Initial commit after setting up Gitea. At this point a 3D Cube is using the mpu6050 data being converted by the stm32f446to quaternions to be moved. It works, bare minimum

serialcomm.cpp

@@ -0,0 +1,81 @@
+#include <windows.h>
+#include <iostream>
+#include <string>
+#include <regex>
+#include <mutex>
+#include <thread>
+#include "serialcomm.hpp"
+
+HANDLE initSerialPort (const char* portName, DWORD baudRate) {
+
+    // open serial port
+    HANDLE hSerial = CreateFile(portName, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, 0, NULL);
+
+    if (hSerial == INVALID_HANDLE_VALUE) {
+        std::cerr << "Error opening serial port: " << GetLastError() << std::endl;
+        return INVALID_HANDLE_VALUE;
+    }
+
+     // configure the serial port
+     DCB dcbSerialParams = {0};
+     dcbSerialParams.DCBlength = sizeof(dcbSerialParams);
+
+     if (!GetCommState(hSerial, &dcbSerialParams)) {
+        std::cerr << "Error getting comm state: " << GetLastError() << std::endl;
+        CloseHandle(hSerial);
+        return INVALID_HANDLE_VALUE;
+     }
+
+     dcbSerialParams.BaudRate = baudRate;
+     dcbSerialParams.ByteSize = 8;
+     dcbSerialParams.StopBits = ONESTOPBIT;
+     dcbSerialParams.Parity = NOPARITY;
+
+     if (!SetCommState(hSerial, &dcbSerialParams)) {
+        std::cerr << "Error getting comm state: " << GetLastError() << std::endl;
+        CloseHandle(hSerial);
+        return INVALID_HANDLE_VALUE;
+     }
+
+     // set timeouts
+        COMMTIMEOUTS timeouts = {0};
+        timeouts.ReadIntervalTimeout = 50;
+        timeouts.ReadTotalTimeoutConstant = 0;
+        timeouts.ReadTotalTimeoutMultiplier = 0;
+     if (!SetCommTimeouts(hSerial, &timeouts)) {
+        std::cerr << "Error setting timeout: " << GetLastError() << std::endl;
+        CloseHandle(hSerial);
+        return INVALID_HANDLE_VALUE;
+     }
+
+     return hSerial;
+
+}
+
+bool readSerialData (HANDLE hSerial, char* buffer, DWORD bufferSize, DWORD& bytesRead) {
+    if (!ReadFile(hSerial, buffer, bufferSize - 1, &bytesRead, NULL)){
+        std::cerr << "Error reading from serial port: " << GetLastError() << std::endl;
+        return false;
+    }
+
+    buffer[bytesRead] = '\0';
+    return true;
+}
+
+bool parseQuaternion(const std::string& data, Quaternion& quat) {
+   // regex pattern to match the floats in the uart data stream from stm32
+   std::regex pattern("qw: ([+-]?\\d*\\.?\\d+) qx: ([+-]?\\d*\\.?\\d+) qy: ([+-]?\\d*\\.?\\d+) qz: ([+-]?\\d*\\.?\\d+)");
+   std::smatch matches;
+
+   // match every occurance to the desired quaternion value
+   if (std::regex_search(data, matches, pattern) && matches.size() == 5) {
+      // access the array like object std::smatch with [0] being the entire matched string
+      quat.w = std::stof(matches[1]);
+      quat.x = std::stof(matches[2]);
+      quat.y = std::stof(matches[3]);
+      quat.z = std::stof(matches[4]);
+      return true;
+   } else {return false;}
+}
+
+