diff options
Diffstat (limited to 'robot/sercomm.c')
| -rw-r--r-- | robot/sercomm.c | 13 |
1 files changed, 12 insertions, 1 deletions
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) { |