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Add enable / configure odometer methods and example - resolves #185

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Paul
2023-03-20 11:17:17 +00:00
parent 6f5f8c8207
commit 16043c644a
5 changed files with 126 additions and 8 deletions
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examples/Callbacks/CallbackExample2_NAV_ODO/CallbackExample2_NAV_ODO.ino
+27 -6
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@@ -2,9 +2,8 @@
Configuring the GNSS to automatically send odometer reports over I2C and display the data using a callback
By: Paul Clark
SparkFun Electronics
Date: December 30th, 2020
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
Date: March 20th, 2023
License: MIT. See license file for more information.
This example shows how to configure the u-blox GNSS to send odometer reports automatically
and display the data via a callback. No more polling!
@@ -55,6 +54,8 @@ void printODOdata(UBX_NAV_ODO_data_t *ubxDataStruct)
void setup()
{
delay(1000);
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println("SparkFun u-blox Example");
@@ -63,10 +64,9 @@ void setup()
//myGNSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
while (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);
Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring."));
}
myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
@@ -74,6 +74,27 @@ void setup()
myGNSS.setNavigationFrequency(1); //Produce one solution per second
//By default, the odometer is disabled. We need to enable it.
//We can enable it using the default settings:
myGNSS.enableOdometer();
//Or we can configure it using our own settings, by performing a read-modify-write:
uint8_t flags; // Odometer/Low-speed COG filter flags
uint8_t odoCfg; // Odometer filter settings
uint8_t cogMaxSpeed; // Speed below which course-over-ground (COG) is computed with the low-speed COG filter : m/s * 0.1
uint8_t cogMaxPosAcc; // Maximum acceptable position accuracy for computing COG with the low-speed COG filter
uint8_t velLpGain; // Velocity low-pass filter level
uint8_t cogLpGain; // COG low-pass filter level
if (myGNSS.getOdometerConfig(&flags, &odoCfg, &cogMaxSpeed, &cogMaxPosAcc, &velLpGain, &cogLpGain))
{
flags = UBX_CFG_ODO_USE_ODO; // Enable the odometer
odoCfg = UBX_CFG_ODO_CAR; // Use the car profile (others are RUN, CYCLE, SWIM, CUSTOM)
myGNSS.setOdometerConfig(flags, odoCfg, cogMaxSpeed, cogMaxPosAcc, velLpGain, cogLpGain); // Set the configuration
}
else
Serial.println("Could not read odometer config!");
//myGNSS.resetOdometer(); //Uncomment this line to reset the odometer
myGNSS.setAutoNAVODOcallbackPtr(&printODOdata); // Enable automatic NAV ODO messages with callback to printODOdata
keywords.txt
+14
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@@ -193,6 +193,9 @@ setDynamicModel KEYWORD2
getDynamicModel KEYWORD2
resetOdometer KEYWORD2
enableOdometer KEYWORD2
getOdometerConfig KEYWORD2
setOdometerConfig KEYWORD2
enableGNSS KEYWORD2
isGNSSenabled KEYWORD2
@@ -831,6 +834,17 @@ VAL_CFG_SUBSEC_ANTCONF LITERAL1
VAL_CFG_SUBSEC_LOGCONF LITERAL1
VAL_CFG_SUBSEC_FTSCONF LITERAL1
UBX_CFG_ODO_USE_ODO LITERAL1
UBX_CFG_ODO_USE_COG LITERAL1
UBX_CFG_ODO_OUT_LP_VEL LITERAL1
UBX_CFG_ODO_OUT_LP_COG LITERAL1
UBX_CFG_ODO_RUN LITERAL1
UBX_CFG_ODO_CYCLE LITERAL1
UBX_CFG_ODO_SWIM LITERAL1
UBX_CFG_ODO_CAR LITERAL1
UBX_CFG_ODO_CUSTOM LITERAL1
DYN_MODEL_PORTABLE LITERAL1
DYN_MODEL_STATIONARY LITERAL1
DYN_MODEL_PEDESTRIAN LITERAL1
library.properties
+1 -1
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@@ -1,5 +1,5 @@
name=SparkFun u-blox GNSS Arduino Library
version=2.2.21
version=2.2.22
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/>
src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+64
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@@ -8207,6 +8207,70 @@ bool SFE_UBLOX_GNSS::resetOdometer(uint16_t maxWait)
return (sendCommand(&packetCfg, maxWait, true) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}
// Enable / disable the odometer
bool SFE_UBLOX_GNSS::enableOdometer(bool enable, uint16_t maxWait)
{
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_ODO;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
// Ask module for the current odometer configuration. Loads into payloadCfg.
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (false);
if (enable)
payloadCfg[4] = payloadCfg[4] | UBX_CFG_ODO_USE_ODO;
else
payloadCfg[4] = payloadCfg[4] & ~UBX_CFG_ODO_USE_ODO;
return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}
// Read the odometer configuration
bool SFE_UBLOX_GNSS::getOdometerConfig(uint8_t *flags, uint8_t *odoCfg, uint8_t *cogMaxSpeed, uint8_t *cogMaxPosAcc, uint8_t *velLpGain, uint8_t *cogLpGain, uint16_t maxWait)
{
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_ODO;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
// Ask module for the current odometer configuration. Loads into payloadCfg.
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (false);
*flags = payloadCfg[4];
*odoCfg = payloadCfg[5];
*cogMaxSpeed = payloadCfg[12];
*cogMaxPosAcc = payloadCfg[13];
*velLpGain = payloadCfg[16];
*cogLpGain = payloadCfg[17];
return true;
}
// Configure the odometer
bool SFE_UBLOX_GNSS::setOdometerConfig(uint8_t flags, uint8_t odoCfg, uint8_t cogMaxSpeed, uint8_t cogMaxPosAcc, uint8_t velLpGain, uint8_t cogLpGain, uint16_t maxWait)
{
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_ODO;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
// Ask module for the current odometer configuration. Loads into payloadCfg.
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
return (false);
payloadCfg[4] = flags;
payloadCfg[5] = odoCfg;
payloadCfg[12] = cogMaxSpeed;
payloadCfg[13] = cogMaxPosAcc;
payloadCfg[16] = velLpGain;
payloadCfg[17] = cogLpGain;
return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}
// Enable/Disable individual GNSS systems using UBX-CFG-GNSS
bool SFE_UBLOX_GNSS::enableGNSS(bool enable, sfe_ublox_gnss_ids_e id, uint16_t maxWait)
{
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+20 -1
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@@ -465,6 +465,22 @@ const uint8_t COM_TYPE_NMEA = (1 << 1);
const uint8_t COM_TYPE_RTCM3 = (1 << 5);
const uint8_t COM_TYPE_SPARTN = (1 << 6);
// Odometer configuration - flags
const uint8_t UBX_CFG_ODO_USE_ODO = (1 << 0);
const uint8_t UBX_CFG_ODO_USE_COG = (1 << 1);
const uint8_t UBX_CFG_ODO_OUT_LP_VEL = (1 << 2);
const uint8_t UBX_CFG_ODO_OUT_LP_COG = (1 << 3);
// Odometer configuration - odoCfg
enum odoCfg_e
{
UBX_CFG_ODO_RUN = 0,
UBX_CFG_ODO_CYCLE,
UBX_CFG_ODO_SWIM,
UBX_CFG_ODO_CAR,
UBX_CFG_ODO_CUSTOM,
};
// Configuration Sub-Section mask definitions for saveConfigSelective (UBX-CFG-CFG)
const uint32_t VAL_CFG_SUBSEC_IOPORT = 0x00000001; // ioPort - communications port settings (causes IO system reset!)
const uint32_t VAL_CFG_SUBSEC_MSGCONF = 0x00000002; // msgConf - message configuration
@@ -909,8 +925,11 @@ public:
bool setDynamicModel(dynModel newDynamicModel = DYN_MODEL_PORTABLE, uint16_t maxWait = defaultMaxWait);
uint8_t getDynamicModel(uint16_t maxWait = defaultMaxWait); // Get the dynamic model - returns 255 if the sendCommand fails
// Reset the odometer
// Reset / enable / configure the odometer
bool resetOdometer(uint16_t maxWait = defaultMaxWait); // Reset the odometer
bool enableOdometer(bool enable = true, uint16_t maxWait = defaultMaxWait); // Enable / disable the odometer
bool getOdometerConfig(uint8_t *flags, uint8_t *odoCfg, uint8_t *cogMaxSpeed, uint8_t *cogMaxPosAcc, uint8_t *velLpGain, uint8_t *cogLpGain, uint16_t maxWait = defaultMaxWait); // Read the odometer configuration
bool setOdometerConfig(uint8_t flags, uint8_t odoCfg, uint8_t cogMaxSpeed, uint8_t cogMaxPosAcc, uint8_t velLpGain, uint8_t cogLpGain, uint16_t maxWait = defaultMaxWait); // Configure the odometer
// Enable/Disable individual GNSS systems using UBX-CFG-GNSS
// Note: you must leave at least one major GNSS enabled! If in doubt, enable GPS before disabling the others