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tasks: gps: drop complicated usage of Backoff

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This commit is contained in:
Victoria Fischer
2026-03-24 12:44:26 +01:00
parent ee5e2e2a4b
commit f803b3c2d4
1 changed files with 81 additions and 78 deletions
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23
src/tasks/gps.rs
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@@ -1,5 +1,5 @@
use alloc::string::String; use alloc::string::String;
use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice; use embassy_embedded_hal::shared_bus::{I2cDeviceError, asynch::i2c::I2cDevice};
use embassy_sync::{blocking_mutex::raw::NoopRawMutex, channel::DynamicSender}; use embassy_sync::{blocking_mutex::raw::NoopRawMutex, channel::DynamicSender};
use embassy_time::Timer; use embassy_time::Timer;
use embedded_hal_async::i2c::I2c as _; use embedded_hal_async::i2c::I2c as _;
@@ -8,14 +8,9 @@ use log::*;
use nalgebra::Vector2; use nalgebra::Vector2;
use nmea::{Nmea, sentences::FixType}; use nmea::{Nmea, sentences::FixType};
use crate::{backoff::Backoff, events::{Measurement, SensorSource, SensorState}}; use crate::{events::{Measurement, SensorSource, SensorState}};
// FIXME: We need a way to put the GPS to sleep when the system goes to sleep async fn init_gps(i2c_bus: &mut I2cDevice<'static, NoopRawMutex, I2c<'static, Async>>) -> Result<(), I2cDeviceError<esp_hal::i2c::master::Error>> {
#[embassy_executor::task]
pub async fn gps_task(events: DynamicSender<'static, Measurement>, mut i2c_bus: I2cDevice<'static, NoopRawMutex, I2c<'static, Async>>) {
Backoff::from_secs(5).forever().attempt::<_, (), ()>(async || {
events.send(Measurement::SensorHardwareStatus(SensorSource::GPS, SensorState::Offline)).await;
Backoff::from_secs(5).forever().attempt(async || {
info!("Initializing GPS"); info!("Initializing GPS");
// Enable a bunch of data? idk // Enable a bunch of data? idk
let bytes = "$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"; let bytes = "$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n";
@@ -32,7 +27,16 @@ pub async fn gps_task(events: DynamicSender<'static, Measurement>, mut i2c_bus:
// Antenna updates // Antenna updates
let bytes = "$PGCMD,33,1*6C\r\n"; let bytes = "$PGCMD,33,1*6C\r\n";
i2c_bus.write(0x10, bytes.as_bytes()).await i2c_bus.write(0x10, bytes.as_bytes()).await
}).await.unwrap(); }
// FIXME: We need a way to put the GPS to sleep when the system goes to sleep
#[embassy_executor::task]
pub async fn gps_task(events: DynamicSender<'static, Measurement>, mut i2c_bus: I2cDevice<'static, NoopRawMutex, I2c<'static, Async>>) {
events.send(Measurement::SensorHardwareStatus(SensorSource::GPS, SensorState::Offline)).await;
if let Err(e) = init_gps(&mut i2c_bus).await {
error!("Failed to initialize GPS: {e:?}");
return;
}
let mut strbuf = String::new(); let mut strbuf = String::new();
@@ -94,5 +98,4 @@ pub async fn gps_task(events: DynamicSender<'static, Measurement>, mut i2c_bus:
Timer::after_millis(500).await; Timer::after_millis(500).await;
} }
} }
}).await.ok();
} }