move enums into class and add more specific poll results

UCI-Rocket-Project · Feb 14, 2024 · 9a58e82 · 9a58e82
1 parent 81692b4
commit 9a58e82
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Showing 2 changed files with 33 additions and 32 deletions.
diff --git a/gps_ubxm8_i2c/gps.cpp b/gps_ubxm8_i2c/gps.cpp
@@ -7,53 +7,53 @@
 
 GPS::GPS() {
     packetReader = UBXPacketReader();
-    state = GPSState::REQUEST_NOT_SENT;
+    state = GPS::State::REQUEST_NOT_SENT;
 }
 
-const GPSState GPS::getState() {
+const GPS::State GPS::getState() {
     return state;
 }
 
-const GPSPollResult GPS::pollUpdate(I2C_HandleTypeDef* i2c) {
-    if(state == GPSState::REQUEST_NOT_SENT) {
+const GPS::PollResult GPS::pollUpdate(I2C_HandleTypeDef* i2c) {
+    if(state == GPS::State::REQUEST_NOT_SENT) {
         uint8_t message[4] = {0x01, 0x07, 0x00, 0x00};
         sendUBX(message, 4, &hi2c3);
-        state = GPSState::POLLING_RESPONSE;
+        state = GPS::State::POLLING_RESPONSE;
     }
 
-    if(state == GPSState::POLLING_RESPONSE) {
+    if(state == GPS::State::POLLING_RESPONSE) {
         uint8_t lenBytes[2];
         uint16_t dataLen = 0; 
         uint8_t buffer[I2C_BUFFER_SIZE];
 
         HAL_StatusTypeDef dataLenReadStatus = HAL_I2C_Mem_Read(i2c, 0x42 << 1, 0xFD, 1, lenBytes, 2, 100);
         if(dataLenReadStatus != HAL_OK) {
-            return GPSPollResult::DATA_LEN_POLL_FAILED;
+            return GPS::PollResult::DATA_LEN_POLL_FAILED;
         }
 
         dataLen = lenBytes[0] << 8 | lenBytes[1];
         if(dataLen==0) {
-            return GPSPollResult::NO_DATA;
+            return GPS::PollResult::NO_DATA;
         }
 
         if(dataLen > I2C_BUFFER_SIZE) {
             dataLen = I2C_BUFFER_SIZE;
         }
         HAL_StatusTypeDef rcvStatus = HAL_I2C_Master_Receive(i2c, 0x42 << 1, buffer, dataLen, 100);
         if(rcvStatus != HAL_OK) {
-            return GPSPollResult::DATA_RECEIVE_I2C_FAILED;
+            return GPS::PollResult::DATA_RECEIVE_I2C_FAILED;
         }
 
         if(packetReader.isInProgress()) {
             for(uint16_t i = 0; i<dataLen; i++) {
                 UBXPacketUpdateResult res = packetReader.update(buffer[i]);
                 if(res == UBXPacketUpdateResult::CHECKSUM_FAILED) {
                     packetReader.reset();
-                    return GPSPollResult::DATA_RECEIVE_CHECKSUM_FAILED;
+                    return GPS::PollResult::DATA_RECEIVE_CHECKSUM_FAILED;
                 }
                 if(packetReader.isComplete()) {
-                    state = GPSState::RESPONSE_READY;
-                    return GPSPollResult::POLL_OK;
+                    state = GPS::State::RESPONSE_READY;
+                    return GPS::PollResult::POLL_FINISHED;
                 }
             }
         } else {
@@ -64,28 +64,28 @@ const GPSPollResult GPS::pollUpdate(I2C_HandleTypeDef* i2c) {
                         UBXPacketUpdateResult res = packetReader.update(buffer[i]);
                         if(res != UBXPacketUpdateResult::UPDATE_OK) {
                             packetReader.reset();
-                            return GPSPollResult::DATA_RECEIVE_CHECKSUM_FAILED;
+                            return GPS::PollResult::DATA_RECEIVE_CHECKSUM_FAILED;
                         }
                         i++;
                     }
                 }
             }
 
             if(packetReader.isComplete()) {
-                state = GPSState::RESPONSE_READY;
-                return GPSPollResult::POLL_OK;
+                state = GPS::State::RESPONSE_READY;
+                return GPS::PollResult::POLL_FINISHED;
             }
         }
     }
 
-    return GPSPollResult::POLL_OK;
+    return GPS::PollResult::RECEIVE_IN_PROGRESS;
 }
 
 const UBX_NAV_PVT_PAYLOAD GPS::getSolution() {
     return *(UBX_NAV_PVT_PAYLOAD*)packetReader.getPayload();
 }
 
 void GPS::reset() {
-    state = GPSState::REQUEST_NOT_SENT;
+    state = GPS::State::REQUEST_NOT_SENT;
     packetReader.reset();
 }
diff --git a/gps_ubxm8_i2c/gps.h b/gps_ubxm8_i2c/gps.h
@@ -4,30 +4,31 @@
 #include "ubxMessages.h"
 #include <i2c.h>
 
-enum class GPSState {
-    REQUEST_NOT_SENT,
-    POLLING_RESPONSE,
-    RESPONSE_READY
-};
 
-enum class GPSPollResult {
-    POLL_OK,
-    NO_DATA,
-    DATA_LEN_POLL_FAILED,
-    DATA_RECEIVE_I2C_FAILED,
-    DATA_RECEIVE_CHECKSUM_FAILED
-};
 
 class GPS {
     public:
+        enum class State {
+            REQUEST_NOT_SENT,
+            POLLING_RESPONSE,
+            RESPONSE_READY
+        };
+        enum class PollResult {
+            POLL_FINISHED,
+            NO_DATA,
+            DATA_LEN_POLL_FAILED,
+            DATA_RECEIVE_I2C_FAILED,
+            DATA_RECEIVE_CHECKSUM_FAILED,
+            RECEIVE_IN_PROGRESS
+        };
         GPS();
-        const GPSState getState();
-        const GPSPollResult pollUpdate(I2C_HandleTypeDef* i2c);
+        const State getState();
+        const PollResult pollUpdate(I2C_HandleTypeDef* i2c);
         const UBX_NAV_PVT_PAYLOAD getSolution();
         void reset();
 
     private:
         UBXPacketReader packetReader;
-        GPSState state;
+        State state;
 };