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PaulZCPaulZC
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Move Event and ARP writing into handleGnssDataTask
Write all available data to SD, then write Event and/or ARP
1 parent d0bff60 commit 65f7e66

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2 files changed

+162
-153
lines changed

2 files changed

+162
-153
lines changed

‎Firmware/RTK_Surveyor/RTK_Surveyor.ino‎

Lines changed: 0 additions & 79 deletions
Original file line numberDiff line numberDiff line change
@@ -1132,85 +1132,6 @@ void updateLogs()
11321132

11331133
if (online.logging == true)
11341134
{
1135-
// Record any pending trigger events
1136-
if (newEventToRecord == true)
1137-
{
1138-
systemPrintln("Recording event");
1139-
1140-
// Record trigger count with Time Of Week of rising edge (ms), Millisecond fraction of Time Of Week of
1141-
// rising edge (ns), and accuracy estimate (ns)
1142-
char eventData[82]; // Max NMEA sentence length is 82
1143-
snprintf(eventData, sizeof(eventData), "%d,%d,%d,%d", triggerCount, triggerTowMsR, triggerTowSubMsR,
1144-
triggerAccEst);
1145-
1146-
char nmeaMessage[82]; // Max NMEA sentence length is 82
1147-
createNMEASentence(CUSTOM_NMEA_TYPE_EVENT, nmeaMessage, sizeof(nmeaMessage),
1148-
eventData); // textID, buffer, sizeOfBuffer, text
1149-
1150-
if (xSemaphoreTake(sdCardSemaphore, fatSemaphore_shortWait_ms) == pdPASS)
1151-
{
1152-
markSemaphore(FUNCTION_EVENT);
1153-
1154-
ubxFile->println(nmeaMessage);
1155-
1156-
xSemaphoreGive(sdCardSemaphore);
1157-
newEventToRecord = false;
1158-
}
1159-
else
1160-
{
1161-
char semaphoreHolder[50];
1162-
getSemaphoreFunction(semaphoreHolder);
1163-
1164-
// While a retry does occur during the next loop, it is possible to loose
1165-
// trigger events if they occur too rapidly or if the log file is closed
1166-
// before the trigger event is written!
1167-
log_w("sdCardSemaphore failed to yield, held by %s, RTK_Surveyor.ino line %d", semaphoreHolder,
1168-
__LINE__);
1169-
}
1170-
}
1171-
1172-
// Record the Antenna Reference Position - if available
1173-
if (newARPAvailable == true && settings.enableARPLogging &&
1174-
((millis() - lastARPLog) > (settings.ARPLoggingInterval_s * 1000)))
1175-
{
1176-
systemPrintln("Recording Antenna Reference Position");
1177-
1178-
lastARPLog = millis();
1179-
newARPAvailable = false;
1180-
1181-
double x = ARPECEFX;
1182-
x /= 10000.0; // Convert to m
1183-
double y = ARPECEFY;
1184-
y /= 10000.0; // Convert to m
1185-
double z = ARPECEFZ;
1186-
z /= 10000.0; // Convert to m
1187-
double h = ARPECEFH;
1188-
h /= 10000.0; // Convert to m
1189-
char ARPData[82]; // Max NMEA sentence length is 82
1190-
snprintf(ARPData, sizeof(ARPData), "%.4f,%.4f,%.4f,%.4f", x, y, z, h);
1191-
1192-
char nmeaMessage[82]; // Max NMEA sentence length is 82
1193-
createNMEASentence(CUSTOM_NMEA_TYPE_ARP_ECEF_XYZH, nmeaMessage, sizeof(nmeaMessage),
1194-
ARPData); // textID, buffer, sizeOfBuffer, text
1195-
1196-
if (xSemaphoreTake(sdCardSemaphore, fatSemaphore_shortWait_ms) == pdPASS)
1197-
{
1198-
markSemaphore(FUNCTION_EVENT);
1199-
1200-
ubxFile->println(nmeaMessage);
1201-
1202-
xSemaphoreGive(sdCardSemaphore);
1203-
newEventToRecord = false;
1204-
}
1205-
else
1206-
{
1207-
char semaphoreHolder[50];
1208-
getSemaphoreFunction(semaphoreHolder);
1209-
log_w("sdCardSemaphore failed to yield, held by %s, RTK_Surveyor.ino line %d", semaphoreHolder,
1210-
__LINE__);
1211-
}
1212-
}
1213-
12141135
// Report file sizes to show recording is working
12151136
if ((millis() - lastFileReport) > 5000)
12161137
{

‎Firmware/RTK_Surveyor/Tasks.ino‎

Lines changed: 162 additions & 74 deletions
Original file line numberDiff line numberDiff line change
@@ -840,97 +840,185 @@ void handleGnssDataTask(void *e)
840840
{
841841
markSemaphore(FUNCTION_WRITESD);
842842

843-
// Reduce bytes to record if we have more then the end of the buffer
844-
if ((sdRingBufferTail + bytesToSend) > settings.gnssHandlerBufferSize)
845-
bytesToSend = settings.gnssHandlerBufferSize - sdRingBufferTail;
846-
847-
if (settings.enablePrintSDBuffers && (!inMainMenu))
843+
do // Do the SD write in a do loop so we can break out if needed
848844
{
849-
int bufferAvailable;
850-
if (USE_I2C_GNSS)
851-
bufferAvailable = serialGNSS.available();
852-
else
845+
if (settings.enablePrintSDBuffers && (!inMainMenu))
853846
{
854-
theGNSS.checkUblox();
855-
bufferAvailable = theGNSS.fileBufferAvailable();
847+
int bufferAvailable;
848+
if (USE_I2C_GNSS)
849+
bufferAvailable = serialGNSS.available();
850+
else
851+
{
852+
theGNSS.checkUblox();
853+
bufferAvailable = theGNSS.fileBufferAvailable();
854+
}
855+
int availableUARTSpace;
856+
if (USE_I2C_GNSS)
857+
availableUARTSpace = settings.uartReceiveBufferSize - bufferAvailable;
858+
else
859+
// Use gnssHandlerBufferSize for now. TODO: work out if the SPI GNSS needs its own buffer
860+
// size setting
861+
availableUARTSpace = settings.gnssHandlerBufferSize - bufferAvailable;
862+
systemPrintf("SD Incoming Serial: %04d\tToRead: %04d\tMovedToBuffer: %04d\tavailableUARTSpace: "
863+
"%04d\tavailableHandlerSpace: %04d\tToRecord: %04d\tRecorded: %04d\tBO: %d\r\n",
864+
bufferAvailable, 0, 0, availableUARTSpace, availableHandlerSpace, bytesToSend, 0,
865+
bufferOverruns);
856866
}
857-
int availableUARTSpace;
858-
if (USE_I2C_GNSS)
859-
availableUARTSpace = settings.uartReceiveBufferSize - bufferAvailable;
860-
else
861-
// Use gnssHandlerBufferSize for now. TODO: work out if the SPI GNSS needs its own buffer
862-
// size setting
863-
availableUARTSpace = settings.gnssHandlerBufferSize - bufferAvailable;
864-
systemPrintf("SD Incoming Serial: %04d\tToRead: %04d\tMovedToBuffer: %04d\tavailableUARTSpace: "
865-
"%04d\tavailableHandlerSpace: %04d\tToRecord: %04d\tRecorded: %04d\tBO: %d\r\n",
866-
bufferAvailable, 0, 0, availableUARTSpace, availableHandlerSpace, bytesToSend, 0,
867-
bufferOverruns);
868-
}
869867

870-
// Write the data to the file
871-
long startTime = millis();
872-
startMillis = millis();
868+
// For the SD card, we need to write everything we've got
869+
// to prevent the ARP Write and Events from gatecrashing...
870+
871+
int32_t sendTheseBytes = bytesToSend;
873872

874-
bytesToSend = ubxFile->write(&ringBuffer[sdRingBufferTail], bytesToSend);
875-
if (PERIODIC_DISPLAY(PD_SD_LOG_WRITE) && (bytesToSend > 0))
876-
{
877-
PERIODIC_CLEAR(PD_SD_LOG_WRITE);
878-
systemPrintf("SD %d bytes written to log file\r\n", bytesToSend);
879-
}
873+
// Reduce bytes to record if we have more then the end of the buffer
874+
if ((sdRingBufferTail + sendTheseBytes) > settings.gnssHandlerBufferSize)
875+
sendTheseBytes = settings.gnssHandlerBufferSize - sdRingBufferTail;
880876

881-
static unsigned long lastFlush = 0;
882-
if (USE_MMC_MICROSD)
883-
{
884-
if (millis() > (lastFlush + 250)) // Flush every 250ms, not every write
877+
// Write the data to the file
878+
startMillis = millis();
879+
880+
int32_t bytesSent = ubxFile->write(&ringBuffer[sdRingBufferTail], sendTheseBytes);
881+
882+
// Account for the sent data or dropped
883+
sdRingBufferTail += bytesSent;
884+
if (sdRingBufferTail >= settings.gnssHandlerBufferSize)
885+
sdRingBufferTail -= settings.gnssHandlerBufferSize;
886+
887+
if (bytesSent != sendTheseBytes)
885888
{
886-
ubxFile->flush();
887-
lastFlush += 250;
889+
systemPrintf("SD write mismatch (1): wrote %d bytes of %d\r\n",
890+
bytesSent, sendTheseBytes);
891+
break; // Exit the do loop
888892
}
889-
}
890-
fileSize = ubxFile->fileSize(); // Update file size
891893

892-
sdFreeSpace -= bytesToSend; // Update remaining space on SD
894+
// If we have more data to write - and the first write was successful
895+
if (bytesToSend > sendTheseBytes)
896+
{
897+
sendTheseBytes = bytesToSend - sendTheseBytes;
893898

894-
// Force file sync every 60s
895-
if (millis() - lastUBXLogSyncTime > 60000)
896-
{
897-
if (productVariant == RTK_SURVEYOR)
898-
digitalWrite(pin_baseStatusLED,
899-
!digitalRead(pin_baseStatusLED)); // Blink LED to indicate logging activity
899+
bytesSent = ubxFile->write(&ringBuffer[sdRingBufferTail], sendTheseBytes);
900900

901-
ubxFile->sync();
902-
ubxFile->updateFileAccessTimestamp(); // Update the file access time & date
901+
// Account for the sent data or dropped
902+
sdRingBufferTail += bytesSent;
903+
if (sdRingBufferTail >= settings.gnssHandlerBufferSize) // Should be redundant
904+
sdRingBufferTail -= settings.gnssHandlerBufferSize;
903905

904-
if (productVariant == RTK_SURVEYOR)
905-
digitalWrite(pin_baseStatusLED,
906-
!digitalRead(pin_baseStatusLED)); // Return LED to previous state
906+
if (bytesSent != sendTheseBytes)
907+
{
908+
systemPrintf("SD write mismatch (2): wrote %d bytes of %d\r\n",
909+
bytesSent, sendTheseBytes);
910+
break; // Exit the do loop
911+
}
912+
}
907913

908-
lastUBXLogSyncTime = millis();
909-
}
914+
if (PERIODIC_DISPLAY(PD_SD_LOG_WRITE) && (bytesToSend > 0) && (!inMainMenu))
915+
{
916+
PERIODIC_CLEAR(PD_SD_LOG_WRITE);
917+
systemPrintf("SD %d bytes written to log file\r\n", bytesToSend);
918+
}
910919

911-
// Remember the maximum transfer time
912-
deltaMillis = millis() - startMillis;
913-
if (maxMillis[RBC_SD_CARD] < deltaMillis)
914-
maxMillis[RBC_SD_CARD] = deltaMillis;
915-
long endTime = millis();
920+
sdFreeSpace -= bytesToSend; // Update remaining space on SD
916921

917-
if (settings.enablePrintBufferOverrun)
918-
{
919-
if (endTime - startTime > 150)
920-
systemPrintf("Long Write! Time: %ld ms / Location: %ld / Recorded %d bytes / "
921-
"spaceRemaining %d bytes\r\n",
922-
endTime - startTime, fileSize, bytesToSend, combinedSpaceRemaining);
923-
}
922+
// Record any pending trigger events
923+
if (newEventToRecord == true)
924+
{
925+
newEventToRecord = false;
924926

925-
xSemaphoreGive(sdCardSemaphore);
927+
if ((settings.enablePrintLogFileStatus) && (!inMainMenu))
928+
systemPrintln("Recording event");
926929

927-
// Account for the sent data or dropped
928-
if (bytesToSend > 0)
929-
{
930-
sdRingBufferTail += bytesToSend;
931-
if (sdRingBufferTail >= settings.gnssHandlerBufferSize)
932-
sdRingBufferTail -= settings.gnssHandlerBufferSize;
933-
}
930+
// Record trigger count with Time Of Week of rising edge (ms), Millisecond fraction of Time Of Week of
931+
// rising edge (ns), and accuracy estimate (ns)
932+
char eventData[82]; // Max NMEA sentence length is 82
933+
snprintf(eventData, sizeof(eventData), "%d,%d,%d,%d", triggerCount, triggerTowMsR, triggerTowSubMsR,
934+
triggerAccEst);
935+
936+
char nmeaMessage[82]; // Max NMEA sentence length is 82
937+
createNMEASentence(CUSTOM_NMEA_TYPE_EVENT, nmeaMessage, sizeof(nmeaMessage),
938+
eventData); // textID, buffer, sizeOfBuffer, text
939+
940+
ubxFile->write((const uint8_t *)nmeaMessage, strlen(nmeaMessage));
941+
const char *crlf = "\r\n";
942+
ubxFile->write((const uint8_t *)crlf, 2);
943+
944+
sdFreeSpace -= strlen(nmeaMessage) + 2; // Update remaining space on SD
945+
}
946+
947+
// Record the Antenna Reference Position - if available
948+
if (newARPAvailable == true && settings.enableARPLogging &&
949+
((millis() - lastARPLog) > (settings.ARPLoggingInterval_s * 1000)))
950+
{
951+
lastARPLog = millis();
952+
newARPAvailable = false;
953+
954+
double x = ARPECEFX;
955+
x /= 10000.0; // Convert to m
956+
double y = ARPECEFY;
957+
y /= 10000.0; // Convert to m
958+
double z = ARPECEFZ;
959+
z /= 10000.0; // Convert to m
960+
double h = ARPECEFH;
961+
h /= 10000.0; // Convert to m
962+
char ARPData[82]; // Max NMEA sentence length is 82
963+
snprintf(ARPData, sizeof(ARPData), "%.4f,%.4f,%.4f,%.4f", x, y, z, h);
964+
965+
if ((settings.enablePrintLogFileStatus) && (!inMainMenu))
966+
systemPrintf("Recording Antenna Reference Position %s\r\n", ARPData);
967+
968+
char nmeaMessage[82]; // Max NMEA sentence length is 82
969+
createNMEASentence(CUSTOM_NMEA_TYPE_ARP_ECEF_XYZH, nmeaMessage, sizeof(nmeaMessage),
970+
ARPData); // textID, buffer, sizeOfBuffer, text
971+
972+
ubxFile->write((const uint8_t *)nmeaMessage, strlen(nmeaMessage));
973+
const char *crlf = "\r\n";
974+
ubxFile->write((const uint8_t *)crlf, 2);
975+
976+
sdFreeSpace -= strlen(nmeaMessage) + 2; // Update remaining space on SD
977+
}
978+
979+
static unsigned long lastFlush = 0;
980+
if (USE_MMC_MICROSD)
981+
{
982+
if (millis() > (lastFlush + 250)) // Flush every 250ms, not every write
983+
{
984+
ubxFile->flush();
985+
lastFlush += 250;
986+
}
987+
}
988+
fileSize = ubxFile->fileSize(); // Update file size
989+
990+
// Force file sync every 60s
991+
if (millis() - lastUBXLogSyncTime > 60000)
992+
{
993+
if (productVariant == RTK_SURVEYOR)
994+
digitalWrite(pin_baseStatusLED,
995+
!digitalRead(pin_baseStatusLED)); // Blink LED to indicate logging activity
996+
997+
ubxFile->sync();
998+
ubxFile->updateFileAccessTimestamp(); // Update the file access time & date
999+
1000+
if (productVariant == RTK_SURVEYOR)
1001+
digitalWrite(pin_baseStatusLED,
1002+
!digitalRead(pin_baseStatusLED)); // Return LED to previous state
1003+
1004+
lastUBXLogSyncTime = millis();
1005+
}
1006+
1007+
// Remember the maximum transfer time
1008+
deltaMillis = millis() - startMillis;
1009+
if (maxMillis[RBC_SD_CARD] < deltaMillis)
1010+
maxMillis[RBC_SD_CARD] = deltaMillis;
1011+
1012+
if (settings.enablePrintBufferOverrun)
1013+
{
1014+
if (deltaMillis > 150)
1015+
systemPrintf("Long Write! Time: %ld ms / Location: %ld / Recorded %d bytes / "
1016+
"spaceRemaining %d bytes\r\n",
1017+
deltaMillis, fileSize, bytesToSend, combinedSpaceRemaining);
1018+
}
1019+
} while(0);
1020+
1021+
xSemaphoreGive(sdCardSemaphore);
9341022
} // End sdCardSemaphore
9351023
else
9361024
{

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