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/Ethernet.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_ETHERNET_H
hayama 0:da22b0b4395a 17 #define MBED_ETHERNET_H
hayama 0:da22b0b4395a 18
hayama 0:da22b0b4395a 19 #include "platform.h"
hayama 0:da22b0b4395a 20
hayama 0:da22b0b4395a 21 #if DEVICE_ETHERNET
hayama 0:da22b0b4395a 22
hayama 0:da22b0b4395a 23 namespace mbed {
hayama 0:da22b0b4395a 24
hayama 0:da22b0b4395a 25 /** An ethernet interface, to use with the ethernet pins.
hayama 0:da22b0b4395a 26 *
hayama 0:da22b0b4395a 27 * Example:
hayama 0:da22b0b4395a 28 * @code
hayama 0:da22b0b4395a 29 * // Read destination and source from every ethernet packet
hayama 0:da22b0b4395a 30 *
hayama 0:da22b0b4395a 31 * #include "mbed.h"
hayama 0:da22b0b4395a 32 *
hayama 0:da22b0b4395a 33 * Ethernet eth;
hayama 0:da22b0b4395a 34 *
hayama 0:da22b0b4395a 35 * int main() {
hayama 0:da22b0b4395a 36 * char buf[0x600];
hayama 0:da22b0b4395a 37 *
hayama 0:da22b0b4395a 38 * while(1) {
hayama 0:da22b0b4395a 39 * int size = eth.receive();
hayama 0:da22b0b4395a 40 * if(size > 0) {
hayama 0:da22b0b4395a 41 * eth.read(buf, size);
hayama 0:da22b0b4395a 42 * printf("Destination: %02X:%02X:%02X:%02X:%02X:%02X\n",
hayama 0:da22b0b4395a 43 * buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
hayama 0:da22b0b4395a 44 * printf("Source: %02X:%02X:%02X:%02X:%02X:%02X\n",
hayama 0:da22b0b4395a 45 * buf[6], buf[7], buf[8], buf[9], buf[10], buf[11]);
hayama 0:da22b0b4395a 46 * }
hayama 0:da22b0b4395a 47 *
hayama 0:da22b0b4395a 48 * wait(1);
hayama 0:da22b0b4395a 49 * }
hayama 0:da22b0b4395a 50 * }
hayama 0:da22b0b4395a 51 * @endcode
hayama 0:da22b0b4395a 52 */
hayama 0:da22b0b4395a 53 class Ethernet {
hayama 0:da22b0b4395a 54
hayama 0:da22b0b4395a 55 public:
hayama 0:da22b0b4395a 56
hayama 0:da22b0b4395a 57 /** Initialise the ethernet interface.
hayama 0:da22b0b4395a 58 */
hayama 0:da22b0b4395a 59 Ethernet();
hayama 0:da22b0b4395a 60
hayama 0:da22b0b4395a 61 /** Powers the hardware down.
hayama 0:da22b0b4395a 62 */
hayama 0:da22b0b4395a 63 virtual ~Ethernet();
hayama 0:da22b0b4395a 64
hayama 0:da22b0b4395a 65 enum Mode {
hayama 0:da22b0b4395a 66 AutoNegotiate,
hayama 0:da22b0b4395a 67 HalfDuplex10,
hayama 0:da22b0b4395a 68 FullDuplex10,
hayama 0:da22b0b4395a 69 HalfDuplex100,
hayama 0:da22b0b4395a 70 FullDuplex100
hayama 0:da22b0b4395a 71 };
hayama 0:da22b0b4395a 72
hayama 0:da22b0b4395a 73 /** Writes into an outgoing ethernet packet.
hayama 0:da22b0b4395a 74 *
hayama 0:da22b0b4395a 75 * It will append size bytes of data to the previously written bytes.
hayama 0:da22b0b4395a 76 *
hayama 0:da22b0b4395a 77 * @param data An array to write.
hayama 0:da22b0b4395a 78 * @param size The size of data.
hayama 0:da22b0b4395a 79 *
hayama 0:da22b0b4395a 80 * @returns
hayama 0:da22b0b4395a 81 * The number of written bytes.
hayama 0:da22b0b4395a 82 */
hayama 0:da22b0b4395a 83 int write(const char *data, int size);
hayama 0:da22b0b4395a 84
hayama 0:da22b0b4395a 85 /** Send an outgoing ethernet packet.
hayama 0:da22b0b4395a 86 *
hayama 0:da22b0b4395a 87 * After filling in the data in an ethernet packet it must be send.
hayama 0:da22b0b4395a 88 * Send will provide a new packet to write to.
hayama 0:da22b0b4395a 89 *
hayama 0:da22b0b4395a 90 * @returns
hayama 0:da22b0b4395a 91 * 0 if the sending was failed,
hayama 0:da22b0b4395a 92 * 1 if the package is successfully sent.
hayama 0:da22b0b4395a 93 */
hayama 0:da22b0b4395a 94 int send();
hayama 0:da22b0b4395a 95
hayama 0:da22b0b4395a 96 /** Recevies an arrived ethernet packet.
hayama 0:da22b0b4395a 97 *
hayama 0:da22b0b4395a 98 * Receiving an ethernet packet will drop the last received ethernet packet
hayama 0:da22b0b4395a 99 * and make a new ethernet packet ready to read.
hayama 0:da22b0b4395a 100 * If no ethernet packet is arrived it will return 0.
hayama 0:da22b0b4395a 101 *
hayama 0:da22b0b4395a 102 * @returns
hayama 0:da22b0b4395a 103 * 0 if no ethernet packet is arrived,
hayama 0:da22b0b4395a 104 * or the size of the arrived packet.
hayama 0:da22b0b4395a 105 */
hayama 0:da22b0b4395a 106 int receive();
hayama 0:da22b0b4395a 107
hayama 0:da22b0b4395a 108 /** Read from an recevied ethernet packet.
hayama 0:da22b0b4395a 109 *
hayama 0:da22b0b4395a 110 * After receive returnd a number bigger than 0it is
hayama 0:da22b0b4395a 111 * possible to read bytes from this packet.
hayama 0:da22b0b4395a 112 * Read will write up to size bytes into data.
hayama 0:da22b0b4395a 113 *
hayama 0:da22b0b4395a 114 * It is possible to use read multible times.
hayama 0:da22b0b4395a 115 * Each time read will start reading after the last read byte before.
hayama 0:da22b0b4395a 116 *
hayama 0:da22b0b4395a 117 * @returns
hayama 0:da22b0b4395a 118 * The number of byte read.
hayama 0:da22b0b4395a 119 */
hayama 0:da22b0b4395a 120 int read(char *data, int size);
hayama 0:da22b0b4395a 121
hayama 0:da22b0b4395a 122 /** Gives the ethernet address of the mbed.
hayama 0:da22b0b4395a 123 *
hayama 0:da22b0b4395a 124 * @param mac Must be a pointer to a 6 byte char array to copy the ethernet address in.
hayama 0:da22b0b4395a 125 */
hayama 0:da22b0b4395a 126 void address(char *mac);
hayama 0:da22b0b4395a 127
hayama 0:da22b0b4395a 128 /** Returns if an ethernet link is pressent or not. It takes a wile after Ethernet initializion to show up.
hayama 0:da22b0b4395a 129 *
hayama 0:da22b0b4395a 130 * @returns
hayama 0:da22b0b4395a 131 * 0 if no ethernet link is pressent,
hayama 0:da22b0b4395a 132 * 1 if an ethernet link is pressent.
hayama 0:da22b0b4395a 133 *
hayama 0:da22b0b4395a 134 * Example:
hayama 0:da22b0b4395a 135 * @code
hayama 0:da22b0b4395a 136 * // Using the Ethernet link function
hayama 0:da22b0b4395a 137 * #include "mbed.h"
hayama 0:da22b0b4395a 138 *
hayama 0:da22b0b4395a 139 * Ethernet eth;
hayama 0:da22b0b4395a 140 *
hayama 0:da22b0b4395a 141 * int main() {
hayama 0:da22b0b4395a 142 * wait(1); // Needed after startup.
hayama 0:da22b0b4395a 143 * if (eth.link()) {
hayama 0:da22b0b4395a 144 * printf("online\n");
hayama 0:da22b0b4395a 145 * } else {
hayama 0:da22b0b4395a 146 * printf("offline\n");
hayama 0:da22b0b4395a 147 * }
hayama 0:da22b0b4395a 148 * }
hayama 0:da22b0b4395a 149 * @endcode
hayama 0:da22b0b4395a 150 */
hayama 0:da22b0b4395a 151 int link();
hayama 0:da22b0b4395a 152
hayama 0:da22b0b4395a 153 /** Sets the speed and duplex parameters of an ethernet link
hayama 0:da22b0b4395a 154 *
hayama 0:da22b0b4395a 155 * - AutoNegotiate Auto negotiate speed and duplex
hayama 0:da22b0b4395a 156 * - HalfDuplex10 10 Mbit, half duplex
hayama 0:da22b0b4395a 157 * - FullDuplex10 10 Mbit, full duplex
hayama 0:da22b0b4395a 158 * - HalfDuplex100 100 Mbit, half duplex
hayama 0:da22b0b4395a 159 * - FullDuplex100 100 Mbit, full duplex
hayama 0:da22b0b4395a 160 *
hayama 0:da22b0b4395a 161 * @param mode the speed and duplex mode to set the link to:
hayama 0:da22b0b4395a 162 */
hayama 0:da22b0b4395a 163 void set_link(Mode mode);
hayama 0:da22b0b4395a 164 };
hayama 0:da22b0b4395a 165
hayama 0:da22b0b4395a 166 } // namespace mbed
hayama 0:da22b0b4395a 167
hayama 0:da22b0b4395a 168 #endif
hayama 0:da22b0b4395a 169
hayama 0:da22b0b4395a 170 #endif