robo 8080 / Mbed 2 deprecated BLE_RCBController2_Motor

RCBControllerでモータを制御します。うおーるぼっとも動かせました。

Dependencies:   BLE_API TB6612FNG2 mbed nRF51822

Fork of BLE_RCBController2 by Junichi Katsu

うまく接続できない時は、iPhone/iPadのBluetoothをOFF－＞ONしてキャッシュをクリアしてみてください。

ライブラリ類をUpdateするとコンパイル出来なくなります。インポートした物をそのまま使って下さい。

RCBControllerでうおーるぼっとを操縦する例 /media/uploads/robo8080/img_1671.jpg

Components / Wallbot
This robot has switch, line sensors and motors. It controls by mbed.

RCBControllerでの操縦は次の4種類あります。 それぞれうおーるぼっとの動きが異なりますので試してみてください。

  • 左十字ボタン
  • 左のみアナログ
  • 右のみアナログ
  • 両方アナログ

うおーるぼっと(LPC1768のソケット)とHRM1017の接続はこれです。

LPC1768 ー HRM1017

p11 ーーー P0_0

p12 ーーー P0_1

p13 ーーー P0_28

p14 ーーー P0_29

p21 ーーー P0_30

p22 ーーー P0_25

GND ーーー GND

/media/uploads/robo8080/img_1711.jpg

/media/uploads/robo8080/img_1703.jpg

HRM1017の電源はうおーるぼっとのUSBコネクタからとります。 /media/uploads/robo8080/img_1674.jpg

nRF51822/nordic/app_common/app_scheduler.c@1:48f6e08a3ac2, 2014-08-20 (annotated)

Committer:
jksoft
Date:
Wed Aug 20 13:24:20 2014 +0000
Revision:
1:48f6e08a3ac2
2014.08.20?????BLE?????????????; ???mbed?????????????????; mbed HRM1017; Nordic nRF51822

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 1:48f6e08a3ac2 1 /* Copyright (c) 2012 Nordic Semiconductor. All Rights Reserved.
jksoft 1:48f6e08a3ac2 2 *
jksoft 1:48f6e08a3ac2 3 * The information contained herein is property of Nordic Semiconductor ASA.
jksoft 1:48f6e08a3ac2 4 * Terms and conditions of usage are described in detail in NORDIC
jksoft 1:48f6e08a3ac2 5 * SEMICONDUCTOR STANDARD SOFTWARE LICENSE AGREEMENT.
jksoft 1:48f6e08a3ac2 6 *
jksoft 1:48f6e08a3ac2 7 * Licensees are granted free, non-transferable use of the information. NO
jksoft 1:48f6e08a3ac2 8 * WARRANTY of ANY KIND is provided. This heading must NOT be removed from
jksoft 1:48f6e08a3ac2 9 * the file.
jksoft 1:48f6e08a3ac2 10 *
jksoft 1:48f6e08a3ac2 11 */
jksoft 1:48f6e08a3ac2 12
jksoft 1:48f6e08a3ac2 13 #include "app_scheduler.h"
jksoft 1:48f6e08a3ac2 14 #include <stdlib.h>
jksoft 1:48f6e08a3ac2 15 #include <stdint.h>
jksoft 1:48f6e08a3ac2 16 #include <string.h>
jksoft 1:48f6e08a3ac2 17 #include "nrf_soc.h"
jksoft 1:48f6e08a3ac2 18 #include "nrf_assert.h"
jksoft 1:48f6e08a3ac2 19 #include "app_util.h"
jksoft 1:48f6e08a3ac2 20 #include "app_util_platform.h"
jksoft 1:48f6e08a3ac2 21
jksoft 1:48f6e08a3ac2 22 /**@brief Structure for holding a scheduled event header. */
jksoft 1:48f6e08a3ac2 23 typedef struct
jksoft 1:48f6e08a3ac2 24 {
jksoft 1:48f6e08a3ac2 25 app_sched_event_handler_t handler; /**< Pointer to event handler to receive the event. */
jksoft 1:48f6e08a3ac2 26 uint16_t event_data_size; /**< Size of event data. */
jksoft 1:48f6e08a3ac2 27 } event_header_t;
jksoft 1:48f6e08a3ac2 28
jksoft 1:48f6e08a3ac2 29 STATIC_ASSERT(sizeof(event_header_t) <= APP_SCHED_EVENT_HEADER_SIZE);
jksoft 1:48f6e08a3ac2 30
jksoft 1:48f6e08a3ac2 31 static event_header_t * m_queue_event_headers; /**< Array for holding the queue event headers. */
jksoft 1:48f6e08a3ac2 32 static uint8_t * m_queue_event_data; /**< Array for holding the queue event data. */
jksoft 1:48f6e08a3ac2 33 static volatile uint8_t m_queue_start_index; /**< Index of queue entry at the start of the queue. */
jksoft 1:48f6e08a3ac2 34 static volatile uint8_t m_queue_end_index; /**< Index of queue entry at the end of the queue. */
jksoft 1:48f6e08a3ac2 35 static uint16_t m_queue_event_size; /**< Maximum event size in queue. */
jksoft 1:48f6e08a3ac2 36 static uint16_t m_queue_size; /**< Number of queue entries. */
jksoft 1:48f6e08a3ac2 37
jksoft 1:48f6e08a3ac2 38 /**@brief Macro for checking if a queue is full. */
jksoft 1:48f6e08a3ac2 39 #define APP_SCHED_QUEUE_FULL() (next_index(m_queue_end_index) == m_queue_start_index)
jksoft 1:48f6e08a3ac2 40
jksoft 1:48f6e08a3ac2 41 /**@brief Macro for checking if a queue is empty. */
jksoft 1:48f6e08a3ac2 42 #define APP_SCHED_QUEUE_EMPTY() (m_queue_end_index == m_queue_start_index)
jksoft 1:48f6e08a3ac2 43
jksoft 1:48f6e08a3ac2 44
jksoft 1:48f6e08a3ac2 45 /**@brief Function for incrementing a queue index, and handle wrap-around.
jksoft 1:48f6e08a3ac2 46 *
jksoft 1:48f6e08a3ac2 47 * @param[in] index Old index.
jksoft 1:48f6e08a3ac2 48 *
jksoft 1:48f6e08a3ac2 49 * @return New (incremented) index.
jksoft 1:48f6e08a3ac2 50 */
jksoft 1:48f6e08a3ac2 51 static __INLINE uint8_t next_index(uint8_t index)
jksoft 1:48f6e08a3ac2 52 {
jksoft 1:48f6e08a3ac2 53 return (index < m_queue_size) ? (index + 1) : 0;
jksoft 1:48f6e08a3ac2 54 }
jksoft 1:48f6e08a3ac2 55
jksoft 1:48f6e08a3ac2 56
jksoft 1:48f6e08a3ac2 57 uint32_t app_sched_init(uint16_t event_size, uint16_t queue_size, void * p_event_buffer)
jksoft 1:48f6e08a3ac2 58 {
jksoft 1:48f6e08a3ac2 59 uint16_t data_start_index = (queue_size + 1) * sizeof(event_header_t);
jksoft 1:48f6e08a3ac2 60
jksoft 1:48f6e08a3ac2 61 // Check that buffer is correctly aligned
jksoft 1:48f6e08a3ac2 62 if (!is_word_aligned(p_event_buffer))
jksoft 1:48f6e08a3ac2 63 {
jksoft 1:48f6e08a3ac2 64 return NRF_ERROR_INVALID_PARAM;
jksoft 1:48f6e08a3ac2 65 }
jksoft 1:48f6e08a3ac2 66
jksoft 1:48f6e08a3ac2 67 // Initialize event scheduler
jksoft 1:48f6e08a3ac2 68 m_queue_event_headers = p_event_buffer;
jksoft 1:48f6e08a3ac2 69 m_queue_event_data = &((uint8_t *)p_event_buffer)[data_start_index];
jksoft 1:48f6e08a3ac2 70 m_queue_end_index = 0;
jksoft 1:48f6e08a3ac2 71 m_queue_start_index = 0;
jksoft 1:48f6e08a3ac2 72 m_queue_event_size = event_size;
jksoft 1:48f6e08a3ac2 73 m_queue_size = queue_size;
jksoft 1:48f6e08a3ac2 74
jksoft 1:48f6e08a3ac2 75 return NRF_SUCCESS;
jksoft 1:48f6e08a3ac2 76 }
jksoft 1:48f6e08a3ac2 77
jksoft 1:48f6e08a3ac2 78
jksoft 1:48f6e08a3ac2 79 uint32_t app_sched_event_put(void * p_event_data,
jksoft 1:48f6e08a3ac2 80 uint16_t event_data_size,
jksoft 1:48f6e08a3ac2 81 app_sched_event_handler_t handler)
jksoft 1:48f6e08a3ac2 82 {
jksoft 1:48f6e08a3ac2 83 uint32_t err_code;
jksoft 1:48f6e08a3ac2 84
jksoft 1:48f6e08a3ac2 85 if (event_data_size <= m_queue_event_size)
jksoft 1:48f6e08a3ac2 86 {
jksoft 1:48f6e08a3ac2 87 uint16_t event_index = 0xFFFF;
jksoft 1:48f6e08a3ac2 88
jksoft 1:48f6e08a3ac2 89 CRITICAL_REGION_ENTER();
jksoft 1:48f6e08a3ac2 90
jksoft 1:48f6e08a3ac2 91 if (!APP_SCHED_QUEUE_FULL())
jksoft 1:48f6e08a3ac2 92 {
jksoft 1:48f6e08a3ac2 93 event_index = m_queue_end_index;
jksoft 1:48f6e08a3ac2 94 m_queue_end_index = next_index(m_queue_end_index);
jksoft 1:48f6e08a3ac2 95 }
jksoft 1:48f6e08a3ac2 96
jksoft 1:48f6e08a3ac2 97 CRITICAL_REGION_EXIT();
jksoft 1:48f6e08a3ac2 98
jksoft 1:48f6e08a3ac2 99 if (event_index != 0xFFFF)
jksoft 1:48f6e08a3ac2 100 {
jksoft 1:48f6e08a3ac2 101 // NOTE: This can be done outside the critical region since the event consumer will
jksoft 1:48f6e08a3ac2 102 // always be called from the main loop, and will thus never interrupt this code.
jksoft 1:48f6e08a3ac2 103 m_queue_event_headers[event_index].handler = handler;
jksoft 1:48f6e08a3ac2 104 if ((p_event_data != NULL) && (event_data_size > 0))
jksoft 1:48f6e08a3ac2 105 {
jksoft 1:48f6e08a3ac2 106 memcpy(&m_queue_event_data[event_index * m_queue_event_size],
jksoft 1:48f6e08a3ac2 107 p_event_data,
jksoft 1:48f6e08a3ac2 108 event_data_size);
jksoft 1:48f6e08a3ac2 109 m_queue_event_headers[event_index].event_data_size = event_data_size;
jksoft 1:48f6e08a3ac2 110 }
jksoft 1:48f6e08a3ac2 111 else
jksoft 1:48f6e08a3ac2 112 {
jksoft 1:48f6e08a3ac2 113 m_queue_event_headers[event_index].event_data_size = 0;
jksoft 1:48f6e08a3ac2 114 }
jksoft 1:48f6e08a3ac2 115
jksoft 1:48f6e08a3ac2 116 err_code = NRF_SUCCESS;
jksoft 1:48f6e08a3ac2 117 }
jksoft 1:48f6e08a3ac2 118 else
jksoft 1:48f6e08a3ac2 119 {
jksoft 1:48f6e08a3ac2 120 err_code = NRF_ERROR_NO_MEM;
jksoft 1:48f6e08a3ac2 121 }
jksoft 1:48f6e08a3ac2 122 }
jksoft 1:48f6e08a3ac2 123 else
jksoft 1:48f6e08a3ac2 124 {
jksoft 1:48f6e08a3ac2 125 err_code = NRF_ERROR_INVALID_LENGTH;
jksoft 1:48f6e08a3ac2 126 }
jksoft 1:48f6e08a3ac2 127
jksoft 1:48f6e08a3ac2 128 return err_code;
jksoft 1:48f6e08a3ac2 129 }
jksoft 1:48f6e08a3ac2 130
jksoft 1:48f6e08a3ac2 131
jksoft 1:48f6e08a3ac2 132 /**@brief Function for reading the next event from specified event queue.
jksoft 1:48f6e08a3ac2 133 *
jksoft 1:48f6e08a3ac2 134 * @param[out] pp_event_data Pointer to pointer to event data.
jksoft 1:48f6e08a3ac2 135 * @param[out] p_event_data_size Pointer to size of event data.
jksoft 1:48f6e08a3ac2 136 * @param[out] p_event_handler Pointer to event handler function pointer.
jksoft 1:48f6e08a3ac2 137 *
jksoft 1:48f6e08a3ac2 138 * @return NRF_SUCCESS if new event, NRF_ERROR_NOT_FOUND if event queue is empty.
jksoft 1:48f6e08a3ac2 139 */
jksoft 1:48f6e08a3ac2 140 static uint32_t app_sched_event_get(void ** pp_event_data,
jksoft 1:48f6e08a3ac2 141 uint16_t * p_event_data_size,
jksoft 1:48f6e08a3ac2 142 app_sched_event_handler_t * p_event_handler)
jksoft 1:48f6e08a3ac2 143 {
jksoft 1:48f6e08a3ac2 144 uint32_t err_code = NRF_ERROR_NOT_FOUND;
jksoft 1:48f6e08a3ac2 145
jksoft 1:48f6e08a3ac2 146 if (!APP_SCHED_QUEUE_EMPTY())
jksoft 1:48f6e08a3ac2 147 {
jksoft 1:48f6e08a3ac2 148 uint16_t event_index;
jksoft 1:48f6e08a3ac2 149
jksoft 1:48f6e08a3ac2 150 // NOTE: There is no need for a critical region here, as this function will only be called
jksoft 1:48f6e08a3ac2 151 // from app_sched_execute() from inside the main loop, so it will never interrupt
jksoft 1:48f6e08a3ac2 152 // app_sched_event_put(). Also, updating of (i.e. writing to) the start index will be
jksoft 1:48f6e08a3ac2 153 // an atomic operation.
jksoft 1:48f6e08a3ac2 154 event_index = m_queue_start_index;
jksoft 1:48f6e08a3ac2 155 m_queue_start_index = next_index(m_queue_start_index);
jksoft 1:48f6e08a3ac2 156
jksoft 1:48f6e08a3ac2 157 *pp_event_data = &m_queue_event_data[event_index * m_queue_event_size];
jksoft 1:48f6e08a3ac2 158 *p_event_data_size = m_queue_event_headers[event_index].event_data_size;
jksoft 1:48f6e08a3ac2 159 *p_event_handler = m_queue_event_headers[event_index].handler;
jksoft 1:48f6e08a3ac2 160
jksoft 1:48f6e08a3ac2 161 err_code = NRF_SUCCESS;
jksoft 1:48f6e08a3ac2 162 }
jksoft 1:48f6e08a3ac2 163
jksoft 1:48f6e08a3ac2 164 return err_code;
jksoft 1:48f6e08a3ac2 165 }
jksoft 1:48f6e08a3ac2 166
jksoft 1:48f6e08a3ac2 167
jksoft 1:48f6e08a3ac2 168 void app_sched_execute(void)
jksoft 1:48f6e08a3ac2 169 {
jksoft 1:48f6e08a3ac2 170 void * p_event_data;
jksoft 1:48f6e08a3ac2 171 uint16_t event_data_size;
jksoft 1:48f6e08a3ac2 172 app_sched_event_handler_t event_handler;
jksoft 1:48f6e08a3ac2 173
jksoft 1:48f6e08a3ac2 174 // Get next event (if any), and execute handler
jksoft 1:48f6e08a3ac2 175 while ((app_sched_event_get(&p_event_data, &event_data_size, &event_handler) == NRF_SUCCESS))
jksoft 1:48f6e08a3ac2 176 {
jksoft 1:48f6e08a3ac2 177 event_handler(p_event_data, event_data_size);
jksoft 1:48f6e08a3ac2 178 }
jksoft 1:48f6e08a3ac2 179 }