Wallbot BLE Developer / Mbed 2 deprecated BLE_WallbotBLE_Challenge

ライントレースとうおーるぼっとチャレンジのコードです。 SW1で操作モードとライントレースモードを切り替えます。 操作モードの時にRCBControllerのSTARTボタンを押すとチャレンジが開始します。 チャレンジの時はiPhoneを傾けてハンドリングする操作しか効かなくなっています。

Dependencies:   mbed

nRF51822/common/assertion.h@1:a86c84ead24a, 2014-11-18 (annotated)

Committer:
sibu2
Date:
Tue Nov 18 04:28:02 2014 +0000
Revision:
1:a86c84ead24a
Parent:
0:76dfa9657d9d 
adjust wheel rotate direction, wheel encoder signals

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:76dfa9657d9d 1 /**************************************************************************/
jksoft 0:76dfa9657d9d 2 /*!
jksoft 0:76dfa9657d9d 3 @file assertion.h
jksoft 0:76dfa9657d9d 4 @author hathach (tinyusb.org)
jksoft 0:76dfa9657d9d 5
jksoft 0:76dfa9657d9d 6 @section LICENSE
jksoft 0:76dfa9657d9d 7
jksoft 0:76dfa9657d9d 8 Software License Agreement (BSD License)
jksoft 0:76dfa9657d9d 9
jksoft 0:76dfa9657d9d 10 Copyright (c) 2013, K. Townsend (microBuilder.eu)
jksoft 0:76dfa9657d9d 11 All rights reserved.
jksoft 0:76dfa9657d9d 12
jksoft 0:76dfa9657d9d 13 Redistribution and use in source and binary forms, with or without
jksoft 0:76dfa9657d9d 14 modification, are permitted provided that the following conditions are met:
jksoft 0:76dfa9657d9d 15 1. Redistributions of source code must retain the above copyright
jksoft 0:76dfa9657d9d 16 notice, this list of conditions and the following disclaimer.
jksoft 0:76dfa9657d9d 17 2. Redistributions in binary form must reproduce the above copyright
jksoft 0:76dfa9657d9d 18 notice, this list of conditions and the following disclaimer in the
jksoft 0:76dfa9657d9d 19 documentation and/or other materials provided with the distribution.
jksoft 0:76dfa9657d9d 20 3. Neither the name of the copyright holders nor the
jksoft 0:76dfa9657d9d 21 names of its contributors may be used to endorse or promote products
jksoft 0:76dfa9657d9d 22 derived from this software without specific prior written permission.
jksoft 0:76dfa9657d9d 23
jksoft 0:76dfa9657d9d 24 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
jksoft 0:76dfa9657d9d 25 EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
jksoft 0:76dfa9657d9d 26 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
jksoft 0:76dfa9657d9d 27 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
jksoft 0:76dfa9657d9d 28 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
jksoft 0:76dfa9657d9d 29 INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
jksoft 0:76dfa9657d9d 30 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION HOWEVER CAUSED AND
jksoft 0:76dfa9657d9d 31 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
jksoft 0:76dfa9657d9d 32 INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS
jksoft 0:76dfa9657d9d 33 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
jksoft 0:76dfa9657d9d 34 */
jksoft 0:76dfa9657d9d 35 /**************************************************************************/
jksoft 0:76dfa9657d9d 36
jksoft 0:76dfa9657d9d 37 /** \file
jksoft 0:76dfa9657d9d 38 * \brief TBD
jksoft 0:76dfa9657d9d 39 *
jksoft 0:76dfa9657d9d 40 * \note TBD
jksoft 0:76dfa9657d9d 41 */
jksoft 0:76dfa9657d9d 42
jksoft 0:76dfa9657d9d 43 /** \ingroup TBD
jksoft 0:76dfa9657d9d 44 * \defgroup TBD
jksoft 0:76dfa9657d9d 45 * \brief TBD
jksoft 0:76dfa9657d9d 46 *
jksoft 0:76dfa9657d9d 47 * @{
jksoft 0:76dfa9657d9d 48 */
jksoft 0:76dfa9657d9d 49
jksoft 0:76dfa9657d9d 50 #ifndef _ASSERTION_H_
jksoft 0:76dfa9657d9d 51 #define _ASSERTION_H_
jksoft 0:76dfa9657d9d 52
jksoft 0:76dfa9657d9d 53 #include "projectconfig.h"
jksoft 0:76dfa9657d9d 54
jksoft 0:76dfa9657d9d 55 #ifdef __cplusplus
jksoft 0:76dfa9657d9d 56 extern "C"
jksoft 0:76dfa9657d9d 57 {
jksoft 0:76dfa9657d9d 58 #endif
jksoft 0:76dfa9657d9d 59
jksoft 0:76dfa9657d9d 60 static inline void debugger_breakpoint(void) ATTR_ALWAYS_INLINE;
jksoft 0:76dfa9657d9d 61 static inline void debugger_breakpoint(void)
jksoft 0:76dfa9657d9d 62 {
jksoft 0:76dfa9657d9d 63 #ifndef _TEST_
jksoft 0:76dfa9657d9d 64 __asm("BKPT #0\n");
jksoft 0:76dfa9657d9d 65 #endif
jksoft 0:76dfa9657d9d 66 }
jksoft 0:76dfa9657d9d 67
jksoft 0:76dfa9657d9d 68 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 69 // Compile-time Assert
jksoft 0:76dfa9657d9d 70 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 71 #if defined __COUNTER__ && __COUNTER__ != __COUNTER__
jksoft 0:76dfa9657d9d 72 #define _ASSERT_COUNTER __COUNTER__
jksoft 0:76dfa9657d9d 73 #else
jksoft 0:76dfa9657d9d 74 #define _ASSERT_COUNTER __LINE__
jksoft 0:76dfa9657d9d 75 #endif
jksoft 0:76dfa9657d9d 76
jksoft 0:76dfa9657d9d 77 #define ASSERT_STATIC(const_expr, message) enum { XSTRING_CONCAT_(static_assert_, _ASSERT_COUNTER) = 1/(!!(const_expr)) }
jksoft 0:76dfa9657d9d 78
jksoft 0:76dfa9657d9d 79 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 80 // Assert Helper
jksoft 0:76dfa9657d9d 81 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 82 //#ifndef _TEST_
jksoft 0:76dfa9657d9d 83 // #define ASSERT_MESSAGE(format, ...)\
jksoft 0:76dfa9657d9d 84 // _PRINTF("Assert at %s: %s: %d: " format "\n", __BASE_FILE__, __PRETTY_FUNCTION__, __LINE__, __VA_ARGS__)
jksoft 0:76dfa9657d9d 85 //#else
jksoft 0:76dfa9657d9d 86 // #define ASSERT_MESSAGE(format, ...)\
jksoft 0:76dfa9657d9d 87 // _PRINTF("%d:note: Assert " format "\n", __LINE__, __VA_ARGS__)
jksoft 0:76dfa9657d9d 88 //#endif
jksoft 0:76dfa9657d9d 89
jksoft 0:76dfa9657d9d 90 #if CFG_DEBUG == 3
jksoft 0:76dfa9657d9d 91 #define ASSERT_MESSAGE(format, ...) debugger_breakpoint()
jksoft 0:76dfa9657d9d 92 #elif CFG_DEBUG == 2
jksoft 0:76dfa9657d9d 93 #define ASSERT_MESSAGE(format, ...) printf("Assert at %s: %s: %d: " format "\n", __BASE_FILE__, __PRETTY_FUNCTION__, __LINE__, __VA_ARGS__)
jksoft 0:76dfa9657d9d 94 #else
jksoft 0:76dfa9657d9d 95 #define ASSERT_MESSAGE(format, ...)
jksoft 0:76dfa9657d9d 96 #endif
jksoft 0:76dfa9657d9d 97
jksoft 0:76dfa9657d9d 98 #define ASSERT_ERROR_HANDLER(x, para) \
jksoft 0:76dfa9657d9d 99 return (x)
jksoft 0:76dfa9657d9d 100
jksoft 0:76dfa9657d9d 101 #define ASSERT_DEFINE_WITH_HANDLER(error_handler, handler_para, setup_statement, condition, error, format, ...) \
jksoft 0:76dfa9657d9d 102 do{\
jksoft 0:76dfa9657d9d 103 setup_statement;\
jksoft 0:76dfa9657d9d 104 if (!(condition)) {\
jksoft 0:76dfa9657d9d 105 ASSERT_MESSAGE(format, __VA_ARGS__);\
jksoft 0:76dfa9657d9d 106 error_handler(error, handler_para);\
jksoft 0:76dfa9657d9d 107 }\
jksoft 0:76dfa9657d9d 108 }while(0)
jksoft 0:76dfa9657d9d 109
jksoft 0:76dfa9657d9d 110 #define ASSERT_DEFINE(...) ASSERT_DEFINE_WITH_HANDLER(ASSERT_ERROR_HANDLER, NULL, __VA_ARGS__)
jksoft 0:76dfa9657d9d 111
jksoft 0:76dfa9657d9d 112 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 113 // error_t Status Assert TODO use ASSERT_DEFINE
jksoft 0:76dfa9657d9d 114 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 115 #define ASSERT_STATUS_MESSAGE(sts, message) \
jksoft 0:76dfa9657d9d 116 ASSERT_DEFINE(error_t status = (error_t)(sts),\
jksoft 0:76dfa9657d9d 117 ERROR_NONE == status, status, "%s: %s", ErrorStr[status], message)
jksoft 0:76dfa9657d9d 118
jksoft 0:76dfa9657d9d 119 #define ASSERT_STATUS(sts) \
jksoft 0:76dfa9657d9d 120 ASSERT_DEFINE(error_t status = (error_t)(sts),\
jksoft 0:76dfa9657d9d 121 ERROR_NONE == status, status, "error = %d", status)
jksoft 0:76dfa9657d9d 122
jksoft 0:76dfa9657d9d 123 #define ASSERT_STATUS_RET_VOID(sts) \
jksoft 0:76dfa9657d9d 124 ASSERT_DEFINE(error_t status = (error_t)(sts),\
jksoft 0:76dfa9657d9d 125 ERROR_NONE == status, (void) 0, "error = %d", status)
jksoft 0:76dfa9657d9d 126
jksoft 0:76dfa9657d9d 127 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 128 // Logical Assert
jksoft 0:76dfa9657d9d 129 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 130 #define ASSERT(...) ASSERT_TRUE(__VA_ARGS__)
jksoft 0:76dfa9657d9d 131 #define ASSERT_TRUE(condition , error) ASSERT_DEFINE( , (condition), error, "%s", "evaluated to false")
jksoft 0:76dfa9657d9d 132 #define ASSERT_FALSE(condition , error) ASSERT_DEFINE( ,!(condition), error, "%s", "evaluated to true")
jksoft 0:76dfa9657d9d 133
jksoft 0:76dfa9657d9d 134 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 135 // Pointer Assert
jksoft 0:76dfa9657d9d 136 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 137 #define ASSERT_PTR(...) ASSERT_PTR_NOT_NULL(__VA_ARGS__)
jksoft 0:76dfa9657d9d 138 #define ASSERT_PTR_NOT_NULL(pointer, error) ASSERT_DEFINE( , NULL != (pointer), error, "%s", "pointer is NULL")
jksoft 0:76dfa9657d9d 139 #define ASSERT_PTR_NULL(pointer, error) ASSERT_DEFINE( , NULL == (pointer), error, "%s", "pointer is not NULL")
jksoft 0:76dfa9657d9d 140
jksoft 0:76dfa9657d9d 141 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 142 // Integral Assert
jksoft 0:76dfa9657d9d 143 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 144 #define ASSERT_XXX_EQUAL(type_format, expected, actual, error) \
jksoft 0:76dfa9657d9d 145 ASSERT_DEFINE(\
jksoft 0:76dfa9657d9d 146 uint32_t exp = (expected); uint32_t act = (actual),\
jksoft 0:76dfa9657d9d 147 exp==act,\
jksoft 0:76dfa9657d9d 148 error,\
jksoft 0:76dfa9657d9d 149 "expected " type_format ", actual " type_format, exp, act)
jksoft 0:76dfa9657d9d 150
jksoft 0:76dfa9657d9d 151 #define ASSERT_XXX_WITHIN(type_format, lower, upper, actual, error) \
jksoft 0:76dfa9657d9d 152 ASSERT_DEFINE(\
jksoft 0:76dfa9657d9d 153 uint32_t low = (lower); uint32_t up = (upper); uint32_t act = (actual),\
jksoft 0:76dfa9657d9d 154 (low <= act) && (act <= up),\
jksoft 0:76dfa9657d9d 155 error,\
jksoft 0:76dfa9657d9d 156 "expected within " type_format " - " type_format ", actual " type_format, low, up, act)
jksoft 0:76dfa9657d9d 157
jksoft 0:76dfa9657d9d 158 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 159 // Integer Assert
jksoft 0:76dfa9657d9d 160 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 161 #define ASSERT_INT(...) ASSERT_INT_EQUAL(__VA_ARGS__)
jksoft 0:76dfa9657d9d 162 #define ASSERT_INT_EQUAL(...) ASSERT_XXX_EQUAL("%d", __VA_ARGS__)
jksoft 0:76dfa9657d9d 163 #define ASSERT_INT_WITHIN(...) ASSERT_XXX_WITHIN("%d", __VA_ARGS__)
jksoft 0:76dfa9657d9d 164
jksoft 0:76dfa9657d9d 165 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 166 // Hex Assert
jksoft 0:76dfa9657d9d 167 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 168 #define ASSERT_HEX(...) ASSERT_HEX_EQUAL(__VA_ARGS__)
jksoft 0:76dfa9657d9d 169 #define ASSERT_HEX_EQUAL(...) ASSERT_XXX_EQUAL("0x%x", __VA_ARGS__)
jksoft 0:76dfa9657d9d 170 #define ASSERT_HEX_WITHIN(...) ASSERT_XXX_WITHIN("0x%x", __VA_ARGS__)
jksoft 0:76dfa9657d9d 171
jksoft 0:76dfa9657d9d 172 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 173 // Bin Assert
jksoft 0:76dfa9657d9d 174 //--------------------------------------------------------------------+
jksoft 0:76dfa9657d9d 175 #define BIN8_PRINTF_PATTERN "%d%d%d%d%d%d%d%d"
jksoft 0:76dfa9657d9d 176 #define BIN8_PRINTF_CONVERT(byte) \
jksoft 0:76dfa9657d9d 177 ((byte) & 0x80 ? 1 : 0), \
jksoft 0:76dfa9657d9d 178 ((byte) & 0x40 ? 1 : 0), \
jksoft 0:76dfa9657d9d 179 ((byte) & 0x20 ? 1 : 0), \
jksoft 0:76dfa9657d9d 180 ((byte) & 0x10 ? 1 : 0), \
jksoft 0:76dfa9657d9d 181 ((byte) & 0x08 ? 1 : 0), \
jksoft 0:76dfa9657d9d 182 ((byte) & 0x04 ? 1 : 0), \
jksoft 0:76dfa9657d9d 183 ((byte) & 0x02 ? 1 : 0), \
jksoft 0:76dfa9657d9d 184 ((byte) & 0x01 ? 1 : 0)
jksoft 0:76dfa9657d9d 185
jksoft 0:76dfa9657d9d 186 #define ASSERT_BIN8(...) ASSERT_BIN8_EQUAL(__VA_ARGS__)
jksoft 0:76dfa9657d9d 187 #define ASSERT_BIN8_EQUAL(expected, actual, error)\
jksoft 0:76dfa9657d9d 188 ASSERT_DEFINE(\
jksoft 0:76dfa9657d9d 189 uint8_t exp = (expected); uint8_t act = (actual),\
jksoft 0:76dfa9657d9d 190 exp==act,\
jksoft 0:76dfa9657d9d 191 error,\
jksoft 0:76dfa9657d9d 192 "expected " BIN8_PRINTF_PATTERN ", actual " BIN8_PRINTF_PATTERN, BIN8_PRINTF_CONVERT(exp), BIN8_PRINTF_CONVERT(act) )
jksoft 0:76dfa9657d9d 193
jksoft 0:76dfa9657d9d 194 #ifdef __cplusplus
jksoft 0:76dfa9657d9d 195 }
jksoft 0:76dfa9657d9d 196 #endif
jksoft 0:76dfa9657d9d 197
jksoft 0:76dfa9657d9d 198 #endif /* _ASSERTION_H_ */
jksoft 0:76dfa9657d9d 199
jksoft 0:76dfa9657d9d 200 /** @} */