From 4c3782349f8722006c85faf2f86676df5bde7c73 Mon Sep 17 00:00:00 2001
From: kouichi <kkoba@kirari-kobayashi.(none)>
Date: Wed, 11 Sep 2013 21:43:34 +0900
Subject: [PATCH] =?utf8?q?=E3=81=A8=E3=82=8A=E3=81=82=E3=81=88=E3=81=9A?=
 =?utf8?q?=E3=81=AEbluetooth=E5=AE=9F=E8=A3=85?=
MIME-Version: 1.0
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---
 main.cpp | 77 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 77 insertions(+)

diff --git a/main.cpp b/main.cpp
index 1942f49..6c22418 100644
--- a/main.cpp
+++ b/main.cpp
@@ -21,6 +21,13 @@
 
 using namespace ecrobot;
 
+/* sample_c4}N */
+#define DEVICE_NAME       "ET277"  /* BluetoothÊMpfoCX¼ */					/* `[IDÉÏXµÄ­¾³¢ */
+#define PASS_KEY          "2345" /* BluetoothÊMppXL[ */						/* ÅLÌpXL[ðÝèµÄ­¾³¢ */
+#define CMD_START         '1'    /* [gX^[gR}h */
+#define CMD_STOP          '9'    /* [gXgbvR}h */
+
+
 extern "C"
 {
 #include "kernel.h"
@@ -49,6 +56,31 @@ ETLinePos linepos(light);
 ETLineTracer tracer(linepos,runner);
 ETTailControl tailcontroler(motorT,0);
 ContextStuff::Context context;
+
+/* foCXú»ptbNÖ */
+/* ±ÌÖÍnxtOSEKN®ÉÀs³êÜ·B */
+void ecrobot_device_initialize()
+{
+	/* ZTA[^ÈÇÌefoCXÌú»Öð
+	 * ±±ÅÀ·é±ÆªÅ«Ü·
+	 * Ë@õZTÔFLEDðONÉ·é
+	 */
+	//ecrobot_set_light_sensor_active(SENSOR_LIGHT);
+	ecrobot_init_bt_slave(PASS_KEY); /* BluetoothÊMú» */						//ex4
+}
+
+/* foCXI¹ptbNÖ */
+/* ±ÌÖÍSTOPÜ½ÍEXIT{^ª³ê½ÉÀs³êÜ·B */
+void ecrobot_device_terminate()
+{
+	/* ZTA[^ÈÇÌefoCXÌI¹Öð
+	 * ±±ÅÀ·é±ÆªÅ«Ü·B
+	 * Ë@õZTÔFLEDðOFFÉ·é
+	 */
+	//ecrobot_set_light_sensor_inactive(SENSOR_LIGHT);
+	ecrobot_term_bt_connection(); /* BluetoothÊMðI¹ */							//ex4
+}
+
  
 // nxtOSEK hook to be invoked from an ISR in category 2
 void user_1ms_isr_type2(void)
@@ -63,8 +95,45 @@ void user_1ms_isr_type2(void)
     }
 }
 
+/* BluetoothÊMpf[^óMobt@ */
+static char rx_buf[BT_MAX_RX_BUF_SIZE];
+
+/*****************************************************************************
+ Ö¼ : Bluetooth_isReceived
+ ø   : óMÒ¿R}h
+ Ôèl : 1(X^[g)/0(Ò@)
+ T  v : BluetoothÊMÉæé[gX^[gB Tera TermÈÇÌ^[~i\tg©çA
+          ASCIIR[hÅ1ðM·éÆA[gX^[g·éB
+ *****************************************************************************/
+BOOL Bluetooth_isReceived(char cmd)
+{
+	int i;
+	unsigned int rx_len;
+	unsigned char come = 0;
+
+	for (i=0; i<BT_MAX_RX_BUF_SIZE; i++)
+	{
+		rx_buf[i] = 0; /* óMobt@ðNA */
+	}
+
+	rx_len = ecrobot_read_bt(rx_buf, 0, BT_MAX_RX_BUF_SIZE);
+	if (rx_len > 0)
+	{
+		/* óMf[^ è */
+		if (rx_buf[0] == cmd)
+		{
+			come = 1; /* R}hóM */
+		}
+		ecrobot_send_bt(rx_buf, 0, rx_len); /* óMf[^ðGR[obN */
+	}
+
+	return (BOOL)come;
+}
+
+
 TASK(TaskMain)
 {
+    bt.setFriendlyName(DEVICE_NAME);
 	lcd.clear();
 	lcd.putf("s", "Hello World");
 	lcd.disp();
@@ -132,11 +201,19 @@ TASK(TaskMain)
 	lcd.disp();
 	speaker.playTone(1400,100,50);
 
+
 	while(!touch.isPressed()){
         tailcontroler.Control();
 	}
 	while(touch.isPressed()){
 	}
+/*    while(1){
+        tailcontroler.Control();
+        if(Bluetooth_isReceived(CMD_START)){
+            break;
+        }
+    }
+*/
 	tailcontroler.SetAngle(ETTailControl::ANGLE_DRIVE);
     context.SetETLineTracer(&tracer);
 	TerminateTask();
-- 
2.11.0