とりあえずのbluetooth実装

diff --git a/main.cpp b/main.cpp
index 1942f49..6c22418 100644 (file)
--- a/main.cpp
+++ b/main.cpp
@@ -21,6 +21,13 @@
 \r
 using namespace ecrobot;\r
 \r
+/* sample_c4\83}\83N\83\8d */\r
+#define DEVICE_NAME       "ET277"  /* Bluetooth\92Ê\90M\97p\83f\83o\83C\83X\96¼ */                                     /* \83`\81[\83\80ID\82É\95Ï\8dX\82µ\82Ä\82­\82¾\82³\82¢ */\r
+#define PASS_KEY          "2345" /* Bluetooth\92Ê\90M\97p\83p\83X\83L\81[ */                                         /* \8cÅ\97L\82Ì\83p\83X\83L\81[\82ð\90Ý\92è\82µ\82Ä\82­\82¾\82³\82¢ */\r
+#define CMD_START         '1'    /* \83\8a\83\82\81[\83g\83X\83^\81[\83g\83R\83}\83\93\83h */\r
+#define CMD_STOP          '9'    /* \83\8a\83\82\81[\83g\83X\83g\83b\83v\83R\83}\83\93\83h */\r
+\r
+\r
 extern "C"\r
 {\r
 #include "kernel.h"\r
@@ -49,6 +56,31 @@ ETLinePos linepos(light);
 ETLineTracer tracer(linepos,runner);\r
 ETTailControl tailcontroler(motorT,0);\r
 ContextStuff::Context context;\r
+\r
+/* \83f\83o\83C\83X\8f\89\8aú\89»\97p\83t\83b\83N\8aÖ\90\94 */\r
+/* \82±\82Ì\8aÖ\90\94\82ÍnxtOSEK\8bN\93®\8e\9e\82É\8eÀ\8ds\82³\82ê\82Ü\82·\81B */\r
+void ecrobot_device_initialize()\r
+{\r
+       /* \83Z\83\93\83T\81A\83\82\81[\83^\82È\82Ç\82Ì\8ae\83f\83o\83C\83X\82Ì\8f\89\8aú\89»\8aÖ\90\94\82ð\r
+        * \82±\82±\82Å\8eÀ\91\95\82·\82é\82±\82Æ\82ª\82Å\82«\82Ü\82·\r
+        * \81Ë\81@\8cõ\83Z\83\93\83T\90Ô\90FLED\82ðON\82É\82·\82é\r
+        */\r
+       //ecrobot_set_light_sensor_active(SENSOR_LIGHT);\r
+       ecrobot_init_bt_slave(PASS_KEY); /* Bluetooth\92Ê\90M\8f\89\8aú\89» */                                              //ex4\r
+}\r
+\r
+/* \83f\83o\83C\83X\8fI\97¹\97p\83t\83b\83N\8aÖ\90\94 */\r
+/* \82±\82Ì\8aÖ\90\94\82ÍSTOP\82Ü\82½\82ÍEXIT\83{\83^\83\93\82ª\89\9f\82³\82ê\82½\8e\9e\82É\8eÀ\8ds\82³\82ê\82Ü\82·\81B */\r
+void ecrobot_device_terminate()\r
+{\r
+       /* \83Z\83\93\83T\81A\83\82\81[\83^\82È\82Ç\82Ì\8ae\83f\83o\83C\83X\82Ì\8fI\97¹\8aÖ\90\94\82ð\r
+        * \82±\82±\82Å\8eÀ\91\95\82·\82é\82±\82Æ\82ª\82Å\82«\82Ü\82·\81B\r
+        * \81Ë\81@\8cõ\83Z\83\93\83T\90Ô\90FLED\82ðOFF\82É\82·\82é\r
+        */\r
+       //ecrobot_set_light_sensor_inactive(SENSOR_LIGHT);\r
+       ecrobot_term_bt_connection(); /* Bluetooth\92Ê\90M\82ð\8fI\97¹ */                                                 //ex4\r
+}\r
+\r
  \r
 // nxtOSEK hook to be invoked from an ISR in category 2\r
 void user_1ms_isr_type2(void)\r
@@ -63,8 +95,45 @@ void user_1ms_isr_type2(void)
     }\r
 }\r
 \r
+/* Bluetooth\92Ê\90M\97p\83f\81[\83^\8eó\90M\83o\83b\83t\83@ */\r
+static char rx_buf[BT_MAX_RX_BUF_SIZE];\r
+\r
+/*****************************************************************************\r
+ \8aÖ\90\94\96¼ : Bluetooth_isReceived\r
+ \88ø  \90\94 : \8eó\90M\91Ò\82¿\83R\83}\83\93\83h\r
+ \95Ô\82è\92l : 1(\83X\83^\81[\83g)/0(\91Ò\8b@)\r
+ \8aT  \97v : Bluetooth\92Ê\90M\82É\82æ\82é\83\8a\83\82\81[\83g\83X\83^\81[\83g\81B Tera Term\82È\82Ç\82Ì\83^\81[\83~\83i\83\8b\83\\83t\83g\82©\82ç\81A\r
+          ASCII\83R\81[\83h\82Å1\82ð\91\97\90M\82·\82é\82Æ\81A\83\8a\83\82\81[\83g\83X\83^\81[\83g\82·\82é\81B\r
+ *****************************************************************************/\r
+BOOL Bluetooth_isReceived(char cmd)\r
+{\r
+       int i;\r
+       unsigned int rx_len;\r
+       unsigned char come = 0;\r
+\r
+       for (i=0; i<BT_MAX_RX_BUF_SIZE; i++)\r
+       {\r
+               rx_buf[i] = 0; /* \8eó\90M\83o\83b\83t\83@\82ð\83N\83\8a\83A */\r
+       }\r
+\r
+       rx_len = ecrobot_read_bt(rx_buf, 0, BT_MAX_RX_BUF_SIZE);\r
+       if (rx_len > 0)\r
+       {\r
+               /* \8eó\90M\83f\81[\83^\82 \82è */\r
+               if (rx_buf[0] == cmd)\r
+               {\r
+                       come = 1; /* \83R\83}\83\93\83h\8eó\90M */\r
+               }\r
+               ecrobot_send_bt(rx_buf, 0, rx_len); /* \8eó\90M\83f\81[\83^\82ð\83G\83R\81[\83o\83b\83N */\r
+       }\r
+\r
+       return (BOOL)come;\r
+}\r
+\r
+\r
 TASK(TaskMain)\r
 {\r
+    bt.setFriendlyName(DEVICE_NAME);\r
        lcd.clear();\r
        lcd.putf("s", "Hello World");\r
        lcd.disp();\r
@@ -132,11 +201,19 @@ TASK(TaskMain)
        lcd.disp();\r
        speaker.playTone(1400,100,50);\r
 \r
+\r
        while(!touch.isPressed()){\r
         tailcontroler.Control();\r
        }\r
        while(touch.isPressed()){\r
        }\r
+/*    while(1){\r
+        tailcontroler.Control();\r
+        if(Bluetooth_isReceived(CMD_START)){\r
+            break;\r
+        }\r
+    }\r
+*/\r
        tailcontroler.SetAngle(ETTailControl::ANGLE_DRIVE);\r
     context.SetETLineTracer(&tracer);\r
        TerminateTask();\r