Gary Servin / Mbed 2 deprecated rosserial_mbed

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Dependencies:   Servo mbed rosserial_mbed_lib

Fork of rosserial_mbed by nucho

examples/Temperature.cpp@5:e52b44294b2b, 2014-05-01 (annotated)

Committer:
garyservin
Date:
Thu May 01 06:20:36 2014 +0000
Revision:
5:e52b44294b2b
Parent:
0:06fc856e99ca 
Fixed some issues to run on hydro and Freescale KL25Z

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 0:06fc856e99ca 1 //#define COMPILE_TEMPERATURE_CODE_ROSSERIAL
nucho 0:06fc856e99ca 2 #ifdef COMPILE_TEMPERATURE_CODE_ROSSERIAL
nucho 0:06fc856e99ca 3
nucho 0:06fc856e99ca 4 /*
nucho 0:06fc856e99ca 5 * rosserial Temperature Sensor Example
nucho 0:06fc856e99ca 6 *
nucho 0:06fc856e99ca 7 * This tutorial demonstrates the usage of the
nucho 0:06fc856e99ca 8 * Sparkfun TMP102 Digital Temperature Breakout board
nucho 0:06fc856e99ca 9 * http://www.sparkfun.com/products/9418
nucho 0:06fc856e99ca 10 *
nucho 0:06fc856e99ca 11 * Source Code Based off of:
nucho 0:06fc856e99ca 12 * http://wiring.org.co/learning/libraries/tmp102sparkfun.html
nucho 0:06fc856e99ca 13 */
nucho 0:06fc856e99ca 14
nucho 0:06fc856e99ca 15 #include "mbed.h"
nucho 0:06fc856e99ca 16 #include <ros.h>
nucho 0:06fc856e99ca 17 #include <std_msgs/Float32.h>
nucho 0:06fc856e99ca 18
nucho 0:06fc856e99ca 19 ros::NodeHandle nh;
nucho 0:06fc856e99ca 20
nucho 0:06fc856e99ca 21 std_msgs::Float32 temp_msg;
nucho 0:06fc856e99ca 22 ros::Publisher pub_temp("temperature", &temp_msg);
nucho 0:06fc856e99ca 23
nucho 0:06fc856e99ca 24
nucho 0:06fc856e99ca 25 // From the datasheet the BMP module address LSB distinguishes
nucho 0:06fc856e99ca 26 // between read (1) and write (0) operations, corresponding to
nucho 0:06fc856e99ca 27 // address 0x91 (read) and 0x90 (write).
nucho 0:06fc856e99ca 28 // shift the address 1 bit right (0x91 or 0x90), the Wire library only needs the 7
nucho 0:06fc856e99ca 29 // most significant bits for the address 0x91 >> 1 = 0x48
nucho 0:06fc856e99ca 30 // 0x90 >> 1 = 0x48 (72)
nucho 0:06fc856e99ca 31
nucho 0:06fc856e99ca 32 int sensorAddress = 0x91 >>1; // From datasheet sensor address is 0x91
nucho 0:06fc856e99ca 33
nucho 0:06fc856e99ca 34 // shift the address 1 bit right, the Wire library only needs the 7
nucho 0:06fc856e99ca 35 // most significant bits for the address
nucho 0:06fc856e99ca 36
nucho 0:06fc856e99ca 37 Timer t;
nucho 0:06fc856e99ca 38 I2C i2c(p9, p10); // sda, scl
nucho 0:06fc856e99ca 39
nucho 0:06fc856e99ca 40 int main() {
nucho 0:06fc856e99ca 41 t.start();
nucho 0:06fc856e99ca 42
nucho 0:06fc856e99ca 43 nh.initNode();
nucho 0:06fc856e99ca 44 nh.advertise(pub_temp);
nucho 0:06fc856e99ca 45
nucho 0:06fc856e99ca 46 long publisher_timer =0;
nucho 0:06fc856e99ca 47
nucho 0:06fc856e99ca 48 while (1) {
nucho 0:06fc856e99ca 49
nucho 0:06fc856e99ca 50 if (t.read_ms() > publisher_timer) {
nucho 0:06fc856e99ca 51 // step 1: request reading from sensor
nucho 0:06fc856e99ca 52 //Wire.requestFrom(sensorAddress,2);
nucho 0:06fc856e99ca 53 char cmd = 2;
nucho 0:06fc856e99ca 54 i2c.write(sensorAddress, &cmd, 1);
nucho 0:06fc856e99ca 55
nucho 0:06fc856e99ca 56 wait_ms(50);
nucho 0:06fc856e99ca 57
nucho 0:06fc856e99ca 58 char msb;
nucho 0:06fc856e99ca 59 char lsb;
nucho 0:06fc856e99ca 60 int temperature;
nucho 0:06fc856e99ca 61 i2c.read(sensorAddress, &msb, 1); // receive high byte (full degrees)
nucho 0:06fc856e99ca 62 i2c.read(sensorAddress, &lsb, 1); // receive low byte (fraction degrees)
nucho 0:06fc856e99ca 63
nucho 0:06fc856e99ca 64 temperature = ((msb) << 4); // MSB
nucho 0:06fc856e99ca 65 temperature |= (lsb >> 4); // LSB
nucho 0:06fc856e99ca 66
nucho 0:06fc856e99ca 67 temp_msg.data = temperature*0.0625;
nucho 0:06fc856e99ca 68 pub_temp.publish(&temp_msg);
nucho 0:06fc856e99ca 69
nucho 0:06fc856e99ca 70
nucho 0:06fc856e99ca 71 publisher_timer = t.read_ms() + 1000;
nucho 0:06fc856e99ca 72 }
nucho 0:06fc856e99ca 73
nucho 0:06fc856e99ca 74 nh.spinOnce();
nucho 0:06fc856e99ca 75 }
nucho 0:06fc856e99ca 76 }
nucho 0:06fc856e99ca 77
nucho 0:06fc856e99ca 78 #endif