public ErrorCode GetState(out int state)
{
int errCode = ReceiveCAN(COND_STATUS_1 | (int)_baseArbId);
PigeonState retval = GetState(errCode, _cache);
state = (int)retval;
return(SetLastError((ErrorCode)errCode));
}
public PigeonState GetState()
{
int errCode = ReceiveCAN(COND_STATUS_1 | (int)_baseArbId);
PigeonState retval = GetState(errCode, _cache);
SetLastError((ErrorCode)errCode);
return(retval);
}
public PigeonState GetState()
{
int errCode = ReceiveCAN(COND_STATUS_1);
PigeonState retval = GetState(errCode, _cache);
HandleError(errCode);
return(retval);
}
public PigeonState GetState(int errCode, ulong statusFrame)
{
CheckFirmVers();
PigeonState retval = PigeonState.NoComm;
if (errCode != 0)
{
/* bad frame */
}
else
{
/* good frame */
byte b2 = (byte)(statusFrame >> 0x10);
MotionDriverState mds = (MotionDriverState)(b2 & 0x1f);
switch (mds)
{
case MotionDriverState.Error:
case MotionDriverState.Init0:
case MotionDriverState.WaitForPowerOff:
case MotionDriverState.ConfigAg:
case MotionDriverState.SelfTestAg:
case MotionDriverState.StartDMP:
case MotionDriverState.ConfigCompass_0:
case MotionDriverState.ConfigCompass_1:
case MotionDriverState.ConfigCompass_2:
case MotionDriverState.ConfigCompass_3:
case MotionDriverState.ConfigCompass_4:
case MotionDriverState.ConfigCompass_5:
case MotionDriverState.SelfTestCompass:
case MotionDriverState.WaitForGyroStable:
case MotionDriverState.AdditionalAccelAdjust:
retval = PigeonState.Initializing;
break;
case MotionDriverState.Idle:
retval = PigeonState.Ready;
break;
case MotionDriverState.Calibration:
case MotionDriverState.LedInstrum:
retval = PigeonState.UserCalibration;
break;
default:
retval = PigeonState.Initializing;
break;
}
}
return(retval);
}
//-------------------------------- ToString functions -----------------------//
/* static */
public string ToString(PigeonState state)
{
string retval = "Unknown";
switch (state)
{
case PigeonState.Initializing:
return("Initializing");
case PigeonState.Ready:
return("Ready");
case PigeonState.UserCalibration:
return("UserCalibration");
case PigeonState.NoComm:
return("NoComm");
}
return(retval);
}
