Shuto Naruse
Sample of program breaking when a certain set of source files are in a folder, but is fine when it is in the root. In this case, it is tested with RF12B.cpp, RF12B.h and rfdefs
Kalman/RFSRF05/RFSRF05.cpp@0:349dc9b0984f, 2012-03-25 (annotated)
- Committer:
- narshu
- Date:
- Sun Mar 25 13:39:11 2012 +0000
- Revision:
- 0:349dc9b0984f
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| narshu | 0:349dc9b0984f | 1 | |
| narshu | 0:349dc9b0984f | 2 | #include "RFSRF05.h" |
| narshu | 0:349dc9b0984f | 3 | #include "mbed.h" |
| narshu | 0:349dc9b0984f | 4 | |
| narshu | 0:349dc9b0984f | 5 | RFSRF05::RFSRF05(PinName trigger, |
| narshu | 0:349dc9b0984f | 6 | PinName echo0, |
| narshu | 0:349dc9b0984f | 7 | PinName echo1, |
| narshu | 0:349dc9b0984f | 8 | PinName echo2, |
| narshu | 0:349dc9b0984f | 9 | PinName echo3, |
| narshu | 0:349dc9b0984f | 10 | PinName echo4, |
| narshu | 0:349dc9b0984f | 11 | PinName echo5, |
| narshu | 0:349dc9b0984f | 12 | PinName SDI, |
| narshu | 0:349dc9b0984f | 13 | PinName SDO, |
| narshu | 0:349dc9b0984f | 14 | PinName SCK, |
| narshu | 0:349dc9b0984f | 15 | PinName NCS, |
| narshu | 0:349dc9b0984f | 16 | PinName NIRQ) |
| narshu | 0:349dc9b0984f | 17 | : _rf(SDI,SDO,SCK,NCS,NIRQ), |
| narshu | 0:349dc9b0984f | 18 | _trigger(trigger), |
| narshu | 0:349dc9b0984f | 19 | _echo0(echo0), |
| narshu | 0:349dc9b0984f | 20 | _echo1(echo1), |
| narshu | 0:349dc9b0984f | 21 | _echo2(echo2), |
| narshu | 0:349dc9b0984f | 22 | _echo3(echo3), |
| narshu | 0:349dc9b0984f | 23 | _echo4(echo4), |
| narshu | 0:349dc9b0984f | 24 | _echo5(echo5) { |
| narshu | 0:349dc9b0984f | 25 | |
| narshu | 0:349dc9b0984f | 26 | |
| narshu | 0:349dc9b0984f | 27 | // initialises codes |
| narshu | 0:349dc9b0984f | 28 | _code[0] = CODE0; |
| narshu | 0:349dc9b0984f | 29 | _code[1] = CODE1; |
| narshu | 0:349dc9b0984f | 30 | _code[2] = CODE2; |
| narshu | 0:349dc9b0984f | 31 | |
| narshu | 0:349dc9b0984f | 32 | //set callback execute to true |
| narshu | 0:349dc9b0984f | 33 | ValidPulse = false; |
| narshu | 0:349dc9b0984f | 34 | |
| narshu | 0:349dc9b0984f | 35 | // Attach interrupts |
| narshu | 0:349dc9b0984f | 36 | |
| narshu | 0:349dc9b0984f | 37 | _echo0.rise(this, &RFSRF05::_rising); |
| narshu | 0:349dc9b0984f | 38 | _echo0.fall(this, &RFSRF05::_falling); |
| narshu | 0:349dc9b0984f | 39 | _echo1.fall(this, &RFSRF05::_falling); |
| narshu | 0:349dc9b0984f | 40 | _echo2.fall(this, &RFSRF05::_falling); |
| narshu | 0:349dc9b0984f | 41 | _echo3.fall(this, &RFSRF05::_falling); |
| narshu | 0:349dc9b0984f | 42 | _echo4.fall(this, &RFSRF05::_falling); |
| narshu | 0:349dc9b0984f | 43 | _echo5.fall(this, &RFSRF05::_falling); |
| narshu | 0:349dc9b0984f | 44 | |
| narshu | 0:349dc9b0984f | 45 | |
| narshu | 0:349dc9b0984f | 46 | //init callabck function |
| narshu | 0:349dc9b0984f | 47 | //callbackfunc = NULL; |
| narshu | 0:349dc9b0984f | 48 | //callbackobj = NULL; |
| narshu | 0:349dc9b0984f | 49 | //mcallbackfunc = NULL; |
| narshu | 0:349dc9b0984f | 50 | |
| narshu | 0:349dc9b0984f | 51 | // innitialises beacon counter |
| narshu | 0:349dc9b0984f | 52 | _beacon_counter = 0; |
| narshu | 0:349dc9b0984f | 53 | |
| narshu | 0:349dc9b0984f | 54 | //Interrupts every 50ms |
| narshu | 0:349dc9b0984f | 55 | //_ticker.attach(this, &RFSRF05::_startRange, 0.05); |
| narshu | 0:349dc9b0984f | 56 | } |
| narshu | 0:349dc9b0984f | 57 | |
| narshu | 0:349dc9b0984f | 58 | /* |
| narshu | 0:349dc9b0984f | 59 | void RFSRF05::startRange() { |
| narshu | 0:349dc9b0984f | 60 | |
| narshu | 0:349dc9b0984f | 61 | //printf("Srange\r\r"); |
| narshu | 0:349dc9b0984f | 62 | |
| narshu | 0:349dc9b0984f | 63 | // increments counter |
| narshu | 0:349dc9b0984f | 64 | _beacon_counter = (_beacon_counter + 1) % 3; |
| narshu | 0:349dc9b0984f | 65 | |
| narshu | 0:349dc9b0984f | 66 | // writes code to RF port |
| narshu | 0:349dc9b0984f | 67 | _rf.write(_code[_beacon_counter]); |
| narshu | 0:349dc9b0984f | 68 | |
| narshu | 0:349dc9b0984f | 69 | // send a trigger pulse, 10uS long |
| narshu | 0:349dc9b0984f | 70 | ValidPulse = false; |
| narshu | 0:349dc9b0984f | 71 | |
| narshu | 0:349dc9b0984f | 72 | _trigger = 1; |
| narshu | 0:349dc9b0984f | 73 | wait_us (10); |
| narshu | 0:349dc9b0984f | 74 | _trigger = 0; |
| narshu | 0:349dc9b0984f | 75 | wait_us(50); |
| narshu | 0:349dc9b0984f | 76 | } |
| narshu | 0:349dc9b0984f | 77 | */ |
| narshu | 0:349dc9b0984f | 78 | |
| narshu | 0:349dc9b0984f | 79 | // Clear and start the timer at the begining of the echo pulse |
| narshu | 0:349dc9b0984f | 80 | void RFSRF05::_rising(void) { |
| narshu | 0:349dc9b0984f | 81 | |
| narshu | 0:349dc9b0984f | 82 | _timer.reset(); |
| narshu | 0:349dc9b0984f | 83 | _timer.start(); |
| narshu | 0:349dc9b0984f | 84 | |
| narshu | 0:349dc9b0984f | 85 | //Set callback execute to ture |
| narshu | 0:349dc9b0984f | 86 | ValidPulse = true; |
| narshu | 0:349dc9b0984f | 87 | } |
| narshu | 0:349dc9b0984f | 88 | |
| narshu | 0:349dc9b0984f | 89 | // Stop and read the timer at the end of the pulse |
| narshu | 0:349dc9b0984f | 90 | void RFSRF05::_falling(void) { |
| narshu | 0:349dc9b0984f | 91 | _timer.stop(); |
| narshu | 0:349dc9b0984f | 92 | |
| narshu | 0:349dc9b0984f | 93 | if (ValidPulse) { |
| narshu | 0:349dc9b0984f | 94 | //printf("Validpulse trig!\r\n"); |
| narshu | 0:349dc9b0984f | 95 | ValidPulse = false; |
| narshu | 0:349dc9b0984f | 96 | |
| narshu | 0:349dc9b0984f | 97 | //Calucate distance |
| narshu | 0:349dc9b0984f | 98 | _dist[_beacon_counter] = _timer.read_us()/2.9 + 300; |
| narshu | 0:349dc9b0984f | 99 | |
| narshu | 0:349dc9b0984f | 100 | //if (callbackfunc) |
| narshu | 0:349dc9b0984f | 101 | // (*callbackfunc)(_beacon_counter, _dist[_beacon_counter]); |
| narshu | 0:349dc9b0984f | 102 | |
| narshu | 0:349dc9b0984f | 103 | //if (callbackobj && mcallbackfunc) |
| narshu | 0:349dc9b0984f | 104 | // (callbackobj->*mcallbackfunc)(_beacon_counter, _dist[_beacon_counter]); |
| narshu | 0:349dc9b0984f | 105 | |
| narshu | 0:349dc9b0984f | 106 | } |
| narshu | 0:349dc9b0984f | 107 | |
| narshu | 0:349dc9b0984f | 108 | } |
| narshu | 0:349dc9b0984f | 109 | |
| narshu | 0:349dc9b0984f | 110 | float RFSRF05::read0() { |
| narshu | 0:349dc9b0984f | 111 | // returns distance |
| narshu | 0:349dc9b0984f | 112 | return (_dist[0]); |
| narshu | 0:349dc9b0984f | 113 | } |
| narshu | 0:349dc9b0984f | 114 | |
| narshu | 0:349dc9b0984f | 115 | float RFSRF05::read1() { |
| narshu | 0:349dc9b0984f | 116 | // returns distance |
| narshu | 0:349dc9b0984f | 117 | return (_dist[1]); |
| narshu | 0:349dc9b0984f | 118 | } |
| narshu | 0:349dc9b0984f | 119 | |
| narshu | 0:349dc9b0984f | 120 | float RFSRF05::read2() { |
| narshu | 0:349dc9b0984f | 121 | // returns distance |
| narshu | 0:349dc9b0984f | 122 | return (_dist[2]); |
| narshu | 0:349dc9b0984f | 123 | } |
| narshu | 0:349dc9b0984f | 124 | |
| narshu | 0:349dc9b0984f | 125 | //SRF05::operator float() { |
| narshu | 0:349dc9b0984f | 126 | // return read(); |
| narshu | 0:349dc9b0984f | 127 | //} |