//------------------------------------------------------------------------------
// An adaptation of the loop in main() in the original Babuino code.
// This is intended to be called from within the Arduino loop() function.
//------------------------------------------------------------------------------
void
Babuino::loop()
{
debounce();
switch (_states.getMachineState())
{
case READY:
if (serialAvailable() > 0)
{
_states.setMachineState(COMM);
}
else if (_states.getRunRequest() == RUNNING)
{
_states.setMachineState(RUN);
}
break;
case COMM:
doComm();
_states.setMachineState(READY);
break;
case RUN:
_regs.pc.set(_storage.getStartAddress());
initStack(_stack);
_states.setMachineState(RUN);
code_exec();
_motors.off();
_states.setMachineState(READY);
break;
}
}
/* getComm - get message from serial ----------------------------------------*/
void getComm()
{
// read all incoming bytes
while(is_read_uart1())
{
char byte = read_uart1();
// if one line is complete
if (byte == '\n')
{
doComm();
l = 0;
}
// don't use \r
else// if (byte != '\r') // use \r as limitter
{
line[l++] = byte;
}
}
}
