A high-performance C++ driver suite for GPS, IMU, and UBX modules in rover projects. Optimized for resource-constrained systems like Raspberry Pi.

• High-Performance C++ Drivers: Python-to-C++ conversion for real-time navigation applications
• Modern C++ Standards: C++11-20 features for clean, maintainable code
• Resource Efficient: Optimized for systems with limited resources (1GB RAM)
• Quality Assured: Git pre-commit hooks for code quality control
• Containerized Development: Docker environment for consistent development

Click the thumbnail to watch the IMU Kalman Filter visualization

├── src/           # Source code for GPS, IMU, and UBX drivers
├── include/       # Header files
├── tests/         # Unit tests
├── Dockerfile     # Development environment configuration
├── setup.sh       # Environment setup script
└── CMakeLists.txt # Build configuration

• Raspberry Pi (or compatible microcontroller)
• GPS Module (e.g., SAM-M8Q)
• IMU Module (e.g., ICM-20948)
• Qwiic cables for connections

• Ubuntu 22.04 LTS (primary focus, others may work)
• Docker
• CMake
• Git
• Python 3.10 (for testing/calibration scripts)
• pre-commit (pip install pre-commit)

• Eigen3 (matrix operations, Kalman filter)
• I2C library (module communication)
• UBX protocol library (GPS message parsing)

1. Clone the Repository

   git clone https://github.com/luisdavidgarcia/GPS_IMU_C_Driver
   cd GPS_IMU_C_Driver

2. Setup Environment

   ./setup.sh   # Creates Docker image and installs pre-commit hooks

3. Build the Project within the Docker Container

   mkdir build
   cd build
   cmake ..
   make

The project is designed to be built and developed within a Docker container:

1. Use VSCode with Remote-Containers extension to work inside the container
2. Run pre-commit hooks before committing to ensure code quality
3. Follow C++ Google Style Guide and C++ Core Guidelines

1. Power: Raspberry Pi 3.3V → GPS module VCC
2. Ground: Raspberry Pi GND → GPS module GND
3. I2C:
   • Raspberry Pi SCL → GPS module SCL
   • Raspberry Pi SDA → GPS module SDA
4. Daisy Chain: Connect GPS to IMU module using Qwiic cable
   • Ensure different I2C addresses for GPS and IMU modules

• No Response: Check wiring and power supply
• Incorrect Readings: Verify calibration and configuration
• I2C Errors: Check addresses and connections
• UBX Parse Errors: Verify message format and checksum

• Use gdb for code debugging
• Check connections and power
• Verify I2C configuration
• Confirm library installations

1. Fork and branch for features/fixes
2. Make changes and run pre-commit hooks
3. Submit PR with clear description
4. Address reviewer feedback

• SAM-M8Q GPS Module
• ICM-20948 IMU
• UBX Protocol

• GPS: SparkFun UBX, Melopero SAM-M8Q
• IMU: SparkFun ICM-20948
• Kalman: EKF Navigation, Eigen3
• I2C: I2C on Raspberry Pi, Linux I2C

This project is licensed under the MIT License - see the LICENSE file for details.

Thanks to the open-source projects that inspired this driver suite and to the community for contributions and feedback.