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/nRF51822n.cpp@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 /* mbed Microcontroller Library
jksoft 0:76dfa9657d9d 2 * Copyright (c) 2006-2013 ARM Limited
jksoft 0:76dfa9657d9d 3 *
jksoft 0:76dfa9657d9d 4 * Licensed under the Apache License, Version 2.0 (the "License");
jksoft 0:76dfa9657d9d 5 * you may not use this file except in compliance with the License.
jksoft 0:76dfa9657d9d 6 * You may obtain a copy of the License at
jksoft 0:76dfa9657d9d 7 *
jksoft 0:76dfa9657d9d 8 * http://www.apache.org/licenses/LICENSE-2.0
jksoft 0:76dfa9657d9d 9 *
jksoft 0:76dfa9657d9d 10 * Unless required by applicable law or agreed to in writing, software
jksoft 0:76dfa9657d9d 11 * distributed under the License is distributed on an "AS IS" BASIS,
jksoft 0:76dfa9657d9d 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
jksoft 0:76dfa9657d9d 13 * See the License for the specific language governing permissions and
jksoft 0:76dfa9657d9d 14 * limitations under the License.
jksoft 0:76dfa9657d9d 15 */
jksoft 0:76dfa9657d9d 16
jksoft 0:76dfa9657d9d 17 #include "mbed.h"
jksoft 0:76dfa9657d9d 18 #include "nRF51822n.h"
jksoft 0:76dfa9657d9d 19 #include "nrf_soc.h"
jksoft 0:76dfa9657d9d 20
jksoft 0:76dfa9657d9d 21 #include "btle/btle.h"
jksoft 0:76dfa9657d9d 22 #include "nrf_delay.h"
jksoft 0:76dfa9657d9d 23
jksoft 0:76dfa9657d9d 24 /**
jksoft 0:76dfa9657d9d 25 * The singleton which represents the nRF51822 transport for the BLEDevice.
jksoft 0:76dfa9657d9d 26 */
jksoft 0:76dfa9657d9d 27 static nRF51822n deviceInstance;
jksoft 0:76dfa9657d9d 28
jksoft 0:76dfa9657d9d 29 /**
jksoft 0:76dfa9657d9d 30 * BLE-API requires an implementation of the following function in order to
jksoft 0:76dfa9657d9d 31 * obtain its transport handle.
jksoft 0:76dfa9657d9d 32 */
jksoft 0:76dfa9657d9d 33 BLEDeviceInstanceBase *
jksoft 0:76dfa9657d9d 34 createBLEDeviceInstance(void)
jksoft 0:76dfa9657d9d 35 {
jksoft 0:76dfa9657d9d 36 return (&deviceInstance);
jksoft 0:76dfa9657d9d 37 }
jksoft 0:76dfa9657d9d 38
jksoft 0:76dfa9657d9d 39 /**************************************************************************/
jksoft 0:76dfa9657d9d 40 /*!
jksoft 0:76dfa9657d9d 41 @brief Constructor
jksoft 0:76dfa9657d9d 42 */
jksoft 0:76dfa9657d9d 43 /**************************************************************************/
jksoft 0:76dfa9657d9d 44 nRF51822n::nRF51822n(void)
jksoft 0:76dfa9657d9d 45 {
jksoft 0:76dfa9657d9d 46 }
jksoft 0:76dfa9657d9d 47
jksoft 0:76dfa9657d9d 48 /**************************************************************************/
jksoft 0:76dfa9657d9d 49 /*!
jksoft 0:76dfa9657d9d 50 @brief Destructor
jksoft 0:76dfa9657d9d 51 */
jksoft 0:76dfa9657d9d 52 /**************************************************************************/
jksoft 0:76dfa9657d9d 53 nRF51822n::~nRF51822n(void)
jksoft 0:76dfa9657d9d 54 {
jksoft 0:76dfa9657d9d 55 }
jksoft 0:76dfa9657d9d 56
jksoft 0:76dfa9657d9d 57 const char *nRF51822n::getVersion(void)
jksoft 0:76dfa9657d9d 58 {
jksoft 0:76dfa9657d9d 59 static char versionString[10];
jksoft 0:76dfa9657d9d 60 static bool versionFetched = false;
jksoft 0:76dfa9657d9d 61
jksoft 0:76dfa9657d9d 62 if (!versionFetched) {
jksoft 0:76dfa9657d9d 63 ble_version_t version;
jksoft 0:76dfa9657d9d 64 if (sd_ble_version_get(&version) == NRF_SUCCESS) {
jksoft 0:76dfa9657d9d 65 snprintf(versionString, sizeof(versionString), "%u.%u", version.version_number, version.subversion_number);
jksoft 0:76dfa9657d9d 66 versionFetched = true;
jksoft 0:76dfa9657d9d 67 } else {
jksoft 0:76dfa9657d9d 68 strncpy(versionString, "unknown", sizeof(versionString));
jksoft 0:76dfa9657d9d 69 }
jksoft 0:76dfa9657d9d 70 }
jksoft 0:76dfa9657d9d 71
jksoft 0:76dfa9657d9d 72 return versionString;
jksoft 0:76dfa9657d9d 73 }
jksoft 0:76dfa9657d9d 74
jksoft 0:76dfa9657d9d 75 /* (Valid values are -40, -20, -16, -12, -8, -4, 0, 4) */
jksoft 0:76dfa9657d9d 76 ble_error_t nRF51822n::setTxPower(int8_t txPower)
jksoft 0:76dfa9657d9d 77 {
jksoft 0:76dfa9657d9d 78 unsigned rc;
jksoft 0:76dfa9657d9d 79 if ((rc = sd_ble_gap_tx_power_set(txPower)) != NRF_SUCCESS) {
jksoft 0:76dfa9657d9d 80 switch (rc) {
jksoft 0:76dfa9657d9d 81 case NRF_ERROR_BUSY:
jksoft 0:76dfa9657d9d 82 return BLE_STACK_BUSY;
jksoft 0:76dfa9657d9d 83 case NRF_ERROR_INVALID_PARAM:
jksoft 0:76dfa9657d9d 84 default:
jksoft 0:76dfa9657d9d 85 return BLE_ERROR_PARAM_OUT_OF_RANGE;
jksoft 0:76dfa9657d9d 86 }
jksoft 0:76dfa9657d9d 87 }
jksoft 0:76dfa9657d9d 88
jksoft 0:76dfa9657d9d 89 return BLE_ERROR_NONE;
jksoft 0:76dfa9657d9d 90 }
jksoft 0:76dfa9657d9d 91
jksoft 0:76dfa9657d9d 92 /**************************************************************************/
jksoft 0:76dfa9657d9d 93 /*!
jksoft 0:76dfa9657d9d 94 @brief Initialises anything required to start using BLE
jksoft 0:76dfa9657d9d 95
jksoft 0:76dfa9657d9d 96 @returns ble_error_t
jksoft 0:76dfa9657d9d 97
jksoft 0:76dfa9657d9d 98 @retval BLE_ERROR_NONE
jksoft 0:76dfa9657d9d 99 Everything executed properly
jksoft 0:76dfa9657d9d 100
jksoft 0:76dfa9657d9d 101 @section EXAMPLE
jksoft 0:76dfa9657d9d 102
jksoft 0:76dfa9657d9d 103 @code
jksoft 0:76dfa9657d9d 104
jksoft 0:76dfa9657d9d 105 @endcode
jksoft 0:76dfa9657d9d 106 */
jksoft 0:76dfa9657d9d 107 /**************************************************************************/
jksoft 0:76dfa9657d9d 108 ble_error_t nRF51822n::init(void)
jksoft 0:76dfa9657d9d 109 {
jksoft 0:76dfa9657d9d 110 /* ToDo: Clear memory contents, reset the SD, etc. */
jksoft 0:76dfa9657d9d 111 btle_init();
jksoft 0:76dfa9657d9d 112
jksoft 0:76dfa9657d9d 113 reset();
jksoft 0:76dfa9657d9d 114
jksoft 0:76dfa9657d9d 115 return BLE_ERROR_NONE;
jksoft 0:76dfa9657d9d 116 }
jksoft 0:76dfa9657d9d 117
jksoft 0:76dfa9657d9d 118 /**************************************************************************/
jksoft 0:76dfa9657d9d 119 /*!
jksoft 0:76dfa9657d9d 120 @brief Resets the BLE HW, removing any existing services and
jksoft 0:76dfa9657d9d 121 characteristics
jksoft 0:76dfa9657d9d 122
jksoft 0:76dfa9657d9d 123 @returns ble_error_t
jksoft 0:76dfa9657d9d 124
jksoft 0:76dfa9657d9d 125 @retval BLE_ERROR_NONE
jksoft 0:76dfa9657d9d 126 Everything executed properly
jksoft 0:76dfa9657d9d 127
jksoft 0:76dfa9657d9d 128 @section EXAMPLE
jksoft 0:76dfa9657d9d 129
jksoft 0:76dfa9657d9d 130 @code
jksoft 0:76dfa9657d9d 131
jksoft 0:76dfa9657d9d 132 @endcode
jksoft 0:76dfa9657d9d 133 */
jksoft 0:76dfa9657d9d 134 /**************************************************************************/
jksoft 0:76dfa9657d9d 135 ble_error_t nRF51822n::reset(void)
jksoft 0:76dfa9657d9d 136 {
jksoft 0:76dfa9657d9d 137 nrf_delay_us(500000);
jksoft 0:76dfa9657d9d 138
jksoft 0:76dfa9657d9d 139 /* Wait for the radio to come back up */
jksoft 0:76dfa9657d9d 140 nrf_delay_us(1000000);
jksoft 0:76dfa9657d9d 141
jksoft 0:76dfa9657d9d 142 return BLE_ERROR_NONE;
jksoft 0:76dfa9657d9d 143 }
jksoft 0:76dfa9657d9d 144
jksoft 0:76dfa9657d9d 145 void
jksoft 0:76dfa9657d9d 146 nRF51822n::waitForEvent(void)
jksoft 0:76dfa9657d9d 147 {
jksoft 0:76dfa9657d9d 148 sd_app_evt_wait();
jksoft 0:76dfa9657d9d 149 }