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kalipso
2026-08-13 09:24:08 +02:00
parent 48078fd8f4
commit 12b100ff8d
3 changed files with 66 additions and 81 deletions
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commons.hpp
+61 -76
View File
@@ -1,41 +1,39 @@
#pragma once
// TODO: create bettter structure for gpio
#define LED_PORT GPIOC
#define LED2_PIN GPIO_PIN_9
#include <array>
#include <span>
#include <optional>
#include <span>
#include "logging.hpp"
namespace commons {
template<typename LockType>
class lock
{
public:
template <typename LockType>
class lock {
public:
~lock() { locker.unlock(); }
static std::optional<lock> get(LockType& l)
{
if(!l.lock())
{
static std::optional<lock> get(LockType& l) {
if (!l.lock()) {
log::debug("Could not acquire lock.");
return std::nullopt;
}
return lock<LockType>{l};
}
private:
private:
explicit lock(LockType& l) : locker{l} {}
LockType& locker;
};
class mutex
{
public:
bool lock()
{
if(locked)
{
class mutex {
public:
bool lock() {
if (locked) {
return false;
}
@@ -43,36 +41,28 @@ public:
return true;
}
void unlock()
{
locked = false;
}
void unlock() { locked = false; }
bool is_locked() const {
return locked;
}
bool is_locked() const { return locked; }
protected:
protected:
bool locked = false;
};
}
} // namespace commons
template <typename T, size_t S>
struct buffer {
constexpr buffer() {}
constexpr auto size() { return S; }
bool copy_from(const std::span<T>& input, uint16_t amount)
{
bool copy_from(const std::span<T>& input, uint16_t amount) {
const auto lk = commons::lock<commons::mutex>::get(m);
if(!lk)
{
if (!lk) {
return false;
}
if(amount > max_size)
{
if (amount > max_size) {
return false;
}
@@ -80,18 +70,16 @@ struct buffer {
if (old_pos + amount > max_size) {
const auto size_to_copy = max_size - old_pos;
std::copy(input.begin(),
std::next(input.begin(), size_to_copy),
std::copy(input.begin(), std::next(input.begin(), size_to_copy),
std::next(buf.begin(), old_pos));
old_pos = 0;
//TODO: this only works if amount is not double the size of main_buf
std::copy(std::next(input.begin(), size_to_copy),
input.begin() + amount, buf.begin());
// TODO: this only works if amount is not double the size of main_buf
std::copy(std::next(input.begin(), size_to_copy), input.begin() + amount,
buf.begin());
new_pos = amount - size_to_copy;
} else {
std::copy(input.begin(),
input.begin() + amount,
std::copy(input.begin(), input.begin() + amount,
std::next(buf.begin(), old_pos));
new_pos = old_pos + amount;
}
@@ -99,32 +87,37 @@ struct buffer {
return true;
}
template<typename Func_t>
bool execute(const Func_t& executor)
{
template <typename Func_t>
bool execute(const Func_t& executor) {
const auto lk = commons::lock<commons::mutex>::get(m);
if(!lk)
{
if (!lk) {
return false;
}
executor(buf);
}
bool print() const
{
bool print() const {
const auto lk = commons::lock<commons::mutex>::get(m);
if(!lk)
{
if (!lk) {
return false;
}
uart_interface::write(
{reinterpret_cast<const char *>(buf.data()), new_pos});
uart_interface::write({reinterpret_cast<const char*>(buf.data()), new_pos});
return true;
}
private:
void reset() {
const auto lk = commons::lock<commons::mutex>::get(m);
if (!lk) {
return;
}
old_pos = 0;
new_pos = 0;
}
private:
static constexpr auto max_size = S;
std::array<T, S> buf{};
size_t old_pos = 0;
@@ -132,62 +125,54 @@ private:
mutable commons::mutex m;
};
class gps_data
{
public:
void extract_gps_data(auto& buf)
{
class gps_data {
public:
void extract_gps_data(auto& buf) {
buf.execute([this](auto& value) { this->copy_to_own_buf(value); });
}
void copy_to_own_buf(std::span<uint8_t> other)
{
auto view = std::string_view{reinterpret_cast<const char*>(other.data()), other.size()};
void copy_to_own_buf(std::span<uint8_t> other) {
auto view = std::string_view{reinterpret_cast<const char*>(other.data()),
other.size()};
const auto it_begin = view.find("$GPGGA");
if(it_begin == view.npos)
{
if (it_begin == view.npos) {
return;
}
view.remove_prefix(it_begin);
const auto it_end = view.find("\r\n", it_begin);
if(it_end == view.npos)
{
if (it_end == view.npos) {
return;
}
view.remove_suffix(view.size() - it_end);
if(view.size() > max_size)
{
if (view.size() > max_size) {
return;
}
HAL_GPIO_TogglePin(LED_PORT, LED2_PIN);
std::copy(view.begin(), view.end(), current_line.begin());
current_size = std::distance(view.begin(), view.end());
valid = true;
valid = current_size > 50;
HAL_GPIO_TogglePin(LED_PORT, LED2_PIN);
}
bool is_valid() const
{
return valid;
}
bool is_valid() const { return valid; }
void print() const
{
void print() const {
log::info("Current GPS Data:");
uart_interface::write(
{reinterpret_cast<const char *>(current_line.data()), current_size});
{reinterpret_cast<const char*>(current_line.data()), current_size});
log::linebreak();
}
private:
static constexpr uint8_t max_size = 82; //defined by GPS NMEA 0183 protocol
private:
static constexpr uint8_t max_size = 82; // defined by GPS NMEA 0183 protocol
size_t current_size = 0;
std::array<uint8_t, max_size> current_line;
bool valid = false;
};
main.cpp
+4 -5
View File
@@ -3,10 +3,6 @@
#include <tuple>
#include "commons.hpp"
#include "logging.hpp"
#include "spi.hpp"
/*
* reserve PB11-PB15 for SPI2
*/
@@ -24,12 +20,15 @@
#define LoRa_CS_Pin GPIO_PIN_5
#define LoRa_CS_GPIO_Port GPIOC
#include "commons.hpp"
#include "logging.hpp"
#include "rfm95.hpp"
#include "spi.hpp"
extern uint8_t LoRa_buff[RH_RF95_FIFO_SIZE];
extern SPI_HandleTypeDef hspi1;
void print_version(void) { log::info("running PentaTrack v0.1.3"); }
void print_version(void) { log::info("running PentaTrack v0.2.0"); }
void print_help(void);
void loglevel_error(void) { log::set_loglevel(LogLevel::ERROR); }
shell.nix
+1
View File
@@ -13,5 +13,6 @@ mkShell {
gcc-arm-embedded-10
libstm32cube
libstm32stdperiph
esptool
];
}