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添加反射率定标

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lijie
2025-03-26 09:27:34 +08:00
parent 09256a1972
commit 7558731dc4
642 changed files with 104260 additions and 255 deletions
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66
.pio/libdeps/esp32-s3-devkitc-1/SparkFun u-blox Arduino Library/examples/Dead Reckoning/Example1_calibrateSensor/Example1_calibrateSensor.ino Normal file
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/*
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_u-blox_GNSS
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);
}

84
.pio/libdeps/esp32-s3-devkitc-1/SparkFun u-blox Arduino Library/examples/Dead Reckoning/Example2_getIMUData/Example2_getIMUData.ino Normal file
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/*
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_u-blox_GNSS
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);
}

97
.pio/libdeps/esp32-s3-devkitc-1/SparkFun u-blox Arduino Library/examples/Dead Reckoning/Example3_getSensorStatus/Example3_getSensorStatus.ino Normal file
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/*
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_u-blox_GNSS
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);
}
}

82
.pio/libdeps/esp32-s3-devkitc-1/SparkFun u-blox Arduino Library/examples/Dead Reckoning/Example4_vehicleDynamics/Example4_vehicleDynamics.ino Normal file
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/*
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_u-blox_GNSS
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);
}

90
.pio/libdeps/esp32-s3-devkitc-1/SparkFun u-blox Arduino Library/examples/Dead Reckoning/Example5_getHNRData/Example5_getHNRData.ino Normal file
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/*
By: Paul Clark
SparkFun Electronics
Date: December, 2020
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example configures the High Navigation Rate on the NEO-M8U and then
polls and displays the attitude solution, vehicle dynamics information
and high rate position, velocity and time.
This example polls the high rate data.
(The next example uses "autoHNR" to receive the HNR data automatically.)
Please make sure your NEO-M8U is running UDR firmware >= 1.31. Please update using u-center if necessary:
https://www.u-blox.com/en/product/neo-m8u-module#tab-documentation-resources
Feel like supporting open source hardware?
Buy a board from SparkFun!
NEO-M8U: https://www.sparkfun.com/products/16329
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
*/
#include <Wire.h> //Needed for I2C to GPS
#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
SFE_UBLOX_GPS myGPS;
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println(F("SparkFun u-blox Example"));
Wire.begin();
//myGPS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Warning! u-blox GPS did not begin correctly."));
Serial.println(F("(This may be because the I2C port is busy with HNR messages.)"));
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
if (myGPS.setHNRNavigationRate(10) == true) //Set the High Navigation Rate to 10Hz
Serial.println(F("setHNRNavigationRate was successful"));
else
Serial.println(F("setHNRNavigationRate was NOT successful"));
}
void loop()
{
// Poll and print selected HNR data
if (myGPS.getHNRAtt(125) == true) // Request HNR Att data using a 125ms timeout
{
Serial.print(F("Roll: "));
Serial.print(myGPS.hnrAtt.roll);
Serial.print(F(" Pitch: "));
Serial.print(myGPS.hnrAtt.pitch);
Serial.print(F(" Heading: "));
Serial.println(myGPS.hnrAtt.heading);
}
if (myGPS.getHNRDyn(125) == true) // Request HNR Dyn data using a 125ms timeout
{
Serial.print(F("xAccel: "));
Serial.print(myGPS.hnrVehDyn.xAccel);
Serial.print(F(" yAccel: "));
Serial.print(myGPS.hnrVehDyn.yAccel);
Serial.print(F(" zAccel: "));
Serial.println(myGPS.hnrVehDyn.zAccel);
}
if (myGPS.getHNRPVT(125) == true) // Request HNR PVT data using a 125ms timeout
{
Serial.print(F("ns: "));
Serial.print(myGPS.hnrPVT.nano);
Serial.print(F(" Lat: "));
Serial.print(myGPS.hnrPVT.lat);
Serial.print(F(" Lon: "));
Serial.println(myGPS.hnrPVT.lon);
}
}

96
.pio/libdeps/esp32-s3-devkitc-1/SparkFun u-blox Arduino Library/examples/Dead Reckoning/Example6_getAutoHNRData/Example6_getAutoHNRData.ino Normal file
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/*
By: Paul Clark
SparkFun Electronics
Date: December, 2020
License: MIT. See license file for more information but you can
basically do whatever you want with this code.
This example configures the High Navigation Rate on the NEO-M8U and then
reads and displays the attitude solution, vehicle dynamics information
and high rate position, velocity and time.
This example uses "autoHNR" to receive the HNR data automatically.
Please make sure your NEO-M8U is running UDR firmware >= 1.31. Please update using u-center if necessary:
https://www.u-blox.com/en/product/neo-m8u-module#tab-documentation-resources
Feel like supporting open source hardware?
Buy a board from SparkFun!
NEO-M8U: https://www.sparkfun.com/products/16329
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
*/
#include <Wire.h> //Needed for I2C to GPS
#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
SFE_UBLOX_GPS myGPS;
boolean usingAutoHNRAtt = false;
boolean usingAutoHNRDyn = false;
boolean usingAutoHNRPVT = false;
void setup()
{
Serial.begin(115200);
while (!Serial); //Wait for user to open terminal
Serial.println(F("SparkFun u-blox Example"));
Wire.begin();
//myGPS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
{
Serial.println(F("Warning! u-blox GPS did not begin correctly."));
Serial.println(F("(This may be because the I2C port is busy with HNR messages.)"));
}
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
if (myGPS.setHNRNavigationRate(10) == true) //Set the High Navigation Rate to 10Hz
Serial.println(F("setHNRNavigationRate was successful"));
else
Serial.println(F("setHNRNavigationRate was NOT successful"));
usingAutoHNRAtt = myGPS.setAutoHNRAtt(true); //Attempt to enable auto HNR attitude messages
usingAutoHNRDyn = myGPS.setAutoHNRDyn(true); //Attempt to enable auto HNR vehicle dynamics messages
usingAutoHNRPVT = myGPS.setAutoHNRPVT(true); //Attempt to enable auto HNR PVT messages
}
void loop()
{
if (usingAutoHNRAtt && (myGPS.getHNRAtt() == true)) // If setAutoHNRAtt was successful and new data is available
{
Serial.print(F("Roll: ")); // Print selected data
Serial.print(myGPS.hnrAtt.roll);
Serial.print(F(" Pitch: "));
Serial.print(myGPS.hnrAtt.pitch);
Serial.print(F(" Heading: "));
Serial.println(myGPS.hnrAtt.heading);
}
if (usingAutoHNRDyn && (myGPS.getHNRDyn() == true)) // If setAutoHNRDyn was successful and new data is available
{
Serial.print(F("xAccel: ")); // Print selected data
Serial.print(myGPS.hnrVehDyn.xAccel);
Serial.print(F(" yAccel: "));
Serial.print(myGPS.hnrVehDyn.yAccel);
Serial.print(F(" zAccel: "));
Serial.println(myGPS.hnrVehDyn.zAccel);
}
if (usingAutoHNRPVT && (myGPS.getHNRPVT() == true)) // If setAutoHNRPVT was successful and new data is available
{
Serial.print(F("ns: ")); // Print selected data
Serial.print(myGPS.hnrPVT.nano);
Serial.print(F(" Lat: "));
Serial.print(myGPS.hnrPVT.lat);
Serial.print(F(" Lon: "));
Serial.println(myGPS.hnrPVT.lon);
}
}