RFSRF05.h

00001 
00002 #ifndef MBED_RFSRF05_H
00003 #define MBED_RFSRF05_H
00004 
00005 
00006 
00007 #include "mbed.h"
00008 #include "RF12B.h"
00009 #include "globals.h"
00010 
00011 
00012 #define CODE0 0x22
00013 #define CODE1 0x44
00014 #define CODE2 0x88
00015 
00016 /* SAMPLE IMPLEMENTATION!
00017 RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9);
00018 
00019 
00020 void callbinmain(int num, float dist) {
00021     //Here is where you deal with your brand new reading ;D
00022 }
00023 
00024 int main() {
00025     pc.printf("Hello World of RobotSonar!\r\n");
00026     my_srf.callbackfunc = callbinmain;
00027     
00028     while (1);
00029 }
00030 
00031  */
00032  
00033 class DummyCT;
00034  
00035 class RFSRF05 {
00036 public:
00037 
00038     RFSRF05(
00039     PinName trigger, 
00040     PinName echo0,
00041     PinName echo1,
00042     PinName echo2,
00043     PinName echo3,
00044     PinName echo4,
00045     PinName echo5,
00046     PinName SDI,
00047     PinName SDO,
00048     PinName SCK,
00049     PinName NCS,
00050     PinName NIRQ);
00051     
00052     /** A non-blocking function that will return the last measurement
00053      *
00054      * @returns floating point representation of distance in mm
00055      */
00056     float read0();
00057     float read1();
00058     float read2();
00059     float read(unsigned int beaconnum);
00060 
00061     
00062     /** A assigns a callback function when a new reading is available **/
00063     void (*callbackfunc)(int beaconnum, float distance);
00064     DummyCT* callbackobj;
00065     void (DummyCT::*mcallbackfunc)(int beaconnum, float distance, float variance);
00066     
00067     //triggers a read
00068     #ifndef ROBOT_PRIMARY
00069     void startRange(unsigned char rx_code);
00070     #endif
00071     
00072     //set codes
00073     void setCode(int code_index, unsigned char code);
00074     unsigned char codes[3];
00075 
00076     /** A short hand way of using the read function */
00077     //operator float();
00078     
00079 private :
00080     RF12B _rf;
00081     DigitalOut _trigger;
00082     InterruptIn _echo0;
00083     InterruptIn _echo1;
00084     InterruptIn _echo2;
00085     InterruptIn _echo3;
00086     InterruptIn _echo4;
00087     InterruptIn _echo5;
00088     Timer _timer;
00089     Ticker _ticker;
00090     #ifdef ROBOT_PRIMARY
00091     void _startRange(void);
00092     #endif
00093     void _rising (void);
00094     void _falling (void);
00095     float _dist[3];
00096     int _beacon_counter;
00097     bool ValidPulse;
00098     bool expValidPulse;
00099     
00100 };
00101 
00102 #endif