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#include "RFSRF05.h"
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#include "mbed.h"
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#include "globals.h"
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#include "system.h"
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RFSRF05::RFSRF05(PinName trigger,
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PinName echo0,
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PinName echo1,
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PinName echo2,
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PinName echo3,
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PinName echo4,
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PinName echo5,
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PinName SDI,
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PinName SDO,
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PinName SCK,
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PinName NCS,
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PinName NIRQ)
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: _rf(SDI,SDO,SCK,NCS,NIRQ),
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_trigger(trigger),
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_echo0(echo0),
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_echo1(echo1),
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_echo2(echo2),
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_echo3(echo3),
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_echo4(echo4),
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_echo5(echo5) {
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// initialises codes
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codes[0] = CODE0;
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codes[1] = CODE1;
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codes[2] = CODE2;
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//set callback execute to true
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ValidPulse = false;
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// Attach interrupts
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#ifdef SONAR_ECHO_INV
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// inverted sonar inputs
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_echo5.fall(this, &RFSRF05::_rising);
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_echo0.rise(this, &RFSRF05::_falling);
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_echo1.rise(this, &RFSRF05::_falling);
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_echo2.rise(this, &RFSRF05::_falling);
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_echo3.rise(this, &RFSRF05::_falling);
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_echo4.rise(this, &RFSRF05::_falling);
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_echo5.rise(this, &RFSRF05::_falling);
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#else
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_echo5.rise(this, &RFSRF05::_rising);
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_echo0.fall(this, &RFSRF05::_falling);
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_echo1.fall(this, &RFSRF05::_falling);
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_echo2.fall(this, &RFSRF05::_falling);
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_echo3.fall(this, &RFSRF05::_falling);
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_echo4.fall(this, &RFSRF05::_falling);
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_echo5.fall(this, &RFSRF05::_falling);
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#endif
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//init callabck function
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callbackfunc = NULL;
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callbackobj = NULL;
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mcallbackfunc = NULL;
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// innitialises beacon counter
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_beacon_counter = 0;
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#ifdef PRIMARY_ROBOT
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//Interrupts every 50ms for primary robot
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_ticker.attach(this, &RFSRF05::_startRange, 0.05);
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#else
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//attach callback
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_rf.callbackobj = (DummyCT*)this;
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_rf.mcallbackfunc = (void (DummyCT::*)(unsigned char rx_data)) &RFSRF05::startRange;
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#endif
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}
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#ifdef PRIMARY_ROBOT
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void RFSRF05::_startRange() {
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//printf("Srange\r\r");
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// increments counter
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_beacon_counter = (_beacon_counter + 1) % 3;
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// set flags
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ValidPulse = false;
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expValidPulse = true;
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// writes code to RF port
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_rf.write(codes[_beacon_counter]);
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// send a trigger pulse, 10uS long
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_trigger = 1;
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wait_us (10);
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_trigger = 0;
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}
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#else
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void RFSRF05::startRange(unsigned char rx_code) {
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for (int i = 0; i < 3; i++) {
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if (rx_code == codes[i]) {
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// assign beacon_counter
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_beacon_counter = i;
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// set flags
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ValidPulse = false;
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expValidPulse = true;
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// send a trigger pulse, 10uS long
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_trigger = 1;
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wait_us (10);
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_trigger = 0;
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break;
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}
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}
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}
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#endif
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// Clear and start the timer at the begining of the echo pulse
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void RFSRF05::_rising(void) {
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_timer.reset();
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_timer.start();
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//Set callback execute to ture
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if (expValidPulse) {
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ValidPulse = true;
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expValidPulse = false;
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}
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}
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// Stop and read the timer at the end of the pulse
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void RFSRF05::_falling(void) {
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_timer.stop();
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if (ValidPulse) {
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//printf("Validpulse trig!\r\n");
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ValidPulse = false;
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//Calucate distance
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_dist[_beacon_counter] = _timer.read_us()/2.9 + 300;
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if (callbackfunc)
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(*callbackfunc)(_beacon_counter, _dist[_beacon_counter]);
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if (callbackobj && mcallbackfunc)
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(callbackobj->*mcallbackfunc)(_beacon_counter, _dist[_beacon_counter], sonarvariance);
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}
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}
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float RFSRF05::read0() {
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// returns distance
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return (_dist[0]);
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}
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float RFSRF05::read1() {
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// returns distance
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return (_dist[1]);
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}
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float RFSRF05::read2() {
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// returns distance
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return (_dist[2]);
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}
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float RFSRF05::read(unsigned int beaconnum) {
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// returns distance
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return (_dist[beaconnum]);
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}
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void RFSRF05::setCode(int code_index, unsigned char code) {
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codes[code_index] = code;
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}
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//SRF05::operator float() {
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// return read();
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//}
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Shuto Naruse