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
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
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
HRM1017の電源はうおーるぼっとのUSBコネクタからとります。
Diff: HRM1017/common/common.h
- Revision:
- 5:1c04bd9f8457
- Parent:
- 4:ebda47d22091
diff -r ebda47d22091 -r 1c04bd9f8457 HRM1017/common/common.h --- a/HRM1017/common/common.h Wed Aug 20 13:41:01 2014 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,236 +0,0 @@ -/**************************************************************************/ -/*! - @file common.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. -*/ -/**************************************************************************/ - -/** \defgroup Group_Common Common Files - * @{ - * - * \defgroup Group_CommonH common.h - * - * @{ - */ - -#ifndef _COMMON_H_ -#define _COMMON_H_ - -#ifdef __cplusplus - extern "C" { -#endif - -//--------------------------------------------------------------------+ -// INCLUDES -//--------------------------------------------------------------------+ - -//------------- Standard Header -------------// -#include <stdint.h> -#include <stdbool.h> -#include <stddef.h> -#include <string.h> -#include <stdio.h> - -//------------- General Header -------------// -#include "projectconfig.h" -#include "compiler.h" -#include "assertion.h" -#include "binary.h" -#include "ble_error.h" - -//------------- MCU header -------------// -//#include "nrf.h" - -//--------------------------------------------------------------------+ -// TYPEDEFS -//--------------------------------------------------------------------+ -typedef unsigned char byte_t; -typedef float float32_t; -typedef double float64_t; - -//--------------------------------------------------------------------+ -// MACROS -//--------------------------------------------------------------------+ -#define STRING_(x) #x // stringify without expand -#define XSTRING_(x) STRING_(x) // expand then stringify -#define STRING_CONCAT_(a, b) a##b // concat without expand -#define XSTRING_CONCAT_(a, b) STRING_CONCAT_(a, b) // expand then concat - -#define U16_HIGH_U8(u16) ((uint8_t) (((u16) >> 8) & 0x00ff)) -#define U16_LOW_U8(u16) ((uint8_t) ((u16) & 0x00ff)) -#define U16_TO_U8S_BE(u16) U16_HIGH_U8(u16), U16_LOW_U8(u16) -#define U16_TO_U8S_LE(u16) U16_LOW_U8(u16), U16_HIGH_U8(u16) - -#define U32_B1_U8(u32) ((uint8_t) (((u32) >> 24) & 0x000000ff)) // MSB -#define U32_B2_U8(u32) ((uint8_t) (((u32) >> 16) & 0x000000ff)) -#define U32_B3_U8(u32) ((uint8_t) (((u32) >> 8) & 0x000000ff)) -#define U32_B4_U8(u32) ((uint8_t) ((u32) & 0x000000ff)) // LSB - -#define U32_TO_U8S_BE(u32) U32_B1_U8(u32), U32_B2_U8(u32), U32_B3_U8(u32), U32_B4_U8(u32) -#define U32_TO_U8S_LE(u32) U32_B4_U8(u32), U32_B3_U8(u32), U32_B2_U8(u32), U32_B1_U8(u32) - -//--------------------------------------------------------------------+ -// INLINE FUNCTION -//--------------------------------------------------------------------+ -#define memclr_(buffer, size) memset(buffer, 0, size) - -//------------- Conversion -------------// -/// form an uint32_t from 4 x uint8_t -static inline uint32_t u32_from_u8(uint8_t b1, uint8_t b2, uint8_t b3, uint8_t b4) ATTR_ALWAYS_INLINE ATTR_CONST; -static inline uint32_t u32_from_u8(uint8_t b1, uint8_t b2, uint8_t b3, uint8_t b4) -{ - return (b1 << 24) + (b2 << 16) + (b3 << 8) + b4; -} - -static inline uint8_t u16_high_u8(uint16_t u16) ATTR_CONST ATTR_ALWAYS_INLINE; -static inline uint8_t u16_high_u8(uint16_t u16) -{ - return (uint8_t) ((u16 >> 8) & 0x00ff); -} - -static inline uint8_t u16_low_u8(uint16_t u16) ATTR_CONST ATTR_ALWAYS_INLINE; -static inline uint8_t u16_low_u8(uint16_t u16) -{ - return (uint8_t) (u16 & 0x00ff); -} - -//------------- Min -------------// -static inline uint8_t min8_of(uint8_t x, uint8_t y) ATTR_ALWAYS_INLINE ATTR_CONST; -static inline uint8_t min8_of(uint8_t x, uint8_t y) -{ - return (x < y) ? x : y; -} - -static inline uint16_t min16_of(uint16_t x, uint16_t y) ATTR_ALWAYS_INLINE ATTR_CONST; -static inline uint16_t min16_of(uint16_t x, uint16_t y) -{ - return (x < y) ? x : y; -} - -static inline uint32_t min32_of(uint32_t x, uint32_t y) ATTR_ALWAYS_INLINE ATTR_CONST; -static inline uint32_t min32_of(uint32_t x, uint32_t y) -{ - return (x < y) ? x : y; -} - -//------------- Max -------------// -static inline uint32_t max32_of(uint32_t x, uint32_t y) ATTR_ALWAYS_INLINE ATTR_CONST; -static inline uint32_t max32_of(uint32_t x, uint32_t y) -{ - return (x > y) ? x : y; -} - -//------------- Align -------------// -static inline uint32_t align32 (uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST; -static inline uint32_t align32 (uint32_t value) -{ - return (value & 0xFFFFFFE0UL); -} - -static inline uint32_t align16 (uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST; -static inline uint32_t align16 (uint32_t value) -{ - return (value & 0xFFFFFFF0UL); -} - -static inline uint32_t align_n (uint32_t alignment, uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST; -static inline uint32_t align_n (uint32_t alignment, uint32_t value) -{ - return value & (~(alignment-1)); -} - -static inline uint32_t align4k (uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST; -static inline uint32_t align4k (uint32_t value) -{ - return (value & 0xFFFFF000UL); -} - -static inline uint32_t offset4k(uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST; -static inline uint32_t offset4k(uint32_t value) -{ - return (value & 0xFFFUL); -} - -//------------- Mathematics -------------// -/// inclusive range checking -static inline bool is_in_range(uint32_t lower, uint32_t value, uint32_t upper) ATTR_ALWAYS_INLINE ATTR_CONST; -static inline bool is_in_range(uint32_t lower, uint32_t value, uint32_t upper) -{ - return (lower <= value) && (value <= upper); -} - -/// exclusive range checking -static inline bool is_in_range_exclusive(uint32_t lower, uint32_t value, uint32_t upper) ATTR_ALWAYS_INLINE ATTR_CONST; -static inline bool is_in_range_exclusive(uint32_t lower, uint32_t value, uint32_t upper) -{ - return (lower < value) && (value < upper); -} - -static inline uint8_t log2_of(uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST; -static inline uint8_t log2_of(uint32_t value) -{ - uint8_t result = 0; // log2 of a value is its MSB's position - - while (value >>= 1) - { - result++; - } - return result; -} - -// return the number of set bits in value -static inline uint8_t cardinality_of(uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST; -static inline uint8_t cardinality_of(uint32_t value) -{ - // Brian Kernighan's method goes through as many iterations as there are set bits. So if we have a 32-bit word with only - // the high bit set, then it will only go once through the loop - // Published in 1988, the C Programming Language 2nd Ed. (by Brian W. Kernighan and Dennis M. Ritchie) - // mentions this in exercise 2-9. On April 19, 2006 Don Knuth pointed out to me that this method - // "was first published by Peter Wegner in CACM 3 (1960), 322. (Also discovered independently by Derrick Lehmer and - // published in 1964 in a book edited by Beckenbach.)" - uint8_t count; - for (count = 0; value; count++) - { - value &= value - 1; // clear the least significant bit set - } - - return count; -} - -#ifdef __cplusplus - } -#endif - -#endif /* _COMMON_H_ */ - -/** @} */ -/** @} */