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.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?

UserRevisionLine numberNew 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