WIP serial receive

6 files changed, 37 insertions, 28 deletions

diff --git a/robot/consts.h b/robot/consts.h
index 94a161d..a8b8397 100644
--- a/robot/consts.h
+++ b/robot/consts.h
@@ -13,3 +13,6 @@
 #define W2_ERROR_BUFFER_SIZE (16)
 /** size of the serial communication buffer (in messages, not bytes) */
 #define W2_SERCOMM_BUFFER_SIZE (16)
+/** size of input (receive) buffer (in bytes) */
+#define W2_SERIAL_READ_BUFFER_SIZE (255)
+
diff --git a/robot/sercomm.c b/robot/sercomm.c
index 723a231..d7dc7f1 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -5,11 +5,14 @@
 #include "orangutan_shim.h"
 #include "sercomm.h"
 
-w2_s_bin *g_w2_sercomm_buffer[W2_SERCOMM_BUFFER_SIZE] = {};
+w2_s_bin *g_w2_sercomm_buffer[W2_SERCOMM_BUFFER_SIZE] = {0};
 uint8_t g_w2_sercomm_index							  = 0;
 uint8_t g_w2_sercomm_offset							  = 0;
 uint8_t g_w2_sercomm_buffer_full					  = 0;
 
+char g_w2_serial_buffer[W2_SERIAL_READ_BUFFER_SIZE] = {0};
+uint8_t g_w2_serial_buffer_index = 0;
+
 void w2_sercomm_main() {
 #ifdef W2_SIM
 	simprintfunc("w2_sercomm_main", "");
@@ -22,6 +25,14 @@ void w2_sercomm_main() {
 		serial_send(data_cast, data->bytes);
 		g_w2_sercomm_offset = (g_w2_sercomm_offset + 1) % W2_SERCOMM_BUFFER_SIZE;
 	}
+
+	while(serial_get_received_bytes() != g_w2_serial_buffer_index) {
+		uint8_t byte = g_w2_serial_buffer[g_w2_serial_buffer_index];
+#ifdef W2_SIM
+		simprintf("serial byte: %02x\n", byte);
+#endif
+		g_w2_serial_buffer_index = (g_w2_serial_buffer_index + 1) % W2_SERIAL_READ_BUFFER_SIZE;
+	}
 }
 
 void w2_sercomm_append_msg(w2_s_bin *data) {
diff --git a/robot/sercomm.h b/robot/sercomm.h
index dd17af8..f411374 100644
--- a/robot/sercomm.h
+++ b/robot/sercomm.h
@@ -44,6 +44,11 @@ extern uint8_t g_w2_sercomm_index;
 /** stores start of ring buffer */
 extern uint8_t g_w2_sercomm_offset;
 
+/** serial input (receive) buffer */
+extern char g_w2_serial_buffer[W2_SERIAL_READ_BUFFER_SIZE];
+/** serial input (receive) buffer current position */
+extern uint8_t g_w2_serial_buffer_index;
+
 /**
  * serial pc-robot communication module
  *
diff --git a/robot/setup.c b/robot/setup.c
index fcac6d4..36c5da1 100644
--- a/robot/setup.c
+++ b/robot/setup.c
@@ -5,6 +5,7 @@
 #include "halt.h"
 #include "modes.h"
 #include "orangutan_shim.h"
+#include "sercomm.h"
 #include "setup.h"
 
 // pointers for endianness check
@@ -25,33 +26,9 @@ void w2_setup_main() {
 	// clear lcd
 	clear();
 
+	// start serial input
+	serial_receive_ring(g_w2_serial_buffer, W2_SERIAL_READ_BUFFER_SIZE);
+
 	// indicate startup done
 	play("L50 c>c");
-
-#ifdef W2_SIM
-#include "sercomm.h"
-	w2_s_bin *data = malloc(sizeof(w2_s_bin) + sizeof(uint8_t) * 20);
-	data->bytes	   = 20;
-	data->data[0]  = 0x00;
-	data->data[1]  = 0x01;
-	data->data[2]  = 0x00;
-	data->data[3]  = 0x01;
-	data->data[4]  = 0x00;
-	data->data[5]  = 0x01;
-	data->data[6]  = 0x00;
-	data->data[7]  = 0x01;
-	data->data[8]  = 0xde;
-	data->data[9]  = 0xad;
-	data->data[10] = 0xbe;
-	data->data[11] = 0xef;
-	data->data[12] = 0xff;
-	data->data[13] = 0xff;
-	data->data[14] = 0x00;
-	data->data[15] = 0x00;
-	data->data[16] = 0xff;
-	data->data[17] = 0xff;
-	data->data[18] = 0x00;
-	data->data[19] = 0x69;
-	w2_sercomm_append_msg(data);
-#endif
 }
diff --git a/robot/sim.c b/robot/sim.c
index 1e88feb..554b174 100644
--- a/robot/sim.c
+++ b/robot/sim.c
@@ -1,6 +1,7 @@
 #include <stdio.h>
 #include <time.h>
 #include <string.h>
+#include <stdint.h>
 
 #include "sim.h"
 
@@ -62,3 +63,13 @@ void serial_send(char* message, unsigned int length) {
 	return;
 }
 
+void serial_receive_ring(char* buffer, unsigned char size) {
+	simprintfunc("serial_receive_ring", "0x%016lx, %u", (unsigned long) buffer, size);
+	return;
+}
+
+unsigned char serial_get_received_bytes() {
+	simprintfunc("serial_get_received_bytes", "");
+	return 0;
+}
+
diff --git a/robot/sim.h b/robot/sim.h
index c872dda..75f6a5c 100644
--- a/robot/sim.h
+++ b/robot/sim.h
@@ -44,3 +44,5 @@ void clear(); // NOLINT
 void play(const char* melody); // NOLINT
 void serial_set_baud_rate(unsigned int rate); // NOLINT
 void serial_send(char* message, unsigned int length); // NOLINT
+void serial_receive_ring(char* buffer, unsigned char size); // NOLINT
+unsigned char serial_get_received_bytes(); // NOLINT