More optimalizations and multithreading - 1FPS

Firmware/Core/Cam/Cam.c

@@ -132,9 +132,66 @@ void Cam_Init(I2C_HandleTypeDef *hi2c, SPI_HandleTypeDef *hspi)
     Cam_I2C_write(hi2c, (uint16_t)0x3621, 0x10); // REGISTER FOR CORRECT MIRROR FUNCTION
     Cam_I2C_write(hi2c, (uint16_t)0x3801, 0xb0); // TIMING HORIZONTAL START - ALSO FOR MIRROR
     Cam_I2C_write(hi2c, (uint16_t)0x4407, 0x04); // COMPRESSION CONTROL
+    Cam_I2C_write(hi2c, (uint16_t)0x5000, 0xFF);
+
+
+    Cam_I2C_write_bulk(hi2c, ov5642_1024x768);
+
+    // Setup camera, H-sync: High, V-sync:high, Sensor_delay: no Delay, FIFO_mode:FIFO enabled, power_mode:Low_power
+    Cam_SPI_write(hspi, 0x03, 0x02);
+    Cam_SPI_write(hspi, 0x01, 0x00); // Capture Control Register - Set to capture n+1 frames
+
+    HAL_Delay(5);
+   /*
+    Cam_I2C_write(hi2c, (uint16_t)0x3008, 0x80);
+
+    Cam_I2C_write_bulk(hi2c, OV5642_QVGA_Preview);
+
+    HAL_Delay(100);
+
+    Cam_I2C_write_bulk(hi2c, OV5642_JPEG_Capture_QSXGA);
 
     //Cam_I2C_write_bulk(hi2c, ov5642_320x240);
-    //Cam_I2C_write_bulk(hi2c, ov5642_640x480);
+    
+    HAL_Delay(100);
+
+    //Cam_I2C_write_bulk(hi2c, OV5642_720P_Video_setting);
+
+    Cam_I2C_write(hi2c, (uint16_t)0x3818, 0xa8); // TIMING CONTROL - ENABLE COMPRESSION, THUMBNAIL MODE DISABLE, VERTICAL FLIP, MIRROR
+    Cam_I2C_write(hi2c, (uint16_t)0x3621, 0x10); // REGISTER FOR CORRECT MIRROR FUNCTION
+    Cam_I2C_write(hi2c, (uint16_t)0x3801, 0xb0); // TIMING HORIZONTAL START - ALSO FOR MIRROR
+    //Cam_I2C_write(hi2c, (uint16_t)0x4407, 0x04); // COMPRESSION CONTROL
+    Cam_I2C_write(hi2c, (uint16_t)0x4407, 0x04); // COMPRESSION CONTROL
+    //Cam_I2C_write(hi2c, (uint16_t)0x5888, 0x01); 
+    Cam_I2C_write(hi2c, (uint16_t)0x5000, 0xFF);
+    
+
+    // Setup camera, H-sync: High, V-sync:high, Sensor_delay: no Delay, FIFO_mode:FIFO enabled, power_mode:Low_power
+    Cam_SPI_write(hspi, 0x03, 0x02);
+
+    Cam_I2C_write_bulk(hi2c, ov5642_320x240);
+    //Cam_I2C_write_bulk(hi2c, ov5642_1024x768);
+    
+
+    Cam_SPI_write(hspi, 0x04, 0x01);
+
+    Cam_SPI_write(hspi, 0x01, 0x00); // Capture Control Register - Set to capture n+1 frames
+
+    HAL_Delay(5);
+    */
+}
+
+void Cam_Refresh(I2C_HandleTypeDef *hi2c, SPI_HandleTypeDef *hspi){
+    /*Cam_I2C_write(hi2c, (uint16_t)0x3008, 0x80);
+
+    Cam_I2C_write_bulk(hi2c, OV5642_QVGA_Preview);
+
+    Cam_I2C_write_bulk(hi2c, OV5642_JPEG_Capture_QSXGA);
+
+    Cam_I2C_write(hi2c, (uint16_t)0x3818, 0xa8); // TIMING CONTROL - ENABLE COMPRESSION, THUMBNAIL MODE DISABLE, VERTICAL FLIP, MIRROR
+    Cam_I2C_write(hi2c, (uint16_t)0x3621, 0x10); // REGISTER FOR CORRECT MIRROR FUNCTION
+    Cam_I2C_write(hi2c, (uint16_t)0x3801, 0xb0); // TIMING HORIZONTAL START - ALSO FOR MIRROR
+    Cam_I2C_write(hi2c, (uint16_t)0x4407, 0x04); // COMPRESSION CONTROL
 
     Cam_I2C_write_bulk(hi2c, ov5642_1280x960);
 
@@ -142,29 +199,82 @@ void Cam_Init(I2C_HandleTypeDef *hi2c, SPI_HandleTypeDef *hspi)
     Cam_SPI_write(hspi, 0x03, 0x02);
     Cam_SPI_write(hspi, 0x01, 0x00); // Capture Control Register - Set to capture n+1 frames
 
-    HAL_Delay(5);
+    HAL_Delay(5);*/
-}
 
-void Cam_Refresh(I2C_HandleTypeDef *hi2c, SPI_HandleTypeDef *hspi){
+    // SAFE TO REMOVE
-    Cam_I2C_write(hi2c, (uint16_t)0x3008, 0x80);
+    //Cam_I2C_write(hi2c, (uint16_t)0x3008, 0x80);
  
     Cam_I2C_write_bulk(hi2c, OV5642_QVGA_Preview);
 
     Cam_I2C_write_bulk(hi2c, OV5642_JPEG_Capture_QSXGA);
 
-    //Cam_I2C_write_bulk(hi2c, OV5642_720P_Video_setting);
-
     Cam_I2C_write(hi2c, (uint16_t)0x3818, 0xa8); // TIMING CONTROL - ENABLE COMPRESSION, THUMBNAIL MODE DISABLE, VERTICAL FLIP, MIRROR
     Cam_I2C_write(hi2c, (uint16_t)0x3621, 0x10); // REGISTER FOR CORRECT MIRROR FUNCTION
     Cam_I2C_write(hi2c, (uint16_t)0x3801, 0xb0); // TIMING HORIZONTAL START - ALSO FOR MIRROR
     Cam_I2C_write(hi2c, (uint16_t)0x4407, 0x04); // COMPRESSION CONTROL
+    Cam_I2C_write(hi2c, (uint16_t)0x5000, 0xFF);
 
-    //Cam_I2C_write_bulk(hi2c, ov5642_320x240);
-    //ov5642_1024x768
     Cam_I2C_write_bulk(hi2c, ov5642_1024x768);
-
     // Setup camera, H-sync: High, V-sync:high, Sensor_delay: no Delay, FIFO_mode:FIFO enabled, power_mode:Low_power
     Cam_SPI_write(hspi, 0x03, 0x02);
+
+    
+    // Brightness 4
+    Cam_I2C_write(hi2c, (uint16_t)0x5001, 0xff);
+    Cam_I2C_write(hi2c, (uint16_t)0x5589, 0x30);
+    Cam_I2C_write(hi2c, (uint16_t)0x5580, 0x04);
+    Cam_I2C_write(hi2c, (uint16_t)0x558a, 0x00);
+    //Cam_I2C_write(hi2c, (uint16_t)0x558a, 0x08);
+    
+    //Contrast 0
+    //Cam_I2C_write(hi2c, (uint16_t)0x5587, 0xff);
+    //Cam_I2C_write(hi2c, (uint16_t)0x5588, 0xff);
+    
+    /*
+    // Exposure _17
+    Cam_I2C_write(hi2c, (uint16_t)0x3a0f, 0x10);
+    Cam_I2C_write(hi2c, (uint16_t)0x3a10, 0x08);
+    Cam_I2C_write(hi2c, (uint16_t)0x3a1b, 0x10);
+    Cam_I2C_write(hi2c, (uint16_t)0x3a1e, 0x08);
+    Cam_I2C_write(hi2c, (uint16_t)0x3a11, 0x20);
+    Cam_I2C_write(hi2c, (uint16_t)0x3a1f, 0x10);
+    
+
+    
+    //Exposure 17 v2
+    Cam_I2C_write(hi2c, (uint16_t)0x3a0f, 0x60);
+    Cam_I2C_write(hi2c, (uint16_t)0x3a10, 0x58);
+    Cam_I2C_write(hi2c, (uint16_t)0x3a11, 0xa0);
+    Cam_I2C_write(hi2c, (uint16_t)0x3a1b, 0x60);
+    Cam_I2C_write(hi2c, (uint16_t)0x3a1e, 0x58);
+    Cam_I2C_write(hi2c, (uint16_t)0x3a1f, 0x20);
+    */
+
+    // Exposure Manual
+    Cam_I2C_write(hi2c, (uint16_t)0x3503, 0x3);
+    Cam_I2C_write(hi2c, (uint16_t)0x350C, 0xFF);
+    Cam_I2C_write(hi2c, (uint16_t)0x350D, 0xFF);
+
+    Cam_I2C_write(hi2c, (uint16_t)0x3500, 0x0);
+    Cam_I2C_write(hi2c, (uint16_t)0x3501, 0x00);
+    Cam_I2C_write(hi2c, (uint16_t)0x3502, 0x0f);
+    
+    //Gain MAX
+    Cam_I2C_write(hi2c, (uint16_t)0x350A, 0x0);
+    Cam_I2C_write(hi2c, (uint16_t)0x350B, 0x35);
+    Cam_I2C_write(hi2c, (uint16_t)0x3508, 0x0);
+    Cam_I2C_write(hi2c, (uint16_t)0x3509, 0x35);
+    
+    // AWB
+    Cam_I2C_write(hi2c, (uint16_t)0x3406, 0x1);
+    
+    Cam_I2C_write(hi2c, (uint16_t)0x3400, 0xf);
+    Cam_I2C_write(hi2c, (uint16_t)0x3401, 0xff);
+    Cam_I2C_write(hi2c, (uint16_t)0x3402, 0xf);
+    Cam_I2C_write(hi2c, (uint16_t)0x3403, 0x7f);
+    Cam_I2C_write(hi2c, (uint16_t)0x3404, 0xf);
+    Cam_I2C_write(hi2c, (uint16_t)0x3405, 0xff);    
+
     Cam_SPI_write(hspi, 0x01, 0x00); // Capture Control Register - Set to capture n+1 frames
 
     HAL_Delay(5);
@@ -200,12 +310,12 @@ void Cam_Start_Capture(SPI_HandleTypeDef *hspi)
     Cam_SPI_write(hspi, 0x04, FIFO_Reg_Clear_Flags); // Reset FIFO Read Pointer
     Cam_SPI_write(hspi, 0x04, FIFO_Reg_Clear_Flags);
 */
-    Cam_SPI_write(hspi, 0x04, 0x01); // Start capture
+    Cam_SPI_write(hspi, 0x04, 0x01);
-    Cam_SPI_write(hspi, 0x04, 0x01); // Start capture
+    Cam_SPI_write(hspi, 0x04, 0x01);
 
-    HAL_Delay(1);
+    HAL_Delay(10);
     Cam_SPI_write(hspi, 0x04, 0x02); // Start capture
-    HAL_Delay(1);
+    HAL_Delay(10);
 }
 
 void Cam_Wait_Capture_Done(SPI_HandleTypeDef *hspi)
@@ -229,6 +339,9 @@ void Cam_Start_Burst_Read(SPI_HandleTypeDef *hspi)
     Cam_SPI_write(hspi, 0x04, FIFO_Reg_Clear_Flags);
 */
 
+    Cam_SPI_write(hspi, 0x04, 0x01);
+    Cam_SPI_write(hspi, 0x04, 0x01);
+
     uint8_t BURST_FIFO_READ = 0x3c;
     uint8_t empty = 0x00;
 

Firmware/Core/Inc/main.h

@@ -23,12 +23,10 @@
 #define __MAIN_H
 
 #ifdef __cplusplus
-extern "C"
+extern "C" {
-{
 #endif
 
 /* Includes ------------------------------------------------------------------*/
-#define USE_HAL_DRIVER
 #include "stm32l4xx_hal.h"
 
 /* Private includes ----------------------------------------------------------*/
@@ -88,7 +86,9 @@ extern "C"
 #define LD3_GPIO_Port GPIOB
 
 /* USER CODE BEGIN Private defines */
-
+#define CDC_BUFF_SIZE 10048
+#define CDC_FRAME_SIZE 64
+#define CDC_FRAME_DELAY 1
 /* USER CODE END Private defines */
 
 #ifdef __cplusplus

Firmware/Core/Inc/stm32l4xx_it.h

@@ -57,6 +57,7 @@ void PendSV_Handler(void);
 void SysTick_Handler(void);
 void DMA1_Channel2_IRQHandler(void);
 void DMA1_Channel3_IRQHandler(void);
+void SPI1_IRQHandler(void);
 void USART2_IRQHandler(void);
 void USB_IRQHandler(void);
 /* USER CODE BEGIN EFP */

Firmware/Core/Src/main.c

@@ -18,7 +18,7 @@
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
-#include "images.h"
+
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "tusb.h"
@@ -47,8 +47,6 @@ DMA_HandleTypeDef hdma_spi1_tx;
 
 UART_HandleTypeDef huart2;
 
-
-
 PCD_HandleTypeDef hpcd_USB_FS;
 
 /* USER CODE BEGIN PV */
@@ -62,7 +60,6 @@ int SPI_Rx_Done_Flag = 0;
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
 static void MX_GPIO_Init(void);
-
 static void MX_DMA_Init(void);
 static void MX_USART2_UART_Init(void);
 static void MX_SPI1_Init(void);
@@ -221,6 +218,18 @@ int send_CDC_Bulk(){
   return 1;
 }
 */
+void SysTick_Init(void)
+{
+  SysTick_Config(SystemCoreClock / 10000); // Set SysTick interrupt to occur every 100us
+}
+
+void delay_us(uint32_t us)
+{
+  uint32_t start = SysTick->VAL;
+  uint32_t ticks = us * 10;
+  
+  while ((start - SysTick->VAL) < ticks);
+}
 
 /* USER CODE END 0 */
 
@@ -271,13 +280,15 @@ int main(void)
   // Wait for power stabilization
   //HAL_Delay(1000);
 
-  #define CDC_BUFF_SIZE 10000
+  tud_task();
 
   int last_sent_idx = 0;
   int buff_stop_idx = 0;
   uint16_t image_size = 0;
   uint8_t cdc_buff[CDC_BUFF_SIZE];
 
+  Cam_Init(&hi2c1, &hspi1);
+
   /* USER CODE END 2 */
 
   /* Infinite loop */
@@ -288,6 +299,8 @@ int main(void)
 
     if(buff_stop_idx >= (int)image_size){
 
+      LED_Off();
+
       buff_stop_idx = 0;
       last_sent_idx = 0;
 
@@ -298,7 +311,7 @@ int main(void)
 
       tud_task();
 
-      Cam_Init(&hi2c1, &hspi1);
+      Cam_Refresh(&hi2c1, &hspi1);
   
       tud_task();
 
@@ -309,6 +322,8 @@ int main(void)
       image_size = Cam_FIFO_length(&hspi1);
       Cam_Start_Burst_Read(&hspi1);
 
+      LED_On();
+
       continue;
 
       //HAL_SPI_Receive(&hspi1, cdc_buff, CDC_BUFF_SIZE, HAL_MAX_DELAY);
@@ -331,16 +346,17 @@ int main(void)
     int current_sending_idx = 0;
     do{
       tud_task();
-
+      tud_cdc_write(&cdc_buff[current_sending_idx], CDC_FRAME_SIZE);
-      tud_cdc_write(&cdc_buff[current_sending_idx], 50);
+      current_sending_idx = current_sending_idx + CDC_FRAME_SIZE;
+      last_sent_idx = last_sent_idx + CDC_FRAME_SIZE;
       tud_cdc_write_flush();
-      current_sending_idx = current_sending_idx + 50;
+      //Delay between sends
-      last_sent_idx = last_sent_idx + 50;
+      int i = 0;
-      HAL_Delay(3);
+      for(;i<4000;i++);
     }
     while(last_sent_idx < buff_stop_idx);
 
-    LED_On();
+
 
     /* USER CODE END WHILE */
 
@@ -386,7 +402,8 @@ void SystemClock_Config(void)
 
   /** Initializes the CPU, AHB and APB buses clocks
   */
-  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
@@ -443,6 +460,7 @@ static void MX_I2C1_Init(void)
   /* USER CODE BEGIN I2C1_Init 2 */
 
   /* USER CODE END I2C1_Init 2 */
+
 }
 
 /**
@@ -468,7 +486,7 @@ static void MX_SPI1_Init(void)
   hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
   hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
   hspi1.Init.NSS = SPI_NSS_SOFT;
-  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128;
+  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
   hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
   hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
   hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
@@ -482,6 +500,7 @@ static void MX_SPI1_Init(void)
   /* USER CODE BEGIN SPI1_Init 2 */
 
   /* USER CODE END SPI1_Init 2 */
+
 }
 
 /**
@@ -516,6 +535,7 @@ static void MX_USART2_UART_Init(void)
   /* USER CODE BEGIN USART2_Init 2 */
 
   /* USER CODE END USART2_Init 2 */
+
 }
 
 /**
@@ -548,6 +568,7 @@ static void MX_USB_PCD_Init(void)
   /* USER CODE BEGIN USB_Init 2 */
 
   /* USER CODE END USB_Init 2 */
+
 }
 
 /**
@@ -566,6 +587,7 @@ static void MX_DMA_Init(void)
   /* DMA1_Channel3_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 0, 0);
   HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn);
+
 }
 
 /**
@@ -601,6 +623,7 @@ static void MX_GPIO_Init(void)
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
 }
 
 /* USER CODE BEGIN 4 */

Firmware/Core/Src/stm32l4xx_hal_msp.c

@@ -221,6 +221,9 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
 
     __HAL_LINKDMA(hspi,hdmatx,hdma_spi1_tx);
 
+    /* SPI1 interrupt Init */
+    HAL_NVIC_SetPriority(SPI1_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(SPI1_IRQn);
   /* USER CODE BEGIN SPI1_MspInit 1 */
 
   /* USER CODE END SPI1_MspInit 1 */
@@ -254,6 +257,9 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
     /* SPI1 DMA DeInit */
     HAL_DMA_DeInit(hspi->hdmarx);
     HAL_DMA_DeInit(hspi->hdmatx);
+
+    /* SPI1 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(SPI1_IRQn);
   /* USER CODE BEGIN SPI1_MspDeInit 1 */
 
   /* USER CODE END SPI1_MspDeInit 1 */

Firmware/Core/Src/stm32l4xx_it.c

@@ -57,6 +57,7 @@
 /* External variables --------------------------------------------------------*/
 extern DMA_HandleTypeDef hdma_spi1_rx;
 extern DMA_HandleTypeDef hdma_spi1_tx;
+extern SPI_HandleTypeDef hspi1;
 extern UART_HandleTypeDef huart2;
 extern PCD_HandleTypeDef hpcd_USB_FS;
 /* USER CODE BEGIN EV */
@@ -229,6 +230,20 @@ void DMA1_Channel3_IRQHandler(void)
   /* USER CODE END DMA1_Channel3_IRQn 1 */
 }
 
+/**
+  * @brief This function handles SPI1 global interrupt.
+  */
+void SPI1_IRQHandler(void)
+{
+  /* USER CODE BEGIN SPI1_IRQn 0 */
+
+  /* USER CODE END SPI1_IRQn 0 */
+  HAL_SPI_IRQHandler(&hspi1);
+  /* USER CODE BEGIN SPI1_IRQn 1 */
+
+  /* USER CODE END SPI1_IRQn 1 */
+}
+
 /**
   * @brief This function handles USART2 global interrupt.
   */

Firmware/Probe.ioc

@@ -74,6 +74,7 @@ NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
+NVIC.SPI1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.SysTick_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:false
 NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
@@ -160,6 +161,7 @@ ProjectManager.PreviousToolchain=
 ProjectManager.ProjectBuild=false
 ProjectManager.ProjectFileName=Probe.ioc
 ProjectManager.ProjectName=Probe
+ProjectManager.ProjectStructure=
 ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=Makefile
@@ -225,8 +227,8 @@ RCC.VCOInputFreq_Value=16000000
 RCC.VCOOutputFreq_Value=160000000
 RCC.VCOSAI1OutputFreq_Value=128000000
 RCC.WatchDogFreq_Value=32000
-SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_128
+SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32
-SPI1.CalculateBaudRate=625.0 KBits/s
+SPI1.CalculateBaudRate=2.5 MBits/s
 SPI1.DataSize=SPI_DATASIZE_8BIT
 SPI1.Direction=SPI_DIRECTION_2LINES
 SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,NSSPMode

Receiver/Makefile

@@ -1,5 +1,5 @@
 CC = g++
-CFLAGS = -pthread -std=c++11 -Wall -Wextra -pedantic
+CFLAGS = -pthread -std=c++11 -Wall -Wextra -pedantic -O3
 LDLIBS = -lSDL2 -lSDL2_image
 SRCS = $(wildcard *.cpp)
 

Receiver/Receiver.cpp

@@ -64,7 +64,6 @@ int Receiver::readCdcData(uint8_t (*character)[CDC_FRAME_SIZE]) {
         std::cerr << "Error in read" << std::endl;
         return -1;
     }
-    
     #if 0 // PRINT WHAT IS RECEIVED
 
         for(int i = 0; i<CDC_FRAME_SIZE; i++)
@@ -77,7 +76,6 @@ int Receiver::readCdcData(uint8_t (*character)[CDC_FRAME_SIZE]) {
 
     #endif
 
-
     return 0;
 }
 
@@ -124,8 +122,6 @@ int Receiver::fillBuffer(){
     unsigned char character[CDC_FRAME_SIZE];
     std::vector<uint8_t> tempVec{};
     
-    Receiver::readCdcData(&character);
-    
     int i = -1;
     do {
         Receiver::readCdcData(&character); 
@@ -186,15 +182,17 @@ void Receiver::bufferToDisplay(){
     currentBufferIndexMutex.lock();
     int buffIdx = currentBufferIndex;
     currentBufferIndexMutex.unlock();
-    std::cout << buffIdx << std::endl;
     switch(buffIdx){
         case 0:
+            std::cout << buffer1.size() << std::endl;
             dis->vectorToTexture(&buffer1);
             break;
         case 1:
+            std::cout << buffer2.size() << std::endl;
             dis->vectorToTexture(&buffer2);
             break;
         case 2:
+            std::cout << buffer3.size() << std::endl;
             dis->vectorToTexture(&buffer3);
             break;
         default:

Receiver/main.cpp

@@ -32,11 +32,18 @@ void windowFlipThread(Displayer * displayerPtr){
   displayerPtr->flipThroughTextures();
 }
 
-void receiverLoop(Receiver ** receiverPtr){
+void WrapperBufferToDisplay(Receiver ** receiverPtr){
-  while(1){
-    (*receiverPtr)->fillBuffer();
   (*receiverPtr)->bufferToDisplay();
-    std::this_thread::sleep_for(std::chrono::milliseconds(3));
+}
+
+void receiverLoop(Receiver ** receiverPtr){
+  std::vector<std::thread> displayThreads;
+  while(1){
+
+    (*receiverPtr)->fillBuffer();
+        
+    std::thread t2(WrapperBufferToDisplay, receiverPtr);
+    t2.detach();
   }
 }
 

Receiver/main.hpp

@@ -15,4 +15,5 @@
 #include <mutex>
 #include <fstream>
 
-#define CDC_FRAME_SIZE 50
+#define CDC_FRAME_SIZE 64
+#define CDC_FRAME_DELAY 1