From ac1344747bf834d9b90e76e49cc0ec712aeb2e35 Mon Sep 17 00:00:00 2001
From: dario <dario.vandenboom@arcor.de>
Date: Sat, 3 Aug 2024 22:47:01 +0200
Subject: [PATCH] Updated uart comunication for spatz

---
 include/sta/debug/spatz.hpp |  3 ++-
 src/debug/profile.cpp       |  2 +-
 src/debug/spatz.cpp         | 37 ++++++++++++++++---------------------
 3 files changed, 19 insertions(+), 23 deletions(-)

diff --git a/include/sta/debug/spatz.hpp b/include/sta/debug/spatz.hpp
index 7b69f4c..eb3ec98 100644
--- a/include/sta/debug/spatz.hpp
+++ b/include/sta/debug/spatz.hpp
@@ -2,6 +2,7 @@
 #define STA_CORE_SPATZ_HPP
 
 #include <sta/mutex.hpp>
+#include <sta/signal.hpp>
 
 #include <sta/config.hpp>
 #ifdef STA_SPATZ_ENABLED
@@ -20,7 +21,7 @@ namespace sta
          * 
          * @param mutex A mutex used to make SPATZ thread-safe.
          */
-        void init(Mutex * mutex);
+        void init(Mutex * mutex, Signal * signal);
         
         /**
          * @brief Request bytes for a specific sensor id via the printable.
diff --git a/src/debug/profile.cpp b/src/debug/profile.cpp
index 4e7eec6..e1e541a 100644
--- a/src/debug/profile.cpp
+++ b/src/debug/profile.cpp
@@ -22,7 +22,7 @@ namespace sta
 
 	Profiler::~Profiler()
 	{
-		STA_DEBUG_PRINTF("[PROFILER] %s took %d us", name_, timeUs() - start_);
+		STA_DEBUG_PRINTF(">[PROFILER] %s took %d us", name_, timeUs() - start_);
 	}
 } // namespace sta
 
diff --git a/src/debug/spatz.cpp b/src/debug/spatz.cpp
index a665b3d..6bf5880 100644
--- a/src/debug/spatz.cpp
+++ b/src/debug/spatz.cpp
@@ -6,19 +6,20 @@
 #	error "The ID used to communicate SPATZ initialization was not defined."
 #endif // STA_INIT_SPATZ_ID
 
-#include <cmsis_os2.h>
-#include <FreeRTOS.h>
 #include <usart.h>
 
 namespace sta
 {
     namespace spatz
     {
-        sta::Mutex * mutex_;
+        sta::Mutex * mutex_ 	= nullptr;
+        sta::Signal * signal_ 	= nullptr;
 
-        void init(sta::Mutex * mutex)
+        void init(sta::Mutex * mutex, Signal * signal)
         {
             mutex_ = mutex;
+            signal_ = signal;
+
             uint8_t msg = 0xFF;
 
             sta::lock_guard<sta::Mutex> lock(*mutex_);
@@ -42,23 +43,9 @@ namespace sta
         {
             mutex_->acquire();
 
-            bool success = false;
-
-            while (!success)
-            {
-            	Debug->printf("%d", id);
-
-            	HAL_StatusTypeDef state = HAL_UART_Receive(&huart1, reinterpret_cast<uint8_t*>(buffer), length * sizeof(float), 100);
-
-				if (state == HAL_TIMEOUT)
-				{
-					success = false;
-					Debug->println(">ERROR");
-					break;
-				}
-
-				success = true;
-            }
+            HAL_UART_Receive_IT(&huart1, reinterpret_cast<uint8_t*>(buffer), length * sizeof(float));
+            Debug->printf("%d", id);
+            signal_->wait();
 
             mutex_->release();
         }
@@ -73,6 +60,14 @@ namespace sta
     } // namespace spatz    
 } // namespace sta
 
+
+void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
+{
+	if (sta::spatz::signal_ != nullptr)
+		sta::spatz::signal_->notify();
+}
+
+
 #else
 
 namespace sta