const CNativeA& CNativeA::operator = ( char cChar )
{
char pszChar[2];
pszChar[0] = cChar;
pszChar[1] = '\0';
SetRawData( pszChar, 1 );
return *this;
}
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//
void
MLRSorter::DrawPrimitive(MLRPrimitiveBase *pt, int pass)
{
Check_Object(this);
Check_Object(pt);
SortData *sd = NULL;
switch(pt->GetSortDataMode())
{
case SortData::TriList:
case SortData::TriIndexedList:
{
sd = SetRawData(pt, pass);
if(theCurrentState != sd->state)
{
SetDifferences(theCurrentState, sd->state);
theCurrentState = sd->state;
}
if(sd->texture2>0)
{
gos_SetRenderState(
gos_State_Texture2,
(*texturePool)[sd->texture2]->GetImage(NULL)->GetHandle());
switch(sd->state.GetMultiTextureMode())
{
case MLRState::MultiTextureLightmapMode:
gos_SetRenderState( gos_State_Multitexture, gos_Multitexture_LightMap );
break;
case MLRState::MultiTextureSpecularMode:
gos_SetRenderState( gos_State_Multitexture, gos_Multitexture_SpecularMap );
break;
}
}
else
{
}
SortData::DrawFunc drawFunc = sd->Draw[sd->type];
(sd->*drawFunc)();
if(sd->texture2>0)
{
gos_SetRenderState( gos_State_Multitexture, gos_Multitexture_None );
}
}
break;
}
}
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//
SortData *
MLRSorter::SetRawData ( MLRPrimitiveBase *pt, int pass)
{
Check_Object(this);
Check_Object(pt);
int drawMode = pt->GetSortDataMode();
switch(drawMode)
{
case SortData::TriIndexedList:
{
MLRIndexedPrimitiveBase *ipt = static_cast<MLRIndexedPrimitiveBase *>(pt);
int tex2 = 0;
void *vertices = ipt->GetGOSVertices(pass);
int vertexCount = ipt->GetNumGOSVertices();
if(pt->GetCurrentState(pass).GetMultiTextureMode()!=MLRState::MultiTextureOffMode && MLRState::GetMultitextureLightMap())
{
Verify(pass==0);
tex2 = pt->GetCurrentState(1).GetTextureHandle();
vertices = pt->GetGOSVertices2UV();
}
return SetRawIndexedData (
vertices,
vertexCount,
ipt->GetGOSIndices(pass),
ipt->GetNumGOSIndices(),
ipt->GetCurrentState(pass),
drawMode,
tex2
);
}
case SortData::TriList:
return SetRawData (
pt->GetGOSVertices(pass),
pt->GetNumGOSVertices(),
pt->GetCurrentState(pass),
drawMode
);
}
return NULL;
}
int main()
{
CyGlobalIntEnable; /* Uncomment this line to enable global interrupts. */
XBee_UART_Start();
I2C_Start();
LCD_Start();
// INITIALIZE VALUES
Command_Received = 0;
MAG_DataRdy_Flag = 0;
ReadyForCommand_Flag = 1;
IncomingData_Flag = 0;
StatusError_Flag = 0;
//WaitForDataRead_Flag = 0;
Command_Buffer = 0;
// INITIALIZE ISRs
InitXBee_Isr();
//InitINT1_Isr(); // IF INT1 TRIGGERS WHEN NOT IN ACTIVE MODE, MOVE INITIATION CODE FOR SETTING ACTIVE.
//INT1_isr_Start();
XBee_UART_ClearRxBuffer();
XBee_UART_ClearTxBuffer();
CyDelay(2000);
LCD_ClearDisplay();
LCD_Position(0,0);
LCD_PrintString("MAG DRIVER:");
LCD_Position(1,0);
LCD_PrintString("[ERR]");
LCD_Position(1,7);
LCD_PrintString("[I2C]");
uint8 status = 0;
status = SetCtrlReg1Default();
status |= SetCtrlReg2Default();
if(status !=0)
{
LCD_ClearDisplay();
LCD_Position(0,0);
LCD_PrintInt8(status);
status = 0;
}
uint8 pin_status = 0;
for(;;)
{
pin_status = INT1_Pin_Read();
pin_status |= MAG_DataRdy_Flag;
if(pin_status)
{
MAG_DataRdy_Flag = pin_status;
if(ReadyForCommand_Flag!=0)
{
Command_Received = CMD_I_RM_MAGDATA;
ReadyForCommand_Flag = 0;
}
}
if(Command_Received != 0)
{
LCD_ClearDisplay();
//XBee_UART_ClearTxBuffer();
//XBee_UART_ClearRxBuffer();
switch (Command_Received){
case CMD_I_RM_MAGDATA: // CMD_I_RM_MAGDATA = 34
{
status = ReadMagData(Global_ReadPtr);
if(status == 0)
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);
//LED_out_Write(0);
CyDelay(500);
XBee_UART_PutArray(Global_ReadPtr,ARRAY_SIZE_MAG_DATA);
CyDelay(1000);
//WaitForDataRead_Flag = 0;
MAG_DataRdy_Flag = 0;
if(Command_Buffer!=0)
{
Command_Received = Command_Buffer;
Command_Buffer = 0;
//ReadyForCommand_Flag = 0; //Dont toggle flag
}
else
{
Command_Received = 0;
ReadyForCommand_Flag = 1;
LED_out_Write(0);
}
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WM_OFFSET_ALL:// CMD_I_WM_OFFSET_ALL = 1
{
if(IncomingData_Flag == 0) // IF THE OFFSET DATA TO WRITE HAS BEEN RECEIVED...
{
status = WriteOffsetCorrection(DataInPtr_Global);
if(status == 0)
{
CyDelay(500);
XBee_UART_PutChar(Command_Received); //Sends confirmation TWICE. Once after receiving CMD, and again after finishing WRITE
LED_out_Write(0);
Command_Received = 0;
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1;
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
}
break;
case CMD_I_RS_CTRL1://CMD_I_RS_CTRL1=35
{
status = ReadCtrlReg1(Global_ReadPtr);
if(status == 0)
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);
LED_out_Write(0);
CyDelay(500);
XBee_UART_PutChar(Global_ReadBuffer[0]); // Send Read Value
Command_Received = 0;
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1;
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_RS_CTRL2://CMD_I_RS_CTRL2 = 36
{
status = ReadCtrlReg2(Global_ReadPtr);
if(status == 0)
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);
LED_out_Write(0);
CyDelay(500);
XBee_UART_PutChar(Global_ReadBuffer[0]); // Send Read Value
Command_Received = 0;
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1;
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_RS_DRSTATUS://CMD_I_RS_DRSTATUS = 37
{
status = ReadDrStatus(Global_ReadPtr);
if(status == 0)
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);
LED_out_Write(0);
CyDelay(500);
XBee_UART_PutChar(Global_ReadBuffer[0]); // Send Read Value
Command_Received = 0;
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1;
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_RS_SYSMOD:// CMD_I_RS_SYSMOD = 38
{
status = ReadSysMod(Global_ReadPtr);
if(status == 0)
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);
LED_out_Write(0);
CyDelay(500);
XBee_UART_PutChar(Global_ReadBuffer[0]);
Command_Received = 0;
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1;
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_RS_DIETEMP: // CMD_I_RS_DIETEMP = 39
{
status = ReadDieTemp(Global_ReadPtr);
if(status == 0)
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);
LED_out_Write(0);
CyDelay(500);
XBee_UART_PutChar(Global_ReadBuffer[0]);
Command_Received = 0;
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1;
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_RS_WHOAMI: // CMD_I_RS_WHOAMI = 40
{
status = ReadWhoAmI(Global_ReadPtr);
if(status == 0)
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);
LED_out_Write(0);
CyDelay(500);
XBee_UART_PutChar(Global_ReadBuffer[0]);
Command_Received = 0;
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1;
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL1_DEFAULT: // CMD_I_WS_CTRL1_DEFAULT = 41
{
status = SetCtrlReg1Default();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL1_MODSTANDBY: // CMD_I_WS_CTRL1_MODSTANDBY = 42
{
status = SetStandbyMode();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL1_MODSINGLE: // CMD_I_WS_CTRL1_MODSINGLE = 43
{
status = SetSingleMeasurmentMode();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
//IF INT1 CONTINUES TO TRIGGER WHEN NOT IT ACTIVE MODE, DEACTIVATE/ACTIVATE ISR WHEN CHANGING MODES
case CMD_I_WS_CTRL1_MODACTIVE: // CMD_I_WS_CTRL1_MODACTIVE = 44
{
status = SetContinuousMode();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL1_MODTRIGGER: // CMD_I_WS_CTRL1_MODTRIGGER = 45
{
status = SetTriggerMeasurmentMode();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL1_ENFAST: // CMD_I_WS_CTRL1_ENFAST = 46
{
status = SetFastReadOn();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL1_NENFAST: //CMD_I_WS_CTRL1_NENFAST = 47
{
status = SetFastReadOff();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL2_DEFAULT: //CMD_I_WS_CTRL2_DEFAULT = 48
{
status = SetCtrlReg2Default();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL2_ENAUTORESET: // CMD_I_WS_CTRL2_ENAUTORESET = 49
{
status = SetAutoResetOn();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL2_NENAUTORESET: // CMD_I_WS_CTRL2_NENAUTORESET = 50
{
status = SetAutoResetOff();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL2_ENUSEROFFSET: // CMD_I_WS_CTRL2_ENUSEROFFSET = 51
{
status = SetUserCorrectedData();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL2_NENUSEROFFSET: // CMD_I_WS_CTRL2_NENUSEROFFSET = 52
{
status = SetRawData();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
StatusError_Flag = 1;
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL2_RESETMAG: // CMD_I_WS_CTRL2_RESETMAG = 53
{
status = ResetMag();
if(status == 0) //if the write was a success
{
CyDelay(1000); //LET MAGNETOMETER RESET PROCEDURE FINISH
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
//LCD_ClearDisplay();
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_RESET_ALL://54
{
// RESET I2C
uint8 i2c_status = I2C_MasterClearStatus();
//LCD_ClearDisplay();
LCD_Position(1,7);
LCD_PrintInt8(i2c_status);
I2C_MasterClearReadBuf();
I2C_MasterClearWriteBuf();
// Reset MAG CTRL REGISTERS
status = SetCtrlReg1Default();
status |= SetCtrlReg2Default();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
//LCD_ClearDisplay();
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
default: //handles Set Sampling/Data rate CMDs, and Out of range errors
{
if((Command_Received >= (STARTOFRANGE_SET_SAMPLING_AND_RATE))&&(Command_Received < (STARTOFRANGE_SET_SAMPLING_AND_RATE + RANGESIZE_SET_SAMPLING_AND_RATE)))
{
uint8 offset = Command_Received-STARTOFRANGE_SET_SAMPLING_AND_RATE;
offset *=DELTAVALS_SET_SAMP_AND_RATE;
status = SetOverSampleAndDataRate(offset);
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
StatusError_Flag = 1;
//LCD_ClearDisplay();
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
}
}
else // ERROR: CMD VALUE OUT OF RANGE (executed if not a CMD to set sampling/data rate)
{
//CLEAR EVERYTHING
XBee_UART_ClearTxBuffer();
XBee_UART_ClearRxBuffer();
I2C_MasterClearReadBuf();
I2C_MasterClearWriteBuf();
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
XBee_UART_PutChar(CMD_O_CMDVALUEOUTOFRANGE); //Send error msg
//LCD_ClearDisplay();
LCD_Position(1,0);
LCD_PrintString("E:RAN");
CyDelay(1000);
LED_out_Write(0); //Turns off LED
}
}
} //END OF SWITCH-CASE
}//end of IF statement encasing switch-case
/*else // if(Command_Received == 0)
{
if((MAG_DataRdy_Flag==1) && (WaitForDataRead_Flag==0))
{
//May change CMD_O_MAGDATARDY to simply be the same as CMD_I_RM_MAGDATA.
//XBee_UART_ClearTxBuffer();
//LCD_ClearDisplay();
LCD_Position(1,0);
LCD_PrintString("DRDY2");
XBee_UART_PutChar(CMD_O_MAGDATARDY);// CMD_O_MAGDATARDY = 55
WaitForDataRead_Flag = 1; //Prevents constant resending of notification to MATLAB
INT1_isr_Disable();
}
}*/
}//END OF FOR LOOP
}//END OF MAIN
