Kalman filter for Eurobot
RFSRF05/RFSRF05.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?
User | Revision | Line number | New contents of line |
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madcowswe | 0:a0285293f6a6 | 1 | /* mbed SRF05 Ultrasonic Rangefiner Library |
madcowswe | 0:a0285293f6a6 | 2 | * Copyright (c) 2007-2010, cstyles, sford |
madcowswe | 0:a0285293f6a6 | 3 | * |
madcowswe | 0:a0285293f6a6 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
madcowswe | 0:a0285293f6a6 | 5 | * of this software and associated documentation files (the "Software"), to deal |
madcowswe | 0:a0285293f6a6 | 6 | * in the Software without restriction, including without limitation the rights |
madcowswe | 0:a0285293f6a6 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
madcowswe | 0:a0285293f6a6 | 8 | * copies of the Software, and to permit persons to whom the Software is |
madcowswe | 0:a0285293f6a6 | 9 | * furnished to do so, subject to the following conditions: |
madcowswe | 0:a0285293f6a6 | 10 | * |
madcowswe | 0:a0285293f6a6 | 11 | * The above copyright notice and this permission notice shall be included in |
madcowswe | 0:a0285293f6a6 | 12 | * all copies or substantial portions of the Software. |
madcowswe | 0:a0285293f6a6 | 13 | * |
madcowswe | 0:a0285293f6a6 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
madcowswe | 0:a0285293f6a6 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
madcowswe | 0:a0285293f6a6 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
madcowswe | 0:a0285293f6a6 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
madcowswe | 0:a0285293f6a6 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
madcowswe | 0:a0285293f6a6 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
madcowswe | 0:a0285293f6a6 | 20 | * THE SOFTWARE. |
madcowswe | 0:a0285293f6a6 | 21 | */ |
madcowswe | 0:a0285293f6a6 | 22 | |
madcowswe | 0:a0285293f6a6 | 23 | |
madcowswe | 0:a0285293f6a6 | 24 | #ifndef MBED_RFSRF05_H |
madcowswe | 0:a0285293f6a6 | 25 | #define MBED_RFSRF05_H |
madcowswe | 0:a0285293f6a6 | 26 | |
madcowswe | 0:a0285293f6a6 | 27 | #include "mbed.h" |
madcowswe | 0:a0285293f6a6 | 28 | #include "RF12B.h" |
madcowswe | 0:a0285293f6a6 | 29 | |
madcowswe | 0:a0285293f6a6 | 30 | #define CODE0 0x22 |
madcowswe | 0:a0285293f6a6 | 31 | #define CODE1 0x44 |
madcowswe | 0:a0285293f6a6 | 32 | #define CODE2 0x88 |
madcowswe | 0:a0285293f6a6 | 33 | |
madcowswe | 0:a0285293f6a6 | 34 | /* SAMPLE IMPLEMENTATION! |
madcowswe | 0:a0285293f6a6 | 35 | RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9); |
madcowswe | 0:a0285293f6a6 | 36 | |
madcowswe | 0:a0285293f6a6 | 37 | |
madcowswe | 0:a0285293f6a6 | 38 | void callbinmain(int num, float dist) { |
madcowswe | 0:a0285293f6a6 | 39 | //Here is where you deal with your brand new reading ;D |
madcowswe | 0:a0285293f6a6 | 40 | } |
madcowswe | 0:a0285293f6a6 | 41 | |
madcowswe | 0:a0285293f6a6 | 42 | int main() { |
madcowswe | 0:a0285293f6a6 | 43 | pc.printf("Hello World of RobotSonar!\r\n"); |
madcowswe | 0:a0285293f6a6 | 44 | my_srf.callbackfunc = callbinmain; |
madcowswe | 0:a0285293f6a6 | 45 | |
madcowswe | 0:a0285293f6a6 | 46 | while (1); |
madcowswe | 0:a0285293f6a6 | 47 | } |
madcowswe | 0:a0285293f6a6 | 48 | |
madcowswe | 0:a0285293f6a6 | 49 | */ |
madcowswe | 0:a0285293f6a6 | 50 | class DummyCT; |
madcowswe | 0:a0285293f6a6 | 51 | |
madcowswe | 0:a0285293f6a6 | 52 | class RFSRF05 { |
madcowswe | 0:a0285293f6a6 | 53 | public: |
madcowswe | 0:a0285293f6a6 | 54 | |
madcowswe | 0:a0285293f6a6 | 55 | RFSRF05( |
madcowswe | 0:a0285293f6a6 | 56 | PinName trigger, |
madcowswe | 0:a0285293f6a6 | 57 | PinName echo0, |
madcowswe | 0:a0285293f6a6 | 58 | PinName echo1, |
madcowswe | 0:a0285293f6a6 | 59 | PinName echo2, |
madcowswe | 0:a0285293f6a6 | 60 | PinName echo3, |
madcowswe | 0:a0285293f6a6 | 61 | PinName echo4, |
madcowswe | 0:a0285293f6a6 | 62 | PinName echo5, |
madcowswe | 0:a0285293f6a6 | 63 | PinName SDI, |
madcowswe | 0:a0285293f6a6 | 64 | PinName SDO, |
madcowswe | 0:a0285293f6a6 | 65 | PinName SCK, |
madcowswe | 0:a0285293f6a6 | 66 | PinName NCS, |
madcowswe | 0:a0285293f6a6 | 67 | PinName NIRQ); |
madcowswe | 0:a0285293f6a6 | 68 | |
madcowswe | 0:a0285293f6a6 | 69 | /** A non-blocking function that will return the last measurement |
madcowswe | 0:a0285293f6a6 | 70 | * |
madcowswe | 0:a0285293f6a6 | 71 | * @returns floating point representation of distance in cm |
madcowswe | 0:a0285293f6a6 | 72 | */ |
madcowswe | 0:a0285293f6a6 | 73 | float read0(); |
madcowswe | 0:a0285293f6a6 | 74 | float read1(); |
madcowswe | 0:a0285293f6a6 | 75 | float read2(); |
madcowswe | 0:a0285293f6a6 | 76 | |
madcowswe | 0:a0285293f6a6 | 77 | /** A assigns a callback function when a new reading is available **/ |
madcowswe | 0:a0285293f6a6 | 78 | void (*callbackfunc)(int beaconnum, float distance); |
madcowswe | 0:a0285293f6a6 | 79 | DummyCT* callbackobj; |
madcowswe | 0:a0285293f6a6 | 80 | void (DummyCT::*mcallbackfunc)(int beaconnum, float distance); |
madcowswe | 0:a0285293f6a6 | 81 | |
madcowswe | 0:a0285293f6a6 | 82 | |
madcowswe | 0:a0285293f6a6 | 83 | |
madcowswe | 0:a0285293f6a6 | 84 | /** A short hand way of using the read function */ |
madcowswe | 0:a0285293f6a6 | 85 | operator float(); |
madcowswe | 0:a0285293f6a6 | 86 | |
madcowswe | 0:a0285293f6a6 | 87 | private : |
madcowswe | 0:a0285293f6a6 | 88 | RF12B _rf; |
madcowswe | 0:a0285293f6a6 | 89 | DigitalOut _trigger; |
madcowswe | 0:a0285293f6a6 | 90 | InterruptIn _echo0; |
madcowswe | 0:a0285293f6a6 | 91 | InterruptIn _echo1; |
madcowswe | 0:a0285293f6a6 | 92 | InterruptIn _echo2; |
madcowswe | 0:a0285293f6a6 | 93 | InterruptIn _echo3; |
madcowswe | 0:a0285293f6a6 | 94 | InterruptIn _echo4; |
madcowswe | 0:a0285293f6a6 | 95 | InterruptIn _echo5; |
madcowswe | 0:a0285293f6a6 | 96 | Timer _timer; |
madcowswe | 0:a0285293f6a6 | 97 | Ticker _ticker; |
madcowswe | 0:a0285293f6a6 | 98 | void _rising (void); |
madcowswe | 0:a0285293f6a6 | 99 | void _falling (void); |
madcowswe | 0:a0285293f6a6 | 100 | void _startRange (void); |
madcowswe | 0:a0285293f6a6 | 101 | float _dist[3]; |
madcowswe | 0:a0285293f6a6 | 102 | char _code[3]; |
madcowswe | 0:a0285293f6a6 | 103 | int _beacon_counter; |
madcowswe | 0:a0285293f6a6 | 104 | bool ValidPulse; |
madcowswe | 0:a0285293f6a6 | 105 | |
madcowswe | 0:a0285293f6a6 | 106 | }; |
madcowswe | 0:a0285293f6a6 | 107 | |
madcowswe | 0:a0285293f6a6 | 108 | #endif |