RFSRF05.h

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