Diff: R1370.h

Revision:

0:243364135087

Child:

1:ec87437c2029

Child:

2:b6f5a4994a84

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/R1370.h	Fri Aug 24 04:38:13 2018 +0000
@@ -0,0 +1,40 @@
+#ifndef R1370_H
+#define R1370_H
+
+#include "mbed.h"
+#include <vector>
+
+#define R1370_BUFFER_SIZE 15
+#define R1370_HEADER0 0xAA
+#define R1370_HEADER1 0x00
+
+class R1370 : public RawSerial
+{
+public :
+    R1370(PinName tx, PinName rx);
+
+    float getAngle();
+    float getRate();
+    int16_t getAcc(char l);
+    int16_t getAcc(int i);
+    int16_t getAccX();
+    int16_t getAccY();
+    int16_t getAccZ();
+    
+    
+private :
+    void receiveByte();
+    void assembleLoop();
+    void assemble();
+    
+    Thread thread;
+    std::vector<unsigned char> buf;
+    
+    uint8_t index;
+    int16_t angle;
+    int16_t rate;
+    int16_t acc[3];
+    uint8_t reserved;
+};
+
+#endif
\ No newline at end of file