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/SPISlave.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_SPISLAVE_H
hayama 0:da22b0b4395a 17 #define MBED_SPISLAVE_H
hayama 0:da22b0b4395a 18
hayama 0:da22b0b4395a 19 #include "platform.h"
hayama 0:da22b0b4395a 20
hayama 0:da22b0b4395a 21 #if DEVICE_SPISLAVE
hayama 0:da22b0b4395a 22
hayama 0:da22b0b4395a 23 #include "spi_api.h"
hayama 0:da22b0b4395a 24
hayama 0:da22b0b4395a 25 namespace mbed {
hayama 0:da22b0b4395a 26
hayama 0:da22b0b4395a 27 /** A SPI slave, used for communicating with a SPI Master device
hayama 0:da22b0b4395a 28 *
hayama 0:da22b0b4395a 29 * The default format is set to 8-bits, mode 0, and a clock frequency of 1MHz
hayama 0:da22b0b4395a 30 *
hayama 0:da22b0b4395a 31 * Example:
hayama 0:da22b0b4395a 32 * @code
hayama 0:da22b0b4395a 33 * // Reply to a SPI master as slave
hayama 0:da22b0b4395a 34 *
hayama 0:da22b0b4395a 35 * #include "mbed.h"
hayama 0:da22b0b4395a 36 *
hayama 0:da22b0b4395a 37 * SPISlave device(p5, p6, p7, p8); // mosi, miso, sclk, ssel
hayama 0:da22b0b4395a 38 *
hayama 0:da22b0b4395a 39 * int main() {
hayama 0:da22b0b4395a 40 * device.reply(0x00); // Prime SPI with first reply
hayama 0:da22b0b4395a 41 * while(1) {
hayama 0:da22b0b4395a 42 * if(device.receive()) {
hayama 0:da22b0b4395a 43 * int v = device.read(); // Read byte from master
hayama 0:da22b0b4395a 44 * v = (v + 1) % 0x100; // Add one to it, modulo 256
hayama 0:da22b0b4395a 45 * device.reply(v); // Make this the next reply
hayama 0:da22b0b4395a 46 * }
hayama 0:da22b0b4395a 47 * }
hayama 0:da22b0b4395a 48 * }
hayama 0:da22b0b4395a 49 * @endcode
hayama 0:da22b0b4395a 50 */
hayama 0:da22b0b4395a 51 class SPISlave {
hayama 0:da22b0b4395a 52
hayama 0:da22b0b4395a 53 public:
hayama 0:da22b0b4395a 54
hayama 0:da22b0b4395a 55 /** Create a SPI slave connected to the specified pins
hayama 0:da22b0b4395a 56 *
hayama 0:da22b0b4395a 57 * Pin Options:
hayama 0:da22b0b4395a 58 * (5, 6, 7i, 8) or (11, 12, 13, 14)
hayama 0:da22b0b4395a 59 *
hayama 0:da22b0b4395a 60 * mosi or miso can be specfied as NC if not used
hayama 0:da22b0b4395a 61 *
hayama 0:da22b0b4395a 62 * @param mosi SPI Master Out, Slave In pin
hayama 0:da22b0b4395a 63 * @param miso SPI Master In, Slave Out pin
hayama 0:da22b0b4395a 64 * @param sclk SPI Clock pin
hayama 0:da22b0b4395a 65 * @param ssel SPI chip select pin
hayama 0:da22b0b4395a 66 * @param name (optional) A string to identify the object
hayama 0:da22b0b4395a 67 */
hayama 0:da22b0b4395a 68 SPISlave(PinName mosi, PinName miso, PinName sclk, PinName ssel);
hayama 0:da22b0b4395a 69
hayama 0:da22b0b4395a 70 /** Configure the data transmission format
hayama 0:da22b0b4395a 71 *
hayama 0:da22b0b4395a 72 * @param bits Number of bits per SPI frame (4 - 16)
hayama 0:da22b0b4395a 73 * @param mode Clock polarity and phase mode (0 - 3)
hayama 0:da22b0b4395a 74 *
hayama 0:da22b0b4395a 75 * @code
hayama 0:da22b0b4395a 76 * mode | POL PHA
hayama 0:da22b0b4395a 77 * -----+--------
hayama 0:da22b0b4395a 78 * 0 | 0 0
hayama 0:da22b0b4395a 79 * 1 | 0 1
hayama 0:da22b0b4395a 80 * 2 | 1 0
hayama 0:da22b0b4395a 81 * 3 | 1 1
hayama 0:da22b0b4395a 82 * @endcode
hayama 0:da22b0b4395a 83 */
hayama 0:da22b0b4395a 84 void format(int bits, int mode = 0);
hayama 0:da22b0b4395a 85
hayama 0:da22b0b4395a 86 /** Set the spi bus clock frequency
hayama 0:da22b0b4395a 87 *
hayama 0:da22b0b4395a 88 * @param hz SCLK frequency in hz (default = 1MHz)
hayama 0:da22b0b4395a 89 */
hayama 0:da22b0b4395a 90 void frequency(int hz = 1000000);
hayama 0:da22b0b4395a 91
hayama 0:da22b0b4395a 92 /** Polls the SPI to see if data has been received
hayama 0:da22b0b4395a 93 *
hayama 0:da22b0b4395a 94 * @returns
hayama 0:da22b0b4395a 95 * 0 if no data,
hayama 0:da22b0b4395a 96 * 1 otherwise
hayama 0:da22b0b4395a 97 */
hayama 0:da22b0b4395a 98 int receive(void);
hayama 0:da22b0b4395a 99
hayama 0:da22b0b4395a 100 /** Retrieve data from receive buffer as slave
hayama 0:da22b0b4395a 101 *
hayama 0:da22b0b4395a 102 * @returns
hayama 0:da22b0b4395a 103 * the data in the receive buffer
hayama 0:da22b0b4395a 104 */
hayama 0:da22b0b4395a 105 int read(void);
hayama 0:da22b0b4395a 106
hayama 0:da22b0b4395a 107 /** Fill the transmission buffer with the value to be written out
hayama 0:da22b0b4395a 108 * as slave on the next received message from the master.
hayama 0:da22b0b4395a 109 *
hayama 0:da22b0b4395a 110 * @param value the data to be transmitted next
hayama 0:da22b0b4395a 111 */
hayama 0:da22b0b4395a 112 void reply(int value);
hayama 0:da22b0b4395a 113
hayama 0:da22b0b4395a 114 protected:
hayama 0:da22b0b4395a 115 spi_t _spi;
hayama 0:da22b0b4395a 116
hayama 0:da22b0b4395a 117 int _bits;
hayama 0:da22b0b4395a 118 int _mode;
hayama 0:da22b0b4395a 119 int _hz;
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