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Code Issues Releases Activity

Merge branch 'OP-567 GPS com layer fix' into next

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This commit is contained in:
Corvus Corax 2011-08-25 13:35:45 +02:00
commit 8b7fea0d19
1 changed files with 7 additions and 9 deletions
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16
flight/Modules/GPS/GPS.c
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@ -46,6 +46,7 @@
#include "gpsposition.h"
#include "homelocation.h"
#include "gpstime.h"
#include "gpssatellites.h"
#include "WorldMagModel.h"
#include "CoordinateConversions.h"
@ -126,7 +127,10 @@ int32_t GPSInitialize(void)
{
GPSPositionInitialize();
GPSTimeInitialize();
GPSSatellitesInitialize();
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationInitialize();
#endif
// TODO: Get gps settings object
gpsPort = PIOS_COM_GPS;
@ -195,14 +199,12 @@ static void gpsTask(void *parameters)
// Loop forever
while (1)
{
uint8_t c;
#ifdef ENABLE_GPS_BINARY_GTOP
// 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)
{
numUpdates++;
@ -217,10 +219,8 @@ static void gpsTask(void *parameters)
// NMEA or SINGLE-SENTENCE GPS mode
// 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
if (!start_flag && (c == '$'))
@ -358,8 +358,6 @@ static void gpsTask(void *parameters)
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
}
// Block task until next update
vTaskDelay(xDelay);
}
}