Revision 1:0370ea94b64a, committed 2012-04-26

Comitter:

narshu

Date:

Thu Apr 26 17:50:00 2012 +0000

Parent:

0:7583de124698

Commit message:

Changed in this revision

--- a/RF12B/RF12B.cpp	Fri Mar 30 19:44:25 2012 +0000
+++ b/RF12B/RF12B.cpp	Thu Apr 26 17:50:00 2012 +0000
@@ -2,41 +2,38 @@
 
 #include "RF_defs.h"
 #include <algorithm>
-
-//#include "globals.h"
+#include "system.h"
+#include "globals.h"
 
-//DigitalOut DBG2(LED2);
-//DigitalOut DBG3(LED3);
-//DigitalOut DBG4(LED4);
 
 RF12B::RF12B(PinName _SDI,
              PinName _SDO,
              PinName _SCK,
              PinName _NCS,
              PinName _NIRQ):spi(_SDI, _SDO, _SCK),
-        NCS(_NCS), NIRQ(_NIRQ), NIRQ_in(_NIRQ){// rfled(LED3) {
+        NCS(_NCS), NIRQ(_NIRQ), NIRQ_in(_NIRQ) {// rfled(LED3) {
 
-    /* SPI frequency, word lenght, polarity and phase */
+    // SPI frequency, word lenght, polarity and phase */
     spi.format(16,0);
     spi.frequency(2000000);
 
-    /* Set ~CS high */
+    // Set ~CS high 
     NCS = 1;
 
-    /* Initialise RF Module */
+    // Initialise RF Module 
     init();
 
-    /* Setup interrupt to happen on falling edge of NIRQ */
+    // Setup interrupt to happen on falling edge of NIRQ 
     NIRQ.fall(this, &RF12B::rxISR);
 }
 
-/* Returns the packet length if data is available in the receive buffer, 0 otherwise*/
-unsigned int RF12B::available() {
-    return fifo.size();
-}
+// Returns the packet length if data is available in the receive buffer, 0 otherwise
+//unsigned int RF12B::available() {
+//    return fifo.size();
+//}
 
-/* Reads a packet of data, with length "size" Returns false if read failed. TODO: make a metafifo to isolate packets*/
-bool RF12B::read(unsigned char* data, unsigned int size) {
+// Reads a packet of data, with length "size" Returns false if read failed. TODO: make a metafifo to isolate packets
+/*bool RF12B::read(unsigned char* data, unsigned int size) {
     if (fifo.size() == 0) {
         return false;
     } else {
@@ -48,8 +45,10 @@
         return true;
     }
 }
+*/
 
-/* Reads a byte of data from the receive buffer */
+// Reads a byte of data from the receive buffer 
+/*
 unsigned char RF12B::read() {
     if (available()) {
         unsigned char data = fifo.front();
@@ -59,12 +58,13 @@
         return 0xFF; // Error val although could also be data...
     }
 }
+*/
 
-/* Sends a packet of data to the RF module for transmission TODO: Make asych*/
+// Sends a packet of data to the RF module for transmission TODO: Make asych
 void RF12B::write(unsigned char *data, unsigned char length) {
     unsigned char crc = 0;
-       
-    /* Transmitter mode */
+
+    // Transmitter mode 
     changeMode(TX);
 
     writeCmd(0x0000);
@@ -73,12 +73,12 @@
     send(0xAA);
     send(0x2D); // SYNC
     send(0xD4);
-    /* Packet Length */
+    // Packet Length 
     send(length);
     crc = crc8(crc, length);
     send(crc);
     crc = crc8(crc, crc);
-    /* Packet Data */
+    // Packet Data 
     for (unsigned char i=0; i<length; i++) {
         send(data[i]);
         crc = crc8(crc, data[i]);
@@ -88,31 +88,31 @@
     send(0xAA);
     send(0xAA);
 
-    /* Back to receiver mode */
+    // Back to receiver mode 
     changeMode(RX);
     status();
-    
+
 
 }
 
-/* Transmit a 1-byte data packet */
+// Transmit a 1-byte data packet 
 void RF12B::write(unsigned char data) {
     write(&data, 1);
 }
-
+/*
 void RF12B::write(queue<char> &data, int length) {
     char crc = 0;
     char length_byte = 0;
-    
-    /* -1 means try to transmit everything in the queue */
-    if(length == -1) {
+
+    // -1 means try to transmit everything in the queue 
+    if (length == -1) {
         length = data.size();
     }
-    
-    /* max length of packet is 255 */
+
+    // max length of packet is 255 
     length_byte = min(length, 255);
-    
-    /* Transmitter mode */
+
+    // Transmitter mode 
     changeMode(TX);
 
     writeCmd(0x0000);
@@ -121,12 +121,12 @@
     send(0xAA);
     send(0x2D); // SYNC
     send(0xD4);
-    /* Packet Length */
+    // Packet Length 
     send(length_byte);
     crc = crc8(crc, length_byte);
     send(crc);
     crc = crc8(crc, crc);
-    /* Packet Data */
+    // Packet Data 
     for (char i=0; i<length_byte; i++) {
         send(data.front());
         crc = crc8(crc, data.front());
@@ -137,18 +137,18 @@
     send(0xAA);
     send(0xAA);
 
-    /* Back to receiver mode */
+    // Back to receiver mode 
     changeMode(RX);
     status();
 }
-
+*/
 /**********************************************************************
  *  PRIVATE FUNCTIONS
  *********************************************************************/
 
-/* Initialises the RF12B module */
+// Initialises the RF12B module 
 void RF12B::init() {
-    /* writeCmd(0x80E7); //EL,EF,868band,12.0pF
+    // writeCmd(0x80E7); //EL,EF,868band,12.0pF
      changeMode(RX);
      writeCmd(0xA640); //frequency select
      writeCmd(0xC647); //4.8kbps
@@ -161,7 +161,7 @@
      writeCmd(0xCC17); //OB1, COB0, LPX, Iddy, CDDIT&#65533;CBW0
      writeCmd(0xE000); //NOT USED
      writeCmd(0xC800); //NOT USED
-     writeCmd(0xC040); //1.66MHz,2.2V */
+     writeCmd(0xC040); //1.66MHz,2.2V 
 
     writeCmd(
         RFM_CONFIG_EL           |
@@ -273,25 +273,18 @@
     }
 }
 
-/* Interrupt routine for data reception */
+// Interrupt routine for data reception */
 void RF12B::rxISR() {
-    
-    //static int cnt = 0;
-    //printf("%d hits\r\n", cnt);
-    //cnt++;
-    
-    //DBG2 = !(cnt%3);
-    //DBG3 = !((cnt+1)%3);
-    //DBG4 = !((cnt+2)%3);
 
     unsigned int data = 0;
     static int i = -2;
     static unsigned char packet_length = 0;
     static unsigned char crc = 0;
+    static unsigned char temp;
 
     //Loop while interrupt is asserted
     while (!NIRQ_in && mode == RX) {
-        
+
         // Grab the packet's length byte
         if (i == -2) {
             data = writeCmd(0x0000);
@@ -331,11 +324,12 @@
         if (NIRQ_in)
             break;
 
-        // Grab the packet's data 
+        // Grab the packet's data
         if (i >= 0 && i < packet_length) {
             data = writeCmd(0x0000);
             if ( (data&0x8000) ) {
                 data = writeCmd(0xB000);
+                temp = data&0x00FF;
                 //temp.push(data&0x00FF);
                 crc = crc8(crc, (unsigned char)(data&0x00FF));
                 i++;
@@ -353,9 +347,16 @@
                 if ((unsigned char)(data & 0x00FF) == crc) {
                     //If the checksum is correct, add our data to the end of the output buffer
                     //while (!temp.empty()) {
-                    //    fifo.push(temp.front());
-                    //    temp.pop();
-                    //}
+                    //fifo.push(temp);
+                     //   temp.pop();
+#ifdef ROBOT_SECONDARY
+                        if (callbackfunc)
+                            (*callbackfunc)(temp);
+
+                        if (callbackobj && mcallbackfunc)
+                            (callbackobj->*mcallbackfunc)(temp);
+#endif
+                   // }
                 }
 
                 // Tell RF Module we are finished, and clean up
@@ -367,19 +368,20 @@
             }
         }
     }
+
 }
 
 unsigned int RF12B::status() {
     return writeCmd(0x0000);
 }
 
-/* Tell the RF Module this packet is received and wait for the next */
+// Tell the RF Module this packet is received and wait for the next */
 void RF12B::resetRX() {
     writeCmd(0xCA81);
     writeCmd(0xCA83);
 };
 
-/* Calculate CRC8 */
+// Calculate CRC8 */
 unsigned char RF12B::crc8(unsigned char crc, unsigned char data) {
     crc = crc ^ data;
     for (int i = 0; i < 8; i++) {

--- a/RF12B/RF12B.h	Fri Mar 30 19:44:25 2012 +0000
+++ b/RF12B/RF12B.h	Thu Apr 26 17:50:00 2012 +0000
@@ -2,10 +2,12 @@
 #define _RF12B_H
 
 #include "mbed.h"
-#include <queue>
+//#include <queue>
 
 enum rfmode_t{RX, TX};
 
+class DummyCT;
+
 class RF12B {
 public:
     /* Constructor */
@@ -14,6 +16,7 @@
           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 */
@@ -26,15 +29,20 @@
     /* 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 */
+//    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
+//    std::queue<unsigned char> fifo;
+//    std::queue<unsigned char> temp; //for storing stuff mid-packet
     
     /* SPI module */
     SPI spi;

--- a/RF12B/RFSerial.cpp	Fri Mar 30 19:44:25 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,25 +0,0 @@
-
-/* Constructor */
-#include "RFSerial.h"
-
-RFSerial::RFSerial(PinName _SDI,
-                   PinName _SDO,
-                   PinName _SCK,
-                   PinName _NCS,
-                   PinName _NIRQ)
-:RF12B(_SDI, _SDO, _SCK, _NCS, _NIRQ) {
-    
-}
-
-// Stream implementation functions
-int RFSerial::_putc(int value) {
-    RF12B::write((unsigned char) value);
-    return value;
-}
-int RFSerial::_getc() {
-    if(available()) {
-        return RF12B::read();
-    } else {
-        return EOF;
-    }
-}
\ No newline at end of file

--- a/RF12B/RFSerial.h	Fri Mar 30 19:44:25 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,17 +0,0 @@
-#include "mbed.h"
-#include "RF12B.h"
-
-class RFSerial : public Stream, public RF12B {
-public:
-    /* Constructor */
-    RFSerial(PinName _SDI,
-          PinName _SDO,
-          PinName _SCK,
-          PinName _NCS,
-          PinName _NIRQ);
-     
-protected:
-    // Stream implementation functions
-    virtual int _putc(int value);
-    virtual int _getc();    
-};
\ No newline at end of file

--- a/RFSRF05.cpp	Fri Mar 30 19:44:25 2012 +0000
+++ b/RFSRF05.cpp	Thu Apr 26 17:50:00 2012 +0000
@@ -1,7 +1,8 @@
 
 #include "RFSRF05.h"
 #include "mbed.h"
-
+#include "globals.h"
+#include "system.h"
 
 
 RFSRF05::RFSRF05(PinName trigger,
@@ -24,22 +25,34 @@
         _echo3(echo3),
         _echo4(echo4),
         _echo5(echo5) {
+
     // initialises codes
-    _code[0] = CODE0;
-    _code[1] = CODE1;
-    _code[2] = CODE2;
+    codes[0] = CODE0;
+    codes[1] = CODE1;
+    codes[2] = CODE2;
 
     //set callback execute to true
     ValidPulse = false;
 
     // Attach interrupts
-    _echo0.rise(this, &RFSRF05::_rising);
+#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
@@ -50,31 +63,61 @@
     // innitialises beacon counter
     _beacon_counter = 0;
 
-    //Interrupts every 50ms
-    //_ticker.attach(this, &RFSRF05::_startRange, 0.05);
+#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
+
 }
 
-
-void RFSRF05::startRange() {
+#ifdef PRIMARY_ROBOT
+void RFSRF05::_startRange() {
 
     //printf("Srange\r\r");
 
     // increments counter
     _beacon_counter = (_beacon_counter + 1) % 3;
 
-    // writes code to RF port
-    _rf.write(_code[_beacon_counter]);
 
-    // send a trigger pulse, 10uS long
+    // 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;
-    wait_us(50);
+
 }
+#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) {
@@ -104,7 +147,7 @@
             (*callbackfunc)(_beacon_counter, _dist[_beacon_counter]);
 
         if (callbackobj && mcallbackfunc)
-            (callbackobj->*mcallbackfunc)(_beacon_counter, _dist[_beacon_counter]);
+            (callbackobj->*mcallbackfunc)(_beacon_counter, _dist[_beacon_counter], sonarvariance);
 
     }
 
@@ -130,6 +173,10 @@
     return (_dist[beaconnum]);
 }
 
+void RFSRF05::setCode(int code_index, unsigned char code) {
+    codes[code_index] = code;
+}
+
 //SRF05::operator float() {
 //    return read();
 //}

--- a/RFSRF05.h	Fri Mar 30 19:44:25 2012 +0000
+++ b/RFSRF05.h	Thu Apr 26 17:50:00 2012 +0000
@@ -2,8 +2,12 @@
 #ifndef MBED_RFSRF05_H
 #define MBED_RFSRF05_H
 
+
+
 #include "mbed.h"
 #include "RF12B.h"
+#include "globals.h"
+
 
 #define CODE0 0x22
 #define CODE1 0x44
@@ -47,23 +51,30 @@
     
     /** A non-blocking function that will return the last measurement
      *
-     * @returns floating point representation of distance in cm
+     * @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);
+    void (DummyCT::*mcallbackfunc)(int beaconnum, float distance, float variance);
     
     //triggers a read
-    void startRange();
+    #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();
+    //operator float();
     
 private :
     RF12B _rf;
@@ -76,10 +87,12 @@
     InterruptIn _echo5;
     Timer _timer;
     Ticker _ticker;
+    #ifdef PRIMARY_ROBOT
+    void _startRange(void);
+    #endif
     void _rising (void);
     void _falling (void);
     float _dist[3];
-    char _code[3];
     int _beacon_counter;
     bool ValidPulse;
     bool expValidPulse;