Initial commit - based on v2_candidate

2021-01-09 06:44:12 +00:00
commit 6627841e7d
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+/*
+  By: Elias Santistevan
+  SparkFun Electronics
+  Date: May, 2020
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  NEO-M8U: https://www.sparkfun.com/products/16329
+  ZED-F9R: https://www.sparkfun.com/products/16344  
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GNSS 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
+
+	After calibrating the module and securing it to your vehicle such that it's
+  stable within 2 degrees, and the board is oriented correctly with regards to
+  the vehicle's frame, you can now read the vehicle's "attitude". The attitude
+  includes the vehicle's heading, pitch, and roll. You can also check the
+  accuracy of those readings. 
+
+*/
+
+#include <Wire.h> //Needed for I2C to GNSS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println(F("SparkFun u-blox Example"));
+
+  Wire.begin();
+
+  if (myGPS.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);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+  if (myGPS.getEsfInfo()){
+
+    Serial.print(F("Fusion Mode: "));  
+    Serial.println(myGPS.packetUBXESFSTATUS->data.fusionMode);  
+
+    if (myGPS.packetUBXESFSTATUS->data.fusionMode == 1){
+      Serial.println(F("Fusion Mode is Initialized!"));  
+		}
+		else {
+      Serial.println(F("Fusion Mode is either disabled or not initialized!"));  
+			Serial.println(F("Please see the previous example for more information."));
+		}
+  }
+}
+
+void loop()
+{
+  // ESF data is produced at the navigation rate, so by default we'll get fresh data once per second
+	if (myGPS.getEsfAlignment()) // Poll new ESF ALG data
+  {
+  	Serial.print(F("Status: ")); 
+  	Serial.print(myGPS.packetUBXESFALG->data.flags.bits.status);
+    Serial.print(F(" Roll: ")); 
+    Serial.print(myGPS.getESFroll(), 2); // Use the helper function to get the roll in degrees
+  	Serial.print(F(" Pitch: ")); 
+  	Serial.print(myGPS.getESFpitch(), 2); // Use the helper function to get the pitch in degrees
+  	Serial.print(F(" Heading: ")); 
+  	Serial.print(myGPS.getESFyaw(), 2); // Use the helper function to get the yaw in degrees
+  	Serial.print(F(" Errors: ")); 
+  	Serial.print(myGPS.packetUBXESFALG->data.error.bits.tiltAlgError);
+  	Serial.print(myGPS.packetUBXESFALG->data.error.bits.yawAlgError);
+  	Serial.println(myGPS.packetUBXESFALG->data.error.bits.angleError);
+  }
+
+  delay(250);
+}