Diff: RFSRF05.h

Revision:

0:525cb1ac9f1f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RFSRF05.h	Mon Mar 19 18:00:11 2012 +0000
@@ -0,0 +1,102 @@
+/* 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.
+ */
+
+
+#ifndef MBED_RFSRF05_H
+#define MBED_RFSRF05_H
+
+#include "mbed.h"
+#include "RF12B.h"
+
+#define CODE0 0x22
+#define CODE1 0x44
+#define CODE2 0x88
+
+/* SAMPLE IMPLEMENTATION!
+RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9);
+
+
+void callbinmain(int num, float dist) {
+    //Here is where you deal with your brand new reading ;D
+}
+
+int main() {
+    pc.printf("Hello World of RobotSonar!\r\n");
+    my_srf.callbackfunc = callbinmain;
+    
+    while (1);
+}
+
+ */
+class RFSRF05 {
+public:
+
+    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);
+    
+    /** A non-blocking function that will return the last measurement
+     *
+     * @returns floating point representation of distance in cm
+     */
+    float read0();
+    float read1();
+    float read2();
+    
+    /** A assigns a callback function when a new reading is available **/
+    void (*callbackfunc)(int beaconnum, float distance);
+
+    /** A short hand way of using the read function */
+    operator float();
+    
+private :
+    RF12B _rf;
+    DigitalOut _trigger;
+    InterruptIn _echo0;
+    InterruptIn _echo1;
+    InterruptIn _echo2;
+    InterruptIn _echo3;
+    InterruptIn _echo4;
+    InterruptIn _echo5;
+    Timer _timer;
+    Ticker _ticker;
+    void _rising (void);
+    void _falling (void);
+    void _startRange (void);
+    float _dist[3];
+    char _code[3];
+    int _beacon_counter;
+    bool ValidPulse;
+    
+};
+
+#endif