Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

MbedHardware.h

Committer:
jacobepfl1692
Date:
2017-10-17
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5

File content as of revision 2:9114cc24ddcf:

/*
 * MbedHardware
 *
 *  Created on: Aug 17, 2011
 *      Author: nucho
 */

#ifndef ROS_MBED_HARDWARE_H_
#define ROS_MBED_HARDWARE_H_

#include "mbed.h"

#include "BufferedSerial.h"

class MbedHardware {
  public:
    MbedHardware(PinName tx, PinName rx, long baud = 57600)
      :iostream(tx, rx){
      baud_ = baud;
      t.start();
    }

    MbedHardware()
      //:iostream(USBTX, USBRX) {
        :iostream(PA_2, PA_3) {  // Modification to be able to use USART2 from the STM32F407V6 connect PA2 to RXD and PA3 to TXD
        baud_ = 57600; //! 57600
        t.start();
    }

    void setBaud(long baud){
      this->baud_= baud;
    }

    int getBaud(){return baud_;}

    void init(){
        iostream.baud(baud_);
    }

    int read(){
        if (iostream.readable()) {
            return iostream.getc();
        } else {
            return -1;
        }
    };
    void write(uint8_t* data, int length) {
        for (int i=0; i<length; i++)
             iostream.putc(data[i]);
    }

    unsigned long time(){return t.read_ms();}

protected:
    BufferedSerial iostream;
    long baud_;
    Timer t;
};


#endif /* ROS_MBED_HARDWARE_H_ */