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#ifndef GPS_H
#define GPS_H
#include <rcc/rcc.h>
#include <usart/usart.h>
#include <interrupt/interrupt.h>
#include <os/thread.h>
#include <os/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.set_baudrate(4800);
USART3.enable();
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
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