root / mikrokopter / arduino / src / ArduinoHardware.h-replacement @ 6499f09b
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1 | 58d82c77 | Tom Mullins | /* |
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2 | * Software License Agreement (BSD License) |
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3 | * |
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4 | * Copyright (c) 2011, Willow Garage, Inc. |
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5 | * All rights reserved. |
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6 | * |
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7 | * Redistribution and use in source and binary forms, with or without |
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8 | * modification, are permitted provided that the following conditions |
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9 | * are met: |
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10 | * |
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11 | * * Redistributions of source code must retain the above copyright |
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12 | * notice, this list of conditions and the following disclaimer. |
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13 | * * Redistributions in binary form must reproduce the above |
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14 | * copyright notice, this list of conditions and the following |
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15 | * disclaimer in the documentation and/or other materials provided |
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16 | * with the distribution. |
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17 | * * Neither the name of Willow Garage, Inc. nor the names of its |
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18 | * contributors may be used to endorse or promote prducts derived |
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19 | * from this software without specific prior written permission. |
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20 | * |
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21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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32 | * POSSIBILITY OF SUCH DAMAGE. |
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33 | */ |
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34 | |||
35 | /* |
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36 | * |
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37 | * This is a modified version of ArduinoHardware.h to use Serial_ instead of |
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38 | * HardwareSerial for the Leonardo |
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39 | * |
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40 | */ |
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41 | |||
42 | #ifndef ROS_ARDUINO_HARDWARE_H_ |
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43 | #define ROS_ARDUINO_HARDWARE_H_ |
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44 | |||
45 | #include "WProgram.h" |
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46 | #include <HardwareSerial.h> |
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47 | |||
48 | class ArduinoHardware { |
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49 | public: |
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50 | ArduinoHardware(Serial_* io , long baud= 57600){ |
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51 | iostream = io; |
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52 | baud_ = baud; |
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53 | } |
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54 | ArduinoHardware() |
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55 | { |
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56 | iostream = &Serial; |
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57 | baud_ = 57600; |
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58 | } |
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59 | ArduinoHardware(ArduinoHardware& h){ |
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60 | this->iostream = iostream; |
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61 | this->baud_ = h.baud_; |
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62 | } |
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63 | |||
64 | void setBaud(long baud){ |
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65 | this->baud_= baud; |
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66 | } |
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67 | |||
68 | int getBaud(){return baud_;} |
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69 | |||
70 | void init(){ |
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71 | iostream->begin(baud_); |
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72 | } |
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73 | |||
74 | int read(){return iostream->read();}; |
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75 | void write(uint8_t* data, int length){ |
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76 | for(int i=0; i<length; i++) |
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77 | iostream->write(data[i]); |
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78 | } |
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79 | |||
80 | unsigned long time(){return millis();} |
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81 | |||
82 | protected: |
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83 | Serial_* iostream; |
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84 | long baud_; |
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85 | }; |
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86 | |||
87 | #endif |