Yuki Suga / Mbed 2 deprecated RTnoV3_Timer

RTnoV3 is a program which enables your device to communicate with RT-middleware world This is an example for using Timer1ExecutionContext To know RT-middleware, visit: http://www.openrtm.org To know more about RTno, visit: http://ysuga.net/robot_e/rtm_e/rtc_e/1065?lang=en

Dependencies:   EthernetNetIf mbed RTnoV3

main.cpp@0:626a5fcaa2ec, 2012-02-09 (annotated)

Committer:
ysuga
Date:
Thu Feb 09 09:44:29 2012 +0000
Revision:
0:626a5fcaa2ec
RTno V3 Timer first publish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ysuga 0:626a5fcaa2ec 1 #include "mbed.h"
ysuga 0:626a5fcaa2ec 2
ysuga 0:626a5fcaa2ec 3
ysuga 0:626a5fcaa2ec 4
ysuga 0:626a5fcaa2ec 5 /**
ysuga 0:626a5fcaa2ec 6 * RTno_Template.pde
ysuga 0:626a5fcaa2ec 7 * RTno is RT-middleware and arduino.
ysuga 0:626a5fcaa2ec 8 *
ysuga 0:626a5fcaa2ec 9 * Using RTno, arduino device can communicate any RT-components
ysuga 0:626a5fcaa2ec 10 * through the RTno-proxy component which is launched in PC.
ysuga 0:626a5fcaa2ec 11 * Connect arduino with USB, and program with RTno library.
ysuga 0:626a5fcaa2ec 12 * You do not have to define any protocols to establish communication
ysuga 0:626a5fcaa2ec 13 * between arduino and PC.
ysuga 0:626a5fcaa2ec 14 *
ysuga 0:626a5fcaa2ec 15 * Using RTno, you must not define the function "setup" and "loop".
ysuga 0:626a5fcaa2ec 16 * Those functions are automatically defined in the RTno libarary.
ysuga 0:626a5fcaa2ec 17 * You, developers, must define following functions:
ysuga 0:626a5fcaa2ec 18 * int onInitialize(void);
ysuga 0:626a5fcaa2ec 19 * int onActivated(void);
ysuga 0:626a5fcaa2ec 20 * int onDeactivated(void);
ysuga 0:626a5fcaa2ec 21 * int onExecute(void);
ysuga 0:626a5fcaa2ec 22 * int onError(void);
ysuga 0:626a5fcaa2ec 23 * int onReset(void);
ysuga 0:626a5fcaa2ec 24 * These functions are spontaneously called by the RTno-proxy
ysuga 0:626a5fcaa2ec 25 * RT-component which is launched in the PC.
ysuga 0:626a5fcaa2ec 26 * @author Yuki Suga
ysuga 0:626a5fcaa2ec 27 * This code is written/distributed for public-domain.
ysuga 0:626a5fcaa2ec 28 */
ysuga 0:626a5fcaa2ec 29
ysuga 0:626a5fcaa2ec 30 #include <RTno.h>
ysuga 0:626a5fcaa2ec 31
ysuga 0:626a5fcaa2ec 32 /**
ysuga 0:626a5fcaa2ec 33 * This function is called at first.
ysuga 0:626a5fcaa2ec 34 * conf._default.baudrate: baudrate of serial communication
ysuga 0:626a5fcaa2ec 35 * exec_cxt.periodic.type: reserved but not used.
ysuga 0:626a5fcaa2ec 36 */
ysuga 0:626a5fcaa2ec 37 void rtcconf(config_str& conf, exec_cxt_str& exec_cxt) {
ysuga 0:626a5fcaa2ec 38 // If you want to use Serial Connection, configure below:
ysuga 0:626a5fcaa2ec 39 conf._default.connection_type = ConnectionTypeSerialUSB; // USBTX & USBRX (In Windows, Driver must be updated.)
ysuga 0:626a5fcaa2ec 40 conf._default.baudrate = 57600; // This value is required when you select ConnectionTypeSerial*
ysuga 0:626a5fcaa2ec 41
ysuga 0:626a5fcaa2ec 42 exec_cxt.periodic.type = Timer1ExecutionContext; // onExecute is called by Timer1. Period must be specified by 'rate' option.
ysuga 0:626a5fcaa2ec 43 exec_cxt.periodic.rate = 1; // [Hz] This option is indispensable when type is Timer*ExecutionContext.
ysuga 0:626a5fcaa2ec 44 }
ysuga 0:626a5fcaa2ec 45
ysuga 0:626a5fcaa2ec 46
ysuga 0:626a5fcaa2ec 47 /**
ysuga 0:626a5fcaa2ec 48 * Declaration Division:
ysuga 0:626a5fcaa2ec 49 *
ysuga 0:626a5fcaa2ec 50 * DataPort and Data Buffer should be placed here.
ysuga 0:626a5fcaa2ec 51 *
ysuga 0:626a5fcaa2ec 52 * available data types are as follows:
ysuga 0:626a5fcaa2ec 53 * TimedLong
ysuga 0:626a5fcaa2ec 54 * TimedDouble
ysuga 0:626a5fcaa2ec 55 * TimedFloat
ysuga 0:626a5fcaa2ec 56 * TimedLongSeq
ysuga 0:626a5fcaa2ec 57 * TimedDoubleSeq
ysuga 0:626a5fcaa2ec 58 * TimedFloatSeq
ysuga 0:626a5fcaa2ec 59 *
ysuga 0:626a5fcaa2ec 60 * Please refer following comments. If you need to use some ports,
ysuga 0:626a5fcaa2ec 61 * uncomment the line you want to declare.
ysuga 0:626a5fcaa2ec 62 **/
ysuga 0:626a5fcaa2ec 63
ysuga 0:626a5fcaa2ec 64
ysuga 0:626a5fcaa2ec 65 DigitalOut led1(LED1);
ysuga 0:626a5fcaa2ec 66 DigitalOut led2(LED2);
ysuga 0:626a5fcaa2ec 67 DigitalOut led3(LED3);
ysuga 0:626a5fcaa2ec 68 DigitalOut led4(LED4);
ysuga 0:626a5fcaa2ec 69
ysuga 0:626a5fcaa2ec 70 //////////////////////////////////////////
ysuga 0:626a5fcaa2ec 71 // on_initialize
ysuga 0:626a5fcaa2ec 72 //
ysuga 0:626a5fcaa2ec 73 // This function is called in the initialization
ysuga 0:626a5fcaa2ec 74 // sequence. The sequence is triggered by the
ysuga 0:626a5fcaa2ec 75 // PC. When the RTnoRTC is launched in the PC,
ysuga 0:626a5fcaa2ec 76 // then, this function is remotely called
ysuga 0:626a5fcaa2ec 77 // through the USB cable.
ysuga 0:626a5fcaa2ec 78 // In on_initialize, usually DataPorts are added.
ysuga 0:626a5fcaa2ec 79 //
ysuga 0:626a5fcaa2ec 80 //////////////////////////////////////////
ysuga 0:626a5fcaa2ec 81 int RTno::onInitialize() {
ysuga 0:626a5fcaa2ec 82 /* Data Ports are added in this section.
ysuga 0:626a5fcaa2ec 83 */
ysuga 0:626a5fcaa2ec 84
ysuga 0:626a5fcaa2ec 85 addInPort(in0In);
ysuga 0:626a5fcaa2ec 86
ysuga 0:626a5fcaa2ec 87 // Some initialization (like port direction setting)
ysuga 0:626a5fcaa2ec 88 led1 = 1;
ysuga 0:626a5fcaa2ec 89 led2 = 0;
ysuga 0:626a5fcaa2ec 90 led3 = 0;
ysuga 0:626a5fcaa2ec 91 led4 = 0;
ysuga 0:626a5fcaa2ec 92 return RTC_OK;
ysuga 0:626a5fcaa2ec 93 }
ysuga 0:626a5fcaa2ec 94
ysuga 0:626a5fcaa2ec 95 ////////////////////////////////////////////
ysuga 0:626a5fcaa2ec 96 // on_activated
ysuga 0:626a5fcaa2ec 97 // This function is called when the RTnoRTC
ysuga 0:626a5fcaa2ec 98 // is activated. When the activation, the RTnoRTC
ysuga 0:626a5fcaa2ec 99 // sends message to call this function remotely.
ysuga 0:626a5fcaa2ec 100 // If this function is failed (return value
ysuga 0:626a5fcaa2ec 101 // is RTC_ERROR), RTno will enter ERROR condition.
ysuga 0:626a5fcaa2ec 102 ////////////////////////////////////////////
ysuga 0:626a5fcaa2ec 103 int RTno::onActivated() {
ysuga 0:626a5fcaa2ec 104 // Write here initialization code.
ysuga 0:626a5fcaa2ec 105 led2 = 1;
ysuga 0:626a5fcaa2ec 106 led3 = 0;
ysuga 0:626a5fcaa2ec 107 led4 = 0;
ysuga 0:626a5fcaa2ec 108 return RTC_OK;
ysuga 0:626a5fcaa2ec 109 }
ysuga 0:626a5fcaa2ec 110
ysuga 0:626a5fcaa2ec 111 /////////////////////////////////////////////
ysuga 0:626a5fcaa2ec 112 // on_deactivated
ysuga 0:626a5fcaa2ec 113 // This function is called when the RTnoRTC
ysuga 0:626a5fcaa2ec 114 // is deactivated.
ysuga 0:626a5fcaa2ec 115 /////////////////////////////////////////////
ysuga 0:626a5fcaa2ec 116 int RTno::onDeactivated()
ysuga 0:626a5fcaa2ec 117 {
ysuga 0:626a5fcaa2ec 118 // Write here finalization code.
ysuga 0:626a5fcaa2ec 119 led2 = 0;
ysuga 0:626a5fcaa2ec 120 led3 = 0;
ysuga 0:626a5fcaa2ec 121 led4 = 0;
ysuga 0:626a5fcaa2ec 122 return RTC_OK;
ysuga 0:626a5fcaa2ec 123 }
ysuga 0:626a5fcaa2ec 124
ysuga 0:626a5fcaa2ec 125 //////////////////////////////////////////////
ysuga 0:626a5fcaa2ec 126 // This function is repeatedly called when the
ysuga 0:626a5fcaa2ec 127 // RTno is in the ACTIVE condition.
ysuga 0:626a5fcaa2ec 128 // If this function is failed (return value is
ysuga 0:626a5fcaa2ec 129 // RTC_ERROR), RTno immediately enter into the
ysuga 0:626a5fcaa2ec 130 // ERROR condition.r
ysuga 0:626a5fcaa2ec 131 //////////////////////////////////////////////
ysuga 0:626a5fcaa2ec 132 int RTno::onExecute() {
ysuga 0:626a5fcaa2ec 133 static int flag;
ysuga 0:626a5fcaa2ec 134 if(flag) {
ysuga 0:626a5fcaa2ec 135 led3 = 1;
ysuga 0:626a5fcaa2ec 136 flag = 0;
ysuga 0:626a5fcaa2ec 137 } else {
ysuga 0:626a5fcaa2ec 138 led3 = 0;
ysuga 0:626a5fcaa2ec 139 flag++;
ysuga 0:626a5fcaa2ec 140 }
ysuga 0:626a5fcaa2ec 141
ysuga 0:626a5fcaa2ec 142 return RTC_OK;
ysuga 0:626a5fcaa2ec 143 }
ysuga 0:626a5fcaa2ec 144
ysuga 0:626a5fcaa2ec 145
ysuga 0:626a5fcaa2ec 146 //////////////////////////////////////
ysuga 0:626a5fcaa2ec 147 // on_error
ysuga 0:626a5fcaa2ec 148 // This function is repeatedly called when
ysuga 0:626a5fcaa2ec 149 // the RTno is in the ERROR condition.
ysuga 0:626a5fcaa2ec 150 // The ERROR condition can be recovered,
ysuga 0:626a5fcaa2ec 151 // when the RTno is reset.
ysuga 0:626a5fcaa2ec 152 ///////////////////////////////////////
ysuga 0:626a5fcaa2ec 153 int RTno::onError()
ysuga 0:626a5fcaa2ec 154 {
ysuga 0:626a5fcaa2ec 155 return RTC_OK;
ysuga 0:626a5fcaa2ec 156 }
ysuga 0:626a5fcaa2ec 157
ysuga 0:626a5fcaa2ec 158 ////////////////////////////////////////
ysuga 0:626a5fcaa2ec 159 // This function is called when
ysuga 0:626a5fcaa2ec 160 // the RTno is reset. If on_reset is
ysuga 0:626a5fcaa2ec 161 // succeeded, the RTno will enter into
ysuga 0:626a5fcaa2ec 162 // the INACTIVE condition. If failed
ysuga 0:626a5fcaa2ec 163 // (return value is RTC_ERROR), RTno
ysuga 0:626a5fcaa2ec 164 // will stay in ERROR condition.ec
ysuga 0:626a5fcaa2ec 165 ///////////////////////////////////////
ysuga 0:626a5fcaa2ec 166 int RTno::onReset()
ysuga 0:626a5fcaa2ec 167 {
ysuga 0:626a5fcaa2ec 168 return RTC_OK;
ysuga 0:626a5fcaa2ec 169 }