Shuto Naruse / Mbed 2 deprecated Eurobot2012_Primary

Eurobot2012_Primary

Dependencies:   mbed Eurobot_2012_Primary

Eurobot_shared/Kalman/Sonar/RFSRF05.h@9:377560539b74, 2012-04-28 (annotated)

Committer:
narshu
Date:
Sat Apr 28 17:21:24 2012 +0000
Revision:
9:377560539b74
Parent:
Kalman/Sonar/RFSRF05.h@4:7b7334441da9 
Restructured project to have a single shared lib; Also raised the RF baud rate

Who changed what in which revision?

UserRevisionLine numberNew contents of line
narshu 4:7b7334441da9 1
narshu 4:7b7334441da9 2 #ifndef MBED_RFSRF05_H
narshu 4:7b7334441da9 3 #define MBED_RFSRF05_H
narshu 4:7b7334441da9 4
narshu 4:7b7334441da9 5
narshu 4:7b7334441da9 6
narshu 4:7b7334441da9 7 #include "mbed.h"
narshu 4:7b7334441da9 8 #include "RF12B.h"
narshu 4:7b7334441da9 9 #include "globals.h"
narshu 4:7b7334441da9 10
narshu 4:7b7334441da9 11
narshu 4:7b7334441da9 12 #define CODE0 0x22
narshu 4:7b7334441da9 13 #define CODE1 0x44
narshu 4:7b7334441da9 14 #define CODE2 0x88
narshu 4:7b7334441da9 15
narshu 4:7b7334441da9 16 /* SAMPLE IMPLEMENTATION!
narshu 4:7b7334441da9 17 RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9);
narshu 4:7b7334441da9 18
narshu 4:7b7334441da9 19
narshu 4:7b7334441da9 20 void callbinmain(int num, float dist) {
narshu 4:7b7334441da9 21 //Here is where you deal with your brand new reading ;D
narshu 4:7b7334441da9 22 }
narshu 4:7b7334441da9 23
narshu 4:7b7334441da9 24 int main() {
narshu 4:7b7334441da9 25 pc.printf("Hello World of RobotSonar!\r\n");
narshu 4:7b7334441da9 26 my_srf.callbackfunc = callbinmain;
narshu 4:7b7334441da9 27
narshu 4:7b7334441da9 28 while (1);
narshu 4:7b7334441da9 29 }
narshu 4:7b7334441da9 30
narshu 4:7b7334441da9 31 */
narshu 4:7b7334441da9 32
narshu 4:7b7334441da9 33 class DummyCT;
narshu 4:7b7334441da9 34
narshu 4:7b7334441da9 35 class RFSRF05 {
narshu 4:7b7334441da9 36 public:
narshu 4:7b7334441da9 37
narshu 4:7b7334441da9 38 RFSRF05(
narshu 4:7b7334441da9 39 PinName trigger,
narshu 4:7b7334441da9 40 PinName echo0,
narshu 4:7b7334441da9 41 PinName echo1,
narshu 4:7b7334441da9 42 PinName echo2,
narshu 4:7b7334441da9 43 PinName echo3,
narshu 4:7b7334441da9 44 PinName echo4,
narshu 4:7b7334441da9 45 PinName echo5,
narshu 4:7b7334441da9 46 PinName SDI,
narshu 4:7b7334441da9 47 PinName SDO,
narshu 4:7b7334441da9 48 PinName SCK,
narshu 4:7b7334441da9 49 PinName NCS,
narshu 4:7b7334441da9 50 PinName NIRQ);
narshu 4:7b7334441da9 51
narshu 4:7b7334441da9 52 /** A non-blocking function that will return the last measurement
narshu 4:7b7334441da9 53 *
narshu 4:7b7334441da9 54 * @returns floating point representation of distance in mm
narshu 4:7b7334441da9 55 */
narshu 4:7b7334441da9 56 float read0();
narshu 4:7b7334441da9 57 float read1();
narshu 4:7b7334441da9 58 float read2();
narshu 4:7b7334441da9 59 float read(unsigned int beaconnum);
narshu 4:7b7334441da9 60
narshu 4:7b7334441da9 61
narshu 4:7b7334441da9 62 /** A assigns a callback function when a new reading is available **/
narshu 4:7b7334441da9 63 void (*callbackfunc)(int beaconnum, float distance);
narshu 4:7b7334441da9 64 DummyCT* callbackobj;
narshu 4:7b7334441da9 65 void (DummyCT::*mcallbackfunc)(int beaconnum, float distance, float variance);
narshu 4:7b7334441da9 66
narshu 4:7b7334441da9 67 //triggers a read
narshu 4:7b7334441da9 68 #ifndef ROBOT_PRIMARY
narshu 4:7b7334441da9 69 void startRange(unsigned char rx_code);
narshu 4:7b7334441da9 70 #endif
narshu 4:7b7334441da9 71
narshu 4:7b7334441da9 72 //set codes
narshu 4:7b7334441da9 73 void setCode(int code_index, unsigned char code);
narshu 4:7b7334441da9 74 unsigned char codes[3];
narshu 4:7b7334441da9 75
narshu 4:7b7334441da9 76 /** A short hand way of using the read function */
narshu 4:7b7334441da9 77 //operator float();
narshu 4:7b7334441da9 78
narshu 4:7b7334441da9 79 private :
narshu 4:7b7334441da9 80 RF12B _rf;
narshu 4:7b7334441da9 81 DigitalOut _trigger;
narshu 4:7b7334441da9 82 InterruptIn _echo0;
narshu 4:7b7334441da9 83 InterruptIn _echo1;
narshu 4:7b7334441da9 84 InterruptIn _echo2;
narshu 4:7b7334441da9 85 InterruptIn _echo3;
narshu 4:7b7334441da9 86 InterruptIn _echo4;
narshu 4:7b7334441da9 87 InterruptIn _echo5;
narshu 4:7b7334441da9 88 Timer _timer;
narshu 4:7b7334441da9 89 Ticker _ticker;
narshu 4:7b7334441da9 90 #ifdef ROBOT_PRIMARY
narshu 4:7b7334441da9 91 void _startRange(void);
narshu 4:7b7334441da9 92 #endif
narshu 4:7b7334441da9 93 void _rising (void);
narshu 4:7b7334441da9 94 void _falling (void);
narshu 4:7b7334441da9 95 float _dist[3];
narshu 4:7b7334441da9 96 int _beacon_counter;
narshu 4:7b7334441da9 97 bool ValidPulse;
narshu 4:7b7334441da9 98 bool expValidPulse;
narshu 4:7b7334441da9 99
narshu 4:7b7334441da9 100 };
narshu 4:7b7334441da9 101
narshu 4:7b7334441da9 102 #endif