Shuto Naruse
Eurobot2012_Secondary
Fork of
Eurobot_2012_Secondary
by 
Shuto Naruse
Kalman/Sonar/RF12B/RF12B.h@0:fbfafa6bf5f9, 2012-04-20 (annotated)
- Committer:
- narshu
- Date:
- Fri Apr 20 21:32:24 2012 +0000
- Revision:
- 0:fbfafa6bf5f9
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| narshu | 0:fbfafa6bf5f9 | 1 | #ifndef _RF12B_H |
| narshu | 0:fbfafa6bf5f9 | 2 | #define _RF12B_H |
| narshu | 0:fbfafa6bf5f9 | 3 | |
| narshu | 0:fbfafa6bf5f9 | 4 | #include "mbed.h" |
| narshu | 0:fbfafa6bf5f9 | 5 | #include <queue> |
| narshu | 0:fbfafa6bf5f9 | 6 | |
| narshu | 0:fbfafa6bf5f9 | 7 | enum rfmode_t{RX, TX}; |
| narshu | 0:fbfafa6bf5f9 | 8 | |
| narshu | 0:fbfafa6bf5f9 | 9 | class RF12B { |
| narshu | 0:fbfafa6bf5f9 | 10 | public: |
| narshu | 0:fbfafa6bf5f9 | 11 | /* Constructor */ |
| narshu | 0:fbfafa6bf5f9 | 12 | RF12B(PinName SDI, |
| narshu | 0:fbfafa6bf5f9 | 13 | PinName SDO, |
| narshu | 0:fbfafa6bf5f9 | 14 | PinName SCK, |
| narshu | 0:fbfafa6bf5f9 | 15 | PinName NCS, |
| narshu | 0:fbfafa6bf5f9 | 16 | PinName NIRQ); |
| narshu | 0:fbfafa6bf5f9 | 17 | |
| narshu | 0:fbfafa6bf5f9 | 18 | |
| narshu | 0:fbfafa6bf5f9 | 19 | /* Reads a packet of data. Returns false if read failed. Use available() to check how much space to allocate for buffer */ |
| narshu | 0:fbfafa6bf5f9 | 20 | bool read(unsigned char* data, unsigned int size); |
| narshu | 0:fbfafa6bf5f9 | 21 | |
| narshu | 0:fbfafa6bf5f9 | 22 | /* Reads a byte of data from the receive buffer |
| narshu | 0:fbfafa6bf5f9 | 23 | Returns 0xFF if there is no data */ |
| narshu | 0:fbfafa6bf5f9 | 24 | unsigned char read(); |
| narshu | 0:fbfafa6bf5f9 | 25 | |
| narshu | 0:fbfafa6bf5f9 | 26 | /* Transmits a packet of data */ |
| narshu | 0:fbfafa6bf5f9 | 27 | void write(unsigned char* data, unsigned char length); |
| narshu | 0:fbfafa6bf5f9 | 28 | void write(unsigned char data); /* 1-byte packet */ |
| narshu | 0:fbfafa6bf5f9 | 29 | void write(std::queue<char> &data, int length = -1); /* sends a whole queue */ |
| narshu | 0:fbfafa6bf5f9 | 30 | |
| narshu | 0:fbfafa6bf5f9 | 31 | /* Returns the packet length if data is available in the receive buffer, 0 otherwise*/ |
| narshu | 0:fbfafa6bf5f9 | 32 | unsigned int available(); |
| narshu | 0:fbfafa6bf5f9 | 33 | |
| narshu | 0:fbfafa6bf5f9 | 34 | protected: |
| narshu | 0:fbfafa6bf5f9 | 35 | /* Receive FIFO buffer */ |
| narshu | 0:fbfafa6bf5f9 | 36 | std::queue<unsigned char> fifo; |
| narshu | 0:fbfafa6bf5f9 | 37 | std::queue<unsigned char> temp; //for storing stuff mid-packet |
| narshu | 0:fbfafa6bf5f9 | 38 | |
| narshu | 0:fbfafa6bf5f9 | 39 | /* SPI module */ |
| narshu | 0:fbfafa6bf5f9 | 40 | SPI spi; |
| narshu | 0:fbfafa6bf5f9 | 41 | |
| narshu | 0:fbfafa6bf5f9 | 42 | /* Other digital pins */ |
| narshu | 0:fbfafa6bf5f9 | 43 | DigitalOut NCS; |
| narshu | 0:fbfafa6bf5f9 | 44 | InterruptIn NIRQ; |
| narshu | 0:fbfafa6bf5f9 | 45 | DigitalIn NIRQ_in; |
| narshu | 0:fbfafa6bf5f9 | 46 | //DigitalOut rfled; |
| narshu | 0:fbfafa6bf5f9 | 47 | |
| narshu | 0:fbfafa6bf5f9 | 48 | rfmode_t mode; |
| narshu | 0:fbfafa6bf5f9 | 49 | |
| narshu | 0:fbfafa6bf5f9 | 50 | /* Initialises the RF12B module */ |
| narshu | 0:fbfafa6bf5f9 | 51 | void init(); |
| narshu | 0:fbfafa6bf5f9 | 52 | |
| narshu | 0:fbfafa6bf5f9 | 53 | /* Write a command to the RF Module */ |
| narshu | 0:fbfafa6bf5f9 | 54 | unsigned int writeCmd(unsigned int cmd); |
| narshu | 0:fbfafa6bf5f9 | 55 | |
| narshu | 0:fbfafa6bf5f9 | 56 | /* Sends a byte of data across RF */ |
| narshu | 0:fbfafa6bf5f9 | 57 | void send(unsigned char data); |
| narshu | 0:fbfafa6bf5f9 | 58 | |
| narshu | 0:fbfafa6bf5f9 | 59 | /* Switch module between receive and transmit modes */ |
| narshu | 0:fbfafa6bf5f9 | 60 | void changeMode(rfmode_t mode); |
| narshu | 0:fbfafa6bf5f9 | 61 | |
| narshu | 0:fbfafa6bf5f9 | 62 | /* Interrupt routine for data reception */ |
| narshu | 0:fbfafa6bf5f9 | 63 | void rxISR(); |
| narshu | 0:fbfafa6bf5f9 | 64 | |
| narshu | 0:fbfafa6bf5f9 | 65 | /* Tell the RF Module this packet is received and wait for the next */ |
| narshu | 0:fbfafa6bf5f9 | 66 | void resetRX(); |
| narshu | 0:fbfafa6bf5f9 | 67 | |
| narshu | 0:fbfafa6bf5f9 | 68 | /* Return the RF Module Status word */ |
| narshu | 0:fbfafa6bf5f9 | 69 | unsigned int status(); |
| narshu | 0:fbfafa6bf5f9 | 70 | |
| narshu | 0:fbfafa6bf5f9 | 71 | /* Calculate CRC8 */ |
| narshu | 0:fbfafa6bf5f9 | 72 | unsigned char crc8(unsigned char crc, unsigned char data); |
| narshu | 0:fbfafa6bf5f9 | 73 | }; |
| narshu | 0:fbfafa6bf5f9 | 74 | |
| narshu | 0:fbfafa6bf5f9 | 75 | #endif /* _RF12B_H */ |