File content as of revision 1:0370ea94b64a:
#include "RFSRF05.h"
#include "mbed.h"
#include "globals.h"
#include "system.h"
RFSRF05::RFSRF05(PinName trigger,
PinName echo0,
PinName echo1,
PinName echo2,
PinName echo3,
PinName echo4,
PinName echo5,
PinName SDI,
PinName SDO,
PinName SCK,
PinName NCS,
PinName NIRQ)
: _rf(SDI,SDO,SCK,NCS,NIRQ),
_trigger(trigger),
_echo0(echo0),
_echo1(echo1),
_echo2(echo2),
_echo3(echo3),
_echo4(echo4),
_echo5(echo5) {
// initialises codes
codes[0] = CODE0;
codes[1] = CODE1;
codes[2] = CODE2;
//set callback execute to true
ValidPulse = false;
// Attach interrupts
#ifdef SONAR_ECHO_INV
// inverted sonar inputs
_echo5.fall(this, &RFSRF05::_rising);
_echo0.rise(this, &RFSRF05::_falling);
_echo1.rise(this, &RFSRF05::_falling);
_echo2.rise(this, &RFSRF05::_falling);
_echo3.rise(this, &RFSRF05::_falling);
_echo4.rise(this, &RFSRF05::_falling);
_echo5.rise(this, &RFSRF05::_falling);
#else
_echo5.rise(this, &RFSRF05::_rising);
_echo0.fall(this, &RFSRF05::_falling);
_echo1.fall(this, &RFSRF05::_falling);
_echo2.fall(this, &RFSRF05::_falling);
_echo3.fall(this, &RFSRF05::_falling);
_echo4.fall(this, &RFSRF05::_falling);
_echo5.fall(this, &RFSRF05::_falling);
#endif
//init callabck function
callbackfunc = NULL;
callbackobj = NULL;
mcallbackfunc = NULL;
// innitialises beacon counter
_beacon_counter = 0;
#ifdef PRIMARY_ROBOT
//Interrupts every 50ms for primary robot
_ticker.attach(this, &RFSRF05::_startRange, 0.05);
#else
//attach callback
_rf.callbackobj = (DummyCT*)this;
_rf.mcallbackfunc = (void (DummyCT::*)(unsigned char rx_data)) &RFSRF05::startRange;
#endif
}
#ifdef PRIMARY_ROBOT
void RFSRF05::_startRange() {
//printf("Srange\r\r");
// increments counter
_beacon_counter = (_beacon_counter + 1) % 3;
// set flags
ValidPulse = false;
expValidPulse = true;
// writes code to RF port
_rf.write(codes[_beacon_counter]);
// send a trigger pulse, 10uS long
_trigger = 1;
wait_us (10);
_trigger = 0;
}
#else
void RFSRF05::startRange(unsigned char rx_code) {
for (int i = 0; i < 3; i++) {
if (rx_code == codes[i]) {
// assign beacon_counter
_beacon_counter = i;
// set flags
ValidPulse = false;
expValidPulse = true;
// send a trigger pulse, 10uS long
_trigger = 1;
wait_us (10);
_trigger = 0;
break;
}
}
}
#endif
// Clear and start the timer at the begining of the echo pulse
void RFSRF05::_rising(void) {
_timer.reset();
_timer.start();
//Set callback execute to ture
if (expValidPulse) {
ValidPulse = true;
expValidPulse = false;
}
}
// Stop and read the timer at the end of the pulse
void RFSRF05::_falling(void) {
_timer.stop();
if (ValidPulse) {
//printf("Validpulse trig!\r\n");
ValidPulse = false;
//Calucate distance
_dist[_beacon_counter] = _timer.read_us()/2.9 + 300;
if (callbackfunc)
(*callbackfunc)(_beacon_counter, _dist[_beacon_counter]);
if (callbackobj && mcallbackfunc)
(callbackobj->*mcallbackfunc)(_beacon_counter, _dist[_beacon_counter], sonarvariance);
}
}
float RFSRF05::read0() {
// returns distance
return (_dist[0]);
}
float RFSRF05::read1() {
// returns distance
return (_dist[1]);
}
float RFSRF05::read2() {
// returns distance
return (_dist[2]);
}
float RFSRF05::read(unsigned int beaconnum) {
// returns distance
return (_dist[beaconnum]);
}
void RFSRF05::setCode(int code_index, unsigned char code) {
codes[code_index] = code;
}
//SRF05::operator float() {
// return read();
//}