compass.h

00001 #ifndef COMPASS_H
00002 #define COMPASS_H
00003 
00004 #include "mbed.h"
00005 #include "define.h"
00006 
00007 #define RUN_MSB          0xC7
00008 #define RUN_LSB          0x10
00009 
00010 #define STOP_MSB          0xC6
00011 #define STOP_LSB          0x10
00012 
00013 #define RESUME_MSB          0xD1
00014 #define RESUME_LSB          0x10
00015 
00016 #define RST_MSB          0xC2
00017 #define RST_LSB          0x10
00018 
00019 #define RESUME_MSB          0xD1
00020 #define RESUME_LSB          0x10
00021 
00022 #define COMPASS_TX      p9
00023 #define COMPASS_RX      p10
00024 
00025 #define _BUFFER_SIZE 512
00026 
00027 #define DECLINATIONANGLE  -0.0457
00028 #define OFFSET 0
00029 
00030 #include <math.h>
00031 
00032 class COMPASS 
00033 {
00034 public:
00035     COMPASS(MySerial* serial);
00036     uint16_t read();
00037     void putToBuffer(uint8_t data);
00038 
00039     
00040 private:
00041     MySerial* _serial;
00042     uint16_t _degree;
00043     uint8_t flag;
00044     uint8_t count;
00045     float declinationAngle;
00046     int offset;
00047     uint16_t buffer_count;
00048     char temp[2];
00049     char buffer[_BUFFER_SIZE];
00050     uint16_t twobytes;
00051     uint8_t hundreds,tens,digits;
00052     
00053     void init();
00054     void write2Bytes(char msb, char lsb);
00055     
00056     void run();
00057     void stop();
00058     void resume();
00059     void reset();
00060     
00061   //  void check_time_out();
00062 //    void time_out_init();
00063 };
00064 
00065 #endif /* COMPASS_H */