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https://bitbucket.org/librepilot/librepilot.git
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Unified statistics counters between UBX and NMEA parser and moved them
to GPS.c.
This commit is contained in:
Werner Backes
parent
b6ebee403d
commit
15fa42058e
@ -90,6 +90,8 @@ static char* gps_rx_buffer;
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static uint32_t timeOfLastCommandMs;
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static uint32_t timeOfLastUpdateMs;
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static struct GPS_RX_STATS gpsRxStats;
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// ****************
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/**
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* Initialise the gps module
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@ -215,12 +217,12 @@ static void gpsTask(void *parameters)
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switch (gpsProtocol) {
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#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER)
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case GPSSETTINGS_DATAPROTOCOL_NMEA:
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res = parse_nmea_stream (c,gps_rx_buffer, &gpsposition);
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res = parse_nmea_stream (c,gps_rx_buffer, &gpsposition, &gpsRxStats);
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break;
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#endif
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
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case GPSSETTINGS_DATAPROTOCOL_UBX:
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res = parse_ubx_stream (c,gps_rx_buffer, &gpsposition);
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res = parse_ubx_stream (c,gps_rx_buffer, &gpsposition, &gpsRxStats);
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break;
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#endif
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default:
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@ -79,10 +79,6 @@ static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
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static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
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#endif //PIOS_GPS_MINIMAL
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static uint32_t numUpdates;
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static uint32_t numChecksumErrors;
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static uint32_t numParsingErrors;
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static struct nmea_parser nmea_parsers[] = {
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{
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.prefix = "GPGGA",
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@ -118,7 +114,7 @@ static struct nmea_parser nmea_parsers[] = {
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#endif //PIOS_GPS_MINIMAL
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};
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int parse_nmea_stream (uint8_t c, char *gps_rx_buffer, GPSPositionData *GpsData)
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int parse_nmea_stream (uint8_t c, char *gps_rx_buffer, GPSPositionData *GpsData, struct GPS_RX_STATS *gpsRxStats)
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{
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static uint8_t rx_count = 0;
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static bool start_flag = false;
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@ -139,7 +135,7 @@ int parse_nmea_stream (uint8_t c, char *gps_rx_buffer, GPSPositionData *GpsData)
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{
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// The buffer is already full and we haven't found a valid NMEA sentence.
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// Flush the buffer and note the overflow event.
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// gpsRxOverflow++;
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gpsRxStats->gpsRxOverflow++;
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start_flag = false;
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found_cr = false;
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rx_count = 0;
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@ -180,7 +176,7 @@ int parse_nmea_stream (uint8_t c, char *gps_rx_buffer, GPSPositionData *GpsData)
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if (!NMEA_checksum(&gps_rx_buffer[1]))
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{ // Invalid checksum. May indicate dropped characters on Rx.
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//PIOS_DEBUG_PinHigh(2);
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++numChecksumErrors;
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gpsRxStats->gpsRxChkSumError++;
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//PIOS_DEBUG_PinLow(2);
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return PARSER_ERROR;
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}
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@ -188,11 +184,11 @@ int parse_nmea_stream (uint8_t c, char *gps_rx_buffer, GPSPositionData *GpsData)
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{ // Valid checksum, use this packet to update the GPS position
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if (!NMEA_update_position(&gps_rx_buffer[1], GpsData)) {
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//PIOS_DEBUG_PinHigh(2);
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++numParsingErrors;
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gpsRxStats->gpsRxParserError++;
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//PIOS_DEBUG_PinLow(2);
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}
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else
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++numUpdates;
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gpsRxStats->gpsRxReceived++;;
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return PARSER_COMPLETE;
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}
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@ -36,13 +36,9 @@
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#include "UBX.h"
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#include "gps.h"
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static uint32_t gpsRxReceived = 0;
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static uint32_t gpsRxChkSumError = 0;
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static uint32_t gpsRxOverflow = 0;
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// parse incoming character stream for messages in UBX binary format
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int parse_ubx_stream (uint8_t c, char *gps_rx_buffer, GPSPositionData *GpsData)
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int parse_ubx_stream (uint8_t c, char *gps_rx_buffer, GPSPositionData *GpsData, struct GPS_RX_STATS *gpsRxStats)
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{
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enum proto_states {
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START,
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@ -87,7 +83,7 @@ int parse_ubx_stream (uint8_t c, char *gps_rx_buffer, GPSPositionData *GpsData)
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case UBX_LEN2:
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ubx->header.len += (c << 8);
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if (ubx->header.len > sizeof(UBXPayload)) {
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gpsRxOverflow++;
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gpsRxStats->gpsRxOverflow++;
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proto_state = START;
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} else {
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rx_count = 0;
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@ -100,7 +96,7 @@ int parse_ubx_stream (uint8_t c, char *gps_rx_buffer, GPSPositionData *GpsData)
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if (++rx_count == ubx->header.len)
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proto_state = UBX_CHK1;
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} else {
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gpsRxOverflow++;
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gpsRxStats->gpsRxOverflow++;
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proto_state = START;
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}
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break;
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@ -114,7 +110,7 @@ int parse_ubx_stream (uint8_t c, char *gps_rx_buffer, GPSPositionData *GpsData)
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parse_ubx_message(ubx, GpsData);
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proto_state = FINISHED;
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} else {
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gpsRxChkSumError++;
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gpsRxStats->gpsRxChkSumError++;
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proto_state = START;
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}
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break;
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@ -124,7 +120,7 @@ int parse_ubx_stream (uint8_t c, char *gps_rx_buffer, GPSPositionData *GpsData)
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if (proto_state == START)
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return PARSER_ERROR; // parser couldn't use this byte
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else if (proto_state == FINISHED) {
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gpsRxReceived++;
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gpsRxStats->gpsRxReceived++;
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proto_state = START;
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return PARSER_COMPLETE; // message complete & processed
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}
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@ -45,6 +45,13 @@
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#define PARSER_INCOMPLETE 0 // parser needs more data to complete the message
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#define PARSER_COMPLETE 1 // parser has received a complete message and finished processing
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struct GPS_RX_STATS {
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uint16_t gpsRxReceived;
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uint16_t gpsRxChkSumError;
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uint16_t gpsRxOverflow;
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uint16_t gpsRxParserError;
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};
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int32_t GPSInitialize(void);
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#endif // GPS_H
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@ -33,11 +33,12 @@
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#include <stdbool.h>
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#include <stdint.h>
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#include "gps.h"
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#define NMEA_MAX_PACKET_LENGTH 96 // 82 max NMEA msg size plus 12 margin (because some vendors add custom crap) plus CR plus Linefeed
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extern bool NMEA_update_position(char *nmea_sentence, GPSPositionData *GpsData);
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extern bool NMEA_checksum(char *nmea_sentence);
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extern int parse_nmea_stream(uint8_t, char *, GPSPositionData *);
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extern int parse_nmea_stream(uint8_t, char *, GPSPositionData *, struct GPS_RX_STATS *);
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#endif /* NMEA_H */
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@ -32,6 +32,8 @@
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#define UBX_H
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#include "openpilot.h"
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#include "gpsposition.h"
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#include "gps.h"
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#define UBX_SYNC1 0xb5 // UBX protocol synchronization characters
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#define UBX_SYNC2 0x62
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@ -217,6 +219,6 @@ struct UBXPacket {
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bool checksum_ubx_message(struct UBXPacket *);
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uint32_t parse_ubx_message(struct UBXPacket *, GPSPositionData *);
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int parse_ubx_stream(uint8_t, char *, GPSPositionData *);
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int parse_ubx_stream(uint8_t, char *, GPSPositionData *, struct GPS_RX_STATS *);
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#endif /* UBX_H */
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