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Merge pull request #96 from sparkfun/dead_reckoning
Dead reckoning Pull request
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‎.gitignore

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@@ -48,3 +48,8 @@ $RECYCLE.BIN/
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Network Trash Folder
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Temporary Items
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.apdisk
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# VIM backup files
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*~
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[._]*.un~
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*.swp

‎examples/Dead Reckoning/Example1_calibrateSensor/Example1_calibrateSensor.ino

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/*
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By: Elias Santistevan
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SparkFun Electronics
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Date: May, 2020
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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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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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ZED-F9R: https://www.sparkfun.com/products/16344
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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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To take advantage of the internal IMU of either the Dead Reckoning GPS
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boards (ZED-F9R, NEO-M8U), you must first calibrate it. This includes securing the GPS module
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to your vehicle so that it is stable within 2 degrees and that the frame of
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reference of the board is consistent with the picture outlined in the
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Receiver-Description-Prot-Spec Datasheet under Automotive/Untethered Dead
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Reckoning. You may also check either the ZED-F9R or NEO-M8U Hookup Guide for
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more information. After the board is secure, you'll need to put the module
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through certain conditions for proper calibration: acceleration, turning,
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stopping for a few minutes, getting to a speed over 30km/h all under a clear sky
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with good GNSS signal. This example simply looks at the
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"fusionMode" status which indicates whether the SparkFun Dead Reckoning is
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not-calibrated - 0, or calibrated - 1.
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*/
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#include <Wire.h> //Needed for I2C to GPS
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#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
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SFE_UBLOX_GPS myGPS;
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void setup()
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{
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Serial.begin(115200);
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while (!Serial); //Wait for user to open terminal
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Serial.println(F("SparkFun Ublox Example"));
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Wire.begin();
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if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
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{
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Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
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while (1);
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}
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myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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}
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void loop()
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{
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if (myGPS.getEsfInfo()){
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Serial.print(F("Fusion Mode: "));
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Serial.println(myGPS.imuMeas.fusionMode);
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if (myGPS.imuMeas.fusionMode == 1)
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Serial.println(F("Sensor is calibrated!"));
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}
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delay(250);
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}

‎examples/Dead Reckoning/Example2_getIMUData/Example2_getIMUData.ino

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/*
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By: Elias Santistevan
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SparkFun Electronics
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Date: May, 2020
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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.
7+
8+
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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ZED-F9R: https://www.sparkfun.com/products/16344
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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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After calibrating the module, also known as "Fusion Mode", you can get
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data directly from the IMU. This data is integrated directly into the GNSS
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output, but is provided by the module as well.
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*/
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#include <Wire.h> //Needed for I2C to GPS
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#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
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SFE_UBLOX_GPS myGPS;
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void setup()
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{
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Serial.begin(115200);
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while (!Serial); //Wait for user to open terminal
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Serial.println(F("SparkFun Ublox Example"));
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Wire.begin();
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if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
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{
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Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
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while (1);
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}
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myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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if (myGPS.getEsfInfo()){
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Serial.print(F("Fusion Mode: "));
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Serial.println(myGPS.imuMeas.fusionMode);
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if (myGPS.imuMeas.fusionMode == 1){
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Serial.println(F("Fusion Mode is Initialized!"));
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}
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else {
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Serial.println(F("Fusion Mode is either disabled or not initialized - Freezing!"));
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Serial.println(F("Please see Example 1 description at top for more information."));
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}
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}
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}
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void loop()
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{
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if (myGPS.getEsfIns())
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{
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Serial.print(F("X: "));
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Serial.println(myGPS.imuMeas.xAngRate);
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Serial.print(F("Y: "));
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Serial.println(myGPS.imuMeas.yAngRate);
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Serial.print(F("Z: "));
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Serial.println(myGPS.imuMeas.zAngRate);
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Serial.print(F("X Acceleration: "));
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Serial.println(myGPS.imuMeas.xAccel);
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Serial.print(F("Y Acceleration: "));
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Serial.println(myGPS.imuMeas.yAccel);
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Serial.print(F("Z Acceleration: "));
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Serial.println(myGPS.imuMeas.zAccel);
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// These values also have "validity checks" that can be provided by the
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// ublox library, add "Vald" to values: e.g. xAngRateVald or xAccelVald.
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}
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delay(250);
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}
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‎examples/Dead Reckoning/Example3_getSensorStatus/Example3_getSensorStatus.ino

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/*
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By: Elias Santistevan
3+
SparkFun Electronics
4+
Date: May, 2020
5+
License: MIT. See license file for more information but you can
6+
basically do whatever you want with this code.
7+
8+
Feel like supporting open source hardware?
9+
Buy a board from SparkFun!
10+
NEO-M8U: https://www.sparkfun.com/products/16329
11+
ZED-F9R: https://www.sparkfun.com/products/16344
12+
13+
Hardware Connections:
14+
Plug a Qwiic cable into the GPS and a Redboard Qwiic
15+
If you don't have a platform with a Qwiic connection use the
16+
SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
17+
Open the serial monitor at 115200 baud to see the output
18+
19+
After calibrating the module, also known as "Fusion Mode", you can get
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data directly from the IMU. This example code walks you through trouble
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shooting or identifying the different states of any individual
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"external" (which include internal) sensors you've hooked up (vehicle speed
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sensor) or the internal IMU used by the modules. You can see if the sensor is
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being used, if it's calibrated, ready, what data type it returns, the state
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of the measurement etc.
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*/
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#include <Wire.h> //Needed for I2C to GPS
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#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
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SFE_UBLOX_GPS myGPS;
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void setup()
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{
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Serial.begin(115200);
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while (!Serial); //Wait for user to open terminal
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Serial.println(F("SparkFun Ublox Example"));
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Wire.begin();
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if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
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{
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Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
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while (1);
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}
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myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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// GetEsfInfo also gets the number of sensors used by the ublox module, this
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// includes (in the case of the ZED-F9R) wheel tick input from the vehicle
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// speed sensor attached to the module.
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if (myGPS.getEsfInfo()){
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Serial.print(F("Fusion Mode: "));
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Serial.println(myGPS.imuMeas.fusionMode);
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if (myGPS.imuMeas.fusionMode == 1){
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Serial.println(F("Fusion Mode is Initialized!"));
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}
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else {
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Serial.println(F("Fusion Mode is either disabled or not initialized - Freezing!"));
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Serial.println(F("Please see Example 1 description at top for more information."));
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}
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}
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}
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void loop()
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{
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for(int i=1; i<=myGPS.ubloxSen.numSens; i++){
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myGPS.getSensState(i); // Give the sensor you want to check on.
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Serial.print(F("Sensor Data Type: ")); //See ublox receiver description
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//or our hookup guide for information on the
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//return value.
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Serial.println(myGPS.ubloxSen.senType);
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Serial.print(F("Being Used: "));
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Serial.println(myGPS.ubloxSen.isUsed);
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Serial.print(F("Is Ready: "));
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Serial.println(myGPS.ubloxSen.isReady);
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Serial.print(F("Calibration Status: "));
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Serial.println(myGPS.ubloxSen.calibStatus);
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Serial.print(F("Time Status: "));
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Serial.println(myGPS.ubloxSen.timeStatus);
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Serial.print(F("Bad Measure: "));
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Serial.println(myGPS.ubloxSen.timeStatus);
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Serial.print(F("Bad Time Tag: "));
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Serial.println(myGPS.ubloxSen.badTag);
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Serial.print(F("Missed Measure : "));
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Serial.println(myGPS.ubloxSen.missMeas);
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Serial.print(F("Noisy Measure: "));
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Serial.println(myGPS.ubloxSen.noisyMeas);
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}
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}
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‎examples/Dead Reckoning/Example4_vehicleDynamics/Example4_vehicleDynamics.ino

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/*
2+
By: Elias Santistevan
3+
SparkFun Electronics
4+
Date: May, 2020
5+
License: MIT. See license file for more information but you can
6+
basically do whatever you want with this code.
7+
8+
Feel like supporting open source hardware?
9+
Buy a board from SparkFun!
10+
NEO-M8U: https://www.sparkfun.com/products/16329
11+
ZED-F9R: https://www.sparkfun.com/products/16344
12+
13+
Hardware Connections:
14+
Plug a Qwiic cable into the GPS and a Redboard Qwiic
15+
If you don't have a platform with a Qwiic connection use the
16+
SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
17+
Open the serial monitor at 115200 baud to see the output
18+
19+
After calibrating the module and securing it to your vehicle such that it's
20+
stable within 2 degrees, and the board is oriented correctly with regards to
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the vehicle's frame, you can now read the vehicle's "attitude". The attitude
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includes the vehicle's heading, pitch, and roll. You can also check the
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accuracy of those readings.
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*/
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#include <Wire.h> //Needed for I2C to GPS
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#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
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SFE_UBLOX_GPS myGPS;
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void setup()
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{
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Serial.begin(115200);
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while (!Serial); //Wait for user to open terminal
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Serial.println(F("SparkFun Ublox Example"));
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Wire.begin();
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if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
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{
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Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
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while (1);
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}
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myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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if (myGPS.getEsfInfo()){
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Serial.print(F("Fusion Mode: "));
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Serial.println(myGPS.imuMeas.fusionMode);
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if (myGPS.imuMeas.fusionMode == 1){
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Serial.println(F("Fusion Mode is Initialized!"));
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}
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else {
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Serial.println(F("Fusion Mode is either disabled or not initialized - Freezing!"));
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Serial.println(F("Please see Example 1 description at top for more information."));
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}
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}
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}
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void loop()
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{
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myGPS.getVehAtt(); // Give the sensor you want to check on.
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Serial.print(F("Roll: "));
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Serial.println(myGPS.vehAtt.roll);
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Serial.print(F("Pitch: "));
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Serial.println(myGPS.vehAtt.pitch);
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Serial.print(F("Heading: "));
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Serial.println(myGPS.vehAtt.heading);
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Serial.print(F("Roll Accuracy: "));
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Serial.println(myGPS.vehAtt.accRoll);
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Serial.print(F("Pitch Accuracy: "));
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Serial.println(myGPS.vehAtt.accPitch);
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Serial.print(F("Heading Accuracy: "));
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Serial.println(myGPS.vehAtt.accHeading);
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delay(250);
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}
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‎keywords.txt

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@@ -144,6 +144,13 @@ disableMessage KEYWORD2
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enableNMEAMessage KEYWORD2
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disableNMEAMessage KEYWORD2
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getEsfInfo KEYWORD2
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getEsfIns KEYWORD2
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getEsfDataInfo KEYWORD2
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getEsfRawDataInfo KEYWORD2
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getSensState KEYWORD2
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getVehAtt KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################
@@ -211,3 +218,8 @@ DYN_MODEL_AIRBORNE2g LITERAL1
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DYN_MODEL_AIRBORNE4g LITERAL1
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DYN_MODEL_WRIST LITERAL1
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DYN_MODEL_BIKE LITERAL1
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UBX_ESF_STATUS LITERAL1
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UBX_ESF_RAW LITERAL1
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UBX_ESF_MEAS LITERAL1
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UBX_ESF_INS LITERAL1

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