Some fixes for UART receiving with interrupts for SPATZ

include/sta/debug/spatz.hpp

@@ -3,6 +3,7 @@
 
 #include <sta/mutex.hpp>
 #include <sta/signal.hpp>
+#include <sta/event.hpp>
 
 #include <sta/config.hpp>
 #ifdef STA_SPATZ_ENABLED
@@ -21,7 +22,7 @@ namespace sta
          * 
          * @param mutex A mutex used to make SPATZ thread-safe.
          */
-        void init(Mutex * mutex, Signal * signal);
+        void init(Mutex * mutex, Event * signal);
         
         /**
          * @brief Request bytes for a specific sensor id via the printable.
@@ -49,6 +50,8 @@ namespace sta
          * @param length The number of doubles to request.
          */
         void request(uint8_t id, double * buffer, size_t length);
+
+        void notify(uint8_t id);
     } // namespace spatz
 } // namespace sta
 

include/sta/event.hpp

@@ -40,7 +40,7 @@ namespace sta
          * @param flags flag nr. to wait for.
          * @param timeout timeout in ms., default to forever.
          */
-        virtual uint32_t wait(uint32_t flags, uint32_t timeout = osWaitForever) = 0;
+        virtual uint32_t wait(uint32_t flags, uint32_t timeout = 0xFFFFFFFF) = 0;
     };
 } // namespace sta
 

src/debug/spatz.cpp

@@ -12,18 +12,16 @@ namespace sta
 {
     namespace spatz
     {
-        sta::Mutex * mutex_ 	= nullptr;
-        sta::Signal * signal_ 	= nullptr;
+        Mutex * mutex_ 		= nullptr;
+        Event * signal_ 	= nullptr;
 
-        void init(sta::Mutex * mutex, Signal * signal)
+        void init(sta::Mutex * mutex, Event * signal)
         {
             mutex_ = mutex;
             signal_ = signal;
 
             uint8_t msg = 0xFF;
 
-            sta::lock_guard<sta::Mutex> lock(*mutex_);
-
             // Wait until SPATZ sends the init byte.
             while (msg != STA_INIT_SPATZ_ID)
             {
@@ -41,13 +39,11 @@ namespace sta
 
         void request(uint8_t id, float * buffer, size_t length)
         {
-            mutex_->acquire();
+        	sta::lock_guard<sta::Mutex> lock(*mutex_);
 
             HAL_UART_Receive_IT(&huart1, reinterpret_cast<uint8_t*>(buffer), length * sizeof(float));
             Debug->printf("%d", id);
-            signal_->wait();
-
-            mutex_->release();
+            signal_->wait(0x01);
         }
 
         void request(uint8_t id, double * buffer, size_t length)
@@ -57,6 +53,11 @@ namespace sta
 			Debug->printf("%d", id);
 			Debug->read(buffer, length);
         }
+
+        void notify(uint8_t id)
+        {
+			Debug->printf("%d", id);
+        }
     } // namespace spatz    
 } // namespace sta
 
@@ -64,7 +65,11 @@ namespace sta
 void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
 {
 	if (sta::spatz::signal_ != nullptr)
-		sta::spatz::signal_->notify();
+	{
+		sta::spatz::signal_->set(0x01);
+		sta::spatz::signal_->clear(0x01);
+	}
+
 }