Working 24 controls + attribution

user/uart.c

@@ -130,7 +130,7 @@ enum uart_train_tx_state uart_train_tx_transition(enum uart_train_tx_state curst
 		} else {
 			// TODO: FIGURE OUT WHY WE SOMETIMES GET DOUBLE TX INTERRUPTS
 			ASSERT(interrupt == UART_TX_TRIGGERED_1);
-			// prints("additional tx interrupt\r\n");
+			prints("additional tx interrupt\r\n");
 			// ASSERT(0);
 			return UART_TRAIN_TXHI_CTS_1;
 		}
@@ -162,6 +162,9 @@ void uart_train_server_rx() {
 	enum uart_rx_states rx_state = UART_RXLO;
 	int sensor_reader_tid = 0;
 
+	int bytes_read = 0;
+	int clock_server_tid = get_tid_by_name(CLOCK_SERVER);
+
 	for (;;) {
 		enable_rx_interrupt(1);
 		Receive(&sender, rcvbuf, sizeof(struct UART_Server_Request));
@@ -183,7 +186,12 @@ void uart_train_server_rx() {
 
 		// read as many as we can
 		while (rx_state == UART_RX_READY && can_read_char(1)) {
+			if (bytes_read == 0) {
+				Delay(clock_server_tid, 4);
+			}
 			char c = UartGetc(1);
+			bytes_read += 1;
+			bytes_read %= 10;
 			ASSERT(!ring_buffer_is_full(&char_buffer));
 			ring_buffer_append(&char_buffer, c);
 		}
@@ -205,6 +213,7 @@ int is_directional_control(char byte) {
 
 void uart_term_server_rx() {
 	RegisterAs(UART_SERVER_TERM_RECEIVE);
+	int clock_server_tid = get_tid_by_name(CLOCK_SERVER);
 	int sender;
 	char rcvbuf[sizeof(struct UART_Server_Request)];
 	char reply[] = "R";
@@ -213,6 +222,7 @@ void uart_term_server_rx() {
 	enum uart_rx_states rx_state = UART_RXLO;
 
 	struct Ring_Buffer terminal_admin_buffer = create_buffer(INT);
+	uint32_t last_train_cmd_time = 0;
 
 	char setup_terminal[] = "\033[55;80r"; // scrolling region for terminal and debug
 	prints(setup_terminal);
@@ -238,9 +248,13 @@ void uart_term_server_rx() {
 			char c = UartGetc(0);
 			if (is_directional_control(c) && ring_buffer_is_empty(&char_buffer)) {
 				ASSERT(!ring_buffer_is_empty(&terminal_admin_buffer));
-				int terminal_admin = ring_buffer_pop(&terminal_admin_buffer);
-				char command[2] = { c, '\0' };
-				Reply(terminal_admin, command, 2);
+				uint32_t curtime = Time(clock_server_tid);
+				if (last_train_cmd_time < curtime - 20) {
+					last_train_cmd_time = curtime;
+					int terminal_admin = ring_buffer_pop(&terminal_admin_buffer);
+					char command[2] = { c, '\0' };
+					Reply(terminal_admin, command, 2);
+				}
 			} else if (c == '\r') {
 				ASSERT(!ring_buffer_is_empty(&terminal_admin_buffer));
 				int terminal_admin = ring_buffer_pop(&terminal_admin_buffer);
@@ -461,8 +475,9 @@ void uart_train_server_tx_no_cts() {
 			debug_printi("Current receiving_sensor_bytes: ", receiving_sensor_bytes, "\r\n");
 			debug_printi("Error, more than 5s delay to train set, current state: ", tx_state, "\r\n");
 			debug_prints("Going back to ready state...\r\n");
-			ASSERT(0);
+			// ASSERT(0);
 			tx_state = UART_TRAIN_TX_READY;
+			receiving_sensor_bytes = 0;
 		}
 
 		if (req->request_type == UART_SEND_TRAIN) {
@@ -478,6 +493,10 @@ void uart_train_server_tx_no_cts() {
 					debug_printi("size of buffer when stop bytes added: ", char_buffer_1.size, "\r\n");
 					debug_printi("added stop byte to queue at time: ", curtime, "\r\n");
 				} else {
+					if (req->msg[i] == 133 && receiving_sensor_bytes) {
+						i++;
+						continue;
+					}
 					ring_buffer_append(&char_buffer_1, req->msg[i]);
 				}
 
@@ -507,7 +526,6 @@ void uart_train_server_tx_no_cts() {
 			}
 		} else if (req->request_type == UART_DONE_RECEIVING_SENSOR_BYTES) {
 			receiving_sensor_bytes = 0;
-			Delay(clock_server_tid, 1);
 		} else {
 			ASSERT(0);
 		}