Singleton fix

flight-computer.ino

@@ -4,29 +4,30 @@
 #include "mosfet_igniter.h"
 #include "adafruit_gps_api.h"
 #include "definitions.h"
+#include "SD.h"
 
-LSM9DS1_API imu_sensor = LSM9DS1_API::getInstance();
-BMP3XX_API altimeter = BMP3XX_API::getInstance();
-Telemetry telemetry = Telemetry::getInstance();
-MosfetIgniter igniter = MosfetIgniter::getInstance();
-Adafruit_GPS_API gps = Adafruit_GPS_API::getInstance();
-FSM *fsm;
+static LSM9DS1_API* imu_sensor = nullptr;
+static BMP3XX_API* altimeter = nullptr;
+static Telemetry* telemetry = nullptr;
+static MosfetIgniter* igniter = nullptr;
+static Adafruit_GPS_API* gps = nullptr;
+static FSM* fsm = nullptr;
 // TODO: improve buzzer code
 const int buzzer = 17;
 bool sound = false;
 uint8_t loop_frequency = 10; // Hz
 
-void setup() {
-#if SERIAL_DEBUG
-  Serial.begin(115200);
-#endif
+bool SetupSensorsAndCommunication();
 
-#if BUZZER
-  pinMode(buzzer, OUTPUT);
-  tone(buzzer, 500);
-#endif
+void setup() {
+  #if SERIAL_DEBUG
+    Serial.begin(115200);
+  #endif
 
-  fsm = new FSM(&telemetry, &imu_sensor, &altimeter, &gps, &igniter, &loop_frequency);
+  if (!SetupSensorsAndCommunication()) {
+    Serial.println("Did not initialize sensors");
+    while(1);
+  }
 
 #if BUZZER
   noTone(buzzer);
@@ -36,8 +37,8 @@ void setup() {
 void loop() {
   int timerStart = millis();
 
-  if (telemetry.messageAvailable()) {
-    String message = telemetry.receiveMessage();
+  if (telemetry->messageAvailable()) {
+    String message = telemetry->receiveMessage();
     if (message.substring(0, 5).equals("SPCMD")) {
       int event;
       if (sscanf(message.c_str(), "SPCMD:%i--", &event) == 1) {
@@ -69,3 +70,51 @@ void loop() {
 
   delay(max(0, delayTime));
 }
+
+bool SetupSensorsAndCommunication() {
+#if SD_LOGS
+  while(!SD.begin(SD_CS)) {
+#if SERIAL_DEBUG
+    Serial.println("SD did not initialize");
+#endif
+  }
+#endif
+
+#if BUZZER
+  pinMode(buzzer, OUTPUT);
+  tone(buzzer, 500);
+#endif
+
+  imu_sensor = static_cast<LSM9DS1_API*>(malloc(sizeof(LSM9DS1_API)));
+  if (imu_sensor == nullptr) {
+    return false;
+  }
+  *imu_sensor = LSM9DS1_API::getInstance();
+
+  altimeter = static_cast<BMP3XX_API*>(malloc(sizeof(BMP3XX_API)));
+  if (altimeter == nullptr) {
+    return false;
+  }
+  *altimeter = BMP3XX_API::getInstance();
+
+  telemetry = static_cast<Telemetry*>(malloc(sizeof(Telemetry)));
+  if (telemetry == nullptr) {
+    return false;
+  }
+  *telemetry = Telemetry::getInstance();
+
+  igniter = static_cast<MosfetIgniter*>(malloc(sizeof(MosfetIgniter)));
+  if (igniter == nullptr) {
+    return false;
+  }
+  *igniter = MosfetIgniter::getInstance();
+
+  gps = static_cast<Adafruit_GPS_API*>(malloc(sizeof(Adafruit_GPS_API)));
+  if (gps == nullptr) {
+    return false;
+  }
+  *gps = Adafruit_GPS_API::getInstance();
+
+  fsm = new FSM(telemetry, imu_sensor, altimeter, gps, igniter, &loop_frequency);
+  return fsm != nullptr;
+}

libraries/adafruit_gps_api.cpp

@@ -1,29 +1,35 @@
+#include <Adafruit_GPS.h>
 #include "adafruit_gps_api.h"
 
 #define GPSSerial Serial1
 
-Adafruit_GPS_API::Adafruit_GPS_API() {};
+static Adafruit_GPS_API* instance = nullptr;
+static Adafruit_GPS* receiver = nullptr;
+static unsigned long last_read = 0;
 
-Adafruit_GPS Adafruit_GPS_API::receiver(&GPSSerial);
+Adafruit_GPS_API::Adafruit_GPS_API() {};
 
 Adafruit_GPS_API& Adafruit_GPS_API::getInstance() {
-  static Adafruit_GPS_API instance;
-  return instance;
+  if (instance == nullptr) {
+    instance = new Adafruit_GPS_API();
+    receiver = new Adafruit_GPS(&GPSSerial);
+  }
+  return *instance;
 }
 
 void Adafruit_GPS_API::setup() {
   last_read = 0;
 
-  receiver.begin(9600);
+  receiver->begin(9600);
 
   // turn on GPRMC and GGA.
-  receiver.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
+  receiver->sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
 
   // Update every 1Hz.
-  receiver.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
+  receiver->sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
 
   // Possition fix update every 1Hz.
-  receiver.sendCommand(PMTK_API_SET_FIX_CTL_1HZ);
+  receiver->sendCommand(PMTK_API_SET_FIX_CTL_1HZ);
 }
 
 void Adafruit_GPS_API::readData() {
@@ -33,21 +39,21 @@ void Adafruit_GPS_API::readData() {
   }
 
   // Empty buffer.
-  while(receiver.read());
+  while(receiver->read());
 
   last_read = millis();
 
   // Parse data.
-  if (receiver.newNMEAreceived()) {
-    receiver.parse(receiver.lastNMEA());
+  if (receiver->newNMEAreceived()) {
+    receiver->parse(receiver->lastNMEA());
   }
 }
 
 bool Adafruit_GPS_API::fix() {
   // Check if last data is updated.
   readData();
 
-  return receiver.fix;
+  return receiver->fix;
 }
 
 int32_t Adafruit_GPS_API::latitude() {
@@ -60,7 +66,7 @@ int32_t Adafruit_GPS_API::latitude() {
     return 0;
   }
 
-  return receiver.latitude_fixed;
+  return receiver->latitude_fixed;
 }
 
 int32_t Adafruit_GPS_API::longitude() {
@@ -73,7 +79,7 @@ int32_t Adafruit_GPS_API::longitude() {
     return 0;
   }
 
-  return receiver.longitude_fixed;
+  return receiver->longitude_fixed;
 }
 
 float Adafruit_GPS_API::altitude() {
@@ -86,12 +92,12 @@ float Adafruit_GPS_API::altitude() {
     return 0;
   }
 
-  return receiver.altitude;
+  return receiver->altitude;
 }
 
 int Adafruit_GPS_API::satellites() {
   // Check if last data is updated.
   readData();
 
-  return receiver.satellites;
-}
+  return receiver->satellites;
+}

libraries/adafruit_gps_api.h

@@ -1,4 +1,3 @@
-#include <Adafruit_GPS.h>
 #include "gps_receiver.h"
 
 class Adafruit_GPS_API: public GPSReceiver {
@@ -87,15 +86,6 @@ class Adafruit_GPS_API: public GPSReceiver {
      */
     Adafruit_GPS_API();
 
-    static Adafruit_GPS receiver;
-
-    /**
-     * @brief <h1>Last read data time.</h1>
-     * 
-     * Ensure data is read every 100ms.
-     */
-    unsigned long last_read;
-
     /**
      * @brief <h1>Reads the latest data from the serial.</h1>
      * Clear the GPS buffer and read the last data available from the GPS module.

libraries/bmp280_api.cpp

@@ -1,23 +1,29 @@
+#include "Adafruit_BMP280.h"
 #include "bmp280_api.h"
 
 #define BMP_SCK  (13)
 #define BMP_MISO (12) // SD0
 #define BMP_MOSI (11) // SD1
 #define BMP_CS   (10)
 
-Adafruit_BMP280 BMP280_API::sensor;
+static BMP280_API* instance = nullptr;
+static Adafruit_BMP280* sensor = nullptr;
+static int32_t ground_level = 0;
 
 BMP280_API& BMP280_API::getInstance() {
-  static BMP280_API instance;
-  return instance;
+  if (instance == nullptr) {
+    instance = new BMP280_API();
+    sensor = new Adafruit_BMP280();
+  }
+  return *instance;
 }
 
 int32_t BMP280_API::altitude_cm() {
-  return sensor.readAltitude() * 100;
+  return sensor->readAltitude() * 100;
 }
 
 int32_t BMP280_API::pressure() {
-  return sensor.readPressure();
+  return sensor->readPressure();
 }
 
 int32_t BMP280_API::aglCM() {
@@ -33,13 +39,13 @@ int32_t BMP280_API::getGroundLevelCM() {
 }
 
 void BMP280_API::setup() {
-  if (!sensor.begin()) {
+  if (!sensor->begin()) {
     while(1); //Freeze
   }
 }
 
 void BMP280_API::calibrate() {
-  sensor.setSampling(
+  sensor->setSampling(
     Adafruit_BMP280::MODE_NORMAL,
     Adafruit_BMP280::SAMPLING_X16,
     Adafruit_BMP280::SAMPLING_X16,

libraries/bmp280_api.h

@@ -1,10 +1,7 @@
 #include "altimeter.h"
-#include "Adafruit_BMP280.h"
 #include <stdint.h>
 
 class BMP280_API: public Altimeter {
-  static Adafruit_BMP280 sensor;
-
   public:
     static BMP280_API& getInstance();
 
@@ -101,11 +98,6 @@ class BMP280_API: public Altimeter {
      * @author themicp
      */
     BMP280_API();
-
-    /**
-     * @brief <h1>Reference ground level.</h1>
-     */
-    int32_t ground_level = 0;
 
     void setGroundLevel();
 };

libraries/bmp3xx_api.cpp

@@ -1,3 +1,4 @@
+#include "Adafruit_BMP3XX.h"
 #include "bmp3xx_api.h"
 
 #define BMP_SCK  (13)
@@ -8,11 +9,19 @@
 #define BMP_REFRESH_RATE 50 // Hz
 #define MAX_ALTITUDE_STEP 100000 // cm
 
-Adafruit_BMP3XX BMP3XX_API::sensor;
+static BMP3XX_API* instance = nullptr;
+static Adafruit_BMP3XX* sensor = nullptr;
+static unsigned long last_sensor_read = 0;
+static int32_t cached_altitude_cm;
+static int32_t ground_level = 0;
+static bool broken_connection;
 
 BMP3XX_API& BMP3XX_API::getInstance() {
-  static BMP3XX_API instance;
-  return instance;
+  if (instance == nullptr) {
+    instance = new BMP3XX_API();
+    sensor = new Adafruit_BMP3XX();
+  }
+  return *instance;
 }
 
 
@@ -28,7 +37,7 @@ void BMP3XX_API::readSensorData() {
     return;
   }
 
-  int32_t reading = sensor.readAltitude(SEALEVELPRESSURE_HPA) * 100;
+  int32_t reading = sensor->readAltitude(SEALEVELPRESSURE_HPA) * 100;
   if (abs(reading - cached_altitude_cm) >= MAX_ALTITUDE_STEP) {
     // Ignore reading if difference is extreme. Probably problem with the sensor.
     return;
@@ -43,11 +52,11 @@ int32_t BMP3XX_API::altitude_cm() {
 }
 
 int32_t BMP3XX_API::pressure() {
-  return sensor.pressure;
+  return sensor->pressure;
 }
 
 int16_t BMP3XX_API::temperature() {
-  return sensor.temperature * 100;
+  return sensor->temperature * 100;
 }
 
 int32_t BMP3XX_API::aglCM() {
@@ -63,18 +72,18 @@ int32_t BMP3XX_API::getGroundLevelCM() {
 }
 
 void BMP3XX_API::setup() {
-  if (!sensor.begin()) {
+  if (!sensor->begin()) {
     while(1); //Freeze
   }
 }
 
 void BMP3XX_API::calibrate() {
-  sensor.setPressureOversampling(BMP3_OVERSAMPLING_16X);
-  sensor.setIIRFilterCoeff(BMP3_IIR_FILTER_COEFF_7);
-  sensor.setOutputDataRate(BMP3_ODR_100_HZ);
+  sensor->setPressureOversampling(BMP3_OVERSAMPLING_16X);
+  sensor->setIIRFilterCoeff(BMP3_IIR_FILTER_COEFF_7);
+  sensor->setOutputDataRate(BMP3_ODR_100_HZ);
 
   // TODO: use something better than a constant here
-  while (sensor.readAltitude(SEALEVELPRESSURE_HPA) > 1700) {
+  while (sensor->readAltitude(SEALEVELPRESSURE_HPA) > 1700) {
     delay(100);
   }
   delay(1000); // TODO: refine the value. New BMP needed more time