Luka Danilovic
/
PROJ515_GPS
GPS NMEA through NavSatFix
PROJ515.hpp
- Committer:
- Luka_Danilovic
- Date:
- 2019-03-01
- Revision:
- 3:30c3f20c2387
- Parent:
- 2:a2e5b48beaa1
- Child:
- 4:df54ebe69b38
File content as of revision 3:30c3f20c2387:
#ifndef __PROJ515_H__ //Inclusion safeguards #define __PROJ515_H__ //Definition of the inclusion /*============================================================================*/ /* Libraries */ #include "mbed.h" // Mbed RTOS //#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 #include "std_msgs/String.h" // ROS Standard Messages component #include "std_msgs/Char.h" // ROS Standard Messages component /* Definitions */ #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 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(); // Function prototype for streaming data void setupRosMsg(); // Function prototype for seting up ROS messages /*============================================================================*/ #endif // End of inclusion