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Coldstuff1Coldstuff1
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‎stm_workspace/hydrophone/.settings/language.settings.xml‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
55
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
66
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
77
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
8-
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-79999389706499471" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
8+
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-79917367385027471" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
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<language-scope id="org.eclipse.cdt.core.gcc"/>
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<language-scope id="org.eclipse.cdt.core.g++"/>
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</provider>
@@ -16,7 +16,7 @@
1616
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
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<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
1818
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
19-
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-79999389706499471" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
19+
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-79917367385027471" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
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<language-scope id="org.eclipse.cdt.core.gcc"/>
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<language-scope id="org.eclipse.cdt.core.g++"/>
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</provider>
@@ -27,7 +27,7 @@
2727
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
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<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
2929
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
30-
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-79999389706499471" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
30+
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-79917367385027471" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
3131
<language-scope id="org.eclipse.cdt.core.gcc"/>
3232
<language-scope id="org.eclipse.cdt.core.g++"/>
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</provider>
@@ -38,7 +38,7 @@
3838
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
3939
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
4040
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
41-
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-79999389706499471" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
41+
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-79917367385027471" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
4242
<language-scope id="org.eclipse.cdt.core.gcc"/>
4343
<language-scope id="org.eclipse.cdt.core.g++"/>
4444
</provider>

‎stm_workspace/hydrophone/Core/Inc/auv_msgs/HydrophonePayload.h‎

Lines changed: 0 additions & 71 deletions
This file was deleted.

‎stm_workspace/hydrophone/Core/Inc/ros.h‎

Lines changed: 3 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
/*
22
* Software License Agreement (BSD License)
33
*
4-
* Copyright (c) 2011, Willow Garage, Inc.
4+
* Copyright (c) 2018, Kenta Yonekura (a.k.a. yoneken)
55
* All rights reserved.
66
*
77
* Redistribution and use in source and binary forms, with or without
@@ -36,32 +36,11 @@
3636
#define _ROS_H_
3737

3838
#include "ros/node_handle.h"
39-
40-
#if defined(ESP8266) or defined(ESP32) or defined(ROSSERIAL_ARDUINO_TCP)
41-
#include "ArduinoTcpHardware.h"
42-
#else
43-
#include "ArduinoHardware.h"
44-
#endif
39+
#include "STM32Hardware.h"
4540

4641
namespace ros
4742
{
48-
#if defined(__AVR_ATmega8__) or defined(__AVR_ATmega168__)
49-
/* downsize our buffers */
50-
typedef NodeHandle_<ArduinoHardware, 6, 6, 150, 150> NodeHandle;
51-
52-
#elif defined(__AVR_ATmega328P__)
53-
54-
typedef NodeHandle_<ArduinoHardware, 25, 25, 280, 280> NodeHandle;
55-
56-
#elif defined(SPARK)
57-
58-
typedef NodeHandle_<ArduinoHardware, 10, 10, 2048, 2048> NodeHandle;
59-
60-
#else
61-
62-
typedef NodeHandle_<ArduinoHardware> NodeHandle; // default 25, 25, 512, 512
63-
64-
#endif
43+
typedef NodeHandle_<STM32Hardware> NodeHandle; // default 25, 25, 512, 512
6544
}
6645

6746
#endif

‎stm_workspace/hydrophone/Core/Src/duration.cpp‎

Lines changed: 0 additions & 83 deletions
This file was deleted.

‎stm_workspace/hydrophone/Core/Src/main.cpp‎

Lines changed: 10 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,7 @@
2222
/* Private includes ----------------------------------------------------------*/
2323
/* USER CODE BEGIN Includes */
2424
#include <ros.h>
25-
#include <auv_msgs/HydrophonePayload.h>
25+
#include <auv_msgs/PingerTimeDifference.h>.h>
2626
/* USER CODE END Includes */
2727

2828
/* Private typedef -----------------------------------------------------------*/
@@ -52,8 +52,8 @@ DMA_HandleTypeDef hdma_usart2_tx;
5252

5353
/* USER CODE BEGIN PV */
5454
ros::NodeHandle nh;
55-
auv_msgs::HydrophonePayload hmsg;
56-
ros::Publisher hpub1("hydrophones", &hmsg);
55+
auv_msgs::PingerTimeDifference hmsg;
56+
ros::Publisher hpub("/sensors/hydrophones/pinger_time_difference", &hmsg);
5757
/* USER CODE END PV */
5858

5959
/* Private function prototypes -----------------------------------------------*/
@@ -112,13 +112,6 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart){
112112
nh.getHardware()->reset_rbuf();
113113
}
114114

115-
void updateMessage(auv_msgs::HydrophonePayload& msg, uint32_t frequency, uint32_t time, uint8_t hnum)
116-
{
117-
msg.frequency = frequency;
118-
msg.time = time;
119-
msg.hydrophone = hnum;
120-
}
121-
122115
/* USER CODE END 0 */
123116

124117
/**
@@ -179,7 +172,7 @@ int main(void)
179172
hydrophone3[2*i + 1] = 0;
180173
}
181174
nh.initNode();
182-
nh.advertise(hpub1);
175+
nh.advertise(hpub);
183176
HAL_TIM_Base_Start_IT(&htim2);
184177
/* USER CODE END 2 */
185178

@@ -196,12 +189,8 @@ int main(void)
196189
continue;
197190
}
198191
conversionComplete = 0;
199-
if (i == 0)
200-
times[0] = usecs_elapsed;
201-
if (i == 1)
202-
times[1] = usecs_elapsed;
203-
if (i == 3)
204-
times[3] = usecs_elapsed;
192+
if (i < 3)
193+
times[i] = usecs_elapsed;
205194
switch (curPhone) {
206195
case INIT:
207196
break;
@@ -241,8 +230,10 @@ int main(void)
241230
v3Sum = 0;
242231
v3SumSquares = 0;
243232
if (frequency0 == frequency1 && frequency0 == frequency2) {
244-
printf("frequency from hydrophones: %lu\r\n", frequency0);
245-
hpub1.publish(&hmsg);
233+
hmsg.frequency = frequency0;
234+
hmsg.times = times;
235+
hmsg.times_length = 3;
236+
hpub.publish(&hmsg);
246237
}
247238
nh.spinOnce();
248239

‎stm_workspace/hydrophone/Core/Src/mainpp.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,3 @@
11
#include "mainpp.h"
22
#include <ros.h>
3-
#include <auv_msgs/HydrophonePayload.h>
3+
#include <auv_msgs/PingerTimeDifference.h>

‎stm_workspace/hydrophone/Core/Src/time.cpp‎

Lines changed: 0 additions & 79 deletions
This file was deleted.

‎stm_workspace/hydrophone/Debug/Core/Inc/duration.cyclo‎

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,4 @@
1+
../Core/Inc/duration.cpp:40:6:void ros::normalizeSecNSecSigned(int32_t&, int32_t&) 3
2+
../Core/Inc/duration.cpp:59:11:ros::Duration& ros::Duration::operator+=(const ros::Duration&) 1
3+
../Core/Inc/duration.cpp:67:11:ros::Duration& ros::Duration::operator-=(const ros::Duration&) 1
4+
../Core/Inc/duration.cpp:75:11:ros::Duration& ros::Duration::operator*=(double) 1

‎stm_workspace/hydrophone/Debug/Core/Inc/duration.d‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,2 @@
1+
Core/Inc/duration.o: ../Core/Inc/duration.cpp ../Core/Inc/ros/duration.h
2+
../Core/Inc/ros/duration.h:

‎stm_workspace/hydrophone/Debug/Core/Inc/duration.o‎

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