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| QueueHandle_t gMsgGPS = NULL; | |
| #define RX_DATA_SZ 63 | |
| /* | |
| ---------------------------------------------------------------------------*/ | |
| static void gps_rx_task(void *arg) | |
| { | |
| struct ST_GPS_MSG msg; | |
| static uint8_t data[RX_DATA_SZ+1]; | |
| uint8_t *pCh; | |
| uint8_t ch; | |
| // const size_t xTriggerLevel = 1; | |
| int i; | |
| int rxBytes; | |
| ESP_LOGI( TAG, "core:[%d] gps_rx_task()", xPortGetCoreID() ); | |
| msgNdx = 0; | |
| while (msgNdx < MSG_BUFFERS) | |
| { | |
| msgBuff[msgNdx][0] = 0; | |
| msgNdx++; | |
| } | |
| msgCounter = 0; | |
| msgNdx = 0; | |
| msgLen = 0; | |
| pMsg = &msgBuff[msgNdx][0]; | |
| static const char *RX_TASK_TAG = "GPS_RX"; | |
| esp_log_level_set(RX_TASK_TAG, ESP_LOG_WARN); | |
| while (1) { | |
| rxBytes = uart_read_bytes(GPS_UART, data, RX_DATA_SZ, 1000 / portTICK_RATE_MS); | |
| if (rxBytes > 0) { | |
| if (dataDirectToGPS) | |
| { | |
| // send received data directly out the diagnostic port | |
| // uart_write_bytes(DIAG_UART, data, rxBytes ); | |
| } else if (simulate) | |
| { | |
| // Simulating - ignore anything coming in the serial port | |
| msgNdx = 0; // Reset this, ready for next string | |
| } else | |
| { | |
| data[rxBytes] = 0; | |
| // ESP_LOGI(RX_TASK_TAG, "Read %d bytes: '%s'", rxBytes, data); | |
| // ESP_LOG_BUFFER_HEXDUMP(RX_TASK_TAG, data, rxBytes, ESP_LOG_INFO); | |
| pCh = &data[0]; | |
| for (i=0; (i<rxBytes); i++) { | |
| ch = *pCh; | |
| pCh++; | |
| if (ch != '\n') { | |
| if (ch == '$') { | |
| // restart current message (no proper termination found?) | |
| pMsg = &msgBuff[msgNdx][0]; | |
| msgLen = 0; | |
| } else if (ch != '\r') { | |
| *pMsg = ch; | |
| if (msgLen < (MSG_MAX_LENGTH-1)) { | |
| msgLen++; | |
| pMsg++; | |
| } | |
| } else | |
| { | |
| *pMsg = 0; // terminate the string | |
| if ((qMsgGPS != NULL) && (uxQueueSpacesAvailable( qMsgGPS ) >= 1)) { | |
| msg.num = msgCounter++; | |
| msg.ptr = &msgBuff[msgNdx][0]; | |
| // ESP_LOGI(TAG, "msg.%d,len=%d[%s]", msg.num, msgLen, msg.ptr ); | |
| xQueueSend(qMsgGPS, (void *)&msg, 0 ); | |
| if ((++msgNdx) >= MSG_BUFFERS) | |
| msgNdx = 0; | |
| pMsg = &msgBuff[msgNdx][0]; | |
| msgLen = 0; | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| ... | |
| qMsgGPS = xQueueCreate(20, sizeof(struct ST_GPS_MSG)); | |
| if (qMsgGPS == NULL) | |
| ESP_LOGE( TAG, "!!! GPS Queue creation failed" ); | |
| ... | |
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