nucho
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
MbedHardware.h@4:684f39d0c346, 2012-02-29 (annotated)
- Committer:
- nucho
- Date:
- Wed Feb 29 23:00:21 2012 +0000
- Revision:
- 4:684f39d0c346
- Parent:
- 3:1cf99502f396
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:77afd7560544 | 1 | /* |
| nucho | 1:ff0ec969dad1 | 2 | * MbedHardware |
| nucho | 0:77afd7560544 | 3 | * |
| nucho | 0:77afd7560544 | 4 | * Created on: Aug 17, 2011 |
| nucho | 0:77afd7560544 | 5 | * Author: nucho |
| nucho | 0:77afd7560544 | 6 | */ |
| nucho | 0:77afd7560544 | 7 | |
| nucho | 0:77afd7560544 | 8 | #ifndef MBEDHARDWARE_H_ |
| nucho | 0:77afd7560544 | 9 | #define MBEDHARDWARE_H_ |
| nucho | 0:77afd7560544 | 10 | |
| nucho | 0:77afd7560544 | 11 | #include"mbed.h" |
| nucho | 1:ff0ec969dad1 | 12 | #include"MODSERIAL.h" |
| nucho | 1:ff0ec969dad1 | 13 | |
| nucho | 3:1cf99502f396 | 14 | #ifndef ROSSERIAL_BAUDRATE |
| nucho | 3:1cf99502f396 | 15 | #define ROSSERIAL_BAUDRATE 57600 |
| nucho | 3:1cf99502f396 | 16 | #endif |
| nucho | 3:1cf99502f396 | 17 | |
| nucho | 0:77afd7560544 | 18 | |
| nucho | 0:77afd7560544 | 19 | class MbedHardware { |
| nucho | 0:77afd7560544 | 20 | public: |
| nucho | 3:1cf99502f396 | 21 | MbedHardware(MODSERIAL* io , int baud= ROSSERIAL_BAUDRATE) |
| nucho | 0:77afd7560544 | 22 | :iostream(*io){ |
| nucho | 0:77afd7560544 | 23 | baud_ = baud; |
| nucho | 0:77afd7560544 | 24 | t.start(); |
| nucho | 0:77afd7560544 | 25 | } |
| nucho | 0:77afd7560544 | 26 | MbedHardware() |
| nucho | 0:77afd7560544 | 27 | :iostream(USBTX, USBRX) { |
| nucho | 3:1cf99502f396 | 28 | baud_ = ROSSERIAL_BAUDRATE; |
| nucho | 0:77afd7560544 | 29 | t.start(); |
| nucho | 0:77afd7560544 | 30 | } |
| nucho | 0:77afd7560544 | 31 | MbedHardware(MbedHardware& h) |
| nucho | 0:77afd7560544 | 32 | :iostream(h.iostream) { |
| nucho | 0:77afd7560544 | 33 | this->baud_ = h.baud_; |
| nucho | 0:77afd7560544 | 34 | |
| nucho | 0:77afd7560544 | 35 | t.start(); |
| nucho | 0:77afd7560544 | 36 | } |
| nucho | 0:77afd7560544 | 37 | |
| nucho | 1:ff0ec969dad1 | 38 | void setBaud(int baud) { |
| nucho | 0:77afd7560544 | 39 | this->baud_= baud; |
| nucho | 0:77afd7560544 | 40 | } |
| nucho | 0:77afd7560544 | 41 | |
| nucho | 0:77afd7560544 | 42 | int getBaud() { |
| nucho | 0:77afd7560544 | 43 | return baud_; |
| nucho | 0:77afd7560544 | 44 | } |
| nucho | 0:77afd7560544 | 45 | |
| nucho | 0:77afd7560544 | 46 | void init() { |
| nucho | 0:77afd7560544 | 47 | iostream.baud(baud_); |
| nucho | 0:77afd7560544 | 48 | } |
| nucho | 0:77afd7560544 | 49 | |
| nucho | 0:77afd7560544 | 50 | int read() { |
| nucho | 0:77afd7560544 | 51 | if (iostream.readable()) { |
| nucho | 0:77afd7560544 | 52 | return iostream.getc(); |
| nucho | 0:77afd7560544 | 53 | } else { |
| nucho | 0:77afd7560544 | 54 | return -1; |
| nucho | 0:77afd7560544 | 55 | } |
| nucho | 0:77afd7560544 | 56 | }; |
| nucho | 0:77afd7560544 | 57 | void write(uint8_t* data, int length) { |
| nucho | 0:77afd7560544 | 58 | for (int i=0; i<length; i++) iostream.putc(data[i]); |
| nucho | 0:77afd7560544 | 59 | } |
| nucho | 0:77afd7560544 | 60 | |
| nucho | 0:77afd7560544 | 61 | unsigned long time() { |
| nucho | 0:77afd7560544 | 62 | return t.read_ms(); |
| nucho | 0:77afd7560544 | 63 | } |
| nucho | 0:77afd7560544 | 64 | |
| nucho | 0:77afd7560544 | 65 | protected: |
| nucho | 1:ff0ec969dad1 | 66 | int baud_; |
| nucho | 1:ff0ec969dad1 | 67 | MODSERIAL iostream; |
| nucho | 0:77afd7560544 | 68 | Timer t; |
| nucho | 0:77afd7560544 | 69 | }; |
| nucho | 0:77afd7560544 | 70 | |
| nucho | 0:77afd7560544 | 71 | |
| nucho | 0:77afd7560544 | 72 | #endif /* MBEDHARDWARE_H_ */ |