lhiggs CSUM
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UM6_IMU_AHRS_2012
Communication program for the chrobotics UM6 9-DOF IMU AHRS.
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ISR_RX.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 void 00029 MODSERIAL::isr_rx(void) 00030 { 00031 if (! _base || buffer_size[RxIrq] == 0 || buffer[RxIrq] == (char *)NULL) { 00032 _isr[RxIrq].call(&this->callbackInfo); 00033 return; 00034 } 00035 00036 while( MODSERIAL_RBR_HAS_DATA ) { 00037 rxc = (char)(_RBR & 0xFF); 00038 if ( MODSERIAL_RX_BUFFER_FULL ) { 00039 buffer_overflow[RxIrq] = rxc; // Oh dear, no room in buffer. 00040 _isr[RxOvIrq].call(&this->callbackInfo); 00041 } 00042 else { 00043 if (buffer[RxIrq] != (char *)NULL) { 00044 buffer[RxIrq][buffer_in[RxIrq]] = rxc; 00045 buffer_count[RxIrq]++; 00046 buffer_in[RxIrq]++; 00047 if (buffer_in[RxIrq] >= buffer_size[RxIrq]) { 00048 buffer_in[RxIrq] = 0; 00049 } 00050 } 00051 _isr[RxIrq].call(&this->callbackInfo); 00052 } 00053 if (auto_detect_char == rxc) { 00054 _isr[RxAutoDetect].call(&this->callbackInfo); 00055 } 00056 } 00057 } 00058 00059 }; // namespace AjK ends 00060
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