【これは旧バージョンです】 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
Fork of BLE_RCBController2 by
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
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。
Diff: nRF51822/common/assertion.h
- Revision:
- 1:48f6e08a3ac2
- Parent:
- 0:8c643bfe55b7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/nRF51822/common/assertion.h Wed Aug 20 13:24:20 2014 +0000 @@ -0,0 +1,200 @@ +/**************************************************************************/ +/*! + @file assertion.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. +*/ +/**************************************************************************/ + +/** \file + * \brief TBD + * + * \note TBD + */ + +/** \ingroup TBD + * \defgroup TBD + * \brief TBD + * + * @{ + */ + +#ifndef _ASSERTION_H_ +#define _ASSERTION_H_ + +#include "projectconfig.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +static inline void debugger_breakpoint(void) ATTR_ALWAYS_INLINE; +static inline void debugger_breakpoint(void) +{ +#ifndef _TEST_ + __asm("BKPT #0\n"); +#endif +} + +//--------------------------------------------------------------------+ +// Compile-time Assert +//--------------------------------------------------------------------+ +#if defined __COUNTER__ && __COUNTER__ != __COUNTER__ + #define _ASSERT_COUNTER __COUNTER__ +#else + #define _ASSERT_COUNTER __LINE__ +#endif + +#define ASSERT_STATIC(const_expr, message) enum { XSTRING_CONCAT_(static_assert_, _ASSERT_COUNTER) = 1/(!!(const_expr)) } + +//--------------------------------------------------------------------+ +// Assert Helper +//--------------------------------------------------------------------+ +//#ifndef _TEST_ +// #define ASSERT_MESSAGE(format, ...)\ +// _PRINTF("Assert at %s: %s: %d: " format "\n", __BASE_FILE__, __PRETTY_FUNCTION__, __LINE__, __VA_ARGS__) +//#else +// #define ASSERT_MESSAGE(format, ...)\ +// _PRINTF("%d:note: Assert " format "\n", __LINE__, __VA_ARGS__) +//#endif + +#if CFG_DEBUG == 3 + #define ASSERT_MESSAGE(format, ...) debugger_breakpoint() +#elif CFG_DEBUG == 2 + #define ASSERT_MESSAGE(format, ...) printf("Assert at %s: %s: %d: " format "\n", __BASE_FILE__, __PRETTY_FUNCTION__, __LINE__, __VA_ARGS__) +#else + #define ASSERT_MESSAGE(format, ...) +#endif + +#define ASSERT_ERROR_HANDLER(x, para) \ + return (x) + +#define ASSERT_DEFINE_WITH_HANDLER(error_handler, handler_para, setup_statement, condition, error, format, ...) \ + do{\ + setup_statement;\ + if (!(condition)) {\ + ASSERT_MESSAGE(format, __VA_ARGS__);\ + error_handler(error, handler_para);\ + }\ + }while(0) + +#define ASSERT_DEFINE(...) ASSERT_DEFINE_WITH_HANDLER(ASSERT_ERROR_HANDLER, NULL, __VA_ARGS__) + +//--------------------------------------------------------------------+ +// error_t Status Assert TODO use ASSERT_DEFINE +//--------------------------------------------------------------------+ +#define ASSERT_STATUS_MESSAGE(sts, message) \ + ASSERT_DEFINE(error_t status = (error_t)(sts),\ + ERROR_NONE == status, status, "%s: %s", ErrorStr[status], message) + +#define ASSERT_STATUS(sts) \ + ASSERT_DEFINE(error_t status = (error_t)(sts),\ + ERROR_NONE == status, status, "error = %d", status) + +#define ASSERT_STATUS_RET_VOID(sts) \ + ASSERT_DEFINE(error_t status = (error_t)(sts),\ + ERROR_NONE == status, (void) 0, "error = %d", status) + +//--------------------------------------------------------------------+ +// Logical Assert +//--------------------------------------------------------------------+ +#define ASSERT(...) ASSERT_TRUE(__VA_ARGS__) +#define ASSERT_TRUE(condition , error) ASSERT_DEFINE( , (condition), error, "%s", "evaluated to false") +#define ASSERT_FALSE(condition , error) ASSERT_DEFINE( ,!(condition), error, "%s", "evaluated to true") + +//--------------------------------------------------------------------+ +// Pointer Assert +//--------------------------------------------------------------------+ +#define ASSERT_PTR(...) ASSERT_PTR_NOT_NULL(__VA_ARGS__) +#define ASSERT_PTR_NOT_NULL(pointer, error) ASSERT_DEFINE( , NULL != (pointer), error, "%s", "pointer is NULL") +#define ASSERT_PTR_NULL(pointer, error) ASSERT_DEFINE( , NULL == (pointer), error, "%s", "pointer is not NULL") + +//--------------------------------------------------------------------+ +// Integral Assert +//--------------------------------------------------------------------+ +#define ASSERT_XXX_EQUAL(type_format, expected, actual, error) \ + ASSERT_DEFINE(\ + uint32_t exp = (expected); uint32_t act = (actual),\ + exp==act,\ + error,\ + "expected " type_format ", actual " type_format, exp, act) + +#define ASSERT_XXX_WITHIN(type_format, lower, upper, actual, error) \ + ASSERT_DEFINE(\ + uint32_t low = (lower); uint32_t up = (upper); uint32_t act = (actual),\ + (low <= act) && (act <= up),\ + error,\ + "expected within " type_format " - " type_format ", actual " type_format, low, up, act) + +//--------------------------------------------------------------------+ +// Integer Assert +//--------------------------------------------------------------------+ +#define ASSERT_INT(...) ASSERT_INT_EQUAL(__VA_ARGS__) +#define ASSERT_INT_EQUAL(...) ASSERT_XXX_EQUAL("%d", __VA_ARGS__) +#define ASSERT_INT_WITHIN(...) ASSERT_XXX_WITHIN("%d", __VA_ARGS__) + +//--------------------------------------------------------------------+ +// Hex Assert +//--------------------------------------------------------------------+ +#define ASSERT_HEX(...) ASSERT_HEX_EQUAL(__VA_ARGS__) +#define ASSERT_HEX_EQUAL(...) ASSERT_XXX_EQUAL("0x%x", __VA_ARGS__) +#define ASSERT_HEX_WITHIN(...) ASSERT_XXX_WITHIN("0x%x", __VA_ARGS__) + +//--------------------------------------------------------------------+ +// Bin Assert +//--------------------------------------------------------------------+ +#define BIN8_PRINTF_PATTERN "%d%d%d%d%d%d%d%d" +#define BIN8_PRINTF_CONVERT(byte) \ + ((byte) & 0x80 ? 1 : 0), \ + ((byte) & 0x40 ? 1 : 0), \ + ((byte) & 0x20 ? 1 : 0), \ + ((byte) & 0x10 ? 1 : 0), \ + ((byte) & 0x08 ? 1 : 0), \ + ((byte) & 0x04 ? 1 : 0), \ + ((byte) & 0x02 ? 1 : 0), \ + ((byte) & 0x01 ? 1 : 0) + +#define ASSERT_BIN8(...) ASSERT_BIN8_EQUAL(__VA_ARGS__) +#define ASSERT_BIN8_EQUAL(expected, actual, error)\ + ASSERT_DEFINE(\ + uint8_t exp = (expected); uint8_t act = (actual),\ + exp==act,\ + error,\ + "expected " BIN8_PRINTF_PATTERN ", actual " BIN8_PRINTF_PATTERN, BIN8_PRINTF_CONVERT(exp), BIN8_PRINTF_CONVERT(act) ) + +#ifdef __cplusplus +} +#endif + +#endif /* _ASSERTION_H_ */ + +/** @} */