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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
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@@ -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