int USART_GetChar(void)
{
return RingBufferGet(&RingBufferUART4RX);
}
void OnAxisTimerOverflow ()
{
PORTE.OUTSET = 0x01;
if (time == 0)
{
// Nothing to do
if (!buffer_lock && !RingBufferIsEmpty(&location_buffer))
{
Location_t next = RingBufferGet(&location_buffer);
x_axis.delta = next.x - x_axis.location;
y_axis.delta = next.y - y_axis.location;
z_axis.delta = next.z - z_axis.location;
time = next.time;
ovf_count = 0;
}
//if(location_buffer_size > 0)
//{
// x_axis.delta = nextLocation.x - x_axis.location;
// y_axis.delta = nextLocation.y - y_axis.location;
// z_axis.delta = nextLocation.z - z_axis.location;
// time = nextLocation.time;
// ovf_count = 1;
// location_buffer_size--;
//}
//else
//{
// x_axis.delta = 0;
// y_axis.delta = 0;
// z_axis.delta = 0;
//}
}
else
{
UpdateAxis (&x_axis);
UpdateAxis (&y_axis);
UpdateAxis (&z_axis);
if (ovf_count >= time)
{
time = 0;
if (!buffer_lock && !RingBufferIsEmpty(&location_buffer))
{
Location_t next = RingBufferGet(&location_buffer);
x_axis.delta = next.x - x_axis.location;
y_axis.delta = next.y - y_axis.location;
z_axis.delta = next.z - z_axis.location;
time = next.time;
ovf_count = 0;
}
//if(location_buffer_size > 0)
//{
// x_axis.delta = nextLocation.x - x_axis.location;
// y_axis.delta = nextLocation.y - y_axis.location;
// z_axis.delta = nextLocation.z - z_axis.location;
// time = nextLocation.time;
// ovf_count = 0;
// location_buffer_size--;
//}
//else
//{
// // TODO: If there's a buffer of positions, move to the next one here
// // (set delta, time, and count accordingly)
// x_axis.delta = 0;
// y_axis.delta = 0;
// z_axis.delta = 0;
// time = 0;
// ovf_count = 0;
//}
PORTE.OUTTGL = 0x02;
}
else
{
ovf_count++;
}
}
PORTE.OUTCLR = 0x01;
}
