Luka Danilovic / Mbed OS PROJ515_USS_GPS

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Dependencies:   SRF05 ros_lib_kinetic TinyGPSPlus

PROJ515.hpp@3:cd1f2bde7ac2, 2019-05-06 (annotated)

Committer:
Luka_Danilovic
Date:
Mon May 06 11:51:18 2019 +0000
Revision:
3:cd1f2bde7ac2
Parent:
2:7288dd12186e
Child:
4:f74d88f5f629
ROS - pre-test, not cleaned up

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 3:cd1f2bde7ac2 8 //#include "SRF05.h" // SRF05 ultrasound sensor custom 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 3:cd1f2bde7ac2 34 #define FOV 1.396 // Ultrasound sensor field of view
Luka_Danilovic 3:cd1f2bde7ac2 35 #define MIN_RANGE 0.2 // Ultrasound sensor min range
Luka_Danilovic 3:cd1f2bde7ac2 36 #define MAX_RANGE 2.5 // Ultrasound sensor max range
Luka_Danilovic 3:cd1f2bde7ac2 37 #define CLIFF_TRH 0.12 // Robot cliff treshold
Luka_Danilovic 3:cd1f2bde7ac2 38 #define CLIFF_ZRO 0 // Cliff not existent
Luka_Danilovic 3:cd1f2bde7ac2 39 #define EXCL_ZONE 0.255 // Robot footprint exclusion zone
Luka_Danilovic 3:cd1f2bde7ac2 40
Luka_Danilovic 0:215bdd87b602 41 #define ROS_Baud 921600 // ROS Baud Rate
Luka_Danilovic 0:215bdd87b602 42 #define frameID "ultrasound_range" // ROS frame ID
Luka_Danilovic 0:215bdd87b602 43
Luka_Danilovic 1:ea2ee36038e7 44 #define ULTRASOUND 0x00 // Ultrasound
Luka_Danilovic 0:215bdd87b602 45 #define PRINT_DATA 0x01 // Thread communication event to print data
Luka_Danilovic 0:215bdd87b602 46
Luka_Danilovic 1:ea2ee36038e7 47 /* Namespaces */
Luka_Danilovic 1:ea2ee36038e7 48 using namespace std; // Make all std symbols visible
Luka_Danilovic 1:ea2ee36038e7 49 using namespace ros; // Make all ros symbols visible
Luka_Danilovic 1:ea2ee36038e7 50 using namespace sensor_msgs; // Make all sensor_msgs symbols visible
Luka_Danilovic 1:ea2ee36038e7 51 using namespace std_msgs; // Make all sdt_msgs symbols visible
Luka_Danilovic 1:ea2ee36038e7 52
Luka_Danilovic 0:215bdd87b602 53 /* Declarations */
Luka_Danilovic 2:7288dd12186e 54 extern float cfDist1; // Distance returned by cliff u_sensor1 (m)
Luka_Danilovic 2:7288dd12186e 55 extern float cfDist2; // Distance returned by cliff u_sensor2 (m)
Luka_Danilovic 2:7288dd12186e 56 extern float cfDist3; // Distance returned by cliff u_sensor3 (m)
Luka_Danilovic 2:7288dd12186e 57 extern float cfDist4; // Distance returned by cliff u_sensor4 (m)
Luka_Danilovic 1:ea2ee36038e7 58
Luka_Danilovic 2:7288dd12186e 59 extern float cbDist1; // Distance returned by curb u_sensor1 (m)
Luka_Danilovic 2:7288dd12186e 60 extern float cbDist2; // Distance returned by curb u_sensor2 (m)
Luka_Danilovic 2:7288dd12186e 61 extern float cbDist3; // Distance returned by curb u_sensor3 (m)
Luka_Danilovic 2:7288dd12186e 62 extern float cbDist4; // Distance returned by curb u_sensor4 (m)
Luka_Danilovic 1:ea2ee36038e7 63
Luka_Danilovic 2:7288dd12186e 64 extern float wPeriod; // Wait period(ms) for ROS publisher
Luka_Danilovic 0:215bdd87b602 65
Luka_Danilovic 0:215bdd87b602 66 /* GPIO */
Luka_Danilovic 0:215bdd87b602 67 DigitalIn bttn(USER_BUTTON); // Onboard blue user button
Luka_Danilovic 0:215bdd87b602 68 BusOut leds(LED1, LED2, LED3); // Onboard LEDs bus
Luka_Danilovic 0:215bdd87b602 69
Luka_Danilovic 0:215bdd87b602 70 /* Instantiations */
Luka_Danilovic 2:7288dd12186e 71 HCSR04 USS_CF1(USP_CF1T, USP_CF1E); // Ultrasound sensor cliff 1
Luka_Danilovic 2:7288dd12186e 72 HCSR04 USS_CF2(USP_CF2T, USP_CF2E); // Ultrasound sensor cliff 2
Luka_Danilovic 2:7288dd12186e 73 HCSR04 USS_CF3(USP_CF3T, USP_CF3E); // Ultrasound sensor cliff 3
Luka_Danilovic 2:7288dd12186e 74 HCSR04 USS_CF4(USP_CF4T, USP_CF4E); // Ultrasound sensor cliff 4
Luka_Danilovic 1:ea2ee36038e7 75
Luka_Danilovic 2:7288dd12186e 76 HCSR04 USS_CB1(USP_CB1T, USP_CB1E); // Ultrasound sensor cliff 1
Luka_Danilovic 2:7288dd12186e 77 HCSR04 USS_CB2(USP_CB2T, USP_CB2E); // Ultrasound sensor cliff 2
Luka_Danilovic 2:7288dd12186e 78 HCSR04 USS_CB3(USP_CB3T, USP_CB3E); // Ultrasound sensor cliff 3
Luka_Danilovic 2:7288dd12186e 79 HCSR04 USS_CB4(USP_CB4T, USP_CB4E); // Ultrasound sensor cliff 4
Luka_Danilovic 2:7288dd12186e 80
Luka_Danilovic 3:cd1f2bde7ac2 81 //Serial usbSer(USBTX, USBRX); // Serial over USB OTG (DEBUG with no ROS)
Luka_Danilovic 0:215bdd87b602 82 NodeHandle nh; // Instance for ROS Node Handler
Luka_Danilovic 3:cd1f2bde7ac2 83
Luka_Danilovic 3:cd1f2bde7ac2 84 Range ultrasound_msg_cf1; // Instance for ROS NavSatFix message 1
Luka_Danilovic 3:cd1f2bde7ac2 85 Range ultrasound_msg_cf2; // Instance for ROS NavSatFix message 2
Luka_Danilovic 3:cd1f2bde7ac2 86 Range ultrasound_msg_cf3; // Instance for ROS NavSatFix message 3
Luka_Danilovic 3:cd1f2bde7ac2 87 Range ultrasound_msg_cf4; // Instance for ROS NavSatFix message 4
Luka_Danilovic 3:cd1f2bde7ac2 88 Range ultrasound_msg_cb1; // Instance for ROS NavSatFix message 5
Luka_Danilovic 3:cd1f2bde7ac2 89 Range ultrasound_msg_cb2; // Instance for ROS NavSatFix message 6
Luka_Danilovic 3:cd1f2bde7ac2 90 Range ultrasound_msg_cb3; // Instance for ROS NavSatFix message 7
Luka_Danilovic 3:cd1f2bde7ac2 91 Range ultrasound_msg_cb4; // Instance for ROS NavSatFix message 8
Luka_Danilovic 1:ea2ee36038e7 92
Luka_Danilovic 3:cd1f2bde7ac2 93 // Instance for ROS publishers (Range message for cliff and curb sensors)
Luka_Danilovic 3:cd1f2bde7ac2 94 Publisher ultrasound_pub_cf1("/ultrasound/cf1", &ultrasound_msg_cf1);
Luka_Danilovic 3:cd1f2bde7ac2 95 Publisher ultrasound_pub_cf2("/ultrasound/cf2", &ultrasound_msg_cf2);
Luka_Danilovic 3:cd1f2bde7ac2 96 Publisher ultrasound_pub_cf3("/ultrasound/cf3", &ultrasound_msg_cf3);
Luka_Danilovic 3:cd1f2bde7ac2 97 Publisher ultrasound_pub_cf4("/ultrasound/cf4", &ultrasound_msg_cf4);
Luka_Danilovic 3:cd1f2bde7ac2 98 Publisher ultrasound_pub_cb1("/ultrasound/cb1", &ultrasound_msg_cb1);
Luka_Danilovic 3:cd1f2bde7ac2 99 Publisher ultrasound_pub_cb2("/ultrasound/cb2", &ultrasound_msg_cb2);
Luka_Danilovic 3:cd1f2bde7ac2 100 Publisher ultrasound_pub_cb3("/ultrasound/cb3", &ultrasound_msg_cb3);
Luka_Danilovic 3:cd1f2bde7ac2 101 Publisher ultrasound_pub_cb4("/ultrasound/cb4", &ultrasound_msg_cb4);
Luka_Danilovic 0:215bdd87b602 102
Luka_Danilovic 0:215bdd87b602 103 /* Threads and Signals */
Luka_Danilovic 0:215bdd87b602 104 //Thread myThread (osPriorityNormal);
Luka_Danilovic 0:215bdd87b602 105 //EventFlags myEventFlag;
Luka_Danilovic 0:215bdd87b602 106
Luka_Danilovic 0:215bdd87b602 107 /* Function Prototypes */
Luka_Danilovic 0:215bdd87b602 108 //void myFunctionPrototype();
Luka_Danilovic 0:215bdd87b602 109
Luka_Danilovic 0:215bdd87b602 110 /*============================================================================*/
Luka_Danilovic 0:215bdd87b602 111 #endif // End of inclusion