Shuto Naruse / Mbed 2 deprecated Eurobot2012_Primary

Eurobot2012_Primary

Dependencies:   mbed Eurobot_2012_Primary

Eurobot_shared/Kalman/Sonar/RF12B/RF12B.h@26:0995f61cb7b8, 2012-10-17 (annotated)

Committer:
narshu
Date:
Wed Oct 17 22:22:47 2012 +0000
Revision:
26:0995f61cb7b8
Parent:
17:bafcef1c3579 
Eurobot 2012 Primary;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
narshu 17:bafcef1c3579 1 #ifndef _RF12B_H
narshu 17:bafcef1c3579 2 #define _RF12B_H
narshu 17:bafcef1c3579 3
narshu 17:bafcef1c3579 4 #include "mbed.h"
narshu 17:bafcef1c3579 5 //#include <queue>
narshu 17:bafcef1c3579 6
narshu 17:bafcef1c3579 7 enum rfmode_t{RX, TX};
narshu 17:bafcef1c3579 8
narshu 17:bafcef1c3579 9 class DummyCT;
narshu 17:bafcef1c3579 10
narshu 17:bafcef1c3579 11 class RF12B {
narshu 17:bafcef1c3579 12 public:
narshu 17:bafcef1c3579 13 /* Constructor */
narshu 17:bafcef1c3579 14 RF12B(PinName SDI,
narshu 17:bafcef1c3579 15 PinName SDO,
narshu 17:bafcef1c3579 16 PinName SCK,
narshu 17:bafcef1c3579 17 PinName NCS,
narshu 17:bafcef1c3579 18 PinName NIRQ);
narshu 17:bafcef1c3579 19
narshu 17:bafcef1c3579 20
narshu 17:bafcef1c3579 21
narshu 17:bafcef1c3579 22 /* Reads a packet of data. Returns false if read failed. Use available() to check how much space to allocate for buffer */
narshu 17:bafcef1c3579 23 bool read(unsigned char* data, unsigned int size);
narshu 17:bafcef1c3579 24
narshu 17:bafcef1c3579 25 /* Reads a byte of data from the receive buffer
narshu 17:bafcef1c3579 26 Returns 0xFF if there is no data */
narshu 17:bafcef1c3579 27 unsigned char read();
narshu 17:bafcef1c3579 28
narshu 17:bafcef1c3579 29 /* Transmits a packet of data */
narshu 17:bafcef1c3579 30 void write(unsigned char* data, unsigned char length);
narshu 17:bafcef1c3579 31 void write(unsigned char data); /* 1-byte packet */
narshu 17:bafcef1c3579 32 // void write(std::queue<char> &data, int length = -1); /* sends a whole queue */
narshu 17:bafcef1c3579 33
narshu 17:bafcef1c3579 34 /* Returns the packet length if data is available in the receive buffer, 0 otherwise*/
narshu 17:bafcef1c3579 35 unsigned int available();
narshu 17:bafcef1c3579 36
narshu 17:bafcef1c3579 37 /** A assigns a callback function when a new reading is available **/
narshu 17:bafcef1c3579 38 void (*callbackfunc)(unsigned char rx_code);
narshu 17:bafcef1c3579 39 DummyCT* callbackobj;
narshu 17:bafcef1c3579 40 void (DummyCT::*mcallbackfunc)(unsigned char rx_code);
narshu 17:bafcef1c3579 41
narshu 17:bafcef1c3579 42 protected:
narshu 17:bafcef1c3579 43 /* Receive FIFO buffer */
narshu 17:bafcef1c3579 44 // std::queue<unsigned char> fifo;
narshu 17:bafcef1c3579 45 // std::queue<unsigned char> temp; //for storing stuff mid-packet
narshu 17:bafcef1c3579 46
narshu 17:bafcef1c3579 47 /* SPI module */
narshu 17:bafcef1c3579 48 SPI spi;
narshu 17:bafcef1c3579 49
narshu 17:bafcef1c3579 50 /* Other digital pins */
narshu 17:bafcef1c3579 51 DigitalOut NCS;
narshu 17:bafcef1c3579 52 InterruptIn NIRQ;
narshu 17:bafcef1c3579 53 DigitalIn NIRQ_in;
narshu 17:bafcef1c3579 54 //DigitalOut rfled;
narshu 17:bafcef1c3579 55
narshu 17:bafcef1c3579 56 rfmode_t mode;
narshu 17:bafcef1c3579 57
narshu 17:bafcef1c3579 58 /* Initialises the RF12B module */
narshu 17:bafcef1c3579 59 void init();
narshu 17:bafcef1c3579 60
narshu 17:bafcef1c3579 61 /* Write a command to the RF Module */
narshu 17:bafcef1c3579 62 unsigned int writeCmd(unsigned int cmd);
narshu 17:bafcef1c3579 63
narshu 17:bafcef1c3579 64 /* Sends a byte of data across RF */
narshu 17:bafcef1c3579 65 void send(unsigned char data);
narshu 17:bafcef1c3579 66
narshu 17:bafcef1c3579 67 /* Switch module between receive and transmit modes */
narshu 17:bafcef1c3579 68 void changeMode(rfmode_t mode);
narshu 17:bafcef1c3579 69
narshu 17:bafcef1c3579 70 /* Interrupt routine for data reception */
narshu 17:bafcef1c3579 71 void rxISR();
narshu 17:bafcef1c3579 72
narshu 17:bafcef1c3579 73 /* Tell the RF Module this packet is received and wait for the next */
narshu 17:bafcef1c3579 74 void resetRX();
narshu 17:bafcef1c3579 75
narshu 17:bafcef1c3579 76 /* Return the RF Module Status word */
narshu 17:bafcef1c3579 77 unsigned int status();
narshu 17:bafcef1c3579 78
narshu 17:bafcef1c3579 79 /* Calculate CRC8 */
narshu 17:bafcef1c3579 80 unsigned char crc8(unsigned char crc, unsigned char data);
narshu 17:bafcef1c3579 81 };
narshu 17:bafcef1c3579 82
narshu 17:bafcef1c3579 83 #endif /* _RF12B_H */