Dead reckoning Pull request

.gitignore

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

examples/Dead Reckoning/Example1_calibrateSensor/Example1_calibrateSensor.ino

@@ -0,0 +1,66 @@
+/*
+  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 GPS 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
+
+  To take advantage of the internal IMU of either the Dead Reckoning GPS
+  boards (ZED-F9R, NEO-M8U), you must first calibrate it. This includes securing the GPS module
+  to your vehicle so that it is stable within 2 degrees and that the frame of
+  reference of the board is consistent with the picture outlined in the
+  Receiver-Description-Prot-Spec Datasheet under Automotive/Untethered Dead
+  Reckoning. You may also check either the ZED-F9R or NEO-M8U Hookup Guide for
+  more information. After the board is secure, you'll need to put the module
+  through certain conditions for proper calibration: acceleration, turning,
+  stopping for a few minutes, getting to a speed over 30km/h all under a clear sky 
+  with good GNSS signal. This example simply looks at the
+  "fusionMode" status which indicates whether the SparkFun Dead Reckoning is
+  not-calibrated - 0, or calibrated - 1.  
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println(F("SparkFun Ublox Example"));
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS 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)
+}
+
+void loop()
+{
+
+  if (myGPS.getEsfInfo()){
+    Serial.print(F("Fusion Mode: "));  
+    Serial.println(myGPS.imuMeas.fusionMode);  
+    if (myGPS.imuMeas.fusionMode == 1)
+      Serial.println(F("Sensor is calibrated!"));  
+  }
+
+  delay(250);
+}

examples/Dead Reckoning/Example2_getIMUData/Example2_getIMUData.ino

@@ -0,0 +1,84 @@
+/*
+  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 GPS 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 GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println(F("SparkFun Ublox Example"));
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS 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.imuMeas.fusionMode);  
+
+    if (myGPS.imuMeas.fusionMode == 1){
+      Serial.println(F("Fusion Mode is Initialized!"));  
+		}
+		else {
+      Serial.println(F("Fusion Mode is either disabled or not initialized - Freezing!"));  
+			Serial.println(F("Please see Example 1 description at top for more information."));
+		}
+  }
+}
+
+void loop()
+{
+
+  if (myGPS.getEsfIns())
+  {
+    Serial.print(F("X: "));
+    Serial.println(myGPS.imuMeas.xAngRate);  
+    Serial.print(F("Y: "));
+    Serial.println(myGPS.imuMeas.yAngRate);  
+    Serial.print(F("Z: "));
+    Serial.println(myGPS.imuMeas.zAngRate);  
+    Serial.print(F("X Acceleration: "));
+    Serial.println(myGPS.imuMeas.xAccel);  
+    Serial.print(F("Y Acceleration: "));
+    Serial.println(myGPS.imuMeas.yAccel);  
+    Serial.print(F("Z Acceleration: "));
+    Serial.println(myGPS.imuMeas.zAccel);  
+		// These values also have "validity checks" that can be provided by the
+		// ublox library, add "Vald" to values: e.g. xAngRateVald or xAccelVald. 
+  }
+
+  delay(250);
+}
+

examples/Dead Reckoning/Example3_getSensorStatus/Example3_getSensorStatus.ino

@@ -0,0 +1,97 @@
+/*
+  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 GPS 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 example code walks you through trouble
+  shooting or identifying the different states of any individual  
+  "external" (which include internal) sensors you've hooked up (vehicle speed
+  sensor) or the internal IMU used by the modules. You can see if the sensor is
+  being used, if it's calibrated, ready, what data type it returns, the state
+  of the measurement etc.
+
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println(F("SparkFun Ublox Example"));
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS 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)
+
+	// GetEsfInfo also gets the number of sensors used by the ublox module, this
+	// includes (in the case of the ZED-F9R) wheel tick input from the vehicle
+	// speed sensor attached to the module. 
+  if (myGPS.getEsfInfo()){
+
+    Serial.print(F("Fusion Mode: "));  
+    Serial.println(myGPS.imuMeas.fusionMode);  
+
+    if (myGPS.imuMeas.fusionMode == 1){
+      Serial.println(F("Fusion Mode is Initialized!"));  
+		}
+		else {
+      Serial.println(F("Fusion Mode is either disabled or not initialized - Freezing!"));  
+			Serial.println(F("Please see Example 1 description at top for more information."));
+		}
+  }
+}
+
+void loop()
+{
+
+	for(int i=1; i<=myGPS.ubloxSen.numSens; i++){
+		myGPS.getSensState(i); // Give the sensor you want to check on. 
+		Serial.print(F("Sensor Data Type: ")); //See ublox receiver description
+                                       //or our hookup guide for information on the
+                                       //return value.
+		Serial.println(myGPS.ubloxSen.senType);
+		Serial.print(F("Being Used: ")); 
+    Serial.println(myGPS.ubloxSen.isUsed);
+		Serial.print(F("Is Ready: ")); 
+    Serial.println(myGPS.ubloxSen.isReady);
+		Serial.print(F("Calibration Status: ")); 
+    Serial.println(myGPS.ubloxSen.calibStatus);
+		Serial.print(F("Time Status: ")); 
+    Serial.println(myGPS.ubloxSen.timeStatus);
+		Serial.print(F("Bad Measure: ")); 
+    Serial.println(myGPS.ubloxSen.timeStatus);
+		Serial.print(F("Bad Time Tag: ")); 
+    Serial.println(myGPS.ubloxSen.badTag);
+		Serial.print(F("Missed Measure : ")); 
+    Serial.println(myGPS.ubloxSen.missMeas);
+		Serial.print(F("Noisy Measure: ")); 
+    Serial.println(myGPS.ubloxSen.noisyMeas);
+	}
+
+}
+
+

examples/Dead Reckoning/Example4_vehicleDynamics/Example4_vehicleDynamics.ino

@@ -0,0 +1,82 @@
+/*
+  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 GPS 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 and securing it to your vehicle such that it's
+  stable within 2 degrees, and the board is oriented correctly with regards to
+  the vehicle's frame, you can now read the vehicle's "attitude". The attitude
+  includes the vehicle's heading, pitch, and roll. You can also check the
+  accuracy of those readings. 
+
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println(F("SparkFun Ublox Example"));
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS 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.imuMeas.fusionMode);  
+
+    if (myGPS.imuMeas.fusionMode == 1){
+      Serial.println(F("Fusion Mode is Initialized!"));  
+		}
+		else {
+      Serial.println(F("Fusion Mode is either disabled or not initialized - Freezing!"));  
+			Serial.println(F("Please see Example 1 description at top for more information."));
+		}
+  }
+}
+
+void loop()
+{
+		myGPS.getVehAtt(); // Give the sensor you want to check on. 
+		Serial.print(F("Roll: ")); 
+		Serial.println(myGPS.vehAtt.roll);
+		Serial.print(F("Pitch: ")); 
+		Serial.println(myGPS.vehAtt.pitch);
+		Serial.print(F("Heading: ")); 
+		Serial.println(myGPS.vehAtt.heading);
+		Serial.print(F("Roll Accuracy: ")); 
+		Serial.println(myGPS.vehAtt.accRoll);
+		Serial.print(F("Pitch Accuracy: ")); 
+		Serial.println(myGPS.vehAtt.accPitch);
+		Serial.print(F("Heading Accuracy: ")); 
+		Serial.println(myGPS.vehAtt.accHeading);
+
+    delay(250);
+}
+
+

keywords.txt

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