static uint16_t PIOS_COM_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
{
struct pios_com_dev * com_dev = PIOS_COM_find_dev(context);
bool valid = PIOS_COM_validate(com_dev);
PIOS_Assert(valid);
PIOS_Assert(buf);
PIOS_Assert(buf_len);
PIOS_Assert(com_dev->has_tx);
PIOS_IRQ_Disable();
uint16_t bytes_from_fifo = fifoBuf_getData(&com_dev->tx, buf, buf_len);
PIOS_IRQ_Enable();
if (bytes_from_fifo > 0) {
/* More space has been made in the buffer */
PIOS_COM_UnblockTx(com_dev, need_yield);
}
if (headroom) {
*headroom = fifoBuf_getUsed(&com_dev->tx);
}
return (bytes_from_fifo);
}
/**
* @brief Get data from fifo
* @param [out] buffer pointer to a @ref pios_bma180_data structure to receive data
* @return 0 for success, -1 for failure (no data available)
*/
int32_t PIOS_BMA180_ReadFifo(struct pios_bma180_data * buffer)
{
if(PIOS_BMA180_Validate(dev) != 0)
return -1;
if(fifoBuf_getUsed(&dev->fifo) < sizeof(*buffer))
return -1;
fifoBuf_getData(&dev->fifo, (uint8_t *) buffer, sizeof(*buffer));
return 0;
}
/**
* Transfer bytes from port buffers into another buffer
* \param[in] port COM port
* \returns Byte from buffer
*/
uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t *buf, uint16_t buf_len, uint32_t timeout_ms)
{
PIOS_Assert(buf);
PIOS_Assert(buf_len);
uint16_t bytes_from_fifo;
struct pios_com_dev *com_dev = (struct pios_com_dev *)com_id;
if (!PIOS_COM_validate(com_dev)) {
/* Undefined COM port for this board (see pios_board.c) */
PIOS_Assert(0);
}
PIOS_Assert(com_dev->has_rx);
check_again:
bytes_from_fifo = fifoBuf_getData(&com_dev->rx, buf, buf_len);
if (bytes_from_fifo == 0) {
/* No more bytes in receive buffer */
/* Make sure the receiver is running while we wait */
if (com_dev->driver->rx_start) {
/* Notify the lower layer that there is now room in the rx buffer */
(com_dev->driver->rx_start)(com_dev->lower_id,
fifoBuf_getFree(&com_dev->rx));
}
if (timeout_ms > 0) {
#if defined(PIOS_INCLUDE_FREERTOS)
if (xSemaphoreTake(com_dev->rx_sem, timeout_ms / portTICK_RATE_MS) == pdTRUE) {
/* Make sure we don't come back here again */
timeout_ms = 0;
goto check_again;
}
#else
PIOS_DELAY_WaitmS(1);
timeout_ms--;
goto check_again;
#endif
}
}
/* Return received byte */
return bytes_from_fifo;
}