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PaulZC
2022-09-09 23:25:25 +01:00
parent e3d27ae7ce
commit 63cc68aff9
6 changed files with 236 additions and 148 deletions
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examples/Callbacks/CallbackExample12_ESF_MEAS_In_Loop/CallbackExample12_ESF_MEAS_In_Loop.ino
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@@ -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
}
keywords.txt
-4
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@@ -474,14 +474,11 @@ 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
@@ -489,7 +486,6 @@ setAutoESFRAWrate KEYWORD2
setAutoESFRAWcallback KEYWORD2
setAutoESFRAWcallbackPtr KEYWORD2
assumeAutoESFRAW KEYWORD2
flushESFRAW KEYWORD2
logESFRAW KEYWORD2
getHNRAtt KEYWORD2
library.properties
+1 -1
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@@ -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/>
src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+4 -112
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@@ -4216,16 +4216,13 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
packetUBXESFMEAS->data.timeTag = extractLong(msg, 0);
packetUBXESFMEAS->data.flags.all = extractInt(msg, 4);
packetUBXESFMEAS->data.id = extractInt(msg, 6);
for (uint16_t i = 0; (i < DEF_NUM_SENS) && (i < packetUBXESFMEAS->data.flags.bits.numMeas) && ((i * 4) < (msg->len - 8)); i++)
for (uint16_t i = 0; (i < DEF_MAX_NUM_ESF_MEAS) && (i < packetUBXESFMEAS->data.flags.bits.numMeas) && ((i * 4) < (msg->len - 8)); i++)
{
packetUBXESFMEAS->data.data[i].data.all = extractLong(msg, 8 + (i * 4));
}
if ((uint16_t)msg->len > (uint16_t)(8 + (packetUBXESFMEAS->data.flags.bits.numMeas * 4)))
packetUBXESFMEAS->data.calibTtag = extractLong(msg, 8 + (packetUBXESFMEAS->data.flags.bits.numMeas * 4));
// Mark all datums as fresh (not read before)
packetUBXESFMEAS->moduleQueried.moduleQueried.all = 0xFFFFFFFF;
// Check if we need to copy the data for the callback
if ((packetUBXESFMEAS->callbackData != NULL) // If RAM has been allocated for the copy of the data
&& (packetUBXESFMEAS->automaticFlags.flags.bits.callbackCopyValid == false)) // AND the data is stale
@@ -14515,92 +14512,19 @@ void SFE_UBLOX_GNSS::logESFINS(bool enabled)
// ***** ESF MEAS automatic support
bool SFE_UBLOX_GNSS::getEsfDataInfo(uint16_t maxWait)
{
return (getESFMEAS(maxWait));
}
bool SFE_UBLOX_GNSS::getESFMEAS(uint16_t maxWait)
{
if (packetUBXESFMEAS == NULL)
initPacketUBXESFMEAS(); // Check that RAM has been allocated for the ESF MEAS data
if (packetUBXESFMEAS == NULL) // Only attempt this if RAM allocation was successful
return false;
if (packetUBXESFMEAS->automaticFlags.flags.bits.automatic && packetUBXESFMEAS->automaticFlags.flags.bits.implicitUpdate)
{
// The GPS is automatically reporting, we just check whether we got unread data
// if (_printDebug == true)
// {
// _debugSerial->println(F("getEsfDataInfo: Autoreporting"));
// }
checkUbloxInternal(&packetCfg, UBX_CLASS_ESF, UBX_ESF_MEAS);
return packetUBXESFMEAS->moduleQueried.moduleQueried.bits.all;
}
else if (packetUBXESFMEAS->automaticFlags.flags.bits.automatic && !packetUBXESFMEAS->automaticFlags.flags.bits.implicitUpdate)
{
// Someone else has to call checkUblox for us...
// if (_printDebug == true)
// {
// _debugSerial->println(F("getEsfDataInfo: Exit immediately"));
// }
return (false);
}
else
{
// if (_printDebug == true)
// {
// _debugSerial->println(F("getEsfDataInfo: Polling"));
// }
// The GPS is not automatically reporting HNR PVT so we have to poll explicitly
packetCfg.cls = UBX_CLASS_ESF;
packetCfg.id = UBX_ESF_MEAS;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
// The data is parsed as part of processing the response
sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait);
if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
return (true);
if (retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN)
{
// if (_printDebug == true)
// {
// _debugSerial->println(F("getEsfDataInfo: data in packetCfg was OVERWRITTEN by another message (but that's OK)"));
// }
return (true);
}
// if (_printDebug == true)
// {
// _debugSerial->print(F("getEsfDataInfo retVal: "));
// _debugSerial->println(statusString(retVal));
// }
return (false);
}
return (false); // Trap. We should never get here...
}
// Enable or disable automatic ESF MEAS message generation by the GNSS. This changes the way getESFDataInfo
// works.
// Enable or disable automatic ESF MEAS message generation by the GNSS
bool SFE_UBLOX_GNSS::setAutoESFMEAS(bool enable, uint16_t maxWait)
{
return setAutoESFMEASrate(enable ? 1 : 0, true, maxWait);
}
// Enable or disable automatic ESF MEAS message generation by the GNSS. This changes the way getESFDataInfo
// works.
// Enable or disable automatic ESF MEAS message generation by the GNSS
bool SFE_UBLOX_GNSS::setAutoESFMEAS(bool enable, bool implicitUpdate, uint16_t maxWait)
{
return setAutoESFMEASrate(enable ? 1 : 0, implicitUpdate, maxWait);
}
// Enable or disable automatic ESF MEAS message generation by the GNSS. This changes the way getESFDataInfo
// works.
// Enable or disable automatic ESF MEAS message generation by the GNSS
bool SFE_UBLOX_GNSS::setAutoESFMEASrate(uint8_t rate, bool implicitUpdate, uint16_t maxWait)
{
if (packetUBXESFMEAS == NULL)
@@ -14625,7 +14549,6 @@ bool SFE_UBLOX_GNSS::setAutoESFMEASrate(uint8_t rate, bool implicitUpdate, uint1
packetUBXESFMEAS->automaticFlags.flags.bits.automatic = (rate > 0);
packetUBXESFMEAS->automaticFlags.flags.bits.implicitUpdate = implicitUpdate;
}
packetUBXESFMEAS->moduleQueried.moduleQueried.bits.all = false; // Mark data as stale
return ok;
}
@@ -14714,18 +14637,9 @@ bool SFE_UBLOX_GNSS::initPacketUBXESFMEAS()
packetUBXESFMEAS->callbackPointer = NULL;
packetUBXESFMEAS->callbackPointerPtr = NULL;
packetUBXESFMEAS->callbackData = NULL;
packetUBXESFMEAS->moduleQueried.moduleQueried.all = 0;
return (true);
}
// Mark all the data as read/stale
void SFE_UBLOX_GNSS::flushESFMEAS()
{
if (packetUBXESFMEAS == NULL)
return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
packetUBXESFMEAS->moduleQueried.moduleQueried.all = 0; // Mark all datums as stale (read before)
}
// Log this data in file buffer
void SFE_UBLOX_GNSS::logESFMEAS(bool enabled)
{
@@ -14868,13 +14782,6 @@ bool SFE_UBLOX_GNSS::initPacketUBXESFRAW()
return (true);
}
// Mark all the data as read/stale
void SFE_UBLOX_GNSS::flushESFRAW()
{
if (packetUBXESFRAW == NULL)
return; // Bail if RAM has not been allocated (otherwise we could be writing anywhere!)
}
// Log this data in file buffer
void SFE_UBLOX_GNSS::logESFRAW(bool enabled)
{
@@ -18046,21 +17953,6 @@ float SFE_UBLOX_GNSS::getESFyaw(uint16_t maxWait) // Returned as degrees
return (((float)packetUBXESFALG->data.yaw) / 100.0); // Convert to degrees
}
bool SFE_UBLOX_GNSS::getSensorFusionMeasurement(UBX_ESF_MEAS_sensorData_t *sensorData, uint8_t sensor, uint16_t maxWait)
{
if (packetUBXESFMEAS == NULL)
initPacketUBXESFMEAS(); // Check that RAM has been allocated for the ESF MEAS data
if (packetUBXESFMEAS == NULL) // Bail if the RAM allocation failed
return (false);
if ((packetUBXESFMEAS->moduleQueried.moduleQueried.bits.data & (1 << sensor)) == 0)
getESFMEAS(maxWait);
packetUBXESFMEAS->moduleQueried.moduleQueried.bits.data &= ~(1 << sensor); // Since we are about to give this to user, mark this data as stale
packetUBXESFMEAS->moduleQueried.moduleQueried.bits.all = false;
sensorData->data.all = packetUBXESFMEAS->data.data[sensor].data.all;
return (true);
}
bool SFE_UBLOX_GNSS::getSensorFusionMeasurement(UBX_ESF_MEAS_sensorData_t *sensorData, UBX_ESF_MEAS_data_t ubxDataStruct, uint8_t sensor)
{
sensorData->data.all = ubxDataStruct.data[sensor].data.all;
src/SparkFun_u-blox_GNSS_Arduino_Library.h
-5
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@@ -1272,15 +1272,12 @@ public:
void flushESFINS(); // Mark all the data as read/stale
void logESFINS(bool enabled = true); // Log data to file buffer
bool getEsfDataInfo(uint16_t maxWait = defaultMaxWait); // ESF MEAS Helper
bool getESFMEAS(uint16_t maxWait = defaultMaxWait); // ESF MEAS
bool setAutoESFMEAS(bool enabled, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic ESF MEAS reports
bool setAutoESFMEAS(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic ESF MEAS reports, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
bool setAutoESFMEASrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); // Set the rate for automatic MEAS reports
bool setAutoESFMEAScallback(void (*callbackPointer)(UBX_ESF_MEAS_data_t), uint16_t maxWait = defaultMaxWait); // Enable automatic MEAS reports at the navigation frequency. Data is accessed from the callback.
bool setAutoESFMEAScallbackPtr(void (*callbackPointerPtr)(UBX_ESF_MEAS_data_t *), uint16_t maxWait = defaultMaxWait); // Enable automatic MEAS reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoESFMEAS(bool enabled, bool implicitUpdate = true); // In case no config access to the GPS is possible and ESF MEAS is send cyclically already
void flushESFMEAS(); // Mark all the data as read/stale
void logESFMEAS(bool enabled = true); // Log data to file buffer
bool setAutoESFRAW(bool enabled, uint16_t maxWait = defaultMaxWait); // Enable/disable automatic ESF RAW reports
@@ -1289,7 +1286,6 @@ public:
bool setAutoESFRAWcallback(void (*callbackPointer)(UBX_ESF_RAW_data_t), uint16_t maxWait = defaultMaxWait); // Enable automatic RAW reports at the navigation frequency. Data is accessed from the callback.
bool setAutoESFRAWcallbackPtr(void (*callbackPointerPtr)(UBX_ESF_RAW_data_t *), uint16_t maxWait = defaultMaxWait); // Enable automatic RAW reports at the navigation frequency. Data is accessed from the callback.
bool assumeAutoESFRAW(bool enabled, bool implicitUpdate = true); // In case no config access to the GPS is possible and ESF RAW is send cyclically already
void flushESFRAW(); // Mark all the data as read/stale
void logESFRAW(bool enabled = true); // Log data to file buffer
// High navigation rate (HNR)
@@ -1466,7 +1462,6 @@ public:
float getESFroll(uint16_t maxWait = defaultMaxWait); // Returned as degrees
float getESFpitch(uint16_t maxWait = defaultMaxWait); // Returned as degrees
float getESFyaw(uint16_t maxWait = defaultMaxWait); // Returned as degrees
bool getSensorFusionMeasurement(UBX_ESF_MEAS_sensorData_t *sensorData, uint8_t sensor, uint16_t maxWait = defaultMaxWait);
bool getSensorFusionMeasurement(UBX_ESF_MEAS_sensorData_t *sensorData, UBX_ESF_MEAS_data_t ubxDataStruct, uint8_t sensor);
bool getRawSensorMeasurement(UBX_ESF_RAW_sensorData_t *sensorData, UBX_ESF_RAW_data_t ubxDataStruct, uint8_t sensor);
bool getSensorFusionStatus(UBX_ESF_STATUS_sensorStatus_t *sensorStatus, uint8_t sensor, uint16_t maxWait = defaultMaxWait);
src/u-blox_structs.h
+7 -26
View File
@@ -53,6 +53,10 @@
#define DEF_MAX_NUM_ESF_RAW_REPEATS 10 // The NEO-M8U sends ESF RAW data in blocks / sets of ten readings. (The ZED-F9R sends them one at a time.)
#endif
#ifndef DEF_MAX_NUM_ESF_MEAS
#define DEF_MAX_NUM_ESF_MEAS 31 // numMeas is 5 bits, indicating up to 31 groups could be received
#endif
// Additional flags and pointers that need to be stored with each message type
struct ubxAutomaticFlags
{
@@ -2190,7 +2194,8 @@ typedef struct
// UBX-ESF-MEAS (0x10 0x02): External sensor fusion measurements
// Note: length is variable
const uint16_t UBX_ESF_MEAS_MAX_LEN = 8 + (4 * DEF_NUM_SENS) + 4;
// Note: ESF RAW data cannot be polled. It is "Output" only
const uint16_t UBX_ESF_MEAS_MAX_LEN = 8 + (4 * DEF_MAX_NUM_ESF_MEAS) + 4;
typedef struct
{
@@ -2222,38 +2227,14 @@ typedef struct
} bits;
} flags;
uint16_t id; // Identification number of data provider
UBX_ESF_MEAS_sensorData_t data[DEF_NUM_SENS];
UBX_ESF_MEAS_sensorData_t data[DEF_MAX_NUM_ESF_MEAS];
uint32_t calibTtag; // OPTIONAL: Receiver local time calibrated: ms
} UBX_ESF_MEAS_data_t;
typedef struct
{
union
{
uint32_t all;
struct
{
uint32_t all : 1;
uint32_t timeMarkSent : 1;
uint32_t timeMarkEdge : 1;
uint32_t calibTtagValid : 1;
uint32_t numMeas : 1;
uint32_t id : 1;
uint32_t data : DEF_NUM_SENS;
uint32_t calibTtag : 1;
} bits;
} moduleQueried;
} UBX_ESF_MEAS_moduleQueried_t;
typedef struct
{
ubxAutomaticFlags automaticFlags;
UBX_ESF_MEAS_data_t data;
UBX_ESF_MEAS_moduleQueried_t moduleQueried;
void (*callbackPointer)(UBX_ESF_MEAS_data_t);
void (*callbackPointerPtr)(UBX_ESF_MEAS_data_t *);
UBX_ESF_MEAS_data_t *callbackData;