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
Fork of ros_lib_kinetic by
MbedHardware.h@2:9114cc24ddcf, 2017-10-17 (annotated)
- Committer:
- jacobepfl1692
- Date:
- Tue Oct 17 18:49:03 2017 +0000
- Revision:
- 2:9114cc24ddcf
- Parent:
- 0:9e9b7db60fd5
I increased the channels of the ADC to 6 (hence change in checksum) because my application needed it (STM32f407V6)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | /* |
garyservin | 0:9e9b7db60fd5 | 2 | * MbedHardware |
garyservin | 0:9e9b7db60fd5 | 3 | * |
garyservin | 0:9e9b7db60fd5 | 4 | * Created on: Aug 17, 2011 |
garyservin | 0:9e9b7db60fd5 | 5 | * Author: nucho |
garyservin | 0:9e9b7db60fd5 | 6 | */ |
garyservin | 0:9e9b7db60fd5 | 7 | |
garyservin | 0:9e9b7db60fd5 | 8 | #ifndef ROS_MBED_HARDWARE_H_ |
garyservin | 0:9e9b7db60fd5 | 9 | #define ROS_MBED_HARDWARE_H_ |
garyservin | 0:9e9b7db60fd5 | 10 | |
garyservin | 0:9e9b7db60fd5 | 11 | #include "mbed.h" |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | #include "BufferedSerial.h" |
garyservin | 0:9e9b7db60fd5 | 14 | |
garyservin | 0:9e9b7db60fd5 | 15 | class MbedHardware { |
garyservin | 0:9e9b7db60fd5 | 16 | public: |
garyservin | 0:9e9b7db60fd5 | 17 | MbedHardware(PinName tx, PinName rx, long baud = 57600) |
garyservin | 0:9e9b7db60fd5 | 18 | :iostream(tx, rx){ |
garyservin | 0:9e9b7db60fd5 | 19 | baud_ = baud; |
garyservin | 0:9e9b7db60fd5 | 20 | t.start(); |
garyservin | 0:9e9b7db60fd5 | 21 | } |
garyservin | 0:9e9b7db60fd5 | 22 | |
garyservin | 0:9e9b7db60fd5 | 23 | MbedHardware() |
jacobepfl1692 | 2:9114cc24ddcf | 24 | //:iostream(USBTX, USBRX) { |
jacobepfl1692 | 2:9114cc24ddcf | 25 | :iostream(PA_2, PA_3) { // Modification to be able to use USART2 from the STM32F407V6 connect PA2 to RXD and PA3 to TXD |
jacobepfl1692 | 2:9114cc24ddcf | 26 | baud_ = 57600; //! 57600 |
garyservin | 0:9e9b7db60fd5 | 27 | t.start(); |
garyservin | 0:9e9b7db60fd5 | 28 | } |
garyservin | 0:9e9b7db60fd5 | 29 | |
garyservin | 0:9e9b7db60fd5 | 30 | void setBaud(long baud){ |
garyservin | 0:9e9b7db60fd5 | 31 | this->baud_= baud; |
garyservin | 0:9e9b7db60fd5 | 32 | } |
garyservin | 0:9e9b7db60fd5 | 33 | |
garyservin | 0:9e9b7db60fd5 | 34 | int getBaud(){return baud_;} |
garyservin | 0:9e9b7db60fd5 | 35 | |
garyservin | 0:9e9b7db60fd5 | 36 | void init(){ |
garyservin | 0:9e9b7db60fd5 | 37 | iostream.baud(baud_); |
garyservin | 0:9e9b7db60fd5 | 38 | } |
garyservin | 0:9e9b7db60fd5 | 39 | |
garyservin | 0:9e9b7db60fd5 | 40 | int read(){ |
garyservin | 0:9e9b7db60fd5 | 41 | if (iostream.readable()) { |
garyservin | 0:9e9b7db60fd5 | 42 | return iostream.getc(); |
garyservin | 0:9e9b7db60fd5 | 43 | } else { |
garyservin | 0:9e9b7db60fd5 | 44 | return -1; |
garyservin | 0:9e9b7db60fd5 | 45 | } |
garyservin | 0:9e9b7db60fd5 | 46 | }; |
garyservin | 0:9e9b7db60fd5 | 47 | void write(uint8_t* data, int length) { |
garyservin | 0:9e9b7db60fd5 | 48 | for (int i=0; i<length; i++) |
garyservin | 0:9e9b7db60fd5 | 49 | iostream.putc(data[i]); |
garyservin | 0:9e9b7db60fd5 | 50 | } |
garyservin | 0:9e9b7db60fd5 | 51 | |
garyservin | 0:9e9b7db60fd5 | 52 | unsigned long time(){return t.read_ms();} |
garyservin | 0:9e9b7db60fd5 | 53 | |
garyservin | 0:9e9b7db60fd5 | 54 | protected: |
garyservin | 0:9e9b7db60fd5 | 55 | BufferedSerial iostream; |
garyservin | 0:9e9b7db60fd5 | 56 | long baud_; |
garyservin | 0:9e9b7db60fd5 | 57 | Timer t; |
garyservin | 0:9e9b7db60fd5 | 58 | }; |
garyservin | 0:9e9b7db60fd5 | 59 | |
garyservin | 0:9e9b7db60fd5 | 60 | |
garyservin | 0:9e9b7db60fd5 | 61 | #endif /* ROS_MBED_HARDWARE_H_ */ |