Diff: 3DM-GX2.cpp

Revision:

1:555c2c2bf9d3

Parent:

0:fd1fce2347d9

diff -r fd1fce2347d9 -r 555c2c2bf9d3 3DM-GX2.cpp
--- a/3DM-GX2.cpp	Tue Aug 31 04:38:14 2010 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,169 +0,0 @@
-#include "3DM-GX2.h"
-
-MS3DMGX2::MS3DMGX2(PinName tx, PinName rx) : DataLines(tx, rx),
-    ModeCommand(0xCF), ModeLength(6), ModeSync(0), InterruptBuffer((float*)Workspace)
-{
-    DataLines.baud(115200);
-    DataLines.format(8, Serial::None, 1);
-    DataLines.attach(NULL, Serial::RxIrq);
-}
-
-unsigned char MS3DMGX2::Mode(unsigned char Selection)
-{
-    switch (Selection & 0x03)
-    {
-        case 0x00:
-            ModeCommand = 0xCF;
-            ModeLength = 6;
-            break;
-        case 0x01:
-            ModeCommand = 0xD2;
-            ModeLength = 9;
-            break;
-        case 0x02:
-            ModeCommand = 0xC8;
-            ModeLength = 15;
-            break;
-        case 0x03:
-            ModeCommand = 0xCC;
-            ModeLength = 18;
-            break;
-    }
-    if (Selection & 0x04)
-    {
-        DiscardSerialBuffer();
-        DataLines.putc(0xC4);
-        DataLines.putc(0xC1);
-        DataLines.putc(0x29);
-        DataLines.putc(ModeCommand);
-        ModeSync = 1;
-        wait_ms(10);
-        Workspace[0] = DataLines.getc();
-        Workspace[1] = DataLines.getc();
-        while (DataLines.readable() && ((Workspace[0] != 0xC4) || (Workspace[1] != ModeCommand)))
-        {
-            Workspace[0] = Workspace[1];
-            Workspace[1] = DataLines.getc();
-        }
-        unsigned char i = 7;
-        while (DataLines.readable() && (i > 1))
-        {
-            Workspace[i] = DataLines.getc();
-            i--;
-        }
-        CheckSum(0xC4, 1, &ModeCommand, &Workspace[4], Workspace);
-        Workspace[0] = (Workspace[0] != Workspace[2]) || (Workspace[1] != Workspace[3]);
-    }
-    else
-    {
-        DataLines.putc(0xFA);
-        ModeSync = 0;
-    }
-    if (Selection & 0x08)
-    {
-        DataLines.attach(this, &MS3DMGX2::Interrupt, Serial::RxIrq);
-    }
-    else
-    {
-        DataLines.attach(NULL, Serial::RxIrq);
-    }
-    if (Workspace[0])
-    {
-        return 0x01;
-    }
-    else
-    {
-        return 0x00;
-    }
-}
-
-void MS3DMGX2::AttachInterruptBuffer(float* Buffer)
-{
-    InterruptBuffer = Buffer;
-}
-    //store user's data pointer for use in interrupt modes
-
-void MS3DMGX2::RequestSyncRead()
-{
-    if (ModeSync)
-    {
-        DataLines.putc(0xFA);
-        ModeSync = 0x00;
-    }
-        //if operating in an asynchronous mode, switch to the synchronous equivalent
-    DataLines.putc(ModeCommand);
-        //send polled mode command byte
-}
-    //lazy switches to synchronous mode and sends polled mode command byte
-
-void MS3DMGX2::DiscardSerialBuffer()
-{
-    while (DataLines.readable())
-    {
-        DataLines.getc();
-    }
-}
-    //empty buffer of all data
-
-unsigned char MS3DMGX2::Read(float* Data)
-{
-    unsigned char j = 0;
-    do
-    {
-        j++;
-    } while (DataLines.readable() && (DataLines.getc() != ModeCommand) && (j < (ModeLength << 2)));
-        //find the header byte for synchronization
-    for (unsigned char i = 0; i < ModeLength; i++)
-    {
-        j = 3;
-        while (DataLines.readable() && (j < 4))
-        {
-            ((unsigned char*)&Data[i])[j] = DataLines.getc();
-            j--;
-        }
-    }
-        //change endianness and fill user buffer
-    j = 7;
-    while (DataLines.readable() && (j > 1))
-    {
-        Workspace[j] = DataLines.getc();
-        j--;
-    }
-        //change endianness and gather timer and checksum (bytes 2 and 3)
-    CheckSum(ModeCommand, ModeLength << 2, (unsigned char*)Data, &Workspace[4], Workspace);
-        //compute checksum and store in bytes 0 and 1
-    if ((Workspace[0] != Workspace[2]) || (Workspace[1] != Workspace[3]))
-    {
-        return 0x01;
-    }
-    else
-    {
-        return 0x00;
-    }
-        //verify checksum and return result
-}
-    //this method reads a measurement from the serial port, assuming one is waiting there
-
-void MS3DMGX2::Interrupt()
-{
-    Read(InterruptBuffer);
-    DiscardSerialBuffer();
-}
-    //this will be called when in an interrupt mode and a serial interrupt is generated
-
-void MS3DMGX2::CheckSum(unsigned char Header, unsigned char Length,
-    unsigned char* Data, unsigned char* Timer, unsigned char* Result)
-{
-    unsigned short Sum = Header;
-    for (unsigned char i = 0; i < Length; i++)
-    {
-        Sum += Data[i];
-    }
-    for (unsigned char i = 0; i < 4; i++)
-    {
-        Sum += Timer[i];
-    }
-    Result[0] = ((char*)&Sum)[0];
-    Result[1] = ((char*)&Sum)[1];
-}
-    //compute the checksum of a data packet and store the result in the first two bytes of "Result"
\ No newline at end of file