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/I2C.h@0:da22b0b4395a, 2013-06-19 (annotated)

Committer:
hayama
Date:
Wed Jun 19 10:00:41 2013 +0000
Revision:
0:da22b0b4395a
mbed robotracer for education ver 1.0

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_I2C_H
hayama 0:da22b0b4395a 17 #define MBED_I2C_H
hayama 0:da22b0b4395a 18
hayama 0:da22b0b4395a 19 #include "platform.h"
hayama 0:da22b0b4395a 20
hayama 0:da22b0b4395a 21 #if DEVICE_I2C
hayama 0:da22b0b4395a 22
hayama 0:da22b0b4395a 23 #include "i2c_api.h"
hayama 0:da22b0b4395a 24
hayama 0:da22b0b4395a 25 namespace mbed {
hayama 0:da22b0b4395a 26
hayama 0:da22b0b4395a 27 /** An I2C Master, used for communicating with I2C slave devices
hayama 0:da22b0b4395a 28 *
hayama 0:da22b0b4395a 29 * Example:
hayama 0:da22b0b4395a 30 * @code
hayama 0:da22b0b4395a 31 * // Read from I2C slave at address 0x62
hayama 0:da22b0b4395a 32 *
hayama 0:da22b0b4395a 33 * #include "mbed.h"
hayama 0:da22b0b4395a 34 *
hayama 0:da22b0b4395a 35 * I2C i2c(p28, p27);
hayama 0:da22b0b4395a 36 *
hayama 0:da22b0b4395a 37 * int main() {
hayama 0:da22b0b4395a 38 * int address = 0x62;
hayama 0:da22b0b4395a 39 * char data[2];
hayama 0:da22b0b4395a 40 * i2c.read(address, data, 2);
hayama 0:da22b0b4395a 41 * }
hayama 0:da22b0b4395a 42 * @endcode
hayama 0:da22b0b4395a 43 */
hayama 0:da22b0b4395a 44 class I2C {
hayama 0:da22b0b4395a 45
hayama 0:da22b0b4395a 46 public:
hayama 0:da22b0b4395a 47 enum RxStatus {
hayama 0:da22b0b4395a 48 NoData,
hayama 0:da22b0b4395a 49 MasterGeneralCall,
hayama 0:da22b0b4395a 50 MasterWrite,
hayama 0:da22b0b4395a 51 MasterRead
hayama 0:da22b0b4395a 52 };
hayama 0:da22b0b4395a 53
hayama 0:da22b0b4395a 54 enum Acknowledge {
hayama 0:da22b0b4395a 55 NoACK = 0,
hayama 0:da22b0b4395a 56 ACK = 1
hayama 0:da22b0b4395a 57 };
hayama 0:da22b0b4395a 58
hayama 0:da22b0b4395a 59 /** Create an I2C Master interface, connected to the specified pins
hayama 0:da22b0b4395a 60 *
hayama 0:da22b0b4395a 61 * @param sda I2C data line pin
hayama 0:da22b0b4395a 62 * @param scl I2C clock line pin
hayama 0:da22b0b4395a 63 */
hayama 0:da22b0b4395a 64 I2C(PinName sda, PinName scl);
hayama 0:da22b0b4395a 65
hayama 0:da22b0b4395a 66 /** Set the frequency of the I2C interface
hayama 0:da22b0b4395a 67 *
hayama 0:da22b0b4395a 68 * @param hz The bus frequency in hertz
hayama 0:da22b0b4395a 69 */
hayama 0:da22b0b4395a 70 void frequency(int hz);
hayama 0:da22b0b4395a 71
hayama 0:da22b0b4395a 72 /** Read from an I2C slave
hayama 0:da22b0b4395a 73 *
hayama 0:da22b0b4395a 74 * Performs a complete read transaction. The bottom bit of
hayama 0:da22b0b4395a 75 * the address is forced to 1 to indicate a read.
hayama 0:da22b0b4395a 76 *
hayama 0:da22b0b4395a 77 * @param address 8-bit I2C slave address [ addr | 1 ]
hayama 0:da22b0b4395a 78 * @param data Pointer to the byte-array to read data in to
hayama 0:da22b0b4395a 79 * @param length Number of bytes to read
hayama 0:da22b0b4395a 80 * @param repeated Repeated start, true - don't send stop at end
hayama 0:da22b0b4395a 81 *
hayama 0:da22b0b4395a 82 * @returns
hayama 0:da22b0b4395a 83 * 0 on success (ack),
hayama 0:da22b0b4395a 84 * non-0 on failure (nack)
hayama 0:da22b0b4395a 85 */
hayama 0:da22b0b4395a 86 int read(int address, char *data, int length, bool repeated = false);
hayama 0:da22b0b4395a 87
hayama 0:da22b0b4395a 88 /** Read a single byte from the I2C bus
hayama 0:da22b0b4395a 89 *
hayama 0:da22b0b4395a 90 * @param ack indicates if the byte is to be acknowledged (1 = acknowledge)
hayama 0:da22b0b4395a 91 *
hayama 0:da22b0b4395a 92 * @returns
hayama 0:da22b0b4395a 93 * the byte read
hayama 0:da22b0b4395a 94 */
hayama 0:da22b0b4395a 95 int read(int ack);
hayama 0:da22b0b4395a 96
hayama 0:da22b0b4395a 97 /** Write to an I2C slave
hayama 0:da22b0b4395a 98 *
hayama 0:da22b0b4395a 99 * Performs a complete write transaction. The bottom bit of
hayama 0:da22b0b4395a 100 * the address is forced to 0 to indicate a write.
hayama 0:da22b0b4395a 101 *
hayama 0:da22b0b4395a 102 * @param address 8-bit I2C slave address [ addr | 0 ]
hayama 0:da22b0b4395a 103 * @param data Pointer to the byte-array data to send
hayama 0:da22b0b4395a 104 * @param length Number of bytes to send
hayama 0:da22b0b4395a 105 * @param repeated Repeated start, true - do not send stop at end
hayama 0:da22b0b4395a 106 *
hayama 0:da22b0b4395a 107 * @returns
hayama 0:da22b0b4395a 108 * 0 on success (ack),
hayama 0:da22b0b4395a 109 * non-0 on failure (nack)
hayama 0:da22b0b4395a 110 */
hayama 0:da22b0b4395a 111 int write(int address, const char *data, int length, bool repeated = false);
hayama 0:da22b0b4395a 112
hayama 0:da22b0b4395a 113 /** Write single byte out on the I2C bus
hayama 0:da22b0b4395a 114 *
hayama 0:da22b0b4395a 115 * @param data data to write out on bus
hayama 0:da22b0b4395a 116 *
hayama 0:da22b0b4395a 117 * @returns
hayama 0:da22b0b4395a 118 * '1' if an ACK was received,
hayama 0:da22b0b4395a 119 * '0' otherwise
hayama 0:da22b0b4395a 120 */
hayama 0:da22b0b4395a 121 int write(int data);
hayama 0:da22b0b4395a 122
hayama 0:da22b0b4395a 123 /** Creates a start condition on the I2C bus
hayama 0:da22b0b4395a 124 */
hayama 0:da22b0b4395a 125
hayama 0:da22b0b4395a 126 void start(void);
hayama 0:da22b0b4395a 127
hayama 0:da22b0b4395a 128 /** Creates a stop condition on the I2C bus
hayama 0:da22b0b4395a 129 */
hayama 0:da22b0b4395a 130 void stop(void);
hayama 0:da22b0b4395a 131
hayama 0:da22b0b4395a 132 protected:
hayama 0:da22b0b4395a 133 void aquire();
hayama 0:da22b0b4395a 134
hayama 0:da22b0b4395a 135 i2c_t _i2c;
hayama 0:da22b0b4395a 136 static I2C *_owner;
hayama 0:da22b0b4395a 137 int _hz;
hayama 0:da22b0b4395a 138 };
hayama 0:da22b0b4395a 139
hayama 0:da22b0b4395a 140 } // namespace mbed
hayama 0:da22b0b4395a 141
hayama 0:da22b0b4395a 142 #endif
hayama 0:da22b0b4395a 143
hayama 0:da22b0b4395a 144 #endif