Shuto Naruse / Mbed 2 deprecated Eurobot2012_Secondary

Eurobot2012_Secondary

Fork of Eurobot_2012_Secondary by Shuto Naruse

Eurobot_shared/Kalman/Sonar/RFSRF05.h@1:cc2a9eb0bd55, 2012-10-17 (annotated)

Committer:
narshu
Date:
Wed Oct 17 22:25:31 2012 +0000
Revision:
1:cc2a9eb0bd55
Commit before publishing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
narshu 1:cc2a9eb0bd55 1
narshu 1:cc2a9eb0bd55 2 #ifndef MBED_RFSRF05_H
narshu 1:cc2a9eb0bd55 3 #define MBED_RFSRF05_H
narshu 1:cc2a9eb0bd55 4
narshu 1:cc2a9eb0bd55 5
narshu 1:cc2a9eb0bd55 6
narshu 1:cc2a9eb0bd55 7 #include "mbed.h"
narshu 1:cc2a9eb0bd55 8 #include "RF12B.h"
narshu 1:cc2a9eb0bd55 9 #include "globals.h"
narshu 1:cc2a9eb0bd55 10
narshu 1:cc2a9eb0bd55 11
narshu 1:cc2a9eb0bd55 12 #define CODE0 0x22
narshu 1:cc2a9eb0bd55 13 #define CODE1 0x44
narshu 1:cc2a9eb0bd55 14 #define CODE2 0x88
narshu 1:cc2a9eb0bd55 15
narshu 1:cc2a9eb0bd55 16 /* SAMPLE IMPLEMENTATION!
narshu 1:cc2a9eb0bd55 17 RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9);
narshu 1:cc2a9eb0bd55 18
narshu 1:cc2a9eb0bd55 19
narshu 1:cc2a9eb0bd55 20 void callbinmain(int num, float dist) {
narshu 1:cc2a9eb0bd55 21 //Here is where you deal with your brand new reading ;D
narshu 1:cc2a9eb0bd55 22 }
narshu 1:cc2a9eb0bd55 23
narshu 1:cc2a9eb0bd55 24 int main() {
narshu 1:cc2a9eb0bd55 25 pc.printf("Hello World of RobotSonar!\r\n");
narshu 1:cc2a9eb0bd55 26 my_srf.callbackfunc = callbinmain;
narshu 1:cc2a9eb0bd55 27
narshu 1:cc2a9eb0bd55 28 while (1);
narshu 1:cc2a9eb0bd55 29 }
narshu 1:cc2a9eb0bd55 30
narshu 1:cc2a9eb0bd55 31 */
narshu 1:cc2a9eb0bd55 32
narshu 1:cc2a9eb0bd55 33 class DummyCT;
narshu 1:cc2a9eb0bd55 34
narshu 1:cc2a9eb0bd55 35 class RFSRF05 {
narshu 1:cc2a9eb0bd55 36 public:
narshu 1:cc2a9eb0bd55 37
narshu 1:cc2a9eb0bd55 38 RFSRF05(
narshu 1:cc2a9eb0bd55 39 PinName trigger,
narshu 1:cc2a9eb0bd55 40 PinName echo0,
narshu 1:cc2a9eb0bd55 41 PinName echo1,
narshu 1:cc2a9eb0bd55 42 PinName echo2,
narshu 1:cc2a9eb0bd55 43 PinName echo3,
narshu 1:cc2a9eb0bd55 44 PinName echo4,
narshu 1:cc2a9eb0bd55 45 PinName echo5,
narshu 1:cc2a9eb0bd55 46 PinName SDI,
narshu 1:cc2a9eb0bd55 47 PinName SDO,
narshu 1:cc2a9eb0bd55 48 PinName SCK,
narshu 1:cc2a9eb0bd55 49 PinName NCS,
narshu 1:cc2a9eb0bd55 50 PinName NIRQ);
narshu 1:cc2a9eb0bd55 51
narshu 1:cc2a9eb0bd55 52 /** A non-blocking function that will return the last measurement
narshu 1:cc2a9eb0bd55 53 *
narshu 1:cc2a9eb0bd55 54 * @returns floating point representation of distance in mm
narshu 1:cc2a9eb0bd55 55 */
narshu 1:cc2a9eb0bd55 56 float read0();
narshu 1:cc2a9eb0bd55 57 float read1();
narshu 1:cc2a9eb0bd55 58 float read2();
narshu 1:cc2a9eb0bd55 59 float read(unsigned int beaconnum);
narshu 1:cc2a9eb0bd55 60
narshu 1:cc2a9eb0bd55 61
narshu 1:cc2a9eb0bd55 62 /** A assigns a callback function when a new reading is available **/
narshu 1:cc2a9eb0bd55 63 void (*callbackfunc)(int beaconnum, float distance);
narshu 1:cc2a9eb0bd55 64 DummyCT* callbackobj;
narshu 1:cc2a9eb0bd55 65 void (DummyCT::*mcallbackfunc)(int beaconnum, float distance, float variance);
narshu 1:cc2a9eb0bd55 66
narshu 1:cc2a9eb0bd55 67 //triggers a read
narshu 1:cc2a9eb0bd55 68 #ifndef ROBOT_PRIMARY
narshu 1:cc2a9eb0bd55 69 void startRange(unsigned char rx_code);
narshu 1:cc2a9eb0bd55 70 #endif
narshu 1:cc2a9eb0bd55 71
narshu 1:cc2a9eb0bd55 72 //set codes
narshu 1:cc2a9eb0bd55 73 void setCode(int code_index, unsigned char code);
narshu 1:cc2a9eb0bd55 74 unsigned char codes[3];
narshu 1:cc2a9eb0bd55 75
narshu 1:cc2a9eb0bd55 76 /** A short hand way of using the read function */
narshu 1:cc2a9eb0bd55 77 //operator float();
narshu 1:cc2a9eb0bd55 78
narshu 1:cc2a9eb0bd55 79 private :
narshu 1:cc2a9eb0bd55 80 RF12B _rf;
narshu 1:cc2a9eb0bd55 81 DigitalOut _trigger;
narshu 1:cc2a9eb0bd55 82 InterruptIn _echo0;
narshu 1:cc2a9eb0bd55 83 InterruptIn _echo1;
narshu 1:cc2a9eb0bd55 84 InterruptIn _echo2;
narshu 1:cc2a9eb0bd55 85 InterruptIn _echo3;
narshu 1:cc2a9eb0bd55 86 InterruptIn _echo4;
narshu 1:cc2a9eb0bd55 87 InterruptIn _echo5;
narshu 1:cc2a9eb0bd55 88 Timer _timer;
narshu 1:cc2a9eb0bd55 89 Ticker _ticker;
narshu 1:cc2a9eb0bd55 90 #ifdef ROBOT_PRIMARY
narshu 1:cc2a9eb0bd55 91 void _startRange(void);
narshu 1:cc2a9eb0bd55 92 #endif
narshu 1:cc2a9eb0bd55 93 void _rising (void);
narshu 1:cc2a9eb0bd55 94 void _falling (void);
narshu 1:cc2a9eb0bd55 95 float _dist[3];
narshu 1:cc2a9eb0bd55 96 int _beacon_counter;
narshu 1:cc2a9eb0bd55 97 bool ValidPulse;
narshu 1:cc2a9eb0bd55 98 bool expValidPulse;
narshu 1:cc2a9eb0bd55 99
narshu 1:cc2a9eb0bd55 100 };
narshu 1:cc2a9eb0bd55 101
narshu 1:cc2a9eb0bd55 102 #endif