Skip to content

v2.2.15 #153

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Sep 9, 2022
Merged

v2.2.15 #153

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
224 changes: 224 additions & 0 deletions examples/Callbacks/CallbackExample12_ESF_MEAS_In_Loop/CallbackExample12_ESF_MEAS_In_Loop.ino
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,224 @@
/*
u-blox Example: ESF MEAS (Wheel Ticks)
By: Paul Clark
SparkFun Electronics
Date: September 8th, 2022
License: MIT. See license file for more information but you can
basically do whatever you want with this code.

This example configures the External Sensor Fusion MEAS sensor messages on the NEO-M8U / ZED-F9R and
shows how to access the ESF data in the loop - without using the callback.

Please make sure your NEO-M8U is running UDR firmware >= 1.31. Please update using u-center if necessary:
https://www.u-blox.com/en/product/neo-m8u-module#tab-documentation-resources

Feel like supporting open source hardware?
Buy a board from SparkFun!
NEO-M8U: https://www.sparkfun.com/products/16329

Hardware Connections:
Plug a Qwiic cable into the GPS and a Redboard Qwiic
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_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
SFE_UBLOX_GNSS myGNSS;

// Callback: printESFMEASdata will be called when new ESF MEAS data arrives
// See u-blox_structs.h for the full definition of UBX_ESF_MEAS_data_t
// _____ You can use any name you like for the callback. Use the same name when you call setAutoESFMEAScallback
// / _____ This _must_ be UBX_ESF_MEAS_data_t
// | / _____ You can use any name you like for the struct
// | | /
// | | |
void printESFMEASdata(UBX_ESF_MEAS_data_t *ubxDataStruct)
{
Serial.println(F("Hey! The ESF MEAS callback has been called!"));
}

void setup()
{
Serial.begin(230400); // <-- Use a fast baud rate to avoid the Serial prints slowing the code

while (!Serial); //Wait for user to open terminal
Serial.println(F("SparkFun u-blox Example"));

Wire.begin();
Wire.setClock(400000); // <-- Use 400kHz I2C

//myGNSS.enableDebugging(); // Uncomment this line to enable debug messages on Serial

if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
{
Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
while (1);
}

myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR

if (myGNSS.setAutoESFMEAScallbackPtr(&printESFMEASdata) == true) // Enable automatic ESF MEAS messages with callback to printESFMEASdata
Serial.println(F("setAutoESFMEAScallback successful"));
}

void loop()
{
myGNSS.checkUblox(); // Check for the arrival of new data and process it.

// Check if new ESF MEAS data has arrived:
// If myGNSS.packetUBXESFMEAS->automaticFlags.flags.bits.callbackCopyValid is true, it indicates new ESF MEAS data has been received and has been copied.
// automaticFlags.flags.bits.callbackCopyValid will be cleared automatically when the callback is called.

if (myGNSS.packetUBXESFMEAS->automaticFlags.flags.bits.callbackCopyValid == true)
{
// But, we can manually clear the callback flag too. This will prevent the callback from being called!
myGNSS.packetUBXESFMEAS->automaticFlags.flags.bits.callbackCopyValid = false; // Comment this line if you still want the callback to be called

// Print the timeTag
Serial.print(F("Time: "));
Serial.println(myGNSS.packetUBXESFMEAS->callbackData->timeTag);

// myGNSS.packetUBXESFMEAS->callbackData->flags.bits.numMeas indicates how many sensor groups the UBX_ESF_MEAS_data_t contains.
for (uint8_t i = 0; i < myGNSS.packetUBXESFMEAS->callbackData->flags.bits.numMeas; i++)
{
// Print the sensor data type
// From the M8 interface description:
// 0: None
// 1-4: Reserved
// 5: z-axis gyroscope angular rate deg/s * 2^-12 signed
// 6: front-left wheel ticks: Bits 0-22: unsigned tick value. Bit 23: direction indicator (0=forward, 1=backward)
// 7: front-right wheel ticks: Bits 0-22: unsigned tick value. Bit 23: direction indicator (0=forward, 1=backward)
// 8: rear-left wheel ticks: Bits 0-22: unsigned tick value. Bit 23: direction indicator (0=forward, 1=backward)
// 9: rear-right wheel ticks: Bits 0-22: unsigned tick value. Bit 23: direction indicator (0=forward, 1=backward)
// 10: speed ticks: Bits 0-22: unsigned tick value. Bit 23: direction indicator (0=forward, 1=backward)
// 11: speed m/s * 1e-3 signed
// 12: gyroscope temperature deg Celsius * 1e-2 signed
// 13: y-axis gyroscope angular rate deg/s * 2^-12 signed
// 14: x-axis gyroscope angular rate deg/s * 2^-12 signed
// 16: x-axis accelerometer specific force m/s^2 * 2^-10 signed
// 17: y-axis accelerometer specific force m/s^2 * 2^-10 signed
// 18: z-axis accelerometer specific force m/s^2 * 2^-10 signed
switch (myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType)
{
case 5:
Serial.print(F("Z Gyro: "));
break;
case 6:
Serial.print(F("Front Left: "));
break;
case 7:
Serial.print(F("Front Right: "));
break;
case 8:
Serial.print(F("Rear Left: "));
break;
case 9:
Serial.print(F("Rear Right: "));
break;
case 10:
Serial.print(F("Speed Ticks: "));
break;
case 11:
Serial.print(F("Speed: "));
break;
case 12:
Serial.print(F("Temp: "));
break;
case 13:
Serial.print(F("Y Gyro: "));
break;
case 14:
Serial.print(F("X Gyro: "));
break;
case 16:
Serial.print(F("X Accel: "));
break;
case 17:
Serial.print(F("Y Accel: "));
break;
case 18:
Serial.print(F("Z Accel: "));
break;
default:
break;
}

// Tick data
if ((myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType >= 6) && (myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType <= 10))
{
if ((myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataField & (1 << 23)) > 0)
Serial.print(F("-")); // Backward
else
Serial.print(F("+")); // Forward
Serial.println(myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataField & 0x007FFFFF);
}
// Speed
else if (myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType == 11)
{
union
{
int32_t signed32;
uint32_t unsigned32;
} signedUnsigned; // Avoid any ambiguity casting uint32_t to int32_t
// The dataField is 24-bit signed, stored in the 24 LSBs of a uint32_t
signedUnsigned.unsigned32 = myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataField << 8; // Shift left by 8 bits to correctly align the data
float speed = signedUnsigned.signed32; // Extract the signed data. Convert to float
speed /= 256.0; // Divide by 256 to undo the shift
speed *= 0.001; // Convert from m/s * 1e-3 to m/s
Serial.println(speed, 3);
}
// Gyro data
else if ((myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType == 5) || (myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType == 13) || (myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType == 14))
{
union
{
int32_t signed32;
uint32_t unsigned32;
} signedUnsigned; // Avoid any ambiguity casting uint32_t to int32_t
// The dataField is 24-bit signed, stored in the 24 LSBs of a uint32_t
signedUnsigned.unsigned32 = myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataField << 8; // Shift left by 8 bits to correctly align the data
float rate = signedUnsigned.signed32; // Extract the signed data. Convert to float
rate /= 256.0; // Divide by 256 to undo the shift
rate *= 0.000244140625; // Convert from deg/s * 2^-12 to deg/s
Serial.println(rate);
}
// Accelerometer data
else if ((myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType == 16) || (myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType == 17) || (myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType == 18))
{
union
{
int32_t signed32;
uint32_t unsigned32;
} signedUnsigned; // Avoid any ambiguity casting uint32_t to int32_t
// The dataField is 24-bit signed, stored in the 24 LSBs of a uint32_t
signedUnsigned.unsigned32 = myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataField << 8; // Shift left by 8 bits to correctly align the data
float force = signedUnsigned.signed32; // Extract the signed data. Convert to float
force /= 256.0; // Divide by 256 to undo the shift
force *= 0.0009765625; // Convert from m/s^2 * 2^-10 to m/s^2
Serial.println(force);
}
// Gyro Temperature
else if (myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType == 12)
{
union
{
int32_t signed32;
uint32_t unsigned32;
} signedUnsigned; // Avoid any ambiguity casting uint32_t to int32_t
// The dataField is 24-bit signed, stored in the 24 LSBs of a uint32_t
signedUnsigned.unsigned32 = myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataField << 8; // Shift left by 8 bits to correctly align the data
float temperature = signedUnsigned.signed32; // Extract the signed data. Convert to float
temperature /= 256.0; // Divide by 256 to undo the shift
temperature *= 0.01; // Convert from C * 1e-2 to C
Serial.println(temperature);
}
}
}

myGNSS.checkCallbacks(); // Check if any callbacks are waiting to be processed. There will not be any in this example, unless you commented the line above
}
4 changes: 0 additions & 4 deletions keywords.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -474,22 +474,18 @@ assumeAutoESFINS KEYWORD2
flushESFINS KEYWORD2
logESFINS KEYWORD2

getEsfDataInfo KEYWORD2
getESFMEAS KEYWORD2
setAutoESFMEAS KEYWORD2
setAutoESFMEASrate KEYWORD2
setAutoESFMEAScallback KEYWORD2
setAutoESFMEAScallbackPtr KEYWORD2
assumeAutoESFMEAS KEYWORD2
flushESFMEAS KEYWORD2
logESFMEAS KEYWORD2

setAutoESFRAW KEYWORD2
setAutoESFRAWrate KEYWORD2
setAutoESFRAWcallback KEYWORD2
setAutoESFRAWcallbackPtr KEYWORD2
assumeAutoESFRAW KEYWORD2
flushESFRAW KEYWORD2
logESFRAW KEYWORD2

getHNRAtt KEYWORD2
Expand Down
2 changes: 1 addition & 1 deletion library.properties
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
name=SparkFun u-blox GNSS Arduino Library
version=2.2.14
version=2.2.15
author=SparkFun Electronics <techsupport@sparkfun.com>
maintainer=SparkFun Electronics <sparkfun.com>
sentence=Library for I2C, Serial and SPI Communication with u-blox GNSS modules<br/><br/>
Expand Down
Loading