lhiggs CSUM / Mbed 2 deprecated UM6_IMU_AHRS_2012

Communication program for the chrobotics UM6 9-DOF IMU AHRS.

Dependencies:   MODSERIAL mbed

MODSERIAL/ISR_TX.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?

UserRevisionLine numberNew contents of line
lhiggs 0:03c649c76388 1 /*
lhiggs 0:03c649c76388 2 Copyright (c) 2010 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
lhiggs 0:03c649c76388 23 #include "MODSERIAL.h"
lhiggs 0:03c649c76388 24 #include "MACROS.h"
lhiggs 0:03c649c76388 25
lhiggs 0:03c649c76388 26 namespace AjK {
lhiggs 0:03c649c76388 27
lhiggs 0:03c649c76388 28 void
lhiggs 0:03c649c76388 29 MODSERIAL::isr_tx(bool doCallback)
lhiggs 0:03c649c76388 30 {
lhiggs 0:03c649c76388 31 if (! _base || buffer_size[TxIrq] == 0 || buffer[TxIrq] == (char *)NULL) {
lhiggs 0:03c649c76388 32 _isr[TxIrq].call(&this->callbackInfo);
lhiggs 0:03c649c76388 33 return;
lhiggs 0:03c649c76388 34 }
lhiggs 0:03c649c76388 35
lhiggs 0:03c649c76388 36 while (! MODSERIAL_TX_BUFFER_EMPTY && MODSERIAL_THR_HAS_SPACE ) {
lhiggs 0:03c649c76388 37 _THR = txc = (uint8_t)(buffer[TxIrq][buffer_out[TxIrq]]);
lhiggs 0:03c649c76388 38 buffer_count[TxIrq]--;
lhiggs 0:03c649c76388 39 buffer_out[TxIrq]++;
lhiggs 0:03c649c76388 40 if (buffer_out[TxIrq] >= buffer_size[TxIrq]) {
lhiggs 0:03c649c76388 41 buffer_out[TxIrq] = 0;
lhiggs 0:03c649c76388 42 }
lhiggs 0:03c649c76388 43 if (doCallback) _isr[TxIrq].call(&this->callbackInfo);
lhiggs 0:03c649c76388 44 }
lhiggs 0:03c649c76388 45
lhiggs 0:03c649c76388 46 if ( MODSERIAL_TX_BUFFER_EMPTY ) {
lhiggs 0:03c649c76388 47 _IER = 1;
lhiggs 0:03c649c76388 48 _isr[TxEmpty].call(&this->callbackInfo);
lhiggs 0:03c649c76388 49 }
lhiggs 0:03c649c76388 50 }
lhiggs 0:03c649c76388 51
lhiggs 0:03c649c76388 52 }; // namespace AjK ends
lhiggs 0:03c649c76388 53
lhiggs 0:03c649c76388 54