TivaCHardware.h

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/* 
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
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 *    notice, this list of conditions and the following disclaimer.
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 *    copyright notice, this list of conditions and the following
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 *    with the distribution.
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 *    contributors may be used to endorse or promote prducts derived
 *    from this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/*
 * Copyright (c) 2015, Robosavvy Ltd.
 * Author: Vitor Matos
 * Based on rosserial_arduino's ArduinoHardware.h with the intent to make it  work on TI's Energia.
 */

#ifndef TIVACHARDWARE_H
#define TIVACHARDWARE_H

#include <Energia.h>
#include <HardwareSerial.h>
#define SERIAL_CLASS HardwareSerial

class TivaCHardware {
  public:
    TivaCHardware(SERIAL_CLASS* io , long baud= 57600){
      iostream = io;
      baud_ = baud;
    }

    TivaCHardware()
    {
      iostream = &Serial;
      baud_ = 57600;
    }
    TivaCHardware(TivaCHardware& h){
      this->iostream = iostream;
      this->baud_ = h.baud_;
    }
  
    void setBaud(long baud){
      this->baud_= baud;
    }
  
    int getBaud(){return baud_;}

    void init(){
      iostream->begin(baud_);
    }

    int read(){return iostream->read();};
    void write(uint8_t* data, int length){
      for(int i=0; i<length; i++)
        iostream->write(data[i]);
    }

    unsigned long time(){return millis();}

  protected:
    SERIAL_CLASS* iostream;
    long baud_;
};

#endif  // TIVAHARDWARE_H