Kiyoteru Hayama / mbedRobotracer_Edu

mbed robotracer for education.

Robotracer (line follower robot ) using stepper motor.

/media/uploads/hayama/cimg8463.jpg

/media/uploads/hayama/mbedrobotracer-manual-english.pdf

/media/uploads/hayama/mbedrobotracer-manual-japanese.pdf

/media/uploads/hayama/eagle-design-robotracer.zip

movie -> https://www.youtube.com/watch?v=INwun8gSds4

(for competition->) https://www.youtube.com/watch?v=l_gP2pUt4w0

mbed/CAN.h@1:200aad416161, 2013-10-02 (annotated)

Committer:
hayama
Date:
Wed Oct 02 01:09:55 2013 +0000
Revision:
1:200aad416161
Parent:
0:da22b0b4395a 
mbed robotracer for education.

;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hayama 0:da22b0b4395a 1 /* mbed Microcontroller Library
hayama 0:da22b0b4395a 2 * Copyright (c) 2006-2013 ARM Limited
hayama 0:da22b0b4395a 3 *
hayama 0:da22b0b4395a 4 * Licensed under the Apache License, Version 2.0 (the "License");
hayama 0:da22b0b4395a 5 * you may not use this file except in compliance with the License.
hayama 0:da22b0b4395a 6 * You may obtain a copy of the License at
hayama 0:da22b0b4395a 7 *
hayama 0:da22b0b4395a 8 * http://www.apache.org/licenses/LICENSE-2.0
hayama 0:da22b0b4395a 9 *
hayama 0:da22b0b4395a 10 * Unless required by applicable law or agreed to in writing, software
hayama 0:da22b0b4395a 11 * distributed under the License is distributed on an "AS IS" BASIS,
hayama 0:da22b0b4395a 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
hayama 0:da22b0b4395a 13 * See the License for the specific language governing permissions and
hayama 0:da22b0b4395a 14 * limitations under the License.
hayama 0:da22b0b4395a 15 */
hayama 0:da22b0b4395a 16 #ifndef MBED_CAN_H
hayama 0:da22b0b4395a 17 #define MBED_CAN_H
hayama 0:da22b0b4395a 18
hayama 0:da22b0b4395a 19 #include "platform.h"
hayama 0:da22b0b4395a 20
hayama 0:da22b0b4395a 21 #if DEVICE_CAN
hayama 0:da22b0b4395a 22
hayama 0:da22b0b4395a 23 #include "can_api.h"
hayama 0:da22b0b4395a 24 #include "can_helper.h"
hayama 0:da22b0b4395a 25 #include "FunctionPointer.h"
hayama 0:da22b0b4395a 26
hayama 0:da22b0b4395a 27 namespace mbed {
hayama 0:da22b0b4395a 28
hayama 0:da22b0b4395a 29 /** CANMessage class
hayama 0:da22b0b4395a 30 */
hayama 0:da22b0b4395a 31 class CANMessage : public CAN_Message {
hayama 0:da22b0b4395a 32
hayama 0:da22b0b4395a 33 public:
hayama 0:da22b0b4395a 34 /** Creates empty CAN message.
hayama 0:da22b0b4395a 35 */
hayama 0:da22b0b4395a 36 CANMessage() {
hayama 0:da22b0b4395a 37 len = 8;
hayama 0:da22b0b4395a 38 type = CANData;
hayama 0:da22b0b4395a 39 format = CANStandard;
hayama 0:da22b0b4395a 40 id = 0;
hayama 0:da22b0b4395a 41 memset(data, 0, 8);
hayama 0:da22b0b4395a 42 }
hayama 0:da22b0b4395a 43
hayama 0:da22b0b4395a 44 /** Creates CAN message with specific content.
hayama 0:da22b0b4395a 45 */
hayama 0:da22b0b4395a 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
hayama 0:da22b0b4395a 47 len = _len & 0xF;
hayama 0:da22b0b4395a 48 type = _type;
hayama 0:da22b0b4395a 49 format = _format;
hayama 0:da22b0b4395a 50 id = _id;
hayama 0:da22b0b4395a 51 memcpy(data, _data, _len);
hayama 0:da22b0b4395a 52 }
hayama 0:da22b0b4395a 53
hayama 0:da22b0b4395a 54 /** Creates CAN remote message.
hayama 0:da22b0b4395a 55 */
hayama 0:da22b0b4395a 56 CANMessage(int _id, CANFormat _format = CANStandard) {
hayama 0:da22b0b4395a 57 len = 0;
hayama 0:da22b0b4395a 58 type = CANRemote;
hayama 0:da22b0b4395a 59 format = _format;
hayama 0:da22b0b4395a 60 id = _id;
hayama 0:da22b0b4395a 61 memset(data, 0, 8);
hayama 0:da22b0b4395a 62 }
hayama 0:da22b0b4395a 63 };
hayama 0:da22b0b4395a 64
hayama 0:da22b0b4395a 65 /** A can bus client, used for communicating with can devices
hayama 0:da22b0b4395a 66 */
hayama 0:da22b0b4395a 67 class CAN {
hayama 0:da22b0b4395a 68
hayama 0:da22b0b4395a 69 public:
hayama 0:da22b0b4395a 70 /** Creates an CAN interface connected to specific pins.
hayama 0:da22b0b4395a 71 *
hayama 0:da22b0b4395a 72 * @param rd read from transmitter
hayama 0:da22b0b4395a 73 * @param td transmit to transmitter
hayama 0:da22b0b4395a 74 *
hayama 0:da22b0b4395a 75 * Example:
hayama 0:da22b0b4395a 76 * @code
hayama 0:da22b0b4395a 77 * #include "mbed.h"
hayama 0:da22b0b4395a 78 *
hayama 0:da22b0b4395a 79 * Ticker ticker;
hayama 0:da22b0b4395a 80 * DigitalOut led1(LED1);
hayama 0:da22b0b4395a 81 * DigitalOut led2(LED2);
hayama 0:da22b0b4395a 82 * CAN can1(p9, p10);
hayama 0:da22b0b4395a 83 * CAN can2(p30, p29);
hayama 0:da22b0b4395a 84 *
hayama 0:da22b0b4395a 85 * char counter = 0;
hayama 0:da22b0b4395a 86 *
hayama 0:da22b0b4395a 87 * void send() {
hayama 0:da22b0b4395a 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
hayama 0:da22b0b4395a 89 * printf("Message sent: %d\n", counter);
hayama 0:da22b0b4395a 90 * counter++;
hayama 0:da22b0b4395a 91 * }
hayama 0:da22b0b4395a 92 * led1 = !led1;
hayama 0:da22b0b4395a 93 * }
hayama 0:da22b0b4395a 94 *
hayama 0:da22b0b4395a 95 * int main() {
hayama 0:da22b0b4395a 96 * ticker.attach(&send, 1);
hayama 0:da22b0b4395a 97 * CANMessage msg;
hayama 0:da22b0b4395a 98 * while(1) {
hayama 0:da22b0b4395a 99 * if(can2.read(msg)) {
hayama 0:da22b0b4395a 100 * printf("Message received: %d\n\n", msg.data[0]);
hayama 0:da22b0b4395a 101 * led2 = !led2;
hayama 0:da22b0b4395a 102 * }
hayama 0:da22b0b4395a 103 * wait(0.2);
hayama 0:da22b0b4395a 104 * }
hayama 0:da22b0b4395a 105 * }
hayama 0:da22b0b4395a 106 * @endcode
hayama 0:da22b0b4395a 107 */
hayama 0:da22b0b4395a 108 CAN(PinName rd, PinName td);
hayama 0:da22b0b4395a 109 virtual ~CAN();
hayama 0:da22b0b4395a 110
hayama 0:da22b0b4395a 111 /** Set the frequency of the CAN interface
hayama 0:da22b0b4395a 112 *
hayama 0:da22b0b4395a 113 * @param hz The bus frequency in hertz
hayama 0:da22b0b4395a 114 *
hayama 0:da22b0b4395a 115 * @returns
hayama 0:da22b0b4395a 116 * 1 if successful,
hayama 0:da22b0b4395a 117 * 0 otherwise
hayama 0:da22b0b4395a 118 */
hayama 0:da22b0b4395a 119 int frequency(int hz);
hayama 0:da22b0b4395a 120
hayama 0:da22b0b4395a 121 /** Write a CANMessage to the bus.
hayama 0:da22b0b4395a 122 *
hayama 0:da22b0b4395a 123 * @param msg The CANMessage to write.
hayama 0:da22b0b4395a 124 *
hayama 0:da22b0b4395a 125 * @returns
hayama 0:da22b0b4395a 126 * 0 if write failed,
hayama 0:da22b0b4395a 127 * 1 if write was successful
hayama 0:da22b0b4395a 128 */
hayama 0:da22b0b4395a 129 int write(CANMessage msg);
hayama 0:da22b0b4395a 130
hayama 0:da22b0b4395a 131 /** Read a CANMessage from the bus.
hayama 0:da22b0b4395a 132 *
hayama 0:da22b0b4395a 133 * @param msg A CANMessage to read to.
hayama 0:da22b0b4395a 134 *
hayama 0:da22b0b4395a 135 * @returns
hayama 0:da22b0b4395a 136 * 0 if no message arrived,
hayama 0:da22b0b4395a 137 * 1 if message arrived
hayama 0:da22b0b4395a 138 */
hayama 0:da22b0b4395a 139 int read(CANMessage &msg);
hayama 0:da22b0b4395a 140
hayama 0:da22b0b4395a 141 /** Reset CAN interface.
hayama 0:da22b0b4395a 142 *
hayama 0:da22b0b4395a 143 * To use after error overflow.
hayama 0:da22b0b4395a 144 */
hayama 0:da22b0b4395a 145 void reset();
hayama 0:da22b0b4395a 146
hayama 0:da22b0b4395a 147 /** Puts or removes the CAN interface into silent monitoring mode
hayama 0:da22b0b4395a 148 *
hayama 0:da22b0b4395a 149 * @param silent boolean indicating whether to go into silent mode or not
hayama 0:da22b0b4395a 150 */
hayama 0:da22b0b4395a 151 void monitor(bool silent);
hayama 0:da22b0b4395a 152
hayama 0:da22b0b4395a 153 /** Returns number of read errors to detect read overflow errors.
hayama 0:da22b0b4395a 154 */
hayama 0:da22b0b4395a 155 unsigned char rderror();
hayama 0:da22b0b4395a 156
hayama 0:da22b0b4395a 157 /** Returns number of write errors to detect write overflow errors.
hayama 0:da22b0b4395a 158 */
hayama 0:da22b0b4395a 159 unsigned char tderror();
hayama 0:da22b0b4395a 160
hayama 0:da22b0b4395a 161 /** Attach a function to call whenever a CAN frame received interrupt is
hayama 0:da22b0b4395a 162 * generated.
hayama 0:da22b0b4395a 163 *
hayama 0:da22b0b4395a 164 * @param fptr A pointer to a void function, or 0 to set as none
hayama 0:da22b0b4395a 165 */
hayama 0:da22b0b4395a 166 void attach(void (*fptr)(void));
hayama 0:da22b0b4395a 167
hayama 0:da22b0b4395a 168 /** Attach a member function to call whenever a CAN frame received interrupt
hayama 0:da22b0b4395a 169 * is generated.
hayama 0:da22b0b4395a 170 *
hayama 0:da22b0b4395a 171 * @param tptr pointer to the object to call the member function on
hayama 0:da22b0b4395a 172 * @param mptr pointer to the member function to be called
hayama 0:da22b0b4395a 173 */
hayama 0:da22b0b4395a 174 template<typename T>
hayama 0:da22b0b4395a 175 void attach(T* tptr, void (T::*mptr)(void)) {
hayama 0:da22b0b4395a 176 if((mptr != NULL) && (tptr != NULL)) {
hayama 0:da22b0b4395a 177 _rxirq.attach(tptr, mptr);
hayama 0:da22b0b4395a 178 setup_interrupt();
hayama 0:da22b0b4395a 179 } else {
hayama 0:da22b0b4395a 180 remove_interrupt();
hayama 0:da22b0b4395a 181 }
hayama 0:da22b0b4395a 182 }
hayama 0:da22b0b4395a 183
hayama 0:da22b0b4395a 184 private:
hayama 0:da22b0b4395a 185 can_t _can;
hayama 0:da22b0b4395a 186 FunctionPointer _rxirq;
hayama 0:da22b0b4395a 187
hayama 0:da22b0b4395a 188 void setup_interrupt(void);
hayama 0:da22b0b4395a 189 void remove_interrupt(void);
hayama 0:da22b0b4395a 190 };
hayama 0:da22b0b4395a 191
hayama 0:da22b0b4395a 192 } // namespace mbed
hayama 0:da22b0b4395a 193
hayama 0:da22b0b4395a 194 #endif
hayama 0:da22b0b4395a 195
hayama 0:da22b0b4395a 196 #endif // MBED_CAN_H