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/**
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* digitalInOut.pde
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* RTno is RT-middleware and arduino.
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*
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* Using RTno, arduino device can communicate any RT-components
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* through the RTno-proxy component which is launched in PC.
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* Connect arduino with USB, and program with RTno library.
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* You do not have to define any protocols to establish communication
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* between arduino and PC.
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*
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* Using RTno, you must not define the function "setup" and "loop".
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* Those functions are automatically defined in the RTno libarary.
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* You, developers, must define following functions:
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* int onInitialize(void);
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* int onActivated(void);
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* int onDeactivated(void);
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* int onExecute(void);
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* int onError(void);
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* int onReset(void);
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* These functions are spontaneously called by the RTno-proxy
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* RT-component which is launched in the PC.
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*/
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#include "mbed.h"
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#include "RTno.h"
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#include "Serial.h"
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DigitalIn inPorts[] = {(p5), (p6),(p7),(p8),(p9),(p10)};
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DigitalOut outPorts[] = {(p15),(p16),(p17),(p18),(p19),(p20)};
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DigitalOut leds[] = {(LED1),(LED2),(LED3),(LED4)};
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/**
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* This function is called at first.
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* conf._default.baudrate: baudrate of serial communication
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* exec_cxt.periodic.type: reserved but not used.
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*/
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void rtcconf(void) {
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conf._default.baudrate = 115200;
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exec_cxt.periodic.type = ProxySynchronousExecutionContext;
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}
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/**
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* Declaration Division:
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*
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* DataPort and Data Buffer should be placed here.
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*
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* Currently, following 6 types are available.
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* TimedLong:
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* TimedDouble:
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* TimedFloat:
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* TimedLongSeq:
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* TimedDoubleSeq:
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* TimedFloatSeq:
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*
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* Please refer following comments. If you need to use some ports,
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* uncomment the line you want to declare.
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**/
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TimedLongSeq led;
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InPort ledIn("led", led);
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TimedLongSeq in0;
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InPort in0In("in0", in0);
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TimedLongSeq out0;
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OutPort out0Out("out0", out0);
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//////////////////////////////////////////
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// on_initialize
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//
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// This function is called in the initialization
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// sequence. The sequence is triggered by the
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// PC. When the RTnoRTC is launched in the PC,
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// then, this function is remotely called
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// through the USB cable.
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// In on_initialize, usually DataPorts are added.
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//
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//////////////////////////////////////////
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int RTno::onInitialize() {
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/* Data Ports are added in this section.
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*/
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addInPort(ledIn);
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addInPort(in0In);
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addOutPort(out0Out);
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// Some initialization (like port direction setting)
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return RTC_OK;
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}
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////////////////////////////////////////////
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// on_activated
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// This function is called when the RTnoRTC
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// is activated. When the activation, the RTnoRTC
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// sends message to call this function remotely.
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// If this function is failed (return value
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// is RTC_ERROR), RTno will enter ERROR condition.
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////////////////////////////////////////////
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int RTno::onActivated() {
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// Write here initialization code.
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return RTC_OK;
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}
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/////////////////////////////////////////////
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// on_deactivated
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// This function is called when the RTnoRTC
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// is deactivated.
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/////////////////////////////////////////////
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int RTno::onDeactivated() {
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// Write here finalization code.
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return RTC_OK;
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}
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//////////////////////////////////////////////
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// This function is repeatedly called when the
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// RTno is in the ACTIVE condition.
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// If this function is failed (return value is
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// RTC_ERROR), RTno immediately enter into the
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// ERROR condition.r
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//////////////////////////////////////////////
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int RTno::onExecute() {
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/*
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* Input digital data
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*/
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if (ledIn.isNew()) {
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ledIn.read();
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for (int i = 0; i < led.data.length() && i < 4; i++) {
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leds[i] =led.data[i];
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}
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}
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if (in0In.isNew()) {
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in0In.read();
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for (int i = 0; i < in0.data.length() && i < 6; i++) {
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outPorts[i] =in0.data[i];
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}
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}
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/*
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* Output digital data in Voltage unit.
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*/
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out0.data.length(6);
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for (int i = 0; i < 6; i++) {
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out0.data[i] = inPorts[i];
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}
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out0Out.write();
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return RTC_OK;
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}
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//////////////////////////////////////
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// on_error
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// This function is repeatedly called when
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// the RTno is in the ERROR condition.
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// The ERROR condition can be recovered,
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// when the RTno is reset.
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///////////////////////////////////////
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int RTno::onError() {
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return RTC_OK;
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}
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////////////////////////////////////////
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// This function is called when
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// the RTno is reset. If on_reset is
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// succeeded, the RTno will enter into
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// the INACTIVE condition. If failed
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// (return value is RTC_ERROR), RTno
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// will stay in ERROR condition.ec
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///////////////////////////////////////
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int RTno::onReset() {
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return RTC_OK;
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}
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