Merge pull request #12001 from MrScothh/feature/uart-rx-buffer

gps: satellite details twice a second, and a 512 byte receive buffer for the GPS port

Author: sensei-hacker

src/main/drivers/serial.c

@@ -20,6 +20,10 @@
 
 #include "platform.h"
 
+#include "build/atomic.h"
+
+#include "drivers/nvic.h"
+
 #include "serial.h"
 
 void serialPrint(serialPort_t *instance, const char *str)
@@ -133,3 +137,19 @@ bool serialIsIdle(serialPort_t *instance)
     else
         return false;
 }
+
+// Swaps in a larger receive buffer; what the old one held is dropped
+void serialSetRxBuffer(serialPort_t *instance, volatile uint8_t *buffer, uint32_t size)
+{
+    if (size <= instance->rxBufferSize) {
+        return;
+    }
+
+    // The receive interrupt must never see the new buffer with the old size or indices
+    ATOMIC_BLOCK(NVIC_PRIO_MAX) {
+        instance->rxBuffer = buffer;
+        instance->rxBufferSize = size;
+        instance->rxBufferHead = 0;
+        instance->rxBufferTail = 0;
+    }
+}

src/main/drivers/serial.h

@@ -122,6 +122,7 @@ void serialPrint(serialPort_t *instance, const char *str);
 uint32_t serialGetBaudRate(serialPort_t *instance);
 bool serialIsConnected(const serialPort_t *instance);
 bool serialIsIdle(serialPort_t *instance);
+void serialSetRxBuffer(serialPort_t *instance, volatile uint8_t *buffer, uint32_t size);
 
 // A shim that adapts the bufWriter API to the serialWriteBuf() API.
 void serialWriteBufShim(void *instance, const uint8_t *data, int count);

src/main/drivers/serial_uart.h

@@ -20,11 +20,10 @@
 #define UART_AF(uart, af) CONCAT3(GPIO_AF, af, _ ## uart)
 
 // Since serial ports can be used for any function these buffer sizes should be equal
-// The two largest things that need to be sent are: 1, MSP responses, 2, UBLOX SVINFO packet.
+// The largest thing that needs to be sent is an MSP response.
 
-// Size must be a power of two due to various optimizations which use 'and' instead of 'mod'
-// Various serial routines return the buffer occupied size as uint8_t which would need to be extended in order to
-// increase size further.
+// Size must be a power of two due to various optimizations which use 'and' instead of 'mod'.
+// The GPS port gets a larger receive buffer of its own, see gps.c.
 #define UART1_RX_BUFFER_SIZE    256
 #define UART1_TX_BUFFER_SIZE    256
 #define UART2_RX_BUFFER_SIZE    256

src/main/io/gps.c

@@ -91,6 +91,13 @@ gpsStatistics_t   gpsStats;
 gpsSolutionData_t gpsSolDRV;  //filled by driver
 gpsSolutionData_t gpsSol;     //used in the rest of the code
 
+#ifdef USE_GPS_PROTO_UBLOX
+// Covers 230400; at 460800 and above a NAV-PVT plus a large NAV-SIG can still overflow it
+#define GPS_RX_BUFFER_SIZE  512
+STATIC_ASSERT((GPS_RX_BUFFER_SIZE & (GPS_RX_BUFFER_SIZE - 1)) == 0, gps_rx_buffer_size_not_power_of_2);
+STATIC_FASTRAM volatile uint8_t gpsRxBuffer[GPS_RX_BUFFER_SIZE];
+#endif
+
 // Map gpsBaudRate_e index to baudRate_e
 baudRate_e gpsToSerialBaudRate[GPS_BAUDRATE_COUNT] = { BAUD_115200, BAUD_57600, BAUD_38400, BAUD_19200, BAUD_9600, BAUD_230400, BAUD_460800, BAUD_921600 };
 
@@ -526,6 +533,10 @@ void gpsInit(void)
         return;
     }
 
+#ifdef USE_GPS_PROTO_UBLOX
+    serialSetRxBuffer(gpsState.gpsPort, gpsRxBuffer, sizeof(gpsRxBuffer));
+#endif
+
     gpsSetState(GPS_INITIALIZING);
 }
 

src/main/io/gps_ublox.c

@@ -956,6 +956,12 @@ static uint16_t hz2rate(uint8_t hz)
     return 1000 / hz;
 }
 
+// Satellite details only feed gpssats and the OSD's GPS extra stats: about 2 Hz, in epochs
+static uint8_t ubloxSatInfoRate(void)
+{
+    return MAX(1, (gpsState.gpsConfig->ubloxNavHz + 1) / 2);
+}
+
 STATIC_PROTOTHREAD(gpsConfigure)
 {
     ptBegin(gpsConfigure);
@@ -1074,7 +1080,7 @@ STATIC_PROTOTHREAD(gpsConfigure)
             {UBLOX_CFG_MSGOUT_NAV_VELNED_UART1, 0}, // 2
             {UBLOX_CFG_MSGOUT_NAV_TIMEUTC_UART1, 0}, // 3
             {UBLOX_CFG_MSGOUT_NAV_PVT_UART1, 1}, // 4
-            {UBLOX_CFG_MSGOUT_NAV_SIG_UART1, 1}, // 5
+            {UBLOX_CFG_MSGOUT_NAV_SIG_UART1, ubloxSatInfoRate()}, // 5
             {UBLOX_CFG_MSGOUT_NAV_SAT_UART1, 0}  // 6
         };
 
@@ -1102,7 +1108,7 @@ STATIC_PROTOTHREAD(gpsConfigure)
         configureMSG(MSG_CLASS_UBX, MSG_PVT, 1);
         ptWait(_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK);
 
-        configureMSG(MSG_CLASS_UBX, MSG_NAV_SAT, 1);
+        configureMSG(MSG_CLASS_UBX, MSG_NAV_SAT, ubloxSatInfoRate());
         ptWait(_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK);
     } else { // Really old stuff, consider upgrading :), ols setting API, no PVT or NAV_SAT or NAV_SIG
         // TODO: remove in INAV 9.0.0

src/test/unit/gps_heartbeat_unittest.cc

@@ -72,6 +72,7 @@ void serialWriteBuf(serialPort_t *instance, const uint8_t *data, int count) { UN
 void serialPrint(serialPort_t *instance, const char *str) { UNUSED(instance); UNUSED(str); }
 void serialSetMode(serialPort_t *instance, portMode_t mode) { UNUSED(instance); UNUSED(mode); }
 void serialSetBaudRate(serialPort_t *instance, uint32_t baudRate) { UNUSED(instance); UNUSED(baudRate); }
+void serialSetRxBuffer(serialPort_t *instance, volatile uint8_t *buffer, uint32_t size) { UNUSED(instance); UNUSED(buffer); UNUSED(size); }
 
 serialPort_t *openSerialPort(serialPortIdentifier_e identifier, serialPortFunction_e function,
                              serialReceiveCallbackPtr rxCallback, void *rxCallbackData,

src/test/unit/gps_null_port_unittest.cc

@@ -189,6 +189,13 @@ void serialSetBaudRate(serialPort_t *instance, uint32_t baudRate)
     UNUSED(baudRate);
 }
 
+void serialSetRxBuffer(serialPort_t *instance, volatile uint8_t *buffer, uint32_t size)
+{
+    UNUSED(instance);
+    UNUSED(buffer);
+    UNUSED(size);
+}
+
 serialPort_t *openSerialPort(serialPortIdentifier_e identifier,
                              serialPortFunction_e function,
                              serialReceiveCallbackPtr rxCallback,