Luka Danilovic / Mbed OS PROJ515_GPS

GPS NMEA through NavSatFix

Dependencies:   TinyGPSPlus

PROJ515.hpp@4:df54ebe69b38, 2019-03-01 (annotated)

Committer:
Luka_Danilovic
Date:
Fri Mar 01 12:57:15 2019 +0000
Revision:
4:df54ebe69b38
Parent:
3:30c3f20c2387
Child:
5:a201e5377e90
ROS - Starting point for development

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 0:448e0e74e00f 6 #include "mbed.h" // Mbed RTOS
Luka_Danilovic 0:448e0e74e00f 7 #include "TinyGPSPlus.h" // GPS Module Library
Luka_Danilovic 0:448e0e74e00f 8 #include "ros.h" // ROS Library
Luka_Danilovic 0:448e0e74e00f 9 #include "nav_msgs/Odometry.h" // ROS Navigation Messages component
Luka_Danilovic 0:448e0e74e00f 10 #include "std_msgs/String.h" // ROS Standard Messages component
Luka_Danilovic 2:a2e5b48beaa1 11 #include "std_msgs/Char.h" // ROS Standard Messages component
Luka_Danilovic 0:448e0e74e00f 12
Luka_Danilovic 0:448e0e74e00f 13 /* Definitions */
Luka_Danilovic 4:df54ebe69b38 14 #define LEDS_OFF 0x00 // LED bus all off
Luka_Danilovic 4:df54ebe69b38 15 #define LEDS_ON 0x03 // LED bus all on
Luka_Danilovic 3:30c3f20c2387 16 #define GPS_TX PC_10 // GPS Transmit Pin
Luka_Danilovic 3:30c3f20c2387 17 #define GPS_RX PC_11 // GPS Recieve Pin
Luka_Danilovic 3:30c3f20c2387 18 #define USB_TX PC_12 // USB Transmit Pin
Luka_Danilovic 3:30c3f20c2387 19 #define USB_RX PD_2 // USB Recieve Pin
Luka_Danilovic 0:448e0e74e00f 20 #define GPS_Baud 9600 // GPS Baud Rate
Luka_Danilovic 3:30c3f20c2387 21 #define USB_Baud 9600 // ROS Baud Rate
Luka_Danilovic 3:30c3f20c2387 22 #define ROS_Baud 57600 // ROS Baud Rate
Luka_Danilovic 0:448e0e74e00f 23 #define frameID "/gps_odom" // ROS frame ID
Luka_Danilovic 0:448e0e74e00f 24 #define childID "/base_link" // ROS child frame ID
Luka_Danilovic 0:448e0e74e00f 25 #define CVX 0x01 // Covariance value for X from the datasheet
Luka_Danilovic 0:448e0e74e00f 26 #define CVY 0x01 // Covariance value for X from the datasheet
Luka_Danilovic 0:448e0e74e00f 27 #define CVZ 0x01 // Covariance value for X from the datasheet
Luka_Danilovic 3:30c3f20c2387 28 #define ONE 0x01 // Hard coded covariance of 1
Luka_Danilovic 4:df54ebe69b38 29 #define PRINT_DATA 0x01 // Thread communication event to print data
Luka_Danilovic 0:448e0e74e00f 30
Luka_Danilovic 0:448e0e74e00f 31 /* Declarations */
Luka_Danilovic 1:b610535e5879 32 extern char gps_c; // GPS stream character - Defined in PROJ515.cpp
Luka_Danilovic 0:448e0e74e00f 33
Luka_Danilovic 0:448e0e74e00f 34 /* Function prototypes */
Luka_Danilovic 3:30c3f20c2387 35 void streamF(); // Function prototype for streaming data
Luka_Danilovic 3:30c3f20c2387 36 void setupRosMsg(); // Function prototype for seting up ROS messages
Luka_Danilovic 0:448e0e74e00f 37
Luka_Danilovic 0:448e0e74e00f 38 /*============================================================================*/
Luka_Danilovic 0:448e0e74e00f 39 #endif // End of inclusion