Initial commit

Some things may be missing because I was in the middle of development when stay at home orders were issued. Will be hammered out as I work through it.

Author: edspark

.gitignore

@@ -48,3 +48,8 @@ $RECYCLE.BIN/
 Network Trash Folder
 Temporary Items
 .apdisk
+
+# VIM backup files
+*~
+[._]*.un~
+*.swp

examples/NEO-M8U/Example1_getIMU/Example1_getIMU.ino

@@ -0,0 +1,74 @@
+
+/*
+  Some Description
+  By: Elias Santistevan
+  SparkFun Electronics
+  Date: February
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  NEO-M8U: https://www.sparkfun.com/products/15136
+  ZED-F9R: https://www.sparkfun.com/products/15136
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+  if (myGPS.getUdrStatus())
+  {
+    Serial.print("Mode: ");
+    Serial.println(myGPS.imuMetric.fusionMode);  
+    Serial.print("Number of Sensors: ");
+    Serial.println(myGPS.imuMetric.numSens);  
+  }
+}
+
+void loop()
+{
+  if (myGPS.getUdrStatus())
+    Serial.println(myGPS.imuMetric.fusionMode);  
+
+  if (myGPS.getInsInfo())
+  {
+    Serial.print("X validity: ");
+    Serial.println(myGPS.imuMetric.xAngRateVald);  
+    Serial.print("X: ");
+    Serial.println(myGPS.imuMetric.xAngRate);  
+    Serial.print("Y validity: ");
+    Serial.println(myGPS.imuMetric.yAngRateVald);  
+    Serial.print("Y: ");
+    Serial.println(myGPS.imuMetric.yAngRate);  
+    Serial.print("Z validity: ");
+    Serial.println(myGPS.imuMetric.zAngRateVald);  
+    Serial.print("Z: ");
+    Serial.println(myGPS.imuMetric.zAngRate);  
+  }
+  delay(250);
+}
+

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -2709,3 +2709,112 @@ boolean SFE_UBLOX_GPS::getRELPOSNED(uint16_t maxWait)
 
   return (true);
 }
+boolean SFE_UBLOX_GPS::getUdrStatus(uint16_t maxWait)
+{
+  // Requesting Data from the receiver
+  packetCfg.cls = UBX_CLASS_ESF;
+  packetCfg.id = UBX_ESF_STATUS;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(packetCfg, maxWait) == false)
+    return (false); //If command send fails then bail
+
+  checkUblox();
+
+  // payload should be loaded. 
+  imuMetric.version = extractByte(4); 
+  imuMetric.fusionMode = extractByte(12);
+  imuMetric.numSens = extractByte(15);
+
+  // Individual Status Sensor in different function
+  return(true);
+}
+
+//
+boolean SFE_UBLOX_GPS::getInsInfo(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_ESF;
+  packetCfg.id = UBX_ESF_INS;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(packetCfg, maxWait) == false)
+    return (false); //If command send fails then bail
+
+  checkUblox();
+
+  // Validity of each sensor value below 
+  uint32_t validity = extractLong(0); 
+
+  imuMetric.xAngRateVald = (validity && 0x0080)  >> 8;
+  imuMetric.yAngRateVald = (validity && 0x0100) >> 9;  
+  imuMetric.zAngRateVald = (validity && 0x0200) >> 10;   
+  imuMetric.xAccelVald = (validity && 0x0400) >> 11;
+  imuMetric.yAccelVald = (validity && 0x0800) >> 12;
+  imuMetric.zAccelVald = (validity && 0x1000) >> 13;
+
+  imuMetric.xAngRate = extractLong(12); // deg/s
+  imuMetric.yAngRate = extractLong(16); // deg/s
+  imuMetric.zAngRate = extractLong(20); // deg/s
+
+  imuMetric.xAccel = extractLong(24); // m/s
+  imuMetric.yAccel = extractLong(28); // m/s
+  imuMetric.zAccel = extractLong(32); // m/s
+
+  return(true);
+}
+
+//
+boolean SFE_UBLOX_GPS::getExternSensMeas(uint16_t maxWait)
+{ 
+
+  packetCfg.cls = UBX_CLASS_ESF;
+  packetCfg.id = UBX_ESF_MEAS;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(packetCfg, maxWait) == false)
+    return (false); //If command send fails then bail
+  
+  checkUblox();
+
+  uint32_t timeStamp = extractLong(0);
+  uint32_t flags = extractInt(4);
+
+  uint8_t timeSent = (flags && 0x01) >> 1;
+  uint8_t timeEdge = (flags && 0x02) >> 2;
+  uint8_t tagValid = (flags && 0x04) >> 3;
+  uint8_t numMeas = (flags && 0x1000) >> 15;
+
+}
+
+boolean SFE_UBLOX_GPS::getEsfRaw(uint16_t maxWait)
+{
+
+  // Need the number of sensors to know what to sample.
+  getUdrStatus();
+
+  // Rate selected in UBX-CFG-MSG is not respected
+  packetCfg.cls = UBX_CLASS_ESF;
+  packetCfg.id = UBX_ESF_RAW;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(packetCfg, maxWait) == false)
+    return (false); //If command send fails then bail
+  
+  checkUblox();
+
+  uint8_t byteOffset = 8;
+
+  for(uint8_t i=0; i<imuMetric.numSens; i++){
+
+    uint32_t bitField = extractLong(4 + byteOffset * i);
+    imuMetric.dataType[i] = (bitField && 0xFF000000) >> 23; // Repeating Blocks on the back burner...
+    imuMetric.data[i] = (bitField && 0xFFFFFF) 
+    imuMetric.timeStamp[i] = extractLong(8 + byteOffset * i); 
+
+  }
+}
+

src/SparkFun_Ublox_Arduino_Library.h

@@ -582,6 +582,10 @@ class SFE_UBLOX_GPS
 	//Change the dynamic platform model using UBX-CFG-NAV5
 	boolean setDynamicModel(dynModel newDynamicModel = DYN_MODEL_PORTABLE, uint16_t maxWait = 1100);
 
+  boolean getUdrStatus(uint16_t maxWait = 1100);
+  boolean getInsInfo(uint16_t maxWait = 1100);
+  boolean getExternSensMeas(uint16_t maxWait = 1100);
+
 	//Survey-in specific controls
 	struct svinStructure
 	{
@@ -655,6 +659,33 @@ class SFE_UBLOX_GPS
 
 	uint16_t rtcmFrameCounter = 0; //Tracks the type of incoming byte inside RTCM frame
 
+  struct udrData 
+  {
+    uint8_t version; 
+    uint8_t fusionMode;
+    uint8_t numSens;
+
+    uint8_t xAngRateVald;
+    uint8_t yAngRateVald;
+    uint8_t zAngRateVald;
+    uint8_t xAccelVald;
+    uint8_t yAccelVald;
+    uint8_t zAccelVald;
+
+    int32_t xAngRate;
+    int32_t yAngRate;
+    int32_t zAngRate;
+
+    int32_t xAccel;
+    int32_t yAccel;
+    int32_t zAccel;
+
+    // The array size is based on testing directly on M8U and F9R
+    uint32_t data[7];
+    uint32_t dataType[7];
+    uint32_t timeStamp[7];
+  } imuMetric;
+
 private:
 	//Depending on the sentence type the processor will load characters into different arrays
 	enum SentenceTypes