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
Dependencies: EthernetInterface mbed-rtos
Diff: SerialDevice.cpp
- Revision:
- 1:f74116b37bc9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialDevice.cpp Mon Jul 08 07:14:30 2013 +0000
@@ -0,0 +1,37 @@
+#include "mbed.h"
+#include "SerialDevice.h"
+
+// static value declaration.
+void(*SerialDevice_putc)(const char c);
+uint8_t(*SerialDevice_available)();
+uint8_t(*SerialDevice_getc)();
+
+int32_t INFINITE = -1;
+
+#if 1
+static Timer timer;
+#endif
+
+int8_t SerialDevice_read(uint8_t* buffer, const uint8_t size, const int32_t &wait_usec)
+{
+ int32_t us;
+ timer.reset();
+ timer.start();
+ for(unsigned int i = 0;i < size;i++) {
+ while (1) {
+ if(SerialDevice_available() > 0) {
+ break;
+ }
+ us = timer.read_us();
+ if (us >= wait_usec && wait_usec != INFINITE) {
+ timer.stop();
+ return -TIMEOUT;
+ }
+ }
+ buffer[i] = SerialDevice_getc();
+ }
+ timer.stop();
+ return size;
+}
+
+