This is my quadcopter prototype software, still in development!

Revision:
0:978110f7f027
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/quadv3/mbed/PortInOut.h	Wed Jan 30 13:14:44 2013 +0000
@@ -0,0 +1,98 @@
+/* mbed Microcontroller Library - PortInOut
+ * Copyright (c) 2006-2011 ARM Limited. All rights reserved.
+ */ 
+ 
+#ifndef MBED_PORTINOUT_H
+#define MBED_PORTINOUT_H
+
+#include "device.h"
+
+#if DEVICE_PORTINOUT
+
+#include "PortNames.h"
+#include "PinNames.h"
+
+namespace mbed {
+
+/* Class: PortInOut
+ *  A multiple pin digital in/out used to set/read multiple bi-directional pins
+ */
+class PortInOut {
+public:
+
+    /* Constructor: PortInOut
+     *  Create an PortInOut, connected to the specified port
+     *
+     * Variables:
+     *  port - Port to connect to (Port0-Port5)
+     *  mask - A bitmask to identify which bits in the port should be included (0 - ignore)
+        */ 
+    PortInOut(PortName port, int mask = 0xFFFFFFFF);
+
+    /* Function: write
+     *  Write the value to the output port
+     *
+     * Variables:
+     *  value - An integer specifying a bit to write for every corresponding port pin
+     */    
+    void write(int value);
+
+    /* Function: read
+     *  Read the value currently output on the port
+     *
+     * Variables:
+     *  returns - An integer with each bit corresponding to associated port pin setting
+     */
+    int read();
+
+    /* Function: output
+     *  Set as an output
+     */
+    void output();
+
+    /* Function: input
+     *  Set as an input
+     */
+    void input();
+
+    /* Function: mode
+     *  Set the input pin mode
+     *
+     * Variables:
+     *  mode - PullUp, PullDown, PullNone, OpenDrain
+     */
+    void mode(PinMode mode);
+
+    /* Function: operator=
+     *  A shorthand for <write>
+     */    
+    PortInOut& operator= (int value) { 
+        write(value);
+        return *this;
+    }
+    
+    PortInOut& operator= (PortInOut& rhs) { 
+        write(rhs.read());
+        return *this;
+    }
+    
+    /* Function: operator int()
+     *  A shorthand for <read>
+     */
+    operator int() { 
+        return read();
+    }
+
+private:
+#if defined(TARGET_LPC1768) || defined(TARGET_LPC2368)
+    LPC_GPIO_TypeDef    *_gpio;
+#endif
+    PortName            _port;
+    uint32_t            _mask;
+};
+
+} // namespace mbed
+
+#endif
+
+#endif