Cooper Liu / Mbed 2 deprecated Eurobot2013_Co-Processor

working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

Sonar/RFSRF05.h@3:8c78c15a92e3, 2012-11-14 (annotated)

Committer:
xiaxia686
Date:
Wed Nov 14 15:48:20 2012 +0000
Revision:
3:8c78c15a92e3
Merged with Sonar;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
xiaxia686 3:8c78c15a92e3 1
xiaxia686 3:8c78c15a92e3 2 #ifndef MBED_RFSRF05_H
xiaxia686 3:8c78c15a92e3 3 #define MBED_RFSRF05_H
xiaxia686 3:8c78c15a92e3 4
xiaxia686 3:8c78c15a92e3 5
xiaxia686 3:8c78c15a92e3 6
xiaxia686 3:8c78c15a92e3 7 #include "mbed.h"
xiaxia686 3:8c78c15a92e3 8 #include "RF12B.h"
xiaxia686 3:8c78c15a92e3 9 #include "globals.h"
xiaxia686 3:8c78c15a92e3 10
xiaxia686 3:8c78c15a92e3 11
xiaxia686 3:8c78c15a92e3 12 #define CODE0 0x22
xiaxia686 3:8c78c15a92e3 13 #define CODE1 0x44
xiaxia686 3:8c78c15a92e3 14 #define CODE2 0x88
xiaxia686 3:8c78c15a92e3 15
xiaxia686 3:8c78c15a92e3 16 /* SAMPLE IMPLEMENTATION!
xiaxia686 3:8c78c15a92e3 17 RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9);
xiaxia686 3:8c78c15a92e3 18
xiaxia686 3:8c78c15a92e3 19
xiaxia686 3:8c78c15a92e3 20 void callbinmain(int num, float dist) {
xiaxia686 3:8c78c15a92e3 21 //Here is where you deal with your brand new reading ;D
xiaxia686 3:8c78c15a92e3 22 }
xiaxia686 3:8c78c15a92e3 23
xiaxia686 3:8c78c15a92e3 24 int main() {
xiaxia686 3:8c78c15a92e3 25 pc.printf("Hello World of RobotSonar!\r\n");
xiaxia686 3:8c78c15a92e3 26 my_srf.callbackfunc = callbinmain;
xiaxia686 3:8c78c15a92e3 27
xiaxia686 3:8c78c15a92e3 28 while (1);
xiaxia686 3:8c78c15a92e3 29 }
xiaxia686 3:8c78c15a92e3 30
xiaxia686 3:8c78c15a92e3 31 */
xiaxia686 3:8c78c15a92e3 32
xiaxia686 3:8c78c15a92e3 33 class DummyCT;
xiaxia686 3:8c78c15a92e3 34
xiaxia686 3:8c78c15a92e3 35 class RFSRF05 {
xiaxia686 3:8c78c15a92e3 36 public:
xiaxia686 3:8c78c15a92e3 37
xiaxia686 3:8c78c15a92e3 38 RFSRF05(
xiaxia686 3:8c78c15a92e3 39 PinName trigger,
xiaxia686 3:8c78c15a92e3 40 PinName echo0,
xiaxia686 3:8c78c15a92e3 41 PinName echo1,
xiaxia686 3:8c78c15a92e3 42 PinName echo2,
xiaxia686 3:8c78c15a92e3 43 PinName echo3,
xiaxia686 3:8c78c15a92e3 44 PinName echo4,
xiaxia686 3:8c78c15a92e3 45 PinName echo5,
xiaxia686 3:8c78c15a92e3 46 PinName SDI,
xiaxia686 3:8c78c15a92e3 47 PinName SDO,
xiaxia686 3:8c78c15a92e3 48 PinName SCK,
xiaxia686 3:8c78c15a92e3 49 PinName NCS,
xiaxia686 3:8c78c15a92e3 50 PinName NIRQ);
xiaxia686 3:8c78c15a92e3 51
xiaxia686 3:8c78c15a92e3 52 /** A non-blocking function that will return the last measurement
xiaxia686 3:8c78c15a92e3 53 *
xiaxia686 3:8c78c15a92e3 54 * @returns floating point representation of distance in mm
xiaxia686 3:8c78c15a92e3 55 */
xiaxia686 3:8c78c15a92e3 56 float read0();
xiaxia686 3:8c78c15a92e3 57 float read1();
xiaxia686 3:8c78c15a92e3 58 float read2();
xiaxia686 3:8c78c15a92e3 59 float read(unsigned int beaconnum);
xiaxia686 3:8c78c15a92e3 60
xiaxia686 3:8c78c15a92e3 61
xiaxia686 3:8c78c15a92e3 62 /** A assigns a callback function when a new reading is available **/
xiaxia686 3:8c78c15a92e3 63 void (*callbackfunc)(int beaconnum, float distance);
xiaxia686 3:8c78c15a92e3 64 DummyCT* callbackobj;
xiaxia686 3:8c78c15a92e3 65 void (DummyCT::*mcallbackfunc)(int beaconnum, float distance);
xiaxia686 3:8c78c15a92e3 66
xiaxia686 3:8c78c15a92e3 67 //triggers a read
xiaxia686 3:8c78c15a92e3 68 #ifndef ROBOT_PRIMARY
xiaxia686 3:8c78c15a92e3 69 void startRange(unsigned char rx_code);
xiaxia686 3:8c78c15a92e3 70 #endif
xiaxia686 3:8c78c15a92e3 71
xiaxia686 3:8c78c15a92e3 72 //set codes
xiaxia686 3:8c78c15a92e3 73 void setCode(int code_index, unsigned char code);
xiaxia686 3:8c78c15a92e3 74 unsigned char codes[3];
xiaxia686 3:8c78c15a92e3 75
xiaxia686 3:8c78c15a92e3 76 /** A short hand way of using the read function */
xiaxia686 3:8c78c15a92e3 77 //operator float();
xiaxia686 3:8c78c15a92e3 78
xiaxia686 3:8c78c15a92e3 79 private :
xiaxia686 3:8c78c15a92e3 80 RF12B _rf;
xiaxia686 3:8c78c15a92e3 81 DigitalOut _trigger;
xiaxia686 3:8c78c15a92e3 82 InterruptIn _echo0;
xiaxia686 3:8c78c15a92e3 83 InterruptIn _echo1;
xiaxia686 3:8c78c15a92e3 84 InterruptIn _echo2;
xiaxia686 3:8c78c15a92e3 85 InterruptIn _echo3;
xiaxia686 3:8c78c15a92e3 86 InterruptIn _echo4;
xiaxia686 3:8c78c15a92e3 87 InterruptIn _echo5;
xiaxia686 3:8c78c15a92e3 88 Timer _timer;
xiaxia686 3:8c78c15a92e3 89 Ticker _ticker;
xiaxia686 3:8c78c15a92e3 90 #ifdef ROBOT_PRIMARY
xiaxia686 3:8c78c15a92e3 91 void _startRange(void);
xiaxia686 3:8c78c15a92e3 92 #endif
xiaxia686 3:8c78c15a92e3 93 void _rising (void);
xiaxia686 3:8c78c15a92e3 94 void _falling (void);
xiaxia686 3:8c78c15a92e3 95 float _dist[3];
xiaxia686 3:8c78c15a92e3 96 int _beacon_counter;
xiaxia686 3:8c78c15a92e3 97 bool ValidPulse;
xiaxia686 3:8c78c15a92e3 98 bool expValidPulse;
xiaxia686 3:8c78c15a92e3 99
xiaxia686 3:8c78c15a92e3 100 };
xiaxia686 3:8c78c15a92e3 101
xiaxia686 3:8c78c15a92e3 102 #endif