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gauteh · Oct 21, 2024 · 5c4be73 · 5c4be73
1 parent 0aff120
commit 5c4be73
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Showing 3 changed files with 22 additions and 7 deletions.
diff --git a/sfy-buoy/sfy-ext-gps/ext-gps-mod/gps.cpp b/sfy-buoy/sfy-ext-gps/ext-gps-mod/gps.cpp
@@ -56,7 +56,7 @@ void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
   uint8_t hour = ubxDataStruct->hour;
   uint8_t minute = ubxDataStruct->min;
   uint8_t sec = ubxDataStruct->sec;
-  int32_t nano = ubxDataStruct->nano;
+  uint32_t nano = ubxDataStruct->nano;
 
   String datetime = String(year) + "-" + String(month) + "-" + String(day) + ":" + String(hour) + ":" + String(minute) + ":" + String(sec) + "." + String(nano);
   Serial.print(F("Time: "));
@@ -293,9 +293,15 @@ void setup_gps() {
   // When the module is _locked_ to GNSS time, make it generate a  second pulse every 30 seconds
   // myGNSS.addCfgValset(UBLOX_CFG_TP_PERIOD_LOCK_TP1, 50000); // Set the period to 30,000,000 us
   // myGNSS.addCfgValset(UBLOX_CFG_TP_LEN_LOCK_TP1, 10000); // Set the pulse length to 1,000,000 us
+
+  // 1 Hz
   myGNSS.addCfgValset(UBLOX_CFG_TP_PERIOD_LOCK_TP1, 1000000); // Set the period to 30,000,000 us
   myGNSS.addCfgValset(UBLOX_CFG_TP_LEN_LOCK_TP1, 100000); // Set the pulse length to 1,000,000 us
 
+  // 5 Hz
+  myGNSS.addCfgValset(UBLOX_CFG_TP_PERIOD_LOCK_TP1, (1000000/5)); // Set the period to 30,000,000 us
+  myGNSS.addCfgValset(UBLOX_CFG_TP_LEN_LOCK_TP1, (100000/5)); // Set the pulse length to 1,000,000 us
+
   // Now set the time pulse parameters
   if (myGNSS.sendCfgValset() == false)
   {

diff --git a/sfy-buoy/sfy-ext-gps/src/main.rs b/sfy-buoy/sfy-ext-gps/src/main.rs
@@ -364,8 +364,8 @@ fn main() -> ! {
 
         // XXX: This needs to be adapted to frequency, and queue length. Maybe just remove when we
         // have the remaining space check? Check after Hjeltefjorden deployment.
-        const LOOP_DELAY: u32 = 1_00;
-        const SHORT_LOOP_DELAY: u32 = 1_00;
+        const LOOP_DELAY: u32 = 3_000;
+        const SHORT_LOOP_DELAY: u32 = 3_000;
 
         // Process data and communication for the Notecard.
         if ((now - last) > LOOP_DELAY as i64)
@@ -386,15 +386,15 @@ fn main() -> ! {
             let l = location.check_retrieve(&STATE, &mut delay, &mut note);
 
             #[cfg(feature = "storage")]
-            defmt::debug!(
+            defmt::warn!(
                 "notecard iteration, now: {}, note queue: {}, storage queue: {}",
                 now,
                 imu_queue.len(),
                 storage_manager.storage_queue.len()
             );
 
             #[cfg(not(feature = "storage"))]
-            defmt::debug!(
+            defmt::warn!(
                 "notecard iteration, now: {}, note queue: {}, gps queue: {}",
                 now,
                 imu_queue.len(),

diff --git a/sfy-buoy/src/gps/mod.rs b/sfy-buoy/src/gps/mod.rs
@@ -223,14 +223,22 @@ where
         defmt::debug!("Reading GPS package from serial.. sample buf: {}", self.buf.len());
         let mut state = ParseState::StartBracket;
 
+        let mut timeout = 0_u32;
+
         while !matches!(state, ParseState::EndBracket) {
             if self.buf.len() == self.buf.capacity() {
                 defmt::error!("gps telegram buffer is full.");
                 break;
             }
 
+            if timeout > 1_000_000 {
+                defmt::error!("gps: uart timed out.");
+                break;
+            }
+
             match self.gps.read() {
                 Ok(w) => {
+                    timeout = 0;
                     match state {
                         ParseState::StartBracket => {
                             if w == b'{' {
@@ -252,9 +260,10 @@ where
                     }
                 }
 
-                Err(nb::Error::WouldBlock) => { /* wait */ } // TODO: timeout!
+                Err(nb::Error::WouldBlock) => { timeout += 1; } // TODO: timeout!
                 Err(nb::Error::Other(_)) => {
                     defmt::error!("ext-gps: error reading from uart");
+                    timeout += 1;
                 }
             }
         }
@@ -280,7 +289,7 @@ where
                 // let current = sample.time + (now - pps_time);
                 // drift = current - now
             }
-            Err(_) => error!("Failed to parse GPS telegram: {}", &buf),
+            Err(_) => error!("Failed to parse GPS telegram."),
         }
 
         // TODO: Not really handling extra data.