diff options
Diffstat (limited to 'robot/sercomm.c')
| -rw-r--r-- | robot/sercomm.c | 20 |
1 files changed, 12 insertions, 8 deletions
diff --git a/robot/sercomm.c b/robot/sercomm.c index afde48a..6e191d2 100644 --- a/robot/sercomm.c +++ b/robot/sercomm.c @@ -20,12 +20,6 @@ char g_w2_serial_buffer[W2_SERIAL_READ_BUFFER_SIZE] = {0}; uint8_t g_w2_serial_buffer_index = 0; uint8_t g_w2_serial_buffer_head = 0; -unsigned int g_w2_ping_ms = 0; -uint8_t g_w2_ping_id = 0; -bool g_w2_ping_received = true; -bool g_w2_ping_timeout = false; -bool g_w2_connected = false; - void w2_sercomm_main() { #ifdef W2_SIM simprintfunc("w2_sercomm_main", ""); @@ -40,10 +34,11 @@ void w2_sercomm_main() { // check time-out if (!g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > W2_PING_TIMEOUT) { g_w2_ping_timeout = true; + g_w2_connected = false; w2_errcatch_throw(W2_E_WARN_PING_TIMEOUT); } // send ping every W2_TIMER_PING ms - if ((g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > 1000) || g_w2_ping_timeout) { + if ((g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > W2_PING_FREQUENCY) || g_w2_ping_timeout) { g_w2_ping_timeout = false; g_w2_ping_received = false; g_w2_ping_id = (uint8_t) rand(); @@ -62,7 +57,7 @@ void w2_sercomm_main() { while (g_w2_sercomm_offset != g_w2_sercomm_index) { w2_s_bin *data = g_w2_sercomm_buffer[g_w2_sercomm_offset]; #ifdef W2_SIM - w2_sim_print_serial(data); + if (DBG_ENABLE_SERIAL) w2_sim_print_serial(data); #endif serial_send_blocking("\xff", 1); for (uint8_t i = 0; i < data->bytes; i++) { @@ -89,10 +84,19 @@ void w2_sercomm_append_msg(w2_s_bin *data) { #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Warray-bounds" +#include <stdlib.h> +#include <string.h> + + void w2_cmd_ping_tx(w2_s_bin *data) { g_w2_ping_ms = w2_hypervisor_time_end(W2_TIMER_PING); g_w2_ping_received = true; g_w2_ping_timeout = false; + g_w2_connected = true; + + char buf[32]; + sprintf(buf, "rec: %i, tim: %i, con: %i", g_w2_ping_received, g_w2_ping_timeout, g_w2_connected); + w2_errcatch_throw_msg(0x69, strlen(buf), buf); } void w2_cmd_ping_rx(w2_s_bin *data) { |