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Merge pull request #153 from sparkfun/release_candidate
v2.2.15
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‎examples/Callbacks/CallbackExample12_ESF_MEAS_In_Loop/CallbackExample12_ESF_MEAS_In_Loop.ino

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/*
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u-blox Example: ESF MEAS (Wheel Ticks)
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By: Paul Clark
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SparkFun Electronics
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Date: September 8th, 2022
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License: MIT. See license file for more information but you can
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basically do whatever you want with this code.
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This example configures the External Sensor Fusion MEAS sensor messages on the NEO-M8U / ZED-F9R and
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shows how to access the ESF data in the loop - without using the callback.
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Please make sure your NEO-M8U is running UDR firmware >= 1.31. Please update using u-center if necessary:
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https://www.u-blox.com/en/product/neo-m8u-module#tab-documentation-resources
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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NEO-M8U: https://www.sparkfun.com/products/16329
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Hardware Connections:
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Plug a Qwiic cable into the GPS and a Redboard Qwiic
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If you don't have a platform with a Qwiic connection use the
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SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
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Open the serial monitor at 115200 baud to see the output
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*/
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#include <Wire.h> //Needed for I2C to GPS
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
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SFE_UBLOX_GNSS myGNSS;
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// Callback: printESFMEASdata will be called when new ESF MEAS data arrives
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// See u-blox_structs.h for the full definition of UBX_ESF_MEAS_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setAutoESFMEAScallback
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// / _____ This _must_ be UBX_ESF_MEAS_data_t
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// | / _____ You can use any name you like for the struct
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// | | /
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// | | |
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void printESFMEASdata(UBX_ESF_MEAS_data_t *ubxDataStruct)
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{
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Serial.println(F("Hey! The ESF MEAS callback has been called!"));
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}
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void setup()
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{
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Serial.begin(230400); // <-- Use a fast baud rate to avoid the Serial prints slowing the code
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while (!Serial); //Wait for user to open terminal
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Serial.println(F("SparkFun u-blox Example"));
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Wire.begin();
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Wire.setClock(400000); // <-- Use 400kHz I2C
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//myGNSS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
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if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
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{
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Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
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while (1);
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}
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myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
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if (myGNSS.setAutoESFMEAScallbackPtr(&printESFMEASdata) == true) // Enable automatic ESF MEAS messages with callback to printESFMEASdata
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Serial.println(F("setAutoESFMEAScallback successful"));
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}
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void loop()
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{
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myGNSS.checkUblox(); // Check for the arrival of new data and process it.
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// Check if new ESF MEAS data has arrived:
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// If myGNSS.packetUBXESFMEAS->automaticFlags.flags.bits.callbackCopyValid is true, it indicates new ESF MEAS data has been received and has been copied.
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// automaticFlags.flags.bits.callbackCopyValid will be cleared automatically when the callback is called.
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if (myGNSS.packetUBXESFMEAS->automaticFlags.flags.bits.callbackCopyValid == true)
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{
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// But, we can manually clear the callback flag too. This will prevent the callback from being called!
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myGNSS.packetUBXESFMEAS->automaticFlags.flags.bits.callbackCopyValid = false; // Comment this line if you still want the callback to be called
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// Print the timeTag
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Serial.print(F("Time: "));
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Serial.println(myGNSS.packetUBXESFMEAS->callbackData->timeTag);
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// myGNSS.packetUBXESFMEAS->callbackData->flags.bits.numMeas indicates how many sensor groups the UBX_ESF_MEAS_data_t contains.
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for (uint8_t i = 0; i < myGNSS.packetUBXESFMEAS->callbackData->flags.bits.numMeas; i++)
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{
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// Print the sensor data type
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// From the M8 interface description:
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// 0: None
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// 1-4: Reserved
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// 5: z-axis gyroscope angular rate deg/s * 2^-12 signed
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// 6: front-left wheel ticks: Bits 0-22: unsigned tick value. Bit 23: direction indicator (0=forward, 1=backward)
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// 7: front-right wheel ticks: Bits 0-22: unsigned tick value. Bit 23: direction indicator (0=forward, 1=backward)
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// 8: rear-left wheel ticks: Bits 0-22: unsigned tick value. Bit 23: direction indicator (0=forward, 1=backward)
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// 9: rear-right wheel ticks: Bits 0-22: unsigned tick value. Bit 23: direction indicator (0=forward, 1=backward)
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// 10: speed ticks: Bits 0-22: unsigned tick value. Bit 23: direction indicator (0=forward, 1=backward)
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// 11: speed m/s * 1e-3 signed
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// 12: gyroscope temperature deg Celsius * 1e-2 signed
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// 13: y-axis gyroscope angular rate deg/s * 2^-12 signed
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// 14: x-axis gyroscope angular rate deg/s * 2^-12 signed
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// 16: x-axis accelerometer specific force m/s^2 * 2^-10 signed
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// 17: y-axis accelerometer specific force m/s^2 * 2^-10 signed
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// 18: z-axis accelerometer specific force m/s^2 * 2^-10 signed
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switch (myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType)
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{
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case 5:
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Serial.print(F("Z Gyro: "));
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break;
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case 6:
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Serial.print(F("Front Left: "));
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break;
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case 7:
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Serial.print(F("Front Right: "));
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break;
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case 8:
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Serial.print(F("Rear Left: "));
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break;
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case 9:
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Serial.print(F("Rear Right: "));
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break;
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case 10:
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Serial.print(F("Speed Ticks: "));
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break;
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case 11:
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Serial.print(F("Speed: "));
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break;
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case 12:
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Serial.print(F("Temp: "));
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break;
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case 13:
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Serial.print(F("Y Gyro: "));
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break;
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case 14:
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Serial.print(F("X Gyro: "));
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break;
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case 16:
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Serial.print(F("X Accel: "));
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break;
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case 17:
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Serial.print(F("Y Accel: "));
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break;
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case 18:
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Serial.print(F("Z Accel: "));
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break;
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default:
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break;
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}
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// Tick data
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if ((myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType >= 6) && (myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType <= 10))
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{
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if ((myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataField & (1 << 23)) > 0)
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Serial.print(F("-")); // Backward
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else
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Serial.print(F("+")); // Forward
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Serial.println(myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataField & 0x007FFFFF);
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}
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// Speed
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else if (myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType == 11)
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{
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union
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{
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int32_t signed32;
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uint32_t unsigned32;
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} signedUnsigned; // Avoid any ambiguity casting uint32_t to int32_t
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// The dataField is 24-bit signed, stored in the 24 LSBs of a uint32_t
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signedUnsigned.unsigned32 = myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataField << 8; // Shift left by 8 bits to correctly align the data
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float speed = signedUnsigned.signed32; // Extract the signed data. Convert to float
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speed /= 256.0; // Divide by 256 to undo the shift
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speed *= 0.001; // Convert from m/s * 1e-3 to m/s
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Serial.println(speed, 3);
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}
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// Gyro data
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else if ((myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType == 5) || (myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType == 13) || (myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType == 14))
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{
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union
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{
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int32_t signed32;
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uint32_t unsigned32;
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} signedUnsigned; // Avoid any ambiguity casting uint32_t to int32_t
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// The dataField is 24-bit signed, stored in the 24 LSBs of a uint32_t
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signedUnsigned.unsigned32 = myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataField << 8; // Shift left by 8 bits to correctly align the data
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float rate = signedUnsigned.signed32; // Extract the signed data. Convert to float
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rate /= 256.0; // Divide by 256 to undo the shift
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rate *= 0.000244140625; // Convert from deg/s * 2^-12 to deg/s
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Serial.println(rate);
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}
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// Accelerometer data
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else if ((myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType == 16) || (myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType == 17) || (myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType == 18))
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{
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union
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{
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int32_t signed32;
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uint32_t unsigned32;
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} signedUnsigned; // Avoid any ambiguity casting uint32_t to int32_t
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// The dataField is 24-bit signed, stored in the 24 LSBs of a uint32_t
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signedUnsigned.unsigned32 = myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataField << 8; // Shift left by 8 bits to correctly align the data
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float force = signedUnsigned.signed32; // Extract the signed data. Convert to float
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force /= 256.0; // Divide by 256 to undo the shift
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force *= 0.0009765625; // Convert from m/s^2 * 2^-10 to m/s^2
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Serial.println(force);
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}
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// Gyro Temperature
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else if (myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataType == 12)
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{
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union
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{
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int32_t signed32;
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uint32_t unsigned32;
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} signedUnsigned; // Avoid any ambiguity casting uint32_t to int32_t
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// The dataField is 24-bit signed, stored in the 24 LSBs of a uint32_t
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signedUnsigned.unsigned32 = myGNSS.packetUBXESFMEAS->callbackData->data[i].data.bits.dataField << 8; // Shift left by 8 bits to correctly align the data
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float temperature = signedUnsigned.signed32; // Extract the signed data. Convert to float
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temperature /= 256.0; // Divide by 256 to undo the shift
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temperature *= 0.01; // Convert from C * 1e-2 to C
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Serial.println(temperature);
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}
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}
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}
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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
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}

‎keywords.txt

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flushESFINS KEYWORD2
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logESFINS KEYWORD2
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getEsfDataInfo KEYWORD2
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getESFMEAS KEYWORD2
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setAutoESFMEAS KEYWORD2
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setAutoESFMEASrate KEYWORD2
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setAutoESFMEAScallback KEYWORD2
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setAutoESFMEAScallbackPtr KEYWORD2
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assumeAutoESFMEAS KEYWORD2
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flushESFMEAS KEYWORD2
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logESFMEAS KEYWORD2
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setAutoESFRAW KEYWORD2
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setAutoESFRAWrate KEYWORD2
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setAutoESFRAWcallback KEYWORD2
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setAutoESFRAWcallbackPtr KEYWORD2
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assumeAutoESFRAW KEYWORD2
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flushESFRAW KEYWORD2
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logESFRAW KEYWORD2
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getHNRAtt KEYWORD2

‎library.properties

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name=SparkFun u-blox GNSS Arduino Library
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version=2.2.14
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version=2.2.15
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author=SparkFun Electronics <[email protected]>
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maintainer=SparkFun Electronics <sparkfun.com>
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sentence=Library for I2C, Serial and SPI Communication with u-blox GNSS modules<br/><br/>

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