Diff: Eurobot_shared/Kalman/Sonar/RFSRF05.cpp

Revision:

22:7ba09c0af0d0

Parent:

17:bafcef1c3579

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Eurobot_shared/Kalman/Sonar/RFSRF05.cpp	Thu May 03 14:20:04 2012 +0000
@@ -0,0 +1,183 @@
+
+#include "RFSRF05.h"
+#include "mbed.h"
+#include "globals.h"
+#include "system.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)
+        : _rf(SDI,SDO,SCK,NCS,NIRQ),
+        _trigger(trigger),
+        _echo0(echo0),
+        _echo1(echo1),
+        _echo2(echo2),
+        _echo3(echo3),
+        _echo4(echo4),
+        _echo5(echo5) {
+
+    // initialises codes
+    codes[0] = CODE0;
+    codes[1] = CODE1;
+    codes[2] = CODE2;
+
+    //set callback execute to true
+    ValidPulse = false;
+
+    // Attach interrupts
+#ifdef SONAR_ECHO_INV
+    // inverted sonar inputs
+    _echo5.fall(this, &RFSRF05::_rising);
+    _echo0.rise(this, &RFSRF05::_falling);
+    _echo1.rise(this, &RFSRF05::_falling);
+    _echo2.rise(this, &RFSRF05::_falling);
+    _echo3.rise(this, &RFSRF05::_falling);
+    _echo4.rise(this, &RFSRF05::_falling);
+    _echo5.rise(this, &RFSRF05::_falling);
+#else
+    _echo5.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);
+#endif
+
+
+    //init callabck function
+    callbackfunc = NULL;
+    callbackobj = NULL;
+    mcallbackfunc = NULL;
+
+    // innitialises beacon counter
+    _beacon_counter = 0;
+
+#ifdef ROBOT_PRIMARY
+    //Interrupts every 50ms for primary robot
+    _ticker.attach(this, &RFSRF05::_startRange, 0.05);
+#else
+    //attach callback
+    _rf.callbackobj = (DummyCT*)this;
+    _rf.mcallbackfunc = (void (DummyCT::*)(unsigned char rx_data)) &RFSRF05::startRange;
+#endif
+
+}
+
+#ifdef ROBOT_PRIMARY
+void RFSRF05::_startRange() {
+
+    //printf("Srange\r\r");
+
+    // increments counter
+    _beacon_counter = (_beacon_counter + 1) % 3;
+
+
+    // set flags
+    ValidPulse = false;
+    expValidPulse = true;
+    
+    // writes code to RF port
+    _rf.write(codes[_beacon_counter]);
+
+    // send a trigger pulse, 10uS long
+    _trigger = 1;
+    wait_us (10);
+    _trigger = 0;
+
+}
+#else
+
+void RFSRF05::startRange(unsigned char rx_code) {
+    for (int i = 0; i < 3; i++) {
+        if (rx_code == codes[i]) {
+       
+            // assign beacon_counter
+            _beacon_counter = i;
+
+            // set flags
+            ValidPulse = false;
+            expValidPulse = true;
+
+            // send a trigger pulse, 10uS long
+            _trigger = 1;
+            wait_us (10);
+            _trigger = 0;
+            break;
+        }
+    }
+}
+#endif
+
+// 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
+    if (expValidPulse) {
+        ValidPulse = true;
+        expValidPulse = false;
+    }
+}
+
+// Stop and read the timer at the end of the pulse
+void RFSRF05::_falling(void) {
+    _timer.stop();
+
+    if (ValidPulse) {
+        //printf("Validpulse trig!\r\n");
+        ValidPulse = false;
+
+        //Calucate distance
+        //true offset is about 330, we put 450 so circles overlap
+        _dist[_beacon_counter] =  _timer.read_us()/2.9 + 450;
+
+        if (callbackfunc)
+            (*callbackfunc)(_beacon_counter, _dist[_beacon_counter]);
+
+        if (callbackobj && mcallbackfunc)
+            (callbackobj->*mcallbackfunc)(_beacon_counter, _dist[_beacon_counter], sonarvariance);
+
+    }
+
+}
+
+float RFSRF05::read0() {
+    // returns distance
+    return (_dist[0]);
+}
+
+float RFSRF05::read1() {
+    // returns distance
+    return (_dist[1]);
+}
+
+float RFSRF05::read2() {
+    // returns distance
+    return (_dist[2]);
+}
+
+float RFSRF05::read(unsigned int beaconnum) {
+    // returns distance
+    return (_dist[beaconnum]);
+}
+
+void RFSRF05::setCode(int code_index, unsigned char code) {
+    codes[code_index] = code;
+}
+
+//SRF05::operator float() {
+//    return read();
+//}