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Some fixes for UART receiving with interrupts for SPATZ

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This commit is contained in:
dario 2024-08-16 21:49:45 +02:00
parent fc5d676624
commit 1ad0d0120a
3 changed files with 20 additions and 12 deletions
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5
include/sta/debug/spatz.hpp
View File

@ -3,6 +3,7 @@
#include <sta/mutex.hpp> #include <sta/mutex.hpp>
#include <sta/signal.hpp> #include <sta/signal.hpp>
#include <sta/event.hpp>
#include <sta/config.hpp> #include <sta/config.hpp>
#ifdef STA_SPATZ_ENABLED #ifdef STA_SPATZ_ENABLED
@ -21,7 +22,7 @@ namespace sta
* *
* @param mutex A mutex used to make SPATZ thread-safe. * @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. * @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. * @param length The number of doubles to request.
*/ */
void request(uint8_t id, double * buffer, size_t length); void request(uint8_t id, double * buffer, size_t length);
void notify(uint8_t id);
} // namespace spatz } // namespace spatz
} // namespace sta } // namespace sta

2
include/sta/event.hpp
View File

@ -40,7 +40,7 @@ namespace sta
* @param flags flag nr. to wait for. * @param flags flag nr. to wait for.
* @param timeout timeout in ms., default to forever. * @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 } // namespace sta

25
src/debug/spatz.cpp
View File

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