Diff: Kalman/Sonar/RF12B/RF12B.h

Revision:

0:434fd09723be

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Kalman/Sonar/RF12B/RF12B.h	Tue Aug 07 10:25:53 2012 +0000
@@ -0,0 +1,83 @@
+#ifndef _RF12B_H
+#define _RF12B_H
+
+#include "mbed.h"
+//#include <queue>
+
+enum rfmode_t{RX, TX};
+
+class DummyCT;
+
+class RF12B {
+public:
+    /* Constructor */
+    RF12B(PinName SDI,
+          PinName SDO,
+          PinName SCK,
+          PinName NCS,
+          PinName NIRQ);
+     
+          
+          
+    /* Reads a packet of data. Returns false if read failed. Use available() to check how much space to allocate for buffer */
+    bool read(unsigned char* data, unsigned int size);
+
+    /* Reads a byte of data from the receive buffer 
+        Returns 0xFF if there is no data */
+    unsigned char read();
+
+    /* Transmits a packet of data */
+    void write(unsigned char* data, unsigned char length);
+    void write(unsigned char data); /* 1-byte packet */
+//    void write(std::queue<char> &data, int length = -1); /* sends a whole queue */
+    
+    /* Returns the packet length if data is available in the receive buffer, 0 otherwise*/
+    unsigned int available();
+    
+    /** A assigns a callback function when a new reading is available **/
+    void (*callbackfunc)(unsigned char rx_code);
+    DummyCT* callbackobj;
+    void (DummyCT::*mcallbackfunc)(unsigned char rx_code);    
+
+protected:
+    /* Receive FIFO buffer */
+//    std::queue<unsigned char> fifo;
+//    std::queue<unsigned char> temp; //for storing stuff mid-packet
+    
+    /* SPI module */
+    SPI spi;
+    
+    /* Other digital pins */
+    DigitalOut NCS;
+    InterruptIn NIRQ;
+    DigitalIn NIRQ_in;
+    //DigitalOut rfled;
+    
+    rfmode_t mode;
+
+    /* Initialises the RF12B module */
+    void init();
+
+    /* Write a command to the RF Module */
+    unsigned int writeCmd(unsigned int cmd);
+    
+    /* Sends a byte of data across RF */
+    void send(unsigned char data);
+    
+    /* Switch module between receive and transmit modes */
+    void changeMode(rfmode_t mode);
+    
+    /* Interrupt routine for data reception */
+    void rxISR();
+    
+    /* Tell the RF Module this packet is received and wait for the next */
+    void resetRX();
+    
+    /* Return the RF Module Status word */
+    unsigned int status();
+    
+    /* Calculate CRC8 */
+    unsigned char crc8(unsigned char crc, unsigned char data);
+};
+
+#endif /* _RF12B_H */
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