From c97e84ca85810963c0c7e05d43ce5584b94cc9b3 Mon Sep 17 00:00:00 2001
From: Mikko Rasa <tdb@tdb.fi>
Date: Wed, 30 Oct 2013 23:50:00 +0200
Subject: [PATCH] Make arducontrol interface asynchronous again

Blocking the main loop for extended periods of time (as could previously
happen with an incomplete packet) is bad, because it prevents the monitor
from triggering overcurrent shutdown.
---
 arducontrol/interface.c | 45 +++++++++++++++++++++++++++++------------
 1 file changed, 32 insertions(+), 13 deletions(-)

diff --git a/arducontrol/interface.c b/arducontrol/interface.c
index 1cc4b15..c5a7262 100644
--- a/arducontrol/interface.c
+++ b/arducontrol/interface.c
@@ -6,6 +6,10 @@
 #include "serial.h"
 #include "s88.h"
 
+static uint8_t cmd_buffer[15];
+static uint8_t cmd_length = 0;
+static uint8_t cmd_read_pos = 0;
+
 uint8_t dispatch_command(const uint8_t *, uint8_t);
 
 void interface_init(void)
@@ -17,27 +21,42 @@ void interface_init(void)
 
 void interface_check(void)
 {
+	uint8_t count;
 	if(serial_read_overrun())
 		interface_send1(RECEIVE_OVERRUN);
 
-	while(serial_read_available())
+	count = serial_read_available();
+	if(count>0)
 	{
-		uint8_t length = ~serial_read();
+		if(cmd_length==0)
+		{
+			uint8_t l = ~serial_read();
+			if(l==0)
+				serial_write(0xFF);
+			else if(l>=0x10)
+				interface_send1(FRAMING_ERROR);
+			else
+			{
+				cmd_length = l;
+				--count;
+				cmd_read_pos = 0;
+			}
+		}
 
-		if(length==0)
-			serial_write(0xFF);
-		else if(length>=0x10)
-			interface_send1(FRAMING_ERROR);
-		else
+		if(cmd_read_pos<cmd_length)
 		{
-			uint8_t cmd[15];
 			uint8_t i;
+			if(cmd_read_pos+count>cmd_length)
+				count = cmd_length-cmd_read_pos;
+			for(i=0; i<count; ++i)
+				cmd_buffer[cmd_read_pos++] = serial_read();
 
-			for(i=0; i<length; ++i)
-				cmd[i] = serial_read();
-
-			uint8_t result = dispatch_command(cmd, length);
-			interface_send1(result);
+			if(cmd_read_pos>=cmd_length)
+			{
+				uint8_t result = dispatch_command(cmd_buffer, cmd_length);
+				interface_send1(result);
+				cmd_length = 0;
+			}
 		}
 	}
 }
-- 
2.43.0