UARTHandler Class Reference

Singleton Class to handle the UART Work. More...

#include <UARTHandler.h>

Public Member Functions
void	UART_msg (uint8_t msg_id, uint8_t len, uint8_t joint_id, float *buffer)
	Packs and sends a UART message.
void	UART_msg (UART_msg_t msg)
UART_msg_t	poll (float timeout_us=RX_TIMEOUT_US)
	Check for incoming data. If there is data read the message, timing out if it takes too long.
uint8_t	check_for_data ()
	See if data is available in the UART buffer.

Static Public Member Functions
static UARTHandler *	get_instance ()
	Get the instance object.

Detailed Description

Singleton Class to handle the UART Work.

Member Function Documentation

check_for_data()

uint8_t UARTHandler::check_for_data ( )

inline

See if data is available in the UART buffer.

Returns

uint8_t The ammount of bytes available in the UART buffer (max 64 for Arduino)

get_instance()

UARTHandler * UARTHandler::get_instance ( )

static

Get the instance object.

Returns

UARTHandler* A reference to the singleton

poll()

UART_msg_t UARTHandler::poll

(

float

timeout_us = RX_TIMEOUT_US

)

Check for incoming data. If there is data read the message, timing out if it takes too long.

Parameters

timeout_us

Returns

UART_msg_t

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UART_msg() [1/2]

void UARTHandler::UART_msg

(

UART_msg_t

msg

)

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UART_msg() [2/2]

void UARTHandler::UART_msg	(	uint8_t	msg_id,
		uint8_t	len,
		uint8_t	joint_id,
		float *	buffer
	)

Packs and sends a UART message.

Parameters

msg_id	An ID used to associate data on the receiver
len	Length of data
joint_id	Joint ID associated with data
buffer	Payload

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The documentation for this class was generated from the following files:

• ExoCode/src/UARTHandler.h
• ExoCode/src/UARTHandler.cpp