lhiggs CSUM
/
UM6_IMU_AHRS_2012
Communication program for the chrobotics UM6 9-DOF IMU AHRS.
MODSERIAL/example3b.cpp@0:03c649c76388, 2012-09-28 (annotated)
- Committer:
- lhiggs
- Date:
- Fri Sep 28 00:40:29 2012 +0000
- Revision:
- 0:03c649c76388
A UM6 IMU AHRS INTERFACE
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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lhiggs | 0:03c649c76388 | 1 | /* |
lhiggs | 0:03c649c76388 | 2 | Copyright (c) 2011 Andy Kirkham |
lhiggs | 0:03c649c76388 | 3 | |
lhiggs | 0:03c649c76388 | 4 | Permission is hereby granted, free of charge, to any person obtaining a copy |
lhiggs | 0:03c649c76388 | 5 | of this software and associated documentation files (the "Software"), to deal |
lhiggs | 0:03c649c76388 | 6 | in the Software without restriction, including without limitation the rights |
lhiggs | 0:03c649c76388 | 7 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
lhiggs | 0:03c649c76388 | 8 | copies of the Software, and to permit persons to whom the Software is |
lhiggs | 0:03c649c76388 | 9 | furnished to do so, subject to the following conditions: |
lhiggs | 0:03c649c76388 | 10 | |
lhiggs | 0:03c649c76388 | 11 | The above copyright notice and this permission notice shall be included in |
lhiggs | 0:03c649c76388 | 12 | all copies or substantial portions of the Software. |
lhiggs | 0:03c649c76388 | 13 | |
lhiggs | 0:03c649c76388 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
lhiggs | 0:03c649c76388 | 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
lhiggs | 0:03c649c76388 | 16 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
lhiggs | 0:03c649c76388 | 17 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
lhiggs | 0:03c649c76388 | 18 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
lhiggs | 0:03c649c76388 | 19 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
lhiggs | 0:03c649c76388 | 20 | THE SOFTWARE. |
lhiggs | 0:03c649c76388 | 21 | |
lhiggs | 0:03c649c76388 | 22 | @file example3b.cpp |
lhiggs | 0:03c649c76388 | 23 | @purpose Demos a simple filter. |
lhiggs | 0:03c649c76388 | 24 | @version see ChangeLog.c |
lhiggs | 0:03c649c76388 | 25 | @author Andy Kirkham |
lhiggs | 0:03c649c76388 | 26 | */ |
lhiggs | 0:03c649c76388 | 27 | |
lhiggs | 0:03c649c76388 | 28 | /* |
lhiggs | 0:03c649c76388 | 29 | This example shows how to use the new callback system. In the old system |
lhiggs | 0:03c649c76388 | 30 | Mbed's FunctionPointer[1] type was used to store abd make calls to callbacks. |
lhiggs | 0:03c649c76388 | 31 | However, that limits the callback function prototype to void func(void); |
lhiggs | 0:03c649c76388 | 32 | which means we cannot pass parameters. |
lhiggs | 0:03c649c76388 | 33 | |
lhiggs | 0:03c649c76388 | 34 | This latest version of MODSERIAL now uses its own callback object. This allows |
lhiggs | 0:03c649c76388 | 35 | the passing of a pointer to a class that holds information about the MODSERIAL |
lhiggs | 0:03c649c76388 | 36 | object making the callback. As of version 1.18 one critcal piece of information |
lhiggs | 0:03c649c76388 | 37 | is passed, a pointer to the MODSERIAL object. This allows callbacks to use the |
lhiggs | 0:03c649c76388 | 38 | MODSERIAL functions and data. |
lhiggs | 0:03c649c76388 | 39 | |
lhiggs | 0:03c649c76388 | 40 | Additionally, since MODSERIAL and the callback parameter class MODSERIAL_IRQ_INFO |
lhiggs | 0:03c649c76388 | 41 | are friends, MODSERIAL_IRQ_INFO can access the protected functions of MODSERIAL. |
lhiggs | 0:03c649c76388 | 42 | This is used to ensure functions that can only be called during a callback |
lhiggs | 0:03c649c76388 | 43 | can be invoked from a callback. |
lhiggs | 0:03c649c76388 | 44 | |
lhiggs | 0:03c649c76388 | 45 | [1] http://mbed.org/projects/libraries/svn/mbed/trunk/FunctionPointer.h |
lhiggs | 0:03c649c76388 | 46 | */ |
lhiggs | 0:03c649c76388 | 47 | |
lhiggs | 0:03c649c76388 | 48 | |
lhiggs | 0:03c649c76388 | 49 | #ifdef COMPILE_EXAMPLE3_CODE_MODSERIAL |
lhiggs | 0:03c649c76388 | 50 | |
lhiggs | 0:03c649c76388 | 51 | #include "mbed.h" |
lhiggs | 0:03c649c76388 | 52 | #include "MODSERIAL.h" |
lhiggs | 0:03c649c76388 | 53 | |
lhiggs | 0:03c649c76388 | 54 | void rxCallback(MODSERIAL_IRQ_INFO *info) { |
lhiggs | 0:03c649c76388 | 55 | |
lhiggs | 0:03c649c76388 | 56 | // Get the pointer to our MODSERIAL object that invoked this callback. |
lhiggs | 0:03c649c76388 | 57 | MODSERIAL *pc = info->serial; |
lhiggs | 0:03c649c76388 | 58 | |
lhiggs | 0:03c649c76388 | 59 | // info->serial points at the MODSERIAL instance so we can use it to call |
lhiggs | 0:03c649c76388 | 60 | // any of the public MODSERIAL functions that are normally available. So |
lhiggs | 0:03c649c76388 | 61 | // there's now no need to use the global version (pc in our case) inside |
lhiggs | 0:03c649c76388 | 62 | // callback functions. |
lhiggs | 0:03c649c76388 | 63 | char c = pc->rxGetLastChar(); // Where local pc variable is a pointer to the global MODSERIAL pc object. |
lhiggs | 0:03c649c76388 | 64 | |
lhiggs | 0:03c649c76388 | 65 | // The following is rather daft but demos the point. |
lhiggs | 0:03c649c76388 | 66 | // Don't allow the letter "A" go into the RX buffer. |
lhiggs | 0:03c649c76388 | 67 | // Basically acts as a filter to remove the letter "A" |
lhiggs | 0:03c649c76388 | 68 | // if it goes into the RX buffer. |
lhiggs | 0:03c649c76388 | 69 | if (c == 'A') { |
lhiggs | 0:03c649c76388 | 70 | // Note, we call the MODSERIAL_IRQ_INFO::rxDiscardLastChar() public function which |
lhiggs | 0:03c649c76388 | 71 | // is permitted access to the protected version of MODSERIAL::rxDiscardLastChar() |
lhiggs | 0:03c649c76388 | 72 | // within MODSERIAL (because they are friends). This ensures rxDiscardLastChar() |
lhiggs | 0:03c649c76388 | 73 | // can only be called within an rxCallback function. |
lhiggs | 0:03c649c76388 | 74 | info->rxDiscardLastChar(); |
lhiggs | 0:03c649c76388 | 75 | } |
lhiggs | 0:03c649c76388 | 76 | } |
lhiggs | 0:03c649c76388 | 77 | |
lhiggs | 0:03c649c76388 | 78 | #endif |