Diff: RFSRF05.cpp

Revision:

0:525cb1ac9f1f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RFSRF05.cpp	Mon Mar 19 18:00:11 2012 +0000
@@ -0,0 +1,135 @@
+/* mbed SRF05 Ultrasonic Rangefiner Library
+ * Copyright (c) 2007-2010, cstyles, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "RFSRF05.h"
+#include "mbed.h"
+
+RFSRF05::RFSRF05(PinName trigger,
+                 PinName echo0,
+                 PinName echo1,
+                 PinName echo2,
+                 PinName echo3,
+                 PinName echo4,
+                 PinName echo5,
+                 PinName SDI,
+                 PinName SDO,
+                 PinName SCK,
+                 PinName NCS,
+                 PinName NIRQ)
+        : _trigger(trigger),
+        _echo0(echo0),
+        _echo1(echo1),
+        _echo2(echo2),
+        _echo3(echo3),
+        _echo4(echo4),
+        _echo5(echo5),
+        _rf(SDI,SDO,SCK,NCS,NIRQ) {
+
+
+    // initialises codes
+    _code[0] = CODE0;
+    _code[1] = CODE1;
+    _code[2] = CODE2;
+
+    //set callback execute to true
+    ValidPulse = true;
+
+    // Attach interrupts
+    _echo0.rise(this, &RFSRF05::_rising);
+    _echo0.fall(this, &RFSRF05::_falling);
+    _echo1.fall(this, &RFSRF05::_falling);
+    _echo2.fall(this, &RFSRF05::_falling);
+    _echo3.fall(this, &RFSRF05::_falling);
+    _echo4.fall(this, &RFSRF05::_falling);
+    _echo5.fall(this, &RFSRF05::_falling);
+
+    //init callabck function
+    callbackfunc = NULL;
+
+    // innitialises beacon counter
+    _beacon_counter = 0;
+
+    //Interrupts every 50ms
+    _ticker.attach(this, &RFSRF05::_startRange, 0.05);
+}
+
+void RFSRF05::_startRange() {
+
+    // increments counter
+    _beacon_counter = (_beacon_counter + 1) % 3;
+
+    // writes code to RF port
+    _rf.write(_code[_beacon_counter]);
+
+    // send a trigger pulse, 10uS long
+    ValidPulse = false;
+    
+    _trigger = 1;
+    wait_us (10);
+    _trigger = 0;
+}
+
+// Clear and start the timer at the begining of the echo pulse
+void RFSRF05::_rising(void) {
+
+    _timer.reset();
+    _timer.start();
+    
+    //Set callback execute to ture
+    ValidPulse = true;
+}
+
+// Stop and read the timer at the end of the pulse
+void RFSRF05::_falling(void) {
+    _timer.stop();
+
+    if (ValidPulse) {
+        ValidPulse = false;
+    
+        //Calucate distance
+        _dist[_beacon_counter] =  _timer.read_us()/29.0;
+    
+        if (callbackfunc)
+            (*callbackfunc)(_beacon_counter, _dist[_beacon_counter]);
+
+    }
+    
+}
+
+float RFSRF05::read0() {
+    // returns distance
+    return (_dist[0]);
+}
+
+float RFSRF05::read1() {
+    // returns distance
+    return (_dist[1]);
+}
+
+float RFSRF05::read2() {
+    // returns distance
+    return (_dist[2]);
+}
+
+//SRF05::operator float() {
+//    return read();
+//}