Diff: Kalman/Sonar/RFSRF05.cpp

Revision:

2:cffa347bb943

Parent:

1:bbabbd997d21

Child:

3:429829612cf9

--- a/Kalman/Sonar/RFSRF05.cpp	Fri Apr 20 21:56:15 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,135 +0,0 @@
-
-#include "RFSRF05.h"
-#include "mbed.h"
-#include "globals.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
-    _code[0] = CODE0;
-    _code[1] = CODE1;
-    _code[2] = CODE2;
-
-    //set callback execute to true
-    ValidPulse = false;
-
-    // Attach interrupts
-    _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);
-
-
-    //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() {
-
-    //printf("Srange\r\r");
-
-    // 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;
-    expValidPulse = true;
-
-    _trigger = 1;
-    wait_us (10);
-    _trigger = 0;
-    wait_us(50);
-}
-
-
-// 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
-        _dist[_beacon_counter] =  _timer.read_us()/2.9 + 300;
-        
-        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]);
-}
-
-//SRF05::operator float() {
-//    return read();
-//}