Diff: UM12.cpp

Revision:

0:18297993986b

Child:

1:84430ccc5662

diff -r 000000000000 -r 18297993986b UM12.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/UM12.cpp	Tue Jul 19 17:09:58 2011 +0000
@@ -0,0 +1,91 @@
+#include "UM12.h"
+#include "mbed.h"
+
+UM12::UM12( PinName tx, PinName rx, PinName slp, PinName rst) : Serial::Serial(tx, rx)
+{
+    if(slp != LED1) sleepPin = new DigitalOut(slp);
+    else sleepPin = 0;
+    if(rst != LED2) resetPin = new DigitalOut(rst);
+    else resetPin = 0;
+    baud(1200);
+}
+
+UM12::~UM12()
+{
+    if(sleepPin) delete sleepPin;
+    if(resetPin) delete resetPin;
+}
+        
+void UM12::sleep()
+{
+    if(sleepPin) *sleepPin = 1;
+}
+
+void UM12::wake()
+{
+    if(sleepPin) *sleepPin = 0;
+}
+
+void UM12::reset()
+{
+    if(resetPin)
+    {
+        *resetPin = 0;
+        wait(0.15);
+        *resetPin = 1;
+    }
+}
+
+void UM12::send(char msg)
+{
+    putc(msg);
+}
+
+void UM12::send(int msg)
+{
+        char *ch;
+        ch = (char*) &msg;
+        for (int i=0; i<sizeof(float);i++) putc(ch[i]);
+}
+
+void UM12::send(float msg)
+{
+        char *ch;
+        ch = (char*) &msg;
+        for (int i=0; i<sizeof(float);i++) putc(ch[i]);
+}
+
+char UM12::receive(char &msg)
+{
+    msg = getc();
+    return msg;
+}
+
+int UM12::receive(int &msg)
+{
+    int i, intsize = sizeof(int);
+    char bytes[intsize];
+
+    for(i=0; i<intsize; i++) bytes[i] = getc();
+
+    int *rec;
+    rec = (int*) bytes;
+    msg = *rec;
+    
+    return msg;
+}
+
+
+float UM12::receive(float &msg)
+{
+    int i, flsize = sizeof(float);
+    char bytes[flsize];
+
+    for(i=0; i<flsize; i++) bytes[i] = getc();
+
+    float *rec;
+    rec = (float*) bytes;
+    msg = *rec;
+    
+    return msg;
+}
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