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Updated SPATZ to ignore TICK() when disabled

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dario 2024-10-09 16:09:37 +02:00
parent b79279dcbc
commit 86b72a2efd
2 changed files with 10 additions and 3 deletions
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4
include/sta/debug/spatz.hpp
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@ -45,7 +45,7 @@ namespace sta
* @param buffer The float buffer to write the data to. * @param buffer The float buffer to write the data to.
* @param length The number of floats to request. * @param length The number of floats to request.
*/ */
void request(uint8_t id, float * buffer, size_t length); bool request(uint8_t id, float * buffer, size_t length);
/** /**
* @brief Request doubles for a specific sensor id via the printable. * @brief Request doubles for a specific sensor id via the printable.
@ -80,6 +80,8 @@ namespace sta
#define STA_SPATZ_INIT(mutex, signal) ((void)0) #define STA_SPATZ_INIT(mutex, signal) ((void)0)
#define STA_SPATZ_TICK() ((void)0)
#endif // STA_SPATZ_ENABLED #endif // STA_SPATZ_ENABLED
#endif // STA_CORE_SPATZ_HPP #endif // STA_CORE_SPATZ_HPP

9
src/debug/spatz.cpp
View File

@ -47,15 +47,20 @@ namespace sta
mutex_->release(); mutex_->release();
} }
void request(uint8_t id, float * buffer, size_t length) bool request(uint8_t id, float * buffer, size_t length)
{ {
mutex_->acquire(); mutex_->acquire();
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(0x01, 100); if (signal_->wait(0x01, 100) != 0x01)
{
mutex_->release();
return false;
}
mutex_->release(); mutex_->release();
return true;
} }
void request(uint8_t id, double * buffer, size_t length) void request(uint8_t id, double * buffer, size_t length)