File content as of revision 1:0370ea94b64a:
#ifndef MBED_RFSRF05_H
#define MBED_RFSRF05_H
#include "mbed.h"
#include "RF12B.h"
#include "globals.h"
#define CODE0 0x22
#define CODE1 0x44
#define CODE2 0x88
/* SAMPLE IMPLEMENTATION!
RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9);
void callbinmain(int num, float dist) {
//Here is where you deal with your brand new reading ;D
}
int main() {
pc.printf("Hello World of RobotSonar!\r\n");
my_srf.callbackfunc = callbinmain;
while (1);
}
*/
class DummyCT;
class RFSRF05 {
public:
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);
/** A non-blocking function that will return the last measurement
*
* @returns floating point representation of distance in mm
*/
float read0();
float read1();
float read2();
float read(unsigned int beaconnum);
/** A assigns a callback function when a new reading is available **/
void (*callbackfunc)(int beaconnum, float distance);
DummyCT* callbackobj;
void (DummyCT::*mcallbackfunc)(int beaconnum, float distance, float variance);
//triggers a read
#ifndef PRIMARY_ROBOT
void startRange(unsigned char rx_code);
#endif
//set codes
void setCode(int code_index, unsigned char code);
unsigned char codes[3];
/** A short hand way of using the read function */
//operator float();
private :
RF12B _rf;
DigitalOut _trigger;
InterruptIn _echo0;
InterruptIn _echo1;
InterruptIn _echo2;
InterruptIn _echo3;
InterruptIn _echo4;
InterruptIn _echo5;
Timer _timer;
Ticker _ticker;
#ifdef PRIMARY_ROBOT
void _startRange(void);
#endif
void _rising (void);
void _falling (void);
float _dist[3];
int _beacon_counter;
bool ValidPulse;
bool expValidPulse;
};
#endif