Luka Danilovic
/
PROJ515_GPS
GPS NMEA through NavSatFix
PROJ515.hpp
- Committer:
- Luka_Danilovic
- Date:
- 2019-03-19
- Revision:
- 13:755a3cd9d35d
- Parent:
- 11:8e44351d580d
- Child:
- 14:90590736e700
File content as of revision 13:755a3cd9d35d:
#ifndef __PROJ515_H__ //Inclusion safeguards #define __PROJ515_H__ //Definition of the inclusion /*============================================================================*/ /* Libraries */ #include "mbed.h" // Mbed RTOS #include "TinyGPSPlus.h" // GPS Module Library #include "ros.h" // ROS Library #include "sensor_msgs/NavSatFix.h" // ROS Sensor 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 921600 // ROS Baud Rate #define frameID "gps_odom" // ROS 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 CVO 0x00 // Covariance value for zero 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