RFSRF05.h

00001 #ifndef MBED_RFSRF05_H
00002 #define MBED_RFSRF05_H
00003 
00004 
00005 
00006 #include "mbed.h"
00007 #include "RF12B.h"
00008 #include "globals.h"
00009 
00010 
00011 #define CODE0 0x22
00012 #define CODE1 0x44
00013 #define CODE2 0x88
00014 
00015 /* SAMPLE IMPLEMENTATION!
00016 RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9);
00017 
00018 
00019 void callbinmain(int num, float dist) {
00020     //Here is where you deal with your brand new reading ;D
00021 }
00022 
00023 int main() {
00024     pc.printf("Hello World of RobotSonar!\r\n");
00025     my_srf.callbackfunc = callbinmain;
00026     
00027     while (1);
00028 }
00029 
00030  */
00031  
00032 class DummyCT;
00033  
00034 class RFSRF05 {
00035 public:
00036 
00037     RFSRF05(
00038     PinName trigger, 
00039     PinName echo0,
00040     PinName echo1,
00041     PinName echo2,
00042     PinName echo3,
00043     PinName echo4,
00044     PinName echo5,
00045     PinName SDI,
00046     PinName SDO,
00047     PinName SCK,
00048     PinName NCS,
00049     PinName NIRQ);
00050     
00051     /** A non-blocking function that will return the last measurement
00052      *
00053      * @returns floating point representation of distance in mm
00054      */
00055     float read0();
00056     float read1();
00057     float read2();
00058     float read(unsigned int beaconnum);
00059 
00060     
00061     /** A assigns a callback function when a new reading is available **/
00062     void (*callbackfunc)(int beaconnum, float distance, float variance);
00063     DummyCT* callbackobj;
00064     void (DummyCT::*mcallbackfunc)(int beaconnum, float distance, float variance);
00065     
00066     //triggers a read
00067     #ifndef ROBOT_PRIMARY
00068     void startRange(unsigned char rx_code);
00069     #endif
00070     
00071     //set codes
00072     void setCode(int code_index, unsigned char code);
00073     unsigned char codes[3];
00074 
00075     /** A short hand way of using the read function */
00076     //operator float();
00077     
00078 private :
00079     RF12B _rf;
00080     DigitalOut _trigger;
00081     InterruptIn _echo0;
00082     InterruptIn _echo1;
00083     InterruptIn _echo2;
00084     InterruptIn _echo3;
00085     InterruptIn _echo4;
00086     InterruptIn _echo5;
00087     Timer _timer;
00088     Ticker _ticker;
00089     #ifdef ROBOT_PRIMARY
00090     void _startRange(void);
00091     #endif
00092     void _rising (void);
00093     void _falling (void);
00094     float _dist[3];
00095     int _beacon_counter;
00096     bool ValidPulse;
00097     bool expValidPulse;
00098     
00099 };
00100 
00101 #endif