PNI CompassPoint Prime - Manual (Page 68)

PNI Sensor Corporation DOC# 1014177 r08
Prime User Manual – July 2011 Page 62
break;
}
default:
{
// Message is a function that displays a formatted
// string (similar to printf)
Message("Unknown frame %02X received\r\n",
(UInt16)frameType);
break;
}
}
}
//
// Have the CommProtocol build and send the frame to the unit.
//
void Prime::SendComm(UInt8 frameType, void * dataPtr, UInt16 dataLen)
{
if(mComm) mComm->SendData(frameType, dataPtr, dataLen);
// Ticks is a timer function. 1 tick = 10msec.
mResponseTime = Ticks() + 300; // Expect a response within
// 3 seconds
}
// This is called each time this process gets a turn to execute.
//
void Prime::Control()
{
switch(mStep)
{
case 1:
{
// the compents we are requesting, preceded by the
// number of...
UInt8 pkt[kDataCount + 1];
// ...components being requested
pkt[0] = kDataCount;
pkt[1] = CommProtocol::kHeading;
pkt[2] = CommProtocol::kPAngle;
pkt[3] = CommProtocol::kRAngle;
SendComm(CommProtocol::kSetDataComponents,
pkt, kDataCount + 1);
// Ticks is a timer function. 1 tick = 10msec.
mTime = Ticks() + 100; // Taking a sample in 1s.
mStep++; // go to next step of process
break;
}
case 2:
{