortE, 11);
+}
+
+void gps_parse_nmea(const char *buf)
 {
    // TODO: check return of nmea_parse
-    nmea_parse(&parser, buf, strlen(rxbuf), &info);
+    nmea_parse(&parser, buf, strlen(buf), &info);
+    dbg();
    usbdbg_puts(buf);
-    frame_rdy = 0;
 }

 int gps_fixed()
@@ -199,7 +212,7 @@ void gps_get_direction(double *dir)
        *dir = info.direction;
 }

-int gps_puts(char *s)
+int gps_puts(const char *s)
 {
        while (*s++) {
                if (*s == EOF)

--- a/sw/common/drivers/gps/gps.h
+++ b/sw/common/drivers/gps/gps.h
@@ -71,14 +71,15 @@ struct gps_utc {
 void    gps_init();
 void    gps_on_off_pulse();
 void    gps_reset(int val);
-int     gps_frame_rdy();
-void    gps_parse_nmea(char *buf);
+int     gps_get_framerdy();
+void    gps_set_framerdy();
+void    gps_parse_nmea(const char *buf);
 int     gps_fixed();
 void    gps_get_utc(struct gps_utc *utc);
 void    gps_get_coord(struct gps_coord *coord, int format);
 void    gps_get_speed(double *spd);
 void    gps_get_direction(double *dir);
-int     gps_puts(char *s);
+int     gps_puts(const char *s);
 int     gps_nmea_crc(const char *nmeastr);

 #endif // __GPS_H_
--- a/sw/freertos/src/apps/gpsbkgrnd.c
+++ b/sw/freertos/src/apps/gpsbkgrnd.c
@@ -29,16 +29,9 @@

 #include <usbdbg.h>

-#define dbg()                       \
-    int i;                          \
-    GPIO_PinOutSet(gpioPortE, 11);  \
-    for (i = 0; i < 1000000; i++)   \
-        ;                           \
-    GPIO_PinOutClear(gpioPortE, 11);
+extern char gps_rxbuf[GPS_RXBUF_SIZE];

-extern volatile char gps_rxbuf[GPS_RXBUF_SIZE];
-
-extern xSemaphoreHandle sem_gps;
+extern xSemaphoreHandle semGps;

 void gpsbkgrnd_main(void *params)
 {
@@ -46,7 +39,7 @@ void gpsbkgrnd_main(void *params)
    (void) params;

    while (1) {
-        if (xSemaphoreTake(sem_gps, portMAX_DELAY)) {
+        if (xSemaphoreTake(semGps, portMAX_DELAY)) {
            gps_parse_nmea(gps_rxbuf);
        }
    }

--- a/sw/freertos/src/irq_dispatcher.c
+++ b/sw/freertos/src/irq_dispatcher.c
@@ -111,10 +111,10 @@ void HardFault_Handler(void)
    SCB->AIRCR = 0x05FA0004;
 }

-volatile char gps_rxbuf[GPS_RXBUF_SIZE];
+char gps_rxbuf[GPS_RXBUF_SIZE];
 static volatile int idx = 0;

-extern xSemaphoreHandle sem_gps;
+extern xSemaphoreHandle semGps;

 void LEUART0_IRQHandler(void)
 {
@@ -125,7 +125,7 @@ void LEUART0_IRQHandler(void)
        if ((gps_rxbuf[idx-2] == '\r') && (gps_rxbuf[idx-1] == '\n')) {
            gps_rxbuf[idx] = '\0';
            idx = 0;
-            xSemaphoreGiveFromISR(sem_gps, &xHigherPriorityTaskWoken);
+            xSemaphoreGiveFromISR(semGps, &xHigherPriorityTaskWoken);
        }
    }


--- a/sw/freertos/src/main.c
+++ b/sw/freertos/src/main.c
@@ -36,7 +36,7 @@
 #include <gfx/ui.h>
 #include <drivers/gps/gps.h>

-xSemaphoreHandle sem_gps;
+xSemaphoreHandle semGps;

 int main(void)
 {
@@ -66,7 +66,7 @@ int main(void)

    startMain(&menu);

-    vSemaphoreCreateBinary(sem_gps);
+    vSemaphoreCreateBinary(semGps);
    /* Create background task for GPS */
    if (xTaskCreate(gpsbkgrnd.main, (const signed char *)gpsbkgrnd.name,
        APP_STACK_SIZE, NULL, APP_PRIORITY, NULL) != pdPASS) {