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Adding support for HNR messages on the NEO-M8U (with "auto")
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Diff for: ‎examples/Dead Reckoning/Example5_getHNRData/Example5_getHNRData.ino

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/*
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By: Paul Clark
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SparkFun Electronics
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Date: December, 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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This example configures the High Navigation Rate on the NEO-M8U and then
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polls and displays the attitude solution, vehicle dynamics information
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and high rate position, velocity and time.
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This example polls the high rate data.
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(The next example uses "autoHNR" to receive the HNR data automatically.)
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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_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 u-blox Example"));
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Wire.begin();
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//myGPS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
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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("Warning! u-blox GPS did not begin correctly."));
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Serial.println(F("(This may be because the I2C port is busy with HNR messages.)"));
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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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myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
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if (myGPS.setHNRNavigationRate(10) == true) //Set the High Navigation Rate to 10Hz
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Serial.println(F("setHNRNavigationRate was successful"));
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else
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Serial.println(F("setHNRNavigationRate was NOT successful"));
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}
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void loop()
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{
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// Poll and print selected HNR data
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if (myGPS.getHNRAtt(125) == true) // Request HNR Att data using a 125ms timeout
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{
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Serial.print(F("Roll: "));
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Serial.print(myGPS.hnrAtt.roll);
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Serial.print(F(" Pitch: "));
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Serial.print(myGPS.hnrAtt.pitch);
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Serial.print(F(" Heading: "));
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Serial.println(myGPS.hnrAtt.heading);
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}
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if (myGPS.getHNRDyn(125) == true) // Request HNR Dyn data using a 125ms timeout
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{
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Serial.print(F("xAccel: "));
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Serial.print(myGPS.hnrVehDyn.xAccel);
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Serial.print(F(" yAccel: "));
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Serial.print(myGPS.hnrVehDyn.yAccel);
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Serial.print(F(" zAccel: "));
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Serial.println(myGPS.hnrVehDyn.zAccel);
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}
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if (myGPS.getHNRPVT(125) == true) // Request HNR PVT data using a 125ms timeout
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{
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Serial.print(F("ns: "));
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Serial.print(myGPS.hnrPVT.nano);
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Serial.print(F(" Lat: "));
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Serial.print(myGPS.hnrPVT.lat);
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Serial.print(F(" Lon: "));
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Serial.println(myGPS.hnrPVT.lon);
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}
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}

Diff for: ‎examples/Dead Reckoning/Example6_getAutoHNRData/Example6_getAutoHNRData.ino

+96
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,96 @@
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/*
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By: Paul Clark
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SparkFun Electronics
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Date: December, 2020
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License: MIT. See license file for more information but you can
6+
basically do whatever you want with this code.
7+
8+
This example configures the High Navigation Rate on the NEO-M8U and then
9+
reads and displays the attitude solution, vehicle dynamics information
10+
and high rate position, velocity and time.
11+
12+
This example uses "autoHNR" to receive the HNR data automatically.
13+
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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
20+
21+
Hardware Connections:
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Plug a Qwiic cable into the GPS and a Redboard Qwiic
23+
If you don't have a platform with a Qwiic connection use the
24+
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_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
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SFE_UBLOX_GPS myGPS;
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boolean usingAutoHNRAtt = false;
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boolean usingAutoHNRDyn = false;
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boolean usingAutoHNRPVT = false;
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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 u-blox Example"));
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Wire.begin();
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//myGPS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
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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("Warning! u-blox GPS did not begin correctly."));
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Serial.println(F("(This may be because the I2C port is busy with HNR messages.)"));
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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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myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
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if (myGPS.setHNRNavigationRate(10) == true) //Set the High Navigation Rate to 10Hz
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Serial.println(F("setHNRNavigationRate was successful"));
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else
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Serial.println(F("setHNRNavigationRate was NOT successful"));
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usingAutoHNRAtt = myGPS.setAutoHNRAtt(true); //Attempt to enable auto HNR attitude messages
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usingAutoHNRDyn = myGPS.setAutoHNRDyn(true); //Attempt to enable auto HNR vehicle dynamics messages
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usingAutoHNRPVT = myGPS.setAutoHNRPVT(true); //Attempt to enable auto HNR PVT messages
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}
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void loop()
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{
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if (usingAutoHNRAtt && (myGPS.getHNRAtt() == true)) // If setAutoHNRAtt was successful and new data is available
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{
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Serial.print(F("Roll: ")); // Print selected data
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Serial.print(myGPS.hnrAtt.roll);
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Serial.print(F(" Pitch: "));
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Serial.print(myGPS.hnrAtt.pitch);
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Serial.print(F(" Heading: "));
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Serial.println(myGPS.hnrAtt.heading);
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}
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if (usingAutoHNRDyn && (myGPS.getHNRDyn() == true)) // If setAutoHNRDyn was successful and new data is available
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{
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Serial.print(F("xAccel: ")); // Print selected data
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Serial.print(myGPS.hnrVehDyn.xAccel);
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Serial.print(F(" yAccel: "));
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Serial.print(myGPS.hnrVehDyn.yAccel);
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Serial.print(F(" zAccel: "));
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Serial.println(myGPS.hnrVehDyn.zAccel);
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}
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if (usingAutoHNRPVT && (myGPS.getHNRPVT() == true)) // If setAutoHNRPVT was successful and new data is available
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{
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Serial.print(F("ns: ")); // Print selected data
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Serial.print(myGPS.hnrPVT.nano);
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Serial.print(F(" Lat: "));
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Serial.print(myGPS.hnrPVT.lat);
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Serial.print(F(" Lon: "));
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Serial.println(myGPS.hnrPVT.lon);
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}
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}

Diff for: ‎keywords.txt

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@@ -175,6 +175,18 @@ setStaticPosition KEYWORD2
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pushRawData KEYWORD2
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setHNRNavigationRate KEYWORD2
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getHNRNavigationRate KEYWORD2
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assumeAutoHNRAtt KEYWORD2
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setAutoHNRAtt KEYWORD2
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getHNRAtt KEYWORD2
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assumeAutoHNRDyn KEYWORD2
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setAutoHNRDyn KEYWORD2
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getHNRDyn KEYWORD2
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assumeAutoHNRPVT KEYWORD2
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setAutoHNRPVT KEYWORD2
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getHNRPVT KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################

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