terry LAI / Mbed 2 deprecated ESDC2014-pwm

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Dependencies:   mbed

Fork of ESDC2014 by terry LAI

compass.cpp@4:a377ecb9364f, 2014-07-04 (annotated)

Committer:
terryLAI
Date:
Fri Jul 04 13:05:15 2014 +0000
Revision:
4:a377ecb9364f
Parent:
3:4306d042af6f 
test;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TonyYI 0:3417ca0a36c0 1 #include "compass.h"
TonyYI 3:4306d042af6f 2
terryLAI 4:a377ecb9364f 3 Compass::Compass(MySerial _compassSerial)
terryLAI 4:a377ecb9364f 4 {
terryLAI 4:a377ecb9364f 5 printf(" _compassSerial %p...\r\n",_compassSerial);
terryLAI 4:a377ecb9364f 6 this->_compassSerial = _compassSerial;
terryLAI 4:a377ecb9364f 7 temp=_compassSerial;
terryLAI 4:a377ecb9364f 8 printf(" this->_compassSerial %p...\r\n",this->_compassSerial);
terryLAI 4:a377ecb9364f 9 buffer = new uint8_t [DATA_BUFFER_SIZE];
terryLAI 4:a377ecb9364f 10 _degree = 0;
terryLAI 4:a377ecb9364f 11 _MSB = 0;
terryLAI 4:a377ecb9364f 12 _LSB = 0;
terryLAI 4:a377ecb9364f 13 _in = _out = 0;
terryLAI 4:a377ecb9364f 14
terryLAI 4:a377ecb9364f 15 printf(" this->_compassSerial %p...\r\n",this->_compassSerial);
TonyYI 3:4306d042af6f 16
terryLAI 4:a377ecb9364f 17
terryLAI 4:a377ecb9364f 18 if(_compassSerial->writeable())
terryLAI 4:a377ecb9364f 19 {
terryLAI 4:a377ecb9364f 20 printf("_writable()...\r\n");
terryLAI 4:a377ecb9364f 21 this->_compassSerial->putc('1');
terryLAI 4:a377ecb9364f 22 }
terryLAI 4:a377ecb9364f 23 printf("_MSB = 1 wrote...\r\n");
terryLAI 4:a377ecb9364f 24 if(_compassSerial->writeable())
terryLAI 4:a377ecb9364f 25 {
terryLAI 4:a377ecb9364f 26 printf("_writable()...\r\n");
terryLAI 4:a377ecb9364f 27 this->_compassSerial->putc('2');
terryLAI 4:a377ecb9364f 28 }
terryLAI 4:a377ecb9364f 29 printf("_LSB = 2 wrote...\r\n");
terryLAI 4:a377ecb9364f 30 wait(0.1);
terryLAI 4:a377ecb9364f 31
TonyYI 0:3417ca0a36c0 32 }
TonyYI 0:3417ca0a36c0 33
terryLAI 4:a377ecb9364f 34 Compass::~Compass()
TonyYI 0:3417ca0a36c0 35 {
terryLAI 4:a377ecb9364f 36 delete[] buffer;
TonyYI 0:3417ca0a36c0 37 }
TonyYI 0:3417ca0a36c0 38
terryLAI 4:a377ecb9364f 39 void Compass::putToBuffer(uint8_t _x)
TonyYI 0:3417ca0a36c0 40 {
terryLAI 4:a377ecb9364f 41 buffer[_in++] = _x;
terryLAI 4:a377ecb9364f 42 if(_in == DATA_BUFFER_SIZE-1)
TonyYI 3:4306d042af6f 43 {
terryLAI 4:a377ecb9364f 44 _in &= 0x00;
TonyYI 3:4306d042af6f 45 }
TonyYI 0:3417ca0a36c0 46 }
TonyYI 0:3417ca0a36c0 47
terryLAI 4:a377ecb9364f 48 void Compass::clearBuffer()
TonyYI 0:3417ca0a36c0 49 {
terryLAI 4:a377ecb9364f 50 _in = _out = 0;
terryLAI 1:cbec1283a16a 51 }
terryLAI 1:cbec1283a16a 52
terryLAI 4:a377ecb9364f 53 int Compass::read()
TonyYI 3:4306d042af6f 54 {
terryLAI 4:a377ecb9364f 55 printf("Entering Compass::read()...\r\n");
terryLAI 4:a377ecb9364f 56 printf(" this->_compassSerial %p...\r\n",this->_compassSerial);
terryLAI 4:a377ecb9364f 57 printf(" temp %p...\r\n",temp);
terryLAI 4:a377ecb9364f 58
terryLAI 4:a377ecb9364f 59 printf("_writable()?...\r\n");
terryLAI 4:a377ecb9364f 60 if(_compassSerial->writeable())
terryLAI 4:a377ecb9364f 61 {
terryLAI 4:a377ecb9364f 62 printf("can write..\r\n");
terryLAI 4:a377ecb9364f 63 }
terryLAI 4:a377ecb9364f 64
terryLAI 4:a377ecb9364f 65 printf("readable()?...\r\n");
terryLAI 4:a377ecb9364f 66 if(_compassSerial->writeable())
terryLAI 4:a377ecb9364f 67 {
terryLAI 4:a377ecb9364f 68 printf("can read..\r\n");
terryLAI 4:a377ecb9364f 69 }
terryLAI 4:a377ecb9364f 70
terryLAI 4:a377ecb9364f 71 stop();
terryLAI 4:a377ecb9364f 72 clearBuffer();
terryLAI 4:a377ecb9364f 73
terryLAI 4:a377ecb9364f 74
terryLAI 4:a377ecb9364f 75 printf("0\r\n");
terryLAI 4:a377ecb9364f 76 resume();
terryLAI 4:a377ecb9364f 77 if(buffer[_out++] == ACK_RESUME_MSB && buffer[_out++] == ACK_RESUME_LSB)
terryLAI 4:a377ecb9364f 78 {
terryLAI 4:a377ecb9364f 79 }
TonyYI 3:4306d042af6f 80 else
terryLAI 4:a377ecb9364f 81 {
terryLAI 4:a377ecb9364f 82 clearBuffer();
terryLAI 4:a377ecb9364f 83 return -1;
terryLAI 4:a377ecb9364f 84 }
terryLAI 4:a377ecb9364f 85
terryLAI 4:a377ecb9364f 86 printf("1\r\n");
terryLAI 4:a377ecb9364f 87 run();
terryLAI 4:a377ecb9364f 88 if(buffer[_out++] == ACK_RUN_MSB && buffer[_out++] == ACK_RUN_LSB)
terryLAI 4:a377ecb9364f 89 {
terryLAI 4:a377ecb9364f 90 }
terryLAI 4:a377ecb9364f 91 else
terryLAI 4:a377ecb9364f 92 {
terryLAI 4:a377ecb9364f 93 clearBuffer();
terryLAI 4:a377ecb9364f 94 return -1;
terryLAI 4:a377ecb9364f 95 }
TonyYI 3:4306d042af6f 96
terryLAI 4:a377ecb9364f 97 printf("2\r\n");
terryLAI 4:a377ecb9364f 98 _MSB = buffer[_out++];
terryLAI 4:a377ecb9364f 99 _LSB = buffer[_out++];
terryLAI 4:a377ecb9364f 100 printf("_MSB: %x, _LSB: %x\r\n", _MSB, _LSB);
terryLAI 4:a377ecb9364f 101
terryLAI 4:a377ecb9364f 102 printf("3\r\n");
terryLAI 4:a377ecb9364f 103 stop();
terryLAI 4:a377ecb9364f 104 if(buffer[_in - 1] == ACK_STOP_MSB && buffer[_in] == ACK_STOP_LSB)
terryLAI 4:a377ecb9364f 105 {
terryLAI 4:a377ecb9364f 106 }
terryLAI 4:a377ecb9364f 107 else
terryLAI 4:a377ecb9364f 108 {
terryLAI 4:a377ecb9364f 109 return -1;
terryLAI 4:a377ecb9364f 110 }
terryLAI 4:a377ecb9364f 111 _out = _in;
terryLAI 4:a377ecb9364f 112 clearBuffer();
terryLAI 4:a377ecb9364f 113 _degree=0;
terryLAI 4:a377ecb9364f 114 printf("Exiting Compass::read()...\r\n");
terryLAI 4:a377ecb9364f 115 return _degree;
TonyYI 3:4306d042af6f 116 }
terryLAI 4:a377ecb9364f 117
terryLAI 4:a377ecb9364f 118 void Compass::run()
terryLAI 4:a377ecb9364f 119 {
terryLAI 4:a377ecb9364f 120 printf("Entering Compass::run()...\r\n");
terryLAI 4:a377ecb9364f 121 write2Bytes(RUN_MSB, RUN_LSB);
terryLAI 4:a377ecb9364f 122 }
terryLAI 4:a377ecb9364f 123
terryLAI 4:a377ecb9364f 124 void Compass::stop()
terryLAI 4:a377ecb9364f 125 {
terryLAI 4:a377ecb9364f 126 printf("Entering Compass::stop()...\r\n");
terryLAI 4:a377ecb9364f 127 write2Bytes(STOP_MSB, STOP_LSB);
terryLAI 4:a377ecb9364f 128 }
terryLAI 4:a377ecb9364f 129
terryLAI 4:a377ecb9364f 130 void Compass::resume()
terryLAI 4:a377ecb9364f 131 {
terryLAI 4:a377ecb9364f 132 printf("Entering Compass::resume()...\r\n");
terryLAI 4:a377ecb9364f 133 write2Bytes(RESUME_MSB, RESUME_LSB);
terryLAI 4:a377ecb9364f 134 }
terryLAI 4:a377ecb9364f 135
terryLAI 4:a377ecb9364f 136 void Compass::reset()
terryLAI 4:a377ecb9364f 137 {
terryLAI 4:a377ecb9364f 138 printf("Entering Compass::reset()...\r\n");
terryLAI 4:a377ecb9364f 139 write2Bytes(RST_MSB, RST_LSB);
terryLAI 4:a377ecb9364f 140 }
terryLAI 4:a377ecb9364f 141
terryLAI 4:a377ecb9364f 142 void Compass::write2Bytes(char msb, char lsb)
terryLAI 4:a377ecb9364f 143 {
terryLAI 4:a377ecb9364f 144 printf("before writable...\r\n");
terryLAI 4:a377ecb9364f 145 if(_compassSerial->writeable())
terryLAI 4:a377ecb9364f 146 {
terryLAI 4:a377ecb9364f 147 this->_compassSerial->putc(msb);
terryLAI 4:a377ecb9364f 148 }
terryLAI 4:a377ecb9364f 149 printf("_MSB = %x wrote...\r\n", msb);
terryLAI 4:a377ecb9364f 150 if(_compassSerial->writeable())
terryLAI 4:a377ecb9364f 151 {
terryLAI 4:a377ecb9364f 152 this->_compassSerial->putc(lsb);
terryLAI 4:a377ecb9364f 153 }
terryLAI 4:a377ecb9364f 154 printf("_LSB = %x wrote...\r\n", lsb);
terryLAI 4:a377ecb9364f 155 wait(0.1);
terryLAI 4:a377ecb9364f 156 }