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/InterruptIn.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_INTERRUPTIN_H
hayama 0:da22b0b4395a 17 #define MBED_INTERRUPTIN_H
hayama 0:da22b0b4395a 18
hayama 0:da22b0b4395a 19 #include "platform.h"
hayama 0:da22b0b4395a 20
hayama 0:da22b0b4395a 21 #if DEVICE_INTERRUPTIN
hayama 0:da22b0b4395a 22
hayama 0:da22b0b4395a 23 #include "gpio_api.h"
hayama 0:da22b0b4395a 24 #include "gpio_irq_api.h"
hayama 0:da22b0b4395a 25
hayama 0:da22b0b4395a 26 #include "FunctionPointer.h"
hayama 0:da22b0b4395a 27
hayama 0:da22b0b4395a 28 namespace mbed {
hayama 0:da22b0b4395a 29
hayama 0:da22b0b4395a 30 /** A digital interrupt input, used to call a function on a rising or falling edge
hayama 0:da22b0b4395a 31 *
hayama 0:da22b0b4395a 32 * Example:
hayama 0:da22b0b4395a 33 * @code
hayama 0:da22b0b4395a 34 * // Flash an LED while waiting for events
hayama 0:da22b0b4395a 35 *
hayama 0:da22b0b4395a 36 * #include "mbed.h"
hayama 0:da22b0b4395a 37 *
hayama 0:da22b0b4395a 38 * InterruptIn event(p16);
hayama 0:da22b0b4395a 39 * DigitalOut led(LED1);
hayama 0:da22b0b4395a 40 *
hayama 0:da22b0b4395a 41 * void trigger() {
hayama 0:da22b0b4395a 42 * printf("triggered!\n");
hayama 0:da22b0b4395a 43 * }
hayama 0:da22b0b4395a 44 *
hayama 0:da22b0b4395a 45 * int main() {
hayama 0:da22b0b4395a 46 * event.rise(&trigger);
hayama 0:da22b0b4395a 47 * while(1) {
hayama 0:da22b0b4395a 48 * led = !led;
hayama 0:da22b0b4395a 49 * wait(0.25);
hayama 0:da22b0b4395a 50 * }
hayama 0:da22b0b4395a 51 * }
hayama 0:da22b0b4395a 52 * @endcode
hayama 0:da22b0b4395a 53 */
hayama 0:da22b0b4395a 54 class InterruptIn {
hayama 0:da22b0b4395a 55
hayama 0:da22b0b4395a 56 public:
hayama 0:da22b0b4395a 57
hayama 0:da22b0b4395a 58 /** Create an InterruptIn connected to the specified pin
hayama 0:da22b0b4395a 59 *
hayama 0:da22b0b4395a 60 * @param pin InterruptIn pin to connect to
hayama 0:da22b0b4395a 61 * @param name (optional) A string to identify the object
hayama 0:da22b0b4395a 62 */
hayama 0:da22b0b4395a 63 InterruptIn(PinName pin);
hayama 0:da22b0b4395a 64 virtual ~InterruptIn();
hayama 0:da22b0b4395a 65
hayama 0:da22b0b4395a 66 int read();
hayama 0:da22b0b4395a 67 #ifdef MBED_OPERATORS
hayama 0:da22b0b4395a 68 operator int();
hayama 0:da22b0b4395a 69
hayama 0:da22b0b4395a 70 #endif
hayama 0:da22b0b4395a 71
hayama 0:da22b0b4395a 72 /** Attach a function to call when a rising edge occurs on the input
hayama 0:da22b0b4395a 73 *
hayama 0:da22b0b4395a 74 * @param fptr A pointer to a void function, or 0 to set as none
hayama 0:da22b0b4395a 75 */
hayama 0:da22b0b4395a 76 void rise(void (*fptr)(void));
hayama 0:da22b0b4395a 77
hayama 0:da22b0b4395a 78 /** Attach a member function to call when a rising edge occurs on the input
hayama 0:da22b0b4395a 79 *
hayama 0:da22b0b4395a 80 * @param tptr pointer to the object to call the member function on
hayama 0:da22b0b4395a 81 * @param mptr pointer to the member function to be called
hayama 0:da22b0b4395a 82 */
hayama 0:da22b0b4395a 83 template<typename T>
hayama 0:da22b0b4395a 84 void rise(T* tptr, void (T::*mptr)(void)) {
hayama 0:da22b0b4395a 85 _rise.attach(tptr, mptr);
hayama 0:da22b0b4395a 86 gpio_irq_set(&gpio_irq, IRQ_RISE, 1);
hayama 0:da22b0b4395a 87 }
hayama 0:da22b0b4395a 88
hayama 0:da22b0b4395a 89 /** Attach a function to call when a falling edge occurs on the input
hayama 0:da22b0b4395a 90 *
hayama 0:da22b0b4395a 91 * @param fptr A pointer to a void function, or 0 to set as none
hayama 0:da22b0b4395a 92 */
hayama 0:da22b0b4395a 93 void fall(void (*fptr)(void));
hayama 0:da22b0b4395a 94
hayama 0:da22b0b4395a 95 /** Attach a member function to call when a falling edge occurs on the input
hayama 0:da22b0b4395a 96 *
hayama 0:da22b0b4395a 97 * @param tptr pointer to the object to call the member function on
hayama 0:da22b0b4395a 98 * @param mptr pointer to the member function to be called
hayama 0:da22b0b4395a 99 */
hayama 0:da22b0b4395a 100 template<typename T>
hayama 0:da22b0b4395a 101 void fall(T* tptr, void (T::*mptr)(void)) {
hayama 0:da22b0b4395a 102 _fall.attach(tptr, mptr);
hayama 0:da22b0b4395a 103 gpio_irq_set(&gpio_irq, IRQ_FALL, 1);
hayama 0:da22b0b4395a 104 }
hayama 0:da22b0b4395a 105
hayama 0:da22b0b4395a 106 /** Set the input pin mode
hayama 0:da22b0b4395a 107 *
hayama 0:da22b0b4395a 108 * @param mode PullUp, PullDown, PullNone
hayama 0:da22b0b4395a 109 */
hayama 0:da22b0b4395a 110 void mode(PinMode pull);
hayama 0:da22b0b4395a 111
hayama 0:da22b0b4395a 112 static void _irq_handler(uint32_t id, gpio_irq_event event);
hayama 0:da22b0b4395a 113
hayama 0:da22b0b4395a 114 protected:
hayama 0:da22b0b4395a 115 gpio_t gpio;
hayama 0:da22b0b4395a 116 gpio_irq_t gpio_irq;
hayama 0:da22b0b4395a 117
hayama 0:da22b0b4395a 118 FunctionPointer _rise;
hayama 0:da22b0b4395a 119 FunctionPointer _fall;
hayama 0:da22b0b4395a 120 };
hayama 0:da22b0b4395a 121
hayama 0:da22b0b4395a 122 } // namespace mbed
hayama 0:da22b0b4395a 123
hayama 0:da22b0b4395a 124 #endif
hayama 0:da22b0b4395a 125
hayama 0:da22b0b4395a 126 #endif