diff options
Diffstat (limited to 'Venus_Skeleton/comm.cpp')
-rw-r--r-- | Venus_Skeleton/comm.cpp | 34 |
1 files changed, 27 insertions, 7 deletions
diff --git a/Venus_Skeleton/comm.cpp b/Venus_Skeleton/comm.cpp index f5392e0..d60138e 100644 --- a/Venus_Skeleton/comm.cpp +++ b/Venus_Skeleton/comm.cpp @@ -3,7 +3,9 @@ */ #include <stdbool.h> +#include "definitions.h" #include "dataTypes.h" +#include "comm.h" serial_state_t serial_state = SERIAL_UNKNOWN; @@ -38,7 +40,7 @@ static void handle_ctrl(int r) { void handle_serial(data_t *data, int changedBits) { // first attempt sync while (Serial.available()) { - r = Serial.read(); + int r = Serial.read(); if ((r & 0xC0) == 0x80) { // handle control packets @@ -59,18 +61,20 @@ void handle_serial(data_t *data, int changedBits) { } // writes data of length len -static void serial_write_data(const char *data, unsigned len) { +static void serial_write_len(unsigned len) { len--; // length on wire is one smaller (00 means 1 byte, 01 means 2, etc.) - if (len >= 0 && len < 56) { + if (len < 56) { Serial.write(0x80 + len + 7); - } else if (len >= 0 && len < 256) { + } else if (len < DATA_MAX_SIZE) { Serial.write(0x88 | (len >> 5)); Serial.write(0xA0 | (len & 0x1F)); } else { // zero length or too long. - return; } - // write remainder +} + +// write remainder of data +static void serial_write_data(const char *data, unsigned len) { for (unsigned i = 0; i < len; i++) { char c = data[i]; if (c & 0x80) { @@ -83,7 +87,23 @@ static void serial_write_data(const char *data, unsigned len) { } void serial_print_debug(const char *str) { - serial_print_debug(str, strlen(str)); + unsigned len = strlen(str); + const char c = DATA_DEBUG_PREFIX; + + // only write data when the serial connection is ready + if (serial_state != SERIAL_READY) { + return; + } + + while (len > 0) { + // len is no more than DATA_MAX_SIZE - 1 because of debug prefix + unsigned datalen = len >= DATA_MAX_SIZE ? DATA_MAX_SIZE - 1 : len; + // add one for the debug prefix + serial_write_len(1 + datalen); + serial_write_data(&c, 1); /* write prefix */ + serial_write_data(str, datalen); /* write actual data payload */ + len -= datalen; + } } static void handle_recv(int r) { |