Bizan Nishimura / Mbed 2 deprecated MiniSteer2

AndroidのBLEラジコンプロポアプリ「BLEPropo」と接続し、RCサーボとDCモータを制御するプログラムです。 mbed HRM1017で動作を確認しています。 BLEPropo → https://github.com/lipoyang/BLEPropo

Dependencies:   BLE_API mbed

Fork of BLE_RCBController2 by Junichi Katsu

BLEを使ったAndroid用ラジコンプロポアプリ「BLEPropo」に対応するmbed HRM1017用ファームウェアです。
BLEPropoは、GitHubにて公開中。
https://github.com/lipoyang/BLEPropo
/media/uploads/lipoyang/blepropo_ui.png
ラジコンは、mbed HRM1017とRCサーボやDCモータを組み合わせて作ります。
/media/uploads/lipoyang/ble_wiring.png

HRM1017/common/assertion.h@7:505a9a98b776, 2015-03-14 (annotated)

Committer:
lipoyang
Date:
Sat Mar 14 11:51:38 2015 +0000
Revision:
7:505a9a98b776
Parent:
4:ebda47d22091 
- adjust servo center position

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:8c643bfe55b7 1 /**************************************************************************/
jksoft 0:8c643bfe55b7 2 /*!
jksoft 0:8c643bfe55b7 3 @file assertion.h
jksoft 0:8c643bfe55b7 4 @author hathach (tinyusb.org)
jksoft 0:8c643bfe55b7 5
jksoft 0:8c643bfe55b7 6 @section LICENSE
jksoft 0:8c643bfe55b7 7
jksoft 0:8c643bfe55b7 8 Software License Agreement (BSD License)
jksoft 0:8c643bfe55b7 9
jksoft 0:8c643bfe55b7 10 Copyright (c) 2013, K. Townsend (microBuilder.eu)
jksoft 0:8c643bfe55b7 11 All rights reserved.
jksoft 0:8c643bfe55b7 12
jksoft 0:8c643bfe55b7 13 Redistribution and use in source and binary forms, with or without
jksoft 0:8c643bfe55b7 14 modification, are permitted provided that the following conditions are met:
jksoft 0:8c643bfe55b7 15 1. Redistributions of source code must retain the above copyright
jksoft 0:8c643bfe55b7 16 notice, this list of conditions and the following disclaimer.
jksoft 0:8c643bfe55b7 17 2. Redistributions in binary form must reproduce the above copyright
jksoft 0:8c643bfe55b7 18 notice, this list of conditions and the following disclaimer in the
jksoft 0:8c643bfe55b7 19 documentation and/or other materials provided with the distribution.
jksoft 0:8c643bfe55b7 20 3. Neither the name of the copyright holders nor the
jksoft 0:8c643bfe55b7 21 names of its contributors may be used to endorse or promote products
jksoft 0:8c643bfe55b7 22 derived from this software without specific prior written permission.
jksoft 0:8c643bfe55b7 23
jksoft 0:8c643bfe55b7 24 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
jksoft 0:8c643bfe55b7 25 EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
jksoft 0:8c643bfe55b7 26 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
jksoft 0:8c643bfe55b7 27 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
jksoft 0:8c643bfe55b7 28 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
jksoft 0:8c643bfe55b7 29 INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
jksoft 0:8c643bfe55b7 30 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION HOWEVER CAUSED AND
jksoft 0:8c643bfe55b7 31 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
jksoft 0:8c643bfe55b7 32 INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS
jksoft 0:8c643bfe55b7 33 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
jksoft 0:8c643bfe55b7 34 */
jksoft 0:8c643bfe55b7 35 /**************************************************************************/
jksoft 0:8c643bfe55b7 36
jksoft 0:8c643bfe55b7 37 /** \file
jksoft 0:8c643bfe55b7 38 * \brief TBD
jksoft 0:8c643bfe55b7 39 *
jksoft 0:8c643bfe55b7 40 * \note TBD
jksoft 0:8c643bfe55b7 41 */
jksoft 0:8c643bfe55b7 42
jksoft 0:8c643bfe55b7 43 /** \ingroup TBD
jksoft 0:8c643bfe55b7 44 * \defgroup TBD
jksoft 0:8c643bfe55b7 45 * \brief TBD
jksoft 0:8c643bfe55b7 46 *
jksoft 0:8c643bfe55b7 47 * @{
jksoft 0:8c643bfe55b7 48 */
jksoft 0:8c643bfe55b7 49
jksoft 0:8c643bfe55b7 50 #ifndef _ASSERTION_H_
jksoft 0:8c643bfe55b7 51 #define _ASSERTION_H_
jksoft 0:8c643bfe55b7 52
jksoft 0:8c643bfe55b7 53 #include "projectconfig.h"
jksoft 0:8c643bfe55b7 54
jksoft 0:8c643bfe55b7 55 #ifdef __cplusplus
jksoft 0:8c643bfe55b7 56 extern "C"
jksoft 0:8c643bfe55b7 57 {
jksoft 0:8c643bfe55b7 58 #endif
jksoft 0:8c643bfe55b7 59
jksoft 0:8c643bfe55b7 60 static inline void debugger_breakpoint(void) ATTR_ALWAYS_INLINE;
jksoft 0:8c643bfe55b7 61 static inline void debugger_breakpoint(void)
jksoft 0:8c643bfe55b7 62 {
jksoft 0:8c643bfe55b7 63 #ifndef _TEST_
jksoft 0:8c643bfe55b7 64 __asm("BKPT #0\n");
jksoft 0:8c643bfe55b7 65 #endif
jksoft 0:8c643bfe55b7 66 }
jksoft 0:8c643bfe55b7 67
jksoft 0:8c643bfe55b7 68 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 69 // Compile-time Assert
jksoft 0:8c643bfe55b7 70 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 71 #if defined __COUNTER__ && __COUNTER__ != __COUNTER__
jksoft 0:8c643bfe55b7 72 #define _ASSERT_COUNTER __COUNTER__
jksoft 0:8c643bfe55b7 73 #else
jksoft 0:8c643bfe55b7 74 #define _ASSERT_COUNTER __LINE__
jksoft 0:8c643bfe55b7 75 #endif
jksoft 0:8c643bfe55b7 76
jksoft 0:8c643bfe55b7 77 #define ASSERT_STATIC(const_expr, message) enum { XSTRING_CONCAT_(static_assert_, _ASSERT_COUNTER) = 1/(!!(const_expr)) }
jksoft 0:8c643bfe55b7 78
jksoft 0:8c643bfe55b7 79 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 80 // Assert Helper
jksoft 0:8c643bfe55b7 81 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 82 //#ifndef _TEST_
jksoft 0:8c643bfe55b7 83 // #define ASSERT_MESSAGE(format, ...)\
jksoft 0:8c643bfe55b7 84 // _PRINTF("Assert at %s: %s: %d: " format "\n", __BASE_FILE__, __PRETTY_FUNCTION__, __LINE__, __VA_ARGS__)
jksoft 0:8c643bfe55b7 85 //#else
jksoft 0:8c643bfe55b7 86 // #define ASSERT_MESSAGE(format, ...)\
jksoft 0:8c643bfe55b7 87 // _PRINTF("%d:note: Assert " format "\n", __LINE__, __VA_ARGS__)
jksoft 0:8c643bfe55b7 88 //#endif
jksoft 0:8c643bfe55b7 89
jksoft 0:8c643bfe55b7 90 #if CFG_DEBUG == 3
jksoft 0:8c643bfe55b7 91 #define ASSERT_MESSAGE(format, ...) debugger_breakpoint()
jksoft 0:8c643bfe55b7 92 #elif CFG_DEBUG == 2
jksoft 0:8c643bfe55b7 93 #define ASSERT_MESSAGE(format, ...) printf("Assert at %s: %s: %d: " format "\n", __BASE_FILE__, __PRETTY_FUNCTION__, __LINE__, __VA_ARGS__)
jksoft 0:8c643bfe55b7 94 #else
jksoft 0:8c643bfe55b7 95 #define ASSERT_MESSAGE(format, ...)
jksoft 0:8c643bfe55b7 96 #endif
jksoft 0:8c643bfe55b7 97
jksoft 0:8c643bfe55b7 98 #define ASSERT_ERROR_HANDLER(x, para) \
jksoft 0:8c643bfe55b7 99 return (x)
jksoft 0:8c643bfe55b7 100
jksoft 0:8c643bfe55b7 101 #define ASSERT_DEFINE_WITH_HANDLER(error_handler, handler_para, setup_statement, condition, error, format, ...) \
jksoft 0:8c643bfe55b7 102 do{\
jksoft 0:8c643bfe55b7 103 setup_statement;\
jksoft 0:8c643bfe55b7 104 if (!(condition)) {\
jksoft 0:8c643bfe55b7 105 ASSERT_MESSAGE(format, __VA_ARGS__);\
jksoft 0:8c643bfe55b7 106 error_handler(error, handler_para);\
jksoft 0:8c643bfe55b7 107 }\
jksoft 0:8c643bfe55b7 108 }while(0)
jksoft 0:8c643bfe55b7 109
jksoft 0:8c643bfe55b7 110 #define ASSERT_DEFINE(...) ASSERT_DEFINE_WITH_HANDLER(ASSERT_ERROR_HANDLER, NULL, __VA_ARGS__)
jksoft 0:8c643bfe55b7 111
jksoft 0:8c643bfe55b7 112 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 113 // error_t Status Assert TODO use ASSERT_DEFINE
jksoft 0:8c643bfe55b7 114 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 115 #define ASSERT_STATUS_MESSAGE(sts, message) \
jksoft 0:8c643bfe55b7 116 ASSERT_DEFINE(error_t status = (error_t)(sts),\
jksoft 0:8c643bfe55b7 117 ERROR_NONE == status, status, "%s: %s", ErrorStr[status], message)
jksoft 0:8c643bfe55b7 118
jksoft 0:8c643bfe55b7 119 #define ASSERT_STATUS(sts) \
jksoft 0:8c643bfe55b7 120 ASSERT_DEFINE(error_t status = (error_t)(sts),\
jksoft 0:8c643bfe55b7 121 ERROR_NONE == status, status, "error = %d", status)
jksoft 0:8c643bfe55b7 122
jksoft 0:8c643bfe55b7 123 #define ASSERT_STATUS_RET_VOID(sts) \
jksoft 0:8c643bfe55b7 124 ASSERT_DEFINE(error_t status = (error_t)(sts),\
jksoft 0:8c643bfe55b7 125 ERROR_NONE == status, (void) 0, "error = %d", status)
jksoft 0:8c643bfe55b7 126
jksoft 0:8c643bfe55b7 127 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 128 // Logical Assert
jksoft 0:8c643bfe55b7 129 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 130 #define ASSERT(...) ASSERT_TRUE(__VA_ARGS__)
jksoft 0:8c643bfe55b7 131 #define ASSERT_TRUE(condition , error) ASSERT_DEFINE( , (condition), error, "%s", "evaluated to false")
jksoft 0:8c643bfe55b7 132 #define ASSERT_FALSE(condition , error) ASSERT_DEFINE( ,!(condition), error, "%s", "evaluated to true")
jksoft 0:8c643bfe55b7 133
jksoft 0:8c643bfe55b7 134 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 135 // Pointer Assert
jksoft 0:8c643bfe55b7 136 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 137 #define ASSERT_PTR(...) ASSERT_PTR_NOT_NULL(__VA_ARGS__)
jksoft 0:8c643bfe55b7 138 #define ASSERT_PTR_NOT_NULL(pointer, error) ASSERT_DEFINE( , NULL != (pointer), error, "%s", "pointer is NULL")
jksoft 0:8c643bfe55b7 139 #define ASSERT_PTR_NULL(pointer, error) ASSERT_DEFINE( , NULL == (pointer), error, "%s", "pointer is not NULL")
jksoft 0:8c643bfe55b7 140
jksoft 0:8c643bfe55b7 141 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 142 // Integral Assert
jksoft 0:8c643bfe55b7 143 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 144 #define ASSERT_XXX_EQUAL(type_format, expected, actual, error) \
jksoft 0:8c643bfe55b7 145 ASSERT_DEFINE(\
jksoft 0:8c643bfe55b7 146 uint32_t exp = (expected); uint32_t act = (actual),\
jksoft 0:8c643bfe55b7 147 exp==act,\
jksoft 0:8c643bfe55b7 148 error,\
jksoft 0:8c643bfe55b7 149 "expected " type_format ", actual " type_format, exp, act)
jksoft 0:8c643bfe55b7 150
jksoft 0:8c643bfe55b7 151 #define ASSERT_XXX_WITHIN(type_format, lower, upper, actual, error) \
jksoft 0:8c643bfe55b7 152 ASSERT_DEFINE(\
jksoft 0:8c643bfe55b7 153 uint32_t low = (lower); uint32_t up = (upper); uint32_t act = (actual),\
jksoft 0:8c643bfe55b7 154 (low <= act) && (act <= up),\
jksoft 0:8c643bfe55b7 155 error,\
jksoft 0:8c643bfe55b7 156 "expected within " type_format " - " type_format ", actual " type_format, low, up, act)
jksoft 0:8c643bfe55b7 157
jksoft 0:8c643bfe55b7 158 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 159 // Integer Assert
jksoft 0:8c643bfe55b7 160 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 161 #define ASSERT_INT(...) ASSERT_INT_EQUAL(__VA_ARGS__)
jksoft 0:8c643bfe55b7 162 #define ASSERT_INT_EQUAL(...) ASSERT_XXX_EQUAL("%d", __VA_ARGS__)
jksoft 0:8c643bfe55b7 163 #define ASSERT_INT_WITHIN(...) ASSERT_XXX_WITHIN("%d", __VA_ARGS__)
jksoft 0:8c643bfe55b7 164
jksoft 0:8c643bfe55b7 165 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 166 // Hex Assert
jksoft 0:8c643bfe55b7 167 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 168 #define ASSERT_HEX(...) ASSERT_HEX_EQUAL(__VA_ARGS__)
jksoft 0:8c643bfe55b7 169 #define ASSERT_HEX_EQUAL(...) ASSERT_XXX_EQUAL("0x%x", __VA_ARGS__)
jksoft 0:8c643bfe55b7 170 #define ASSERT_HEX_WITHIN(...) ASSERT_XXX_WITHIN("0x%x", __VA_ARGS__)
jksoft 0:8c643bfe55b7 171
jksoft 0:8c643bfe55b7 172 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 173 // Bin Assert
jksoft 0:8c643bfe55b7 174 //--------------------------------------------------------------------+
jksoft 0:8c643bfe55b7 175 #define BIN8_PRINTF_PATTERN "%d%d%d%d%d%d%d%d"
jksoft 0:8c643bfe55b7 176 #define BIN8_PRINTF_CONVERT(byte) \
jksoft 0:8c643bfe55b7 177 ((byte) & 0x80 ? 1 : 0), \
jksoft 0:8c643bfe55b7 178 ((byte) & 0x40 ? 1 : 0), \
jksoft 0:8c643bfe55b7 179 ((byte) & 0x20 ? 1 : 0), \
jksoft 0:8c643bfe55b7 180 ((byte) & 0x10 ? 1 : 0), \
jksoft 0:8c643bfe55b7 181 ((byte) & 0x08 ? 1 : 0), \
jksoft 0:8c643bfe55b7 182 ((byte) & 0x04 ? 1 : 0), \
jksoft 0:8c643bfe55b7 183 ((byte) & 0x02 ? 1 : 0), \
jksoft 0:8c643bfe55b7 184 ((byte) & 0x01 ? 1 : 0)
jksoft 0:8c643bfe55b7 185
jksoft 0:8c643bfe55b7 186 #define ASSERT_BIN8(...) ASSERT_BIN8_EQUAL(__VA_ARGS__)
jksoft 0:8c643bfe55b7 187 #define ASSERT_BIN8_EQUAL(expected, actual, error)\
jksoft 0:8c643bfe55b7 188 ASSERT_DEFINE(\
jksoft 0:8c643bfe55b7 189 uint8_t exp = (expected); uint8_t act = (actual),\
jksoft 0:8c643bfe55b7 190 exp==act,\
jksoft 0:8c643bfe55b7 191 error,\
jksoft 0:8c643bfe55b7 192 "expected " BIN8_PRINTF_PATTERN ", actual " BIN8_PRINTF_PATTERN, BIN8_PRINTF_CONVERT(exp), BIN8_PRINTF_CONVERT(act) )
jksoft 0:8c643bfe55b7 193
jksoft 0:8c643bfe55b7 194 #ifdef __cplusplus
jksoft 0:8c643bfe55b7 195 }
jksoft 0:8c643bfe55b7 196 #endif
jksoft 0:8c643bfe55b7 197
jksoft 0:8c643bfe55b7 198 #endif /* _ASSERTION_H_ */
jksoft 0:8c643bfe55b7 199
jksoft 0:8c643bfe55b7 200 /** @} */