Diff: soes.cpp

Revision:

20:ad13d4f5fd98

Parent:

19:8ead12aec8d5

Child:

21:6150ca891301

--- a/soes.cpp	Fri Mar 06 08:11:15 2015 +0000
+++ b/soes.cpp	Fri Mar 06 08:27:52 2015 +0000
@@ -173,38 +173,7 @@
 }
 
 
-void rxCallback(MODSERIAL_IRQ_INFO *info) {
- 
-    // Get the pointer to our MODSERIAL object that invoked this callback.
-    MODSERIAL *pc = info->serial;
-    
-    // info->serial points at the MODSERIAL instance so we can use it to call
-    // any of the public MODSERIAL functions that are normally available. So
-    // there's now no need to use the global version (pc in our case) inside
-    // callback functions.    
-    char c = pc->rxGetLastChar(); // Where local pc variable is a pointer to the global MODSERIAL pc object.
-    // The following is rather daft but demos the point.
-    // Don't allow the letter "A" go into the RX buffer.
-    // Basically acts as a filter to remove the letter "A" 
-    // if it goes into the RX buffer.
-	XbusReceiveState((xbus_t *)&xbus_master, (uint8_t)copydata);
-	if(xbus_master.rx.message_complete && xbus_master.rx.checksum_ok)
-    {
-    	xbus_master.rx.checksum_ok = 0;
-    	if(xbus_master.rx.buffer[2] == 0x32)
-    	{
-			copy_new_data = 1;
-		}
-	}
-	
-        // Note, we call the MODSERIAL_IRQ_INFO::rxDiscardLastChar() public function which
-        // is permitted access to the protected version of MODSERIAL::rxDiscardLastChar()
-        // within MODSERIAL (because they are friends). This ensures rxDiscardLastChar()
-        // can only be called within an rxCallback function. 
-    info->rxDiscardLastChar(); 
-    PLOEP;
- 
-}
+
 
 int main(void)
 {
@@ -235,10 +204,18 @@
 // application run loop
     while (1)
     {
-        if(copy_new_data)
-        {   
-        	memcpy(&Rb.first.acc[0],&xbus_master.rx.buffer[4],60);
-    		copy_new_data = 0;
+        while(xbus_serial.readable())
+        {
+        	XbusReceiveState(&xbus_master, xbus_serial.getc());
+        	if(xbus_master.rx.checksum_ok)
+        	{
+        		if(xbus_master.rx.buffer[2] == 0x32)
+        		{
+        			memcpy(&Rb.first.acc[0],&xbus_master.rx.buffer[4],60);
+        		}
+        		xbus_master.rx.checksum_ok = 0;
+        		PLOEP;
+        	}
     	}
         ESC_read(ESCREG_LOCALTIME, &ESCvar.Time, sizeof(ESCvar.Time), &ESCvar.ALevent);
         ESC_ALevent();