Erik van de Coevering / Mbed 2 deprecated Multicopter_2018

Latest version of my quadcopter controller with an LPC1768 and MPU9250.

Dependencies:   mbed

Currently running on a custom PCB with 30.5 x 30.5mm mounts. There are also 2 PC apps that go with the software; one to set up the PID controller and one to balance the motors and props. If anyone is interested, send me a message and I'll upload them.

Serialbuffered/SerialBuffered.cpp@0:0929d3d566cf, 2018-07-09 (annotated)

Committer:
Anaesthetix
Date:
Mon Jul 09 16:31:40 2018 +0000
Revision:
0:0929d3d566cf
Latest version of my multicopter controller

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Anaesthetix 0:0929d3d566cf 1
Anaesthetix 0:0929d3d566cf 2 #include "mbed.h"
Anaesthetix 0:0929d3d566cf 3 #include "SerialBuffered.h"
Anaesthetix 0:0929d3d566cf 4
Anaesthetix 0:0929d3d566cf 5 //extern Serial loggerSerial;
Anaesthetix 0:0929d3d566cf 6
Anaesthetix 0:0929d3d566cf 7 SerialBuffered::SerialBuffered( size_t bufferSize, PinName tx, PinName rx ) : Serial( tx, rx )
Anaesthetix 0:0929d3d566cf 8 {
Anaesthetix 0:0929d3d566cf 9 m_buffSize = 0;
Anaesthetix 0:0929d3d566cf 10 m_contentStart = 0;
Anaesthetix 0:0929d3d566cf 11 m_contentEnd = 0;
Anaesthetix 0:0929d3d566cf 12 m_timeout = 1.0;
Anaesthetix 0:0929d3d566cf 13
Anaesthetix 0:0929d3d566cf 14
Anaesthetix 0:0929d3d566cf 15 attach( this, &SerialBuffered::handleInterrupt );
Anaesthetix 0:0929d3d566cf 16
Anaesthetix 0:0929d3d566cf 17 m_buff = (uint8_t *) malloc( bufferSize );
Anaesthetix 0:0929d3d566cf 18 if( m_buff == NULL )
Anaesthetix 0:0929d3d566cf 19 {
Anaesthetix 0:0929d3d566cf 20 //loggerSerial.printf("SerialBuffered - failed to alloc buffer size %d\r\n", (int) bufferSize );
Anaesthetix 0:0929d3d566cf 21 }
Anaesthetix 0:0929d3d566cf 22 else
Anaesthetix 0:0929d3d566cf 23 {
Anaesthetix 0:0929d3d566cf 24 m_buffSize = bufferSize;
Anaesthetix 0:0929d3d566cf 25 }
Anaesthetix 0:0929d3d566cf 26 }
Anaesthetix 0:0929d3d566cf 27
Anaesthetix 0:0929d3d566cf 28
Anaesthetix 0:0929d3d566cf 29 SerialBuffered::~SerialBuffered()
Anaesthetix 0:0929d3d566cf 30 {
Anaesthetix 0:0929d3d566cf 31 if( m_buff )
Anaesthetix 0:0929d3d566cf 32 free( m_buff );
Anaesthetix 0:0929d3d566cf 33 }
Anaesthetix 0:0929d3d566cf 34
Anaesthetix 0:0929d3d566cf 35 void SerialBuffered::setTimeout( float seconds )
Anaesthetix 0:0929d3d566cf 36 {
Anaesthetix 0:0929d3d566cf 37 m_timeout = seconds;
Anaesthetix 0:0929d3d566cf 38 }
Anaesthetix 0:0929d3d566cf 39
Anaesthetix 0:0929d3d566cf 40 size_t SerialBuffered::readBytes( uint8_t *bytes, size_t requested )
Anaesthetix 0:0929d3d566cf 41 {
Anaesthetix 0:0929d3d566cf 42 int i = 0;
Anaesthetix 0:0929d3d566cf 43
Anaesthetix 0:0929d3d566cf 44 for( ; i < requested; )
Anaesthetix 0:0929d3d566cf 45 {
Anaesthetix 0:0929d3d566cf 46 int c = getc();
Anaesthetix 0:0929d3d566cf 47 if( c < 0 )
Anaesthetix 0:0929d3d566cf 48 break;
Anaesthetix 0:0929d3d566cf 49 bytes[i] = c;
Anaesthetix 0:0929d3d566cf 50 i++;
Anaesthetix 0:0929d3d566cf 51 }
Anaesthetix 0:0929d3d566cf 52
Anaesthetix 0:0929d3d566cf 53 return i;
Anaesthetix 0:0929d3d566cf 54
Anaesthetix 0:0929d3d566cf 55 }
Anaesthetix 0:0929d3d566cf 56
Anaesthetix 0:0929d3d566cf 57
Anaesthetix 0:0929d3d566cf 58 int SerialBuffered::getc()
Anaesthetix 0:0929d3d566cf 59 {
Anaesthetix 0:0929d3d566cf 60 m_timer.reset();
Anaesthetix 0:0929d3d566cf 61 m_timer.start();
Anaesthetix 0:0929d3d566cf 62 while( m_contentStart == m_contentEnd )
Anaesthetix 0:0929d3d566cf 63 {
Anaesthetix 0:0929d3d566cf 64
Anaesthetix 0:0929d3d566cf 65
Anaesthetix 0:0929d3d566cf 66 wait_ms( 1 );
Anaesthetix 0:0929d3d566cf 67 if( m_timeout > 0 && m_timer.read() > m_timeout )
Anaesthetix 0:0929d3d566cf 68 return EOF;
Anaesthetix 0:0929d3d566cf 69 }
Anaesthetix 0:0929d3d566cf 70
Anaesthetix 0:0929d3d566cf 71 m_timer.stop();
Anaesthetix 0:0929d3d566cf 72
Anaesthetix 0:0929d3d566cf 73 uint8_t result = m_buff[m_contentStart++];
Anaesthetix 0:0929d3d566cf 74 m_contentStart = m_contentStart % m_buffSize;
Anaesthetix 0:0929d3d566cf 75
Anaesthetix 0:0929d3d566cf 76
Anaesthetix 0:0929d3d566cf 77 return result;
Anaesthetix 0:0929d3d566cf 78 }
Anaesthetix 0:0929d3d566cf 79
Anaesthetix 0:0929d3d566cf 80
Anaesthetix 0:0929d3d566cf 81 int SerialBuffered::readable()
Anaesthetix 0:0929d3d566cf 82 {
Anaesthetix 0:0929d3d566cf 83 return m_contentStart != m_contentEnd ;
Anaesthetix 0:0929d3d566cf 84 }
Anaesthetix 0:0929d3d566cf 85
Anaesthetix 0:0929d3d566cf 86 void SerialBuffered::handleInterrupt()
Anaesthetix 0:0929d3d566cf 87 {
Anaesthetix 0:0929d3d566cf 88
Anaesthetix 0:0929d3d566cf 89 while( Serial::readable())
Anaesthetix 0:0929d3d566cf 90 {
Anaesthetix 0:0929d3d566cf 91 if( m_contentStart == (m_contentEnd +1) % m_buffSize)
Anaesthetix 0:0929d3d566cf 92 {
Anaesthetix 0:0929d3d566cf 93 //loggerSerial.printf("SerialBuffered - buffer overrun, data lost!\r\n" );
Anaesthetix 0:0929d3d566cf 94 Serial::getc();
Anaesthetix 0:0929d3d566cf 95
Anaesthetix 0:0929d3d566cf 96 }
Anaesthetix 0:0929d3d566cf 97 else
Anaesthetix 0:0929d3d566cf 98 {
Anaesthetix 0:0929d3d566cf 99
Anaesthetix 0:0929d3d566cf 100 m_buff[ m_contentEnd ++ ] = Serial::getc();
Anaesthetix 0:0929d3d566cf 101 m_contentEnd = m_contentEnd % m_buffSize;
Anaesthetix 0:0929d3d566cf 102
Anaesthetix 0:0929d3d566cf 103
Anaesthetix 0:0929d3d566cf 104
Anaesthetix 0:0929d3d566cf 105 }
Anaesthetix 0:0929d3d566cf 106 }
Anaesthetix 0:0929d3d566cf 107 }
Anaesthetix 0:0929d3d566cf 108
Anaesthetix 0:0929d3d566cf 109