mirror of
https://github.com/liquidraver/ZephCore.git
synced 2026-09-01 20:09:17 +00:00
get rid of flash writes initiated by ZephyrGPSManager
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liquidraver
@@ -24,7 +24,6 @@
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#include <zephyr/drivers/uart.h>
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#include <zephyr/drivers/regulator.h>
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#include <zephyr/drivers/i2c.h>
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#include <zephyr/fs/fs.h>
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#include <string.h>
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#if defined(CONFIG_SOC_NRF52840)
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#include <nrfx.h>
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@@ -111,9 +110,9 @@ static inline bool gps_duty_cycling(void)
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return gps_wake_interval_ms != 0;
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}
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/* k_uptime of the last always-on position/clock refresh — rate-limits the
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* flash write + RTC sync to gps_acquire_timeout_ms while streaming (see
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* gnss_data_cb), so continuous operation doesn't hammer flash. */
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/* k_uptime of the last always-on fix-callback invocation — rate-limits the
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* RTC sync / node-position update to gps_acquire_timeout_ms while streaming
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* (see gnss_data_cb), so 1Hz fixes don't fire the callback continuously. */
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static int64_t last_promote_ms = 0;
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/* Repeater acquire window — GPS only for time sync. The standby interval is
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@@ -133,59 +132,6 @@ static void gps_start_acquiring(void);
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static K_WORK_DELAYABLE_DEFINE(gps_wake_work, gps_wake_work_fn);
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static K_WORK_DELAYABLE_DEFINE(gps_timeout_work, gps_timeout_work_fn);
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/* ========== Last-known position persistence ========== */
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#define GPS_POS_FILE "/lfs/gps_pos"
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/* On-disk format: lat(8) + lon(8) + alt(4) = 20 bytes */
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struct gps_pos_record {
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int64_t latitude_ndeg;
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int64_t longitude_ndeg;
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int32_t altitude_mm;
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};
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static void gps_save_position(const struct gps_position *pos)
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{
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struct fs_file_t file;
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struct gps_pos_record rec = {
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.latitude_ndeg = pos->latitude_ndeg,
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.longitude_ndeg = pos->longitude_ndeg,
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.altitude_mm = pos->altitude_mm,
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};
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fs_file_t_init(&file);
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if (fs_open(&file, GPS_POS_FILE, FS_O_CREATE | FS_O_WRITE) == 0) {
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fs_write(&file, &rec, sizeof(rec));
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fs_close(&file);
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}
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}
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static bool gps_load_position(void)
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{
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struct fs_file_t file;
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struct gps_pos_record rec;
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fs_file_t_init(&file);
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if (fs_open(&file, GPS_POS_FILE, FS_O_READ) < 0) {
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return false;
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}
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ssize_t n = fs_read(&file, &rec, sizeof(rec));
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fs_close(&file);
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if (n != sizeof(rec)) {
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return false;
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}
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current_pos.latitude_ndeg = rec.latitude_ndeg;
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current_pos.longitude_ndeg = rec.longitude_ndeg;
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current_pos.altitude_mm = rec.altitude_mm;
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current_pos.valid = true;
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current_pos.satellites = 0;
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current_pos.timestamp_ms = 0; /* unknown — loaded from flash */
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LOG_INF("GPS: Restored last position from flash lat=%lld lon=%lld",
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rec.latitude_ndeg / 1000000, rec.longitude_ndeg / 1000000);
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return true;
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}
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#else
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static gps_enable_callback_t gps_enable_cb = NULL;
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#endif
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@@ -301,26 +247,6 @@ static void gnss_data_cb(const struct device *dev, const struct gnss_data *data)
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gps_time_synced = true;
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last_fix_uptime_ms = k_uptime_get();
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/* Persist position to flash at most once per
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* gps_acquire_timeout_ms (default 120s), always on the
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* first-ever fix so a fresh device saves an initial
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* position right away. This throttle applies uniformly
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* to duty-cycled AND always-on mode: without it, a short
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* `gps duty` interval (e.g. 10s) would write flash on
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* every wake indefinitely — worse wear than always-on's
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* throttled rate. The RTC sync / fix callback below still
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* fires on every successful duty-cycle wake regardless
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* (that's cheap, RAM + a hardware RTC write, not flash);
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* only the flash persistence is throttled. */
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bool promote = first_ever ||
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(k_uptime_get() - last_promote_ms >=
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(int64_t)gps_acquire_timeout_ms);
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if (promote) {
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last_promote_ms = k_uptime_get();
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/* Persist position to flash for reboot survival */
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gps_save_position(¤t_pos);
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}
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if (duty) {
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/* Cancel timeout */
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k_work_cancel_delayable(&gps_timeout_work);
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@@ -345,11 +271,18 @@ static void gnss_data_cb(const struct device *dev, const struct gnss_data *data)
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return;
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}
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/* Always-on: keep streaming (no standby). Reset the gate so
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* we don't re-promote every fix; refresh persisted position
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* + RTC on the cadence captured by `promote` above. */
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/* Always-on: keep streaming (no standby). Throttle the fix
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* callback (RTC sync + node-position update in main) to
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* once per gps_acquire_timeout_ms — at 1Hz fixes it would
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* otherwise fire constantly. Always fire on the first-ever
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* fix so the clock syncs right away. current_pos (the
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* telemetry source) is updated on every fix above. */
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consecutive_good_fixes = 0;
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bool promote = first_ever ||
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(k_uptime_get() - last_promote_ms >=
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(int64_t)gps_acquire_timeout_ms);
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if (promote && gps_fix_cb) {
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last_promote_ms = k_uptime_get();
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double lat = (double)data->nav_data.latitude / 1000000000.0;
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double lon = (double)data->nav_data.longitude / 1000000000.0;
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k_mutex_unlock(&gps_mutex);
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@@ -1363,9 +1296,6 @@ int gps_manager_init(void)
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#if HAS_GNSS
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gnss_init();
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/* Restore last known position from flash (survives reboot) */
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gps_load_position();
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/* Configure constellations + fix rate NOW while chip is powered
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* and the modem pipe is open (driver init already ran).
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* This is the ONLY safe place to call modem_chat_run_script() —
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@@ -1501,8 +1431,8 @@ void gps_enable(bool enable)
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* report a live fix (e.g. joystick UI showing "3D FIX") off old
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* data before any new NMEA sentence arrives. lat/lon/valid are
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* deliberately left alone — telemetry/UI "last known position"
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* reads (gps_get_position/gps_load_position) intentionally survive
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* an on/off toggle; only the live fix-quality indicator resets. */
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* reads (gps_get_position) intentionally survive an on/off
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* toggle; only the live fix-quality indicator resets. */
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k_mutex_lock(&gps_mutex, K_FOREVER);
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current_pos.satellites = 0;
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k_mutex_unlock(&gps_mutex);
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@@ -531,11 +531,11 @@ static void mesh_event_loop(void)
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ui_auto_shutdown_check();
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}
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/* Off-main pref mutators (e.g. gps_fix_callback in modem_chat
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* context) post this bit and update _prefs in memory; we flush
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* to flash here so the synchronous LittleFS write doesn't block
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* the originating thread. Multiple posts coalesce into one
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* write of the latest _prefs values — desired behaviour. */
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/* Off-main pref mutators (e.g. the autoshutdown CLI handler on
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* the sysworkq USB RX path) post this bit and update _prefs in
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* memory; we flush to flash here so the synchronous LittleFS
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* write doesn't block the originating thread. Multiple posts
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* coalesce into one write of the latest _prefs values. */
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if ((events & MESH_EVENT_PREFS_DIRTY) && companion_mesh_ptr) {
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save_prefs_to_flash();
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}
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@@ -758,8 +758,8 @@ static bool handle_autoshutdown_cli(const char *line, char *reply)
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companion_mesh.prefs.auto_shutdown_mv = (uint16_t)v;
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/* Defer the flash write to the main thread (this runs on sysworkq via
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* the USB RX work handler). A synchronous savePrefs here could race a
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* concurrent main-thread save (e.g. GPS-fix MESH_EVENT_PREFS_DIRTY) on
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* the same prefs .tmp file. Posting the event coalesces both onto main. */
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* concurrent main-thread save (e.g. a companion-app command handler)
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* on the same prefs .tmp file. Posting the event coalesces onto main. */
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k_event_post(&mesh_events, MESH_EVENT_PREFS_DIRTY);
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ui_set_auto_shutdown_mv((uint16_t)v);
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if (v == 0) {
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@@ -847,7 +847,12 @@ static void gps_fix_callback(double lat, double lon, int64_t utc_time)
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}
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#ifdef ZEPHCORE_LORA
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/* Update node position for mesh advertising */
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/* Update node position for mesh advertising — RAM only, no flash
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* write. Matches upstream Arduino (sensors.node_lat/lon): the
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* position reaches flash only piggybacked on the next savePrefs()
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* triggered by an actual settings change. Persisting from here
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* would rewrite the full prefs blob on nearly every promoted fix,
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* since GPS jitter defeats the exact-double comparison below. */
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if (lat != companion_mesh.prefs.node_lat || lon != companion_mesh.prefs.node_lon) {
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companion_mesh.prefs.node_lat = lat;
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companion_mesh.prefs.node_lon = lon;
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@@ -860,13 +865,6 @@ static void gps_fix_callback(double lat, double lon, int64_t utc_time)
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if (lon_frac < 0) lon_frac = -lon_frac;
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LOG_INF("GPS fix: position updated lat=%d.%06d lon=%d.%06d",
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lat_deg, lat_frac, lon_deg, lon_frac);
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/* Defer flash write to main thread — gps_fix_callback runs in
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* the GNSS modem_chat worker; a synchronous LittleFS write here
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* (10-50 ms on nRF52 QSPI) would block NMEA ingest and risk
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* UART buffer overflow / lost fixes. Main handles the save
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* via MESH_EVENT_PREFS_DIRTY; multiple fixes coalesce into one
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* write (the latest prefs values are written). */
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k_event_post(&mesh_events, MESH_EVENT_PREFS_DIRTY);
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}
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/* Update UI with GPS data */
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