Shuto Naruse
commit!
Kalman/Sonar/RF12B/RF12B.h@0:42026f893a2d, 2012-06-15 (annotated)
- Committer:
- narshu
- Date:
- Fri Jun 15 20:40:17 2012 +0000
- Revision:
- 0:42026f893a2d
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| narshu | 0:42026f893a2d | 1 | #ifndef _RF12B_H |
| narshu | 0:42026f893a2d | 2 | #define _RF12B_H |
| narshu | 0:42026f893a2d | 3 | |
| narshu | 0:42026f893a2d | 4 | #include "mbed.h" |
| narshu | 0:42026f893a2d | 5 | //#include <queue> |
| narshu | 0:42026f893a2d | 6 | |
| narshu | 0:42026f893a2d | 7 | enum rfmode_t{RX, TX}; |
| narshu | 0:42026f893a2d | 8 | |
| narshu | 0:42026f893a2d | 9 | class DummyCT; |
| narshu | 0:42026f893a2d | 10 | |
| narshu | 0:42026f893a2d | 11 | class RF12B { |
| narshu | 0:42026f893a2d | 12 | public: |
| narshu | 0:42026f893a2d | 13 | /* Constructor */ |
| narshu | 0:42026f893a2d | 14 | RF12B(PinName SDI, |
| narshu | 0:42026f893a2d | 15 | PinName SDO, |
| narshu | 0:42026f893a2d | 16 | PinName SCK, |
| narshu | 0:42026f893a2d | 17 | PinName NCS, |
| narshu | 0:42026f893a2d | 18 | PinName NIRQ); |
| narshu | 0:42026f893a2d | 19 | |
| narshu | 0:42026f893a2d | 20 | |
| narshu | 0:42026f893a2d | 21 | |
| narshu | 0:42026f893a2d | 22 | /* Reads a packet of data. Returns false if read failed. Use available() to check how much space to allocate for buffer */ |
| narshu | 0:42026f893a2d | 23 | bool read(unsigned char* data, unsigned int size); |
| narshu | 0:42026f893a2d | 24 | |
| narshu | 0:42026f893a2d | 25 | /* Reads a byte of data from the receive buffer |
| narshu | 0:42026f893a2d | 26 | Returns 0xFF if there is no data */ |
| narshu | 0:42026f893a2d | 27 | unsigned char read(); |
| narshu | 0:42026f893a2d | 28 | |
| narshu | 0:42026f893a2d | 29 | /* Transmits a packet of data */ |
| narshu | 0:42026f893a2d | 30 | void write(unsigned char* data, unsigned char length); |
| narshu | 0:42026f893a2d | 31 | void write(unsigned char data); /* 1-byte packet */ |
| narshu | 0:42026f893a2d | 32 | // void write(std::queue<char> &data, int length = -1); /* sends a whole queue */ |
| narshu | 0:42026f893a2d | 33 | |
| narshu | 0:42026f893a2d | 34 | /* Returns the packet length if data is available in the receive buffer, 0 otherwise*/ |
| narshu | 0:42026f893a2d | 35 | unsigned int available(); |
| narshu | 0:42026f893a2d | 36 | |
| narshu | 0:42026f893a2d | 37 | /** A assigns a callback function when a new reading is available **/ |
| narshu | 0:42026f893a2d | 38 | void (*callbackfunc)(unsigned char rx_code); |
| narshu | 0:42026f893a2d | 39 | DummyCT* callbackobj; |
| narshu | 0:42026f893a2d | 40 | void (DummyCT::*mcallbackfunc)(unsigned char rx_code); |
| narshu | 0:42026f893a2d | 41 | |
| narshu | 0:42026f893a2d | 42 | protected: |
| narshu | 0:42026f893a2d | 43 | /* Receive FIFO buffer */ |
| narshu | 0:42026f893a2d | 44 | // std::queue<unsigned char> fifo; |
| narshu | 0:42026f893a2d | 45 | // std::queue<unsigned char> temp; //for storing stuff mid-packet |
| narshu | 0:42026f893a2d | 46 | |
| narshu | 0:42026f893a2d | 47 | /* SPI module */ |
| narshu | 0:42026f893a2d | 48 | SPI spi; |
| narshu | 0:42026f893a2d | 49 | |
| narshu | 0:42026f893a2d | 50 | /* Other digital pins */ |
| narshu | 0:42026f893a2d | 51 | DigitalOut NCS; |
| narshu | 0:42026f893a2d | 52 | InterruptIn NIRQ; |
| narshu | 0:42026f893a2d | 53 | DigitalIn NIRQ_in; |
| narshu | 0:42026f893a2d | 54 | //DigitalOut rfled; |
| narshu | 0:42026f893a2d | 55 | |
| narshu | 0:42026f893a2d | 56 | rfmode_t mode; |
| narshu | 0:42026f893a2d | 57 | |
| narshu | 0:42026f893a2d | 58 | /* Initialises the RF12B module */ |
| narshu | 0:42026f893a2d | 59 | void init(); |
| narshu | 0:42026f893a2d | 60 | |
| narshu | 0:42026f893a2d | 61 | /* Write a command to the RF Module */ |
| narshu | 0:42026f893a2d | 62 | unsigned int writeCmd(unsigned int cmd); |
| narshu | 0:42026f893a2d | 63 | |
| narshu | 0:42026f893a2d | 64 | /* Sends a byte of data across RF */ |
| narshu | 0:42026f893a2d | 65 | void send(unsigned char data); |
| narshu | 0:42026f893a2d | 66 | |
| narshu | 0:42026f893a2d | 67 | /* Switch module between receive and transmit modes */ |
| narshu | 0:42026f893a2d | 68 | void changeMode(rfmode_t mode); |
| narshu | 0:42026f893a2d | 69 | |
| narshu | 0:42026f893a2d | 70 | /* Interrupt routine for data reception */ |
| narshu | 0:42026f893a2d | 71 | void rxISR(); |
| narshu | 0:42026f893a2d | 72 | |
| narshu | 0:42026f893a2d | 73 | /* Tell the RF Module this packet is received and wait for the next */ |
| narshu | 0:42026f893a2d | 74 | void resetRX(); |
| narshu | 0:42026f893a2d | 75 | |
| narshu | 0:42026f893a2d | 76 | /* Return the RF Module Status word */ |
| narshu | 0:42026f893a2d | 77 | unsigned int status(); |
| narshu | 0:42026f893a2d | 78 | |
| narshu | 0:42026f893a2d | 79 | /* Calculate CRC8 */ |
| narshu | 0:42026f893a2d | 80 | unsigned char crc8(unsigned char crc, unsigned char data); |
| narshu | 0:42026f893a2d | 81 | }; |
| narshu | 0:42026f893a2d | 82 | |
| narshu | 0:42026f893a2d | 83 | #endif /* _RF12B_H */ |