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/* mbed SRF05 Ultrasonic Rangefiner Library
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* Copyright (c) 2007-2010, cstyles, sford
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#ifndef MBED_RFSRF05_H
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#define MBED_RFSRF05_H
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#include "mbed.h"
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#include "RF12B.h"
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#define CODE0 0x22
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#define CODE1 0x44
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#define CODE2 0x88
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/* SAMPLE IMPLEMENTATION!
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RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9);
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void callbinmain(int num, float dist) {
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//Here is where you deal with your brand new reading ;D
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}
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int main() {
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pc.printf("Hello World of RobotSonar!\r\n");
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my_srf.callbackfunc = callbinmain;
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while (1);
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}
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*/
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class RFSRF05 {
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public:
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RFSRF05(
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PinName trigger,
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PinName echo0,
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PinName echo1,
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PinName echo2,
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PinName echo3,
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PinName echo4,
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PinName echo5,
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PinName SDI,
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PinName SDO,
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PinName SCK,
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PinName NCS,
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PinName NIRQ);
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/** A non-blocking function that will return the last measurement
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*
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* @returns floating point representation of distance in cm
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*/
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float read0();
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float read1();
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float read2();
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/** A assigns a callback function when a new reading is available **/
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void (*callbackfunc)(int beaconnum, float distance);
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/** A short hand way of using the read function */
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operator float();
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private :
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RF12B _rf;
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DigitalOut _trigger;
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InterruptIn _echo0;
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InterruptIn _echo1;
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InterruptIn _echo2;
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InterruptIn _echo3;
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InterruptIn _echo4;
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InterruptIn _echo5;
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Timer _timer;
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Ticker _ticker;
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void _rising (void);
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void _falling (void);
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void _startRange (void);
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float _dist[3];
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char _code[3];
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int _beacon_counter;
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bool ValidPulse;
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};
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#endif
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Oskar Weigl