Revision 2:9114cc24ddcf, committed 2017-10-17

Comitter:

jacobepfl1692

Date:

Tue Oct 17 18:49:03 2017 +0000

Parent:

1:a849bf78d77f

Commit message:

I increased the channels of the ADC to 6 (hence change in checksum) because my application needed it (STM32f407V6)

Changed in this revision

--- a/MbedHardware.h	Sat Dec 31 00:59:58 2016 +0000
+++ b/MbedHardware.h	Tue Oct 17 18:49:03 2017 +0000
@@ -21,8 +21,9 @@
     }
 
     MbedHardware()
-      :iostream(USBTX, USBRX) {
-        baud_ = 57600;
+      //: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();
     }
 

--- a/ros.h	Sat Dec 31 00:59:58 2016 +0000
+++ b/ros.h	Tue Oct 17 18:49:03 2017 +0000
@@ -40,7 +40,7 @@
 
 namespace ros
 {
-  typedef NodeHandle_<MbedHardware> NodeHandle;
+  typedef NodeHandle_<MbedHardware,5,5,2048,2048> NodeHandle;
 }
 
 #endif

--- a/rosserial_mbed/Adc.h	Sat Dec 31 00:59:58 2016 +0000
+++ b/rosserial_mbed/Adc.h	Tue Oct 17 18:49:03 2017 +0000
@@ -1,11 +1,16 @@
 #ifndef _ROS_rosserial_mbed_Adc_h
 #define _ROS_rosserial_mbed_Adc_h
 
+/*
+MODIFIED BY JACOB : ADDED AN EXTRA ADC CHANNEL
+*/
+
 #include <stdint.h>
 #include <string.h>
 #include <stdlib.h>
 #include "ros/msg.h"
 
+
 namespace rosserial_mbed
 {
 
@@ -24,6 +29,8 @@
       _adc4_type adc4;
       typedef uint16_t _adc5_type;
       _adc5_type adc5;
+      typedef uint16_t _adc6_type;
+      _adc6_type adc6;
 
     Adc():
       adc0(0),
@@ -31,7 +38,8 @@
       adc2(0),
       adc3(0),
       adc4(0),
-      adc5(0)
+      adc5(0),
+      adc6(0)
     {
     }
 
@@ -56,6 +64,9 @@
       *(outbuffer + offset + 0) = (this->adc5 >> (8 * 0)) & 0xFF;
       *(outbuffer + offset + 1) = (this->adc5 >> (8 * 1)) & 0xFF;
       offset += sizeof(this->adc5);
+      *(outbuffer + offset + 0) = (this->adc6 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc6 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc6);
       return offset;
     }
 
@@ -80,11 +91,15 @@
       this->adc5 =  ((uint16_t) (*(inbuffer + offset)));
       this->adc5 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
       offset += sizeof(this->adc5);
+      this->adc6 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc6 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc6);
      return offset;
     }
 
     const char * getType(){ return "rosserial_mbed/Adc"; };
-    const char * getMD5(){ return "6d7853a614e2e821319068311f2af25b"; };
+    const char * getMD5(){ return "a1c93390d0a5d50b5be382174396ec0c"; };    
+    //const char * getMD5(){ return "6d7853a614e2e821319068311f2af25b"; };
 
   };