PNI CompassPoint Prime - Manual (Page 58)

PNI Sensor Corporation DOC# 1014177 r08
Prime User Manual – July 2011 Page 52
8.2 CommProtocol.h File
Note: This file contains objects used to handle the serial communication with the unit. Unfortunately,
these files are not available as the program was written on a non-PC computer. The comments in the
code should explain what is expected to be sent or received from these functions so that you can
write this section for your specific platform. For example, with the TickGenerator.h, you would need
to write a routing that generates 10msec ticks.
#pragma once
#include "SystemSerPort.h"
#include "Processes.h"
//
//CommHandler is a base class that provides a callback for
//incoming messages.
//
class CommHandler
{
public:
// Call back to be implemented in derived class.
virtual void HandleComm(UInt8 frameType, void * dataPtr =
NULL, UInt16 dataLen = 0) {}
};
//
//CommProtocol handles actual serial communication with the unit.
//Process is a base class that provides CommProtocol with
//cooperative parallel processing. The Control method will be
//called by a process manager on a continuous basis.
//
class CommProtocol : public Process
{
public:
enum
{
// Frame IDs (Commands)
kGetModInfo = 1, // 1
kModInfoResp, // 2
kSetDataComponents, // 3
kGetData, // 4
kDataResp, // 5
// Data Component IDs
kHeading = 5, // 5 - type Float32
kPAligned = 21, // 21 - type Float32
kRAligned, // 22 - type Float32
kIZAligned, // 23 - type Float32
kPAngle, // 24 - type Float32