Dave Lu / FYDP_Final2

Only imu output

Dependencies:   Servo mbed

Fork of FYDP_Final2 by Mark Vandermeulen

mbed/MODSERIAL/INIT.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 #define MODSERIAL_FCR 0x08
majik 0:21019d94ad33 27 #define _FCR *((char *)_base+MODSERIAL_FCR)
majik 0:21019d94ad33 28
majik 0:21019d94ad33 29 #define MODSERIAL_FIFO_ENABLE 1
majik 0:21019d94ad33 30 #define MODSERIAL_FIFO_RX_RESET 2
majik 0:21019d94ad33 31 #define MODSERIAL_FIFO_TX_RESET 4
majik 0:21019d94ad33 32
majik 0:21019d94ad33 33
majik 0:21019d94ad33 34 namespace AjK {
majik 0:21019d94ad33 35
majik 0:21019d94ad33 36 void
majik 0:21019d94ad33 37 MODSERIAL::init( int txSize, int rxSize, PinName rx )
majik 0:21019d94ad33 38 {
majik 0:21019d94ad33 39
majik 0:21019d94ad33 40 NVIC_DisableIRQ(_IRQ);
majik 0:21019d94ad33 41 setBase();
majik 0:21019d94ad33 42
majik 0:21019d94ad33 43 callbackInfo.setSerial(this);
majik 0:21019d94ad33 44
majik 0:21019d94ad33 45
majik 0:21019d94ad33 46 if ( _base != NULL ) {
majik 0:21019d94ad33 47 buffer_size[RxIrq] = rxSize;
majik 0:21019d94ad33 48 buffer[RxIrq] = rxSize > 0 ? (char *)malloc(buffer_size[RxIrq]) : (char *)NULL;
majik 0:21019d94ad33 49 buffer_in[RxIrq] = 0;
majik 0:21019d94ad33 50 buffer_out[RxIrq] = 0;
majik 0:21019d94ad33 51 buffer_count[RxIrq] = 0;
majik 0:21019d94ad33 52 buffer_overflow[RxIrq] = 0;
majik 0:21019d94ad33 53 Serial::attach( this, &MODSERIAL::isr_rx, Serial::RxIrq );
majik 0:21019d94ad33 54
majik 0:21019d94ad33 55 buffer_size[TxIrq] = txSize;
majik 0:21019d94ad33 56 buffer[TxIrq] = txSize > 0 ? (char *)malloc(buffer_size[TxIrq]) : (char *)NULL;
majik 0:21019d94ad33 57 buffer_in[TxIrq] = 0;
majik 0:21019d94ad33 58 buffer_out[TxIrq] = 0;
majik 0:21019d94ad33 59 buffer_count[TxIrq] = 0;
majik 0:21019d94ad33 60 buffer_overflow[TxIrq] = 0;
majik 0:21019d94ad33 61 Serial::attach( this, &MODSERIAL::isr_tx, Serial::TxIrq );
majik 0:21019d94ad33 62 }
majik 0:21019d94ad33 63 else {
majik 0:21019d94ad33 64 error("MODSERIAL must have a defined UART to function.");
majik 0:21019d94ad33 65 }
majik 0:21019d94ad33 66
majik 0:21019d94ad33 67
majik 0:21019d94ad33 68 initDevice();
majik 0:21019d94ad33 69
majik 0:21019d94ad33 70 //_FCR = MODSERIAL_FIFO_ENABLE | MODSERIAL_FIFO_RX_RESET | MODSERIAL_FIFO_TX_RESET;
majik 0:21019d94ad33 71
majik 0:21019d94ad33 72 auto_detect_char = 0;
majik 0:21019d94ad33 73
majik 0:21019d94ad33 74 NVIC_EnableIRQ(_IRQ);
majik 0:21019d94ad33 75 }
majik 0:21019d94ad33 76
majik 0:21019d94ad33 77 }; // namespace AjK ends
majik 0:21019d94ad33 78