File content as of revision 4:c35227d14896:

#ifndef LAMBDA_CONTROLLER_H
#define LAMBDA_CONTROLLER_H

#include "mbed.h"

class LambdaController {
public:
	LambdaController(PinName tx, PinName rx);

	uint8_t get_all_switch(void);
	bool get_switch(int num);

	enum AxisId {
		Stick0X, Stick0Y, Stick1X, Stick1Y
	};
	int get_raw_axis(AxisId id);
	double get_axis(AxisId id);
	void initialize_axis(void);
	void initialize_axis(AxisId id);

	enum ErrorFactor {
		NoError, NoDataError, TimeoutError, InvalidDataError, SerialBusyError
	};
	ErrorFactor get_error();
	void debug(const char *format, ...);

private:
	Serial twe_lite;

	void data_receive_isr();
	int buffer_head;
	uint8_t received_data[10];
	uint8_t received_buffer[10];
	bool is_axis_initialized;
	int axis_center[4];
	static const double axis_threshold = 0.012;

	Ticker error_detection_timer;
	void error_detection_isr();
	int error_count;
	ErrorFactor error_id;
	static const int error_threshold = 5;
	static const double timeout_time = 0.5;
};

#endif