Weber Yang / Mbed 2 deprecated ROS_Nucleo_i2c_pcf8574

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Dependencies:   mbed ros_lib_kinetic

Fork of Nucleo_i2c_pcf8574 by Axel Utech

main.cpp@1:b3a2c43439bd, 2018-10-15 (annotated)

Committer:
WeberYang
Date:
Mon Oct 15 09:53:46 2018 +0000
Revision:
1:b3a2c43439bd
Parent:
0:daf4d39b8c98 
Using PB_8(SCL) PB_9(SDA) to control DI/DO,; ros node

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aAXEe 0:daf4d39b8c98 1 #include "mbed.h"
WeberYang 1:b3a2c43439bd 2 #include <ros.h>
WeberYang 1:b3a2c43439bd 3 #include <ros/time.h>
WeberYang 1:b3a2c43439bd 4 #include <std_msgs/Int16.h>
WeberYang 1:b3a2c43439bd 5 #define PCF8574_ADDR (0x40)
WeberYang 1:b3a2c43439bd 6 #define PCF8574_ADDR_1 (0x40)
WeberYang 1:b3a2c43439bd 7 #define PCF8574_ADDR_2 (0x42)
WeberYang 1:b3a2c43439bd 8
WeberYang 1:b3a2c43439bd 9 I2C i2c(PB_9, PB_8);
aAXEe 0:daf4d39b8c98 10
WeberYang 1:b3a2c43439bd 11 //Serial pc(SERIAL_TX, SERIAL_RX);
WeberYang 1:b3a2c43439bd 12 //==========================
WeberYang 1:b3a2c43439bd 13 bool pcf8574_write(uint8_t data,uint8_t address);
WeberYang 1:b3a2c43439bd 14 bool pcf8574_read(uint8_t* data,uint8_t address);
WeberYang 1:b3a2c43439bd 15 int DO_write(uint8_t value,uint8_t address);
WeberYang 1:b3a2c43439bd 16 int DI_read(uint8_t address);
WeberYang 1:b3a2c43439bd 17 //======================================================================
WeberYang 1:b3a2c43439bd 18 ros::NodeHandle nh;
WeberYang 1:b3a2c43439bd 19 std_msgs::Int16 DO;
WeberYang 1:b3a2c43439bd 20 void DO_ACT(const std_msgs::Int16 &msg){
WeberYang 1:b3a2c43439bd 21 DO_write(msg.data, PCF8574_ADDR_1);
WeberYang 1:b3a2c43439bd 22 }
WeberYang 1:b3a2c43439bd 23 ros::Subscriber<std_msgs::Int16> ACT_sub("DO_data", &DO_ACT);
aAXEe 0:daf4d39b8c98 24
WeberYang 1:b3a2c43439bd 25 std_msgs::Int16 DI;
WeberYang 1:b3a2c43439bd 26 ros::Publisher DI_pub("DI_pub", &DI);
WeberYang 1:b3a2c43439bd 27 //======================================================================
aAXEe 0:daf4d39b8c98 28
WeberYang 1:b3a2c43439bd 29 bool pcf8574_write(uint8_t data,uint8_t address){
WeberYang 1:b3a2c43439bd 30 return i2c.write(address, (char*) &data, 1, 0) == 0;
aAXEe 0:daf4d39b8c98 31 }
aAXEe 0:daf4d39b8c98 32
WeberYang 1:b3a2c43439bd 33 bool pcf8574_read(uint8_t* data,uint8_t address){
WeberYang 1:b3a2c43439bd 34 return i2c.read(address, (char*) data, 1, 0) == 0;
aAXEe 0:daf4d39b8c98 35 }
aAXEe 0:daf4d39b8c98 36
WeberYang 1:b3a2c43439bd 37 int DO_write(uint8_t value,uint8_t address){
WeberYang 1:b3a2c43439bd 38 int ret;
WeberYang 1:b3a2c43439bd 39
WeberYang 1:b3a2c43439bd 40 ret = pcf8574_write(value,address);
WeberYang 1:b3a2c43439bd 41
WeberYang 1:b3a2c43439bd 42 return ret;
WeberYang 1:b3a2c43439bd 43 }
WeberYang 1:b3a2c43439bd 44 int DI_read(uint8_t address){
aAXEe 0:daf4d39b8c98 45 int ret;
aAXEe 0:daf4d39b8c98 46 uint8_t data=0;
WeberYang 1:b3a2c43439bd 47
WeberYang 1:b3a2c43439bd 48 ret = pcf8574_read(&data,address);
aAXEe 0:daf4d39b8c98 49 if(!ret) return -2;
aAXEe 0:daf4d39b8c98 50
aAXEe 0:daf4d39b8c98 51 return data;
aAXEe 0:daf4d39b8c98 52 }
aAXEe 0:daf4d39b8c98 53
WeberYang 1:b3a2c43439bd 54
aAXEe 0:daf4d39b8c98 55 int main()
aAXEe 0:daf4d39b8c98 56 {
WeberYang 1:b3a2c43439bd 57 nh.initNode();
WeberYang 1:b3a2c43439bd 58 nh.advertise(DI_pub);
WeberYang 1:b3a2c43439bd 59 nh.subscribe(ACT_sub);
WeberYang 1:b3a2c43439bd 60 // printf("Hello PCF8574\n");
aAXEe 0:daf4d39b8c98 61 while (1) {
WeberYang 1:b3a2c43439bd 62 // pc.printf("Read DI=%i\r\n", DI_read(PCF8574_ADDR_2));
WeberYang 1:b3a2c43439bd 63
WeberYang 1:b3a2c43439bd 64 // DO_PC_9 = 0;
WeberYang 1:b3a2c43439bd 65
WeberYang 1:b3a2c43439bd 66 // wait(0.1);
WeberYang 1:b3a2c43439bd 67 DI.data = DI_read(PCF8574_ADDR_2);
WeberYang 1:b3a2c43439bd 68 DI_pub.publish( &DI);
WeberYang 1:b3a2c43439bd 69 nh.spinOnce();
WeberYang 1:b3a2c43439bd 70 wait_ms(100);
aAXEe 0:daf4d39b8c98 71 }
aAXEe 0:daf4d39b8c98 72
aAXEe 0:daf4d39b8c98 73 }
WeberYang 1:b3a2c43439bd 74