Diff: Eurobot_shared/Kalman/Sonar/RFSRF05.cpp

Revision:

16:b3dd4e0b3100

Parent:

15:acae5c0e9ca8

Child:

17:bafcef1c3579

--- a/Eurobot_shared/Kalman/Sonar/RFSRF05.cpp	Sat Apr 28 22:21:03 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,183 +0,0 @@
-
-#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();
-//}