Luka Danilovic / Mbed OS PROJ515_USS_GPS

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Dependencies:   SRF05 ros_lib_kinetic TinyGPSPlus

PROJ515.hpp@1:ea2ee36038e7, 2019-05-01 (annotated)

Committer:
Luka_Danilovic
Date:
Wed May 01 16:17:43 2019 +0000
Revision:
1:ea2ee36038e7
Parent:
0:215bdd87b602
Child:
2:7288dd12186e
Child:
5:bf0d8b28771a
ROS - 1 Sensor implemented;

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 <math.h>
Luka_Danilovic 1:ea2ee36038e7 9 //#include "SRF05.h" // SRF05 ultrasound sensor libary
Luka_Danilovic 1:ea2ee36038e7 10 //#include "SRF05_sp.h" // SRF05 single pin ultrasound sensor libary
Luka_Danilovic 0:215bdd87b602 11 #include "ros.h" // ROS Library
Luka_Danilovic 0:215bdd87b602 12 #include "sensor_msgs/Range.h" // ROS Sensor Messages component
Luka_Danilovic 0:215bdd87b602 13 //#include "std_msgs/Char.h" // ROS Standard Messages component
Luka_Danilovic 0:215bdd87b602 14
Luka_Danilovic 0:215bdd87b602 15 /* Definitions */
Luka_Danilovic 0:215bdd87b602 16 #define LEDS_OFF 0x00 // LED bus all off
Luka_Danilovic 0:215bdd87b602 17 #define LEDS_ON 0x07 // LED bus all on
Luka_Danilovic 1:ea2ee36038e7 18
Luka_Danilovic 1:ea2ee36038e7 19 #define USP_CF1 PE_2 // Cliff ultrasound 1 Trigger/Echo
Luka_Danilovic 1:ea2ee36038e7 20 #define USP_CF2 PE_4 // Cliff ultrasound 2 Trigger/Echo
Luka_Danilovic 1:ea2ee36038e7 21 #define USP_CF3 PE_5 // Cliff ultrasound 3 Trigger/Echo
Luka_Danilovic 1:ea2ee36038e7 22 #define USP_CF4 PE_6 // Cliff ultrasound 4 Trigger/Echo
Luka_Danilovic 1:ea2ee36038e7 23
Luka_Danilovic 1:ea2ee36038e7 24 #define USP_CB1 PF_8 // Curb ultrasound 1 Trigger/Echo
Luka_Danilovic 1:ea2ee36038e7 25 #define USP_CB2 PF_7 // Curb ultrasound 2 Trigger/Echo
Luka_Danilovic 1:ea2ee36038e7 26 #define USP_CB3 PF_9 // Curb ultrasound 3 Trigger/Echo
Luka_Danilovic 1:ea2ee36038e7 27 #define USP_CB4 PG_1 // Curb ultrasound 4 Trigger/Echo
Luka_Danilovic 0:215bdd87b602 28
Luka_Danilovic 0:215bdd87b602 29 #define ROS_Baud 921600 // ROS Baud Rate
Luka_Danilovic 0:215bdd87b602 30 #define frameID "ultrasound_range" // ROS frame ID
Luka_Danilovic 0:215bdd87b602 31
Luka_Danilovic 1:ea2ee36038e7 32 #define ULTRASOUND 0x00 // Ultrasound
Luka_Danilovic 0:215bdd87b602 33 #define PRINT_DATA 0x01 // Thread communication event to print data
Luka_Danilovic 0:215bdd87b602 34
Luka_Danilovic 1:ea2ee36038e7 35 /* Namespaces */
Luka_Danilovic 1:ea2ee36038e7 36 using namespace std; // Make all std symbols visible
Luka_Danilovic 1:ea2ee36038e7 37 using namespace ros; // Make all ros symbols visible
Luka_Danilovic 1:ea2ee36038e7 38 using namespace sensor_msgs; // Make all sensor_msgs symbols visible
Luka_Danilovic 1:ea2ee36038e7 39 using namespace std_msgs; // Make all sdt_msgs symbols visible
Luka_Danilovic 1:ea2ee36038e7 40
Luka_Danilovic 0:215bdd87b602 41 /* Declarations */
Luka_Danilovic 1:ea2ee36038e7 42 extern float cfDist1; // Distance returned by cliff u_sensor1 (cm)
Luka_Danilovic 1:ea2ee36038e7 43 extern float cfDist2; // Distance returned by cliff u_sensor2 (cm)
Luka_Danilovic 1:ea2ee36038e7 44 extern float cfDist3; // Distance returned by cliff u_sensor3 (cm)
Luka_Danilovic 1:ea2ee36038e7 45 extern float cfDist4; // Distance returned by cliff u_sensor4 (cm)
Luka_Danilovic 1:ea2ee36038e7 46
Luka_Danilovic 1:ea2ee36038e7 47 extern float cbDist1; // Distance returned by curb u_sensor1 (cm)
Luka_Danilovic 1:ea2ee36038e7 48 extern float cbDist2; // Distance returned by curb u_sensor2 (cm)
Luka_Danilovic 1:ea2ee36038e7 49 extern float cbDist3; // Distance returned by curb u_sensor3 (cm)
Luka_Danilovic 1:ea2ee36038e7 50 extern float cbDist4; // Distance returned by curb u_sensor4 (cm)
Luka_Danilovic 1:ea2ee36038e7 51
Luka_Danilovic 1:ea2ee36038e7 52 extern float wPeriod; // Waiting period for the sampling (sec)
Luka_Danilovic 0:215bdd87b602 53
Luka_Danilovic 0:215bdd87b602 54 /* GPIO */
Luka_Danilovic 0:215bdd87b602 55 DigitalIn bttn(USER_BUTTON); // Onboard blue user button
Luka_Danilovic 0:215bdd87b602 56 BusOut leds(LED1, LED2, LED3); // Onboard LEDs bus
Luka_Danilovic 0:215bdd87b602 57
Luka_Danilovic 0:215bdd87b602 58 /* Instantiations */
Luka_Danilovic 1:ea2ee36038e7 59 //SRF05 USS_CF1(USP_CF1,USP_CF1); // Ultrasound sensor cliff 1
Luka_Danilovic 1:ea2ee36038e7 60 //SRF05 USS_CF2(USP_CF2,USP_CF2); // Ultrasound sensor cliff 2
Luka_Danilovic 1:ea2ee36038e7 61 //SRF05 USS_CF3(USP_CF3,USP_CF3); // Ultrasound sensor cliff 3
Luka_Danilovic 1:ea2ee36038e7 62 //SRF05 USS_CF4(USP_CF4,USP_CF4); // Ultrasound sensor cliff 4
Luka_Danilovic 1:ea2ee36038e7 63 //
Luka_Danilovic 1:ea2ee36038e7 64 //SRF05 USS_CB1(USP_CB1,USP_CB1); // Ultrasound sensor cliff 1
Luka_Danilovic 1:ea2ee36038e7 65 //SRF05 USS_CB2(USP_CB2,USP_CB2); // Ultrasound sensor cliff 2
Luka_Danilovic 1:ea2ee36038e7 66 //SRF05 USS_CB3(USP_CB3,USP_CB3); // Ultrasound sensor cliff 3
Luka_Danilovic 1:ea2ee36038e7 67 HCSR04 USS_CB4(PG_1,PG_0); // Ultrasound sensor cliff 4
Luka_Danilovic 1:ea2ee36038e7 68
Luka_Danilovic 1:ea2ee36038e7 69 //Serial usbSer(USBTX, USBRX); // Serial over USB OTG
Luka_Danilovic 0:215bdd87b602 70 NodeHandle nh; // Instance for ROS Node Handler
Luka_Danilovic 0:215bdd87b602 71 Range ultrasound_msg; // Instance for ROS NavSatFix message
Luka_Danilovic 1:ea2ee36038e7 72
Luka_Danilovic 0:215bdd87b602 73 // Instance for ROS publisher (Odometry Message)
Luka_Danilovic 1:ea2ee36038e7 74 Publisher ultrasound_pub("/ultrasound/cb1", &ultrasound_msg);
Luka_Danilovic 0:215bdd87b602 75
Luka_Danilovic 0:215bdd87b602 76 /* Threads and Signals */
Luka_Danilovic 0:215bdd87b602 77 //Thread myThread (osPriorityNormal);
Luka_Danilovic 0:215bdd87b602 78 //EventFlags myEventFlag;
Luka_Danilovic 0:215bdd87b602 79
Luka_Danilovic 0:215bdd87b602 80 /* Function Prototypes */
Luka_Danilovic 0:215bdd87b602 81 //void myFunctionPrototype();
Luka_Danilovic 0:215bdd87b602 82
Luka_Danilovic 0:215bdd87b602 83 /*============================================================================*/
Luka_Danilovic 0:215bdd87b602 84 #endif // End of inclusion