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Merge pull request #67 from multiwii/gps_noirq 

gps_noirq experiment was successful
This commit is contained in:
dongie 2014-04-10 12:00:39 +09:00
parent a8f383077c fafc59b3a5
commit 1c796b44f2
2 changed files with 2830 additions and 2819 deletions
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5629
obj/baseflight.hex
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File diff suppressed because it is too large Load Diff

20
src/gps.c
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@ -93,7 +93,8 @@ void gpsInit(uint8_t baudrateIndex)
mode = MODE_RX; mode = MODE_RX;
gpsSetPIDs(); gpsSetPIDs();
core.gpsport = uartOpen(USART2, gpsNewData, gpsInitData[baudrateIndex].baudrate, mode); // Open GPS UART, no callback - buffer will be read out in gpsThread()
core.gpsport = uartOpen(USART2, NULL, gpsInitData[baudrateIndex].baudrate, mode);
// signal GPS "thread" to initialize when it gets to it // signal GPS "thread" to initialize when it gets to it
gpsSetState(GPS_INITIALIZING); gpsSetState(GPS_INITIALIZING);
} }
@ -158,6 +159,12 @@ void gpsInitHardware(void)
void gpsThread(void) void gpsThread(void)
{ {
// read out available GPS bytes
if (core.gpsport) {
while (serialTotalBytesWaiting(core.gpsport))
gpsNewData(serialRead(core.gpsport));
}
switch (gpsData.state) { switch (gpsData.state) {
case GPS_UNKNOWN: case GPS_UNKNOWN:
break; break;
@ -536,9 +543,6 @@ int8_t gpsSetPassthrough(void)
if (gpsData.state != GPS_RECEIVINGDATA) if (gpsData.state != GPS_RECEIVINGDATA)
return -1; return -1;
// get rid of callback
core.gpsport->callback = NULL;
LED0_OFF; LED0_OFF;
LED1_OFF; LED1_OFF;
@ -846,8 +850,10 @@ uint32_t GPS_coord_to_degrees(char* s)
int i; int i;
// scan for decimal point or end of field // scan for decimal point or end of field
for (p = s; isdigit((unsigned char)*p); p++) for (p = s; isdigit((unsigned char)*p); p++) {
; if (p >= s + 15)
return 0; // stop potential fail
}
q = s; q = s;
// convert degrees // convert degrees
@ -892,6 +898,8 @@ static uint32_t grab_fields(char *src, uint8_t mult)
tmp *= 10; tmp *= 10;
if (src[i] >= '0' && src[i] <= '9') if (src[i] >= '0' && src[i] <= '9')
tmp += src[i] - '0'; tmp += src[i] - '0';
if (i >= 15)
return 0; // out of bounds
} }
return tmp; return tmp;
} }