Shuto Naruse / Sonar

RF12B/RF12B.h@0:7583de124698, 2012-03-30 (annotated)

Committer:
narshu
Date:
Fri Mar 30 19:44:25 2012 +0000
Revision:
0:7583de124698
Child:
1:0370ea94b64a
Sonar Library for EUROBOT 2012

Who changed what in which revision?

UserRevisionLine numberNew contents of line
narshu 0:7583de124698 1 #ifndef _RF12B_H
narshu 0:7583de124698 2 #define _RF12B_H
narshu 0:7583de124698 3
narshu 0:7583de124698 4 #include "mbed.h"
narshu 0:7583de124698 5 #include <queue>
narshu 0:7583de124698 6
narshu 0:7583de124698 7 enum rfmode_t{RX, TX};
narshu 0:7583de124698 8
narshu 0:7583de124698 9 class RF12B {
narshu 0:7583de124698 10 public:
narshu 0:7583de124698 11 /* Constructor */
narshu 0:7583de124698 12 RF12B(PinName SDI,
narshu 0:7583de124698 13 PinName SDO,
narshu 0:7583de124698 14 PinName SCK,
narshu 0:7583de124698 15 PinName NCS,
narshu 0:7583de124698 16 PinName NIRQ);
narshu 0:7583de124698 17
narshu 0:7583de124698 18
narshu 0:7583de124698 19 /* Reads a packet of data. Returns false if read failed. Use available() to check how much space to allocate for buffer */
narshu 0:7583de124698 20 bool read(unsigned char* data, unsigned int size);
narshu 0:7583de124698 21
narshu 0:7583de124698 22 /* Reads a byte of data from the receive buffer
narshu 0:7583de124698 23 Returns 0xFF if there is no data */
narshu 0:7583de124698 24 unsigned char read();
narshu 0:7583de124698 25
narshu 0:7583de124698 26 /* Transmits a packet of data */
narshu 0:7583de124698 27 void write(unsigned char* data, unsigned char length);
narshu 0:7583de124698 28 void write(unsigned char data); /* 1-byte packet */
narshu 0:7583de124698 29 void write(std::queue<char> &data, int length = -1); /* sends a whole queue */
narshu 0:7583de124698 30
narshu 0:7583de124698 31 /* Returns the packet length if data is available in the receive buffer, 0 otherwise*/
narshu 0:7583de124698 32 unsigned int available();
narshu 0:7583de124698 33
narshu 0:7583de124698 34 protected:
narshu 0:7583de124698 35 /* Receive FIFO buffer */
narshu 0:7583de124698 36 std::queue<unsigned char> fifo;
narshu 0:7583de124698 37 std::queue<unsigned char> temp; //for storing stuff mid-packet
narshu 0:7583de124698 38
narshu 0:7583de124698 39 /* SPI module */
narshu 0:7583de124698 40 SPI spi;
narshu 0:7583de124698 41
narshu 0:7583de124698 42 /* Other digital pins */
narshu 0:7583de124698 43 DigitalOut NCS;
narshu 0:7583de124698 44 InterruptIn NIRQ;
narshu 0:7583de124698 45 DigitalIn NIRQ_in;
narshu 0:7583de124698 46 //DigitalOut rfled;
narshu 0:7583de124698 47
narshu 0:7583de124698 48 rfmode_t mode;
narshu 0:7583de124698 49
narshu 0:7583de124698 50 /* Initialises the RF12B module */
narshu 0:7583de124698 51 void init();
narshu 0:7583de124698 52
narshu 0:7583de124698 53 /* Write a command to the RF Module */
narshu 0:7583de124698 54 unsigned int writeCmd(unsigned int cmd);
narshu 0:7583de124698 55
narshu 0:7583de124698 56 /* Sends a byte of data across RF */
narshu 0:7583de124698 57 void send(unsigned char data);
narshu 0:7583de124698 58
narshu 0:7583de124698 59 /* Switch module between receive and transmit modes */
narshu 0:7583de124698 60 void changeMode(rfmode_t mode);
narshu 0:7583de124698 61
narshu 0:7583de124698 62 /* Interrupt routine for data reception */
narshu 0:7583de124698 63 void rxISR();
narshu 0:7583de124698 64
narshu 0:7583de124698 65 /* Tell the RF Module this packet is received and wait for the next */
narshu 0:7583de124698 66 void resetRX();
narshu 0:7583de124698 67
narshu 0:7583de124698 68 /* Return the RF Module Status word */
narshu 0:7583de124698 69 unsigned int status();
narshu 0:7583de124698 70
narshu 0:7583de124698 71 /* Calculate CRC8 */
narshu 0:7583de124698 72 unsigned char crc8(unsigned char crc, unsigned char data);
narshu 0:7583de124698 73 };
narshu 0:7583de124698 74
narshu 0:7583de124698 75 #endif /* _RF12B_H */