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