File content as of revision 2:a2e5b48beaa1:

#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
#include "std_msgs/Char.h"      // ROS Standard Messages component

/* Definitions */
#define GPS_TX PD_5            // GPS Transmit Pin
#define GPS_RX PD_6            // 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     

/* Function prototypes */
void streamF();

/*============================================================================*/
#endif // End of inclusion