hal/include/ros_hardware.h File Reference

ROS Serial C hardware abstraction header. More...

#include "ros_types.h"

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Typedefs
typedef enum LED	LED_t
	LED enumerator.
Enumerations
enum	LED { SPIN_LED, SYNC_LED, LOCK_LED, ERROR_LED }
	LED enumerator. More...
Functions
rosReturnCode_t	hardwareInit ()
	Initialize current hardware.
uint32_t	hardwareGetTime ()
	Get current hardware time.
void	hardwareToggleLED (LED_t led)
	Toggles specific hardware LED.

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Detailed Description

ROS Serial C hardware abstraction header.

Date:

04/19/2013

Author:

Peter Rudolph

THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.

Copyright:

Peter Rudolph, 2013. All rights reserved.

License:

This library is released under LGPLv3.

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Typedef Documentation

typedef enum LED LED_t

LED enumerator.

Indicates different signals or states.

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Enumeration Type Documentation

enum LED

LED enumerator.

Indicates different signals or states.

Enumerator:

SPIN_LED	rosSpin() or rosSpinOnce() is called
SYNC_LED	ROS is syncing
LOCK_LED	System is locked for interface operations
ERROR_LED	An error occured

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Function Documentation

uint32_t hardwareGetTime

(

)

Get current hardware time.

Implementation must return uC lifetime in milliseconds. Either use SysTick interrupt or use OS specific function, e.g. tick-hooks.

Returns:

controller life time in milliseconds

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rosReturnCode_t hardwareInit

(

)

Initialize current hardware.

Returns:

controller life time in milliseconds

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void hardwareToggleLED

(

LED_t

led

)

Toggles specific hardware LED.

Parameters:

byte	pointer to byte where value is send from

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