/**
* @brief Configures the System clock frequency, HCLK, PCLK2 and PCLK1
* prescalers.
* @param None
* @retval None
*/
void SetSysClock(void)
{
/* The System clock configuration functions defined below assume that:
- For Low, Medium and High density devices an external 8MHz crystal is
used to drive the System clock.
- For Connectivity line devices an external 25MHz crystal is used to drive
the System clock.
If you are using different crystal you have to adapt those functions accordingly.*/
#if defined SYSCLK_HSE
SetSysClockToHSE();
#elif defined SYSCLK_FREQ_24MHz
SetSysClockTo24();
#elif defined SYSCLK_FREQ_36MHz
SetSysClockTo36();
#elif defined SYSCLK_FREQ_48MHz
SetSysClockTo48();
#elif defined SYSCLK_FREQ_56MHz
SetSysClockTo56();
#elif defined SYSCLK_FREQ_72MHz
SetSysClockTo72();
#endif
/* If none of the define above is enabled, the HSI is used as System clock
source (default after reset) */
}
int main(void)
{
SetSysClockTo56();
// ROS nodehandle initialization and topic registration
nh.initNode();
// Initialize debug LED
GPIO_InitTypeDef GPIO_Config;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_Config.GPIO_Pin = GPIO_Pin_5;
GPIO_Config.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Config.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_Config);
GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_RESET);
// Start ROS spin task, responsible for handling callbacks and communications
if (spinInitTask(&nh))
{
// Turn on LED on error
GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_SET);
while (1);
}
// Register and init publish task
if (publishInitTask(&nh))
{
// Turn on LED on error
GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_SET);
while (1);
}
// Register and init subscribe task
if (subscribeInitTask(&nh))
{
// Turn on LED on error
GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_SET);
while (1);
}
// Enter scheduler and loop forever
vTaskStartScheduler();
// In case the scheduler returns for some reason,.
while (1)
{
// Turn on LED on error
GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_SET);
}
}
/**
* @brief Configures the System clock frequency, HCLK, PCLK2 and PCLK1
* prescalers.
* @param None.
* @arg None.
* @note : None.
* @retval value: None.
*/
static void SetSysClock(void) {
#ifdef SYSCLK_FREQ_HSE
SetSysClockToHSE();
#elif defined SYSCLK_FREQ_20MHz
SetSysClockTo20();
#elif defined SYSCLK_FREQ_36MHz
SetSysClockTo36();
#elif defined SYSCLK_FREQ_48MHz
SetSysClockTo48();
#elif defined SYSCLK_FREQ_56MHz
SetSysClockTo56();
#elif defined SYSCLK_FREQ_72MHz
SetSysClockTo72();
#endif
/*!< If none of the define above is enabled, the HSI is used as System clock
source (default after reset) */
}
int main(void)
{
SetSysClockTo56();
// ROS nodehandle initialization and topic registration
nh.initNode();
nh.advertise(chatter);
// Initialize LED
GPIO_InitTypeDef GPIO_Config;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_Config.GPIO_Pin = GPIO_Pin_5;
GPIO_Config.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Config.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_Config);
GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_RESET);
while (1)
{
// Toggle LED
if (GPIO_ReadOutputDataBit(GPIOB, GPIO_Pin_5))
GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_RESET);
else
GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_SET);
// Publish message to be transmitted.
str_msg.data = hello;
chatter.publish(&str_msg);
// Handle all communications and callbacks.
nh.spinOnce();
// Delay for a bit.
nh.getHardware()->delay(100);
}
}
