Initial commit - based on v2_candidate
This commit is contained in:
PaulZC
@@ -0,0 +1,104 @@
|
||||
/*
|
||||
Configuring the GNSS to automatically send position reports over I2C and display them 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.
|
||||
|
||||
This example shows how to configure the u-blox GNSS to send navigation reports automatically
|
||||
and access the data via a callback. No more polling!
|
||||
|
||||
Feel like supporting open source hardware?
|
||||
Buy a board from SparkFun!
|
||||
ZED-F9P RTK2: https://www.sparkfun.com/products/15136
|
||||
NEO-M8P RTK: https://www.sparkfun.com/products/15005
|
||||
SAM-M8Q: https://www.sparkfun.com/products/15106
|
||||
|
||||
Hardware Connections:
|
||||
Plug a Qwiic cable into the GPS and a BlackBoard
|
||||
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_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
|
||||
SFE_UBLOX_GPS myGPS;
|
||||
|
||||
// Callback: printPVTdata will be called when new NAV PVT data arrives
|
||||
// See u-blox_structs.h for the full definition of UBX_NAV_PVT_data_t
|
||||
// _____ You can use any name you like for the callback. Use the same name when you call setAutoPVTcallback
|
||||
// / _____ This _must_ be UBX_NAV_PVT_data_t
|
||||
// | / _____ You can use any name you like for the struct
|
||||
// | | /
|
||||
// | | |
|
||||
void printPVTdata(UBX_NAV_PVT_data_t ubxDataStruct)
|
||||
{
|
||||
Serial.println();
|
||||
|
||||
Serial.print(F("Time: ")); // Print the time
|
||||
uint8_t hms = ubxDataStruct.hour; // Print the hours
|
||||
if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
|
||||
Serial.print(hms);
|
||||
Serial.print(F(":"));
|
||||
hms = ubxDataStruct.min; // Print the minutes
|
||||
if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
|
||||
Serial.print(hms);
|
||||
Serial.print(F(":"));
|
||||
hms = ubxDataStruct.sec; // Print the seconds
|
||||
if (hms < 10) Serial.print(F("0")); // Print a leading zero if required
|
||||
Serial.print(hms);
|
||||
Serial.print(F("."));
|
||||
unsigned long millisecs = ubxDataStruct.iTOW % 1000; // Print the milliseconds
|
||||
if (millisecs < 100) Serial.print(F("0")); // Print the trailing zeros correctly
|
||||
if (millisecs < 10) Serial.print(F("0"));
|
||||
Serial.print(millisecs);
|
||||
|
||||
long latitude = ubxDataStruct.lat; // Print the latitude
|
||||
Serial.print(F(" Lat: "));
|
||||
Serial.print(latitude);
|
||||
|
||||
long longitude = ubxDataStruct.lon; // Print the longitude
|
||||
Serial.print(F(" Long: "));
|
||||
Serial.print(longitude);
|
||||
Serial.print(F(" (degrees * 10^-7)"));
|
||||
|
||||
long altitude = ubxDataStruct.hMSL; // Print the height above mean sea level
|
||||
Serial.print(F(" Height above MSL: "));
|
||||
Serial.print(altitude);
|
||||
Serial.println(F(" (mm)"));
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
while (!Serial); //Wait for user to open terminal
|
||||
Serial.println("SparkFun u-blox Example");
|
||||
|
||||
Wire.begin();
|
||||
|
||||
//myGPS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
|
||||
|
||||
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
|
||||
{
|
||||
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
|
||||
while (1);
|
||||
}
|
||||
|
||||
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
|
||||
myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
|
||||
|
||||
myGPS.setNavigationFrequency(2); //Produce two solutions per second
|
||||
|
||||
myGPS.setAutoPVTcallback(&printPVTdata); // Enable automatic NAV PVT messages with callback to printPVTdata
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
myGPS.checkUblox(); // Check for the arrival of new data and process it.
|
||||
myGPS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
|
||||
|
||||
Serial.print(".");
|
||||
delay(50);
|
||||
}
|
||||
@@ -0,0 +1,89 @@
|
||||
/*
|
||||
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.
|
||||
|
||||
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!
|
||||
|
||||
Feel like supporting open source hardware?
|
||||
Buy a board from SparkFun!
|
||||
ZED-F9P RTK2: https://www.sparkfun.com/products/15136
|
||||
NEO-M8P RTK: https://www.sparkfun.com/products/15005
|
||||
SAM-M8Q: https://www.sparkfun.com/products/15106
|
||||
|
||||
Hardware Connections:
|
||||
Plug a Qwiic cable into the GPS and a BlackBoard
|
||||
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_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
|
||||
SFE_UBLOX_GPS myGPS;
|
||||
|
||||
// Callback: printODOdata will be called when new NAV ODO data arrives
|
||||
// See u-blox_structs.h for the full definition of UBX_NAV_ODO_data_t
|
||||
// _____ You can use any name you like for the callback. Use the same name when you call setAutoNAVODOcallback
|
||||
// / _____ This _must_ be UBX_NAV_ODO_data_t
|
||||
// | / _____ You can use any name you like for the struct
|
||||
// | | /
|
||||
// | | |
|
||||
void printODOdata(UBX_NAV_ODO_data_t ubxDataStruct)
|
||||
{
|
||||
Serial.println();
|
||||
|
||||
Serial.print(F("TOW: ")); // Print the Time Of Week
|
||||
unsigned long iTOW = ubxDataStruct.iTOW; // iTOW is in milliseconds
|
||||
Serial.print(iTOW);
|
||||
Serial.print(F(" (ms)"));
|
||||
|
||||
Serial.print(F(" Distance: "));
|
||||
unsigned long distance = ubxDataStruct.distance; // Print the distance
|
||||
Serial.print(distance);
|
||||
Serial.print(F(" (m)"));
|
||||
|
||||
Serial.print(F(" Total Distance: "));
|
||||
unsigned long totalDistance = ubxDataStruct.totalDistance; // Print the total distance
|
||||
Serial.print(totalDistance);
|
||||
Serial.println(F(" (m)"));
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
while (!Serial); //Wait for user to open terminal
|
||||
Serial.println("SparkFun u-blox Example");
|
||||
|
||||
Wire.begin();
|
||||
|
||||
//myGPS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
|
||||
|
||||
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
|
||||
{
|
||||
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
|
||||
while (1);
|
||||
}
|
||||
|
||||
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
|
||||
myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
|
||||
|
||||
myGPS.setNavigationFrequency(1); //Produce one solution per second
|
||||
|
||||
//myGPS.resetOdometer(); //Uncomment this line to reset the odometer
|
||||
|
||||
myGPS.setAutoNAVODOcallback(&printODOdata); // Enable automatic NAV ODO messages with callback to printODOdata
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
myGPS.checkUblox(); // Check for the arrival of new data and process it.
|
||||
myGPS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
|
||||
|
||||
Serial.print(".");
|
||||
delay(50);
|
||||
}
|
||||
@@ -0,0 +1,115 @@
|
||||
/*
|
||||
Configuring the GNSS to automatically send TIM TM2 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.
|
||||
|
||||
This example shows how to configure the u-blox GNSS to send TIM TM2 reports automatically
|
||||
and display the data via a callback. No more polling!
|
||||
|
||||
Connecting the PPS (Pulse Per Second) breakout pin to the INT (Interrupt) pin with a jumper wire
|
||||
will cause a TIM TM2 message to be produced once per second. You can then study the timing of the
|
||||
pulse edges with nanosecond resolution!
|
||||
|
||||
Note: TIM TM2 can only capture the timing of one rising edge and one falling edge per
|
||||
navigation solution. So with setNavigationFrequency set to 1Hz, we can only see the timing
|
||||
of one rising and one falling edge per second. If the frequency of the signal on the INT pin
|
||||
is higher than 1Hz, we will only be able to see the timing of the most recent edges.
|
||||
However, the module can count the number of rising edges too, at rates faster than the navigation rate.
|
||||
|
||||
TIM TM2 messages are only produced when a rising or falling edge is detected on the INT pin.
|
||||
If you disconnect your PPS to INT jumper wire, the messages will stop.
|
||||
|
||||
Feel like supporting open source hardware?
|
||||
Buy a board from SparkFun!
|
||||
ZED-F9P RTK2: https://www.sparkfun.com/products/15136
|
||||
NEO-M8P RTK: https://www.sparkfun.com/products/15005
|
||||
NEO-M9N: https://www.sparkfun.com/products/17285
|
||||
|
||||
Hardware Connections:
|
||||
Plug a Qwiic cable into the GPS and a BlackBoard
|
||||
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_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
|
||||
SFE_UBLOX_GPS myGPS;
|
||||
|
||||
int dotsPrinted = 0; // Print dots in rows of 50 while waiting for a TIM TM2 message
|
||||
|
||||
// Callback: printTIMTM2data will be called when new TIM TM2 data arrives
|
||||
// See u-blox_structs.h for the full definition of UBX_TIM_TM2_data_t
|
||||
// _____ You can use any name you like for the callback. Use the same name when you call setAutoTIMTM2callback
|
||||
// / _____ This _must_ be UBX_TIM_TM2_data_t
|
||||
// | / _____ You can use any name you like for the struct
|
||||
// | | /
|
||||
// | | |
|
||||
void printTIMTM2data(UBX_TIM_TM2_data_t ubxDataStruct)
|
||||
{
|
||||
Serial.println();
|
||||
|
||||
Serial.print(F("newFallingEdge: ")); // 1 if a new falling edge was detected
|
||||
Serial.print(ubxDataStruct.flags.bits.newFallingEdge);
|
||||
|
||||
Serial.print(F(" newRisingEdge: ")); // 1 if a new rising edge was detected
|
||||
Serial.print(ubxDataStruct.flags.bits.newRisingEdge);
|
||||
|
||||
Serial.print(F(" Rising Edge Counter: ")); // Rising edge counter
|
||||
Serial.print(ubxDataStruct.count);
|
||||
|
||||
Serial.print(F(" towMsR: ")); // Time Of Week of rising edge (ms)
|
||||
Serial.print(ubxDataStruct.towMsR);
|
||||
|
||||
Serial.print(F(" towSubMsR: ")); // Millisecond fraction of Time Of Week of rising edge in nanoseconds
|
||||
Serial.print(ubxDataStruct.towSubMsR);
|
||||
|
||||
Serial.print(F(" towMsF: ")); // Time Of Week of falling edge (ms)
|
||||
Serial.print(ubxDataStruct.towMsF);
|
||||
|
||||
Serial.print(F(" towSubMsF: ")); // Millisecond fraction of Time Of Week of falling edge in nanoseconds
|
||||
Serial.println(ubxDataStruct.towSubMsF);
|
||||
|
||||
dotsPrinted = 0; // Reset dotsPrinted
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
while (!Serial); //Wait for user to open terminal
|
||||
Serial.println("SparkFun u-blox Example");
|
||||
|
||||
Wire.begin();
|
||||
|
||||
//myGPS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
|
||||
|
||||
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
|
||||
{
|
||||
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
|
||||
while (1);
|
||||
}
|
||||
|
||||
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
|
||||
myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
|
||||
|
||||
myGPS.setNavigationFrequency(1); //Produce one solution per second
|
||||
|
||||
myGPS.setAutoTIMTM2callback(&printTIMTM2data); // Enable automatic TIM TM2 messages with callback to printTIMTM2data
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
myGPS.checkUblox(); // Check for the arrival of new data and process it.
|
||||
myGPS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
|
||||
|
||||
Serial.print(".");
|
||||
delay(50);
|
||||
if (++dotsPrinted > 50)
|
||||
{
|
||||
Serial.println();
|
||||
dotsPrinted = 0;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,117 @@
|
||||
/*
|
||||
By: Paul Clark
|
||||
SparkFun Electronics
|
||||
Date: December, 2020
|
||||
License: MIT. See license file for more information but you can
|
||||
basically do whatever you want with this code.
|
||||
|
||||
This example configures the High Navigation Rate on the NEO-M8U and then
|
||||
reads and displays the attitude solution, vehicle dynamics information
|
||||
and high rate position, velocity and time.
|
||||
|
||||
This example uses callbacks to process the HNR data automatically. No more polling!
|
||||
|
||||
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_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
|
||||
SFE_UBLOX_GPS myGPS;
|
||||
|
||||
// Callback: printHNRATTdata will be called when new HNR ATT data arrives
|
||||
// See u-blox_structs.h for the full definition of UBX_HNR_ATT_data_t
|
||||
// _____ You can use any name you like for the callback. Use the same name when you call setAutoHNRATTcallback
|
||||
// / _____ This _must_ be UBX_HNR_ATT_data_t
|
||||
// | / _____ You can use any name you like for the struct
|
||||
// | | /
|
||||
// | | |
|
||||
void printHNRATTdata(UBX_HNR_ATT_data_t ubxDataStruct)
|
||||
{
|
||||
Serial.println();
|
||||
Serial.print(F("Roll: ")); // Print selected data
|
||||
Serial.print((float)ubxDataStruct.roll / 100000.0, 2); // Convert roll to degrees
|
||||
Serial.print(F(" Pitch: "));
|
||||
Serial.print((float)ubxDataStruct.pitch / 100000.0, 2); // Convert pitch to degrees
|
||||
Serial.print(F(" Heading: "));
|
||||
Serial.println((float)ubxDataStruct.heading / 100000.0, 2); // Convert heading to degrees
|
||||
}
|
||||
|
||||
// Callback: printHNRINSdata will be called when new HNR INS data arrives
|
||||
// See u-blox_structs.h for the full definition of UBX_HNR_INS_data_t
|
||||
void printHNRINSdata(UBX_HNR_INS_data_t ubxDataStruct)
|
||||
{
|
||||
Serial.print(F("xAccel: ")); // Print selected data
|
||||
Serial.print(ubxDataStruct.xAccel);
|
||||
Serial.print(F(" yAccel: "));
|
||||
Serial.print(ubxDataStruct.yAccel);
|
||||
Serial.print(F(" zAccel: "));
|
||||
Serial.println(ubxDataStruct.zAccel);
|
||||
}
|
||||
|
||||
// Callback: printHNRPVTdata will be called when new HNR PVT data arrives
|
||||
// See u-blox_structs.h for the full definition of UBX_HNR_PVT_data_t
|
||||
void printHNRPVTdata(UBX_HNR_PVT_data_t ubxDataStruct)
|
||||
{
|
||||
Serial.print(F("ns: ")); // Print selected data
|
||||
Serial.print(ubxDataStruct.nano);
|
||||
Serial.print(F(" Lat: "));
|
||||
Serial.print(ubxDataStruct.lat);
|
||||
Serial.print(F(" Lon: "));
|
||||
Serial.println(ubxDataStruct.lon);
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
while (!Serial); //Wait for user to open terminal
|
||||
Serial.println(F("SparkFun u-blox Example"));
|
||||
|
||||
Wire.begin();
|
||||
|
||||
//myGPS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
|
||||
|
||||
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
|
||||
{
|
||||
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
|
||||
while (1);
|
||||
}
|
||||
|
||||
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
|
||||
myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
|
||||
|
||||
if (myGPS.setHNRNavigationRate(10) == true) //Set the High Navigation Rate to 10Hz
|
||||
Serial.println(F("setHNRNavigationRate was successful"));
|
||||
else
|
||||
Serial.println(F("setHNRNavigationRate was NOT successful"));
|
||||
|
||||
if (myGPS.setAutoHNRATTcallback(&printHNRATTdata) == true) // Enable automatic HNR ATT messages with callback to printHNRATTdata
|
||||
Serial.println(F("setAutoHNRATTcallback successful"));
|
||||
|
||||
if (myGPS.setAutoHNRINScallback(&printHNRINSdata) == true) // Enable automatic HNR INS messages with callback to printHNRINSdata
|
||||
Serial.println(F("setAutoHNRINScallback successful"));
|
||||
|
||||
if (myGPS.setAutoHNRPVTcallback(&printHNRPVTdata) == true) // Enable automatic HNR PVT messages with callback to printHNRPVTdata
|
||||
Serial.println(F("setAutoHNRPVTcallback successful"));
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
myGPS.checkUblox(); // Check for the arrival of new data and process it.
|
||||
myGPS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
|
||||
|
||||
Serial.print(".");
|
||||
delay(25);
|
||||
}
|
||||
@@ -0,0 +1,179 @@
|
||||
/*
|
||||
By: Paul Clark
|
||||
SparkFun Electronics
|
||||
Date: December, 2020
|
||||
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 messages on the NEO-M8U and
|
||||
uses callbacks to process and display the ESF data automatically. No more polling!
|
||||
|
||||
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_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
|
||||
SFE_UBLOX_GPS myGPS;
|
||||
|
||||
// Callback: printESFALGdata will be called when new ESF ALG data arrives
|
||||
// See u-blox_structs.h for the full definition of UBX_ESF_ALG_data_t
|
||||
// _____ You can use any name you like for the callback. Use the same name when you call setAutoESFALGcallback
|
||||
// / _____ This _must_ be UBX_ESF_ALG_data_t
|
||||
// | / _____ You can use any name you like for the struct
|
||||
// | | /
|
||||
// | | |
|
||||
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
|
||||
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(F(" Pitch: "));
|
||||
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.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)
|
||||
{
|
||||
Serial.print(F("xAccel: ")); // Print selected data
|
||||
Serial.print(ubxDataStruct.xAccel);
|
||||
|
||||
Serial.print(F(" yAccel: "));
|
||||
Serial.print(ubxDataStruct.yAccel);
|
||||
|
||||
Serial.print(F(" zAccel: "));
|
||||
Serial.print(ubxDataStruct.zAccel);
|
||||
|
||||
Serial.println(F(" (m/s^2)"));
|
||||
}
|
||||
|
||||
// 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)
|
||||
{
|
||||
Serial.println();
|
||||
|
||||
Serial.print(F("id: ")); // Print selected data
|
||||
Serial.print(ubxDataStruct.id);
|
||||
|
||||
Serial.print(F(" numMeas: "));
|
||||
Serial.println(ubxDataStruct.flags.bits.numMeas);
|
||||
|
||||
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;
|
||||
myGPS.getSensorFusionMeasurement(&sensorData, ubxDataStruct, num); // Extract the data for one sensor
|
||||
|
||||
Serial.print(F(": Type: "));
|
||||
Serial.print(sensorData.data.bits.dataType);
|
||||
Serial.print(F(" Data: "));
|
||||
Serial.println(sensorData.data.bits.dataField);
|
||||
}
|
||||
}
|
||||
|
||||
// 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)
|
||||
{
|
||||
Serial.print(F("fusionMode: ")); // Print selected data
|
||||
Serial.print(ubxDataStruct.fusionMode);
|
||||
|
||||
Serial.print(F(" numSens: "));
|
||||
Serial.println(ubxDataStruct.numSens);
|
||||
|
||||
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;
|
||||
myGPS.getSensorFusionStatus(&sensorStatus, ubxDataStruct, num); // Extract the data for one sensor
|
||||
|
||||
Serial.print(F(": Type: "));
|
||||
Serial.print(sensorStatus.sensStatus1.bits.type);
|
||||
Serial.print(F(" Used: "));
|
||||
Serial.print(sensorStatus.sensStatus1.bits.used);
|
||||
Serial.print(F(" Ready: "));
|
||||
Serial.print(sensorStatus.sensStatus1.bits.ready);
|
||||
Serial.print(F(" Calib Status: "));
|
||||
Serial.print(sensorStatus.sensStatus2.bits.calibStatus);
|
||||
Serial.print(F(" Noisy: "));
|
||||
Serial.println(sensorStatus.faults.bits.noisyMeas);
|
||||
}
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
while (!Serial); //Wait for user to open terminal
|
||||
Serial.println(F("SparkFun u-blox Example"));
|
||||
|
||||
Wire.begin();
|
||||
|
||||
//myGPS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
|
||||
|
||||
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
|
||||
{
|
||||
Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
|
||||
while (1);
|
||||
}
|
||||
|
||||
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
|
||||
myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
|
||||
|
||||
myGPS.setNavigationFrequency(1); //Produce one solution per second
|
||||
myGPS.setHNRNavigationRate(1); //Set the High Navigation Rate to 1Hz
|
||||
|
||||
myGPS.setI2CpollingWait(50); //Allow checkUblox to poll I2C data every 50ms to keep up with the ESF MEAS messages
|
||||
|
||||
if (myGPS.setAutoESFALGcallback(&printESFALGdata) == true) // Enable automatic ESF ALG messages with callback to printESFALGdata
|
||||
Serial.println(F("setAutoESFALGcallback successful"));
|
||||
|
||||
if (myGPS.setAutoESFINScallback(&printESFINSdata) == true) // Enable automatic ESF INS messages with callback to printESFINSdata
|
||||
Serial.println(F("setAutoESFINScallback successful"));
|
||||
|
||||
if (myGPS.setAutoESFMEAScallback(&printESFMEASdata) == true) // Enable automatic ESF MEAS messages with callback to printESFMEASdata
|
||||
Serial.println(F("setAutoESFMEAScallback successful"));
|
||||
|
||||
if (myGPS.setAutoESFSTATUScallback(&printESFSTATUSdata) == true) // Enable automatic ESF STATUS messages with callback to printESFSTATUSdata
|
||||
Serial.println(F("setAutoESFSTATUScallback successful"));
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
myGPS.checkUblox(); // Check for the arrival of new data and process it.
|
||||
myGPS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
|
||||
|
||||
Serial.print(".");
|
||||
delay(25);
|
||||
}
|
||||
Reference in New Issue
Block a user