Luka Danilovic
/
PROJ515_GPS
GPS NMEA through NavSatFix
PROJ515.hpp
- Committer:
- Luka_Danilovic
- Date:
- 2019-02-26
- Revision:
- 0:448e0e74e00f
- Child:
- 1:b610535e5879
File content as of revision 0:448e0e74e00f:
#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