Kalman filter for Eurobot
RFSRF05/RFSRF05.cpp
- Committer:
- madcowswe
- Date:
- 2012-03-20
- Revision:
- 0:a0285293f6a6
File content as of revision 0:a0285293f6a6:
/* mbed SRF05 Ultrasonic Rangefiner Library * Copyright (c) 2007-2010, cstyles, sford * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #include "RFSRF05.h" #include "mbed.h" RFSRF05::RFSRF05(PinName trigger, PinName echo0, PinName echo1, PinName echo2, PinName echo3, PinName echo4, PinName echo5, PinName SDI, PinName SDO, PinName SCK, PinName NCS, PinName NIRQ) : _trigger(trigger), _echo0(echo0), _echo1(echo1), _echo2(echo2), _echo3(echo3), _echo4(echo4), _echo5(echo5), _rf(SDI,SDO,SCK,NCS,NIRQ) { // initialises codes _code[0] = CODE0; _code[1] = CODE1; _code[2] = CODE2; //set callback execute to true ValidPulse = true; // Attach interrupts _echo0.rise(this, &RFSRF05::_rising); _echo0.fall(this, &RFSRF05::_falling); _echo1.fall(this, &RFSRF05::_falling); _echo2.fall(this, &RFSRF05::_falling); _echo3.fall(this, &RFSRF05::_falling); _echo4.fall(this, &RFSRF05::_falling); _echo5.fall(this, &RFSRF05::_falling); //init callabck function callbackfunc = NULL; callbackobj = NULL; mcallbackfunc = NULL; // innitialises beacon counter _beacon_counter = 0; //Interrupts every 50ms _ticker.attach(this, &RFSRF05::_startRange, 0.05); } void RFSRF05::_startRange() { // increments counter _beacon_counter = (_beacon_counter + 1) % 3; // writes code to RF port _rf.write(_code[_beacon_counter]); // send a trigger pulse, 10uS long ValidPulse = false; _trigger = 1; wait_us (10); _trigger = 0; } // Clear and start the timer at the begining of the echo pulse void RFSRF05::_rising(void) { _timer.reset(); _timer.start(); //Set callback execute to ture ValidPulse = true; } // Stop and read the timer at the end of the pulse void RFSRF05::_falling(void) { _timer.stop(); if (ValidPulse) { ValidPulse = false; //Calucate distance _dist[_beacon_counter] = _timer.read_us()/29.0; if (callbackfunc) (*callbackfunc)(_beacon_counter, _dist[_beacon_counter]); if (callbackobj && mcallbackfunc) (callbackobj->*mcallbackfunc)(_beacon_counter, _dist[_beacon_counter]); } } float RFSRF05::read0() { // returns distance return (_dist[0]); } float RFSRF05::read1() { // returns distance return (_dist[1]); } float RFSRF05::read2() { // returns distance return (_dist[2]); } //SRF05::operator float() { // return read(); //}