增加rtk process栈空间

重写decode部分
根据观测值数量分配rtkpos所需内存

.config

@@ -17,7 +17,9 @@ CONFIG_RT_USING_HOOK=y
 CONFIG_RT_USING_IDLE_HOOK=y
 CONFIG_RT_IDLE_HOOK_LIST_SIZE=4
 CONFIG_IDLE_THREAD_STACK_SIZE=1024
-# CONFIG_RT_USING_TIMER_SOFT is not set
+CONFIG_RT_USING_TIMER_SOFT=y
+CONFIG_RT_TIMER_THREAD_PRIO=4
+CONFIG_RT_TIMER_THREAD_STACK_SIZE=512
 
 #
 # kservice optimization
@@ -289,11 +291,7 @@ CONFIG_ULOG_OUTPUT_LVL=7
 CONFIG_ULOG_USING_ISR_LOG=y
 CONFIG_ULOG_ASSERT_ENABLE=y
 CONFIG_ULOG_LINE_BUF_SIZE=128
-CONFIG_ULOG_USING_ASYNC_OUTPUT=y
+# CONFIG_ULOG_USING_ASYNC_OUTPUT is not set
-CONFIG_ULOG_ASYNC_OUTPUT_BUF_SIZE=2048
-CONFIG_ULOG_ASYNC_OUTPUT_BY_THREAD=y
-CONFIG_ULOG_ASYNC_OUTPUT_THREAD_STACK=1024
-CONFIG_ULOG_ASYNC_OUTPUT_THREAD_PRIORITY=30
 
 #
 # log format
@@ -568,16 +566,6 @@ CONFIG_ULOG_BACKEND_USING_CONSOLE=y
 # CONFIG_PKG_USING_RT_VSNPRINTF_FULL is not set
 # end of enhanced kernel services
 
-#
-# POSIX extension functions
-#
-# CONFIG_PKG_USING_POSIX_GETLINE is not set
-# CONFIG_PKG_USING_POSIX_WCWIDTH is not set
-# CONFIG_PKG_USING_POSIX_ITOA is not set
-# CONFIG_PKG_USING_POSIX_STRINGS is not set
-# CONFIG_PKG_USING_POSIX_CTYPES is not set
-# end of POSIX extension functions
-
 #
 # acceleration: Assembly language or algorithmic acceleration packages
 #
@@ -605,7 +593,6 @@ CONFIG_ULOG_BACKEND_USING_CONSOLE=y
 # CONFIG_PKG_USING_UC_MODBUS is not set
 # end of Micrium: Micrium software products porting for RT-Thread
 
-# CONFIG_PKG_USING_RTDUINO is not set
 # CONFIG_PKG_USING_CAIRO is not set
 # CONFIG_PKG_USING_PIXMAN is not set
 # CONFIG_PKG_USING_PARTITION is not set
@@ -791,7 +778,6 @@ CONFIG_ULOG_BACKEND_USING_CONSOLE=y
 # CONFIG_PKG_USING_UPARAM is not set
 # CONFIG_PKG_USING_HELLO is not set
 # CONFIG_PKG_USING_VI is not set
-# CONFIG_PKG_USING_KI is not set
 # CONFIG_PKG_USING_ARMv7M_DWT is not set
 # CONFIG_PKG_USING_UKAL is not set
 # CONFIG_PKG_USING_CRCLIB is not set

.gitignore

@@ -41,3 +41,4 @@ settings/
 *.uvguix*
 
 /Release/
+/makefile.targets

.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="38926886275555880" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT ARM Cross GCC Built-in Compiler Settings " parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-738239081739022212" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT ARM Cross GCC Built-in Compiler Settings " parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="11935337743060155" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT ARM Cross GCC Built-in Compiler Settings " parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-765230630271517937" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT ARM Cross GCC Built-in Compiler Settings " parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

RTK/ST_rtksvr.c

@@ -355,7 +355,7 @@ int decoderaw(rtksvr_t *svr, int index)
     nav_t *nav;
     // sbsmsg_t *sbsmsg=NULL;
     int i, ret, ephsat, ephset, fobs = 0;
-    rtksvrlock(svr);
+// todo   rtksvrlock(svr);
 
     for (i = 0; i < svr->nb[index]; i++)
     {
@@ -404,7 +404,7 @@ int decoderaw(rtksvr_t *svr, int index)
     }
     svr->nb[index] = 0;
 
-    rtksvrunlock(svr);
+//    rtksvrunlock(svr);
 
     return fobs;
 }

applications/main.c

@@ -40,23 +40,10 @@ int main(void)
 
     }
 }
-struct test{
+
-    int a;
-    int b;
-    int *a_p;
-    int *b_p;
-}test,* test_p;
 void test_entry()
 {
-//    const char testbuff[] = {0xD3,0x00,0x13,0x3E,0xD7,0xD3,0x02,0x02,0x98,0x0E,0xDE,0xEF,0x34,0xB4,0xBD,0x62,0xAC,0x09,0x41,0x98,0x6F,0x33,0x36,0x0B,0x98};
+
-//    rt_device_write(serial3,0,testbuff,sizeof(testbuff));
-//    LOG_I("rtksvr_t size= %d",sizeof(rtksvr_t));
-    test.a=1;
-    test.b=2;
-    test.a_p=&test.a;
-    test.b_p=&test.b;
-    test_p = &test;
-    LOG_I("%d",&test_p->a);
 
 }
 MSH_CMD_EXPORT(test_entry,test_entry);

rtconfig.h

@@ -15,6 +15,9 @@
 #define RT_USING_IDLE_HOOK
 #define RT_IDLE_HOOK_LIST_SIZE 4
 #define IDLE_THREAD_STACK_SIZE 1024
+#define RT_USING_TIMER_SOFT
+#define RT_TIMER_THREAD_PRIO 4
+#define RT_TIMER_THREAD_STACK_SIZE 512
 
 /* kservice optimization */
 
@@ -183,11 +186,6 @@
 #define ULOG_USING_ISR_LOG
 #define ULOG_ASSERT_ENABLE
 #define ULOG_LINE_BUF_SIZE 128
-#define ULOG_USING_ASYNC_OUTPUT
-#define ULOG_ASYNC_OUTPUT_BUF_SIZE 2048
-#define ULOG_ASYNC_OUTPUT_BY_THREAD
-#define ULOG_ASYNC_OUTPUT_THREAD_STACK 1024
-#define ULOG_ASYNC_OUTPUT_THREAD_PRIORITY 30
 
 /* log format */
 

task/rtk_task.c

@@ -34,26 +34,49 @@ static char thread_user_rtcm_data_stack[get_rtcm_user_data_stack_size];
 static struct rt_thread get_ref_rtcm_data;
 static char thread_ref_rtcm_data_stack[get_rtcm_ref_data_stack_size];
 
-
 struct rt_mutex userf_svrlock;
 rtksvr_t *svr; /* rtk server struct */
 //serial3  -->user   serial_rtcm_buff[0][]
 //serial6  -->ref    serial_rtcm_buff[1][]
-
+char buff[8000];
 static void thread_get_ref_rtcm_data(void *parameter)
 {
     while (1)
     {
-        rt_completion_wait(&rtcm_ref_data_process_completion, RT_WAITING_FOREVER);
+
         //to make sure there is only one sem exist at uart,keep data from being damaged by dma transmit.
         //rt thread could not get uart status when it receiving data.
         //it may cross frame lost if the system runs slow.
         if (rt_sem_take(&uart6_simpack.rx_sem, RT_WAITING_FOREVER) == RT_EOK) //need a completion sem connect to rtcm data processing thread.
+        {
+            if (rt_completion_wait(&rtcm_ref_data_process_completion, RT_WAITING_NO) == RT_EOK)
             {
                 READ_SERIAL6(svr->buff[1]);
+
+//                READ_SERIAL6(buff);
                 svr->nb[1] = uart6_simpack.rx_num;
                 rt_event_send(&uart_event, EVENT_REF_RTCM_DATA_FLAG);
             }
+            else
+            {
+                if (uart6_simpack.rx_num != 0)
+                {
+                    char *drop = rt_malloc(uart6_simpack.rx_num);
+                    if (drop == RT_NULL)
+                    {
+                        LOG_E("heap not enough for thread_get_ref_rtcm_data");
+                    }
+                    else
+                    {
+                        READ_SERIAL6(drop);
+                        rt_free(drop);
+                    }
+
+                }
+            }
+
+        }
+
     }
 }
 
@@ -62,16 +85,36 @@ static void thread_get_user_rtcm_data(void *parameter)
 
     while (1)
     {
-        rt_completion_wait(&rtcm_user_data_process_completion, RT_WAITING_FOREVER);
         //to make sure there is only one sem exist at uart,keep data from being damaged by dma transmit.
         //rt thread could not get uart status when it receiving data.
         //it may cross frame lost if the system runs slow.
         if (rt_sem_take(&uart3_simpack.rx_sem, RT_WAITING_FOREVER) == RT_EOK) //need a completion sem connect to rtcm data processing thread.
+        {
+            if (rt_completion_wait(&rtcm_user_data_process_completion, RT_WAITING_NO) == RT_EOK)
             {
                 READ_SERIAL3(svr->buff[0]);
                 svr->nb[0] = uart3_simpack.rx_num;
                 rt_event_send(&uart_event, EVENT_UAER_RTCM_DATA_FLAG);
             }
+            else
+            {
+                if (uart3_simpack.rx_num != 0)
+                {
+                    char *drop = rt_malloc(uart3_simpack.rx_num);
+                    if (drop == RT_NULL)
+                    {
+                        LOG_E("heap not enough for thread_get_user_rtcm_data");
+                    }
+                    else
+                    {
+                        READ_SERIAL3(drop);
+                        rt_free(drop);
+                    }
+
+                }
+            }
+
+        }
     }
 }
 
@@ -84,12 +127,12 @@ static int nmeacycle = 5000; /* nmea request cycle (ms) */
 static int nmeareq = 0; /* nmea request type (0:off,1:lat/lon,2:single) */
 extern prcopt_t prcopt_;
 extern solopt_t solopt_;
-static obsd_t data[MAXOBS * 2]; /* 7616 B */
+//static obsd_t data[MAXOBS * 2]; /* 7616 B */
 static void thread_rtk_proces(void *parameter)
 {
     double pos[3] = { 0.0, 0.0, 0.0 }, npos[3] = { 0.0, 0.0, 0.0 };
     static double nmeapos[] = { 0, 0, 0 };
-
+    uint32_t recevd_event = 0;
     svr = (rtksvr_t *) rt_malloc(sizeof(rtksvr_t));
     if (svr == RT_NULL)
     {
@@ -118,12 +161,11 @@ static void thread_rtk_proces(void *parameter)
     double tt;
     uint32_t tick, ticknmea, tick1hz, tickreset;
     uint8_t *p, *q;
-    int i, j, n = 0, fobs[2] = { 0 }, cycle, cputime=0;
+    int n = 0, fobs[2] = { 0 }, cycle, cputime = 0;
-    uint8_t nr, nu;
 
     svr->state = 1;
-    obs.data = data;
+//    obs.data = data;
-//    obs.data = (obsd_t *)rt_malloc(sizeof(obsd_t)*MAXOBS*2);
+
     svr->tick = tickget();
     ticknmea = tick1hz = svr->tick - 1000;
     tickreset = svr->tick - 30000;
@@ -141,44 +183,79 @@ static void thread_rtk_proces(void *parameter)
         {
 
             tick = tickget();
-            uint32_t recevd_event = 0;
+
             rt_event_recv(&uart_event, (EVENT_UAER_RTCM_DATA_FLAG | EVENT_REF_RTCM_DATA_FLAG),
                     (RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR), RT_WAITING_FOREVER, &recevd_event);
+            if (recevd_event & EVENT_UAER_RTCM_DATA_FLAG || recevd_event & EVENT_REF_RTCM_DATA_FLAG)
+            {
                 if (recevd_event & EVENT_UAER_RTCM_DATA_FLAG)
                 {
                     fobs[0] = decoderaw(svr, 0);
                     rt_completion_done(&rtcm_user_data_process_completion);
                 }
-            else if (recevd_event & EVENT_REF_RTCM_DATA_FLAG)
+                if (recevd_event & EVENT_REF_RTCM_DATA_FLAG)
                 {
                     fobs[1] = decoderaw(svr, 1);
                     rt_completion_done(&rtcm_ref_data_process_completion);
                 }
-            else {
+            }
+            else
+            {
+//                rt_thread_sleep(5);
                 continue;
             }
 
+            uint8_t nr = 0;
+            uint8_t nu = 0;
+
             /* 将基准站和移动站的观测数据合二为一 这里重新申请了一个MAXOBS*2 的数组, 我觉得是不是有点问题? */
-            for (i = 0; i < fobs[0]; i++)
-            {
             obs.n = 0;
-                nr = nu = 0;
+
-                for (j = 0; j < svr->obs[0][i].n && obs.n < MAXOBS * 2; j++)
+            for (int i = 0; i < fobs[0]; i++)
+            {
+                for (int j = 0; j < svr->obs[0][i].n; j++)
                 {
-                    obs.data[obs.n++] = svr->obs[0][i].data[j];
                     nu++;
                 }
-
+            }
-                for (j = 0; j < svr->obs[1][i].n && obs.n < MAXOBS * 2; j++)
+            for (int i = 0; i < fobs[1]; i++)
+            {
+                for (int j = 0; j < svr->obs[1][i].n; j++)
                 {
-                    obs.data[obs.n++] = svr->obs[1][0].data[j];
                     nr++;
                 }
-                /* rtk positioning */
+            }
-                rtksvrlock(svr);
+            nu = (nu > MAXOBS) ? MAXOBS : nu;
-                rtkpos(&svr->rtk, obs.data, obs.n, &svr->nav);
+            nr = (nr > MAXOBS * 2 - nu) ? (MAXOBS * 2) - nr : nr;
-                rtksvrunlock(svr);
+            if (nu + nr == 0)
+            {
+//                rt_thread_mdelay(5);
+                continue;
+            }
+            obs.data = (obsd_t *) rt_malloc(sizeof(obsd_t) * (nu + nr));
+            obs.n = 0;
+            for (int i = 0; i < fobs[0]; i++)
+            {
+                for (int j = 0; j < svr->obs[0][i].n && obs.n < nu; j++)
+                {
+                    obs.data[obs.n++] = svr->obs[0][i].data[j];
+                }
+            }
+            for (int i = 0; i < fobs[1]; i++)
+            {
+                for (int j = 0; j < svr->obs[1][i].n && obs.n < nu + nr; j++)
+                {
+                    obs.data[obs.n++] = svr->obs[1][i].data[j];
+                }
+            }
 
+            /* rtk positioning */
+//                rtksvrlock(svr);
+            rtkpos(&svr->rtk, obs.data, obs.n, &svr->nav);
+
+//                rtksvrunlock(svr);
+            rt_free(obs.data);
+            obs.data = RT_NULL;
             /* 如果解算结果有效, 设置解算时间点 */
             if (svr->rtk.sol.stat != SOLQ_NONE)
             {
@@ -190,11 +267,10 @@ static void thread_rtk_proces(void *parameter)
 //                    writesol_mini(svr, i);
             }
             /* 如果设定的运算时间到了发现还没有计算完, 则记录没有计算完的观测次数 */
-                if ((int) (tickget() - tick) >= svr->cycle)
+//            if ((int) (tickget() - tick) >= svr->cycle)
-                {
+//            {
-                    svr->prcout += fobs[0] - i - 1;
+//                svr->prcout += fobs[0] - i - 1;
-                }
+//            }
-            }
             /* send null solution if no solution (1hz) */
             if (svr->rtk.sol.stat == SOLQ_NONE && (int) (tick - tick1hz) >= 1000)
             {
@@ -213,9 +289,10 @@ static void thread_rtk_proces(void *parameter)
                 svr->cputime = cputime;
 
             /* sleep until next cycle */
-            sleepms(15);
+
         }
     }
+    sleepms(1);
 }
 
 static void user_init_task(rt_thread_t thread, const char *name, void (*entry)(void *parameter), void *stack_start,
@@ -242,21 +319,20 @@ void task_init(void)
 {
 
     rt_event_init(&uart_event, "uart_event", RT_IPC_FLAG_PRIO);
-    rt_mutex_init(&userf_svrlock,"svrlock",RT_IPC_FLAG_PRIO);
+    rt_mutex_init(&userf_svrlock, "svrlock", RT_IPC_FLAG_PRIO);
     rt_completion_init(&rtcm_user_data_process_completion);
     rt_completion_init(&rtcm_ref_data_process_completion);
 
-    rt_thread_t trd=rt_thread_create("rtk_proces", thread_rtk_proces, RT_NULL, 3000, thread_rtk_proces_priority, DEFAULT_USER_THREA_TICK);
+    rt_thread_t trd = rt_thread_create("rtk_proces", thread_rtk_proces, RT_NULL, 8000, thread_rtk_proces_priority,
+    DEFAULT_USER_THREA_TICK);
     rt_thread_startup(trd);
     user_init_task(&get_user_rtcm_data, "thread_get_user_rtcm_data", thread_get_user_rtcm_data,
             thread_user_rtcm_data_stack,
             get_rtcm_user_data_stack_size, THREAD_get_user_rtcm_data_priority, DEFAULT_USER_THREA_TICK, RT_TRUE);
-    user_init_task(&get_ref_rtcm_data, "thread_get_ref_rtcm_data", thread_get_ref_rtcm_data,
+    user_init_task(&get_ref_rtcm_data, "thread_get_ref_rtcm_data", thread_get_ref_rtcm_data, thread_ref_rtcm_data_stack,
-            thread_ref_rtcm_data_stack,
     get_rtcm_ref_data_stack_size, THREAD_get_ref_rtcm_data_priority, DEFAULT_USER_THREA_TICK, RT_TRUE);
 //    user_init_task(&rtk_proces, "rtk_proces", thread_rtk_proces, thread_rtk_proces_stack,
 //    rtk_proces_stack_size, thread_rtk_proces_priority, DEFAULT_USER_THREA_TICK, RT_TRUE);
 
-
 }
 

task/rtk_task.h

@@ -24,9 +24,9 @@
 
 
 extern struct rt_mutex userf_svrlock;
-struct rt_mutex userf_svrlock;
+//struct rt_mutex userf_svrlock;
-#define rtksvrlock(svr)   rt_mutex_take(&userf_svrlock,RT_WAITING_FOREVER)
+//#define rtksvrlock(svr)   rt_mutex_take(&userf_svrlock,RT_WAITING_FOREVER)
-#define rtksvrunlock(svr)   rt_mutex_release(&userf_svrlock)
+//#define rtksvrunlock(svr)   rt_mutex_release(&userf_svrlock)
 
 extern uart_simpack  uart3_simpack;  //from user_uart.h
 extern uart_simpack  uart6_simpack;  //from user_uart.h

user_uart/user_uart.c

@@ -38,7 +38,7 @@ rt_device_t uart3_init(void)
     config.baud_rate = BAUD_RATE_460800;        //修改波特率为 460800
     config.data_bits = DATA_BITS_8;           //数据位 8
     config.stop_bits = STOP_BITS_1;           //停止位 1
-    config.bufsz = 4096;                   //修改缓冲区 buff size 为 2048
+    config.bufsz = 8000;                   //修改缓冲区 buff size 为 2048
     config.parity = PARITY_NONE;           //无奇偶校验位
     rt_device_control(serial3, RT_DEVICE_CTRL_CONFIG, &config);
     if (rt_device_set_rx_indicate(serial3, uart3_rx_complete) != RT_EOK)
@@ -64,10 +64,10 @@ rt_device_t uart6_init(void)
         LOG_E("could not find device: %s", USER_UART6_NAME);
         return RT_NULL;
     }
-    config.baud_rate = BAUD_RATE_460800;        //修改波特率为 460800
+    config.baud_rate = BAUD_RATE_115200;        //修改波特率为 460800
     config.data_bits = DATA_BITS_8;           //数据位 8
     config.stop_bits = STOP_BITS_1;           //停止位 1
-    config.bufsz = 4096;                   //修改缓冲区 buff size 为 2048
+    config.bufsz = 8000;                   //修改缓冲区 buff size 为 2048
     config.parity = PARITY_NONE;           //无奇偶校验位
     rt_device_control(serial6, RT_DEVICE_CTRL_CONFIG, &config);
     if (rt_device_set_rx_indicate(serial6, uart6_rx_complete) != RT_EOK)

user_uart/user_uart.h

@@ -19,7 +19,7 @@
 #define USER_UART6_NAME "uart6"
 
 #define READ_SERIAL3(...)   rt_device_read(serial3,0,__VA_ARGS__,uart3_simpack.rx_num)
-#define READ_SERIAL6(...)   rt_device_read(serial6,0,__VA_ARGS__,uart3_simpack.rx_num)
+#define READ_SERIAL6(...)   rt_device_read(serial6,0,__VA_ARGS__,uart6_simpack.rx_num)
 
 rt_device_t serial3;
 rt_device_t serial6;