main.cpp

00001 /**
00002  * digitalInOut.pde
00003  * RTno is RT-middleware and arduino.
00004  *
00005  * Using RTno, arduino device can communicate any RT-components
00006  *  through the RTno-proxy component which is launched in PC.
00007  * Connect arduino with USB, and program with RTno library.
00008  * You do not have to define any protocols to establish communication
00009  *  between arduino and PC.
00010  *
00011  * Using RTno, you must not define the function "setup" and "loop".
00012  * Those functions are automatically defined in the RTno libarary.
00013  * You, developers, must define following functions:
00014  *  int onInitialize(void);
00015  *  int onActivated(void);
00016  *  int onDeactivated(void);
00017  *  int onExecute(void);
00018  *  int onError(void);
00019  *  int onReset(void);
00020  * These functions are spontaneously called by the RTno-proxy
00021  *  RT-component which is launched in the PC.
00022  */
00023 
00024 #include "mbed.h"
00025 #include "RTno.h"
00026 #include "Serial.h"
00027 DigitalIn inPorts[] = {(p5), (p6),(p7),(p8),(p9),(p10)};
00028 DigitalOut outPorts[] = {(p15),(p16),(p17),(p18),(p19),(p20)};
00029 DigitalOut leds[] = {(LED1),(LED2),(LED3),(LED4)};
00030 
00031 /**
00032  * This function is called at first.
00033  * conf._default.baudrate: baudrate of serial communication
00034  * exec_cxt.periodic.type: reserved but not used.
00035  */
00036 void rtcconf(void) {
00037     conf._default.baudrate = 115200;
00038     exec_cxt.periodic.type = ProxySynchronousExecutionContext;
00039 }
00040 
00041 /**
00042  * Declaration Division:
00043  *
00044  * DataPort and Data Buffer should be placed here.
00045  *
00046  * Currently, following 6 types are available.
00047  * TimedLong:
00048  * TimedDouble:
00049  * TimedFloat:
00050  * TimedLongSeq:
00051  * TimedDoubleSeq:
00052  * TimedFloatSeq:
00053  *
00054  * Please refer following comments. If you need to use some ports,
00055  * uncomment the line you want to declare.
00056  **/
00057 
00058 TimedLongSeq led;
00059 InPort ledIn("led", led);
00060 
00061 TimedLongSeq in0;
00062 InPort in0In("in0", in0);
00063 
00064 TimedLongSeq out0;
00065 OutPort out0Out("out0", out0);
00066 
00067 
00068 //////////////////////////////////////////
00069 // on_initialize
00070 //
00071 // This function is called in the initialization
00072 // sequence. The sequence is triggered by the
00073 // PC. When the RTnoRTC is launched in the PC,
00074 // then, this function is remotely called
00075 // through the USB cable.
00076 // In on_initialize, usually DataPorts are added.
00077 //
00078 //////////////////////////////////////////
00079 int RTno::onInitialize() {
00080     /* Data Ports are added in this section.
00081     */
00082     addInPort(ledIn);
00083     addInPort(in0In);
00084     addOutPort(out0Out);
00085 
00086     // Some initialization (like port direction setting)
00087 
00088     return RTC_OK;
00089 }
00090 
00091 ////////////////////////////////////////////
00092 // on_activated
00093 // This function is called when the RTnoRTC
00094 // is activated. When the activation, the RTnoRTC
00095 // sends message to call this function remotely.
00096 // If this function is failed (return value
00097 // is RTC_ERROR), RTno will enter ERROR condition.
00098 ////////////////////////////////////////////
00099 int RTno::onActivated() {
00100     // Write here initialization code.
00101 
00102     return RTC_OK;
00103 }
00104 
00105 /////////////////////////////////////////////
00106 // on_deactivated
00107 // This function is called when the RTnoRTC
00108 // is deactivated.
00109 /////////////////////////////////////////////
00110 int RTno::onDeactivated() {
00111     // Write here finalization code.
00112 
00113     return RTC_OK;
00114 }
00115 
00116 //////////////////////////////////////////////
00117 // This function is repeatedly called when the
00118 // RTno is in the ACTIVE condition.
00119 // If this function is failed (return value is
00120 // RTC_ERROR), RTno immediately enter into the
00121 // ERROR condition.r
00122 //////////////////////////////////////////////
00123 int RTno::onExecute() {
00124 
00125     /*
00126      * Input digital data
00127      */
00128 
00129     if (ledIn.isNew()) {
00130         ledIn.read();
00131         for (int i = 0; i < led.data.length() && i < 4; i++) {
00132             leds[i] =led.data[i];
00133         }
00134     }
00135 
00136 
00137         if (in0In.isNew()) {
00138             in0In.read();
00139             for (int i = 0; i < in0.data.length() && i < 6; i++) {
00140                 outPorts[i] =in0.data[i];
00141             }
00142         }
00143     
00144 
00145     /*
00146      * Output digital data in Voltage unit.
00147      */
00148     out0.data.length(6);
00149     for (int i = 0; i < 6; i++) {
00150        out0.data[i] = inPorts[i];
00151     }
00152     out0Out.write();
00153 
00154     return RTC_OK;
00155 }
00156 
00157 
00158 //////////////////////////////////////
00159 // on_error
00160 // This function is repeatedly called when
00161 // the RTno is in the ERROR condition.
00162 // The ERROR condition can be recovered,
00163 // when the RTno is reset.
00164 ///////////////////////////////////////
00165 int RTno::onError() {
00166     return RTC_OK;
00167 }
00168 
00169 ////////////////////////////////////////
00170 // This function is called when
00171 // the RTno is reset. If on_reset is
00172 // succeeded, the RTno will enter into
00173 // the INACTIVE condition. If failed
00174 // (return value is RTC_ERROR), RTno
00175 // will stay in ERROR condition.ec
00176 ///////////////////////////////////////
00177 int RTno::onReset() {
00178     return RTC_OK;
00179 }