void VCOM_echo(void)
{
uint8_t temp;
circular_buffer_pools_t * cb_out = circular_buffer_pointer(0x2);
circular_buffer_pools_t * cb_in = circular_buffer_pointer(0x82);
if((!circular_buffer_is_empty(cb_out)) && (!circular_buffer_is_full(cb_in)))
{
circular_buffer_pop(cb_out,&temp);
circular_buffer_push(cb_in,&temp);
// Set Next Timer Reload to finish transfer after there is room in FIFO
start_timer(1);
}
}
void handle_spi_to_bbb(){
//Loop while we have data in the RX buffer to process
while(circular_buffer_size(&rx_buff)){
rx_byte = circular_buffer_pop(&rx_buff);
if(rx_byte == SPI_TX_START){
cmd_idx = CMD_DATA_SIZE;
//Reset all the send variables/tmp storage
cmd_finished = 0;
send_idx = 0;
send_crc_length = 0;
send_crc = 0;
send_crc_idx = 0;
spi_transfer = 1;
memset(&tx_buff, 0, sizeof(circular_buffer_t));
}
//If we are receiving command, store it appropriately
if(cmd_idx > 0){
cmd_data[CMD_DATA_SIZE-cmd_idx] = rx_byte;
cmd_idx--;
//Finished last storage of incoming data
if(cmd_idx == 0){
//Check recieved_crc against calculated CRC
received_crc = (cmd_data[CMD_DATA_SIZE-1]<<8) | cmd_data[CMD_DATA_SIZE-2];
calculated_crc = crc_io_checksum(cmd_data, CMD_DATA_SIZE-2, CRC_16BIT);
//Send appropriate signal if passed/failed
if(calculated_crc == received_crc){
SPIC.DATA = SPI_CRC_PASS;
circular_buffer_push(&tx_buff,SPI_CRC_PASS);
cmd_finished = 1;
}
else{
//SPIC.DATA = SPI_CRC_FAIL;
circular_buffer_push(&tx_buff,SPI_CRC_FAIL);
}
}
}
else if(cmd_finished){
recv_cmd = cmd_data[1];
memcpy(send_data,sensor_data,SENSOR_DATA_SIZE);
send_data[SENSOR_DATA_SIZE] = sensor_status;
send_data[SENSOR_DATA_SIZE+1] = state;
send_idx = SENSOR_DATA_SIZE+2;
send_crc_length = send_idx;
cmd_finished = 0;
while(send_idx){
//SPIC.DATA = send_data[send_crc_length-send_idx];
circular_buffer_push(&tx_buff, send_data[send_crc_length-send_idx]);
send_idx--;
//Calculate CRC
if(send_idx == 0){
send_crc = crc_io_checksum(send_data, send_crc_length, CRC_16BIT);
circular_buffer_push(&tx_buff, send_crc);
circular_buffer_push(&tx_buff, send_crc>> 8);
}
}
spi_transfer = 0;
}
spi_isr = 0;
}
