Latest version of my quadcopter controller with an LPC1768 and MPU9250.
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.h@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?
User | Revision | Line number | New contents of line |
---|---|---|---|
Anaesthetix | 0:0929d3d566cf | 1 | #pragma once |
Anaesthetix | 0:0929d3d566cf | 2 | |
Anaesthetix | 0:0929d3d566cf | 3 | // This is a buffered serial reading class, using the serial interrupt introduced in mbed library version 18 on 17/11/09 |
Anaesthetix | 0:0929d3d566cf | 4 | |
Anaesthetix | 0:0929d3d566cf | 5 | // In the simplest case, construct it with a buffer size at least equal to the largest message you |
Anaesthetix | 0:0929d3d566cf | 6 | // expect your program to receive in one go. |
Anaesthetix | 0:0929d3d566cf | 7 | |
Anaesthetix | 0:0929d3d566cf | 8 | class SerialBuffered : public Serial |
Anaesthetix | 0:0929d3d566cf | 9 | { |
Anaesthetix | 0:0929d3d566cf | 10 | public: |
Anaesthetix | 0:0929d3d566cf | 11 | SerialBuffered( size_t bufferSize, PinName tx, PinName rx ); |
Anaesthetix | 0:0929d3d566cf | 12 | virtual ~SerialBuffered(); |
Anaesthetix | 0:0929d3d566cf | 13 | |
Anaesthetix | 0:0929d3d566cf | 14 | int getc(); // will block till the next character turns up, or return -1 if there is a timeout |
Anaesthetix | 0:0929d3d566cf | 15 | |
Anaesthetix | 0:0929d3d566cf | 16 | int readable(); // returns 1 if there is a character available to read, 0 otherwise |
Anaesthetix | 0:0929d3d566cf | 17 | |
Anaesthetix | 0:0929d3d566cf | 18 | void setTimeout( float seconds ); // maximum time in seconds that getc() should block |
Anaesthetix | 0:0929d3d566cf | 19 | // while waiting for a character |
Anaesthetix | 0:0929d3d566cf | 20 | // Pass -1 to disable the timeout. |
Anaesthetix | 0:0929d3d566cf | 21 | |
Anaesthetix | 0:0929d3d566cf | 22 | size_t readBytes( uint8_t *bytes, size_t requested ); // read requested bytes into a buffer, |
Anaesthetix | 0:0929d3d566cf | 23 | // return number actually read, |
Anaesthetix | 0:0929d3d566cf | 24 | // which may be less than requested if there has been a timeout |
Anaesthetix | 0:0929d3d566cf | 25 | |
Anaesthetix | 0:0929d3d566cf | 26 | |
Anaesthetix | 0:0929d3d566cf | 27 | private: |
Anaesthetix | 0:0929d3d566cf | 28 | |
Anaesthetix | 0:0929d3d566cf | 29 | void handleInterrupt(); |
Anaesthetix | 0:0929d3d566cf | 30 | |
Anaesthetix | 0:0929d3d566cf | 31 | |
Anaesthetix | 0:0929d3d566cf | 32 | uint8_t *m_buff; // points at a circular buffer, containing data from m_contentStart, for m_contentSize bytes, wrapping when you get to the end |
Anaesthetix | 0:0929d3d566cf | 33 | uint16_t m_contentStart; // index of first bytes of content |
Anaesthetix | 0:0929d3d566cf | 34 | uint16_t m_contentEnd; // index of bytes after last byte of content |
Anaesthetix | 0:0929d3d566cf | 35 | uint16_t m_buffSize; |
Anaesthetix | 0:0929d3d566cf | 36 | float m_timeout; |
Anaesthetix | 0:0929d3d566cf | 37 | Timer m_timer; |
Anaesthetix | 0:0929d3d566cf | 38 | |
Anaesthetix | 0:0929d3d566cf | 39 | }; |
Anaesthetix | 0:0929d3d566cf | 40 |