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Code Issues Releases Activity

OP-567 Modules/GPS: Block in PIOS_COM, not in TaskDelay - or we will miss updates!

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This commit is contained in:
Corvus Corax 2011-08-25 12:20:19 +02:00
parent 838149b53f
commit 697ac6067e
1 changed files with 3 additions and 9 deletions
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12
flight/Modules/GPS/GPS.c
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@ -199,14 +199,12 @@ static void gpsTask(void *parameters)
// Loop forever // Loop forever
while (1) while (1)
{ {
uint8_t c;
#ifdef ENABLE_GPS_BINARY_GTOP #ifdef ENABLE_GPS_BINARY_GTOP
// GTOP BINARY GPS mode // GTOP BINARY GPS mode
while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0) while (PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, xDelay) > 0)
{ {
uint8_t c;
PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0);
if (GTOP_BIN_update_position(c, &numChecksumErrors, &numParsingErrors) >= 0) if (GTOP_BIN_update_position(c, &numChecksumErrors, &numParsingErrors) >= 0)
{ {
numUpdates++; numUpdates++;
@ -221,10 +219,8 @@ static void gpsTask(void *parameters)
// NMEA or SINGLE-SENTENCE GPS mode // NMEA or SINGLE-SENTENCE GPS mode
// This blocks the task until there is something on the buffer // This blocks the task until there is something on the buffer
while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0) while (PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, xDelay) > 0)
{ {
uint8_t c;
PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0);
// detect start while acquiring stream // detect start while acquiring stream
if (!start_flag && (c == '$')) if (!start_flag && (c == '$'))
@ -362,8 +358,6 @@ static void gpsTask(void *parameters)
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL); AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
} }
// Block task until next update
vTaskDelay(xDelay);
} }
} }