This is a library for Ethernet initialization. GR-ROSE SDK establishes a network with FreeRTOS + TCP. Switching between fixed IP and DHCP cannot be done dynamically as with Arduino's Ethernet library. Basically, when performing XRCE-DDS communication for ROS2, it uses with fixed IP, when performing Internet communication such as AWS IoT connection, it assumes that IP is acquired by DHCP, and this switching is a macro of compiler option it does in "USING_UXR". The default SDK specifies USING_UXR and is set to use XRCE-DDS with fixed IP. This library carries out the establishment of the network with fixed IP. Specify
#include <Ethernet.h> for use.
Note that if you do not specify USING_UXR, the network probability by DHCP will be performed before executing setup.
- Initializes the Ethernet library and network settings. The DHCP automatically obtains an IP address, DNS, default gateway, and subnet mask.
- int Ethernet.begin(mac)
Ethernet.begin(mac, ip, dns)
Ethernet.begin(mac, ip, dns, gateway)
Ethernet.begin(mac, ip, dns, gateway, subnet)
- mac: MAC address (array of 6 bytes)
ip: IP address (array of 4 bytes)
dns: Name server address (array of 4 bytes) - If not specified, 188.8.131.52 is set.
gateway: Default gateway address (array of 4 bytes) - If not specified, 172.27.49.1 is set.
subnet: Subnet mask (array of 4 bytes) - If not specified, 255.255.255.0 is set.
- Obtains the IP address of the board.
- IPAddress Ethernet.localIP()
- The IP address
Refer to the sample program for ROS2.