File content as of revision 0:1e4910aeb884:
/* mbed SRF05 Ultrasonic Rangefiner Library
* Copyright (c) 2007-2010, cstyles, sford
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#ifndef MBED_RFSRF05_H
#define MBED_RFSRF05_H
#include "mbed.h"
#include "RF12B.h"
#define CODE0 0x22
#define CODE1 0x44
#define CODE2 0x88
/** Library for the SRF05 Ultrasonic range finder
*
* Example:
* @code
* // Print measured distance
*
* #include "mbed.h"
* #include "SRF05.h"
*
* SRF05 srf(p9,p10);
*
* int main() {
* while(1) {
* printf("Measured : %.1f\n", srf.read());
* wait(0.2);
* }
* }
* @endcode
*/
class RFSRF05 {
public:
/** Create a SRF05 object, connected to the specified pins
*
* @param trigger DigitalOut to the SRF05 trigger
* @param echo InterruptIn to measure the return pulse
*/
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);
/** A non-blocking function that will return the last measurement
*
* @returns floating point representation of distance in cm
*/
float read0();
float read1();
float read2();
/** A short hand way of using the read function */
operator float();
private :
RF12B _rf;
DigitalOut _trigger;
InterruptIn _echo0;
InterruptIn _echo1;
InterruptIn _echo2;
InterruptIn _echo3;
InterruptIn _echo4;
InterruptIn _echo5;
Timer _timer;
Ticker _ticker;
void _rising (void);
void _falling (void);
void _startRange (void);
float _dist[3];
char _code[3];
int _beacon_counter;
};
#endif