RP2040_Hardware.h

/* 
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2022, Paul Tervoort
 * All rights reserved.
 *
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#include "pico/stdlib.h"
#include "hardware/uart.h"

#ifndef ROS_RP2040_Hardware_H_
#define ROS_RP2040_Hardware_H_

class RP2040_Hardware
{
public:
  RP2040_Hardware(uart_inst_t* uart, int tx, int rx, long baud)
  {
    uart_ = uart;
    tx_ = tx;
    rx_ = rx;
    baud_ = baud;
  }
  RP2040_Hardware(long baud) : RP2040_Hardware(uart0, 0, 1, baud) {}
  RP2040_Hardware() : RP2040_Hardware(uart0, 0, 1, 57600) {}
  
  void custom_config(uart_inst_t* uart, int tx, int rx, long baud)
  {
    uart_ = uart;
    tx_ = tx;
    rx_ = rx;
    baud_ = baud;
  }

  // any initialization code necessary to use the serial port
  void init() 
  {
    uart_init(uart_, baud_);

    gpio_set_function(tx_, GPIO_FUNC_UART);
    gpio_set_function(rx_, GPIO_FUNC_UART);
  }

  // read a byte from the serial port. -1 = failure
  int read() 
  {
    if (uart_is_readable(uart_))
    {
      return uart_getc(uart_);
    }

    return -1;
  }

  // write data to the connection to ROS
  void write(uint8_t* data, int length)
  {
    uart_write_blocking(uart_, data, length);
  }

  // returns milliseconds since start of program
  unsigned long time()
  {
    return us_to_ms(time_us_32());
  }

protected:
  uart_inst_t* uart_;
  int rx_;
  int tx_;
  long baud_;
};

#endif