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

Diff: UART.cpp

Revision:
1:f74116b37bc9
Parent:
0:5f7bc45bc2e8
--- a/UART.cpp	Mon Jun 24 06:42:11 2013 +0000
+++ b/UART.cpp	Mon Jul 08 07:14:30 2013 +0000
@@ -3,7 +3,7 @@
 #include "mbed.h"
 #include "UART.h"
 
-#define UART_RX_BUFFER_SIZE 128
+#define UART_RX_BUFFER_SIZE 64
 
 static Serial *m_pSerial;
 unsigned char uart_rx_buffer[UART_RX_BUFFER_SIZE];
@@ -14,8 +14,8 @@
 /**
  * Push data to ring buffer.
  */
-int uart_rx_buffer_push(unsigned char c) {
-    uart_rx_buffer[uart_rx_buffer_pointer_tail] = c;
+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;
@@ -23,6 +23,8 @@
     return 0;
 }
 
+
+
 /**
  * Pop data fron ring buffer
  */
@@ -44,7 +46,8 @@
 }
 
 void rx_isr(void) {
-    uart_rx_buffer_push(m_pSerial->getc());
+    int8_t c = m_pSerial->getc();
+    uart_rx_buffer_push((uint8_t*)&c);
 }
 
 
@@ -77,6 +80,9 @@
 }
 
 void UART_putc(const char c) {
+  while(!m_pSerial->writeable()) {
+    wait_us(100);
+  }
   m_pSerial->putc(c);
 }
 
@@ -86,7 +92,7 @@
 }
 
 
-char UART_getc()
+uint8_t UART_getc()
 {
     unsigned char c;
     uart_rx_buffer_pop(&c);