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/Serial.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_SERIAL_H
hayama 0:da22b0b4395a 17 #define MBED_SERIAL_H
hayama 0:da22b0b4395a 18
hayama 0:da22b0b4395a 19 #include "platform.h"
hayama 0:da22b0b4395a 20
hayama 0:da22b0b4395a 21 #if DEVICE_SERIAL
hayama 0:da22b0b4395a 22
hayama 0:da22b0b4395a 23 #include "Stream.h"
hayama 0:da22b0b4395a 24 #include "FunctionPointer.h"
hayama 0:da22b0b4395a 25 #include "serial_api.h"
hayama 0:da22b0b4395a 26
hayama 0:da22b0b4395a 27 namespace mbed {
hayama 0:da22b0b4395a 28
hayama 0:da22b0b4395a 29 /** A serial port (UART) for communication with other serial devices
hayama 0:da22b0b4395a 30 *
hayama 0:da22b0b4395a 31 * Can be used for Full Duplex communication, or Simplex by specifying
hayama 0:da22b0b4395a 32 * one pin as NC (Not Connected)
hayama 0:da22b0b4395a 33 *
hayama 0:da22b0b4395a 34 * Example:
hayama 0:da22b0b4395a 35 * @code
hayama 0:da22b0b4395a 36 * // Print "Hello World" to the PC
hayama 0:da22b0b4395a 37 *
hayama 0:da22b0b4395a 38 * #include "mbed.h"
hayama 0:da22b0b4395a 39 *
hayama 0:da22b0b4395a 40 * Serial pc(USBTX, USBRX);
hayama 0:da22b0b4395a 41 *
hayama 0:da22b0b4395a 42 * int main() {
hayama 0:da22b0b4395a 43 * pc.printf("Hello World\n");
hayama 0:da22b0b4395a 44 * }
hayama 0:da22b0b4395a 45 * @endcode
hayama 0:da22b0b4395a 46 */
hayama 0:da22b0b4395a 47 class Serial : public Stream {
hayama 0:da22b0b4395a 48
hayama 0:da22b0b4395a 49 public:
hayama 0:da22b0b4395a 50 /** Create a Serial port, connected to the specified transmit and receive pins
hayama 0:da22b0b4395a 51 *
hayama 0:da22b0b4395a 52 * @param tx Transmit pin
hayama 0:da22b0b4395a 53 * @param rx Receive pin
hayama 0:da22b0b4395a 54 *
hayama 0:da22b0b4395a 55 * @note
hayama 0:da22b0b4395a 56 * Either tx or rx may be specified as NC if unused
hayama 0:da22b0b4395a 57 */
hayama 0:da22b0b4395a 58 Serial(PinName tx, PinName rx, const char *name=NULL);
hayama 0:da22b0b4395a 59
hayama 0:da22b0b4395a 60 /** Set the baud rate of the serial port
hayama 0:da22b0b4395a 61 *
hayama 0:da22b0b4395a 62 * @param baudrate The baudrate of the serial port (default = 9600).
hayama 0:da22b0b4395a 63 */
hayama 0:da22b0b4395a 64 void baud(int baudrate);
hayama 0:da22b0b4395a 65
hayama 0:da22b0b4395a 66 enum Parity {
hayama 0:da22b0b4395a 67 None = 0,
hayama 0:da22b0b4395a 68 Odd,
hayama 0:da22b0b4395a 69 Even,
hayama 0:da22b0b4395a 70 Forced1,
hayama 0:da22b0b4395a 71 Forced0
hayama 0:da22b0b4395a 72 };
hayama 0:da22b0b4395a 73
hayama 0:da22b0b4395a 74 enum IrqType {
hayama 0:da22b0b4395a 75 RxIrq = 0,
hayama 0:da22b0b4395a 76 TxIrq
hayama 0:da22b0b4395a 77 };
hayama 0:da22b0b4395a 78
hayama 0:da22b0b4395a 79 /** Set the transmission format used by the Serial port
hayama 0:da22b0b4395a 80 *
hayama 0:da22b0b4395a 81 * @param bits The number of bits in a word (5-8; default = 8)
hayama 0:da22b0b4395a 82 * @param parity The parity used (Serial::None, Serial::Odd, Serial::Even, Serial::Forced1, Serial::Forced0; default = Serial::None)
hayama 0:da22b0b4395a 83 * @param stop The number of stop bits (1 or 2; default = 1)
hayama 0:da22b0b4395a 84 */
hayama 0:da22b0b4395a 85 void format(int bits = 8, Parity parity=Serial::None, int stop_bits=1);
hayama 0:da22b0b4395a 86
hayama 0:da22b0b4395a 87 /** Determine if there is a character available to read
hayama 0:da22b0b4395a 88 *
hayama 0:da22b0b4395a 89 * @returns
hayama 0:da22b0b4395a 90 * 1 if there is a character available to read,
hayama 0:da22b0b4395a 91 * 0 otherwise
hayama 0:da22b0b4395a 92 */
hayama 0:da22b0b4395a 93 int readable();
hayama 0:da22b0b4395a 94
hayama 0:da22b0b4395a 95 /** Determine if there is space available to write a character
hayama 0:da22b0b4395a 96 *
hayama 0:da22b0b4395a 97 * @returns
hayama 0:da22b0b4395a 98 * 1 if there is space to write a character,
hayama 0:da22b0b4395a 99 * 0 otherwise
hayama 0:da22b0b4395a 100 */
hayama 0:da22b0b4395a 101 int writeable();
hayama 0:da22b0b4395a 102
hayama 0:da22b0b4395a 103 /** Attach a function to call whenever a serial interrupt is generated
hayama 0:da22b0b4395a 104 *
hayama 0:da22b0b4395a 105 * @param fptr A pointer to a void function, or 0 to set as none
hayama 0:da22b0b4395a 106 * @param type Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty)
hayama 0:da22b0b4395a 107 */
hayama 0:da22b0b4395a 108 void attach(void (*fptr)(void), IrqType type=RxIrq);
hayama 0:da22b0b4395a 109
hayama 0:da22b0b4395a 110 /** Attach a member function to call whenever a serial interrupt is generated
hayama 0:da22b0b4395a 111 *
hayama 0:da22b0b4395a 112 * @param tptr pointer to the object to call the member function on
hayama 0:da22b0b4395a 113 * @param mptr pointer to the member function to be called
hayama 0:da22b0b4395a 114 * @param type Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty)
hayama 0:da22b0b4395a 115 */
hayama 0:da22b0b4395a 116 template<typename T>
hayama 0:da22b0b4395a 117 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
hayama 0:da22b0b4395a 118 if((mptr != NULL) && (tptr != NULL)) {
hayama 0:da22b0b4395a 119 _irq[type].attach(tptr, mptr);
hayama 0:da22b0b4395a 120 serial_irq_set(&_serial, (SerialIrq)type, 1);
hayama 0:da22b0b4395a 121 }
hayama 0:da22b0b4395a 122 }
hayama 0:da22b0b4395a 123
hayama 0:da22b0b4395a 124 static void _irq_handler(uint32_t id, SerialIrq irq_type);
hayama 0:da22b0b4395a 125
hayama 0:da22b0b4395a 126 protected:
hayama 0:da22b0b4395a 127 virtual int _getc();
hayama 0:da22b0b4395a 128 virtual int _putc(int c);
hayama 0:da22b0b4395a 129
hayama 0:da22b0b4395a 130 serial_t _serial;
hayama 0:da22b0b4395a 131 FunctionPointer _irq[2];
hayama 0:da22b0b4395a 132 };
hayama 0:da22b0b4395a 133
hayama 0:da22b0b4395a 134 } // namespace mbed
hayama 0:da22b0b4395a 135
hayama 0:da22b0b4395a 136 #endif
hayama 0:da22b0b4395a 137
hayama 0:da22b0b4395a 138 #endif