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Added SPATZ tick feature

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This commit is contained in:
dario 2024-10-05 23:18:24 +02:00
parent 21dd8c1b99
commit b79279dcbc
2 changed files with 27 additions and 9 deletions
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9
include/sta/debug/spatz.hpp
View File

@ -24,6 +24,11 @@ namespace sta
*/ */
void init(Mutex * mutex, Event * signal); void init(Mutex * mutex, Event * signal);
/**
* @brief Notify SPATZ that a new tick has happened.
*/
void tick();
/** /**
* @brief Request bytes for a specific sensor id via the printable. * @brief Request bytes for a specific sensor id via the printable.
* *
@ -59,13 +64,15 @@ namespace sta
#define STA_SPATZ_INIT(mutex, signal) sta::spatz::init(mutex, signal) #define STA_SPATZ_INIT(mutex, signal) sta::spatz::init(mutex, signal)
#define STA_SPATZ_TICK() sta::spatz::tick();
#else #else
namespace sta namespace sta
{ {
namespace spatz namespace spatz
{ {
void init(Mutex * mutex); void init(Mutex * mutex, Event * signal);
} // namespace spatz } // namespace spatz
} // namespace sta } // namespace sta

27
src/debug/spatz.cpp
View File

@ -7,6 +7,7 @@
#endif // STA_INIT_SPATZ_ID #endif // STA_INIT_SPATZ_ID
#include <usart.h> #include <usart.h>
#include <sta/time.hpp>
namespace sta namespace sta
{ {
@ -29,29 +30,42 @@ namespace sta
} }
} }
void tick()
{
mutex_->acquire();
Debug->println('~');
mutex_->release();
}
void request(uint8_t id, uint8_t * buffer, size_t length) void request(uint8_t id, uint8_t * buffer, size_t length)
{ {
sta::lock_guard<sta::Mutex> lock(*mutex_); mutex_->acquire();
Debug->printf("%d", id); Debug->printf("%d", id);
Debug->read(buffer, length); Debug->read(buffer, length);
mutex_->release();
} }
void request(uint8_t id, float * buffer, size_t length) void request(uint8_t id, float * buffer, size_t length)
{ {
sta::lock_guard<sta::Mutex> lock(*mutex_); 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); signal_->wait(0x01, 100);
mutex_->release();
} }
void request(uint8_t id, double * buffer, size_t length) void request(uint8_t id, double * buffer, size_t length)
{ {
sta::lock_guard<sta::Mutex> lock(*mutex_); mutex_->acquire();
Debug->printf("%d", id); Debug->printf("%d", id);
Debug->read(buffer, length); Debug->read(buffer, length);
mutex_->release();
} }
void notify(uint8_t id) void notify(uint8_t id)
@ -69,22 +83,19 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
sta::spatz::signal_->set(0x01); sta::spatz::signal_->set(0x01);
sta::spatz::signal_->clear(0x01); sta::spatz::signal_->clear(0x01);
} }
} }
#else #else
namespace sta namespace sta
{ {
namespace spatz namespace spatz
{ {
void init(sta::Mutex * mutex) void init(sta::Mutex * mutex, Event * signal)
{ {
// Nothing to do here. // Nothing to do here.
} }
} // namespace spatz } // namespace spatz
} // namespace sta } // namespace sta
#endif // STA_SPATZ_ENABLED #endif // STA_SPATZ_ENABLED