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drivers/l86xxx: Mutex fixes & performance improvements

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Fix mutex locking bugs and improve performance. Fix interval no longer
set statically since it is available via `set_interval` uORB function.
Activation/deactivation no longer triggers standby/hotstart since this
functionality was very unstable.

Signed-off-by: Matteo Golin <matteo.golin@gmail.com>
This commit is contained in:
Matteo Golin 2025-08-07 20:27:57 -04:00
parent 821b067a60
commit 4845eadaa9
2 changed files with 32 additions and 62 deletions
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9
drivers/sensors/Kconfig
View file

@ -858,15 +858,6 @@ config L86_XXX_BAUD
---help---
Supported values are: 4800, 9600, 14400, 19200, 38400, 57600 and 115200
config L86_XXX_FIX_INT
int "Quectel L86-XXX fix interval rate"
default 1000
depends on SENSORS_L86_XXX
range 100 10000
---help---
Rate in ms at which module obtains satellite fix. Supported values
are integers between 100 10000
config SENSORS_LIS2DH
bool "STMicro LIS2DH device support"
default n

85
drivers/sensors/l86xxx_uorb.c
View file

@ -72,10 +72,6 @@
#error "Invalid baud rate. Supported baud rates are: 4800, 5600, 14400, 19200, 38400, 57600, 115200"
#endif
#if CONFIG_L86_XXX_FIX_INT < 100 || CONFIG_L86_XXX_FIX_INT > 10000
#error "Invalid fix interval rate. Values must be between 100 and 10000"
#endif
/* Helper to get array length */
#define MINMEA_MAX_LENGTH 256
@ -91,9 +87,9 @@ typedef struct
{
FAR struct file uart; /* UART interface */
struct gnss_lowerhalf_s lower; /* uORB GNSS lower-half */
bool enabled; /* If module has started */
mutex_t devlock; /* Exclusive access */
sem_t run; /* Start/stop collection thread */
bool enabled; /* If module has started */
char buffer[MINMEA_MAX_LENGTH]; /* Buffer for UART interface */
#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
int16_t crefs; /* Number of open references */
@ -240,7 +236,6 @@ static int send_command(l86xxx_dev_s *dev,
int bw1;
int bw2;
int err;
int ret;
int i = 0;
ssize_t len;
uint8_t checksum;
@ -293,7 +288,7 @@ static int send_command(l86xxx_dev_s *dev,
if (err < 0)
{
snerr("Could not send command to device\n");
return err;
goto early_ret;
}
/* These commands do not send ACKs so just return after they've been
@ -305,8 +300,8 @@ static int send_command(l86xxx_dev_s *dev,
cmd == CMD_COLD_START ||
cmd == CMD_FULL_COLD_START)
{
nxmutex_unlock(&dev->devlock);
return 0;
err = 0;
goto early_ret;
}
/* Setting baud rate also doesn't send an ACK but the interface baud rate
@ -317,12 +312,11 @@ static int send_command(l86xxx_dev_s *dev,
{
#ifdef CONFIG_SERIAL_TERMIOS
nxsig_usleep(20000); /* Should wait for a bit before changing interface baud rate */
ret = set_baud_rate(dev, (int)arg);
err = set_baud_rate(dev, (int)arg);
#else
ret = -EINVAL;
err = -EINVAL;
#endif
nxmutex_unlock(&dev->devlock);
return ret;
goto early_ret;
}
/* Some commands will send ACKs,
@ -351,34 +345,36 @@ static int send_command(l86xxx_dev_s *dev,
if (i >= L86_ACK_RETRIES)
{
snerr("Did not get ACK!\n");
nxmutex_unlock(&dev->devlock);
return -EIO;
err = -EIO;
goto early_ret;
}
sninfo("ACK received!\n");
ret = dev->buffer[13] - '0';
nxmutex_unlock(&dev->devlock);
/* Flag num is always in position 13 of ack, subtract by '0'
to obtain return val
*/
if (ret == 1)
switch (dev->buffer[13] - '0')
{
return -ENOSYS;
}
else if (ret == 2)
{
return -EIO;
}
else if (ret == 3)
{
return 0;
}
else
{
return -EINVAL;
case 1:
err = -ENOSYS;
break;
case 2:
err = -EIO;
break;
case 3:
err = 0;
break;
default:
err = -EINVAL;
break;
break;
}
early_ret:
nxmutex_unlock(&dev->devlock);
return err;
}
/****************************************************************************
@ -401,8 +397,6 @@ static int read_line(l86xxx_dev_s *dev)
int err;
char next_char;
memset(dev->buffer, '\0', sizeof(dev->buffer));
do
{
err = file_read(&dev->uart, &next_char, 1);
@ -500,7 +494,6 @@ static int l86xxx_activate(FAR struct gnss_lowerhalf_s *lower,
{
nxsem_post(&dev->run);
dev->enabled = true;
return send_command(dev, CMD_HOT_START, (int)NULL);
}
/* If not already disabled, send gps into standby mode */
@ -508,7 +501,6 @@ static int l86xxx_activate(FAR struct gnss_lowerhalf_s *lower,
else if (!enable && dev->enabled)
{
dev->enabled = false;
return send_command(dev, CMD_STANDBY_MODE, 0);
}
return 0;
@ -529,7 +521,7 @@ static int l86xxx_set_interval(FAR struct gnss_lowerhalf_s *lower,
FAR uint32_t *period_us)
{
FAR l86xxx_dev_s *dev = container_of(lower, FAR l86xxx_dev_s, lower);
int fix_interval = *period_us;
int fix_interval = *period_us / 1000;
int ret;
if (fix_interval < 100 || fix_interval > 10000)
@ -577,13 +569,7 @@ static int l86xxx_thread(int argc, FAR char *argv[])
* interrupt reading data.
*/
err = nxmutex_lock(&dev->devlock);
if (err < 0)
{
snerr("Couldn't lock mutex\n");
return err;
}
nxmutex_lock(&dev->devlock);
bw = file_read(&dev->uart, dev->buffer, sizeof(dev->buffer));
if (bw <= 0)
@ -693,19 +679,13 @@ int l86xxx_register(FAR const char *uartpath, int devno)
}
#endif
err = send_command(priv, SET_POS_FIX, CONFIG_L86_XXX_FIX_INT);
if (err < 0)
{
snwarn("Couldn't set position fix interval, %d\n", err);
}
/* Register UORB Sensor */
priv->lower.ops = &g_gnss_ops;
priv->lower.priv = priv;
priv->enabled = false;
nbuffers[SENSOR_GNSS_IDX_GNSS] = 1;
nbuffers[SENSOR_GNSS_IDX_GNSS] = 2;
nbuffers[SENSOR_GNSS_IDX_GNSS_SATELLITE] = 1;
nbuffers[SENSOR_GNSS_IDX_GNSS_MEASUREMENT] = 1;
nbuffers[SENSOR_GNSS_IDX_GNSS_CLOCK] = 1;
@ -733,9 +713,8 @@ int l86xxx_register(FAR const char *uartpath, int devno)
}
sninfo("Registered L86-XXX driver with kernel polling thread"
" with baud rate %d and update rate %d",
L86_XXX_BAUD_RATE,
CONFIG_L86_XXX_FIX_INT);
" with baud rate %d",
L86_XXX_BAUD_RATE);
return 0;