RFSRF05.h

00001 /* mbed SRF05 Ultrasonic Rangefiner Library
00002  * Copyright (c) 2007-2010, cstyles, sford
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022 
00023 
00024 #ifndef MBED_RFSRF05_H
00025 #define MBED_RFSRF05_H
00026 
00027 #include "mbed.h"
00028 #include "RF12B.h"
00029 
00030 #define CODE0 0x22
00031 #define CODE1 0x44
00032 #define CODE2 0x88
00033 
00034 /* SAMPLE IMPLEMENTATION!
00035 RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9);
00036 
00037 
00038 void callbinmain(int num, float dist) {
00039     //Here is where you deal with your brand new reading ;D
00040 }
00041 
00042 int main() {
00043     pc.printf("Hello World of RobotSonar!\r\n");
00044     my_srf.callbackfunc = callbinmain;
00045     
00046     while (1);
00047 }
00048 
00049  */
00050 class DummyCT;
00051  
00052 class RFSRF05 {
00053 public:
00054 
00055     RFSRF05(
00056     PinName trigger, 
00057     PinName echo0,
00058     PinName echo1,
00059     PinName echo2,
00060     PinName echo3,
00061     PinName echo4,
00062     PinName echo5,
00063     PinName SDI,
00064     PinName SDO,
00065     PinName SCK,
00066     PinName NCS,
00067     PinName NIRQ);
00068     
00069     /** A non-blocking function that will return the last measurement
00070      *
00071      * @returns floating point representation of distance in cm
00072      */
00073     float read0();
00074     float read1();
00075     float read2();
00076     
00077     /** A assigns a callback function when a new reading is available **/
00078     void (*callbackfunc)(int beaconnum, float distance);
00079     DummyCT* callbackobj;
00080     void (DummyCT::*mcallbackfunc)(int beaconnum, float distance);
00081     
00082 
00083 
00084     /** A short hand way of using the read function */
00085     operator float();
00086     
00087 private :
00088     RF12B _rf;
00089     DigitalOut _trigger;
00090     InterruptIn _echo0;
00091     InterruptIn _echo1;
00092     InterruptIn _echo2;
00093     InterruptIn _echo3;
00094     InterruptIn _echo4;
00095     InterruptIn _echo5;
00096     Timer _timer;
00097     Ticker _ticker;
00098     void _rising (void);
00099     void _falling (void);
00100     void _startRange (void);
00101     float _dist[3];
00102     char _code[3];
00103     int _beacon_counter;
00104     bool ValidPulse;
00105     
00106 };
00107 
00108 #endif