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Update callback examples to use new callback pointers

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This commit is contained in:
PaulZC
2022-02-05 17:52:17 +00:00
parent 47348ab0b1
commit 1ada3d3380
7 changed files with 83 additions and 83 deletions
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examples/Callbacks/CallbackExample5_ESF/CallbackExample5_ESF.ino
+23 -23
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@@ -35,39 +35,39 @@ SFE_UBLOX_GNSS myGNSS;
// | / _____ You can use any name you like for the struct
// | | /
// | | |
void printESFALGdata(UBX_ESF_ALG_data_t ubxDataStruct)
void printESFALGdata(UBX_ESF_ALG_data_t *ubxDataStruct)
{
Serial.println();
Serial.print(F("TOW: ")); // Print the Time Of Week
unsigned long iTOW = ubxDataStruct.iTOW; // iTOW is in milliseconds
unsigned long iTOW = ubxDataStruct->iTOW; // iTOW is in milliseconds
Serial.print(iTOW);
Serial.print(F(" (ms)"));
Serial.print(F(" Roll: ")); // Print selected data
Serial.print((float)ubxDataStruct.roll / 100.0, 2); // Convert roll to degrees
Serial.print((float)ubxDataStruct->roll / 100.0, 2); // Convert roll to degrees
Serial.print(F(" Pitch: "));
Serial.print((float)ubxDataStruct.pitch / 100.0, 2); // Convert pitch to degrees
Serial.print((float)ubxDataStruct->pitch / 100.0, 2); // Convert pitch to degrees
Serial.print(F(" Yaw: "));
Serial.print((float)ubxDataStruct.yaw / 100.0, 2); // Convert yaw to degrees
Serial.print((float)ubxDataStruct->yaw / 100.0, 2); // Convert yaw to degrees
Serial.println(F(" (Degrees)"));
}
// Callback: printESFINSdata will be called when new ESF INS data arrives
// See u-blox_structs.h for the full definition of UBX_ESF_INS_data_t
void printESFINSdata(UBX_ESF_INS_data_t ubxDataStruct)
void printESFINSdata(UBX_ESF_INS_data_t *ubxDataStruct)
{
Serial.print(F("xAccel: ")); // Print selected data
Serial.print(ubxDataStruct.xAccel);
Serial.print(ubxDataStruct->xAccel);
Serial.print(F(" yAccel: "));
Serial.print(ubxDataStruct.yAccel);
Serial.print(ubxDataStruct->yAccel);
Serial.print(F(" zAccel: "));
Serial.print(ubxDataStruct.zAccel);
Serial.print(ubxDataStruct->zAccel);
Serial.println(F(" (m/s^2)"));
}
@@ -75,23 +75,23 @@ void printESFINSdata(UBX_ESF_INS_data_t ubxDataStruct)
// 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
// and UBX_ESF_MEAS_sensorData_t
void printESFMEASdata(UBX_ESF_MEAS_data_t ubxDataStruct)
void printESFMEASdata(UBX_ESF_MEAS_data_t *ubxDataStruct)
{
Serial.println();
Serial.print(F("id: ")); // Print selected data
Serial.print(ubxDataStruct.id);
Serial.print(ubxDataStruct->id);
Serial.print(F(" numMeas: "));
Serial.println(ubxDataStruct.flags.bits.numMeas);
Serial.println(ubxDataStruct->flags.bits.numMeas);
for (uint8_t num = 0; num < ubxDataStruct.flags.bits.numMeas; num++) // For each sensor
for (uint8_t num = 0; num < ubxDataStruct->flags.bits.numMeas; num++) // For each sensor
{
Serial.print(F("Sensor "));
Serial.print(num);
UBX_ESF_MEAS_sensorData_t sensorData;
myGNSS.getSensorFusionMeasurement(&sensorData, ubxDataStruct, num); // Extract the data for one sensor
myGNSS.getSensorFusionMeasurement(&sensorData, *ubxDataStruct, num); // Extract the data for one sensor
Serial.print(F(": Type: "));
Serial.print(sensorData.data.bits.dataType);
@@ -103,21 +103,21 @@ void printESFMEASdata(UBX_ESF_MEAS_data_t ubxDataStruct)
// Callback: printESFSTATUSdata will be called when new ESF STATUS data arrives
// See u-blox_structs.h for the full definition of UBX_ESF_STATUS_data_t
// and UBX_ESF_STATUS_sensorStatus_t
void printESFSTATUSdata(UBX_ESF_STATUS_data_t ubxDataStruct)
void printESFSTATUSdata(UBX_ESF_STATUS_data_t *ubxDataStruct)
{
Serial.print(F("fusionMode: ")); // Print selected data
Serial.print(ubxDataStruct.fusionMode);
Serial.print(ubxDataStruct->fusionMode);
Serial.print(F(" numSens: "));
Serial.println(ubxDataStruct.numSens);
Serial.println(ubxDataStruct->numSens);
for (uint8_t num = 0; num < ubxDataStruct.numSens; num++) // For each sensor
for (uint8_t num = 0; num < ubxDataStruct->numSens; num++) // For each sensor
{
Serial.print(F("Sensor "));
Serial.print(num);
UBX_ESF_STATUS_sensorStatus_t sensorStatus;
myGNSS.getSensorFusionStatus(&sensorStatus, ubxDataStruct, num); // Extract the data for one sensor
myGNSS.getSensorFusionStatus(&sensorStatus, *ubxDataStruct, num); // Extract the data for one sensor
Serial.print(F(": Type: "));
Serial.print(sensorStatus.sensStatus1.bits.type);
@@ -156,16 +156,16 @@ void setup()
myGNSS.setI2CpollingWait(50); //Allow checkUblox to poll I2C data every 50ms to keep up with the ESF MEAS messages
if (myGNSS.setAutoESFALGcallback(&printESFALGdata) == true) // Enable automatic ESF ALG messages with callback to printESFALGdata
if (myGNSS.setAutoESFALGcallbackPtr(&printESFALGdata) == true) // Enable automatic ESF ALG messages with callback to printESFALGdata
Serial.println(F("setAutoESFALGcallback successful"));
if (myGNSS.setAutoESFINScallback(&printESFINSdata) == true) // Enable automatic ESF INS messages with callback to printESFINSdata
if (myGNSS.setAutoESFINScallbackPtr(&printESFINSdata) == true) // Enable automatic ESF INS messages with callback to printESFINSdata
Serial.println(F("setAutoESFINScallback successful"));
if (myGNSS.setAutoESFMEAScallback(&printESFMEASdata) == true) // Enable automatic ESF MEAS messages with callback to printESFMEASdata
if (myGNSS.setAutoESFMEAScallbackPtr(&printESFMEASdata) == true) // Enable automatic ESF MEAS messages with callback to printESFMEASdata
Serial.println(F("setAutoESFMEAScallback successful"));
if (myGNSS.setAutoESFSTATUScallback(&printESFSTATUSdata) == true) // Enable automatic ESF STATUS messages with callback to printESFSTATUSdata
if (myGNSS.setAutoESFSTATUScallbackPtr(&printESFSTATUSdata) == true) // Enable automatic ESF STATUS messages with callback to printESFSTATUSdata
Serial.println(F("setAutoESFSTATUScallback successful"));
}