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Works with simple/no kinematics

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This commit is contained in:
IMback 2017-09-19 16:16:54 +02:00
parent dd6f37a960
commit 471d018bfe
7 changed files with 221 additions and 245 deletions
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37
serial.cpp
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@ -1,12 +1,26 @@
#include "serial.h"
char rxBuffer[BUFFER_SIZE];
volatile uint16_t interruptIndex = 0;
volatile uint32_t interruptIndex = 0;
volatile uint32_t _rxIndex = 0;
bool stopped = false;
ISR (USART_RX_vect) //I have seen worse interrupt sintax
{
rxBuffer[interruptIndex % BUFFER_SIZE] = UDR0;
interruptIndex++;
/*if (interruptIndex - BUFFER_SIZE > 0 && _rxIndex - BUFFER_SIZE > 0)
{
interruptIndex -= BUFFER_SIZE;
_rxIndex -= BUFFER_SIZE;
}*/
if(serialFlowControl && !stopped && interruptIndex - _rxIndex > BUFFER_SIZE - 64)
{
loop_until_bit_is_set(UCSR0A, UDRE0);
UDR0 = 0x13;
stopped = true;
}
if(interruptIndex - _rxIndex < BUFFER_SIZE )interruptIndex++;
}
Serial::Serial()
@ -47,10 +61,15 @@ bool Serial::dataIsWaiting()
char Serial::getChar()
{
if( _rxIndex >= (32768) - 2*BUFFER_SIZE ) flush(); //may explode only occasionaly
if(dataIsWaiting())
{
_rxIndex++;
if(serialFlowControl && stopped && interruptIndex - _rxIndex < 64)
{
loop_until_bit_is_set(UCSR0A, UDRE0);
UDR0 = 0x11;
stopped = false;
}
return rxBuffer[(_rxIndex -1) % BUFFER_SIZE];
}
else return '\0';
@ -58,12 +77,12 @@ char Serial::getChar()
unsigned int Serial::getString(char* buffer, const int bufferLength)
{
int i = 0;
unsigned int i = 0;
for(; i <= (interruptIndex-_rxIndex) && i <= BUFFER_SIZE && rxBuffer[(_rxIndex+i) % BUFFER_SIZE] != _terminator; i++);
if( i < (interruptIndex-_rxIndex) && i > 0)
{
int j = 0;
unsigned int j = 0;
for(; j < i && j < bufferLength-1 ; j++)
{
buffer[j] = getChar();
@ -71,12 +90,8 @@ unsigned int Serial::getString(char* buffer, const int bufferLength)
buffer[j+1]='\0';
_rxIndex++;
}
else
{
i = 0;
if( _rxIndex >= (32768) - 2*BUFFER_SIZE ) flush();
}
else i = 0;
if (rxBuffer[(_rxIndex+i) % BUFFER_SIZE] == _terminator) _rxIndex++;
return i;