1 files changed, 40 insertions, 0 deletions
diff --git a/drivers/gps.cpp b/drivers/gps.cpp
new file mode 100644
index 0000000..1ae3684
--- /dev/null
+++ b/drivers/gps.cpp
@@ -0,0 +1,40 @@
+#include "gps.h"
+
+GPS* GPS::self;
+
+template<>
+void interrupt<Interrupt::USART3>() {
+	GPS::self->irq();
+}
+
+void GPS::irq() {
+	
+	uint8_t c = USART3.DR;
+	
+	if(!incomplete_msg) {
+		incomplete_msg = msg_pool.create();
+		
+		if(!incomplete_msg) {
+			return;
+		}
+	}
+	
+	if(incomplete_msg->n == 0 && c != '$') {
+		return;
+	}
+	
+	if(incomplete_msg->n >= 128) {
+		incomplete_msg->n = 0;
+		return;
+	}
+	
+	incomplete_msg->buf[incomplete_msg->n++] = c;
+	
+	if(c == '\n') {
+		GPIOB.ODR ^= 1 << 1;
+		
+		const_cast<P<GPSMsg>&>(complete_msg) = incomplete_msg;
+		incomplete_msg.reset();
+		complete = true;
+	}
+}