Luka Danilovic
GPS NMEA through NavSatFix
Diff: PROJ515.hpp
- Revision:
- 10:46216f5f48a8
- Parent:
- 5:a201e5377e90
--- a/PROJ515.hpp Thu Mar 07 12:27:26 2019 +0000 +++ b/PROJ515.hpp Thu Mar 07 13:45:10 2019 +0000 @@ -5,36 +5,17 @@ /* Libraries */ #include "mbed.h" // Mbed RTOS #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 -//#include "std_msgs/Char.h" // ROS Standard Messages component /* Definitions */ #define LEDS_OFF 0x00 // LED bus all off #define LEDS_ON 0x07 // LED bus all on #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 // 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 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 CVR 0x01 // Covariance value for rotational components -#define PRINT_DATA 0x01 // Thread communication event to print data /* Declarations */ extern char gps_c; // GPS stream character - Defined in PROJ515.cpp extern int sats_n; // GPS satelite number - Defined in PROJ515.cpp -/* Function prototypes */ -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