PNI TCM 5 - Manual (Page 56)

PNI Sensor Corporation Doc #1007537 r12
TCM3 & TCM5 User Manual- Sept 2011 Page 56
4.4.2.4 TCM5.cp File (For TCM3, TCM5 & TCM5L Modules):
#include "TCM.h"
#include "TickGenerator.h"
const UInt8 kDataCount = 4 ; // We will be requesting 4 componets (Heading, pitch, roll,
temperature)
//
// This object polls the TCM unit once a second for heading, pitch, roll and temperature.
//
TCM::TCM(SerPort * serPort)
: Process( "TCM" )
{
// Let the CommProtocol know this object will handle any serial data returned by the unit
mComm = new CommProtocol( this , serPort);
mTime = 0 ;
mStep = 1 ;
}
TCM::~TCM()
{
}
//
// Called by the CommProtocol object when a frame is completely received
//
void TCM::HandleComm(UInt8 frameType, void * dataPtr, UInt16 dataLen)
{
UInt8 * data = (UInt8 *)dataPtr;
switch (frameType)
{
case CommProtocol::kDataResp:
{
// Parse the data response
UInt8 count = data[ 0 ]; // The number of data elements returned
UInt32 pntr = 1 ; // Used to retrieve the returned elements
// The data elements we requested
Float32 heading, pitch, roll, temperature;
if (count != kDataCount)
{
// Message is a function that displays a C formatted string (similar to
printf)