Shuto Naruse
Eurobot_2012_Secondary
Kalman/Sonar/RFSRF05.h@0:fbfafa6bf5f9, 2012-04-20 (annotated)
- Committer:
- narshu
- Date:
- Fri Apr 20 21:32:24 2012 +0000
- Revision:
- 0:fbfafa6bf5f9
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| narshu | 0:fbfafa6bf5f9 | 1 | |
| narshu | 0:fbfafa6bf5f9 | 2 | #ifndef MBED_RFSRF05_H |
| narshu | 0:fbfafa6bf5f9 | 3 | #define MBED_RFSRF05_H |
| narshu | 0:fbfafa6bf5f9 | 4 | |
| narshu | 0:fbfafa6bf5f9 | 5 | #include "mbed.h" |
| narshu | 0:fbfafa6bf5f9 | 6 | #include "RF12B.h" |
| narshu | 0:fbfafa6bf5f9 | 7 | |
| narshu | 0:fbfafa6bf5f9 | 8 | #define CODE0 0x22 |
| narshu | 0:fbfafa6bf5f9 | 9 | #define CODE1 0x44 |
| narshu | 0:fbfafa6bf5f9 | 10 | #define CODE2 0x88 |
| narshu | 0:fbfafa6bf5f9 | 11 | |
| narshu | 0:fbfafa6bf5f9 | 12 | /* SAMPLE IMPLEMENTATION! |
| narshu | 0:fbfafa6bf5f9 | 13 | RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9); |
| narshu | 0:fbfafa6bf5f9 | 14 | |
| narshu | 0:fbfafa6bf5f9 | 15 | |
| narshu | 0:fbfafa6bf5f9 | 16 | void callbinmain(int num, float dist) { |
| narshu | 0:fbfafa6bf5f9 | 17 | //Here is where you deal with your brand new reading ;D |
| narshu | 0:fbfafa6bf5f9 | 18 | } |
| narshu | 0:fbfafa6bf5f9 | 19 | |
| narshu | 0:fbfafa6bf5f9 | 20 | int main() { |
| narshu | 0:fbfafa6bf5f9 | 21 | pc.printf("Hello World of RobotSonar!\r\n"); |
| narshu | 0:fbfafa6bf5f9 | 22 | my_srf.callbackfunc = callbinmain; |
| narshu | 0:fbfafa6bf5f9 | 23 | |
| narshu | 0:fbfafa6bf5f9 | 24 | while (1); |
| narshu | 0:fbfafa6bf5f9 | 25 | } |
| narshu | 0:fbfafa6bf5f9 | 26 | |
| narshu | 0:fbfafa6bf5f9 | 27 | */ |
| narshu | 0:fbfafa6bf5f9 | 28 | |
| narshu | 0:fbfafa6bf5f9 | 29 | class DummyCT; |
| narshu | 0:fbfafa6bf5f9 | 30 | |
| narshu | 0:fbfafa6bf5f9 | 31 | class RFSRF05 { |
| narshu | 0:fbfafa6bf5f9 | 32 | public: |
| narshu | 0:fbfafa6bf5f9 | 33 | |
| narshu | 0:fbfafa6bf5f9 | 34 | RFSRF05( |
| narshu | 0:fbfafa6bf5f9 | 35 | PinName trigger, |
| narshu | 0:fbfafa6bf5f9 | 36 | PinName echo0, |
| narshu | 0:fbfafa6bf5f9 | 37 | PinName echo1, |
| narshu | 0:fbfafa6bf5f9 | 38 | PinName echo2, |
| narshu | 0:fbfafa6bf5f9 | 39 | PinName echo3, |
| narshu | 0:fbfafa6bf5f9 | 40 | PinName echo4, |
| narshu | 0:fbfafa6bf5f9 | 41 | PinName echo5, |
| narshu | 0:fbfafa6bf5f9 | 42 | PinName SDI, |
| narshu | 0:fbfafa6bf5f9 | 43 | PinName SDO, |
| narshu | 0:fbfafa6bf5f9 | 44 | PinName SCK, |
| narshu | 0:fbfafa6bf5f9 | 45 | PinName NCS, |
| narshu | 0:fbfafa6bf5f9 | 46 | PinName NIRQ); |
| narshu | 0:fbfafa6bf5f9 | 47 | |
| narshu | 0:fbfafa6bf5f9 | 48 | /** A non-blocking function that will return the last measurement |
| narshu | 0:fbfafa6bf5f9 | 49 | * |
| narshu | 0:fbfafa6bf5f9 | 50 | * @returns floating point representation of distance in mm |
| narshu | 0:fbfafa6bf5f9 | 51 | */ |
| narshu | 0:fbfafa6bf5f9 | 52 | float read0(); |
| narshu | 0:fbfafa6bf5f9 | 53 | float read1(); |
| narshu | 0:fbfafa6bf5f9 | 54 | float read2(); |
| narshu | 0:fbfafa6bf5f9 | 55 | float read(unsigned int beaconnum); |
| narshu | 0:fbfafa6bf5f9 | 56 | |
| narshu | 0:fbfafa6bf5f9 | 57 | |
| narshu | 0:fbfafa6bf5f9 | 58 | /** A assigns a callback function when a new reading is available **/ |
| narshu | 0:fbfafa6bf5f9 | 59 | void (*callbackfunc)(int beaconnum, float distance); |
| narshu | 0:fbfafa6bf5f9 | 60 | DummyCT* callbackobj; |
| narshu | 0:fbfafa6bf5f9 | 61 | void (DummyCT::*mcallbackfunc)(int beaconnum, float distance, float variance); |
| narshu | 0:fbfafa6bf5f9 | 62 | |
| narshu | 0:fbfafa6bf5f9 | 63 | //triggers a read |
| narshu | 0:fbfafa6bf5f9 | 64 | |
| narshu | 0:fbfafa6bf5f9 | 65 | |
| narshu | 0:fbfafa6bf5f9 | 66 | /** A short hand way of using the read function */ |
| narshu | 0:fbfafa6bf5f9 | 67 | //operator float(); |
| narshu | 0:fbfafa6bf5f9 | 68 | |
| narshu | 0:fbfafa6bf5f9 | 69 | private : |
| narshu | 0:fbfafa6bf5f9 | 70 | RF12B _rf; |
| narshu | 0:fbfafa6bf5f9 | 71 | DigitalOut _trigger; |
| narshu | 0:fbfafa6bf5f9 | 72 | InterruptIn _echo0; |
| narshu | 0:fbfafa6bf5f9 | 73 | InterruptIn _echo1; |
| narshu | 0:fbfafa6bf5f9 | 74 | InterruptIn _echo2; |
| narshu | 0:fbfafa6bf5f9 | 75 | InterruptIn _echo3; |
| narshu | 0:fbfafa6bf5f9 | 76 | InterruptIn _echo4; |
| narshu | 0:fbfafa6bf5f9 | 77 | InterruptIn _echo5; |
| narshu | 0:fbfafa6bf5f9 | 78 | Timer _timer; |
| narshu | 0:fbfafa6bf5f9 | 79 | Ticker _ticker; |
| narshu | 0:fbfafa6bf5f9 | 80 | void _startRange(); |
| narshu | 0:fbfafa6bf5f9 | 81 | void _rising (void); |
| narshu | 0:fbfafa6bf5f9 | 82 | void _falling (void); |
| narshu | 0:fbfafa6bf5f9 | 83 | float _dist[3]; |
| narshu | 0:fbfafa6bf5f9 | 84 | char _code[3]; |
| narshu | 0:fbfafa6bf5f9 | 85 | int _beacon_counter; |
| narshu | 0:fbfafa6bf5f9 | 86 | bool ValidPulse; |
| narshu | 0:fbfafa6bf5f9 | 87 | bool expValidPulse; |
| narshu | 0:fbfafa6bf5f9 | 88 | |
| narshu | 0:fbfafa6bf5f9 | 89 | }; |
| narshu | 0:fbfafa6bf5f9 | 90 | |
| narshu | 0:fbfafa6bf5f9 | 91 | #endif |