Shuto Naruse / Kalman

Sonar/RF12B/RF12B.h@2:8aa491f77a0b, 2012-04-26 (annotated)

Committer:
narshu
Date:
Thu Apr 26 20:11:48 2012 +0000
Revision:
2:8aa491f77a0b

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


narshu

2:8aa491f77a0b


     1

#ifndef _RF12B_H





narshu

2:8aa491f77a0b


     2

#define _RF12B_H





narshu

2:8aa491f77a0b


     3







narshu

2:8aa491f77a0b


     4

#include "mbed.h"





narshu

2:8aa491f77a0b


     5

//#include <queue>





narshu

2:8aa491f77a0b


     6







narshu

2:8aa491f77a0b


     7

enum rfmode_t{RX, TX};





narshu

2:8aa491f77a0b


     8







narshu

2:8aa491f77a0b


     9

class DummyCT;





narshu

2:8aa491f77a0b


    10







narshu

2:8aa491f77a0b


    11

class RF12B {





narshu

2:8aa491f77a0b


    12

public:





narshu

2:8aa491f77a0b


    13

    /* Constructor */





narshu

2:8aa491f77a0b


    14

    RF12B(PinName SDI,





narshu

2:8aa491f77a0b


    15

          PinName SDO,





narshu

2:8aa491f77a0b


    16

          PinName SCK,





narshu

2:8aa491f77a0b


    17

          PinName NCS,





narshu

2:8aa491f77a0b


    18

          PinName NIRQ);





narshu

2:8aa491f77a0b


    19

     





narshu

2:8aa491f77a0b


    20

          





narshu

2:8aa491f77a0b


    21

          





narshu

2:8aa491f77a0b


    22

    /* Reads a packet of data. Returns false if read failed. Use available() to check how much space to allocate for buffer */





narshu

2:8aa491f77a0b


    23

    bool read(unsigned char* data, unsigned int size);





narshu

2:8aa491f77a0b


    24







narshu

2:8aa491f77a0b


    25

    /* Reads a byte of data from the receive buffer 





narshu

2:8aa491f77a0b


    26

        Returns 0xFF if there is no data */





narshu

2:8aa491f77a0b


    27

    unsigned char read();





narshu

2:8aa491f77a0b


    28







narshu

2:8aa491f77a0b


    29

    /* Transmits a packet of data */





narshu

2:8aa491f77a0b


    30

    void write(unsigned char* data, unsigned char length);





narshu

2:8aa491f77a0b


    31

    void write(unsigned char data); /* 1-byte packet */





narshu

2:8aa491f77a0b


    32

//    void write(std::queue<char> &data, int length = -1); /* sends a whole queue */





narshu

2:8aa491f77a0b


    33

    





narshu

2:8aa491f77a0b


    34

    /* Returns the packet length if data is available in the receive buffer, 0 otherwise*/





narshu

2:8aa491f77a0b


    35

    unsigned int available();





narshu

2:8aa491f77a0b


    36

    





narshu

2:8aa491f77a0b


    37

    /** A assigns a callback function when a new reading is available **/





narshu

2:8aa491f77a0b


    38

    void (*callbackfunc)(unsigned char rx_code);





narshu

2:8aa491f77a0b


    39

    DummyCT* callbackobj;





narshu

2:8aa491f77a0b


    40

    void (DummyCT::*mcallbackfunc)(unsigned char rx_code);    





narshu

2:8aa491f77a0b


    41







narshu

2:8aa491f77a0b


    42

protected:





narshu

2:8aa491f77a0b


    43

    /* Receive FIFO buffer */





narshu

2:8aa491f77a0b


    44

//    std::queue<unsigned char> fifo;





narshu

2:8aa491f77a0b


    45

//    std::queue<unsigned char> temp; //for storing stuff mid-packet





narshu

2:8aa491f77a0b


    46

    





narshu

2:8aa491f77a0b


    47

    /* SPI module */





narshu

2:8aa491f77a0b


    48

    SPI spi;





narshu

2:8aa491f77a0b


    49

    





narshu

2:8aa491f77a0b


    50

    /* Other digital pins */





narshu

2:8aa491f77a0b


    51

    DigitalOut NCS;





narshu

2:8aa491f77a0b


    52

    InterruptIn NIRQ;





narshu

2:8aa491f77a0b


    53

    DigitalIn NIRQ_in;





narshu

2:8aa491f77a0b


    54

    //DigitalOut rfled;





narshu

2:8aa491f77a0b


    55

    





narshu

2:8aa491f77a0b


    56

    rfmode_t mode;





narshu

2:8aa491f77a0b


    57







narshu

2:8aa491f77a0b


    58

    /* Initialises the RF12B module */





narshu

2:8aa491f77a0b


    59

    void init();





narshu

2:8aa491f77a0b


    60







narshu

2:8aa491f77a0b


    61

    /* Write a command to the RF Module */





narshu

2:8aa491f77a0b


    62

    unsigned int writeCmd(unsigned int cmd);





narshu

2:8aa491f77a0b


    63

    





narshu

2:8aa491f77a0b


    64

    /* Sends a byte of data across RF */





narshu

2:8aa491f77a0b


    65

    void send(unsigned char data);





narshu

2:8aa491f77a0b


    66

    





narshu

2:8aa491f77a0b


    67

    /* Switch module between receive and transmit modes */





narshu

2:8aa491f77a0b


    68

    void changeMode(rfmode_t mode);





narshu

2:8aa491f77a0b


    69

    





narshu

2:8aa491f77a0b


    70

    /* Interrupt routine for data reception */





narshu

2:8aa491f77a0b


    71

    void rxISR();





narshu

2:8aa491f77a0b


    72

    





narshu

2:8aa491f77a0b


    73

    /* Tell the RF Module this packet is received and wait for the next */





narshu

2:8aa491f77a0b


    74

    void resetRX();





narshu

2:8aa491f77a0b


    75

    





narshu

2:8aa491f77a0b


    76

    /* Return the RF Module Status word */





narshu

2:8aa491f77a0b


    77

    unsigned int status();





narshu

2:8aa491f77a0b


    78

    





narshu

2:8aa491f77a0b


    79

    /* Calculate CRC8 */





narshu

2:8aa491f77a0b


    80

    unsigned char crc8(unsigned char crc, unsigned char data);





narshu

2:8aa491f77a0b


    81

};





narshu

2:8aa491f77a0b


    82







narshu

2:8aa491f77a0b


    83

#endif /* _RF12B_H */