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RFSRF05.cpp@0:525cb1ac9f1f, 2012-03-19 (annotated)

Committer:: madcowswe
Date:: Mon Mar 19 18:00:11 2012 +0000
Revision:: 0:525cb1ac9f1f

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User	Revision	Line number	New contents of line
madcowswe	0:525cb1ac9f1f	1	/* mbed SRF05 Ultrasonic Rangefiner Library
madcowswe	0:525cb1ac9f1f	2	* Copyright (c) 2007-2010, cstyles, sford
madcowswe	0:525cb1ac9f1f	3	*
madcowswe	0:525cb1ac9f1f	4	* Permission is hereby granted, free of charge, to any person obtaining a copy
madcowswe	0:525cb1ac9f1f	5	* of this software and associated documentation files (the "Software"), to deal
madcowswe	0:525cb1ac9f1f	6	* in the Software without restriction, including without limitation the rights
madcowswe	0:525cb1ac9f1f	7	* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
madcowswe	0:525cb1ac9f1f	8	* copies of the Software, and to permit persons to whom the Software is
madcowswe	0:525cb1ac9f1f	9	* furnished to do so, subject to the following conditions:
madcowswe	0:525cb1ac9f1f	10	*
madcowswe	0:525cb1ac9f1f	11	* The above copyright notice and this permission notice shall be included in
madcowswe	0:525cb1ac9f1f	12	* all copies or substantial portions of the Software.
madcowswe	0:525cb1ac9f1f	13	*
madcowswe	0:525cb1ac9f1f	14	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
madcowswe	0:525cb1ac9f1f	15	* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
madcowswe	0:525cb1ac9f1f	16	* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
madcowswe	0:525cb1ac9f1f	17	* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
madcowswe	0:525cb1ac9f1f	18	* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
madcowswe	0:525cb1ac9f1f	19	* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
madcowswe	0:525cb1ac9f1f	20	* THE SOFTWARE.
madcowswe	0:525cb1ac9f1f	21	*/
madcowswe	0:525cb1ac9f1f	22
madcowswe	0:525cb1ac9f1f	23	#include "RFSRF05.h"
madcowswe	0:525cb1ac9f1f	24	#include "mbed.h"
madcowswe	0:525cb1ac9f1f	25
madcowswe	0:525cb1ac9f1f	26	RFSRF05::RFSRF05(PinName trigger,
madcowswe	0:525cb1ac9f1f	27	PinName echo0,
madcowswe	0:525cb1ac9f1f	28	PinName echo1,
madcowswe	0:525cb1ac9f1f	29	PinName echo2,
madcowswe	0:525cb1ac9f1f	30	PinName echo3,
madcowswe	0:525cb1ac9f1f	31	PinName echo4,
madcowswe	0:525cb1ac9f1f	32	PinName echo5,
madcowswe	0:525cb1ac9f1f	33	PinName SDI,
madcowswe	0:525cb1ac9f1f	34	PinName SDO,
madcowswe	0:525cb1ac9f1f	35	PinName SCK,
madcowswe	0:525cb1ac9f1f	36	PinName NCS,
madcowswe	0:525cb1ac9f1f	37	PinName NIRQ)
madcowswe	0:525cb1ac9f1f	38	: _trigger(trigger),
madcowswe	0:525cb1ac9f1f	39	_echo0(echo0),
madcowswe	0:525cb1ac9f1f	40	_echo1(echo1),
madcowswe	0:525cb1ac9f1f	41	_echo2(echo2),
madcowswe	0:525cb1ac9f1f	42	_echo3(echo3),
madcowswe	0:525cb1ac9f1f	43	_echo4(echo4),
madcowswe	0:525cb1ac9f1f	44	_echo5(echo5),
madcowswe	0:525cb1ac9f1f	45	_rf(SDI,SDO,SCK,NCS,NIRQ) {
madcowswe	0:525cb1ac9f1f	46
madcowswe	0:525cb1ac9f1f	47
madcowswe	0:525cb1ac9f1f	48	// initialises codes
madcowswe	0:525cb1ac9f1f	49	_code[0] = CODE0;
madcowswe	0:525cb1ac9f1f	50	_code[1] = CODE1;
madcowswe	0:525cb1ac9f1f	51	_code[2] = CODE2;
madcowswe	0:525cb1ac9f1f	52
madcowswe	0:525cb1ac9f1f	53	//set callback execute to true
madcowswe	0:525cb1ac9f1f	54	ValidPulse = true;
madcowswe	0:525cb1ac9f1f	55
madcowswe	0:525cb1ac9f1f	56	// Attach interrupts
madcowswe	0:525cb1ac9f1f	57	_echo0.rise(this, &RFSRF05::_rising);
madcowswe	0:525cb1ac9f1f	58	_echo0.fall(this, &RFSRF05::_falling);
madcowswe	0:525cb1ac9f1f	59	_echo1.fall(this, &RFSRF05::_falling);
madcowswe	0:525cb1ac9f1f	60	_echo2.fall(this, &RFSRF05::_falling);
madcowswe	0:525cb1ac9f1f	61	_echo3.fall(this, &RFSRF05::_falling);
madcowswe	0:525cb1ac9f1f	62	_echo4.fall(this, &RFSRF05::_falling);
madcowswe	0:525cb1ac9f1f	63	_echo5.fall(this, &RFSRF05::_falling);
madcowswe	0:525cb1ac9f1f	64
madcowswe	0:525cb1ac9f1f	65	//init callabck function
madcowswe	0:525cb1ac9f1f	66	callbackfunc = NULL;
madcowswe	0:525cb1ac9f1f	67
madcowswe	0:525cb1ac9f1f	68	// innitialises beacon counter
madcowswe	0:525cb1ac9f1f	69	_beacon_counter = 0;
madcowswe	0:525cb1ac9f1f	70
madcowswe	0:525cb1ac9f1f	71	//Interrupts every 50ms
madcowswe	0:525cb1ac9f1f	72	_ticker.attach(this, &RFSRF05::_startRange, 0.05);
madcowswe	0:525cb1ac9f1f	73	}
madcowswe	0:525cb1ac9f1f	74
madcowswe	0:525cb1ac9f1f	75	void RFSRF05::_startRange() {
madcowswe	0:525cb1ac9f1f	76
madcowswe	0:525cb1ac9f1f	77	// increments counter
madcowswe	0:525cb1ac9f1f	78	_beacon_counter = (_beacon_counter + 1) % 3;
madcowswe	0:525cb1ac9f1f	79
madcowswe	0:525cb1ac9f1f	80	// writes code to RF port
madcowswe	0:525cb1ac9f1f	81	_rf.write(_code[_beacon_counter]);
madcowswe	0:525cb1ac9f1f	82
madcowswe	0:525cb1ac9f1f	83	// send a trigger pulse, 10uS long
madcowswe	0:525cb1ac9f1f	84	ValidPulse = false;
madcowswe	0:525cb1ac9f1f	85
madcowswe	0:525cb1ac9f1f	86	_trigger = 1;
madcowswe	0:525cb1ac9f1f	87	wait_us (10);
madcowswe	0:525cb1ac9f1f	88	_trigger = 0;
madcowswe	0:525cb1ac9f1f	89	}
madcowswe	0:525cb1ac9f1f	90
madcowswe	0:525cb1ac9f1f	91	// Clear and start the timer at the begining of the echo pulse
madcowswe	0:525cb1ac9f1f	92	void RFSRF05::_rising(void) {
madcowswe	0:525cb1ac9f1f	93
madcowswe	0:525cb1ac9f1f	94	_timer.reset();
madcowswe	0:525cb1ac9f1f	95	_timer.start();
madcowswe	0:525cb1ac9f1f	96
madcowswe	0:525cb1ac9f1f	97	//Set callback execute to ture
madcowswe	0:525cb1ac9f1f	98	ValidPulse = true;
madcowswe	0:525cb1ac9f1f	99	}
madcowswe	0:525cb1ac9f1f	100
madcowswe	0:525cb1ac9f1f	101	// Stop and read the timer at the end of the pulse
madcowswe	0:525cb1ac9f1f	102	void RFSRF05::_falling(void) {
madcowswe	0:525cb1ac9f1f	103	_timer.stop();
madcowswe	0:525cb1ac9f1f	104
madcowswe	0:525cb1ac9f1f	105	if (ValidPulse) {
madcowswe	0:525cb1ac9f1f	106	ValidPulse = false;
madcowswe	0:525cb1ac9f1f	107
madcowswe	0:525cb1ac9f1f	108	//Calucate distance
madcowswe	0:525cb1ac9f1f	109	_dist[_beacon_counter] = _timer.read_us()/29.0;
madcowswe	0:525cb1ac9f1f	110
madcowswe	0:525cb1ac9f1f	111	if (callbackfunc)
madcowswe	0:525cb1ac9f1f	112	(*callbackfunc)(_beacon_counter, _dist[_beacon_counter]);
madcowswe	0:525cb1ac9f1f	113
madcowswe	0:525cb1ac9f1f	114	}
madcowswe	0:525cb1ac9f1f	115
madcowswe	0:525cb1ac9f1f	116	}
madcowswe	0:525cb1ac9f1f	117
madcowswe	0:525cb1ac9f1f	118	float RFSRF05::read0() {
madcowswe	0:525cb1ac9f1f	119	// returns distance
madcowswe	0:525cb1ac9f1f	120	return (_dist[0]);
madcowswe	0:525cb1ac9f1f	121	}
madcowswe	0:525cb1ac9f1f	122
madcowswe	0:525cb1ac9f1f	123	float RFSRF05::read1() {
madcowswe	0:525cb1ac9f1f	124	// returns distance
madcowswe	0:525cb1ac9f1f	125	return (_dist[1]);
madcowswe	0:525cb1ac9f1f	126	}
madcowswe	0:525cb1ac9f1f	127
madcowswe	0:525cb1ac9f1f	128	float RFSRF05::read2() {
madcowswe	0:525cb1ac9f1f	129	// returns distance
madcowswe	0:525cb1ac9f1f	130	return (_dist[2]);
madcowswe	0:525cb1ac9f1f	131	}
madcowswe	0:525cb1ac9f1f	132
madcowswe	0:525cb1ac9f1f	133	//SRF05::operator float() {
madcowswe	0:525cb1ac9f1f	134	// return read();
madcowswe	0:525cb1ac9f1f	135	//}

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Type:	Library
Created:	19 Mar 2012
Imports:	5
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	0
Followers:	1

RFSRF05.cpp@0:525cb1ac9f1f, 2012-03-19 (annotated)

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