Diff: communication.h

Revision:

5:098e6a44bd94

Parent:

4:a377ecb9364f

Child:

6:7ab57721c0fb

--- a/communication.h	Fri Jul 04 13:05:15 2014 +0000
+++ b/communication.h	Fri Jul 04 16:08:29 2014 +0000
@@ -32,13 +32,34 @@
 #include "lifter.h"
 #include "camera_platform.h"
 #include "mbed.h"
-#include "compass.h"
 #include "buzzer.h"
 
 #ifndef _COMMUNICATION_H
 #define _COMMUNICATION_H
 
-#define BUFFER_SIZE 256
+
+
+#define RUN_MSB     0xC7
+#define RUN_LSB     0x10
+#define ACK_RUN_MSB     0xC7
+#define ACK_RUN_LSB     0x10
+
+#define STOP_MSB    0xC6
+#define STOP_LSB    0x10
+#define ACK_STOP_MSB    0xD6
+#define ACK_STOP_LSB    0x01
+
+#define RESUME_MSB      0xD1
+#define RESUME_LSB      0x10
+#define ACK_RESUME_MSB      0xD1
+#define ACK_RESUME_LSB      0x10
+
+#define RST_MSB     0xC2
+#define RST_LSB     0x10    
+
+#define DECLINATIONANGLE  -0.0457
+
+#define BUFFER_SIZE 1024
 #define STARTER 0x7e
 #define COMPASS_STARTER 0x7d
 #define BUZZER_STARTER 0x7c
@@ -48,7 +69,7 @@
 class Communication
 {
 public:
-    Communication(MySerial* _DEBUG, MySerial *_IntelToMbed, MySerial *_MbedToArduino, Compass *_compass);
+    Communication(MySerial* _DEBUG, MySerial *_IntelToMbed, MySerial *_MbedToArduino, MySerial *CompassData);
     ~Communication();
 
     void putToBuffer(uint8_t _x, uint8_t communication_type); //0 is IntelToMbed, 1 is MbedTOArduino
@@ -68,12 +89,14 @@
     uint8_t getRotateDir();
 
     uint16_t campass_degree;
-    Compass *compass;
+    
+      int read();
     
 private:
     void init();
     uint8_t* buffer_IntelToMbed;
     uint8_t* buffer_MbedToArduino;
+    uint8_t* buffer_compass;
     uint8_t* forward_msg_buffer; //for forwarding message to the car
     uint16_t in_IntelToMbed;
     uint16_t out_IntelToMbed;
@@ -91,10 +114,25 @@
     uint16_t rotate_dis;
     uint8_t rotate_dir;
     
+    
+    uint8_t _MSB;
+    uint8_t _LSB;
+
+    uint16_t _in;
+    uint16_t _out;
+    
+    
+    void write2Bytes(char msb, char lsb);
+    void run();
+    void stop();
+    void resume();
+    void reset();
+    void clearBuffer();
+    
     MySerial *_DEBUG;
     MySerial *_IntelToMbed;
     MySerial *_MbedToArduino;
-    Compass *_compass;
+    MySerial *CompassData;
 };
 
 #endif
\ No newline at end of file