Dave Lu / FYDP_Final2

Only imu output

Dependencies:   Servo mbed

Fork of FYDP_Final2 by Mark Vandermeulen

mbed/MODSERIAL/GETC.cpp@0:21019d94ad33, 2015-03-21 (annotated)

Committer:
majik
Date:
Sat Mar 21 21:31:29 2015 +0000
Revision:
0:21019d94ad33
Both IMUs work now

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:21019d94ad33 1 /*
majik 0:21019d94ad33 2 Copyright (c) 2010 Andy Kirkham
majik 0:21019d94ad33 3
majik 0:21019d94ad33 4 Permission is hereby granted, free of charge, to any person obtaining a copy
majik 0:21019d94ad33 5 of this software and associated documentation files (the "Software"), to deal
majik 0:21019d94ad33 6 in the Software without restriction, including without limitation the rights
majik 0:21019d94ad33 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
majik 0:21019d94ad33 8 copies of the Software, and to permit persons to whom the Software is
majik 0:21019d94ad33 9 furnished to do so, subject to the following conditions:
majik 0:21019d94ad33 10
majik 0:21019d94ad33 11 The above copyright notice and this permission notice shall be included in
majik 0:21019d94ad33 12 all copies or substantial portions of the Software.
majik 0:21019d94ad33 13
majik 0:21019d94ad33 14 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
majik 0:21019d94ad33 15 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
majik 0:21019d94ad33 16 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
majik 0:21019d94ad33 17 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
majik 0:21019d94ad33 18 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
majik 0:21019d94ad33 19 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
majik 0:21019d94ad33 20 THE SOFTWARE.
majik 0:21019d94ad33 21 */
majik 0:21019d94ad33 22
majik 0:21019d94ad33 23 #include "MODSERIAL.h"
majik 0:21019d94ad33 24 #include "MACROS.h"
majik 0:21019d94ad33 25
majik 0:21019d94ad33 26 namespace AjK {
majik 0:21019d94ad33 27
majik 0:21019d94ad33 28 int
majik 0:21019d94ad33 29 MODSERIAL::__getc(bool block)
majik 0:21019d94ad33 30 {
majik 0:21019d94ad33 31 // If no buffer is in use fall back to standard RX FIFO usage.
majik 0:21019d94ad33 32 // Note, we must block in this case and ignore bool "block"
majik 0:21019d94ad33 33 // so as to maintain compat with Mbed Serial.
majik 0:21019d94ad33 34 if (buffer_size[RxIrq] == 0 || buffer[RxIrq] == (char *)NULL) {
majik 0:21019d94ad33 35 while(! MODSERIAL_READABLE ) ;
majik 0:21019d94ad33 36 return (int)(MODSERIAL_READ_REG & 0xFF);
majik 0:21019d94ad33 37 }
majik 0:21019d94ad33 38
majik 0:21019d94ad33 39 if (block) { while ( MODSERIAL_RX_BUFFER_EMPTY ) ; } // Blocks.
majik 0:21019d94ad33 40 else if ( MODSERIAL_RX_BUFFER_EMPTY ) return -1;
majik 0:21019d94ad33 41
majik 0:21019d94ad33 42 int c = buffer[RxIrq][buffer_out[RxIrq]];
majik 0:21019d94ad33 43 buffer_out[RxIrq]++;
majik 0:21019d94ad33 44 if (buffer_out[RxIrq] >= buffer_size[RxIrq]) {
majik 0:21019d94ad33 45 buffer_out[RxIrq] = 0;
majik 0:21019d94ad33 46 }
majik 0:21019d94ad33 47
majik 0:21019d94ad33 48 // If we have made space in the RX Buffer then copy over
majik 0:21019d94ad33 49 // any characters in the RX FIFO that my reside there.
majik 0:21019d94ad33 50 // Temporarily disable the RX IRQ so that we do not re-enter
majik 0:21019d94ad33 51 // it under interrupts.
majik 0:21019d94ad33 52 if ( ! MODSERIAL_RX_BUFFER_FULL ) {
majik 0:21019d94ad33 53 uint32_t irq_reg = MODSERIAL_IRQ_REG;
majik 0:21019d94ad33 54 DISABLE_RX_IRQ;
majik 0:21019d94ad33 55 isr_rx();
majik 0:21019d94ad33 56 MODSERIAL_IRQ_REG = irq_reg;
majik 0:21019d94ad33 57 }
majik 0:21019d94ad33 58
majik 0:21019d94ad33 59 __disable_irq();
majik 0:21019d94ad33 60 buffer_count[RxIrq]--;
majik 0:21019d94ad33 61 __enable_irq();
majik 0:21019d94ad33 62 return c;
majik 0:21019d94ad33 63 }
majik 0:21019d94ad33 64
majik 0:21019d94ad33 65 }; // namespace AjK ends