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.
Diff: Serialbuffered/SerialBuffered.h
- Revision:
- 0:0929d3d566cf
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Serialbuffered/SerialBuffered.h Mon Jul 09 16:31:40 2018 +0000 @@ -0,0 +1,40 @@ +#pragma once + +// This is a buffered serial reading class, using the serial interrupt introduced in mbed library version 18 on 17/11/09 + +// In the simplest case, construct it with a buffer size at least equal to the largest message you +// expect your program to receive in one go. + +class SerialBuffered : public Serial +{ +public: + SerialBuffered( size_t bufferSize, PinName tx, PinName rx ); + virtual ~SerialBuffered(); + + int getc(); // will block till the next character turns up, or return -1 if there is a timeout + + int readable(); // returns 1 if there is a character available to read, 0 otherwise + + void setTimeout( float seconds ); // maximum time in seconds that getc() should block + // while waiting for a character + // Pass -1 to disable the timeout. + + size_t readBytes( uint8_t *bytes, size_t requested ); // read requested bytes into a buffer, + // return number actually read, + // which may be less than requested if there has been a timeout + + +private: + + void handleInterrupt(); + + + 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 + uint16_t m_contentStart; // index of first bytes of content + uint16_t m_contentEnd; // index of bytes after last byte of content + uint16_t m_buffSize; + float m_timeout; + Timer m_timer; + +}; +