boolean handleUDBSockets(void)
{
uint8_t buffer[BUFLEN];
int32_t bytesRead;
int16_t i;
boolean didRead = false;
// Handle GPS Socket
if (gpsSocket) {
bytesRead = UDBSocket_read(gpsSocket, buffer, BUFLEN);
if (bytesRead < 0) {
UDBSocket_close(gpsSocket);
gpsSocket = NULL;
}
else {
for (i=0; i<bytesRead; i++) {
udb_gps_callback_received_byte(buffer[i]);
}
if (bytesRead>0) didRead = true;
}
}
// Handle Telemetry Socket
if (telemetrySocket) {
bytesRead = UDBSocket_read(telemetrySocket, buffer, BUFLEN);
if (bytesRead < 0) {
UDBSocket_close(telemetrySocket);
telemetrySocket = NULL;
}
else {
for (i=0; i<bytesRead; i++) {
udb_serial_callback_received_byte(buffer[i]);
}
if (bytesRead>0) didRead = true;
}
}
// Handle optional Serial RC input Socket
if (serialSocket) {
bytesRead = UDBSocket_read(serialSocket, buffer, BUFLEN);
if (bytesRead < 0) {
UDBSocket_close(serialSocket);
serialSocket = NULL;
}
else {
if (bytesRead>0) {
sil_handle_seial_rc_input(buffer, bytesRead);
didRead = true;
}
}
}
return didRead;
}
void __attribute__((__interrupt__, __no_auto_psv__)) _U2RXInterrupt(void)
{
_U2RXIF = 0; // clear the interrupt
indicate_loading_inter;
interrupt_save_set_corcon;
while (U2STAbits.URXDA)
{
uint8_t rxchar = U2RXREG;
udb_serial_callback_received_byte(rxchar);
}
U2STAbits.OERR = 0;
interrupt_restore_corcon;
}
void __attribute__((__interrupt__,__no_auto_psv__)) _U1RXInterrupt(void)
{
indicate_loading_inter ;
interrupt_save_set_corcon ;
_U1RXIF = 0 ; // clear the interrupt
while ( U1STAbits.URXDA )
{
unsigned char rxchar = U1RXREG ;
udb_serial_callback_received_byte(rxchar) ;
}
U1STAbits.OERR = 0 ; // clear the overrun bit, just in case
interrupt_restore_corcon ;
return ;
}
