Luka Danilovic / Mbed OS PROJ515_GPS

GPS NMEA through NavSatFix

Dependencies:   TinyGPSPlus

PROJ515.hpp@17:264eb15c8be2, 2019-04-23 (annotated)

Committer:
Luka_Danilovic
Date:
Tue Apr 23 16:02:34 2019 +0000
Revision:
17:264eb15c8be2
Parent:
14:90590736e700 
Fixed the issue of location not updating when "statCheck" print-out is running

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Luka_Danilovic 0:448e0e74e00f 1 #ifndef __PROJ515_H__ //Inclusion safeguards
Luka_Danilovic 0:448e0e74e00f 2 #define __PROJ515_H__ //Definition of the inclusion
Luka_Danilovic 0:448e0e74e00f 3 /*============================================================================*/
Luka_Danilovic 0:448e0e74e00f 4
Luka_Danilovic 0:448e0e74e00f 5 /* Libraries */
Luka_Danilovic 14:90590736e700 6 #include "mbed.h" // Mbed RTOS
Luka_Danilovic 14:90590736e700 7 #include "TinyGPSPlus.h" // GPS Module Library
Luka_Danilovic 14:90590736e700 8 #include "ros.h" // ROS Library
Luka_Danilovic 13:755a3cd9d35d 9 #include "sensor_msgs/NavSatFix.h" // ROS Sensor Messages component
Luka_Danilovic 14:90590736e700 10 #include "std_msgs/String.h" // ROS Standard Messages component
Luka_Danilovic 14:90590736e700 11 //#include "std_msgs/Char.h" // ROS Standard Messages component
Luka_Danilovic 0:448e0e74e00f 12
Luka_Danilovic 0:448e0e74e00f 13 /* Definitions */
Luka_Danilovic 14:90590736e700 14 #define LEDS_OFF 0x00 // LED bus all off
Luka_Danilovic 14:90590736e700 15 #define LEDS_ON 0x07 // LED bus all on
Luka_Danilovic 14:90590736e700 16 #define GPS_TX PC_10 // GPS Transmit Pin
Luka_Danilovic 14:90590736e700 17 #define GPS_RX PC_11 // GPS Recieve Pin
Luka_Danilovic 17:264eb15c8be2 18 #define USB_TX PD_5 // USB Transmit Pin
Luka_Danilovic 17:264eb15c8be2 19 #define USB_RX PD_6 // USB Recieve Pin
Luka_Danilovic 13:755a3cd9d35d 20
Luka_Danilovic 14:90590736e700 21 #define GPS_Baud 9600 // GPS Baud Rate
Luka_Danilovic 17:264eb15c8be2 22 #define USB_Baud 9600 // USB Baud Rate
Luka_Danilovic 14:90590736e700 23 #define ROS_Baud 921600 // ROS Baud Rate
Luka_Danilovic 14:90590736e700 24 #define frameID "gps_odom" // ROS frame ID
Luka_Danilovic 14:90590736e700 25
Luka_Danilovic 14:90590736e700 26 #define UNAGUMENTED 0x00 // Unagumented
Luka_Danilovic 14:90590736e700 27 #define GPS_CONSTELL 0x01 // GPS constellation
Luka_Danilovic 14:90590736e700 28 #define UNNWN 0x00 // Unknown covariance
Luka_Danilovic 14:90590736e700 29
Luka_Danilovic 14:90590736e700 30 #define CVX 0x01 // Covariance value for X from the datasheet
Luka_Danilovic 14:90590736e700 31 #define CVY 0x01 // Covariance value for X from the datasheet
Luka_Danilovic 14:90590736e700 32 #define CVZ 0x01 // Covariance value for X from the datasheet
Luka_Danilovic 14:90590736e700 33 #define CVO 0x00 // Covariance value for zero components
Luka_Danilovic 14:90590736e700 34
Luka_Danilovic 14:90590736e700 35 #define PRINT_DATA 0x01 // Thread communication event to print data
Luka_Danilovic 0:448e0e74e00f 36
Luka_Danilovic 0:448e0e74e00f 37 /* Declarations */
Luka_Danilovic 14:90590736e700 38 extern char gps_c; // GPS stream character - Defined in PROJ515.cpp
Luka_Danilovic 14:90590736e700 39 extern int sats_n; // GPS satelite number - Defined in PROJ515.cpp
Luka_Danilovic 0:448e0e74e00f 40
Luka_Danilovic 0:448e0e74e00f 41 /* Function prototypes */
Luka_Danilovic 14:90590736e700 42 void streamF(); // Function prototype for streaming data
Luka_Danilovic 14:90590736e700 43 void setupRosMsg(); // Function prototype for seting up ROS messages
Luka_Danilovic 0:448e0e74e00f 44
Luka_Danilovic 0:448e0e74e00f 45 /*============================================================================*/
Luka_Danilovic 0:448e0e74e00f 46 #endif // End of inclusion