Revision 0:87f191bdb9ab, committed 2010-10-12

Comitter:

triff

Date:

Tue Oct 12 13:26:58 2010 +0000

Commit message:

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialRazor.cpp	Tue Oct 12 13:26:58 2010 +0000
@@ -0,0 +1,57 @@
+
+#include "mbed.h"
+#include "SerialRazor.h"
+
+SerialRazor::SerialRazor( size_t bufferSize, PinName tx, PinName rx ) : Serial(  tx,  rx )  {
+
+    Serial::baud(57600);
+    attach( this, &SerialRazor::handleInterrupt );
+    m_buff = (char *) malloc( bufferSize );
+    m_buffSize = bufferSize;
+}
+
+
+
+SerialRazor::~SerialRazor()
+{
+    if( m_buff )
+        free( m_buff );
+}
+
+void SerialRazor::handleInterrupt()
+{
+    
+    while( Serial::readable())
+    {
+        for(int i=0; i< m_buffSize; i++) {
+        m_buff[i] = Serial::getc();
+        if(m_buff[i] == '\n') {
+            m_buff[i] = 0;
+            sscanf(m_buff,"!ANG:%f,%f,%f", &roll, &pitch, &yaw); 
+            return;
+        } 
+        }   
+       
+    }
+}
+
+
+
+float SerialRazor::getRoll(void){
+
+    return roll;
+
+}
+
+float SerialRazor::getPitch(void){
+
+    return pitch;
+
+}
+
+float SerialRazor::getYaw(void){
+
+    return yaw;
+
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialRazor.h	Tue Oct 12 13:26:58 2010 +0000
@@ -0,0 +1,29 @@
+#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 SerialRazor : public Serial
+{
+public:
+    SerialRazor( size_t bufferSize, PinName tx, PinName rx );
+    virtual ~SerialRazor();
+    float getRoll(void);
+    float getPitch(void);
+    float getYaw(void);
+    
+
+
+private:
+    
+    void handleInterrupt();
+    float roll;
+    float pitch;
+    float yaw;    
+    char *m_buff;           
+    uint16_t m_buffSize;
+    
+
+};
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 12 13:26:58 2010 +0000
@@ -0,0 +1,14 @@
+
+#include "mbed.h"
+#include "SerialRazor.h"
+
+Serial pc(USBTX, USBRX);
+
+int main() {
+    SerialRazor *Razor = new SerialRazor( 32, p13, p14);
+    while(1){
+        wait(0.2);
+        pc.printf("Roll: %f\n\r", Razor->getRoll());
+        }
+    
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Oct 12 13:26:58 2010 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/49a220cc26e0