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/nRF51822n.cpp	Wed Nov 12 02:40:34 2014 +0000
@@ -0,0 +1,149 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "mbed.h"
+#include "nRF51822n.h"
+#include "nrf_soc.h"
+
+#include "btle/btle.h"
+#include "nrf_delay.h"
+
+/**
+ * The singleton which represents the nRF51822 transport for the BLEDevice.
+ */
+static nRF51822n deviceInstance;
+
+/**
+ * BLE-API requires an implementation of the following function in order to
+ * obtain its transport handle.
+ */
+BLEDeviceInstanceBase *
+createBLEDeviceInstance(void)
+{
+    return (&deviceInstance);
+}
+
+/**************************************************************************/
+/*!
+    @brief  Constructor
+*/
+/**************************************************************************/
+nRF51822n::nRF51822n(void)
+{
+}
+
+/**************************************************************************/
+/*!
+    @brief  Destructor
+*/
+/**************************************************************************/
+nRF51822n::~nRF51822n(void)
+{
+}
+
+const char *nRF51822n::getVersion(void)
+{
+    static char versionString[10];
+    static bool versionFetched = false;
+
+    if (!versionFetched) {
+        ble_version_t version;
+        if (sd_ble_version_get(&version) == NRF_SUCCESS) {
+            snprintf(versionString, sizeof(versionString), "%u.%u", version.version_number, version.subversion_number);
+            versionFetched = true;
+        } else {
+            strncpy(versionString, "unknown", sizeof(versionString));
+        }
+    }
+
+    return versionString;
+}
+
+/* (Valid values are -40, -20, -16, -12, -8, -4, 0, 4) */
+ble_error_t nRF51822n::setTxPower(int8_t txPower)
+{
+    unsigned rc;
+    if ((rc = sd_ble_gap_tx_power_set(txPower)) != NRF_SUCCESS) {
+        switch (rc) {
+            case NRF_ERROR_BUSY:
+                return BLE_STACK_BUSY;
+            case NRF_ERROR_INVALID_PARAM:
+            default:
+                return BLE_ERROR_PARAM_OUT_OF_RANGE;
+        }
+    }
+
+    return BLE_ERROR_NONE;
+}
+
+/**************************************************************************/
+/*!
+    @brief  Initialises anything required to start using BLE
+
+    @returns    ble_error_t
+
+    @retval     BLE_ERROR_NONE
+                Everything executed properly
+
+    @section EXAMPLE
+
+    @code
+
+    @endcode
+*/
+/**************************************************************************/
+ble_error_t nRF51822n::init(void)
+{
+    /* ToDo: Clear memory contents, reset the SD, etc. */
+    btle_init();
+
+    reset();
+
+    return BLE_ERROR_NONE;
+}
+
+/**************************************************************************/
+/*!
+    @brief  Resets the BLE HW, removing any existing services and
+            characteristics
+
+    @returns    ble_error_t
+
+    @retval     BLE_ERROR_NONE
+                Everything executed properly
+
+    @section EXAMPLE
+
+    @code
+
+    @endcode
+*/
+/**************************************************************************/
+ble_error_t nRF51822n::reset(void)
+{
+    nrf_delay_us(500000);
+
+    /* Wait for the radio to come back up */
+    nrf_delay_us(1000000);
+
+    return BLE_ERROR_NONE;
+}
+
+void
+nRF51822n::waitForEvent(void)
+{
+    sd_app_evt_wait();
+}