Diff: Sonar/RFSRF05.cpp
- Revision:
- 2:8aa491f77a0b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Sonar/RFSRF05.cpp Thu Apr 26 20:11:48 2012 +0000
@@ -0,0 +1,182 @@
+
+#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 PRIMARY_ROBOT
+ //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 PRIMARY_ROBOT
+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
+ _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]);
+}
+
+void RFSRF05::setCode(int code_index, unsigned char code) {
+ codes[code_index] = code;
+}
+
+//SRF05::operator float() {
+// return read();
+//}