Diff: PROJ515.hpp

Revision:

0:448e0e74e00f

Child:

1:b610535e5879

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PROJ515.hpp	Tue Feb 26 11:56:43 2019 +0000
@@ -0,0 +1,36 @@
+#ifndef __PROJ515_H__ //Inclusion safeguards
+#define __PROJ515_H__ //Definition of the inclusion
+/*============================================================================*/
+
+/* Libraries */
+#include "mbed.h"               // Mbed RTOS
+//#include <string>               // Standard C++ String
+#include "TinyGPSPlus.h"        // GPS Module Library
+#include "ros.h"                // ROS Library
+#include "nav_msgs/Odometry.h"  // ROS Navigation Messages component
+#include "std_msgs/String.h"    // ROS Standard Messages component
+
+/* Definitions */
+#define GPS_TX PC_10            // GPS Transmit Pin
+#define GPS_RX PC_11            // GPS 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 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
+
+/* Declarations */
+extern char gps_c;              // GPS stream character - Defined in PROJ515.cpp
+extern float COV[36];    // GPS covariance matrx - Defined in PROJ515.cpp         
+
+/* Function prototypes */
+void streamF();
+
+/*============================================================================*/
+#endif // End of inclusion
\ No newline at end of file