main.cpp

00001 #include "mbed.h"
00002 
00003 
00004 
00005 /**
00006  * RTno_Template.pde
00007  * RTno is RT-middleware and arduino.
00008  *
00009  * Using RTno, arduino device can communicate any RT-components 
00010  *  through the RTno-proxy component which is launched in PC.
00011  * Connect arduino with USB, and program with RTno library.
00012  * You do not have to define any protocols to establish communication
00013  *  between arduino and PC.
00014  *
00015  * Using RTno, you must not define the function "setup" and "loop".
00016  * Those functions are automatically defined in the RTno libarary.
00017  * You, developers, must define following functions:
00018  *  int onInitialize(void);
00019  *  int onActivated(void);
00020  *  int onDeactivated(void);
00021  *  int onExecute(void);
00022  *  int onError(void);
00023  *  int onReset(void);
00024  * These functions are spontaneously called by the RTno-proxy
00025  *  RT-component which is launched in the PC.
00026  * @author Yuki Suga
00027  * This code is written/distributed for public-domain.
00028  */
00029 
00030 #include <RTno.h>
00031 
00032 /**
00033  * This function is called at first.
00034  * conf._default.baudrate: baudrate of serial communication
00035  * exec_cxt.periodic.type: reserved but not used.
00036  */
00037 void rtcconf(config_str& conf, exec_cxt_str& exec_cxt) {
00038   // If you want to use Serial Connection, configure below:
00039    conf._default.connection_type = ConnectionTypeSerialUSB; // USBTX & USBRX (In Windows, Driver must be updated.)
00040    //conf._default.connection_type = ConnectionTypeSerial1; // pin9=tx, pin10=rx
00041    //conf._default.connection_type = ConnectionTypeSerial2; // pin13=tx, pin14=rx
00042    //conf._default.connection_type = ConnectionTypeSerial3; // pin28=tx, pin27=rx
00043    conf._default.baudrate = 57600; // This value is required when you select ConnectionTypeSerial*
00044   
00045   // If you want to use EthernetTCP, configure below:
00046   //conf._default.connection_type = ConnectionTypeEtherTcp;
00047   //conf._default.port = 23;
00048   //conf._default.mac_address = MACaddr(0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED);
00049   //conf._default.ip_address = IPaddr(192,168,42,100);
00050   //conf._default.subnet_mask = IPaddr(255,255,255,0);
00051   //conf._default.default_gateway = IPaddr(192,168,42,254);
00052   // exec_cxt.periodic.type = ProxySynchronousExecutionContext;
00053    exec_cxt.periodic.type = Timer1ExecutionContext; // onExecute is called by Timer1. Period must be specified by 'rate' option.
00054    exec_cxt.periodic.rate = 100; // [Hz] This option is indispensable when type is Timer*ExecutionContext.
00055 }
00056 
00057 
00058 /** 
00059  * Declaration Division:
00060  *
00061  * DataPort and Data Buffer should be placed here.
00062  *
00063  * available data types are as follows:
00064  * TimedLong
00065  * TimedDouble
00066  * TimedFloat
00067  * TimedLongSeq
00068  * TimedDoubleSeq
00069  * TimedFloatSeq
00070  *
00071  * Please refer following comments. If you need to use some ports,
00072  * uncomment the line you want to declare.
00073  **/
00074 //TimedLong in0;
00075 //InPort<TimedLong> in0In("in0", in0);
00076 //TimedLongSeq in0;
00077 //InPort<TimedLongSeq> in0In("in0", in0);
00078 
00079 //TimedLong out0;
00080 //OutPort<TimedLong> out0Out("out0", out0);
00081 TimedDoubleSeq out0;
00082 OutPort<TimedDoubleSeq> out0Out("out0", out0);
00083 
00084 
00085 AnalogIn adcIn0(p15);
00086 AnalogIn adcIn1(p16);
00087 AnalogIn adcIn2(p17);
00088 AnalogIn adcIn3(p18);
00089 AnalogIn adcIn4(p19);
00090 AnalogIn adcIn5(p20);
00091 
00092 //////////////////////////////////////////
00093 // on_initialize
00094 //
00095 // This function is called in the initialization
00096 // sequence. The sequence is triggered by the
00097 // PC. When the RTnoRTC is launched in the PC,
00098 // then, this function is remotely called
00099 // through the USB cable.
00100 // In on_initialize, usually DataPorts are added.
00101 //
00102 //////////////////////////////////////////
00103 int RTno::onInitialize() {
00104   /* Data Ports are added in this section.
00105    * addInPort(in1In);
00106    * 
00107    * addOutPort(out1Out);
00108    */
00109   addOutPort(out0Out);
00110   
00111   // Some initialization (like port direction setting)
00112   // int LED = 13;
00113   return RTC_OK; 
00114 }
00115 
00116 ////////////////////////////////////////////
00117 // on_activated
00118 // This function is called when the RTnoRTC
00119 // is activated. When the activation, the RTnoRTC
00120 // sends message to call this function remotely.
00121 // If this function is failed (return value 
00122 // is RTC_ERROR), RTno will enter ERROR condition.
00123 ////////////////////////////////////////////
00124 int RTno::onActivated() {
00125   // Write here initialization code.
00126   return RTC_OK; 
00127 }
00128 
00129 /////////////////////////////////////////////
00130 // on_deactivated
00131 // This function is called when the RTnoRTC
00132 // is deactivated.
00133 /////////////////////////////////////////////
00134 int RTno::onDeactivated()
00135 {
00136   // Write here finalization code.
00137   return RTC_OK;
00138 }
00139 
00140 //////////////////////////////////////////////
00141 // This function is repeatedly called when the 
00142 // RTno is in the ACTIVE condition.
00143 // If this function is failed (return value is
00144 // RTC_ERROR), RTno immediately enter into the 
00145 // ERROR condition.r
00146 //////////////////////////////////////////////
00147 int RTno::onExecute() {
00148   /**
00149    * Usage of InPort with premitive type.
00150    */
00151    /*
00152   if(in0In.isNew()) {
00153     in0In.read();
00154     led = in0.data;
00155   } 
00156   */
00157   
00158   
00159   /**
00160    * Usage of InPort with sequence type
00161    */
00162   /* 
00163   if(in0In.isNew(&in1In)) {
00164     in0In.read();
00165     for(int i = 0;i < in0.data.length;i++) {
00166       long data_buffer = in0.data[i];
00167     }
00168   }
00169   */
00170   
00171   /**
00172    * Usage of OutPort with primitive type.
00173   out0.data = 3.14159;
00174   out0Out.write();
00175   */
00176   
00177   /**
00178    * Usage of OutPort with sequence type.
00179    */
00180   out0.data.length(6);
00181   out0.data[0] = (float)(adcIn0.read_u16() >> 4) * 3.0 / 1024;
00182   out0.data[1] = (float)(adcIn1.read_u16() >> 4) * 3.0 / 1024;
00183   out0.data[2] = (float)(adcIn2.read_u16() >> 4) * 3.0 / 1024;
00184   out0.data[3] = (float)(adcIn3.read_u16() >> 4) * 3.0 / 1024;
00185   out0.data[4] = (float)(adcIn4.read_u16() >> 4) * 3.0 / 1024;
00186   out0.data[5] = (float)(adcIn5.read_u16() >> 4) * 3.0 / 1024;
00187   out0Out.write();
00188   
00189     
00190   return RTC_OK; 
00191 }
00192 
00193 
00194 //////////////////////////////////////
00195 // on_error
00196 // This function is repeatedly called when
00197 // the RTno is in the ERROR condition.
00198 // The ERROR condition can be recovered,
00199 // when the RTno is reset.
00200 ///////////////////////////////////////
00201 int RTno::onError()
00202 {
00203   return RTC_OK;
00204 }
00205 
00206 ////////////////////////////////////////
00207 // This function is called when 
00208 // the RTno is reset. If on_reset is
00209 // succeeded, the RTno will enter into
00210 // the INACTIVE condition. If failed 
00211 // (return value is RTC_ERROR), RTno
00212 // will stay in ERROR condition.ec
00213 ///////////////////////////////////////
00214 int RTno::onReset()
00215 {
00216   return RTC_OK;
00217 }