92 lines
3.2 KiB
Arduino
92 lines
3.2 KiB
Arduino
/*
|
|
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, also known as "Fusion Mode", you can get
|
|
data directly from the IMU. This data is integrated directly into the GNSS
|
|
output, but is provided by the module as well.
|
|
|
|
*/
|
|
|
|
#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.getEsfIns()) // Poll new ESF INS data
|
|
{
|
|
Serial.print(F("X Ang Rate: "));
|
|
Serial.print(myGPS.packetUBXESFINS->data.xAngRate);
|
|
Serial.print(F(" Y Ang Rate: "));
|
|
Serial.print(myGPS.packetUBXESFINS->data.yAngRate);
|
|
Serial.print(F(" Z Ang Rate: "));
|
|
Serial.print(myGPS.packetUBXESFINS->data.zAngRate);
|
|
Serial.print(F(" X Accel: "));
|
|
Serial.print(myGPS.packetUBXESFINS->data.xAccel);
|
|
Serial.print(F(" Y Accel: "));
|
|
Serial.print(myGPS.packetUBXESFINS->data.yAccel);
|
|
Serial.print(F(" Z Accel: "));
|
|
Serial.print(myGPS.packetUBXESFINS->data.zAccel);
|
|
|
|
// These values also have "validity checks" that can be provided by the
|
|
// ublox library by reading bitfield0
|
|
Serial.print(F(" Validity: "));
|
|
Serial.print(myGPS.packetUBXESFINS->data.bitfield0.bits.xAngRateValid);
|
|
Serial.print(myGPS.packetUBXESFINS->data.bitfield0.bits.yAngRateValid);
|
|
Serial.print(myGPS.packetUBXESFINS->data.bitfield0.bits.zAngRateValid);
|
|
Serial.print(myGPS.packetUBXESFINS->data.bitfield0.bits.xAccelValid);
|
|
Serial.print(myGPS.packetUBXESFINS->data.bitfield0.bits.yAccelValid);
|
|
Serial.println(myGPS.packetUBXESFINS->data.bitfield0.bits.zAccelValid);
|
|
}
|
|
|
|
delay(250);
|
|
}
|