Yuki Suga / RTnoV4

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

Dependencies:   EthernetInterface mbed-rtos

SerialDevice.cpp@7:6c7af1d50fb3, 2013-08-29 (annotated)

Committer:
ysuga
Date:
Thu Aug 29 05:29:55 2013 +0000
Revision:
7:6c7af1d50fb3
Parent:
1:f74116b37bc9 
update v5

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ysuga 1:f74116b37bc9 1 #include "mbed.h"
ysuga 1:f74116b37bc9 2 #include "SerialDevice.h"
ysuga 1:f74116b37bc9 3
ysuga 1:f74116b37bc9 4 // static value declaration.
ysuga 1:f74116b37bc9 5 void(*SerialDevice_putc)(const char c);
ysuga 1:f74116b37bc9 6 uint8_t(*SerialDevice_available)();
ysuga 1:f74116b37bc9 7 uint8_t(*SerialDevice_getc)();
ysuga 1:f74116b37bc9 8
ysuga 1:f74116b37bc9 9 int32_t INFINITE = -1;
ysuga 1:f74116b37bc9 10
ysuga 1:f74116b37bc9 11 #if 1
ysuga 1:f74116b37bc9 12 static Timer timer;
ysuga 1:f74116b37bc9 13 #endif
ysuga 1:f74116b37bc9 14
ysuga 1:f74116b37bc9 15 int8_t SerialDevice_read(uint8_t* buffer, const uint8_t size, const int32_t &wait_usec)
ysuga 1:f74116b37bc9 16 {
ysuga 1:f74116b37bc9 17 int32_t us;
ysuga 1:f74116b37bc9 18 timer.reset();
ysuga 1:f74116b37bc9 19 timer.start();
ysuga 1:f74116b37bc9 20 for(unsigned int i = 0;i < size;i++) {
ysuga 1:f74116b37bc9 21 while (1) {
ysuga 1:f74116b37bc9 22 if(SerialDevice_available() > 0) {
ysuga 1:f74116b37bc9 23 break;
ysuga 1:f74116b37bc9 24 }
ysuga 1:f74116b37bc9 25 us = timer.read_us();
ysuga 1:f74116b37bc9 26 if (us >= wait_usec && wait_usec != INFINITE) {
ysuga 1:f74116b37bc9 27 timer.stop();
ysuga 1:f74116b37bc9 28 return -TIMEOUT;
ysuga 1:f74116b37bc9 29 }
ysuga 1:f74116b37bc9 30 }
ysuga 1:f74116b37bc9 31 buffer[i] = SerialDevice_getc();
ysuga 1:f74116b37bc9 32 }
ysuga 1:f74116b37bc9 33 timer.stop();
ysuga 1:f74116b37bc9 34 return size;
ysuga 1:f74116b37bc9 35 }
ysuga 1:f74116b37bc9 36
ysuga 1:f74116b37bc9 37