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

Committer:
WeberYang
Date:
2018-10-15
Revision:
1:b3a2c43439bd
Parent:
0:daf4d39b8c98

File content as of revision 1:b3a2c43439bd:

#include "mbed.h"
#include <ros.h>
#include <ros/time.h>
#include <std_msgs/Int16.h>
#define PCF8574_ADDR     (0x40)
#define PCF8574_ADDR_1     (0x40) 
#define PCF8574_ADDR_2     (0x42) 

I2C i2c(PB_9, PB_8);
 
//Serial pc(SERIAL_TX, SERIAL_RX);
//==========================
bool pcf8574_write(uint8_t data,uint8_t address);
bool pcf8574_read(uint8_t* data,uint8_t address);
int DO_write(uint8_t value,uint8_t address);
int DI_read(uint8_t address);
//======================================================================
ros::NodeHandle  nh;
std_msgs::Int16 DO;
void DO_ACT(const std_msgs::Int16 &msg){
   DO_write(msg.data, PCF8574_ADDR_1);
}
ros::Subscriber<std_msgs::Int16> ACT_sub("DO_data", &DO_ACT);

std_msgs::Int16 DI;
ros::Publisher DI_pub("DI_pub", &DI);
//======================================================================

bool pcf8574_write(uint8_t data,uint8_t address){
    return i2c.write(address, (char*) &data, 1, 0) == 0;
}

bool pcf8574_read(uint8_t* data,uint8_t address){
    return i2c.read(address, (char*) data, 1, 0) == 0;
}

int DO_write(uint8_t value,uint8_t address){
    int ret;
  
    ret = pcf8574_write(value,address);

    return ret;
}
int DI_read(uint8_t address){
    int ret;
    uint8_t data=0;

    ret = pcf8574_read(&data,address);
    if(!ret) return -2;
    
    return data;
}


int main()
{
     nh.initNode();
     nh.advertise(DI_pub);
     nh.subscribe(ACT_sub);
//    printf("Hello PCF8574\n");
    while (1) {
//        pc.printf("Read DI=%i\r\n", DI_read(PCF8574_ADDR_2));
 
//        DO_PC_9 = 0;
    
//        wait(0.1);
        DI.data = DI_read(PCF8574_ADDR_2);
        DI_pub.publish( &DI);
        nh.spinOnce();   
        wait_ms(100);
    }
 
}