Diff: main.cpp

Revision:

20:043987d06f8d

Parent:

19:0d1728091519

Child:

21:020f4ebbb13a

--- a/main.cpp	Sat Dec 15 21:38:11 2018 +0000
+++ b/main.cpp	Sun Dec 16 04:18:42 2018 +0000
@@ -26,20 +26,18 @@
 DigitalOut led1(LED1);
 DigitalOut led3(LED3);
 
+RawSerial s(UART1TX, UART1RX, 38400);
+
 void read_gps();
 
-void do_gps() {
-    RawSerial s(UART1TX, UART1RX, 38400);
-    while (1) {
-        int c = s.getc();
-        if (ublox.parse(c)) {
+void gps_handler() {
+    if (s.readable()) {
+        if (ublox.parse(s.getc())) {
             led3 = !led3;
-            read_gps();
         }
     }
 }
 
-
 /******** SHELL COMMANDS ********/
 
 void test() {
@@ -80,6 +78,15 @@
     printf("Encoder: %d\n", u->encoder());
 }
 
+void bridge_uart1() {
+    RawSerial s(UART1TX, UART1RX, 38400);
+    while (1) {
+        if (pc.readable()) s.putc(pc.getc());
+        if (s.readable()) pc.putc(s.getc());
+    }
+}
+
+
 void reset()
 {
     NVIC_SystemReset();
@@ -90,12 +97,11 @@
 // main() runs in its own thread in the OS
 int main()
 {   
+    //bridge_uart1();
+    
     printf("Bootup...\n");
     fflush(stdout);
     
-    do_gps();
-    while(1);
-    
     printf("Loading config...\n");
     config.add("intercept_distance", Config::DOUBLE);
     config.add("waypoint_threshold", Config::DOUBLE);
@@ -140,11 +146,15 @@
     updaterThread.start(callback(u, &Updater::start));
 
     printf("Starting gps...\n");
+    s.attach(&gps_handler);
+
+    /*
     Thread gpsThread;
     gpsThread.set_priority(osPriorityHigh);
     gpsThread.start(&do_gps);
+    */
     
-/*
+    /*
     FILE *fp;
     char buf[128];
     printf("Initializing the block device... ");