Luka Danilovic
/
PROJ515_GPS
GPS NMEA through NavSatFix
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