diff --git a/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp b/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
index 0cfb238dfbf79073cc7653ddf5a26cf4f7075dc9..02ef13b4c5b75d61a48d4740dd8637ed33b0b1ca 100644
--- a/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
+++ b/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
@@ -31,15 +31,12 @@ using namespace miosix;
namespace Boardcore
{
-UBXGPSSerial::UBXGPSSerial(USARTInterface::Baudrate baudrate,
- uint8_t sampleRate, USARTType* usartNumber,
+UBXGPSSerial::UBXGPSSerial(USART& usart, USARTInterface::Baudrate baudrate,
+ uint8_t sampleRate,
USARTInterface::Baudrate defaultBaudrate)
+ : usart(usart), baudrate(baudrate), defaultBaudrate(defaultBaudrate),
+ sampleRate(sampleRate)
{
- this->usart = nullptr;
- this->baudrate = baudrate;
- this->defaultBaudrate = defaultBaudrate;
- this->sampleRate = sampleRate;
- this->usartNumber = usartNumber;
}
bool UBXGPSSerial::init()
@@ -173,8 +170,8 @@ bool UBXGPSSerial::setBaudrateAndUBX(bool safe)
bool UBXGPSSerial::setSerialCommunication()
{
- usart = new USART(usartNumber, defaultBaudrate);
- usart->init();
+ usart.setBaudrate(defaultBaudrate);
+ usart.init();
// Change the baudrate only if it is different than the default
if (baudrate != defaultBaudrate)
{
@@ -187,7 +184,7 @@ bool UBXGPSSerial::setSerialCommunication()
}
miosix::Thread::sleep(100);
- usart->setBaudrate(baudrate);
+ usart.setBaudrate(baudrate);
return true;
}
@@ -256,8 +253,9 @@ 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])
@@ -277,10 +275,10 @@ 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())
@@ -303,7 +301,7 @@ bool UBXGPSSerial::writeUBXFrame(const UBXFrame& frame)
uint8_t packedFrame[frame.getLength()];
frame.writePacked(packedFrame);
- if (usart->write(packedFrame, frame.getLength()) < 0)
+ if (usart.write(packedFrame, frame.getLength()) < 0)
{
LOG_ERR(logger, "Failed to write ubx message");
return false;
diff --git a/src/shared/sensors/UBXGPS/UBXGPSSerial.h b/src/shared/sensors/UBXGPS/UBXGPSSerial.h
index 55cba451ca6db1a4e078f24e74ca76cdedc7e56e..02fb535e894f52b6fca010733dd9b6001c54e4e4 100644
--- a/src/shared/sensors/UBXGPS/UBXGPSSerial.h
+++ b/src/shared/sensors/UBXGPS/UBXGPSSerial.h
@@ -56,16 +56,16 @@ 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(
+ explicit UBXGPSSerial(
+ USART &usart,
USARTInterface::Baudrate baudrate = USARTInterface::Baudrate::B921600,
- uint8_t sampleRate = 10, USARTType *usartNumber = USART2,
+ uint8_t sampleRate = 10,
USARTInterface::Baudrate defaultBaudrate =
USARTInterface::Baudrate::B38400);
@@ -161,11 +161,10 @@ private:
void run() override;
+ USART &usart; // The usart interface
Boardcore::USARTInterface::Baudrate baudrate;
Boardcore::USARTInterface::Baudrate defaultBaudrate;
uint8_t sampleRate; // [Hz]
- USARTType *usartNumber;
- USART *usart; // The usart interface
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 7af7e41c3861b95483cd136018fe2977216046e1..96af56025c99528bd932649aa81b0c7c7911689f 100644
--- a/src/tests/algorithms/NAS/test-nas-parafoil.cpp
+++ b/src/tests/algorithms/NAS/test-nas-parafoil.cpp
@@ -48,11 +48,17 @@ Vector2f startPos = Vector2f(45.501141, 9.156281);
NAS* nas;
SPIBus spi1(SPI1);
-MPU9250* imu = nullptr;
+MPU9250* imu = nullptr;
+USART usart(USART2, USARTInterface::Baudrate::B38400);
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());
@@ -109,10 +115,12 @@ void setInitialOrientation()
void init()
{
+ usart.init();
+
imu = new MPU9250(spi1, sensors::mpu9250::cs::getPin());
imu->init();
- gps = new UBXGPSSerial(USARTInterface::Baudrate::B38400, 10, USART2,
+ gps = new UBXGPSSerial(usart, USARTInterface::Baudrate::B38400, 10,
USARTInterface::Baudrate::B38400);
gps->init();
gps->start();
diff --git a/src/tests/sensors/test-ubxgps-serial.cpp b/src/tests/sensors/test-ubxgps-serial.cpp
index 063bf6df80625e5bd485b29109501cb292ed2814..ef44cf5c80cd233dd8ac5b0ab193b81ab5ef02e9 100644
--- a/src/tests/sensors/test-ubxgps-serial.cpp
+++ b/src/tests/sensors/test-ubxgps-serial.cpp
@@ -36,8 +36,15 @@ 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, USARTInterface::Baudrate::B38400);
+
// Keep GPS baud rate at default for easier testing
- UBXGPSSerial gps(USARTInterface::Baudrate::B38400, RATE, USART2,
+ UBXGPSSerial gps(usart, USARTInterface::Baudrate::B38400, RATE,
USARTInterface::Baudrate::B9600);
UBXGPSData dataGPS;
printf("Gps allocated\n");
@@ -68,13 +75,11 @@ 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