Yuki Suga
RTno is communicating library and framework which allows you to make your embedded device capable of communicating with RT-middleware world. RT-middleware is a platform software to realize Robotic system. In RTM, robots are developed by constructing robotics technologies\' elements (components) named RT-component. Therefore, the RTno helps you to create your own RT-component with your mbed and arduino. To know how to use your RTno device, visit here: http://ysuga.net/robot_e/rtm_e/rtc_e/1065?lang=en To know about RT-middleware and RT-component, visit http://www.openrtm.org
Dependents: RTnoV3_LED RTnoV3_Template RTnoV3_ADC RTnoV3_Timer ... more
Diff: UART.cpp
- Revision:
- 0:9fac71a0bff3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/UART.cpp Thu Feb 09 02:33:10 2012 +0000
@@ -0,0 +1,94 @@
+#define RTNO_SUBMODULE_DEFINE
+
+#include "mbed.h"
+#include "UART.h"
+
+#define UART_RX_BUFFER_SIZE 128
+
+static Serial *m_pSerial;
+unsigned char uart_rx_buffer[UART_RX_BUFFER_SIZE];
+int uart_rx_buffer_pointer_head = 0;
+int uart_rx_buffer_pointer_tail = 0;
+
+
+/**
+ * Push data to ring buffer.
+ */
+int uart_rx_buffer_push(unsigned char c) {
+ uart_rx_buffer[uart_rx_buffer_pointer_tail] = c;
+ uart_rx_buffer_pointer_tail++;
+ if(uart_rx_buffer_pointer_tail >= UART_RX_BUFFER_SIZE) {
+ uart_rx_buffer_pointer_tail = 0;
+ }
+ return 0;
+}
+
+/**
+ * Pop data fron ring buffer
+ */
+int uart_rx_buffer_pop(unsigned char *c) {
+ *c = uart_rx_buffer[uart_rx_buffer_pointer_head];
+ uart_rx_buffer_pointer_head++;
+ if(uart_rx_buffer_pointer_head >= UART_RX_BUFFER_SIZE) {
+ uart_rx_buffer_pointer_head = 0;
+ }
+ return 0;
+}
+
+int uart_rx_buffer_get_size() {
+ int size = uart_rx_buffer_pointer_tail - uart_rx_buffer_pointer_head;
+ if(size < 0) {
+ size += UART_RX_BUFFER_SIZE;
+ }
+ return size;
+}
+
+void rx_isr(void) {
+ uart_rx_buffer_push(m_pSerial->getc());
+}
+
+
+
+void UART_init(unsigned char num, unsigned long baudrate)
+{
+ PinName rx, tx;
+ switch(num) {
+ case 0:
+ rx = USBRX; tx = USBTX;
+ break;
+ case 1:
+ tx = p9, rx = p10;
+ break;
+ case 2:
+ tx = p13, rx = p14;
+ break;
+ case 3:
+ tx = p28, rx = p27;
+ break;
+ }
+
+ m_pSerial = new Serial(tx, rx);
+ m_pSerial->baud(baudrate);
+ m_pSerial->attach(rx_isr, Serial::RxIrq);
+
+ SerialDevice_putc = UART_putc;
+ SerialDevice_getc = UART_getc;
+ SerialDevice_available = UART_available;
+}
+
+void UART_putc(const char c) {
+ m_pSerial->putc(c);
+}
+
+uint8_t UART_available()
+{
+ return uart_rx_buffer_get_size();
+}
+
+
+char UART_getc()
+{
+ unsigned char c;
+ uart_rx_buffer_pop(&c);
+ return c;
+}