checkForCommand.ino

void checkForCommand() {
  char buffer[BUFFER_SIZE];
  
  //  Check for xIMU3 Command Messages
  if (Serial.available() > 0) {
    // read the incoming bytes:
    int blen = Serial.readBytesUntil(STOP_BYTE, buffer, BUFFER_SIZE);
    bool cmdFound = false;
    
    //  Command character count
    int index = 0;
    
    for(int i = 0; i < blen; i++) {
      //  Extract Command
      if (buffer[i] == CMD_BYTE) {
        cmdFound = !cmdFound;
      }
      else if (cmdFound) {
        cmd[index] = buffer[i];
        index++;
      }
    }
    cmd[index] = NULL_TERMINATOR;
  }
  else {
    cmd[0] = NULL_TERMINATOR;
  }
}

bool newCommand() {
  if (cmd[0] == NULL_TERMINATOR) {
    return false;
  }

  return true;
}