usapack public
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
Diff: UsaPack.hpp
- Revision:
- 3:526f824b50ef
- Parent:
- 1:7d6e751f5986
- Child:
- 4:844eff5a2fa8
diff -r 1096fc8201a3 -r 526f824b50ef UsaPack.hpp --- a/UsaPack.hpp Sat Apr 24 04:38:39 2021 +0000 +++ b/UsaPack.hpp Mon Apr 26 11:33:25 2021 +0000 @@ -7,16 +7,22 @@ { private: Serial serial; - const int uart_size = 256; - char uart_buffer[uart_size]; - int uart_index; + const int receive_size = 256; + char receive_buffer[receive_size]; + volatile int receive_index; const int package_types = 64; - int package_index; - int package_address[package_types]; - int package_size[package_types]; + volatile int package_index; + volatile int package_address[package_types]; + volatile int package_size[package_types]; void* package_object[package_types]; + const int send_size = 256; + char send_buffer[send_size]; + volatile int send_index; + volatile int send_end_index; + void Receive(); + void SendByte(); void Decode(); public: @@ -53,8 +59,10 @@ CobsEncode(package.byte_data, (int)sizeof(_package), send_cobs_data); for (int i = 0; i < sizeof(_package)+2; i++) { - serial.putc(send_cobs_data[i]); + send_buffer[(send_end_index + i) % send_size] = send_cobs_data[i]; } + send_end_index = (send_end_index + sizeof(_package) + 2) % send_size; + serial.attach(this, &UsaPack::SendByte, Serial::TxIrq); }