File content as of revision 9:8e0a7d3f2f39:

/* #####################################################################
                             SerialComms.cpp
                             ---------------
                
                          Surface Ship, Group 5
                          ---------------------
 
 Written by:        Steven Kay
 
 Date:              February 2016
 
 Function:          This 
 
 Version:           1.0
 
 Version History
 ---------------
 
 1.1                rgdfgdfgdfggdfgdg
 
 1.0                gdgddfdddgd
    
 ##################################################################### */

#include "mbed.h"
#include "SerialComms.h"

SerialComms::SerialComms(PinName tx,PinName rx)
{
    _HLC_Conn = new RawSerial(tx,rx);
    _HLC_Conn-> baud(SERIAL_BAUD_RATE);
    _HLC_Conn -> format(8,SerialBase::None,1);
    
    _HLC_Conn -> attach(this,&SerialComms::incomingDataISR,RawSerial::RxIrq);
    
    incomingDataUpdate = FALSE;
}

#define MOTORS_FORWARD      0x09
#define MOTORS_BACKWARD     0x06
#define MOTORS_LEFT         0x05      
#define MOTORS_RIGHT        0x0A
#define MOTORS_ARM          0x01



void SerialComms::incomingDataISR()
{
    receiverBuffer = _HLC_Conn -> getc();
    incomingDataUpdate = TRUE;
}

uint8_t SerialComms::getCommData()
{
    if(incomingDataUpdate == TRUE)
    {
        if( (receiverBuffer&0x0F)==MOTORS_FORWARD ||
            (receiverBuffer&0x0F)==MOTORS_BACKWARD ||
            (receiverBuffer&0x0F)==MOTORS_LEFT ||
            (receiverBuffer&0x0F)==MOTORS_RIGHT ||
            (receiverBuffer&0x0F)==MOTORS_ARM 
            /* AND BALLAST REQUIREMENTS */)
        {
            incomingDataUpdate = FALSE;
            return receiverBuffer;
        }
    }
    else
    {
        incomingDataUpdate = FALSE;
        return 0xFF;
    }
}