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Code Issues Releases Activity

LP-457 Update comments

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This commit is contained in:
Laurent Lalanne 2019-05-26 13:24:02 +02:00
parent 9211aa5aec
commit c39e242c61
2 changed files with 11 additions and 17 deletions
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2
flight/modules/GPS/GPS.c
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@ -563,12 +563,12 @@ void gps_set_fc_baud_from_arg(uint8_t baud)
// can the code stand having two tasks/threads do an XyzSet() call at the same time?
if (__sync_fetch_and_add(&mutex, 1) == 0) {
// don't bother doing the baud change if it is actually the same
// might drop less data
if (previous_baud != baud) {
DEBUG_PRINTF(3, "SetBaud:%d - %d", baud, hwsettings_gpsspeed_enum_to_baud(baud));
previous_baud = baud;
// Set Revo port hwsettings_baud
PIOS_COM_ChangeBaud(PIOS_COM_GPS, hwsettings_gpsspeed_enum_to_baud(baud));
// clear Rx buffer
PIOS_COM_ClearRxBuffer(PIOS_COM_GPS);
GPSPositionSensorBaudRateSet(&baud);
} else {

26
flight/modules/GPS/ubx_autoconfig.c
View File

@ -107,7 +107,7 @@ ubx_cfg_msg_t msg_config_ubx6[] = {
{ .msgClass = UBX_CLASS_RXM, .msgID = UBX_ID_RXM_SVSI, .rate = 0 },
// message to enable
// message to enable, keep SVINFO at end
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_POSLLH, .rate = 1 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_DOP, .rate = 1 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SOL, .rate = 1 },
@ -141,7 +141,7 @@ ubx_cfg_msg_t msg_config_ubx7[] = {
{ .msgClass = UBX_CLASS_RXM, .msgID = UBX_ID_RXM_SVSI, .rate = 0 },
// message to enable
// message to enable, keep SVINFO at end
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_PVT, .rate = 1 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_DOP, .rate = 1 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SVINFO, .rate = 10 },
@ -315,6 +315,7 @@ static void config_rate(uint16_t *bytes_to_send, bool min_rate)
*bytes_to_send = prepare_packet((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_RATE, sizeof(ubx_cfg_rate_t));
DEBUG_PRINTF(3, "CfgRate: %dHz\r", rate);
if (min_rate) {
// used for INIT_STEP_SET_LOWRATE step
status->lastConfigSent = LAST_CONFIG_SENT_COMPLETED;
}
}
@ -500,6 +501,7 @@ static void enable_sentences(__attribute__((unused)) uint16_t *bytes_to_send, bo
&msg_config_ubx7[0] : &msg_config_ubx6[0];
if (msg >= 0 && msg < msg_count) {
// last message is SVINFO, disable if needed
status->working_packet.message.payload.cfg_msg = (msg == (msg_count - 1) && disable_svinfo) ? msg_config_ubx_disable_svinfo[0] : msg_config[msg];
*bytes_to_send = prepare_packet((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_MSG, sizeof(ubx_cfg_msg_t));
} else {
@ -515,7 +517,7 @@ static void enable_sentences(__attribute__((unused)) uint16_t *bytes_to_send, bo
#if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE)
// permanently store our version of GPSSettings.UbxAutoConfig
// we use this to disable after AbConfigStoreAndDisable is complete
// we use this to disable after AutoBaudConfigureStoreAndDisable is complete
static void setGpsSettings()
{
// trying to do this as perfectly as possible we must realize that they may have pressed Send on some fields
@ -574,10 +576,6 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
// at low baud rates and high data rates the ubx gps simply must drop some outgoing data
// this isn't really an error
// and when a lot of data is being dropped, the MON VER reply often gets dropped
// on the other hand, uBlox documents that some versions discard data that is over 1 second old
// implying a 1 second send buffer and that it could be over 1 second before a reply is received
// later uBlox versions dropped this 1 second constraint and drop data when the send buffer is full
// and that could be even longer than 1 second
uint32_t time_to_wait = UBX_PARSER_TIMEOUT;
// Add extra time to detect ubxHwVersion in case detection
@ -590,19 +588,15 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
return;
}
// at this point we have already waited for the MON_VER reply to time out (except the first time where it times out without being sent)
// at this point we have already waited for the MON_VER reply to time out
// and the fact we are here says that ubxHwVersion has not been set (it is set externally)
// so this try at this baud rate has failed
// if we get here
// select the next baud rate, skipping ahead if new baud rate is HwSettings.GPSSpeed
// set Revo baud rate to current++ value (immediate change so we can send right after that) and send the MON_VER request
// baud rate search order are most likely matches first
// if we get here set Revo baud rate to the previous incremented value and send the MON_VER request
// if AutoBaud or higher, do AutoBaud
if (status->currentSettings.UbxAutoConfig >= GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUD) {
// first try HwSettings.GPSSpeed and then
// get the next baud rate to try from the table, but skip over the value of HwSettings.GPSSpeed
// new_gps_speed is not initialized yet
// at startup new_gps_speed is not initialized yet
if (new_gps_speed > HWSETTINGS_GPSSPEED_230400) {
// try current speed set in HwSettings.GPSSpeed
HwSettingsGPSSpeedGet(&hwsettings_baud);
@ -612,7 +606,7 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
// set the FC (Revo) baud rate
gps_set_fc_baud_from_arg(baud_to_try);
// increase baud_to_try for next try
// increase baud_to_try for next try, in case ubxHwVersion is not set
baud_to_try = (baud_to_try < HWSETTINGS_GPSSPEED_230400) ? baud_to_try + 1 : HWSETTINGS_GPSSPEED_2400;
DEBUG_PRINTF(3, "IncreaseBaudToTry\r");
}
@ -747,7 +741,7 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
// Revo and GPS are both at 9600 baud
case INIT_STEP_GPS_BAUD:
// wait for previous step
// wait for previous step (INIT_STEP_SET_LOWRATE)
if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_UNVERIFIED_STEP_WAIT_TIME) {
return;
}