Diff: PROJ515.hpp

Revision:

3:30c3f20c2387

Parent:

2:a2e5b48beaa1

Child:

4:df54ebe69b38

--- a/PROJ515.hpp	Tue Feb 26 14:28:47 2019 +0000
+++ b/PROJ515.hpp	Fri Mar 01 11:48:05 2019 +0000
@@ -4,7 +4,7 @@
 
 /* Libraries */
 #include "mbed.h"               // Mbed RTOS
-#include <string>               // Standard C++ String
+//#include "USBSerial.h"          // Serial over second USB
 #include "TinyGPSPlus.h"        // GPS Module Library
 #include "ros.h"                // ROS Library
 #include "nav_msgs/Odometry.h"  // ROS Navigation Messages component
@@ -12,25 +12,27 @@
 #include "std_msgs/Char.h"      // ROS Standard Messages component
 
 /* Definitions */
-#define GPS_TX PD_5            // GPS Transmit Pin
-#define GPS_RX PD_6            // GPS Recieve  Pin
+#define GPS_TX PC_10            // GPS Transmit Pin
+#define GPS_RX PC_11            // GPS Recieve  Pin
+#define USB_TX PC_12            // USB Transmit Pin
+#define USB_RX PD_2             // USB Recieve  Pin
 #define GPS_Baud 9600           // GPS Baud Rate
-#define USB_Baud 9600           // USB Baud Rate
-#define PRINT_DATA  0x01        // Signal to Thread to start Printing Data
+#define USB_Baud 9600           // ROS Baud Rate
+#define ROS_Baud 57600          // ROS Baud Rate
 #define frameID "/gps_odom"     // ROS frame ID
 #define childID "/base_link"    // ROS child frame ID
-#define ZRO 0x00                // Hard coded 0
-#define ONE 0x01                // Hard coded 1
-#define CVL 0x1869F             // Hard coded 99999 for covariance
 #define CVX 0x01                // Covariance value for X from the datasheet
 #define CVY 0x01                // Covariance value for X from the datasheet
 #define CVZ 0x01                // Covariance value for X from the datasheet
+#define ONE 0x01                // Hard coded covariance of 1
+#define PRINT_DATA 0x01
 
 /* Declarations */
 extern char gps_c;              // GPS stream character - Defined in PROJ515.cpp     
 
 /* Function prototypes */
-void streamF();
+void streamF();                 // Function prototype for streaming data
+void setupRosMsg();             // Function prototype for seting up ROS messages
 
 /*============================================================================*/
 #endif // End of inclusion
\ No newline at end of file