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2022-09-09 23:25:25 +01:00
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examples/Callbacks/CallbackExample12_ESF_MEAS_In_Loop/CallbackExample12_ESF_MEAS_In_Loop.ino
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/*
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
}