diff options
Diffstat (limited to 'robot')
| -rw-r--r-- | robot/consts.h | 3 | ||||
| -rw-r--r-- | robot/sercomm.c | 13 | ||||
| -rw-r--r-- | robot/sercomm.h | 5 | ||||
| -rw-r--r-- | robot/setup.c | 31 | ||||
| -rw-r--r-- | robot/sim.c | 11 | ||||
| -rw-r--r-- | robot/sim.h | 2 |
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 |