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PaulZCPaulZC
authoredSep 9, 2022
Merge pull request #152 from sparkfun/release_candidate
v2.2.14
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v2.2.27v2.2.14
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‎Utils/UBX_RAWX_Aligner.py

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‎examples/Callbacks/CallbackExample10_ESF_RAW/CallbackExample10_ESF_RAW.ino

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/*
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Callback Example: ESF RAW (100Hz!)
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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 RAW IMU sensor messages on the NEO-M8U / ZED-F9R and
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uses callbacks to process and display the ESF data automatically.
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Notes:
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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).
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However, on the NEO-M8U, each message contains _ten_ sets of IMU sensor data, seventy readings in total.
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The NEO-M8U data is all timestamped and it is possible to reconstruct the full data stream, you just need to do it
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ten samples at a time...
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Also, note that the sensor data is 24-bit signed (two's complement). You need to be careful when converting to int32_t.
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Data will arrive at 100Hz! (10Hz x 10 on the NEO-M8U)
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400kHz I2C is essential...
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Serial printing needs to be kept short and the baud rate needs to be at least 230400.
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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: printESFRAWdata will be called when new ESF RAW data arrives
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// See u-blox_structs.h for the full definition of UBX_ESF_RAW_data_t
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// _____ You can use any name you like for the callback. Use the same name when you call setAutoESFRAWcallback
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// / _____ This _must_ be UBX_ESF_RAW_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 printESFRAWdata(UBX_ESF_RAW_data_t *ubxDataStruct)
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{
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// ubxDataStruct->numEsfRawBlocks indicates how many sensor readings the UBX_ESF_RAW_data_t contains.
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// On the ZED-F9R, numEsfRawBlocks will be 7: 3 x Accel, 3 x Gyro, 1 x Temperature.
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// On the NEO-M8U, numEsfRawBlocks will be 70: 10 sets of sensor data. The sensor time tag (sTag)
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// indicates the timing of each sample.
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// Serial output will be approx. 110 bytes depending on how many digits are in the sensor readings.
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// To keep up, Serial needs to be running at 100k baud minimum. 230400 is recommended.
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uint32_t sTag = 0xFFFFFFFF; // Sensor time tag
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// Only print the first seven sensor readings (on the NEO-M8U)
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for (uint8_t i = 0; (i < ubxDataStruct->numEsfRawBlocks) && (i < 7); i++)
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// For fun, and to prove it works, uncomment use this line instead to get the full 100Hz data on the NEO-M8U
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//for (uint8_t i = 0; i < ubxDataStruct->numEsfRawBlocks; i++)
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{
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// Print sTag the first time - and also if it changes
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if (sTag != ubxDataStruct->data[i].sTag)
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{
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sTag = ubxDataStruct->data[i].sTag;
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Serial.print(F("Time:"));
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Serial.println(sTag);
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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 (ubxDataStruct->data[i].data.bits.dataType)
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{
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case 5:
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Serial.print(F("Zgyr:"));
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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("Ygyr:"));
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break;
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case 14:
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Serial.print(F("Xgyr:"));
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break;
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case 16:
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Serial.print(F("Xacc:"));
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break;
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case 17:
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Serial.print(F("Yacc:"));
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break;
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case 18:
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Serial.print(F("Zacc:"));
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break;
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default:
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break;
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}
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// Gyro data
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if ((ubxDataStruct->data[i].data.bits.dataType == 5) || (ubxDataStruct->data[i].data.bits.dataType == 13) || (ubxDataStruct->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 = ubxDataStruct->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 ((ubxDataStruct->data[i].data.bits.dataType == 16) || (ubxDataStruct->data[i].data.bits.dataType == 17) || (ubxDataStruct->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 = ubxDataStruct->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 (ubxDataStruct->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 = ubxDataStruct->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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void setup()
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{
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Serial.begin(230400); // <--- Use >> 100k baud (see notes above)
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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 (ESSENTIAL)
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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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myGNSS.setI2CpollingWait(5); //Allow checkUblox to poll I2C data every 5ms to keep up with the ESF RAW messages
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if (myGNSS.setAutoESFRAWcallbackPtr(&printESFRAWdata) == true) // Enable automatic ESF RAW messages with callback to printESFRAWdata
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Serial.println(F("setAutoESFRAWcallback 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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myGNSS.checkCallbacks(); // Check if any callbacks are waiting to be processed.
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}

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