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Code Issues Releases Activity

LP-252 fix reuse of buffer expected to retain data between calls

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This commit is contained in:
Harold Hankins 2016-02-29 14:31:01 -05:00
parent 0f25a510f5
commit aca8a4db13
1 changed files with 10 additions and 9 deletions
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19
flight/modules/gpsp/gps9gpshandler.c
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@ -34,7 +34,8 @@
#include "gps9protocol.h"
uint32_t lastUnsentData = 0;
uint8_t buffer[BUFFER_SIZE];
uint8_t gpsBuffer[BUFFER_SIZE];
uint8_t fcBuffer[BUFFER_SIZE];
void handleGPS()
{
@ -46,29 +47,29 @@ void handleGPS()
if (datacounter > 0) {
uint8_t toRead = (uint32_t)datacounter > BUFFER_SIZE - lastUnsentData ? BUFFER_SIZE - lastUnsentData : (uint8_t)datacounter;
uint8_t toSend = toRead;
PIOS_UBX_DDC_ReadData(PIOS_I2C_GPS, buffer, toRead);
PIOS_UBX_DDC_ReadData(PIOS_I2C_GPS, gpsBuffer, toRead);
uint8_t *lastSentence;
uint16_t lastSentenceLength;
completeSentenceSent = ubx_getLastSentence(buffer, toRead, &lastSentence, &lastSentenceLength);
completeSentenceSent = ubx_getLastSentence(gpsBuffer, toRead, &lastSentence, &lastSentenceLength);
if (completeSentenceSent) {
toSend = (uint8_t)(lastSentence - buffer + lastSentenceLength);
toSend = (uint8_t)(lastSentence - gpsBuffer + lastSentenceLength);
} else {
lastUnsentData = 0;
}
PIOS_COM_SendBuffer(pios_com_main_id, buffer, toSend);
PIOS_COM_SendBuffer(pios_com_main_id, gpsBuffer, toSend);
if (toRead > toSend) {
// move unsent data at the beginning of buffer to be sent next time
// move unsent data at the beginning of gpsBuffer to be sent next time
lastUnsentData = toRead - toSend;
memcpy(buffer, (buffer + toSend), lastUnsentData);
memcpy(gpsBuffer, (gpsBuffer + toSend), lastUnsentData);
}
}
datacounter = PIOS_COM_ReceiveBuffer(pios_com_main_id, buffer, BUFFER_SIZE, 0);
datacounter = PIOS_COM_ReceiveBuffer(pios_com_main_id, fcBuffer, BUFFER_SIZE, 0);
if (datacounter > 0) {
PIOS_UBX_DDC_WriteData(PIOS_I2C_GPS, buffer, datacounter);
PIOS_UBX_DDC_WriteData(PIOS_I2C_GPS, fcBuffer, datacounter);
}
if (maxCount) {
// Note: this delay is needed as querying too quickly the UBX module's I2C(DDC)