lhiggs CSUM
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UM6_IMU_AHRS_2012
Communication program for the chrobotics UM6 9-DOF IMU AHRS.
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GETC.cpp
00001 /* 00002 Copyright (c) 2010 Andy Kirkham 00003 00004 Permission is hereby granted, free of charge, to any person obtaining a copy 00005 of this software and associated documentation files (the "Software"), to deal 00006 in the Software without restriction, including without limitation the rights 00007 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00008 copies of the Software, and to permit persons to whom the Software is 00009 furnished to do so, subject to the following conditions: 00010 00011 The above copyright notice and this permission notice shall be included in 00012 all copies or substantial portions of the Software. 00013 00014 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00015 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00016 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00017 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00018 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00019 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00020 THE SOFTWARE. 00021 */ 00022 00023 #include "MODSERIAL.h" 00024 #include "MACROS.h" 00025 00026 namespace AjK { 00027 00028 int 00029 MODSERIAL::__getc(bool block) 00030 { 00031 // If no buffer is in use fall back to standard RX FIFO usage. 00032 // Note, we must block in this case and ignore bool "block" 00033 // so as to maintain compat with Mbed Serial. 00034 if (buffer_size[RxIrq] == 0 || buffer[RxIrq] == (char *)NULL) { 00035 while(! MODSERIAL_RBR_HAS_DATA ) ; 00036 return (int)(_RBR & 0xFF); 00037 } 00038 00039 if (block) { while ( MODSERIAL_RX_BUFFER_EMPTY ) ; } // Blocks. 00040 else if ( MODSERIAL_RX_BUFFER_EMPTY ) return -1; 00041 00042 int c = buffer[RxIrq][buffer_out[RxIrq]]; 00043 buffer_out[RxIrq]++; 00044 if (buffer_out[RxIrq] >= buffer_size[RxIrq]) { 00045 buffer_out[RxIrq] = 0; 00046 } 00047 00048 // If we have made space in the RX Buffer then copy over 00049 // any characters in the RX FIFO that my reside there. 00050 // Temporarily disable the RX IRQ so that we do not re-enter 00051 // it under interrupts. 00052 if ( ! MODSERIAL_RX_BUFFER_FULL ) { 00053 uint32_t ier = _IER; 00054 _IER &= ~(1UL << 0); 00055 isr_rx(); 00056 _IER = ier; 00057 } 00058 00059 __disable_irq(); 00060 buffer_count[RxIrq]--; 00061 __enable_irq(); 00062 return c; 00063 } 00064 00065 }; // namespace AjK ends
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