From 2f76e62b2cfbd9d5001dd40c01c7a8907b338c72 Mon Sep 17 00:00:00 2001
From: EmilioCorigliano <emilio.corigliano@mail.polimi.it>
Date: Mon, 3 Apr 2023 09:17:44 +0200
Subject: [PATCH] [UBXGPSSerial] Correctly using the USART bus instead of
creating it
---
src/shared/sensors/UBXGPS/UBXGPSSerial.cpp | 28 +++++++++----------
src/shared/sensors/UBXGPS/UBXGPSSerial.h | 21 +++++++-------
.../algorithms/NAS/test-nas-parafoil.cpp | 14 ++++++++--
src/tests/sensors/test-ubxgps-serial.cpp | 15 ++++++++--
4 files changed, 47 insertions(+), 31 deletions(-)
diff --git a/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp b/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
index c7051b97e..380d959a9 100644
--- a/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
+++ b/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
@@ -31,14 +31,11 @@ using namespace miosix;
namespace Boardcore
{
-UBXGPSSerial::UBXGPSSerial(int baudrate, uint8_t sampleRate,
- USARTType* usartNumber, int defaultBaudrate)
+UBXGPSSerial::UBXGPSSerial(USART& usart, uint32_t baudrate, uint8_t sampleRate,
+ uint32_t defaultBaudrate)
+ : usart(usart), baudrate(baudrate), sampleRate(sampleRate),
+ defaultBaudrate(defaultBaudrate)
{
- this->usart = nullptr;
- this->baudrate = baudrate;
- this->defaultBaudrate = defaultBaudrate;
- this->sampleRate = sampleRate;
- this->usartNumber = usartNumber;
}
bool UBXGPSSerial::init()
@@ -170,7 +167,7 @@ bool UBXGPSSerial::setBaudrateAndUBX(bool safe)
bool UBXGPSSerial::setSerialCommunication()
{
- usart = new USART(usartNumber, defaultBaudrate);
+ usart.setBaudrate(defaultBaudrate);
// Change the baudrate only if it is different than the default
if (baudrate != defaultBaudrate)
{
@@ -183,7 +180,7 @@ bool UBXGPSSerial::setSerialCommunication()
}
miosix::Thread::sleep(100);
- usart->setBaudrate(baudrate);
+ usart.setBaudrate(baudrate);
return true;
}
@@ -252,8 +249,9 @@ bool UBXGPSSerial::readUBXFrame(UBXFrame& frame)
size_t i = 0;
while (i < 2)
{
+ // TODO: Check if this can deadlock
uint8_t c;
- if (usart->read(&c, 1) <= 0) // No more data available
+ if (usart.read(&c, 1) <= 0) // No more data available
return false;
if (c == UBXFrame::PREAMBLE[i])
@@ -273,10 +271,10 @@ bool UBXGPSSerial::readUBXFrame(UBXFrame& frame)
}
}
- if (usart->read(&frame.message, 2) <= 0 ||
- usart->read(&frame.payloadLength, 2) <= 0 ||
- usart->read(frame.payload, frame.getRealPayloadLength()) <= 0 ||
- usart->read(frame.checksum, 2) <= 0)
+ if (usart.read(&frame.message, 2) <= 0 ||
+ usart.read(&frame.payloadLength, 2) <= 0 ||
+ usart.read(frame.payload, frame.getRealPayloadLength()) <= 0 ||
+ usart.read(frame.checksum, 2) <= 0)
return false;
if (!frame.isValid())
@@ -299,7 +297,7 @@ bool UBXGPSSerial::writeUBXFrame(const UBXFrame& frame)
uint8_t packedFrame[frame.getLength()];
frame.writePacked(packedFrame);
- usart->write(packedFrame, frame.getLength());
+ usart.write(packedFrame, frame.getLength());
return true;
}
diff --git a/src/shared/sensors/UBXGPS/UBXGPSSerial.h b/src/shared/sensors/UBXGPS/UBXGPSSerial.h
index 9187466a6..dbcb156d5 100644
--- a/src/shared/sensors/UBXGPS/UBXGPSSerial.h
+++ b/src/shared/sensors/UBXGPS/UBXGPSSerial.h
@@ -56,15 +56,15 @@ public:
/**
* @brief Construct a new UBXGPSSerial object.
*
+ * @param usart USART bus to be used for communication.
* @param baudrate Baudrate to communicate with the device (max: 921600,
* min: 4800 for NEO-M9N).
* @param sampleRate GPS sample rate (max: 25 for NEO-M9N).
- * @param serialPortNumber Number of the serial port connected to the GPS.
- * @param serialPortName Name of the file for the gps device.
* @param defaultBaudrate Startup baudrate (38400 for NEO-M9N).
*/
- UBXGPSSerial(int baudrate = 921600, uint8_t sampleRate = 10,
- USARTType *usartNumber = USART2, int defaultBaudrate = 38400);
+ explicit UBXGPSSerial(USART& usart, uint32_t baudrate = 921600,
+ uint8_t sampleRate = 10,
+ uint32_t defaultBaudrate = 38400);
/**
* @brief Sets up the serial port baudrate, disables the NMEA messages,
@@ -139,7 +139,7 @@ private:
* @param frame The received frame.
* @return True if a valid frame was read.
*/
- bool readUBXFrame(UBXFrame &frame);
+ bool readUBXFrame(UBXFrame& frame);
/**
* @brief Writes a UBX frame.
@@ -147,7 +147,7 @@ private:
* @param frame The frame to write.
* @return True if the frame is valid.
*/
- bool writeUBXFrame(const UBXFrame &frame);
+ bool writeUBXFrame(const UBXFrame& frame);
/**
* @brief Writes a UBX frame and waits for its acknowledgement.
@@ -155,15 +155,14 @@ private:
* @param frame The frame to write.
* @return True if the frame is valid and acknowledged.
*/
- bool safeWriteUBXFrame(const UBXFrame &frame);
+ bool safeWriteUBXFrame(const UBXFrame& frame);
void run() override;
- int baudrate;
- int defaultBaudrate;
+ USART& usart;
+ uint32_t baudrate;
uint8_t sampleRate; // [Hz]
- USARTType *usartNumber;
- USART *usart; // The usart interface
+ uint32_t defaultBaudrate;
mutable miosix::FastMutex mutex;
UBXGPSData threadSample{};
diff --git a/src/tests/algorithms/NAS/test-nas-parafoil.cpp b/src/tests/algorithms/NAS/test-nas-parafoil.cpp
index e89dc6ce8..ed36658da 100644
--- a/src/tests/algorithms/NAS/test-nas-parafoil.cpp
+++ b/src/tests/algorithms/NAS/test-nas-parafoil.cpp
@@ -36,6 +36,10 @@ using namespace miosix;
using namespace Boardcore;
using namespace Eigen;
+// USART2: AF7
+typedef miosix::Gpio<GPIOA_BASE, 2> u2tx1;
+typedef miosix::Gpio<GPIOA_BASE, 3> u2rx1;
+
NASConfig getEKConfig();
void setInitialOrientation();
void init();
@@ -48,11 +52,17 @@ Vector2f startPos = Vector2f(45.501141, 9.156281);
NAS* nas;
SPIBus spi1(SPI1);
-MPU9250* imu = nullptr;
+MPU9250* imu = nullptr;
+USART usart(USART2, 38400);
UBXGPSSerial* gps = nullptr;
int main()
{
+ u2rx1::getPin().alternateFunction(7);
+ u2rx1::getPin().mode(Mode::ALTERNATE);
+ u2tx1::getPin().alternateFunction(7);
+ u2tx1::getPin().mode(Mode::ALTERNATE);
+
init();
nas = new NAS(getEKConfig());
@@ -112,7 +122,7 @@ void init()
imu = new MPU9250(spi1, sensors::mpu9250::cs::getPin());
imu->init();
- gps = new UBXGPSSerial(38400, 10, USART2, 38400);
+ gps = new UBXGPSSerial(usart, 38400, 10, 38400);
gps->init();
gps->start();
diff --git a/src/tests/sensors/test-ubxgps-serial.cpp b/src/tests/sensors/test-ubxgps-serial.cpp
index 472f3dcde..0039317c1 100644
--- a/src/tests/sensors/test-ubxgps-serial.cpp
+++ b/src/tests/sensors/test-ubxgps-serial.cpp
@@ -32,12 +32,23 @@ using namespace miosix;
#define RATE 4
+// USART2: AF7
+typedef miosix::Gpio<GPIOA_BASE, 2> u2tx1;
+typedef miosix::Gpio<GPIOA_BASE, 3> u2rx1;
+
int main()
{
printf("Welcome to the ublox test\n");
+ u2rx1::getPin().alternateFunction(7);
+ u2rx1::getPin().mode(Mode::ALTERNATE);
+ u2tx1::getPin().alternateFunction(7);
+ u2tx1::getPin().mode(Mode::ALTERNATE);
+
+ USART usart(USART2, 38400);
+
// Keep GPS baud rate at default for easier testing
- UBXGPSSerial gps(38400, RATE, USART2, 9600);
+ UBXGPSSerial gps(usart, 38400, RATE, 9600);
UBXGPSData dataGPS;
printf("Gps allocated\n");
@@ -67,13 +78,11 @@ int main()
while (true)
{
- printf("a\n");
// Give time to the thread
Thread::sleep(1000 / RATE);
// Sample
gps.sample();
- printf("b\n");
dataGPS = gps.getLastSample();
// Print out the latest sample
--
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