lhiggs CSUM / Mbed 2 deprecated UM6_IMU_AHRS_2012

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

Dependencies:   MODSERIAL mbed

MODSERIAL/MACROS.h@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 #ifndef MODSERIAL_MACROS_H
lhiggs 0:03c649c76388 24 #define MODSERIAL_MACROS_H
lhiggs 0:03c649c76388 25
lhiggs 0:03c649c76388 26 #define MODSERIAL_RBR 0x00
lhiggs 0:03c649c76388 27 #define MODSERIAL_THR 0x00
lhiggs 0:03c649c76388 28 #define MODSERIAL_DLL 0x00
lhiggs 0:03c649c76388 29 #define MODSERIAL_IER 0x04
lhiggs 0:03c649c76388 30 #define MODSERIAL_DML 0x04
lhiggs 0:03c649c76388 31 #define MODSERIAL_IIR 0x08
lhiggs 0:03c649c76388 32 #define MODSERIAL_FCR 0x08
lhiggs 0:03c649c76388 33 #define MODSERIAL_LCR 0x0C
lhiggs 0:03c649c76388 34 #define MODSERIAL_LSR 0x14
lhiggs 0:03c649c76388 35 #define MODSERIAL_SCR 0x1C
lhiggs 0:03c649c76388 36 #define MODSERIAL_ACR 0x20
lhiggs 0:03c649c76388 37 #define MODSERIAL_ICR 0x24
lhiggs 0:03c649c76388 38 #define MODSERIAL_FDR 0x28
lhiggs 0:03c649c76388 39 #define MODSERIAL_TER 0x30
lhiggs 0:03c649c76388 40
lhiggs 0:03c649c76388 41 #define MODSERIAL_LSR_RDR (1UL << 0)
lhiggs 0:03c649c76388 42 #define MODSERIAL_LSR_OE (1UL << 1)
lhiggs 0:03c649c76388 43 #define MODSERIAL_LSR_PE (1UL << 2)
lhiggs 0:03c649c76388 44 #define MODSERIAL_LSR_FE (1UL << 3)
lhiggs 0:03c649c76388 45 #define MODSERIAL_LSR_BR (1UL << 4)
lhiggs 0:03c649c76388 46 #define MODSERIAL_LSR_THRE (1UL << 5)
lhiggs 0:03c649c76388 47 #define MODSERIAL_LSR_TEMT (1UL << 6)
lhiggs 0:03c649c76388 48 #define MODSERIAL_LSR_RXFE (1UL << 7)
lhiggs 0:03c649c76388 49
lhiggs 0:03c649c76388 50 #define MODSERIAL_FIFO_ENABLE 1
lhiggs 0:03c649c76388 51 #define MODSERIAL_FIFO_RX_RESET 2
lhiggs 0:03c649c76388 52 #define MODSERIAL_FIFO_TX_RESET 4
lhiggs 0:03c649c76388 53
lhiggs 0:03c649c76388 54 #define _RBR *((char *)_base+MODSERIAL_RBR)
lhiggs 0:03c649c76388 55 #define _THR *((char *)_base+MODSERIAL_THR)
lhiggs 0:03c649c76388 56 #define _IIR *((char *)_base+MODSERIAL_IIR)
lhiggs 0:03c649c76388 57 #define _IER *((char *)_base+MODSERIAL_IER)
lhiggs 0:03c649c76388 58 #define _LSR *((char *)_base+MODSERIAL_LSR)
lhiggs 0:03c649c76388 59 #define _FCR *((char *)_base+MODSERIAL_FCR)
lhiggs 0:03c649c76388 60
lhiggs 0:03c649c76388 61 #define MODSERIAL_TX_BUFFER_EMPTY (buffer_count[TxIrq]==0)
lhiggs 0:03c649c76388 62 #define MODSERIAL_RX_BUFFER_EMPTY (buffer_count[RxIrq]==0)
lhiggs 0:03c649c76388 63 #define MODSERIAL_TX_BUFFER_FULL (buffer_count[TxIrq]==buffer_size[TxIrq])
lhiggs 0:03c649c76388 64 #define MODSERIAL_RX_BUFFER_FULL (buffer_count[RxIrq]==buffer_size[RxIrq])
lhiggs 0:03c649c76388 65
lhiggs 0:03c649c76388 66 #define MODSERIAL_THR_HAS_SPACE ((int)_LSR&MODSERIAL_LSR_THRE)
lhiggs 0:03c649c76388 67 #define MODSERIAL_TEMT_IS_EMPTY ((int)_LSR&MODSERIAL_LSR_TEMT)
lhiggs 0:03c649c76388 68 #define MODSERIAL_RBR_HAS_DATA ((int)_LSR&MODSERIAL_LSR_RDR)
lhiggs 0:03c649c76388 69
lhiggs 0:03c649c76388 70 #endif