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

HRM1017/nordic/nrf-sdk/sd_common/app_util_platform.h@4:ebda47d22091, 2014-08-20 (annotated)

Committer:
jksoft
Date:
Wed Aug 20 13:41:01 2014 +0000
Revision:
4:ebda47d22091
Parent:
nRF51822/nordic/nrf-sdk/sd_common/app_util_platform.h@1:48f6e08a3ac2 
?????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 1:48f6e08a3ac2 1 /* Copyright (c) 2014 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 /**@file
jksoft 1:48f6e08a3ac2 14 *
jksoft 1:48f6e08a3ac2 15 * @defgroup app_util_platform Utility Functions and Definitions (Platform)
jksoft 1:48f6e08a3ac2 16 * @{
jksoft 1:48f6e08a3ac2 17 * @ingroup app_common
jksoft 1:48f6e08a3ac2 18 *
jksoft 1:48f6e08a3ac2 19 * @brief Various types and definitions available to all applications when using SoftDevice.
jksoft 1:48f6e08a3ac2 20 */
jksoft 1:48f6e08a3ac2 21
jksoft 1:48f6e08a3ac2 22 #ifndef APP_UTIL_PLATFORM_H__
jksoft 1:48f6e08a3ac2 23 #define APP_UTIL_PLATFORM_H__
jksoft 1:48f6e08a3ac2 24
jksoft 1:48f6e08a3ac2 25 #include <stdint.h>
jksoft 1:48f6e08a3ac2 26 #include "compiler_abstraction.h"
jksoft 1:48f6e08a3ac2 27 #include "nrf51.h"
jksoft 1:48f6e08a3ac2 28 #include "app_error.h"
jksoft 1:48f6e08a3ac2 29
jksoft 1:48f6e08a3ac2 30 /**@brief The interrupt priorities available to the application while the SoftDevice is active. */
jksoft 1:48f6e08a3ac2 31 typedef enum
jksoft 1:48f6e08a3ac2 32 {
jksoft 1:48f6e08a3ac2 33 APP_IRQ_PRIORITY_HIGH = 1,
jksoft 1:48f6e08a3ac2 34 APP_IRQ_PRIORITY_LOW = 3
jksoft 1:48f6e08a3ac2 35 } app_irq_priority_t;
jksoft 1:48f6e08a3ac2 36
jksoft 1:48f6e08a3ac2 37 #define NRF_APP_PRIORITY_THREAD 4 /**< "Interrupt level" when running in Thread Mode. */
jksoft 1:48f6e08a3ac2 38
jksoft 1:48f6e08a3ac2 39 /**@cond NO_DOXYGEN */
jksoft 1:48f6e08a3ac2 40 #define EXTERNAL_INT_VECTOR_OFFSET 16
jksoft 1:48f6e08a3ac2 41 /**@endcond */
jksoft 1:48f6e08a3ac2 42
jksoft 1:48f6e08a3ac2 43 #define PACKED(TYPE) __packed TYPE
jksoft 1:48f6e08a3ac2 44
jksoft 1:48f6e08a3ac2 45 /**@brief Macro for entering a critical region.
jksoft 1:48f6e08a3ac2 46 *
jksoft 1:48f6e08a3ac2 47 * @note Due to implementation details, there must exist one and only one call to
jksoft 1:48f6e08a3ac2 48 * CRITICAL_REGION_EXIT() for each call to CRITICAL_REGION_ENTER(), and they must be located
jksoft 1:48f6e08a3ac2 49 * in the same scope.
jksoft 1:48f6e08a3ac2 50 */
jksoft 1:48f6e08a3ac2 51 #define CRITICAL_REGION_ENTER() \
jksoft 1:48f6e08a3ac2 52 { \
jksoft 1:48f6e08a3ac2 53 uint8_t IS_NESTED_CRITICAL_REGION = 0; \
jksoft 1:48f6e08a3ac2 54 uint32_t CURRENT_INT_PRI = current_int_priority_get(); \
jksoft 1:48f6e08a3ac2 55 if (CURRENT_INT_PRI != APP_IRQ_PRIORITY_HIGH) \
jksoft 1:48f6e08a3ac2 56 { \
jksoft 1:48f6e08a3ac2 57 uint32_t ERR_CODE = sd_nvic_critical_region_enter(&IS_NESTED_CRITICAL_REGION); \
jksoft 1:48f6e08a3ac2 58 if (ERR_CODE == NRF_ERROR_SOFTDEVICE_NOT_ENABLED) \
jksoft 1:48f6e08a3ac2 59 { \
jksoft 1:48f6e08a3ac2 60 __disable_irq(); \
jksoft 1:48f6e08a3ac2 61 } \
jksoft 1:48f6e08a3ac2 62 else \
jksoft 1:48f6e08a3ac2 63 { \
jksoft 1:48f6e08a3ac2 64 APP_ERROR_CHECK(ERR_CODE); \
jksoft 1:48f6e08a3ac2 65 } \
jksoft 1:48f6e08a3ac2 66 }
jksoft 1:48f6e08a3ac2 67
jksoft 1:48f6e08a3ac2 68 /**@brief Macro for leaving a critical region.
jksoft 1:48f6e08a3ac2 69 *
jksoft 1:48f6e08a3ac2 70 * @note Due to implementation details, there must exist one and only one call to
jksoft 1:48f6e08a3ac2 71 * CRITICAL_REGION_EXIT() for each call to CRITICAL_REGION_ENTER(), and they must be located
jksoft 1:48f6e08a3ac2 72 * in the same scope.
jksoft 1:48f6e08a3ac2 73 */
jksoft 1:48f6e08a3ac2 74 #define CRITICAL_REGION_EXIT() \
jksoft 1:48f6e08a3ac2 75 if (CURRENT_INT_PRI != APP_IRQ_PRIORITY_HIGH) \
jksoft 1:48f6e08a3ac2 76 { \
jksoft 1:48f6e08a3ac2 77 uint32_t ERR_CODE; \
jksoft 1:48f6e08a3ac2 78 __enable_irq(); \
jksoft 1:48f6e08a3ac2 79 ERR_CODE = sd_nvic_critical_region_exit(IS_NESTED_CRITICAL_REGION); \
jksoft 1:48f6e08a3ac2 80 if (ERR_CODE != NRF_ERROR_SOFTDEVICE_NOT_ENABLED) \
jksoft 1:48f6e08a3ac2 81 { \
jksoft 1:48f6e08a3ac2 82 APP_ERROR_CHECK(ERR_CODE); \
jksoft 1:48f6e08a3ac2 83 } \
jksoft 1:48f6e08a3ac2 84 } \
jksoft 1:48f6e08a3ac2 85 }
jksoft 1:48f6e08a3ac2 86
jksoft 1:48f6e08a3ac2 87 /**@brief Function for finding the current interrupt level.
jksoft 1:48f6e08a3ac2 88 *
jksoft 1:48f6e08a3ac2 89 * @return Current interrupt level.
jksoft 1:48f6e08a3ac2 90 * @retval APP_IRQ_PRIORITY_HIGH We are running in Application High interrupt level.
jksoft 1:48f6e08a3ac2 91 * @retval APP_IRQ_PRIORITY_LOW We are running in Application Low interrupt level.
jksoft 1:48f6e08a3ac2 92 * @retval APP_IRQ_PRIORITY_THREAD We are running in Thread Mode.
jksoft 1:48f6e08a3ac2 93 */
jksoft 1:48f6e08a3ac2 94 static __INLINE uint8_t current_int_priority_get(void)
jksoft 1:48f6e08a3ac2 95 {
jksoft 1:48f6e08a3ac2 96 uint32_t isr_vector_num = (SCB->ICSR & SCB_ICSR_VECTACTIVE_Msk);
jksoft 1:48f6e08a3ac2 97 if (isr_vector_num > 0)
jksoft 1:48f6e08a3ac2 98 {
jksoft 1:48f6e08a3ac2 99 int32_t irq_type = ((int32_t)isr_vector_num - EXTERNAL_INT_VECTOR_OFFSET);
jksoft 1:48f6e08a3ac2 100 return (NVIC_GetPriority((IRQn_Type)irq_type) & 0xFF);
jksoft 1:48f6e08a3ac2 101 }
jksoft 1:48f6e08a3ac2 102 else
jksoft 1:48f6e08a3ac2 103 {
jksoft 1:48f6e08a3ac2 104 return NRF_APP_PRIORITY_THREAD;
jksoft 1:48f6e08a3ac2 105 }
jksoft 1:48f6e08a3ac2 106 }
jksoft 1:48f6e08a3ac2 107
jksoft 1:48f6e08a3ac2 108 #endif // APP_UTIL_PLATFORM_H__
jksoft 1:48f6e08a3ac2 109
jksoft 1:48f6e08a3ac2 110 /** @} */