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Add CallbackExample11_ESF_RAW_In_Loop

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PaulZC
2022-09-09 17:24:25 +01:00
parent 1593dbc1a6
commit a923d44b61
2 changed files with 270 additions and 25 deletions
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examples/Callbacks/CallbackExample10_ESF_RAW/CallbackExample10_ESF_RAW.ino
+61 -25
View File
@@ -1,22 +1,23 @@
/*
Callback Example: ESF RAW (100Hz!)
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 RAW IMU sensor messages on the NEO-M8U/ZED-F9R and
uses callbacks to process and display the ESF data automatically. No more polling!
This example configures the External Sensor Fusion RAW IMU sensor messages on the NEO-M8U / ZED-F9R and
uses callbacks to process and display the ESF data automatically.
Notes:
On the ZED-F9R, each ESF RAW message contains _one_ set of IMU sensor data, seven readings in total (3 x Accel, 3 x Gyro, 1 x Temperature).
On the ZED-F9R, each ESF RAW message contains _one_ set of IMU sensor data: seven readings in total (3 x Accel, 3 x Gyro, 1 x Temperature).
However, on the NEO-M8U, each message contains _ten_ sets of IMU sensor data, seventy readings in total.
The NEO-M8U data is all timestamped and it is possible to reconstruct the full data stream, you just need to do it
ten at a time...
ten samples at a time...
Also, note that the sensor data is 24-bit signed (two's complement). You need to be careful when converting to int32_t.
Data will arrive at 100Hz. 10Hz x 10 on the NEO-M8U.
400kHz I2C is essential.
Serial printing needs to be kept short and the baud rate needs to be around 500000.
Data will arrive at 100Hz! (10Hz x 10 on the NEO-M8U)
400kHz I2C is essential...
Serial printing needs to be kept short and the baud rate needs to be at least 230400.
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
@@ -47,41 +48,73 @@ SFE_UBLOX_GNSS myGNSS;
// | | |
void printESFRAWdata(UBX_ESF_RAW_data_t *ubxDataStruct)
{
Serial.print(F("New ESF RAW data received. Number of sensor readings is: "));
Serial.print(ubxDataStruct->numEsfRawBlocks);
if (ubxDataStruct->numEsfRawBlocks > 7)
Serial.println(F(". (Only the first 7 will be printed.)"));
else
Serial.println(F("."));
// ubxDataStruct->numEsfRawBlocks indicates how many sensor readings the UBX_ESF_RAW_data_t contains.
// On the ZED-F9R, numEsfRawBlocks will be 7: 3 x Accel, 3 x Gyro, 1 x Temperature.
// On the NEO-M8U, numEsfRawBlocks will be 70: 10 sets of sensor data. The sensor time tag (sTag)
// indicates the timing of each sample.
// Serial output will be approx. 110 bytes depending on how many digits are in the sensor readings.
// To keep up, Serial needs to be running at 100k baud minimum. 230400 is recommended.
uint32_t sTag = 0xFFFFFFFF; // Sensor time tag
// Only print the first seven sensor readings (on the NEO-M8U)
for (uint8_t i = 0; (i < ubxDataStruct->numEsfRawBlocks) && (i < 7); i++)
// For fun, and to prove it works, uncomment use this line instead to get the full 100Hz data on the NEO-M8U
//for (uint8_t i = 0; i < ubxDataStruct->numEsfRawBlocks; i++)
{
// Print sTag the first time - and also if it changes
if (sTag != ubxDataStruct->data[i].sTag)
{
sTag = ubxDataStruct->data[i].sTag;
Serial.print(F("Time:"));
Serial.println(sTag);
}
// 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 (ubxDataStruct->data[i].data.bits.dataType)
{
case 5:
Serial.print(F("z-axis gyro: "));
Serial.print(F("Zgyr:"));
break;
case 12:
Serial.print(F("gyro temperature: "));
Serial.print(F("Temp:"));
break;
case 13:
Serial.print(F("y-axis gyro: "));
Serial.print(F("Ygyr:"));
break;
case 14:
Serial.print(F("x-axis gyro: "));
Serial.print(F("Xgyr:"));
break;
case 16:
Serial.print(F("x-axis accel: "));
Serial.print(F("Xacc:"));
break;
case 17:
Serial.print(F("y-axis accel: "));
Serial.print(F("Yacc:"));
break;
case 18:
Serial.print(F("z-axis accel: "));
Serial.print(F("Zacc:"));
break;
default:
break;
}
// Gyro data
if ((ubxDataStruct->data[i].data.bits.dataType == 5) || (ubxDataStruct->data[i].data.bits.dataType == 13) || (ubxDataStruct->data[i].data.bits.dataType == 14))
{
union
@@ -93,9 +126,10 @@ void printESFRAWdata(UBX_ESF_RAW_data_t *ubxDataStruct)
signedUnsigned.unsigned32 = ubxDataStruct->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
rate *= 0.000244140625; // Convert from deg/s * 2^-12 to deg/s
Serial.println(rate);
}
// Accelerometer data
else if ((ubxDataStruct->data[i].data.bits.dataType == 16) || (ubxDataStruct->data[i].data.bits.dataType == 17) || (ubxDataStruct->data[i].data.bits.dataType == 18))
{
union
@@ -107,9 +141,10 @@ void printESFRAWdata(UBX_ESF_RAW_data_t *ubxDataStruct)
signedUnsigned.unsigned32 = ubxDataStruct->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^-10 to m/s
force *= 0.0009765625; // Convert from m/s^2 * 2^-10 to m/s^2
Serial.println(force);
}
// Gyro Temperature
else if (ubxDataStruct->data[i].data.bits.dataType == 12)
{
union
@@ -121,7 +156,7 @@ void printESFRAWdata(UBX_ESF_RAW_data_t *ubxDataStruct)
signedUnsigned.unsigned32 = ubxDataStruct->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
temperature *= 0.01; // Convert from C * 1e-2 to C
Serial.println(temperature);
}
}
@@ -129,12 +164,13 @@ void printESFRAWdata(UBX_ESF_RAW_data_t *ubxDataStruct)
void setup()
{
Serial.begin(500000);
Serial.begin(230400); // <--- Use >> 100k baud (see notes above)
while (!Serial); //Wait for user to open terminal
Serial.println(F("SparkFun u-blox Example"));
Wire.begin();
Wire.setClock(400000); // Use 400kHz I2C
Wire.setClock(400000); // <-- Use 400kHz I2C (ESSENTIAL)
//myGNSS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
examples/Callbacks/CallbackExample11_ESF_RAW_In_Loop/CallbackExample11_ESF_RAW_In_Loop.ino
+209
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@@ -0,0 +1,209 @@
/*
u-blox Example: ESF RAW (100Hz!)
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 RAW IMU sensor messages on the NEO-M8U / ZED-F9R and
shows how to access the ESF data in the loop - without using the callback.
Notes:
On the ZED-F9R, each ESF RAW message contains _one_ set of IMU sensor data: seven readings in total (3 x Accel, 3 x Gyro, 1 x Temperature).
However, on the NEO-M8U, each message contains _ten_ sets of IMU sensor data, seventy readings in total.
The NEO-M8U data is all timestamped and it is possible to reconstruct the full data stream, you just need to do it
ten samples at a time...
Also, note that the sensor data is 24-bit signed (two's complement). You need to be careful when converting to int32_t.
Data will arrive at 100Hz! (10Hz x 10 on the NEO-M8U)
400kHz I2C is essential...
Serial printing needs to be kept short and the baud rate needs to be at least 230400.
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: printESFRAWdata will be called when new ESF RAW data arrives
// See u-blox_structs.h for the full definition of UBX_ESF_RAW_data_t
// _____ You can use any name you like for the callback. Use the same name when you call setAutoESFRAWcallback
// / _____ This _must_ be UBX_ESF_RAW_data_t
// | / _____ You can use any name you like for the struct
// | | /
// | | |
void printESFRAWdata(UBX_ESF_RAW_data_t *ubxDataStruct)
{
Serial.println(F("Hey! The ESF RAW callback has been called!"));
}
void setup()
{
Serial.begin(230400); // <--- Use >> 100k baud (see notes above)
while (!Serial); //Wait for user to open terminal
Serial.println(F("SparkFun u-blox Example"));
Wire.begin();
Wire.setClock(400000); // <-- Use 400kHz I2C (ESSENTIAL)
//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
myGNSS.setI2CpollingWait(5); //Allow checkUblox to poll I2C data every 5ms to keep up with the ESF RAW messages
if (myGNSS.setAutoESFRAWcallbackPtr(&printESFRAWdata) == true) // Enable automatic ESF RAW messages with callback to printESFRAWdata
Serial.println(F("setAutoESFRAWcallback successful"));
}
void loop()
{
myGNSS.checkUblox(); // Check for the arrival of new data and process it.
// Check if new ESF RAW data has arrived:
// If myGNSS.packetUBXESFRAW->automaticFlags.flags.bits.callbackCopyValid is true, it indicates new ESF RAW data has been received and has been copied.
// automaticFlags.flags.bits.callbackCopyValid will be cleared automatically when the callback is called.
if (myGNSS.packetUBXESFRAW->automaticFlags.flags.bits.callbackCopyValid == true)
{
// But, we can manually clear the callback flag too. This will prevent the callback from being called!
myGNSS.packetUBXESFRAW->automaticFlags.flags.bits.callbackCopyValid = false; // Comment this line if you still want the callback to be called
// myGNSS.packetUBXESFRAW->callbackData->numEsfRawBlocks indicates how many sensor readings the UBX_ESF_RAW_data_t contains.
// On the ZED-F9R, numEsfRawBlocks will be 7: 3 x Accel, 3 x Gyro, 1 x Temperature.
// On the NEO-M8U, numEsfRawBlocks will be 70: 10 sets of sensor data. The sensor time tag (sTag)
// indicates the timing of each sample.
// Serial output will be approx. 110 bytes depending on how many digits are in the sensor readings.
// To keep up, Serial needs to be running at 100k baud minimum. 230400 is recommended.
uint32_t sTag = 0xFFFFFFFF; // Sensor time tag
// Only print the first seven sensor readings (on the NEO-M8U)
for (uint8_t i = 0; (i < myGNSS.packetUBXESFRAW->callbackData->numEsfRawBlocks) && (i < 7); i++)
// For fun, and to prove it works, uncomment use this line instead to get the full 100Hz data on the NEO-M8U
//for (uint8_t i = 0; i < myGNSS.packetUBXESFRAW->callbackData->numEsfRawBlocks; i++)
{
// Print sTag the first time - and also if it changes
if (sTag != myGNSS.packetUBXESFRAW->callbackData->data[i].sTag)
{
sTag = myGNSS.packetUBXESFRAW->callbackData->data[i].sTag;
Serial.print(F("Time:"));
Serial.println(sTag);
}
// 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.packetUBXESFRAW->callbackData->data[i].data.bits.dataType)
{
case 5:
Serial.print(F("Zgyr:"));
break;
case 12:
Serial.print(F("Temp:"));
break;
case 13:
Serial.print(F("Ygyr:"));
break;
case 14:
Serial.print(F("Xgyr:"));
break;
case 16:
Serial.print(F("Xacc:"));
break;
case 17:
Serial.print(F("Yacc:"));
break;
case 18:
Serial.print(F("Zacc:"));
break;
default:
break;
}
// Gyro data
if ((myGNSS.packetUBXESFRAW->callbackData->data[i].data.bits.dataType == 5) || (myGNSS.packetUBXESFRAW->callbackData->data[i].data.bits.dataType == 13) || (myGNSS.packetUBXESFRAW->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.packetUBXESFRAW->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.packetUBXESFRAW->callbackData->data[i].data.bits.dataType == 16) || (myGNSS.packetUBXESFRAW->callbackData->data[i].data.bits.dataType == 17) || (myGNSS.packetUBXESFRAW->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.packetUBXESFRAW->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.packetUBXESFRAW->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.packetUBXESFRAW->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
}