RFSRF05.h

00001 
00002 #ifndef MBED_RFSRF05_H
00003 #define MBED_RFSRF05_H
00004 
00005 #include "mbed.h"
00006 #include "RF12B.h"
00007 
00008 #define CODE0 0x22
00009 #define CODE1 0x44
00010 #define CODE2 0x88
00011 
00012 /* SAMPLE IMPLEMENTATION!
00013 RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9);
00014 
00015 
00016 void callbinmain(int num, float dist) {
00017     //Here is where you deal with your brand new reading ;D
00018 }
00019 
00020 int main() {
00021     pc.printf("Hello World of RobotSonar!\r\n");
00022     my_srf.callbackfunc = callbinmain;
00023     
00024     while (1);
00025 }
00026 
00027  */
00028 class DummyCT;
00029  
00030 class RFSRF05 {
00031 public:
00032 
00033     RFSRF05(
00034     PinName trigger, 
00035     PinName echo0,
00036     PinName echo1,
00037     PinName echo2,
00038     PinName echo3,
00039     PinName echo4,
00040     PinName echo5,
00041     PinName SDI,
00042     PinName SDO,
00043     PinName SCK,
00044     PinName NCS,
00045     PinName NIRQ);
00046     
00047     /** A non-blocking function that will return the last measurement
00048      *
00049      * @returns floating point representation of distance in cm
00050      */
00051     float read0();
00052     float read1();
00053     float read2();
00054     
00055     /** A assigns a callback function when a new reading is available **/
00056     //void (*callbackfunc)(int beaconnum, float distance);
00057     //DummyCT* callbackobj;
00058     //void (DummyCT::*mcallbackfunc)(int beaconnum, float distance);
00059     
00060     //triggers a read
00061     void startRange();
00062 
00063     /** A short hand way of using the read function */
00064     operator float();
00065     
00066 private :
00067     RF12B _rf;
00068     DigitalOut _trigger;
00069     InterruptIn _echo0;
00070     InterruptIn _echo1;
00071     InterruptIn _echo2;
00072     InterruptIn _echo3;
00073     InterruptIn _echo4;
00074     InterruptIn _echo5;
00075     Timer _timer;
00076     Ticker _ticker;
00077     void _rising (void);
00078     void _falling (void);
00079     float _dist[3];
00080     char _code[3];
00081     int _beacon_counter;
00082     bool ValidPulse;
00083     
00084 };
00085 
00086 #endif