1 files changed, 60 insertions, 0 deletions
diff --git a/drivers/gps.h b/drivers/gps.h
new file mode 100644
index 0000000..c37fc8a
--- /dev/null
+++ b/drivers/gps.h
@@ -0,0 +1,60 @@
+#ifndef GPS_H
+#define GPS_H
+
+#include "stm32.h"
+#include "interrupt.h"
+#include "thread.h"
+
+#include "pool.h"
+
+struct GPSMsg {
+	unsigned int n;
+	uint8_t buf[128];
+	
+	GPSMsg() : n(0) {}
+};
+
+class GPS {
+	friend void interrupt<Interrupt::USART3>();
+	
+	private:
+		static GPS* self;
+		
+		void irq();
+		
+		Pool<GPSMsg, 4> msg_pool;
+		
+		P<GPSMsg> incomplete_msg;
+		volatile P<GPSMsg> complete_msg;
+		
+		volatile bool complete;
+	
+	public:
+		GPS() {
+			self = this;
+		}
+		
+		void enable() {
+			RCC.enable(RCC.USART3);
+			USART3.BRR = 7500; // 4800 baud
+			USART3.CR1 = 0x202c;
+			
+			Interrupt::enable(Interrupt::USART3);
+		}
+		
+		P<GPSMsg> read() {
+			while(!complete) {
+				Thread::yield();
+			}
+			
+			complete = false;
+			
+			P<GPSMsg> msg = const_cast<P<GPSMsg>&>(complete_msg);
+			
+			const_cast<P<GPSMsg>&>(complete_msg).reset();
+			
+			return msg;
+		}
+};
+
+#endif