Luka Danilovic / Mbed OS PROJ515_USS_GPS

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Dependencies:   SRF05 ros_lib_kinetic TinyGPSPlus

PROJ515.hpp@2:7288dd12186e, 2019-05-02 (annotated)

Committer:
Luka_Danilovic
Date:
Thu May 02 11:37:55 2019 +0000
Revision:
2:7288dd12186e
Parent:
1:ea2ee36038e7
Child:
3:cd1f2bde7ac2
No ROS - All U_Sensors working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Luka_Danilovic 0:215bdd87b602 1 #ifndef __PROJ515_H__ //Inclusion safeguards
Luka_Danilovic 0:215bdd87b602 2 #define __PROJ515_H__ //Definition of the inclusion
Luka_Danilovic 0:215bdd87b602 3 /*============================================================================*/
Luka_Danilovic 0:215bdd87b602 4
Luka_Danilovic 0:215bdd87b602 5 /* Libraries */
Luka_Danilovic 0:215bdd87b602 6 #include "mbed.h" // Mbed RTOS
Luka_Danilovic 0:215bdd87b602 7 #include "hcsr04.h" // HCSR04 ultrasound sensor libary
Luka_Danilovic 1:ea2ee36038e7 8 //#include "SRF05_sp.h" // SRF05 single pin ultrasound sensor libary
Luka_Danilovic 0:215bdd87b602 9 #include "ros.h" // ROS Library
Luka_Danilovic 0:215bdd87b602 10 #include "sensor_msgs/Range.h" // ROS Sensor Messages component
Luka_Danilovic 0:215bdd87b602 11
Luka_Danilovic 0:215bdd87b602 12 /* Definitions */
Luka_Danilovic 0:215bdd87b602 13 #define LEDS_OFF 0x00 // LED bus all off
Luka_Danilovic 0:215bdd87b602 14 #define LEDS_ON 0x07 // LED bus all on
Luka_Danilovic 1:ea2ee36038e7 15
Luka_Danilovic 2:7288dd12186e 16 #define USP_CF1T PG_1 // Cliff ultrasound 1 Trigger
Luka_Danilovic 2:7288dd12186e 17 #define USP_CF1E PB_11 // Cliff ultrasound 1 Echo
Luka_Danilovic 2:7288dd12186e 18 #define USP_CF2T PF_9 // Cliff ultrasound 2 Trigger
Luka_Danilovic 2:7288dd12186e 19 #define USP_CF2E PB_10 // Cliff ultrasound 2 Echo
Luka_Danilovic 2:7288dd12186e 20 #define USP_CF3T PF_7 // Cliff ultrasound 3 Trigger
Luka_Danilovic 2:7288dd12186e 21 #define USP_CF3E PE_15 // Cliff ultrasound 3 Echo
Luka_Danilovic 2:7288dd12186e 22 #define USP_CF4T PF_8 // Cliff ultrasound 4 Trigger
Luka_Danilovic 2:7288dd12186e 23 #define USP_CF4E PE_12 // Cliff ultrasound 4 Echo
Luka_Danilovic 1:ea2ee36038e7 24
Luka_Danilovic 2:7288dd12186e 25 #define USP_CB1T PE_6 // Curb ultrasound 1 Trigger
Luka_Danilovic 2:7288dd12186e 26 #define USP_CB1E PE_7 // Curb ultrasound 1 Echo
Luka_Danilovic 2:7288dd12186e 27 #define USP_CB2T PE_5 // Curb ultrasound 2 Trigger
Luka_Danilovic 2:7288dd12186e 28 #define USP_CB2E PE_8 // Curb ultrasound 2 Echo
Luka_Danilovic 2:7288dd12186e 29 #define USP_CB3T PE_4 // Curb ultrasound 3 Trigger
Luka_Danilovic 2:7288dd12186e 30 #define USP_CB3E PG_9 // Curb ultrasound 3 Echo
Luka_Danilovic 2:7288dd12186e 31 #define USP_CB4T PE_2 // Curb ultrasound 4 Trigger
Luka_Danilovic 2:7288dd12186e 32 #define USP_CB4E PG_14 // Curb ultrasound 4 Echo
Luka_Danilovic 0:215bdd87b602 33
Luka_Danilovic 0:215bdd87b602 34 #define ROS_Baud 921600 // ROS Baud Rate
Luka_Danilovic 0:215bdd87b602 35 #define frameID "ultrasound_range" // ROS frame ID
Luka_Danilovic 0:215bdd87b602 36
Luka_Danilovic 1:ea2ee36038e7 37 #define ULTRASOUND 0x00 // Ultrasound
Luka_Danilovic 0:215bdd87b602 38 #define PRINT_DATA 0x01 // Thread communication event to print data
Luka_Danilovic 0:215bdd87b602 39
Luka_Danilovic 1:ea2ee36038e7 40 /* Namespaces */
Luka_Danilovic 1:ea2ee36038e7 41 using namespace std; // Make all std symbols visible
Luka_Danilovic 1:ea2ee36038e7 42 using namespace ros; // Make all ros symbols visible
Luka_Danilovic 1:ea2ee36038e7 43 using namespace sensor_msgs; // Make all sensor_msgs symbols visible
Luka_Danilovic 1:ea2ee36038e7 44 using namespace std_msgs; // Make all sdt_msgs symbols visible
Luka_Danilovic 1:ea2ee36038e7 45
Luka_Danilovic 0:215bdd87b602 46 /* Declarations */
Luka_Danilovic 2:7288dd12186e 47 extern float cfDist1; // Distance returned by cliff u_sensor1 (m)
Luka_Danilovic 2:7288dd12186e 48 extern float cfDist2; // Distance returned by cliff u_sensor2 (m)
Luka_Danilovic 2:7288dd12186e 49 extern float cfDist3; // Distance returned by cliff u_sensor3 (m)
Luka_Danilovic 2:7288dd12186e 50 extern float cfDist4; // Distance returned by cliff u_sensor4 (m)
Luka_Danilovic 1:ea2ee36038e7 51
Luka_Danilovic 2:7288dd12186e 52 extern float cbDist1; // Distance returned by curb u_sensor1 (m)
Luka_Danilovic 2:7288dd12186e 53 extern float cbDist2; // Distance returned by curb u_sensor2 (m)
Luka_Danilovic 2:7288dd12186e 54 extern float cbDist3; // Distance returned by curb u_sensor3 (m)
Luka_Danilovic 2:7288dd12186e 55 extern float cbDist4; // Distance returned by curb u_sensor4 (m)
Luka_Danilovic 1:ea2ee36038e7 56
Luka_Danilovic 2:7288dd12186e 57 extern float wPeriod; // Wait period(ms) for ROS publisher
Luka_Danilovic 0:215bdd87b602 58
Luka_Danilovic 0:215bdd87b602 59 /* GPIO */
Luka_Danilovic 0:215bdd87b602 60 DigitalIn bttn(USER_BUTTON); // Onboard blue user button
Luka_Danilovic 0:215bdd87b602 61 BusOut leds(LED1, LED2, LED3); // Onboard LEDs bus
Luka_Danilovic 0:215bdd87b602 62
Luka_Danilovic 0:215bdd87b602 63 /* Instantiations */
Luka_Danilovic 2:7288dd12186e 64 HCSR04 USS_CF1(USP_CF1T, USP_CF1E); // Ultrasound sensor cliff 1
Luka_Danilovic 2:7288dd12186e 65 HCSR04 USS_CF2(USP_CF2T, USP_CF2E); // Ultrasound sensor cliff 2
Luka_Danilovic 2:7288dd12186e 66 HCSR04 USS_CF3(USP_CF3T, USP_CF3E); // Ultrasound sensor cliff 3
Luka_Danilovic 2:7288dd12186e 67 HCSR04 USS_CF4(USP_CF4T, USP_CF4E); // Ultrasound sensor cliff 4
Luka_Danilovic 1:ea2ee36038e7 68
Luka_Danilovic 2:7288dd12186e 69 HCSR04 USS_CB1(USP_CB1T, USP_CB1E); // Ultrasound sensor cliff 1
Luka_Danilovic 2:7288dd12186e 70 HCSR04 USS_CB2(USP_CB2T, USP_CB2E); // Ultrasound sensor cliff 2
Luka_Danilovic 2:7288dd12186e 71 HCSR04 USS_CB3(USP_CB3T, USP_CB3E); // Ultrasound sensor cliff 3
Luka_Danilovic 2:7288dd12186e 72 HCSR04 USS_CB4(USP_CB4T, USP_CB4E); // Ultrasound sensor cliff 4
Luka_Danilovic 2:7288dd12186e 73
Luka_Danilovic 2:7288dd12186e 74 Serial usbSer(USBTX, USBRX); // Serial over USB OTG
Luka_Danilovic 0:215bdd87b602 75 NodeHandle nh; // Instance for ROS Node Handler
Luka_Danilovic 0:215bdd87b602 76 Range ultrasound_msg; // Instance for ROS NavSatFix message
Luka_Danilovic 1:ea2ee36038e7 77
Luka_Danilovic 2:7288dd12186e 78 // Instance for ROS publishers (Range message)
Luka_Danilovic 1:ea2ee36038e7 79 Publisher ultrasound_pub("/ultrasound/cb1", &ultrasound_msg);
Luka_Danilovic 0:215bdd87b602 80
Luka_Danilovic 0:215bdd87b602 81 /* Threads and Signals */
Luka_Danilovic 0:215bdd87b602 82 //Thread myThread (osPriorityNormal);
Luka_Danilovic 0:215bdd87b602 83 //EventFlags myEventFlag;
Luka_Danilovic 0:215bdd87b602 84
Luka_Danilovic 0:215bdd87b602 85 /* Function Prototypes */
Luka_Danilovic 0:215bdd87b602 86 //void myFunctionPrototype();
Luka_Danilovic 0:215bdd87b602 87
Luka_Danilovic 0:215bdd87b602 88 /*============================================================================*/
Luka_Danilovic 0:215bdd87b602 89 #endif // End of inclusion