From 12a9122b5b35a57ced049643030dc87cbd0e67d2 Mon Sep 17 00:00:00 2001
From: Matteo Pignataro <matteo.pignataro@skywarder.eu>
Date: Wed, 25 May 2022 16:25:47 +0200
Subject: [PATCH] [GPS] Slight fix about mutex lock
---
src/shared/logger/Logger.cpp | 2 +-
src/shared/sensors/BME280/BME280.cpp | 2 ++
src/shared/sensors/UBXGPS/UBXGPSSerial.cpp | 7 ++++++-
src/tests/sensors/test-ubxgps-serial.cpp | 6 +++---
4 files changed, 12 insertions(+), 5 deletions(-)
diff --git a/src/shared/logger/Logger.cpp b/src/shared/logger/Logger.cpp
index 2709fbcc2..e7c882215 100644
--- a/src/shared/logger/Logger.cpp
+++ b/src/shared/logger/Logger.cpp
@@ -301,7 +301,7 @@ LoggerResult Logger::logImpl(const char* name, const void* data,
{
if (started == false)
{
- TRACE("Attempting to log %s but the Logger is not started!\n", name);
+ // TRACE("Attempting to log %s but the Logger is not started!\n", name);
stats.droppedSamples++;
// Signal that we are trying to write to a closed log
diff --git a/src/shared/sensors/BME280/BME280.cpp b/src/shared/sensors/BME280/BME280.cpp
index fe621101c..60b9b4f1a 100644
--- a/src/shared/sensors/BME280/BME280.cpp
+++ b/src/shared/sensors/BME280/BME280.cpp
@@ -115,6 +115,8 @@ bool BME280::init()
return false;
}
+ LOG_DEBUG(logger, "Device configurated correctly!");
+
return true;
}
diff --git a/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp b/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
index 41006faf4..c5dabc4be 100644
--- a/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
+++ b/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
@@ -100,6 +100,8 @@ bool UBXGPSSerial::init()
return false;
}
+ this->start();
+
return true;
}
@@ -311,7 +313,8 @@ bool UBXGPSSerial::readUBXFrame(UBXFrame& frame)
else
{
i = 0;
- LOG_DEBUG(logger, "Received unexpected byte: {:02x} {:#c}", c, c);
+ // LOG_DEBUG(logger, "Received unexpected byte: {:02x} {:#c}", c,
+ // c);
}
}
@@ -405,6 +408,8 @@ void UBXGPSSerial::run()
UBXPvtFrame::Payload& pvtP = pvt.getPayload();
+ // Lock the mutex
+ Lock<FastMutex> l(mutex);
threadSample.gpsTimestamp =
TimestampTimer::getInstance().getTimestamp();
threadSample.latitude = (float)pvtP.lat / 1e7;
diff --git a/src/tests/sensors/test-ubxgps-serial.cpp b/src/tests/sensors/test-ubxgps-serial.cpp
index 316b049f5..e05dc4632 100644
--- a/src/tests/sensors/test-ubxgps-serial.cpp
+++ b/src/tests/sensors/test-ubxgps-serial.cpp
@@ -30,7 +30,7 @@
using namespace Boardcore;
using namespace miosix;
-#define RATE 4
+#define RATE 10
int main()
{
@@ -43,7 +43,7 @@ int main()
tx.alternateFunction(7);
// Keep GPS baud rate at default for easier testing
- UBXGPSSerial gps(38400, RATE, 2, "gps", 9600);
+ UBXGPSSerial gps(256000, RATE, 2, "gps", 9600);
UBXGPSData dataGPS;
printf("Gps allocated\n");
@@ -68,7 +68,7 @@ int main()
}
// Start the gps thread
- gps.start();
+ // gps.start();
printf("Gps started\n");
while (true)
--
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