Debugging in progress on GPS optimization

5e867565 · Theodor-Adrian Stana · 2b4e9a38 · 5e867565 · 5e867565 · 5e867565
Commit 5e867565 authored Oct 01, 2014 by Theodor-Adrian Stana
6 changed files
--- a/sw/common/drivers/gps/gps.c
+++ b/sw/common/drivers/gps/gps.c
@@ -65,7 +65,7 @@ void LEUART0_IRQHandler()
                        rxbuf[idx] = '\0';
                        idx = 0;
                        gps_set_framerdy(1);
-//                        gps_parse_nmea(rxbuf);
+                        gps_parse_nmea(rxbuf);
                }
        }
 }
@@ -160,7 +160,7 @@ void gps_parse_nmea(const char *buf)
 {
    // TODO: check return of nmea_parse
    nmea_parse(&parser, buf, strlen(buf), &info);
-    dbg();
+//    dbg();
    usbdbg_puts(buf);
 }


--- a/sw/freertos/Makefile
+++ b/sw/freertos/Makefile
@@ -105,7 +105,7 @@ override ASMFLAGS += -x assembler-with-cpp -D$(DEVICE) -Wall -Wextra -mcpu=corte
 # NOTE: The -Wl,--gc-sections flag may interfere with debugging using gdb.
 #
 override LDFLAGS += -Xlinker -Map=$(LST_DIR)/$(PROJECTNAME).map -mcpu=cortex-m3 \
-mthumb -T../common/Device/EnergyMicro/EFM32GG/Source/GCC/efm32gg_bootld.ld \
+-mthumb -T../common/Device/EnergyMicro/EFM32GG/Source/GCC/efm32gg.ld \
 -Wl,--gc-sections

 LIBS = -Wl,--start-group -lgcc -lc -lnosys   -Wl,--end-group
@@ -272,7 +272,7 @@ ifeq ($(filter $(MAKECMDGOALS),all debug release),)
 endif

 flash: $(EXE_DIR)/$(PROJECTNAME).bin
-	openocd -s ../common/openocd -f interface/$(OOCD_IFACE).cfg -f init.cfg -c "program $(EXE_DIR)/$(PROJECTNAME).bin 0 verify reset 0x8000"
+	openocd -s ../common/openocd -f interface/$(OOCD_IFACE).cfg -f init.cfg -c "program $(EXE_DIR)/$(PROJECTNAME).bin 0 verify reset"

 # include auto-generated dependency files (explicit rules)
 ifneq (clean,$(findstring clean, $(MAKECMDGOALS)))

--- a/sw/freertos/src/apps/application.h
+++ b/sw/freertos/src/apps/application.h
@@ -45,7 +45,7 @@ void debug();

 ///> Prioriuty of application task
 #define APP_PRIORITY            (tskIDLE_PRIORITY + 1)
-#define BKGRND_APP_PRIORITY     (tskIDLE_PRIORITY + 2)
+#define BKGND_APP_PRIORITY     (tskIDLE_PRIORITY + 2)


 ///> Shared application task handle

--- a/sw/freertos/src/apps/gpsbkgrnd.c
+++ b/sw/freertos/src/apps/gpsbkgrnd.c
@@ -39,8 +39,9 @@ void gpsbkgrnd_main(void *params)
    (void) params;

    while (1) {
-        if (xSemaphoreTake(semGps, portMAX_DELAY)) {
+        if (xSemaphoreTake(semGps, portMAX_DELAY) == pdTRUE) {
            gps_parse_nmea(gps_rxbuf);
+            gps_set_framerdy(0);
        }
    }
 }

--- a/sw/freertos/src/irq_dispatcher.c
+++ b/sw/freertos/src/irq_dispatcher.c
@@ -113,19 +113,34 @@ void HardFault_Handler(void)

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

 extern xSemaphoreHandle semGps;

 void LEUART0_IRQHandler(void)
 {
+    char c;
    portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

    if (LEUART0->IF & LEUART_IF_RXDATAV) {
-        gps_rxbuf[idx++] = LEUART_Rx(LEUART0);
-        if ((gps_rxbuf[idx-2] == '\r') && (gps_rxbuf[idx-1] == '\n')) {
-            gps_rxbuf[idx] = '\0';
-            idx = 0;
-            xSemaphoreGiveFromISR(semGps, &xHigherPriorityTaskWoken);
+        c = LEUART_Rx(LEUART0);
+
+        /* Start storing on frame start char and if app allows it */
+        if ((c == '$') && !gps_get_framerdy())
+            store = 1;
+
+        if (store) {
+            gps_rxbuf[idx++] = c;
+
+            /* Signal task that frame is ready */
+            if ((idx > 2) &&
+                    (gps_rxbuf[idx-2] == '\r') && (gps_rxbuf[idx-1] == '\n')) {
+                gps_rxbuf[idx] = '\0';
+                idx = 0;
+                store = 0;
+                gps_set_framerdy(1);
+                xSemaphoreGiveFromISR(semGps, &xHigherPriorityTaskWoken);
+            }
        }
    }


--- a/sw/freertos/src/main.c
+++ b/sw/freertos/src/main.c
@@ -52,6 +52,8 @@ int main(void)
    rtc_init();
    lcd_init();
    ui_init();
+
+    vSemaphoreCreateBinary(semGps);
    gps_init();

    GPIO_PinModeSet(gpioPortE, 11, gpioModePushPull, 0);
@@ -66,10 +68,9 @@ int main(void)

    startMain(&menu);

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