Shuto Naruse / Mbed 2 deprecated Eurobot2012_Secondary

Eurobot2012_Secondary

Fork of Eurobot_2012_Secondary by Shuto Naruse

Eurobot_shared/Kalman/Sonar/RF12B/RF12B.h@1:cc2a9eb0bd55, 2012-10-17 (annotated)

Committer:
narshu
Date:
Wed Oct 17 22:25:31 2012 +0000
Revision:
1:cc2a9eb0bd55
Commit before publishing

Who changed what in which revision?

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narshu 1:cc2a9eb0bd55 1 #ifndef _RF12B_H
narshu 1:cc2a9eb0bd55 2 #define _RF12B_H
narshu 1:cc2a9eb0bd55 3
narshu 1:cc2a9eb0bd55 4 #include "mbed.h"
narshu 1:cc2a9eb0bd55 5 //#include <queue>
narshu 1:cc2a9eb0bd55 6
narshu 1:cc2a9eb0bd55 7 enum rfmode_t{RX, TX};
narshu 1:cc2a9eb0bd55 8
narshu 1:cc2a9eb0bd55 9 class DummyCT;
narshu 1:cc2a9eb0bd55 10
narshu 1:cc2a9eb0bd55 11 class RF12B {
narshu 1:cc2a9eb0bd55 12 public:
narshu 1:cc2a9eb0bd55 13 /* Constructor */
narshu 1:cc2a9eb0bd55 14 RF12B(PinName SDI,
narshu 1:cc2a9eb0bd55 15 PinName SDO,
narshu 1:cc2a9eb0bd55 16 PinName SCK,
narshu 1:cc2a9eb0bd55 17 PinName NCS,
narshu 1:cc2a9eb0bd55 18 PinName NIRQ);
narshu 1:cc2a9eb0bd55 19
narshu 1:cc2a9eb0bd55 20
narshu 1:cc2a9eb0bd55 21
narshu 1:cc2a9eb0bd55 22 /* Reads a packet of data. Returns false if read failed. Use available() to check how much space to allocate for buffer */
narshu 1:cc2a9eb0bd55 23 bool read(unsigned char* data, unsigned int size);
narshu 1:cc2a9eb0bd55 24
narshu 1:cc2a9eb0bd55 25 /* Reads a byte of data from the receive buffer
narshu 1:cc2a9eb0bd55 26 Returns 0xFF if there is no data */
narshu 1:cc2a9eb0bd55 27 unsigned char read();
narshu 1:cc2a9eb0bd55 28
narshu 1:cc2a9eb0bd55 29 /* Transmits a packet of data */
narshu 1:cc2a9eb0bd55 30 void write(unsigned char* data, unsigned char length);
narshu 1:cc2a9eb0bd55 31 void write(unsigned char data); /* 1-byte packet */
narshu 1:cc2a9eb0bd55 32 // void write(std::queue<char> &data, int length = -1); /* sends a whole queue */
narshu 1:cc2a9eb0bd55 33
narshu 1:cc2a9eb0bd55 34 /* Returns the packet length if data is available in the receive buffer, 0 otherwise*/
narshu 1:cc2a9eb0bd55 35 unsigned int available();
narshu 1:cc2a9eb0bd55 36
narshu 1:cc2a9eb0bd55 37 /** A assigns a callback function when a new reading is available **/
narshu 1:cc2a9eb0bd55 38 void (*callbackfunc)(unsigned char rx_code);
narshu 1:cc2a9eb0bd55 39 DummyCT* callbackobj;
narshu 1:cc2a9eb0bd55 40 void (DummyCT::*mcallbackfunc)(unsigned char rx_code);
narshu 1:cc2a9eb0bd55 41
narshu 1:cc2a9eb0bd55 42 protected:
narshu 1:cc2a9eb0bd55 43 /* Receive FIFO buffer */
narshu 1:cc2a9eb0bd55 44 // std::queue<unsigned char> fifo;
narshu 1:cc2a9eb0bd55 45 // std::queue<unsigned char> temp; //for storing stuff mid-packet
narshu 1:cc2a9eb0bd55 46
narshu 1:cc2a9eb0bd55 47 /* SPI module */
narshu 1:cc2a9eb0bd55 48 SPI spi;
narshu 1:cc2a9eb0bd55 49
narshu 1:cc2a9eb0bd55 50 /* Other digital pins */
narshu 1:cc2a9eb0bd55 51 DigitalOut NCS;
narshu 1:cc2a9eb0bd55 52 InterruptIn NIRQ;
narshu 1:cc2a9eb0bd55 53 DigitalIn NIRQ_in;
narshu 1:cc2a9eb0bd55 54 //DigitalOut rfled;
narshu 1:cc2a9eb0bd55 55
narshu 1:cc2a9eb0bd55 56 rfmode_t mode;
narshu 1:cc2a9eb0bd55 57
narshu 1:cc2a9eb0bd55 58 /* Initialises the RF12B module */
narshu 1:cc2a9eb0bd55 59 void init();
narshu 1:cc2a9eb0bd55 60
narshu 1:cc2a9eb0bd55 61 /* Write a command to the RF Module */
narshu 1:cc2a9eb0bd55 62 unsigned int writeCmd(unsigned int cmd);
narshu 1:cc2a9eb0bd55 63
narshu 1:cc2a9eb0bd55 64 /* Sends a byte of data across RF */
narshu 1:cc2a9eb0bd55 65 void send(unsigned char data);
narshu 1:cc2a9eb0bd55 66
narshu 1:cc2a9eb0bd55 67 /* Switch module between receive and transmit modes */
narshu 1:cc2a9eb0bd55 68 void changeMode(rfmode_t mode);
narshu 1:cc2a9eb0bd55 69
narshu 1:cc2a9eb0bd55 70 /* Interrupt routine for data reception */
narshu 1:cc2a9eb0bd55 71 void rxISR();
narshu 1:cc2a9eb0bd55 72
narshu 1:cc2a9eb0bd55 73 /* Tell the RF Module this packet is received and wait for the next */
narshu 1:cc2a9eb0bd55 74 void resetRX();
narshu 1:cc2a9eb0bd55 75
narshu 1:cc2a9eb0bd55 76 /* Return the RF Module Status word */
narshu 1:cc2a9eb0bd55 77 unsigned int status();
narshu 1:cc2a9eb0bd55 78
narshu 1:cc2a9eb0bd55 79 /* Calculate CRC8 */
narshu 1:cc2a9eb0bd55 80 unsigned char crc8(unsigned char crc, unsigned char data);
narshu 1:cc2a9eb0bd55 81 };
narshu 1:cc2a9eb0bd55 82
narshu 1:cc2a9eb0bd55 83 #endif /* _RF12B_H */