IMPLEMENT
bool Uart::change_mode(TransferMode m, BaudRate r)
{
Proc::Status o = Proc::cli_save();
Unsigned8 old_lcr = lcr();
if(r != BAUD_NC) {
lcr(old_lcr | 0x80/*DLAB*/);
Unsigned16 divisor = Base_rate/r;
trb( divisor & 0x0ff ); /* BRD_LOW */
ier( (divisor >> 8) & 0x0ff ); /* BRD_HIGH */
lcr(old_lcr);
}
IMPLEMENT
bool Uart::startup(Address _port, int __irq)
{
port = _port;
_irq = __irq;
Proc::Status o = Proc::cli_save();
if (!valid())
{
Proc::sti_restore(o);
fail();
return false;
}
ier(Base_ier_bits);/* disable all rs-232 interrupts */
mcr(0x0b); /* out2, rts, and dtr enabled */
fcr(1); /* enable fifo */
fcr(0x07); /* clear rcv xmit fifo */
fcr(1); /* enable fifo */
lcr(0); /* clear line control register */
/* clearall interrupts */
/*read*/ msr(); /* IRQID 0*/
/*read*/ iir(); /* IRQID 1*/
/*read*/ trb(); /* IRQID 2*/
/*read*/ lsr(); /* IRQID 3*/
while(lsr() & 1/*DATA READY*/) /*read*/ trb();
Proc::sti_restore(o);
return true;
}
IMPLEMENT
void Uart::shutdown()
{
Proc::Status o = Proc::cli_save();
mcr(0x06);
fcr(0);
lcr(0);
ier(0);
Proc::sti_restore(o);
}
int main(int argc,char** argv)
{
ros::init(argc,argv,"global_planning");
tf::TransformListener tf(ros::Duration(10));
costmap_2d::Costmap2DROS lcr("costmap",tf);
global_planner::testCostmap costmap("my_costap",&lcr);
ros::spin();
return 0;
}
