Arnaud Suire / Labo_TRSE_Drone

ajout module_mouvement

Dependencies:   mbed xbee_lib ADXL345_I2C IMUfilter ITG3200 Motor RangeFinder Servo mbos PID

Fork of Labo_TRSE_Drone by HERBERT Nicolas

Module_Communication/Module_Communication.h@38:7ab036d94678, 2014-02-26 (annotated)

Committer:
arnaudsuire
Date:
Wed Feb 26 08:47:14 2014 +0000
Revision:
38:7ab036d94678
Parent:
33:ec7d635636bf 
arnaud

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IngesupMbed01 18:0bfd3ad421e5 1 /* Copyright (c) 2012 - 2013 Yang Shi
IngesupMbed01 18:0bfd3ad421e5 2 *
IngesupMbed01 18:0bfd3ad421e5 3 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR "AS IS" AND ANY EXPRESS OR IMPLIED
IngesupMbed01 18:0bfd3ad421e5 4 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
IngesupMbed01 18:0bfd3ad421e5 5 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
IngesupMbed01 18:0bfd3ad421e5 6 * SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
IngesupMbed01 18:0bfd3ad421e5 7 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
IngesupMbed01 18:0bfd3ad421e5 8 * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
IngesupMbed01 18:0bfd3ad421e5 9 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
IngesupMbed01 18:0bfd3ad421e5 10 * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
IngesupMbed01 18:0bfd3ad421e5 11 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
IngesupMbed01 18:0bfd3ad421e5 12 */
IngesupMbed01 18:0bfd3ad421e5 13
IngesupMbed01 18:0bfd3ad421e5 14 /*
IngesupMbed01 18:0bfd3ad421e5 15 * Description : Cette classe contient les fonctionnalités du module communication.
IngesupMbed01 18:0bfd3ad421e5 16 Le module communication gère la communication entre les modules présents sur le drône et le PC.
IngesupMbed01 18:0bfd3ad421e5 17 * Input :
IngesupMbed01 18:0bfd3ad421e5 18 * Output
IngesupMbed01 18:0bfd3ad421e5 19 */
IngesupMbed01 18:0bfd3ad421e5 20
IngesupMbed01 18:0bfd3ad421e5 21 #ifndef MODULE_COMMUNICATION_H
IngesupMbed01 18:0bfd3ad421e5 22 #define MODULE_COMMUNICATION_H
IngesupMbed01 18:0bfd3ad421e5 23
IngesupMbed01 18:0bfd3ad421e5 24 #include "mbos.h"
IngesupMbed01 18:0bfd3ad421e5 25 #include "xbee.h"
IngesupMbed01 24:3462a304f9a0 26 #include "Buffer_Trame.h"
IngesupMbed01 33:ec7d635636bf 27 #include "Service.h"
IngesupMbed01 24:3462a304f9a0 28
IngesupMbed01 18:0bfd3ad421e5 29 class C_ModuleCommunication
IngesupMbed01 18:0bfd3ad421e5 30 {
IngesupMbed01 18:0bfd3ad421e5 31 private :
IngesupMbed01 18:0bfd3ad421e5 32 /* ATTRIBUTS */
IngesupMbed01 18:0bfd3ad421e5 33 xbee * m_xbee;
IngesupMbed01 24:3462a304f9a0 34 C_FrameBuffer m_trameRxBuffer;
IngesupMbed01 24:3462a304f9a0 35 C_FrameBuffer m_trameTxBuffer;
IngesupMbed01 24:3462a304f9a0 36 char * m_charRxBuffer;
IngesupMbed01 24:3462a304f9a0 37 char * m_charTxBuffer;
IngesupMbed01 18:0bfd3ad421e5 38
IngesupMbed01 18:0bfd3ad421e5 39 public :
IngesupMbed01 18:0bfd3ad421e5 40 /* CONSTRUCTEUR(S) */
IngesupMbed01 18:0bfd3ad421e5 41 C_ModuleCommunication();
IngesupMbed01 18:0bfd3ad421e5 42
IngesupMbed01 18:0bfd3ad421e5 43 /* DESTRUCTEUR */
IngesupMbed01 18:0bfd3ad421e5 44 ~C_ModuleCommunication();
IngesupMbed01 18:0bfd3ad421e5 45
IngesupMbed01 18:0bfd3ad421e5 46 /* METHODES */
IngesupMbed01 19:a05cd42f8e91 47 void moduleCommunicationTask(void);
IngesupMbed01 28:8b5ccd2f837e 48 void traitementTrame(void);
IngesupMbed01 19:a05cd42f8e91 49 void envoiDeTrame(void);
IngesupMbed01 19:a05cd42f8e91 50 void receptionDeTrame(void);
IngesupMbed01 33:ec7d635636bf 51 void creerTrameModuleTrajectoire(unsigned char idMessage);
IngesupMbed01 33:ec7d635636bf 52 void creerTrameSpeciale(unsigned char idMessage);
IngesupMbed01 33:ec7d635636bf 53 void consigneModuleTrajectoire(frame newFrame);
IngesupMbed01 33:ec7d635636bf 54 void consigneModuleVideo(frame newFrame);
IngesupMbed01 18:0bfd3ad421e5 55
IngesupMbed01 18:0bfd3ad421e5 56 /* FONCTIONS */
IngesupMbed01 18:0bfd3ad421e5 57
IngesupMbed01 18:0bfd3ad421e5 58 };
IngesupMbed01 18:0bfd3ad421e5 59
IngesupMbed01 18:0bfd3ad421e5 60 #endif