weird behavior... message handling not working currently

.clang-format

@@ -20,7 +20,7 @@ AllowShortCaseLabelsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
 AllowShortLambdasOnASingleLine: All
 AllowShortIfStatementsOnASingleLine: Never
-AllowShortLoopsOnASingleLine: true
+AllowShortLoopsOnASingleLine: false
 AlwaysBreakAfterDefinitionReturnType: None
 AlwaysBreakAfterReturnType: None
 AlwaysBreakBeforeMultilineStrings: false

.gdb_history

@@ -104,3 +104,129 @@ q
 b 411
 r
 q
+b 145
+r
+s
+n
+q
+b 146
+q
+b 146
+b main.c:146
+r
+q
+b main.c:146
+r
+s
+del
+b main.c:147
+r
+q
+b main.c:147
+r
+b p_serial_mgr.c:43
+r
+p rxc
+p/c rxc
+p/x rxc
+c
+c
+n
+r
+p rxc
+del
+b p_serial_mgr.c:113
+r
+b p_serial_mgr.c:68
+r
+q
+b p_serial_mgr.c:68
+r
+p rxc
+c
+q
+b p_serial_mgr.c:113
+r
+q
+q
+b p_serial_mgr.c:119
+r
+q
+b p_serial_mgr.c:87
+r
+p serial_pkt_cb.buffer[serial_pkt_cb.head]
+q
+b p_serial_mgr.c:87
+r
+b p_serial_mgr.c:122
+r
+q
+q
+b p_serial_mgr.c:100 if frame_index_tracker > 5
+r
+b p_serial_mgr.c:100 if frame_index_tracker > 0
+r
+q
+b p_serial_mgr.c:79
+r
+b p_serial_mgr.c:100 if frame_index_tracker > 5
+r
+r
+b p_serial_mgr.c:110 if frame_index_tracker > 5
+r
+del
+b p_serial_mgr.c:79
+r
+del
+b p_serial_mgr.c:86
+r
+p rxc
+p serial_pkt_cb.buffer[serial_pkt_cb.head]
+p serial_pkt_cb.buffer[serial_pkt_cb.head].frame_data
+p/x serial_pkt_cb.buffer[serial_pkt_cb.head].frame_data
+q
+b p_serial_mgr.c:86
+r
+p rxc
+p serial_pkt_cb.buffer[serial_pkt_cb.head]
+p/x serial_pkt_cb.buffer[serial_pkt_cb.head].frame_data
+q
+b p_serial_mgr.c:86
+r
+p/x serial_pkt_cb.buffer[serial_pkt_cb.head].frame_data
+p/x serial_pkt_cb.buffer
+p\ serial_pkt_cb.buffer
+p\ serial_pkt_cb.buffer
+p\serial_pkt_cb.buffer
+pserial_pkt_cb.buffer
+p serial_pkt_cb.buffer
+p serial_pkt_cb.buffer[0]
+p/x serial_pkt_cb.buffer[0]
+q
+b p_serial_mgr.c:44
+r
+p serial_pkt_cb.head
+p serial_pkt_cb.buffer[serial_pkt_cb.head]
+p/x serial_pkt_cb.buffer[serial_pkt_cb.head]
+p sizeof(serial_pkt_t)
+q
+b p_serial_mgr.c:44
+r
+p sizeof(serial_pkt_t)
+c
+c
+r
+make
+r
+c
+r
+p sizeof(serial_pkt_t)
+p/x serial_pkt_cb.buffer[serial_pkt_cb.head]
+make
+r
+p/x serial_pkt_cb.buffer[serial_pkt_cb.head]
+c
+r
+c
+del
+q

Core/Src/main.c

@@ -126,6 +126,8 @@ int main(void)
 	HAL_UART_Receive_IT(&huart2, &huart2_rxc, 1);
 	HAL_TIM_Base_Start_IT(&htim6);
 
+	p_serial_mgr_start();
+
 	uint16_t motor_degrees = 0;
 	/* USER CODE END 2 */
 

shared/drivers/p_serial_mgr.c

@@ -29,8 +29,8 @@ static UART_HandleTypeDef *_serial_huart_inst = NULL;
 static serial_state_t sstate = SS_IDLE;
 static uint8_t rxc = '\0';
 
-static serial_pkt_t pkt_bank[10];
+volatile serial_pkt_t pkt_bank[10];
-static p_cb_serial_pkt_t serial_pkt_cb;
+volatile p_cb_serial_pkt_t serial_pkt_cb;
 
 static volatile uint8_t start_index_tracker = 0;
 static volatile uint8_t frame_index_tracker = 0;
@@ -56,24 +56,27 @@ void UART1_RxCpltCallback(UART_HandleTypeDef *huart)
 				case 0: // source addr
 				{
 					serial_pkt_cb.buffer[serial_pkt_cb.head].src_addr = rxc;
+					start_index_tracker++;
 				}
 				break;
 				case 1:
 				{
 					serial_pkt_cb.buffer[serial_pkt_cb.head].dest_addr = rxc;
+					start_index_tracker++;
 				}
 				break;
 				case 2:
 				{
-					serial_pkt_cb.buffer[serial_pkt_cb.head].len = rxc;
+					start_index_tracker = 0;
 					frame_index_tracker = 0;
+					serial_pkt_cb.buffer[serial_pkt_cb.head].len = rxc;
 					sstate = SS_FRAME;
 				}
 				break;
 				default:
 				{
 					// shouldnt get here
-					for (;;) {}
+					asm volatile("nop");
 				}
 			};
 		}
@@ -82,8 +85,11 @@ void UART1_RxCpltCallback(UART_HandleTypeDef *huart)
 		{
 			if (rxc == 0x7E)
 			{
+				asm volatile("nop");
 // error occured. bail
 #pragma message(Reminder "add a safe escape routine for this")
+				sstate = SS_IDLE;
+				memset(&serial_pkt_cb.buffer[serial_pkt_cb.head], 0, sizeof(serial_pkt_t));
 			}
 			else if (rxc == 0x7D)
 			{
@@ -92,7 +98,7 @@ void UART1_RxCpltCallback(UART_HandleTypeDef *huart)
 			else
 			{
 				serial_pkt_cb.buffer[serial_pkt_cb.head].frame_data[frame_index_tracker++] = rxc;
-				if (frame_index_tracker + 1 == serial_pkt_cb.buffer[serial_pkt_cb.head].len)
+				if (frame_index_tracker >= serial_pkt_cb.buffer[serial_pkt_cb.head].len)
 				{
 					sstate = SS_CHECKSUM;
 				}
@@ -102,17 +108,23 @@ void UART1_RxCpltCallback(UART_HandleTypeDef *huart)
 		case SS_ESC:
 		{
 			serial_pkt_cb.buffer[serial_pkt_cb.head].frame_data[frame_index_tracker++] = rxc ^ 0x20;
-			if (frame_index_tracker + 1 == serial_pkt_cb.buffer[serial_pkt_cb.head].len)
+			if (frame_index_tracker >= serial_pkt_cb.buffer[serial_pkt_cb.head].len)
 			{
 				sstate = SS_CHECKSUM;
 			}
+			else
+			{
+				sstate = SS_FRAME;
+			}
 		}
 		break;
 		case SS_CHECKSUM:
 		{
+			frame_index_tracker = 0;
 			serial_pkt_cb.buffer[serial_pkt_cb.head].checksum = rxc;
 			serial_pkt_cb.buffer[serial_pkt_cb.head].b_ready = true;
 			serial_pkt_cb.head = (serial_pkt_cb.head + 1) % serial_pkt_cb.max_len;
+			sstate = SS_IDLE;
 		}
 		break;
 		default:
@@ -134,6 +146,7 @@ void p_serial_mgr_init(UART_HandleTypeDef *huart)
 	_serial_huart_inst = huart;
 	_serial_huart_inst->RxCpltCallback = UART1_RxCpltCallback;
 
+	memset(pkt_bank, 0, sizeof(serial_pkt_t) * 10);
 	p_cb_serial_pkt_init(&serial_pkt_cb, pkt_bank, 10);
 }
 
@@ -144,7 +157,7 @@ serial_pkt_t *p_serial_mgr_service(void)
 	{
 		if (serial_pkt_cb.buffer[ind].b_ready)
 		{
-			return &serial_pkt_cb.buffer;
+			return &serial_pkt_cb.buffer[ind];
 		}
 	}
 	return NULL;

shared/drivers/p_serial_mgr.h

@@ -6,11 +6,11 @@
 
 typedef struct serial_pkt_t
 {
+	uint8_t frame_data[256];
 	uint8_t src_addr;
 	uint8_t dest_addr;
-	int len;
-	uint8_t frame_data[256];
 	uint8_t checksum;
+	uint8_t len;
 	bool b_ready;
 } serial_pkt_t;
 
@@ -18,4 +18,6 @@ void p_serial_mgr_init(UART_HandleTypeDef *huart);
 
 serial_pkt_t *p_serial_mgr_service(void);
 
+void p_serial_mgr_start();
+
 #endif

shared/util/PCircularBuffer.c

@@ -122,6 +122,10 @@ PB_CB_STATUS p_cb_serial_pkt_init(p_cb_serial_pkt_t *inst, serial_pkt_t *buff, u
 			ret = PB_CB_BAD_BUFFER_SIZE;
 			break;
 		}
+		for (int ind = 0; ind < max_length; ind++)
+		{
+			memset(inst->buffer[ind].frame_data, 0, 256);
+		}
 	} while (0);
 
 // Debugging