Oskar Weigl
We are going to win! wohoo
Revision 4:698a3c538482, committed 2012-11-14
- Comitter:
- xiaxia686
- Date:
- Wed Nov 14 15:51:56 2012 +0000
- Parent:
- 3:8c78c15a92e3
- Child:
- 8:a8693e2daa00
- Commit message:
- removed varicance from sonar callback;
Changed in this revision
--- a/Kalman/Sonar/RF12B/RF12B.cpp Wed Nov 14 15:48:20 2012 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,400 +0,0 @@
-#include "RF12B.h"
-
-#include "RF_defs.h"
-#include <algorithm>
-#include "system.h"
-#include "globals.h"
-
-
-RF12B::RF12B(PinName _SDI,
- PinName _SDO,
- PinName _SCK,
- PinName _NCS,
- PinName _NIRQ):spi(_SDI, _SDO, _SCK),
- NCS(_NCS), NIRQ(_NIRQ), NIRQ_in(_NIRQ) {// rfled(LED3) {
-
- // SPI frequency, word lenght, polarity and phase */
- spi.format(16,0);
- spi.frequency(2000000);
-
- // Set ~CS high
- NCS = 1;
-
- // Initialise RF Module
- init();
-
- // Setup interrupt to happen on falling edge of NIRQ
- NIRQ.fall(this, &RF12B::rxISR);
-}
-
-// Returns the packet length if data is available in the receive buffer, 0 otherwise
-//unsigned int RF12B::available() {
-// return fifo.size();
-//}
-
-// Reads a packet of data, with length "size" Returns false if read failed. TODO: make a metafifo to isolate packets
-/*bool RF12B::read(unsigned char* data, unsigned int size) {
- if (fifo.size() == 0) {
- return false;
- } else {
- unsigned int i = 0;
- while (fifo.size() > 0 && i < size) {
- data[i++] = fifo.front();
- fifo.pop();
- }
- return true;
- }
-}
-*/
-
-// Reads a byte of data from the receive buffer
-/*
-unsigned char RF12B::read() {
- if (available()) {
- unsigned char data = fifo.front();
- fifo.pop();
- return data;
- } else {
- return 0xFF; // Error val although could also be data...
- }
-}
-*/
-
-// Sends a packet of data to the RF module for transmission TODO: Make asych
-void RF12B::write(unsigned char *data, unsigned char length) {
- unsigned char crc = 0;
-
- // Transmitter mode
- changeMode(TX);
-
- writeCmd(0x0000);
- send(0xAA); // PREAMBLE
- send(0xAA);
- send(0xAA);
- send(0x2D); // SYNC
- send(0xD4);
- // Packet Length
- send(length);
- crc = crc8(crc, length);
- send(crc);
- crc = crc8(crc, crc);
- // Packet Data
- for (unsigned char i=0; i<length; i++) {
- send(data[i]);
- crc = crc8(crc, data[i]);
- }
- send(crc);
- send(0xAA); // DUMMY BYTES
- send(0xAA);
- send(0xAA);
-
- // Back to receiver mode
- changeMode(RX);
- status();
-
-
-}
-
-// Transmit a 1-byte data packet
-void RF12B::write(unsigned char data) {
- write(&data, 1);
-}
-/*
-void RF12B::write(queue<char> &data, int length) {
- char crc = 0;
- char length_byte = 0;
-
- // -1 means try to transmit everything in the queue
- if (length == -1) {
- length = data.size();
- }
-
- // max length of packet is 255
- length_byte = min(length, 255);
-
- // Transmitter mode
- changeMode(TX);
-
- writeCmd(0x0000);
- send(0xAA); // PREAMBLE
- send(0xAA);
- send(0xAA);
- send(0x2D); // SYNC
- send(0xD4);
- // Packet Length
- send(length_byte);
- crc = crc8(crc, length_byte);
- send(crc);
- crc = crc8(crc, crc);
- // Packet Data
- for (char i=0; i<length_byte; i++) {
- send(data.front());
- crc = crc8(crc, data.front());
- data.pop();
- }
- send(crc);
- send(0xAA); // DUMMY BYTES
- send(0xAA);
- send(0xAA);
-
- // Back to receiver mode
- changeMode(RX);
- status();
-}
-*/
-/**********************************************************************
- * PRIVATE FUNCTIONS
- *********************************************************************/
-
-// Initialises the RF12B module
-void RF12B::init() {
- // writeCmd(0x80E7); //EL,EF,868band,12.0pF
- changeMode(RX);
- writeCmd(0xA640); //frequency select
- writeCmd(0xC647); //4.8kbps
- writeCmd(0x94A0); //VDI,FAST,134kHz,0dBm,-103dBm
- writeCmd(0xC2AC); //AL,!ml,DIG,DQD4
- writeCmd(0xCA81); //FIFO8,SYNC,!ff,DR
- writeCmd(0xCED4); //SYNC=2DD4
- writeCmd(0xC483); //@PWR,NO RSTRIC,!st,!fi,OE,EN
- writeCmd(0x9850); //!mp,90kHz,MAX OUT
- writeCmd(0xCC17); //OB1, COB0, LPX, Iddy, CDDIT�CBW0
- writeCmd(0xE000); //NOT USED
- writeCmd(0xC800); //NOT USED
- writeCmd(0xC040); //1.66MHz,2.2V
-
- writeCmd(
- RFM_CONFIG_EL |
- RFM_CONFIG_EF |
- RFM_CONFIG_BAND_433 //|
- //RFM_CONFIG_X_11_0pf // meh, using default
- );
-
- // 2. Power Management Command
- // leave everything switched off for now
- /*
- writeCmd(
- RFM_POWER_MANAGEMENT // switch all off
- );
- */
-
- // 3. Frequency Setting Command
- writeCmd(
- RFM_FREQUENCY |
- RFM_FREQ_433Band(435.7) //I totally made this value up... if someone knows where the sweetspots are in this band, tell me!
- );
-
-
- // 4. Data Rate Command
- //writeCmd(RFM_DATA_RATE_9600);
- writeCmd(RFM_DATA_RATE_57600);
-
-
- // 5. Receiver Control Command
- writeCmd(
- RFM_RX_CONTROL_P20_VDI |
- RFM_RX_CONTROL_VDI_FAST |
- //RFM_RX_CONTROL_BW(RFM_BAUD_RATE) |
- RFM_RX_CONTROL_BW_134 | // CHANGE THIS TO 67 TO IMPROVE RANGE! (though the bitrate must then be below 8kbaud, and fsk modulation changed)
- RFM_RX_CONTROL_GAIN_0 |
- RFM_RX_CONTROL_RSSI_103 // Might need adjustment. Datasheet says around 10^-5 bit error rate at this level and baudrate.
- );
-
- // 6. Data Filter Command
- writeCmd(
- RFM_DATA_FILTER_AL |
- RFM_DATA_FILTER_ML |
- RFM_DATA_FILTER_DIG //|
- //RFM_DATA_FILTER_DQD(4)
- );
-
- // 7. FIFO and Reset Mode Command
- writeCmd(
- RFM_FIFO_IT(8) |
- RFM_FIFO_DR |
- 0x8 //turn on 16bit sync word
- );
-
- // 8. FIFO Syncword
- // Leave as default: 0xD4
-
- // 9. Receiver FIFO Read
- // when the interupt goes high, (and if we can assume that it was a fifo fill interrupt) we can read a byte using:
- // result = RFM_READ_FIFO();
-
- // 10. AFC Command
- writeCmd(
- //RFM_AFC_AUTO_VDI | //Note this might be changed to improve range. Refer to datasheet.
- RFM_AFC_AUTO_INDEPENDENT |
- RFM_AFC_RANGE_LIMIT_7_8 |
- RFM_AFC_EN |
- RFM_AFC_OE |
- RFM_AFC_FI
- );
-
- // 11. TX Configuration Control Command
- writeCmd(
- RFM_TX_CONTROL_MOD_60 |
- RFM_TX_CONTROL_POW_0
- );
-
-
- // 12. PLL Setting Command
- writeCmd(
- 0xCC77 & ~0x01 // Setting the PLL bandwith, less noise, but max bitrate capped at 86.2
- // I think this will slow down the pll's reaction time. Not sure, check with someone!
- );
-
- changeMode(RX);
- resetRX();
- status();
-}
-
-/* Write a command to the RF Module */
-unsigned int RF12B::writeCmd(unsigned int cmd) {
- NCS = 0;
- unsigned int recv = spi.write(cmd);
- NCS = 1;
- return recv;
-}
-
-/* Sends a byte of data across RF */
-void RF12B::send(unsigned char data) {
- while (NIRQ);
- writeCmd(0xB800 + data);
-}
-
-/* Change the mode of the RF module to Transmitting or Receiving */
-void RF12B::changeMode(rfmode_t _mode) {
- mode = _mode;
- if (_mode == TX) {
- writeCmd(0x8239); //!er,!ebb,ET,ES,EX,!eb,!ew,DC
- } else { /* mode == RX */
- writeCmd(0x8299); //er,!ebb,ET,ES,EX,!eb,!ew,DC
- }
-}
-
-// Interrupt routine for data reception */
-void RF12B::rxISR() {
-
- unsigned int data = 0;
- static int i = -2;
- static unsigned char packet_length = 0;
- static unsigned char crc = 0;
-// #ifdef ROBOT_SECONDARY
- static unsigned char temp;
-// #endif
-
- //Loop while interrupt is asserted
- while (!NIRQ_in && mode == RX) {
-
- // Grab the packet's length byte
- if (i == -2) {
- data = writeCmd(0x0000);
- if ( (data&0x8000) ) {
- data = writeCmd(0xB000);
- packet_length = (data&0x00FF);
- crc = crc8(crc, packet_length);
- i++;
- }
- }
-
- //If we exhaust the interrupt, exit
- if (NIRQ_in)
- break;
-
- // Check that packet length was correct
- if (i == -1) {
- data = writeCmd(0x0000);
- if ( (data&0x8000) ) {
- data = writeCmd(0xB000);
- unsigned char crcofsize = (data&0x00FF);
- if (crcofsize != crc) {
- //It was wrong, start over
- i = -2;
- packet_length = 0;
- crc = 0;
- //temp = queue<unsigned char>();
- resetRX();
- } else {
- crc = crc8(crc, crcofsize);
- i++;
- }
- }
- }
-
- //If we exhaust the interrupt, exit
- if (NIRQ_in)
- break;
-
- // Grab the packet's data
- if (i >= 0 && i < packet_length) {
- data = writeCmd(0x0000);
- if ( (data&0x8000) ) {
- data = writeCmd(0xB000);
- // #ifdef ROBOT_SECONDARY
- temp = data&0x00FF;
- // #endif
- //temp.push(data&0x00FF);
- crc = crc8(crc, (unsigned char)(data&0x00FF));
- i++;
- }
- }
-
- //If we exhaust the interrupt, exit
- if (NIRQ_in)
- break;
-
- if (i >= packet_length) {
- data = writeCmd(0x0000);
- if ( (data&0x8000) ) {
- data = writeCmd(0xB000);
- if ((unsigned char)(data & 0x00FF) == crc) {
- //If the checksum is correct, add our data to the end of the output buffer
- //while (!temp.empty()) {
- //fifo.push(temp);
- // temp.pop();
-//#ifdef ROBOT_SECONDARY
- if (callbackfunc)
- (*callbackfunc)(temp);
-
- if (callbackobj && mcallbackfunc)
- (callbackobj->*mcallbackfunc)(temp);
-//#endif
- // }
- }
-
- // Tell RF Module we are finished, and clean up
- i = -2;
- packet_length = 0;
- crc = 0;
- //temp = queue<unsigned char>();
- resetRX();
- }
- }
- }
-
-}
-
-unsigned int RF12B::status() {
- return writeCmd(0x0000);
-}
-
-// Tell the RF Module this packet is received and wait for the next */
-void RF12B::resetRX() {
- writeCmd(0xCA81);
- writeCmd(0xCA83);
-};
-
-// Calculate CRC8 */
-unsigned char RF12B::crc8(unsigned char crc, unsigned char data) {
- crc = crc ^ data;
- for (int i = 0; i < 8; i++) {
- if (crc & 0x01) {
- crc = (crc >> 1) ^ 0x8C;
- } else {
- crc >>= 1;
- }
- }
- return crc;
-}
\ No newline at end of file
--- a/Kalman/Sonar/RF12B/RF12B.h Wed Nov 14 15:48:20 2012 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,83 +0,0 @@
-#ifndef _RF12B_H
-#define _RF12B_H
-
-#include "mbed.h"
-//#include <queue>
-
-enum rfmode_t{RX, TX};
-
-class DummyCT;
-
-class RF12B {
-public:
- /* Constructor */
- RF12B(PinName SDI,
- PinName SDO,
- PinName SCK,
- PinName NCS,
- PinName NIRQ);
-
-
-
- /* Reads a packet of data. Returns false if read failed. Use available() to check how much space to allocate for buffer */
- bool read(unsigned char* data, unsigned int size);
-
- /* Reads a byte of data from the receive buffer
- Returns 0xFF if there is no data */
- unsigned char read();
-
- /* Transmits a packet of data */
- void write(unsigned char* data, unsigned char length);
- void write(unsigned char data); /* 1-byte packet */
-// void write(std::queue<char> &data, int length = -1); /* sends a whole queue */
-
- /* Returns the packet length if data is available in the receive buffer, 0 otherwise*/
- unsigned int available();
-
- /** A assigns a callback function when a new reading is available **/
- void (*callbackfunc)(unsigned char rx_code);
- DummyCT* callbackobj;
- void (DummyCT::*mcallbackfunc)(unsigned char rx_code);
-
-protected:
- /* Receive FIFO buffer */
-// std::queue<unsigned char> fifo;
-// std::queue<unsigned char> temp; //for storing stuff mid-packet
-
- /* SPI module */
- SPI spi;
-
- /* Other digital pins */
- DigitalOut NCS;
- InterruptIn NIRQ;
- DigitalIn NIRQ_in;
- //DigitalOut rfled;
-
- rfmode_t mode;
-
- /* Initialises the RF12B module */
- void init();
-
- /* Write a command to the RF Module */
- unsigned int writeCmd(unsigned int cmd);
-
- /* Sends a byte of data across RF */
- void send(unsigned char data);
-
- /* Switch module between receive and transmit modes */
- void changeMode(rfmode_t mode);
-
- /* Interrupt routine for data reception */
- void rxISR();
-
- /* Tell the RF Module this packet is received and wait for the next */
- void resetRX();
-
- /* Return the RF Module Status word */
- unsigned int status();
-
- /* Calculate CRC8 */
- unsigned char crc8(unsigned char crc, unsigned char data);
-};
-
-#endif /* _RF12B_H */
\ No newline at end of file
--- a/Kalman/Sonar/RF12B/RF_defs.h Wed Nov 14 15:48:20 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,478 +0,0 @@ -/* - * Open HR20 - * - * target: ATmega169 @ 4 MHz in Honnywell Rondostat HR20E - * - * compiler: WinAVR-20071221 - * avr-libc 1.6.0 - * GCC 4.2.2 - * - * copyright: 2008 Dario Carluccio (hr20-at-carluccio-dot-de) - * 2008 Jiri Dobry (jdobry-at-centrum-dot-cz) - * 2008 Mario Fischer (MarioFischer-at-gmx-dot-net) - * 2007 Michael Smola (Michael-dot-Smola-at-gmx-dot-net) - * - * license: This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU Library General Public - * License as published by the Free Software Foundation; either - * version 2 of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see http:*www.gnu.org/licenses - */ - -/* - * \file rfm.h - * \brief functions to control the RFM12 Radio Transceiver Module - * \author Mario Fischer <MarioFischer-at-gmx-dot-net>; Michael Smola <Michael-dot-Smola-at-gmx-dot-net> - * \date $Date: 2010/04/17 17:57:02 $ - * $Rev: 260 $ - */ - - -//#pragma once // multi-iclude prevention. gcc knows this pragma -#ifndef rfm_H -#define rfm_H - - -#define RFM_SPI_16(OUTVAL) rfm_spi16(OUTVAL) //<! a function that gets a uint16_t (clocked out value) and returns a uint16_t (clocked in value) - -#define RFM_CLK_OUTPUT 0 - -/* -#define RFM_TESTPIN_INIT -#define RFM_TESTPIN_ON -#define RFM_TESTPIN_OFF -#define RFM_TESTPIN_TOG - -#define RFM_CONFIG_DISABLE 0x00 //<! RFM_CONFIG_*** are combinable flags, what the RFM shold do -#define RFM_CONFIG_BROADCASTSTATUS 0x01 //<! Flag that enables the HR20's status broadcast every minute - -#define RFM_CONFIG_ENABLEALL 0xff -*/ - - -/////////////////////////////////////////////////////////////////////////////// -// -// RFM status bits -// -/////////////////////////////////////////////////////////////////////////////// - -// Interrupt bits, latched //////////////////////////////////////////////////// - -#define RFM_STATUS_FFIT 0x8000 // RX FIFO reached the progr. number of bits - // Cleared by any FIFO read method - -#define RFM_STATUS_RGIT 0x8000 // TX register is ready to receive - // Cleared by TX write - -#define RFM_STATUS_POR 0x4000 // Power On reset - // Cleared by read status - -#define RFM_STATUS_RGUR 0x2000 // TX register underrun, register over write - // Cleared by read status - -#define RFM_STATUS_FFOV 0x2000 // RX FIFO overflow - // Cleared by read status - -#define RFM_STATUS_WKUP 0x1000 // Wake up timer overflow - // Cleared by read status - -#define RFM_STATUS_EXT 0x0800 // Interupt changed to low - // Cleared by read status - -#define RFM_STATUS_LBD 0x0400 // Low battery detect - -// Status bits //////////////////////////////////////////////////////////////// - -#define RFM_STATUS_FFEM 0x0200 // FIFO is empty -#define RFM_STATUS_ATS 0x0100 // TX mode: Strong enough RF signal -#define RFM_STATUS_RSSI 0x0100 // RX mode: signal strength above programmed limit -#define RFM_STATUS_DQD 0x0080 // Data Quality detector output -#define RFM_STATUS_CRL 0x0040 // Clock recovery lock -#define RFM_STATUS_ATGL 0x0020 // Toggling in each AFC cycle - -/////////////////////////////////////////////////////////////////////////////// -// -// 1. Configuration Setting Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_CONFIG 0x8000 - -#define RFM_CONFIG_EL 0x8080 // Enable TX Register -#define RFM_CONFIG_EF 0x8040 // Enable RX FIFO buffer -#define RFM_CONFIG_BAND_315 0x8000 // Frequency band -#define RFM_CONFIG_BAND_433 0x8010 -#define RFM_CONFIG_BAND_868 0x8020 -#define RFM_CONFIG_BAND_915 0x8030 -#define RFM_CONFIG_X_8_5pf 0x8000 // Crystal Load Capacitor -#define RFM_CONFIG_X_9_0pf 0x8001 -#define RFM_CONFIG_X_9_5pf 0x8002 -#define RFM_CONFIG_X_10_0pf 0x8003 -#define RFM_CONFIG_X_10_5pf 0x8004 -#define RFM_CONFIG_X_11_0pf 0x8005 -#define RFM_CONFIG_X_11_5pf 0x8006 -#define RFM_CONFIG_X_12_0pf 0x8007 -#define RFM_CONFIG_X_12_5pf 0x8008 -#define RFM_CONFIG_X_13_0pf 0x8009 -#define RFM_CONFIG_X_13_5pf 0x800A -#define RFM_CONFIG_X_14_0pf 0x800B -#define RFM_CONFIG_X_14_5pf 0x800C -#define RFM_CONFIG_X_15_0pf 0x800D -#define RFM_CONFIG_X_15_5pf 0x800E -#define RFM_CONFIG_X_16_0pf 0x800F - -/////////////////////////////////////////////////////////////////////////////// -// -// 2. Power Management Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_POWER_MANAGEMENT 0x8200 - -#define RFM_POWER_MANAGEMENT_ER 0x8280 // Enable receiver -#define RFM_POWER_MANAGEMENT_EBB 0x8240 // Enable base band block -#define RFM_POWER_MANAGEMENT_ET 0x8220 // Enable transmitter -#define RFM_POWER_MANAGEMENT_ES 0x8210 // Enable synthesizer -#define RFM_POWER_MANAGEMENT_EX 0x8208 // Enable crystal oscillator -#define RFM_POWER_MANAGEMENT_EB 0x8204 // Enable low battery detector -#define RFM_POWER_MANAGEMENT_EW 0x8202 // Enable wake-up timer -#define RFM_POWER_MANAGEMENT_DC 0x8201 // Disable clock output of CLK pin - -#ifndef RFM_CLK_OUTPUT - #error RFM_CLK_OUTPUT must be defined to 0 or 1 -#endif -#if RFM_CLK_OUTPUT - #define RFM_TX_ON_PRE() RFM_SPI_16( \ - RFM_POWER_MANAGEMENT_ES | \ - RFM_POWER_MANAGEMENT_EX ) - #define RFM_TX_ON() RFM_SPI_16( \ - RFM_POWER_MANAGEMENT_ET | \ - RFM_POWER_MANAGEMENT_ES | \ - RFM_POWER_MANAGEMENT_EX ) - #define RFM_RX_ON() RFM_SPI_16( \ - RFM_POWER_MANAGEMENT_ER | \ - RFM_POWER_MANAGEMENT_EBB | \ - RFM_POWER_MANAGEMENT_ES | \ - RFM_POWER_MANAGEMENT_EX ) - #define RFM_OFF() RFM_SPI_16( \ - RFM_POWER_MANAGEMENT_EX ) -#else - #define RFM_TX_ON_PRE() RFM_SPI_16( \ - RFM_POWER_MANAGEMENT_DC | \ - RFM_POWER_MANAGEMENT_ES | \ - RFM_POWER_MANAGEMENT_EX ) - #define RFM_TX_ON() RFM_SPI_16( \ - RFM_POWER_MANAGEMENT_DC | \ - RFM_POWER_MANAGEMENT_ET | \ - RFM_POWER_MANAGEMENT_ES | \ - RFM_POWER_MANAGEMENT_EX ) - #define RFM_RX_ON() RFM_SPI_16( \ - RFM_POWER_MANAGEMENT_DC | \ - RFM_POWER_MANAGEMENT_ER | \ - RFM_POWER_MANAGEMENT_EBB | \ - RFM_POWER_MANAGEMENT_ES | \ - RFM_POWER_MANAGEMENT_EX ) - #define RFM_OFF() RFM_SPI_16(RFM_POWER_MANAGEMENT_DC) -#endif -/////////////////////////////////////////////////////////////////////////////// -// -// 3. Frequency Setting Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_FREQUENCY 0xA000 - -#define RFM_FREQ_315Band(v) (uint16_t)((v/10.0-31)*4000) -#define RFM_FREQ_433Band(v) (uint16_t)((v/10.0-43)*4000) -#define RFM_FREQ_868Band(v) (uint16_t)((v/20.0-43)*4000) -#define RFM_FREQ_915Band(v) (uint16_t)((v/30.0-30)*4000) - -/////////////////////////////////////////////////////////////////////////////// -// -// 4. Data Rate Command -// -///////////////////////////////////////////////////////////////////////////////// - -#define RFM_BAUD_RATE 9600 - -#define RFM_DATA_RATE 0xC600 - -#define RFM_DATA_RATE_CS 0xC680 -#define RFM_DATA_RATE_4800 0xC647 -#define RFM_DATA_RATE_9600 0xC623 -#define RFM_DATA_RATE_19200 0xC611 -#define RFM_DATA_RATE_38400 0xC608 -#define RFM_DATA_RATE_57600 0xC605 - -#define RFM_SET_DATARATE(baud) ( ((baud)<5400) ? (RFM_DATA_RATE_CS|((43104/(baud))-1)) : (RFM_DATA_RATE|((344828UL/(baud))-1)) ) - -/////////////////////////////////////////////////////////////////////////////// -// -// 5. Receiver Control Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_RX_CONTROL 0x9000 - -#define RFM_RX_CONTROL_P20_INT 0x9000 // Pin20 = ExternalInt -#define RFM_RX_CONTROL_P20_VDI 0x9400 // Pin20 = VDI out - -#define RFM_RX_CONTROL_VDI_FAST 0x9000 // fast VDI Response time -#define RFM_RX_CONTROL_VDI_MED 0x9100 // medium -#define RFM_RX_CONTROL_VDI_SLOW 0x9200 // slow -#define RFM_RX_CONTROL_VDI_ON 0x9300 // Always on - -#define RFM_RX_CONTROL_BW_400 0x9020 // bandwidth 400kHz -#define RFM_RX_CONTROL_BW_340 0x9040 // bandwidth 340kHz -#define RFM_RX_CONTROL_BW_270 0x9060 // bandwidth 270kHz -#define RFM_RX_CONTROL_BW_200 0x9080 // bandwidth 200kHz -#define RFM_RX_CONTROL_BW_134 0x90A0 // bandwidth 134kHz -#define RFM_RX_CONTROL_BW_67 0x90C0 // bandwidth 67kHz - -#define RFM_RX_CONTROL_GAIN_0 0x9000 // LNA gain 0db -#define RFM_RX_CONTROL_GAIN_6 0x9008 // LNA gain -6db -#define RFM_RX_CONTROL_GAIN_14 0x9010 // LNA gain -14db -#define RFM_RX_CONTROL_GAIN_20 0x9018 // LNA gain -20db - -#define RFM_RX_CONTROL_RSSI_103 0x9000 // DRSSI threshold -103dbm -#define RFM_RX_CONTROL_RSSI_97 0x9001 // DRSSI threshold -97dbm -#define RFM_RX_CONTROL_RSSI_91 0x9002 // DRSSI threshold -91dbm -#define RFM_RX_CONTROL_RSSI_85 0x9003 // DRSSI threshold -85dbm -#define RFM_RX_CONTROL_RSSI_79 0x9004 // DRSSI threshold -79dbm -#define RFM_RX_CONTROL_RSSI_73 0x9005 // DRSSI threshold -73dbm -//#define RFM_RX_CONTROL_RSSI_67 0x9006 // DRSSI threshold -67dbm // RF12B reserved -//#define RFM_RX_CONTROL_RSSI_61 0x9007 // DRSSI threshold -61dbm // RF12B reserved - -#define RFM_RX_CONTROL_BW(baud) (((baud)<8000) ? \ - RFM_RX_CONTROL_BW_67 : \ - ( \ - ((baud)<30000) ? \ - RFM_RX_CONTROL_BW_134 : \ - RFM_RX_CONTROL_BW_200 \ - )) - -/////////////////////////////////////////////////////////////////////////////// -// -// 6. Data Filter Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_DATA_FILTER 0xC228 - -#define RFM_DATA_FILTER_AL 0xC2A8 // clock recovery auto-lock -#define RFM_DATA_FILTER_ML 0xC268 // clock recovery fast mode -#define RFM_DATA_FILTER_DIG 0xC228 // data filter type digital -#define RFM_DATA_FILTER_ANALOG 0xC238 // data filter type analog -#define RFM_DATA_FILTER_DQD(level) (RFM_DATA_FILTER | (level & 0x7)) - -/////////////////////////////////////////////////////////////////////////////// -// -// 7. FIFO and Reset Mode Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_FIFO 0xCA00 - -#define RFM_FIFO_AL 0xCA04 // FIFO Start condition sync-word/always -#define RFM_FIFO_FF 0xCA02 // Enable FIFO fill -#define RFM_FIFO_DR 0xCA01 // Disable hi sens reset mode -#define RFM_FIFO_IT(level) (RFM_FIFO | (( (level) & 0xF)<<4)) - -#define RFM_FIFO_OFF() RFM_SPI_16(RFM_FIFO_IT(8) | RFM_FIFO_DR) -#define RFM_FIFO_ON() RFM_SPI_16(RFM_FIFO_IT(8) | RFM_FIFO_FF | RFM_FIFO_DR) - -///////////////////////////////////////////////////////////////////////////// -// -// 8. Receiver FIFO Read -// -///////////////////////////////////////////////////////////////////////////// - -#define RFM_READ_FIFO() (RFM_SPI_16(0xB000) & 0xFF) - -///////////////////////////////////////////////////////////////////////////// -// -// 9. AFC Command -// -///////////////////////////////////////////////////////////////////////////// - -#define RFM_AFC 0xC400 - -#define RFM_AFC_EN 0xC401 -#define RFM_AFC_OE 0xC402 -#define RFM_AFC_FI 0xC404 -#define RFM_AFC_ST 0xC408 - -// Limits the value of the frequency offset register to the next values: - -#define RFM_AFC_RANGE_LIMIT_NO 0xC400 // 0: No restriction -#define RFM_AFC_RANGE_LIMIT_15_16 0xC410 // 1: +15 fres to -16 fres -#define RFM_AFC_RANGE_LIMIT_7_8 0xC420 // 2: +7 fres to -8 fres -#define RFM_AFC_RANGE_LIMIT_3_4 0xC430 // 3: +3 fres to -4 fres - -// fres=2.5 kHz in 315MHz and 433MHz Bands -// fres=5.0 kHz in 868MHz Band -// fres=7.5 kHz in 915MHz Band - -#define RFM_AFC_AUTO_OFF 0xC400 // 0: Auto mode off (Strobe is controlled by microcontroller) -#define RFM_AFC_AUTO_ONCE 0xC440 // 1: Runs only once after each power-up -#define RFM_AFC_AUTO_VDI 0xC480 // 2: Keep the foffset only during receiving(VDI=high) -#define RFM_AFC_AUTO_INDEPENDENT 0xC4C0 // 3: Keep the foffset value independently trom the state of the VDI signal - -/////////////////////////////////////////////////////////////////////////////// -// -// 10. TX Configuration Control Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_TX_CONTROL 0x9800 - -#define RFM_TX_CONTROL_POW_0 0x9800 -#define RFM_TX_CONTROL_POW_3 0x9801 -#define RFM_TX_CONTROL_POW_6 0x9802 -#define RFM_TX_CONTROL_POW_9 0x9803 -#define RFM_TX_CONTROL_POW_12 0x9804 -#define RFM_TX_CONTROL_POW_15 0x9805 -#define RFM_TX_CONTROL_POW_18 0x9806 -#define RFM_TX_CONTROL_POW_21 0x9807 -#define RFM_TX_CONTROL_MOD_15 0x9800 -#define RFM_TX_CONTROL_MOD_30 0x9810 -#define RFM_TX_CONTROL_MOD_45 0x9820 -#define RFM_TX_CONTROL_MOD_60 0x9830 -#define RFM_TX_CONTROL_MOD_75 0x9840 -#define RFM_TX_CONTROL_MOD_90 0x9850 -#define RFM_TX_CONTROL_MOD_105 0x9860 -#define RFM_TX_CONTROL_MOD_120 0x9870 -#define RFM_TX_CONTROL_MOD_135 0x9880 -#define RFM_TX_CONTROL_MOD_150 0x9890 -#define RFM_TX_CONTROL_MOD_165 0x98A0 -#define RFM_TX_CONTROL_MOD_180 0x98B0 -#define RFM_TX_CONTROL_MOD_195 0x98C0 -#define RFM_TX_CONTROL_MOD_210 0x98D0 -#define RFM_TX_CONTROL_MOD_225 0x98E0 -#define RFM_TX_CONTROL_MOD_240 0x98F0 -#define RFM_TX_CONTROL_MP 0x9900 - -#define RFM_TX_CONTROL_MOD(baud) (((baud)<8000) ? \ - RFM_TX_CONTROL_MOD_45 : \ - ( \ - ((baud)<20000) ? \ - RFM_TX_CONTROL_MOD_60 : \ - ( \ - ((baud)<30000) ? \ - RFM_TX_CONTROL_MOD_75 : \ - ( \ - ((baud)<40000) ? \ - RFM_TX_CONTROL_MOD_90 : \ - RFM_TX_CONTROL_MOD_120 \ - ) \ - ) \ - )) - -///////////////////////////////////////////////////////////////////////////// -// -// 11. Transmitter Register Write Command -// -///////////////////////////////////////////////////////////////////////////// - -//#define RFM_WRITE(byte) RFM_SPI_16(0xB800 | ((byte) & 0xFF)) -#define RFM_WRITE(byte) RFM_SPI_16(0xB800 | (byte) ) - -/////////////////////////////////////////////////////////////////////////////// -// -// 12. Wake-up Timer Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_WAKEUP_TIMER 0xE000 -#define RFM_WAKEUP_SET(time) RFM_SPI_16(RFM_WAKEUP_TIMER | (time)) - -#define RFM_WAKEUP_480s (RFM_WAKEUP_TIMER |(11 << 8)| 234) -#define RFM_WAKEUP_240s (RFM_WAKEUP_TIMER |(10 << 8)| 234) -#define RFM_WAKEUP_120s (RFM_WAKEUP_TIMER |(9 << 8)| 234) -#define RFM_WAKEUP_119s (RFM_WAKEUP_TIMER |(9 << 8)| 232) - -#define RFM_WAKEUP_60s (RFM_WAKEUP_TIMER |(8 << 8) | 235) -#define RFM_WAKEUP_59s (RFM_WAKEUP_TIMER |(8 << 8) | 230) - -#define RFM_WAKEUP_30s (RFM_WAKEUP_TIMER |(7 << 8) | 235) -#define RFM_WAKEUP_29s (RFM_WAKEUP_TIMER |(7 << 8) | 227) - -#define RFM_WAKEUP_8s (RFM_WAKEUP_TIMER |(5 << 8) | 250) -#define RFM_WAKEUP_7s (RFM_WAKEUP_TIMER |(5 << 8) | 219) -#define RFM_WAKEUP_6s (RFM_WAKEUP_TIMER |(6 << 8) | 94) -#define RFM_WAKEUP_5s (RFM_WAKEUP_TIMER |(5 << 8) | 156) -#define RFM_WAKEUP_4s (RFM_WAKEUP_TIMER |(5 << 8) | 125) -#define RFM_WAKEUP_1s (RFM_WAKEUP_TIMER |(2 << 8) | 250) -#define RFM_WAKEUP_900ms (RFM_WAKEUP_TIMER |(2 << 8) | 225) -#define RFM_WAKEUP_800ms (RFM_WAKEUP_TIMER |(2 << 8) | 200) -#define RFM_WAKEUP_700ms (RFM_WAKEUP_TIMER |(2 << 8) | 175) -#define RFM_WAKEUP_600ms (RFM_WAKEUP_TIMER |(2 << 8) | 150) -#define RFM_WAKEUP_500ms (RFM_WAKEUP_TIMER |(2 << 8) | 125) -#define RFM_WAKEUP_400ms (RFM_WAKEUP_TIMER |(2 << 8) | 100) -#define RFM_WAKEUP_300ms (RFM_WAKEUP_TIMER |(2 << 8) | 75) -#define RFM_WAKEUP_200ms (RFM_WAKEUP_TIMER |(2 << 8) | 50) -#define RFM_WAKEUP_100ms (RFM_WAKEUP_TIMER |(2 << 8) | 25) - -/////////////////////////////////////////////////////////////////////////////// -// -// 13. Low Duty-Cycle Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_LOW_DUTY_CYCLE 0xC800 - -/////////////////////////////////////////////////////////////////////////////// -// -// 14. Low Battery Detector Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_LOW_BATT_DETECT 0xC000 -#define RFM_LOW_BATT_DETECT_D_1MHZ 0xC000 -#define RFM_LOW_BATT_DETECT_D_1_25MHZ 0xC020 -#define RFM_LOW_BATT_DETECT_D_1_66MHZ 0xC040 -#define RFM_LOW_BATT_DETECT_D_2MHZ 0xC060 -#define RFM_LOW_BATT_DETECT_D_2_5MHZ 0xC080 -#define RFM_LOW_BATT_DETECT_D_3_33MHZ 0xC0A0 -#define RFM_LOW_BATT_DETECT_D_5MHZ 0xC0C0 -#define RFM_LOW_BATT_DETECT_D_10MHZ 0xC0E0 - -/////////////////////////////////////////////////////////////////////////////// -// -// 15. Status Read Command -// -/////////////////////////////////////////////////////////////////////////////// - -#define RFM_READ_STATUS() RFM_SPI_16(0x0000) -#define RFM_READ_STATUS_FFIT() SPI_1 (0x00) -#define RFM_READ_STATUS_RGIT RFM_READ_STATUS_FFIT - -/////////////////////////////////////////////////////////////////////////////// - -// RFM air protocol flags: - -#define RFMPROTO_FLAGS_BITASK_PACKETTYPE 0b11000000 //!< the uppermost 2 bits of the flags field encode the packettype -#define RFMPROTO_FLAGS_PACKETTYPE_BROADCAST 0b00000000 //!< broadcast packettype (message from hr20, protocol; step 1) -#define RFMPROTO_FLAGS_PACKETTYPE_COMMAND 0b01000000 //!< command packettype (message to hr20, protocol; step 2) -#define RFMPROTO_FLAGS_PACKETTYPE_REPLY 0b10000000 //!< reply packettype (message from hr20, protocol; step 3) -#define RFMPROTO_FLAGS_PACKETTYPE_SPECIAL 0b11000000 //!< currently unused packettype - -#define RFMPROTO_FLAGS_BITASK_DEVICETYPE 0b00011111 //!< the lowermost 5 bytes denote the device type. this way other sensors and actors may coexist -#define RFMPROTO_FLAGS_DEVICETYPE_OPENHR20 0b00010100 //!< topen HR20 device type. 10100 is for decimal 20 - -#define RFMPROTO_IS_PACKETTYPE_BROADCAST(FLAGS) ( RFMPROTO_FLAGS_PACKETTYPE_BROADCAST == ((FLAGS) & RFMPROTO_FLAGS_BITASK_PACKETTYPE) ) -#define RFMPROTO_IS_PACKETTYPE_COMMAND(FLAGS) ( RFMPROTO_FLAGS_PACKETTYPE_COMMAND == ((FLAGS) & RFMPROTO_FLAGS_BITASK_PACKETTYPE) ) -#define RFMPROTO_IS_PACKETTYPE_REPLY(FLAGS) ( RFMPROTO_FLAGS_PACKETTYPE_REPLY == ((FLAGS) & RFMPROTO_FLAGS_BITASK_PACKETTYPE) ) -#define RFMPROTO_IS_PACKETTYPE_SPECIAL(FLAGS) ( RFMPROTO_FLAGS_PACKETTYPE_SPECIAL == ((FLAGS) & RFMPROTO_FLAGS_BITASK_PACKETTYPE) ) -#define RFMPROTO_IS_DEVICETYPE_OPENHR20(FLAGS) ( RFMPROTO_FLAGS_DEVICETYPE_OPENHR20 == ((FLAGS) & RFMPROTO_FLAGS_BITASK_DEVICETYPE) ) - -/////////////////////////////////////////////////////////////////////////////// - -#endif \ No newline at end of file
--- a/Kalman/Sonar/RFSRF05.cpp Wed Nov 14 15:48:20 2012 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,183 +0,0 @@
-
-#include "RFSRF05.h"
-#include "mbed.h"
-#include "globals.h"
-#include "system.h"
-
-
-RFSRF05::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)
- : _rf(SDI,SDO,SCK,NCS,NIRQ),
- _trigger(trigger),
- _echo0(echo0),
- _echo1(echo1),
- _echo2(echo2),
- _echo3(echo3),
- _echo4(echo4),
- _echo5(echo5) {
-
- // initialises codes
- codes[0] = CODE0;
- codes[1] = CODE1;
- codes[2] = CODE2;
-
- //set callback execute to true
- ValidPulse = false;
-
- // Attach interrupts
-#ifdef SONAR_ECHO_INV
- // inverted sonar inputs
- _echo5.fall(this, &RFSRF05::_rising);
- _echo0.rise(this, &RFSRF05::_falling);
- _echo1.rise(this, &RFSRF05::_falling);
- _echo2.rise(this, &RFSRF05::_falling);
- _echo3.rise(this, &RFSRF05::_falling);
- _echo4.rise(this, &RFSRF05::_falling);
- _echo5.rise(this, &RFSRF05::_falling);
-#else
- _echo5.rise(this, &RFSRF05::_rising);
- _echo0.fall(this, &RFSRF05::_falling);
- _echo1.fall(this, &RFSRF05::_falling);
- _echo2.fall(this, &RFSRF05::_falling);
- _echo3.fall(this, &RFSRF05::_falling);
- _echo4.fall(this, &RFSRF05::_falling);
- _echo5.fall(this, &RFSRF05::_falling);
-#endif
-
-
- //init callabck function
- callbackfunc = NULL;
- callbackobj = NULL;
- mcallbackfunc = NULL;
-
- // innitialises beacon counter
- _beacon_counter = 0;
-
-#ifdef ROBOT_PRIMARY
- //Interrupts every 50ms for primary robot
- _ticker.attach(this, &RFSRF05::_startRange, 0.05);
-#else
- //attach callback
- _rf.callbackobj = (DummyCT*)this;
- _rf.mcallbackfunc = (void (DummyCT::*)(unsigned char rx_data)) &RFSRF05::startRange;
-#endif
-
-}
-
-#ifdef ROBOT_PRIMARY
-void RFSRF05::_startRange() {
-
- //printf("Srange\r\r");
-
- // increments counter
- _beacon_counter = (_beacon_counter + 1) % 3;
-
-
- // set flags
- ValidPulse = false;
- expValidPulse = true;
-
- // writes code to RF port
- _rf.write(codes[_beacon_counter]);
-
- // send a trigger pulse, 10uS long
- _trigger = 1;
- wait_us (10);
- _trigger = 0;
-
-}
-#else
-
-void RFSRF05::startRange(unsigned char rx_code) {
- for (int i = 0; i < 3; i++) {
- if (rx_code == codes[i]) {
-
- // assign beacon_counter
- _beacon_counter = i;
-
- // set flags
- ValidPulse = false;
- expValidPulse = true;
-
- // send a trigger pulse, 10uS long
- _trigger = 1;
- wait_us (10);
- _trigger = 0;
- break;
- }
- }
-}
-#endif
-
-// Clear and start the timer at the begining of the echo pulse
-void RFSRF05::_rising(void) {
-
- _timer.reset();
- _timer.start();
-
- //Set callback execute to ture
- if (expValidPulse) {
- ValidPulse = true;
- expValidPulse = false;
- }
-}
-
-// Stop and read the timer at the end of the pulse
-void RFSRF05::_falling(void) {
- _timer.stop();
-
- if (ValidPulse) {
- //printf("Validpulse trig!\r\n");
- ValidPulse = false;
-
- //Calucate distance
- //true offset is about 100, we put 300 so circles overlap
- _dist[_beacon_counter] = _timer.read_us()/2.9 + 300;
-
- if (callbackfunc)
- (*callbackfunc)(_beacon_counter, _dist[_beacon_counter]);
-
- if (callbackobj && mcallbackfunc)
- (callbackobj->*mcallbackfunc)(_beacon_counter, _dist[_beacon_counter], sonarvariance);
-
- }
-
-}
-
-float RFSRF05::read0() {
- // returns distance
- return (_dist[0]);
-}
-
-float RFSRF05::read1() {
- // returns distance
- return (_dist[1]);
-}
-
-float RFSRF05::read2() {
- // returns distance
- return (_dist[2]);
-}
-
-float RFSRF05::read(unsigned int beaconnum) {
- // returns distance
- return (_dist[beaconnum]);
-}
-
-void RFSRF05::setCode(int code_index, unsigned char code) {
- codes[code_index] = code;
-}
-
-//SRF05::operator float() {
-// return read();
-//}
--- a/Kalman/Sonar/RFSRF05.h Wed Nov 14 15:48:20 2012 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,102 +0,0 @@
-
-#ifndef MBED_RFSRF05_H
-#define MBED_RFSRF05_H
-
-
-
-#include "mbed.h"
-#include "RF12B.h"
-#include "globals.h"
-
-
-#define CODE0 0x22
-#define CODE1 0x44
-#define CODE2 0x88
-
-/* SAMPLE IMPLEMENTATION!
-RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9);
-
-
-void callbinmain(int num, float dist) {
- //Here is where you deal with your brand new reading ;D
-}
-
-int main() {
- pc.printf("Hello World of RobotSonar!\r\n");
- my_srf.callbackfunc = callbinmain;
-
- while (1);
-}
-
- */
-
-class DummyCT;
-
-class RFSRF05 {
-public:
-
- 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 mm
- */
- float read0();
- float read1();
- float read2();
- float read(unsigned int beaconnum);
-
-
- /** A assigns a callback function when a new reading is available **/
- void (*callbackfunc)(int beaconnum, float distance);
- DummyCT* callbackobj;
- void (DummyCT::*mcallbackfunc)(int beaconnum, float distance, float variance);
-
- //triggers a read
- #ifndef ROBOT_PRIMARY
- void startRange(unsigned char rx_code);
- #endif
-
- //set codes
- void setCode(int code_index, unsigned char code);
- unsigned char codes[3];
-
- /** 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;
- #ifdef ROBOT_PRIMARY
- void _startRange(void);
- #endif
- void _rising (void);
- void _falling (void);
- float _dist[3];
- int _beacon_counter;
- bool ValidPulse;
- bool expValidPulse;
-
-};
-
-#endif