Shuto Naruse / Eurobot_2012_shared

Eurobot_shared pubulished from Eurobot Primary

Kalman/Sonar/RFSRF05.h@0:434fd09723be, 2012-08-07 (annotated)

Committer:
narshu
Date:
Tue Aug 07 10:25:53 2012 +0000
Revision:
0:434fd09723be
[mbed] converted /Eurobot_2012_Primary/Eurobot_shared

Who changed what in which revision?

UserRevisionLine numberNew contents of line
narshu 0:434fd09723be 1
narshu 0:434fd09723be 2 #ifndef MBED_RFSRF05_H
narshu 0:434fd09723be 3 #define MBED_RFSRF05_H
narshu 0:434fd09723be 4
narshu 0:434fd09723be 5
narshu 0:434fd09723be 6
narshu 0:434fd09723be 7 #include "mbed.h"
narshu 0:434fd09723be 8 #include "RF12B.h"
narshu 0:434fd09723be 9 #include "globals.h"
narshu 0:434fd09723be 10
narshu 0:434fd09723be 11
narshu 0:434fd09723be 12 #define CODE0 0x22
narshu 0:434fd09723be 13 #define CODE1 0x44
narshu 0:434fd09723be 14 #define CODE2 0x88
narshu 0:434fd09723be 15
narshu 0:434fd09723be 16 /* SAMPLE IMPLEMENTATION!
narshu 0:434fd09723be 17 RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9);
narshu 0:434fd09723be 18
narshu 0:434fd09723be 19
narshu 0:434fd09723be 20 void callbinmain(int num, float dist) {
narshu 0:434fd09723be 21 //Here is where you deal with your brand new reading ;D
narshu 0:434fd09723be 22 }
narshu 0:434fd09723be 23
narshu 0:434fd09723be 24 int main() {
narshu 0:434fd09723be 25 pc.printf("Hello World of RobotSonar!\r\n");
narshu 0:434fd09723be 26 my_srf.callbackfunc = callbinmain;
narshu 0:434fd09723be 27
narshu 0:434fd09723be 28 while (1);
narshu 0:434fd09723be 29 }
narshu 0:434fd09723be 30
narshu 0:434fd09723be 31 */
narshu 0:434fd09723be 32
narshu 0:434fd09723be 33 class DummyCT;
narshu 0:434fd09723be 34
narshu 0:434fd09723be 35 class RFSRF05 {
narshu 0:434fd09723be 36 public:
narshu 0:434fd09723be 37
narshu 0:434fd09723be 38 RFSRF05(
narshu 0:434fd09723be 39 PinName trigger,
narshu 0:434fd09723be 40 PinName echo0,
narshu 0:434fd09723be 41 PinName echo1,
narshu 0:434fd09723be 42 PinName echo2,
narshu 0:434fd09723be 43 PinName echo3,
narshu 0:434fd09723be 44 PinName echo4,
narshu 0:434fd09723be 45 PinName echo5,
narshu 0:434fd09723be 46 PinName SDI,
narshu 0:434fd09723be 47 PinName SDO,
narshu 0:434fd09723be 48 PinName SCK,
narshu 0:434fd09723be 49 PinName NCS,
narshu 0:434fd09723be 50 PinName NIRQ);
narshu 0:434fd09723be 51
narshu 0:434fd09723be 52 /** A non-blocking function that will return the last measurement
narshu 0:434fd09723be 53 *
narshu 0:434fd09723be 54 * @returns floating point representation of distance in mm
narshu 0:434fd09723be 55 */
narshu 0:434fd09723be 56 float read0();
narshu 0:434fd09723be 57 float read1();
narshu 0:434fd09723be 58 float read2();
narshu 0:434fd09723be 59 float read(unsigned int beaconnum);
narshu 0:434fd09723be 60
narshu 0:434fd09723be 61
narshu 0:434fd09723be 62 /** A assigns a callback function when a new reading is available **/
narshu 0:434fd09723be 63 void (*callbackfunc)(int beaconnum, float distance);
narshu 0:434fd09723be 64 DummyCT* callbackobj;
narshu 0:434fd09723be 65 void (DummyCT::*mcallbackfunc)(int beaconnum, float distance, float variance);
narshu 0:434fd09723be 66
narshu 0:434fd09723be 67 //triggers a read
narshu 0:434fd09723be 68 #ifndef ROBOT_PRIMARY
narshu 0:434fd09723be 69 void startRange(unsigned char rx_code);
narshu 0:434fd09723be 70 #endif
narshu 0:434fd09723be 71
narshu 0:434fd09723be 72 //set codes
narshu 0:434fd09723be 73 void setCode(int code_index, unsigned char code);
narshu 0:434fd09723be 74 unsigned char codes[3];
narshu 0:434fd09723be 75
narshu 0:434fd09723be 76 /** A short hand way of using the read function */
narshu 0:434fd09723be 77 //operator float();
narshu 0:434fd09723be 78
narshu 0:434fd09723be 79 private :
narshu 0:434fd09723be 80 RF12B _rf;
narshu 0:434fd09723be 81 DigitalOut _trigger;
narshu 0:434fd09723be 82 InterruptIn _echo0;
narshu 0:434fd09723be 83 InterruptIn _echo1;
narshu 0:434fd09723be 84 InterruptIn _echo2;
narshu 0:434fd09723be 85 InterruptIn _echo3;
narshu 0:434fd09723be 86 InterruptIn _echo4;
narshu 0:434fd09723be 87 InterruptIn _echo5;
narshu 0:434fd09723be 88 Timer _timer;
narshu 0:434fd09723be 89 Ticker _ticker;
narshu 0:434fd09723be 90 #ifdef ROBOT_PRIMARY
narshu 0:434fd09723be 91 void _startRange(void);
narshu 0:434fd09723be 92 #endif
narshu 0:434fd09723be 93 void _rising (void);
narshu 0:434fd09723be 94 void _falling (void);
narshu 0:434fd09723be 95 float _dist[3];
narshu 0:434fd09723be 96 int _beacon_counter;
narshu 0:434fd09723be 97 bool ValidPulse;
narshu 0:434fd09723be 98 bool expValidPulse;
narshu 0:434fd09723be 99
narshu 0:434fd09723be 100 };
narshu 0:434fd09723be 101
narshu 0:434fd09723be 102 #endif