v2.9

lib/SparkFun u-blox Arduino Library/examples/Dead Reckoning/Example3_getSensorStatus/Example3_getSensorStatus.ino

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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);
+	}
+
+}
+
+