User | Revision | Line number | New contents of line |
nucho |
0:b14546a3cfab
|
1
|
/**
|
nucho |
0:b14546a3cfab
|
2
|
* digitalInOut.pde
|
nucho |
0:b14546a3cfab
|
3
|
* RTno is RT-middleware and arduino.
|
nucho |
0:b14546a3cfab
|
4
|
*
|
nucho |
0:b14546a3cfab
|
5
|
* Using RTno, arduino device can communicate any RT-components
|
nucho |
0:b14546a3cfab
|
6
|
* through the RTno-proxy component which is launched in PC.
|
nucho |
0:b14546a3cfab
|
7
|
* Connect arduino with USB, and program with RTno library.
|
nucho |
0:b14546a3cfab
|
8
|
* You do not have to define any protocols to establish communication
|
nucho |
0:b14546a3cfab
|
9
|
* between arduino and PC.
|
nucho |
0:b14546a3cfab
|
10
|
*
|
nucho |
0:b14546a3cfab
|
11
|
* Using RTno, you must not define the function "setup" and "loop".
|
nucho |
0:b14546a3cfab
|
12
|
* Those functions are automatically defined in the RTno libarary.
|
nucho |
0:b14546a3cfab
|
13
|
* You, developers, must define following functions:
|
nucho |
0:b14546a3cfab
|
14
|
* int onInitialize(void);
|
nucho |
0:b14546a3cfab
|
15
|
* int onActivated(void);
|
nucho |
0:b14546a3cfab
|
16
|
* int onDeactivated(void);
|
nucho |
0:b14546a3cfab
|
17
|
* int onExecute(void);
|
nucho |
0:b14546a3cfab
|
18
|
* int onError(void);
|
nucho |
0:b14546a3cfab
|
19
|
* int onReset(void);
|
nucho |
0:b14546a3cfab
|
20
|
* These functions are spontaneously called by the RTno-proxy
|
nucho |
0:b14546a3cfab
|
21
|
* RT-component which is launched in the PC.
|
nucho |
0:b14546a3cfab
|
22
|
*/
|
nucho |
0:b14546a3cfab
|
23
|
|
nucho |
0:b14546a3cfab
|
24
|
#include "mbed.h"
|
nucho |
0:b14546a3cfab
|
25
|
#include "RTno.h"
|
nucho |
0:b14546a3cfab
|
26
|
|
nucho |
0:b14546a3cfab
|
27
|
DigitalIn inPorts[] = {(p5), (p6),(p7),(p8),(p9),(p10)};
|
nucho |
0:b14546a3cfab
|
28
|
DigitalOut outPorts[] = {(p15),(p16),(p17),(p18),(p19),(p20)};
|
nucho |
0:b14546a3cfab
|
29
|
DigitalOut leds[] = {(LED1),(LED2),(LED3),(LED4)};
|
nucho |
0:b14546a3cfab
|
30
|
|
nucho |
0:b14546a3cfab
|
31
|
/**
|
nucho |
0:b14546a3cfab
|
32
|
* This function is called at first.
|
nucho |
0:b14546a3cfab
|
33
|
* conf._default.baudrate: baudrate of serial communication
|
nucho |
0:b14546a3cfab
|
34
|
* exec_cxt.periodic.type: reserved but not used.
|
nucho |
0:b14546a3cfab
|
35
|
*/
|
nucho |
0:b14546a3cfab
|
36
|
void rtcconf(void) {
|
nucho |
0:b14546a3cfab
|
37
|
conf._default.baudrate = 115200;
|
nucho |
0:b14546a3cfab
|
38
|
exec_cxt.periodic.type = ProxySynchronousExecutionContext;
|
nucho |
0:b14546a3cfab
|
39
|
}
|
nucho |
0:b14546a3cfab
|
40
|
|
nucho |
0:b14546a3cfab
|
41
|
/**
|
nucho |
0:b14546a3cfab
|
42
|
* Declaration Division:
|
nucho |
0:b14546a3cfab
|
43
|
*
|
nucho |
0:b14546a3cfab
|
44
|
* DataPort and Data Buffer should be placed here.
|
nucho |
0:b14546a3cfab
|
45
|
*
|
nucho |
0:b14546a3cfab
|
46
|
* Currently, following 6 types are available.
|
nucho |
0:b14546a3cfab
|
47
|
* TimedLong:
|
nucho |
0:b14546a3cfab
|
48
|
* TimedDouble:
|
nucho |
0:b14546a3cfab
|
49
|
* TimedFloat:
|
nucho |
0:b14546a3cfab
|
50
|
* TimedLongSeq:
|
nucho |
0:b14546a3cfab
|
51
|
* TimedDoubleSeq:
|
nucho |
0:b14546a3cfab
|
52
|
* TimedFloatSeq:
|
nucho |
0:b14546a3cfab
|
53
|
*
|
nucho |
0:b14546a3cfab
|
54
|
* Please refer following comments. If you need to use some ports,
|
nucho |
0:b14546a3cfab
|
55
|
* uncomment the line you want to declare.
|
nucho |
0:b14546a3cfab
|
56
|
**/
|
nucho |
0:b14546a3cfab
|
57
|
TimedLongSeq led;
|
nucho |
0:b14546a3cfab
|
58
|
InPort ledIn("led", led);
|
nucho |
0:b14546a3cfab
|
59
|
|
nucho |
0:b14546a3cfab
|
60
|
TimedLongSeq in0;
|
nucho |
0:b14546a3cfab
|
61
|
InPort in0In("in0", in0);
|
nucho |
0:b14546a3cfab
|
62
|
|
nucho |
0:b14546a3cfab
|
63
|
TimedLongSeq out0;
|
nucho |
0:b14546a3cfab
|
64
|
OutPort out0Out("out0", out0);
|
nucho |
0:b14546a3cfab
|
65
|
|
nucho |
0:b14546a3cfab
|
66
|
//////////////////////////////////////////
|
nucho |
0:b14546a3cfab
|
67
|
// on_initialize
|
nucho |
0:b14546a3cfab
|
68
|
//
|
nucho |
0:b14546a3cfab
|
69
|
// This function is called in the initialization
|
nucho |
0:b14546a3cfab
|
70
|
// sequence. The sequence is triggered by the
|
nucho |
0:b14546a3cfab
|
71
|
// PC. When the RTnoRTC is launched in the PC,
|
nucho |
0:b14546a3cfab
|
72
|
// then, this function is remotely called
|
nucho |
0:b14546a3cfab
|
73
|
// through the USB cable.
|
nucho |
0:b14546a3cfab
|
74
|
// In on_initialize, usually DataPorts are added.
|
nucho |
0:b14546a3cfab
|
75
|
//
|
nucho |
0:b14546a3cfab
|
76
|
//////////////////////////////////////////
|
nucho |
0:b14546a3cfab
|
77
|
int RTno::onInitialize() {
|
nucho |
0:b14546a3cfab
|
78
|
/* Data Ports are added in this section.
|
nucho |
0:b14546a3cfab
|
79
|
*/
|
nucho |
0:b14546a3cfab
|
80
|
addInPort(ledIn);
|
nucho |
0:b14546a3cfab
|
81
|
addInPort(in0In);
|
nucho |
0:b14546a3cfab
|
82
|
addOutPort(out0Out);
|
nucho |
0:b14546a3cfab
|
83
|
|
nucho |
0:b14546a3cfab
|
84
|
// Some initialization (like port direction setting)
|
nucho |
0:b14546a3cfab
|
85
|
|
nucho |
0:b14546a3cfab
|
86
|
return RTC_OK;
|
nucho |
0:b14546a3cfab
|
87
|
}
|
nucho |
0:b14546a3cfab
|
88
|
|
nucho |
0:b14546a3cfab
|
89
|
////////////////////////////////////////////
|
nucho |
0:b14546a3cfab
|
90
|
// on_activated
|
nucho |
0:b14546a3cfab
|
91
|
// This function is called when the RTnoRTC
|
nucho |
0:b14546a3cfab
|
92
|
// is activated. When the activation, the RTnoRTC
|
nucho |
0:b14546a3cfab
|
93
|
// sends message to call this function remotely.
|
nucho |
0:b14546a3cfab
|
94
|
// If this function is failed (return value
|
nucho |
0:b14546a3cfab
|
95
|
// is RTC_ERROR), RTno will enter ERROR condition.
|
nucho |
0:b14546a3cfab
|
96
|
////////////////////////////////////////////
|
nucho |
0:b14546a3cfab
|
97
|
int RTno::onActivated() {
|
nucho |
0:b14546a3cfab
|
98
|
// Write here initialization code.
|
nucho |
0:b14546a3cfab
|
99
|
|
nucho |
0:b14546a3cfab
|
100
|
return RTC_OK;
|
nucho |
0:b14546a3cfab
|
101
|
}
|
nucho |
0:b14546a3cfab
|
102
|
|
nucho |
0:b14546a3cfab
|
103
|
/////////////////////////////////////////////
|
nucho |
0:b14546a3cfab
|
104
|
// on_deactivated
|
nucho |
0:b14546a3cfab
|
105
|
// This function is called when the RTnoRTC
|
nucho |
0:b14546a3cfab
|
106
|
// is deactivated.
|
nucho |
0:b14546a3cfab
|
107
|
/////////////////////////////////////////////
|
nucho |
0:b14546a3cfab
|
108
|
int RTno::onDeactivated() {
|
nucho |
0:b14546a3cfab
|
109
|
// Write here finalization code.
|
nucho |
0:b14546a3cfab
|
110
|
|
nucho |
0:b14546a3cfab
|
111
|
return RTC_OK;
|
nucho |
0:b14546a3cfab
|
112
|
}
|
nucho |
0:b14546a3cfab
|
113
|
|
nucho |
0:b14546a3cfab
|
114
|
//////////////////////////////////////////////
|
nucho |
0:b14546a3cfab
|
115
|
// This function is repeatedly called when the
|
nucho |
0:b14546a3cfab
|
116
|
// RTno is in the ACTIVE condition.
|
nucho |
0:b14546a3cfab
|
117
|
// If this function is failed (return value is
|
nucho |
0:b14546a3cfab
|
118
|
// RTC_ERROR), RTno immediately enter into the
|
nucho |
0:b14546a3cfab
|
119
|
// ERROR condition.r
|
nucho |
0:b14546a3cfab
|
120
|
//////////////////////////////////////////////
|
nucho |
0:b14546a3cfab
|
121
|
int RTno::onExecute() {
|
nucho |
0:b14546a3cfab
|
122
|
|
nucho |
0:b14546a3cfab
|
123
|
/*
|
nucho |
0:b14546a3cfab
|
124
|
* Input digital data
|
nucho |
0:b14546a3cfab
|
125
|
*/
|
nucho |
0:b14546a3cfab
|
126
|
if (ledIn.isNew()) {
|
nucho |
0:b14546a3cfab
|
127
|
ledIn.read();
|
nucho |
0:b14546a3cfab
|
128
|
for (int i = 0; i < led.data.length() && i < 4; i++) {
|
nucho |
0:b14546a3cfab
|
129
|
leds[i] =led.data[i];
|
nucho |
0:b14546a3cfab
|
130
|
}
|
nucho |
0:b14546a3cfab
|
131
|
}
|
nucho |
0:b14546a3cfab
|
132
|
|
nucho |
0:b14546a3cfab
|
133
|
if (in0In.isNew()) {
|
nucho |
0:b14546a3cfab
|
134
|
in0In.read();
|
nucho |
0:b14546a3cfab
|
135
|
for (int i = 0; i < in0.data.length() && i < 6; i++) {
|
nucho |
0:b14546a3cfab
|
136
|
outPorts[i] =in0.data[i];
|
nucho |
0:b14546a3cfab
|
137
|
}
|
nucho |
0:b14546a3cfab
|
138
|
}
|
nucho |
0:b14546a3cfab
|
139
|
|
nucho |
0:b14546a3cfab
|
140
|
|
nucho |
0:b14546a3cfab
|
141
|
/*
|
nucho |
0:b14546a3cfab
|
142
|
* Output digital data in Voltage unit.
|
nucho |
0:b14546a3cfab
|
143
|
*/
|
nucho |
0:b14546a3cfab
|
144
|
out0.data.length(6);
|
nucho |
0:b14546a3cfab
|
145
|
for (int i = 0; i < 6; i++) {
|
nucho |
0:b14546a3cfab
|
146
|
out0.data[i] = inPorts[i];
|
nucho |
0:b14546a3cfab
|
147
|
}
|
nucho |
0:b14546a3cfab
|
148
|
out0Out.write();
|
nucho |
0:b14546a3cfab
|
149
|
|
nucho |
0:b14546a3cfab
|
150
|
return RTC_OK;
|
nucho |
0:b14546a3cfab
|
151
|
}
|
nucho |
0:b14546a3cfab
|
152
|
|
nucho |
0:b14546a3cfab
|
153
|
|
nucho |
0:b14546a3cfab
|
154
|
//////////////////////////////////////
|
nucho |
0:b14546a3cfab
|
155
|
// on_error
|
nucho |
0:b14546a3cfab
|
156
|
// This function is repeatedly called when
|
nucho |
0:b14546a3cfab
|
157
|
// the RTno is in the ERROR condition.
|
nucho |
0:b14546a3cfab
|
158
|
// The ERROR condition can be recovered,
|
nucho |
0:b14546a3cfab
|
159
|
// when the RTno is reset.
|
nucho |
0:b14546a3cfab
|
160
|
///////////////////////////////////////
|
nucho |
0:b14546a3cfab
|
161
|
int RTno::onError() {
|
nucho |
0:b14546a3cfab
|
162
|
return RTC_OK;
|
nucho |
0:b14546a3cfab
|
163
|
}
|
nucho |
0:b14546a3cfab
|
164
|
|
nucho |
0:b14546a3cfab
|
165
|
////////////////////////////////////////
|
nucho |
0:b14546a3cfab
|
166
|
// This function is called when
|
nucho |
0:b14546a3cfab
|
167
|
// the RTno is reset. If on_reset is
|
nucho |
0:b14546a3cfab
|
168
|
// succeeded, the RTno will enter into
|
nucho |
0:b14546a3cfab
|
169
|
// the INACTIVE condition. If failed
|
nucho |
0:b14546a3cfab
|
170
|
// (return value is RTC_ERROR), RTno
|
nucho |
0:b14546a3cfab
|
171
|
// will stay in ERROR condition.ec
|
nucho |
0:b14546a3cfab
|
172
|
///////////////////////////////////////
|
nucho |
0:b14546a3cfab
|
173
|
int RTno::onReset() {
|
nucho |
0:b14546a3cfab
|
174
|
return RTC_OK;
|
nucho |
0:b14546a3cfab
|
175
|
}
|