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Added HAL docs, improved HAL init&locking (#218)

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This commit is contained in:
Ken Van Hoeylandt
2025-02-12 18:12:20 +01:00
committed by GitHub
parent b7f39f883d
commit 2e86d4774b
16 changed files with 333 additions and 302 deletions
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TactilityHeadless/Source/hal/gps/GpsDeviceInitDefault.cpp
+6 -6
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@@ -59,7 +59,7 @@ static int ackGps(uart_port_t port, uint8_t* buffer, uint16_t size, uint8_t requ
ubxFrameCounter = 0;
break;
}
if (uart::read(port, buffer, needRead) != needRead) {
if (uart::readBytes(port, buffer, needRead) != needRead) {
ubxFrameCounter = 0;
} else {
return needRead;
@@ -105,7 +105,7 @@ static bool configureGps(uart_port_t port, uint8_t* buffer, size_t bufferSize) {
#ifdef ESP_PLATFORM
esp_rom_printf("\n");
#endif
uart::flush(port);
uart::flushInput(port);
kernel::delayMillis(200);
if (!uart::writeString(port, "$PCAS06,0*1B\r\n")) {
@@ -144,7 +144,7 @@ static bool recoverGps(uart_port_t port, uint8_t* buffer, size_t bufferSize) {
uint8_t cfg_clear2[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x1B, 0xA1};
uint8_t cfg_clear3[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x03, 0x1D, 0xB3};
if (!uart::write(port, cfg_clear1, sizeof(cfg_clear1), 10)) {
if (!uart::writeBytes(port, cfg_clear1, sizeof(cfg_clear1), 10)) {
return false;
TT_LOG_E(TAG, "Failed to send ack 1");
}
@@ -155,7 +155,7 @@ static bool recoverGps(uart_port_t port, uint8_t* buffer, size_t bufferSize) {
TT_LOG_W(TAG, "Ack 1 failed");
}
if (!uart::write(port, cfg_clear2, sizeof(cfg_clear2))) {
if (!uart::writeBytes(port, cfg_clear2, sizeof(cfg_clear2))) {
return false;
TT_LOG_E(TAG, "Failed to send ack 2");
}
@@ -166,7 +166,7 @@ static bool recoverGps(uart_port_t port, uint8_t* buffer, size_t bufferSize) {
TT_LOG_W(TAG, "Ack 2 failed");
}
if (!uart::write(port, cfg_clear3, sizeof(cfg_clear3))) {
if (!uart::writeBytes(port, cfg_clear3, sizeof(cfg_clear3))) {
TT_LOG_E(TAG, "Failed to send ack 3");
return false;
}
@@ -179,7 +179,7 @@ static bool recoverGps(uart_port_t port, uint8_t* buffer, size_t bufferSize) {
// UBX-CFG-RATE, Size 8, 'Navigation/measurement rate settings'
uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x0E, 0x30};
uart::write(port, cfg_rate, sizeof(cfg_rate));
uart::writeBytes(port, cfg_rate, sizeof(cfg_rate));
if (ackGps(port, buffer, bufferSize, 0x06, 0x08)) {
TT_LOG_I(TAG, "Ack completed");
} else {