GPS parsing in task almost working

e18ed9d9 · Theodor-Adrian Stana · d8f1e42f · e18ed9d9 · e18ed9d9 · e18ed9d9
Commit e18ed9d9 authored Sep 30, 2014 by Theodor-Adrian Stana
9 changed files
--- a/sw/common/drivers/gps/gps.c
+++ b/sw/common/drivers/gps/gps.c
@@ -49,11 +49,7 @@
 #include <usbconfig.h>
 #include <usbdbg.h>

-
-#define GPS_OK_TO_SEND "$PSRF150,1*3E\r\n"
-
-#define RXBUFSIZE 128
-static char rxbuf[RXBUFSIZE];
+static char rxbuf[GPS_RXBUF_SIZE];
 static volatile int idx = 0;
 static volatile int frame_rdy = 0;

@@ -69,6 +65,7 @@ void LEUART0_IRQHandler()
                        rxbuf[idx] = '\0';
                        idx = 0;
                        frame_rdy = 1;
+//                        gps_parse_nmea(rxbuf);
                }
        }
 }
@@ -141,11 +138,17 @@ void gps_reset(int val)
        val ? GPIO_PinOutClear(gpioPortF, 5) : GPIO_PinOutSet(gpioPortF, 5);
 }

-void gps_parse_nmea()
+int gps_frame_rdy()
+{
+    return frame_rdy;
+}
+
+void gps_parse_nmea(char *buf)
 {
    // TODO: check return of nmea_parse
-    nmea_parse(&parser, rxbuf, strlen(rxbuf), &info);
-    usbdbg_puts(rxbuf);
+    nmea_parse(&parser, buf, strlen(rxbuf), &info);
+    usbdbg_puts(buf);
+    frame_rdy = 0;
 }

 int gps_fixed()

--- a/sw/common/drivers/gps/gps.h
+++ b/sw/common/drivers/gps/gps.h
@@ -39,6 +39,17 @@
 #ifndef __GPS_H_
 #define __GPS_H_

+
+/*=============*/
+/* GPS defines */
+/*=============*/
+#define GPS_OK_TO_SEND "$PSRF150,1*3E\r\n"
+
+#define GPS_RXBUF_SIZE 128
+
+/*=================*/
+/* Data structures */
+/*=================*/
 struct gps_coord {
        double lat;
        double lon;
@@ -60,7 +71,8 @@ struct gps_utc {
 void    gps_init();
 void    gps_on_off_pulse();
 void    gps_reset(int val);
-void    gps_parse_nmea();
+int     gps_frame_rdy();
+void    gps_parse_nmea(char *buf);
 int     gps_fixed();
 void    gps_get_utc(struct gps_utc *utc);
 void    gps_get_coord(struct gps_coord *coord, int format);

--- a/sw/common/event.h
+++ b/sw/common/event.h
@@ -33,9 +33,7 @@
 enum event_type {
    BUTTON_PRESSED,
    SENSOR,
-    RTC_TICK,
-    GPS_FRAME_RDY,
-    GPS_PARSE_RDY
+    RTC_TICK
 };

 /**

--- a/sw/freertos/src/apps/application.h
+++ b/sw/freertos/src/apps/application.h
@@ -30,6 +30,7 @@
 #include <FreeRTOS.h>
 #include <task.h>
 #include <queue.h>
+#include <semphr.h>

 #include <em_gpio.h>
 #include <udelay.h>

--- a/sw/freertos/src/apps/gpsbkgrnd.c
+++ b/sw/freertos/src/apps/gpsbkgrnd.c
@@ -27,6 +27,8 @@

 #include "application.h"

+#include <usbdbg.h>
+
 #define dbg()                       \
    int i;                          \
    GPIO_PinOutSet(gpioPortE, 11);  \
@@ -34,19 +36,18 @@
        ;                           \
    GPIO_PinOutClear(gpioPortE, 11);

+extern volatile char gps_rxbuf[GPS_RXBUF_SIZE];
+
+extern xSemaphoreHandle sem_gps;
+
 void gpsbkgrnd_main(void *params)
 {
-    (void)params;
-
-    struct event evt;
+    /* suppress compiler warning */
+    (void) params;

    while (1) {
-        if (xQueueReceive(appQueue, &evt, portMAX_DELAY)) {
-            if (evt.type == GPS_FRAME_RDY) {
-                gps_parse_nmea();
-                evt.type = GPS_PARSE_RDY;
-                xQueueSendToBack(appQueue, &evt, 0);
-            }
+        if (xSemaphoreTake(sem_gps, portMAX_DELAY)) {
+            gps_parse_nmea(gps_rxbuf);
        }
    }
 }

--- a/sw/freertos/src/apps/gpscoord.c
+++ b/sw/freertos/src/apps/gpscoord.c
@@ -106,7 +106,7 @@ static void gps_redraw(struct ui_widget *w)

 static void gps_event(struct ui_widget *w, const struct event *evt)
 {
-    if (evt->type == GPS_PARSE_RDY)
+    if (evt->type == RTC_TICK)
        w->flags |= WF_DIRTY;
 }

@@ -128,6 +128,9 @@ static struct ui_widget gps_screen = {

 void gpscoord_main(void *params)
 {
+    /* suppress compiler warning */
+    (void) params;
+
    struct event evt;
    int i = 0;

@@ -161,7 +164,7 @@ void gpscoord_main(void *params)
                    gpsscreen %= 2;
                }
                break;
-            case GPS_PARSE_RDY:
+            case RTC_TICK:
                    ui_update(&evt);
            default:
                    break;

--- a/sw/freertos/src/apps/widgets/status_bar.c
+++ b/sw/freertos/src/apps/widgets/status_bar.c
@@ -36,7 +36,7 @@ static int gps_ico_blink = 0;

 static void status_bar_event(struct ui_widget *w, const struct event *evt)
 {
-        if (evt->type == GPS_PARSE_RDY) {
+        if (evt->type == RTC_TICK) {
                w->flags |= WF_DIRTY;
                if (gps_fixed()) {
                        memcpy(&gps_ico, &gps_receiving,

--- a/sw/freertos/src/irq_dispatcher.c
+++ b/sw/freertos/src/irq_dispatcher.c
@@ -29,6 +29,7 @@
 #include <event.h>

 #include <drivers/rtc.h>
+#include <drivers/gps/gps.h>

 #include <em_device.h>
 #include <em_gpio.h>
@@ -110,24 +111,21 @@ void HardFault_Handler(void)
    SCB->AIRCR = 0x05FA0004;
 }

-#define RXBUFSIZE 128
-static char rxbuf[RXBUFSIZE];
+volatile char gps_rxbuf[GPS_RXBUF_SIZE];
 static volatile int idx = 0;

+extern xSemaphoreHandle sem_gps;
+
 void LEUART0_IRQHandler(void)
 {
    portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

-    // Fill the event data
-    struct event evt;
-    evt.type = GPS_FRAME_RDY;
-
    if (LEUART0->IF & LEUART_IF_RXDATAV) {
-        rxbuf[idx++] = LEUART_Rx(LEUART0);
-        if ((rxbuf[idx-2] == '\r') && (rxbuf[idx-1] == '\n')) {
-            rxbuf[idx] = '\0';
+        gps_rxbuf[idx++] = LEUART_Rx(LEUART0);
+        if ((gps_rxbuf[idx-2] == '\r') && (gps_rxbuf[idx-1] == '\n')) {
+            gps_rxbuf[idx] = '\0';
            idx = 0;
-            xQueueSendFromISR(appQueue, &evt, &xHigherPriorityTaskWoken);
+            xSemaphoreGiveFromISR(sem_gps, &xHigherPriorityTaskWoken);
        }
    }


--- a/sw/freertos/src/main.c
+++ b/sw/freertos/src/main.c
@@ -36,6 +36,8 @@
 #include <gfx/ui.h>
 #include <drivers/gps/gps.h>

+xSemaphoreHandle sem_gps;
+
 int main(void)
 {
    // Chip errata
@@ -64,9 +66,10 @@ int main(void)

    startMain(&menu);

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