ROS中使用STM32作为底层控制板4WD（MDK5工程）

ROS下使用rosserial和STM32（ST库）进行通信，4轮驱动MDK5工程

#include “hardwareserial.h“
#include “interrupt.h“

USART_TypeDef*  SERIAL_USART[SERIALn] = {RIKI_SERIAL1 RIKI_SERIAL2 RIKI_SERIAL3};
GPIO_TypeDef*   SERIAL_PORT[SERIALn] = {RIKI_SERIAL1_GPIO_PORT RIKI_SERIAL2_GPIO_PORT RIKI_SERIAL3_GPIO_PORT}; 
const uint32_t  SERIAL_USART_CLK[SERIALn] = {RIKI_SERIAL1_CLK RIKI_SERIAL2_CLK RIKI_SERIAL3_CLK};
const uint32_t  SERIAL_PORT_CLK[SERIALn] = {RIKI_SERIAL1_GPIO_CLK RIKI_SERIAL2_GPIO_CLK RIKI_SERIAL3_GPIO_CLK};
const uint16_t  SERIAL_TX_PIN[SERIALn] = {RIKI_SERIAL1_TX_PIN RIKI_SERIAL2_TX_PIN RIKI_SERIAL3_TX_PIN}; 
const uint16_t  SERIAL_RX_PIN[SERIALn] = {RIKI_SERIAL1_RX_PIN RIKI_SERIAL2_RX_PIN RIKI_SERIAL2_RX_PIN}; 
const uint16_t  SERIAL_IRQn[SERIALn] = {RIKI_SERIAL1_IRQ RIKI_SERIAL2_IRQ RIKI_SERIAL3_IRQ};
const uint16_t  SERILA_NVIC[SERIALn] = {RIKI_SERIAL1_NVIC RIKI_SERIAL2_NVIC RIKI_SERIAL3_NVIC};
         

HardwareSerial::HardwareSerial（Serial_TypeDef _Serial）
{
		Serial = _Serial;

		if（this->Serial == SERIAL1）
			Serial1 = this;
		if（this->Serial == SERIAL2）
			Serial2 = this;
		if（this->Serial == SERIAL3）
			Serial3 = this;
}


void HardwareSerial::begin（uint32_t baud）
{
	GPIO_InitTypeDef  GPIO_InitStructure;
	USART_InitTypeDef USART_InitStructure;
	NVIC_InitTypeDef  NVIC_InitStructure;
  
	if（this->Serial == SERIAL1） {
		RCC_APB2PeriphClockCmd（SERIAL_USART_CLK[this->Serial]|SERIAL_PORT_CLK[this->Serial] ENABLE）;	
	} else {
		RCC_APB1PeriphClockCmd（SERIAL_USART_CLK[this->Serial] ENABLE）; 
		RCC_APB2PeriphClockCmd（SERIAL_PORT_CLK[this->Serial] ENABLE）; 
	}
	//USART_TX   
	GPIO_InitStructure.GPIO_Pin = SERIAL_TX_PIN[this->Serial];        	 
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	 //50MHz
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	 	 
	GPIO_Init（SERIAL_PORT[this->Serial] &GPIO_InitStructure）;

	//USART_RX	 
	GPIO_InitStructure.GPIO_Pin = SERIAL_RX_PIN[this->Serial];           
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; 
	GPIO_Init（SERIAL_PORT[this->Serial] &GPIO_InitStructure）;  

	USART_InitStructure.USART_BaudRate	 = baud;				
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;	
	USART_InitStructure.USART_StopBits 	 = USART_StopBits_1;	
	USART_InitStructure.USART_Parity	 = USART_Parity_No;		
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	

	USART_Init（SERIAL_USART[this->Serial] &USART_InitStructure）; 				

	NVIC_InitStructure.NVIC_IRQChannel = SERIAL_IRQn[this->Serial];       
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0; 
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = SERILA_NVIC[this->Serial];		
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			
	NVIC_Init（&NVIC_InitStructure）;						   
	USART_ITConfig（SERIAL_USART[this->Serial] USART_IT_RXNE ENABLE）;

	USART_Cmd（SERIAL_USART[this->Serial] ENABLE）;
}

uint32_t HardwareSerial::available（void）
{
	return （uint32_t）（SERIAL_BUFFER_SIZE + rx_buffer._iHead - rx_buffer._iTail） % 

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2018-09-19 16:07  rikirobot_stm32-keil\
     文件         119  2018-05-28 13:11  rikirobot_stm32-keil\.gitignore
     目录           0  2018-09-18 15:37  rikirobot_stm32-keil\Bsp\
     文件        7607  2018-09-18 15:37  rikirobot_stm32-keil\Bsp\config.h
     文件        4187  2018-08-13 15:50  rikirobot_stm32-keil\Bsp\hardwareserial.cpp
     文件         479  2018-05-28 13:11  rikirobot_stm32-keil\Bsp\hardwareserial.h
     文件         447  2018-08-10 16:18  rikirobot_stm32-keil\Bsp\interrupt.cpp
     文件         446  2018-05-28 13:11  rikirobot_stm32-keil\Bsp\interrupt.h
     文件         608  2018-09-10 17:03  rikirobot_stm32-keil\Bsp\millisecondtimer.c
     文件         311  2018-09-10 17:03  rikirobot_stm32-keil\Bsp\millisecondtimer.h
     文件        1393  2018-05-28 13:11  rikirobot_stm32-keil\Bsp\RingBuffer.cpp
     文件        1353  2018-05-28 13:11  rikirobot_stm32-keil\Bsp\RingBuffer.h
     文件        5649  2018-05-28 13:11  rikirobot_stm32-keil\Bsp\ring_buffer.h
     文件         172  2018-05-28 13:11  rikirobot_stm32-keil\Bsp\round.h
     文件        5926  2018-05-28 13:11  rikirobot_stm32-keil\Bsp\Wire.cpp
     文件        3320  2018-05-28 13:11  rikirobot_stm32-keil\Bsp\Wire.h
     文件        4208  2018-05-28 13:11  rikirobot_stm32-keil\Bsp\Wirebase.cpp
     文件        4673  2018-05-28 13:11  rikirobot_stm32-keil\Bsp\Wirebase.h
     目录           0  2018-09-15 22:06  rikirobot_stm32-keil\Driver\
     目录           0  2018-08-15 18:49  rikirobot_stm32-keil\Driver\Battery\
     文件        2414  2018-08-15 18:49  rikirobot_stm32-keil\Driver\Battery\battery.cpp
     文件         359  2018-05-28 13:11  rikirobot_stm32-keil\Driver\Battery\battery.h
     目录           0  2018-09-18 15:37  rikirobot_stm32-keil\Driver\Encoder\
     文件       10910  2018-09-18 15:37  rikirobot_stm32-keil\Driver\Encoder\encoder.c
     文件         299  2018-05-28 15:24  rikirobot_stm32-keil\Driver\Encoder\encoder.h
     目录           0  2018-09-15 13:36  rikirobot_stm32-keil\Driver\gy85\
     文件        4090  2018-09-15 13:36  rikirobot_stm32-keil\Driver\gy85\gy85.cpp
     文件        1962  2018-05-28 13:11  rikirobot_stm32-keil\Driver\gy85\gy85.h
     目录           0  2018-09-15 15:47  rikirobot_stm32-keil\Driver\Key\
     文件        1873  2018-09-15 15:47  rikirobot_stm32-keil\Driver\Key\key.c
     文件         489  2018-09-15 15:46  rikirobot_stm32-keil\Driver\Key\key.h
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