Oskar Weigl / Kalman

Kalman filter for Eurobot

RFSRF05/RF12B.h@0:a0285293f6a6, 2012-03-20 (annotated)

Committer:
madcowswe
Date:
Tue Mar 20 12:43:16 2012 +0000
Revision:
0:a0285293f6a6
Algo done, vars not done

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 0:a0285293f6a6 1 #ifndef _RF12B_H
madcowswe 0:a0285293f6a6 2 #define _RF12B_H
madcowswe 0:a0285293f6a6 3
madcowswe 0:a0285293f6a6 4 #include "mbed.h"
madcowswe 0:a0285293f6a6 5 #include <queue>
madcowswe 0:a0285293f6a6 6
madcowswe 0:a0285293f6a6 7 enum rfmode_t{RX, TX};
madcowswe 0:a0285293f6a6 8
madcowswe 0:a0285293f6a6 9 class RF12B {
madcowswe 0:a0285293f6a6 10 public:
madcowswe 0:a0285293f6a6 11 /* Constructor */
madcowswe 0:a0285293f6a6 12 RF12B(PinName SDI,
madcowswe 0:a0285293f6a6 13 PinName SDO,
madcowswe 0:a0285293f6a6 14 PinName SCK,
madcowswe 0:a0285293f6a6 15 PinName NCS,
madcowswe 0:a0285293f6a6 16 PinName NIRQ);
madcowswe 0:a0285293f6a6 17
madcowswe 0:a0285293f6a6 18
madcowswe 0:a0285293f6a6 19
madcowswe 0:a0285293f6a6 20 /* Reads a packet of data. Returns false if read failed. Use available() to check how much space to allocate for buffer */
madcowswe 0:a0285293f6a6 21 bool read(unsigned char* data, unsigned int size);
madcowswe 0:a0285293f6a6 22
madcowswe 0:a0285293f6a6 23 /* Reads a byte of data from the receive buffer
madcowswe 0:a0285293f6a6 24 Returns 0xFF if there is no data */
madcowswe 0:a0285293f6a6 25 unsigned char read();
madcowswe 0:a0285293f6a6 26
madcowswe 0:a0285293f6a6 27 /* Transmits a packet of data */
madcowswe 0:a0285293f6a6 28 void write(unsigned char* data, unsigned char length);
madcowswe 0:a0285293f6a6 29 void write(unsigned char data); /* 1-byte packet */
madcowswe 0:a0285293f6a6 30 void write(queue<char> &data, int length = -1); /* sends a whole queue */
madcowswe 0:a0285293f6a6 31
madcowswe 0:a0285293f6a6 32 /* Returns the packet length if data is available in the receive buffer, 0 otherwise*/
madcowswe 0:a0285293f6a6 33 unsigned int available();
madcowswe 0:a0285293f6a6 34
madcowswe 0:a0285293f6a6 35 protected:
madcowswe 0:a0285293f6a6 36 /* Receive FIFO buffer */
madcowswe 0:a0285293f6a6 37 queue<unsigned char> fifo;
madcowswe 0:a0285293f6a6 38
madcowswe 0:a0285293f6a6 39 /* SPI module */
madcowswe 0:a0285293f6a6 40 SPI spi;
madcowswe 0:a0285293f6a6 41
madcowswe 0:a0285293f6a6 42 /* Other digital pins */
madcowswe 0:a0285293f6a6 43 DigitalOut NCS;
madcowswe 0:a0285293f6a6 44 InterruptIn NIRQ;
madcowswe 0:a0285293f6a6 45 DigitalIn NIRQ_in;
madcowswe 0:a0285293f6a6 46 DigitalOut rfled;
madcowswe 0:a0285293f6a6 47
madcowswe 0:a0285293f6a6 48 rfmode_t mode;
madcowswe 0:a0285293f6a6 49
madcowswe 0:a0285293f6a6 50 /* Initialises the RF12B module */
madcowswe 0:a0285293f6a6 51 void init();
madcowswe 0:a0285293f6a6 52
madcowswe 0:a0285293f6a6 53 /* Write a command to the RF Module */
madcowswe 0:a0285293f6a6 54 unsigned int writeCmd(unsigned int cmd);
madcowswe 0:a0285293f6a6 55
madcowswe 0:a0285293f6a6 56 /* Sends a byte of data across RF */
madcowswe 0:a0285293f6a6 57 void send(unsigned char data);
madcowswe 0:a0285293f6a6 58
madcowswe 0:a0285293f6a6 59 /* Switch module between receive and transmit modes */
madcowswe 0:a0285293f6a6 60 void changeMode(rfmode_t mode);
madcowswe 0:a0285293f6a6 61
madcowswe 0:a0285293f6a6 62 /* Interrupt routine for data reception */
madcowswe 0:a0285293f6a6 63 void rxISR();
madcowswe 0:a0285293f6a6 64
madcowswe 0:a0285293f6a6 65 /* Tell the RF Module this packet is received and wait for the next */
madcowswe 0:a0285293f6a6 66 void resetRX();
madcowswe 0:a0285293f6a6 67
madcowswe 0:a0285293f6a6 68 /* Return the RF Module Status word */
madcowswe 0:a0285293f6a6 69 unsigned int status();
madcowswe 0:a0285293f6a6 70
madcowswe 0:a0285293f6a6 71 /* Calculate CRC8 */
madcowswe 0:a0285293f6a6 72 unsigned char crc8(unsigned char crc, unsigned char data);
madcowswe 0:a0285293f6a6 73 };
madcowswe 0:a0285293f6a6 74
madcowswe 0:a0285293f6a6 75 #endif /* _RF12B_H */