PNI TCM - Manual (Page 76)

PNI Sensor Corporation DOC#1014688 r06
TCM User Manual – July 2013 Page 71
def aul t :
/ / Mes sage i s a f unc t i on t hat di s pl ay s a f or mat t ed s t r i ng
/ / ( si mi l ar t o pr i nt f )
Mess age( " Unk nown t ype: %02X\ r \ n" ,
dat a[ pnt r - 1] ) ;
/ / unk nown dat a t y pe, s o si ze i s unknown, so s ki p ev er yt hi ng
r et ur n;
br eak;
}
c ount - - ;
/ / One l es s el ement t o r ead i n
}
/ / Mes sage i s a f unc t i on t hat di s pl ay s a f or mat t ed s t r i ng
/ / ( si mi l ar t o pr i nt f )
Mess age( " Headi ng: %f , Pi t ch: %f , Rol l : %f ,
Temper at ur e: %f \ r \ n" , headi ng, pi t c h, r ol l ,
t emper at ur e) ;
mSt ep- - ;
/ / s end next dat a r equest
br eak;
}
def aul t :
{
/ / Mes sage i s a f unc t i on t hat di s pl ay s a f or mat t ed s t r i ng
/ / ( si mi l ar t o pr i nt f )
Mess age( " Unk nown f r ame %02X r ec ei ved\ r \ n" ,
( UI nt 16) f r ameType) ;
br eak;
}
}
}
/ /
/ / Hav e t he CommPr ot ocol bui l d and send t he f r ame t o t he modul e.
/ /
v oi d TCM: : SendComm( UI nt 8 f r ameType, v oi d * dat aPt r , UI nt 16 dat aLen)
{
i f ( mComm) mComm- >SendDat a( f r ameTy pe, dat aPt r , dat aLen) ;
/ / Ti c ks i s a t i mer f unct i on. 1 t i ck = 10ms ec .
mRes pons eTi me = Ti ck s ( ) + 300; / / Expec t a r esponse
wi t hi n 3 s ec onds
}
/ /
/ / Thi s i s cal l ed each t i me t hi s pr oces s get s a t ur n t o ex ec ut e.
/ /
v oi d TCM: : Cont r ol ( )
{
s wi t ch( mSt ep)
{
c ase 1:
{
UI nt 8 pk t [ kDat aCount + 1] ;
/ / t he c ompent s we ar e r eques t i ng, pr ec eded by t he number of
/ / c omponent s bei ng r equest ed
pk t [ 0] = k Dat aCount ;
pk t [ 1] = CommPr ot ocol : : kHeadi ng;