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

Revision:
0:76dfa9657d9d
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nRF51822/common/binary.h	Wed Nov 12 02:40:34 2014 +0000
@@ -0,0 +1,96 @@
+/**************************************************************************/
+/*!
+    @file     binary.h
+    @author   hathach (tinyusb.org)
+
+    @section LICENSE
+
+    Software License Agreement (BSD License)
+
+    Copyright (c) 2013, K. Townsend (microBuilder.eu)
+    All rights reserved.
+
+    Redistribution and use in source and binary forms, with or without
+    modification, are permitted provided that the following conditions are met:
+    1. Redistributions of source code must retain the above copyright
+    notice, this list of conditions and the following disclaimer.
+    2. Redistributions in binary form must reproduce the above copyright
+    notice, this list of conditions and the following disclaimer in the
+    documentation and/or other materials provided with the distribution.
+    3. Neither the name of the copyright holders nor the
+    names of its contributors may be used to endorse or promote products
+    derived from this software without specific prior written permission.
+
+    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+    EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+    DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+    DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+    INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION HOWEVER CAUSED AND
+    ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+    INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS
+    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+/**************************************************************************/
+
+/** \ingroup TBD
+ *  \defgroup TBD
+ *  \brief TBD
+ *
+ *  @{
+ */
+
+#ifndef _BINARY_H_
+#define _BINARY_H_
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/// n-th Bit
+#define BIT(n) (1 << (n))
+
+/// set n-th bit of x to 1
+#define BIT_SET(x, n) ( (x) | BIT(n) )
+
+/// clear n-th bit of x
+#define BIT_CLR(x, n) ( (x) & (~BIT(n)) )
+
+/// test n-th bit of x
+#define BIT_TEST(x, n) ( (x) & BIT(n) )
+
+#if defined(__GNUC__) && !defined(__CC_ARM) // keil does not support binary format
+
+#define BIN8(x)               ((uint8_t)  (0b##x))
+#define BIN16(b1, b2)         ((uint16_t) (0b##b1##b2))
+#define BIN32(b1, b2, b3, b4) ((uint32_t) (0b##b1##b2##b3##b4))
+
+#else
+
+//  internal macro of B8, B16, B32
+#define _B8__(x) (((x&0x0000000FUL)?1:0) \
+                +((x&0x000000F0UL)?2:0) \
+                +((x&0x00000F00UL)?4:0) \
+                +((x&0x0000F000UL)?8:0) \
+                +((x&0x000F0000UL)?16:0) \
+                +((x&0x00F00000UL)?32:0) \
+                +((x&0x0F000000UL)?64:0) \
+                +((x&0xF0000000UL)?128:0))
+
+#define BIN8(d) ((uint8_t) _B8__(0x##d##UL))
+#define BIN16(dmsb,dlsb) (((uint16_t)BIN8(dmsb)<<8) + BIN8(dlsb))
+#define BIN32(dmsb,db2,db3,dlsb) \
+            (((uint32_t)BIN8(dmsb)<<24) \
+            + ((uint32_t)BIN8(db2)<<16) \
+            + ((uint32_t)BIN8(db3)<<8) \
+            + BIN8(dlsb))
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _BINARY_H_ */
+
+/** @} */