|
|
@@ -0,0 +1,2068 @@
|
|
|
+/*
|
|
|
+ * ubloxproto
|
|
|
+ * Copyright (c) 2014, Alexey Edelev aka semlanik, All rights reserved.
|
|
|
+ *
|
|
|
+ * This library is free software; you can redistribute it and/or
|
|
|
+ * modify it under the terms of the GNU Lesser General Public
|
|
|
+ * License as published by the Free Software Foundation; either
|
|
|
+ * version 3.0 of the License, or (at your option) any later version.
|
|
|
+ *
|
|
|
+ * This library is distributed in the hope that it will be useful,
|
|
|
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
|
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
|
|
+ * Lesser General Public License for more details.
|
|
|
+ *
|
|
|
+ * You should have received a copy of the GNU Lesser General Public
|
|
|
+ * License along with this library.
|
|
|
+ *
|
|
|
+ * Additionally to GNU Lesser General Public License you MUST NOT
|
|
|
+ * static link this library to your application and MUST add link to author
|
|
|
+ * and source of this library in your application.
|
|
|
+ *
|
|
|
+ * Actual LGPL text https://www.gnu.org/licenses/lgpl.html
|
|
|
+ *
|
|
|
+ * File: ubxmessage.h
|
|
|
+ */
|
|
|
+
|
|
|
+#ifndef UBXMESSAGE_H
|
|
|
+#define UBXMESSAGE_H
|
|
|
+
|
|
|
+#include <stdio.h>
|
|
|
+#include "portable_endian.h"
|
|
|
+
|
|
|
+#ifdef __linux__
|
|
|
+#include <sys/types.h>
|
|
|
+#elif defined(_WIN32)
|
|
|
+//Need to add other OS depend headers
|
|
|
+#endif
|
|
|
+
|
|
|
+/*
|
|
|
+ * Need to clarify how many I/O ports has each version of UBLOX before define UBX_IO_PORTS_NUM macros
|
|
|
+ * current proto vesion has hardcoded 6 I/O ports by default. If you have other I/O ports amount
|
|
|
+ * please define macro manualy by yourself.
|
|
|
+ */
|
|
|
+#define UBX_IO_PORTS_NUM 6
|
|
|
+//#if!defined UBLOX_VERSION
|
|
|
+//#error Before using library define UBLOX_VERSION first
|
|
|
+//#else
|
|
|
+//#if UBLOX_VERSION == 5 || UBLOX_VERSION == 6
|
|
|
+//#define UBX_IO_PORTS_NUM 6
|
|
|
+//#else
|
|
|
+//#define UBX_IO_PORTS_NUM 6
|
|
|
+//#endif
|
|
|
+//#endif
|
|
|
+
|
|
|
+static const int UBX_CHECKSUM_SIZE = 2;
|
|
|
+static const int UBX_HEADER_SIZE = 6;
|
|
|
+static const u_int16_t UBX_PREAMBLE = 0xB562;
|
|
|
+
|
|
|
+#if defined (__linux__)
|
|
|
+typedef u_int8_t UBXU1_t;
|
|
|
+typedef int8_t UBXI1_t;
|
|
|
+typedef u_int8_t UBXX1_t;
|
|
|
+typedef u_int16_t UBXU2_t;
|
|
|
+typedef int16_t UBXI2_t;
|
|
|
+typedef u_int16_t UBXX2_t;
|
|
|
+typedef u_int32_t UBXU4_t;
|
|
|
+typedef int32_t UBXI4_t;
|
|
|
+typedef u_int32_t UBXX4_t;
|
|
|
+typedef float UBXR4_t;
|
|
|
+typedef double UBXR8_t;
|
|
|
+typedef char UBXCH_t;
|
|
|
+#elif defined (_WIN32)
|
|
|
+typedef unsigned char UBXU1_t;
|
|
|
+typedef char UBXI1_t;
|
|
|
+typedef unsigned char UBXX1_t;
|
|
|
+typedef unsigned short UBXU2_t;
|
|
|
+typedef short UBXI2_t;
|
|
|
+typedef unsigned short UBXX2_t;
|
|
|
+typedef unsigned int UBXU4_t;
|
|
|
+typedef int UBXI4_t;
|
|
|
+typedef unsigned int UBXX4_t;
|
|
|
+typedef float UBXR4_t;
|
|
|
+typedef double UBXR8_t;
|
|
|
+typedef char UBXCH_t;
|
|
|
+#endif
|
|
|
+
|
|
|
+enum UBXMessageClass
|
|
|
+{
|
|
|
+ UBXMsgClassNAV = 0x01, // Navigation Results: Position, Speed, Time, Acc, Heading, DOP, SVs used
|
|
|
+ UBXMsgClassRXM = 0x02, // Receiver Manager Messages: Satellite Status, RTC Status
|
|
|
+ UBXMsgClassINF = 0x04, // Information Messages: Printf-Style Messages, with IDs such as Error, Warning, Notice
|
|
|
+ UBXMsgClassACK = 0x05, // Ack/Nack Messages: as replies to CFG Input Messages
|
|
|
+ UBXMsgClassCFG = 0x06, // Configuration Input Messages: Set Dynamic Model, Set DOP Mask, Set Baud Rate, etc.
|
|
|
+ UBXMsgClassMON = 0x0A, // Monitoring Messages: Comunication Status, CPU Load, Stack Usage, Task Status
|
|
|
+ UBXMsgClassAID = 0x0B, // AssistNow Aiding Messages: Ephemeris, Almanac, other A-GPS data input
|
|
|
+ UBXMsgClassTIM = 0x0D, // Timing Messages: Time Pulse Output, Timemark Results
|
|
|
+ UBXMsgClassLOG = 0x21, // Logging Messages: Log creation, deletion, info and retrieval
|
|
|
+ UBXMsgClassInvalid = 255
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXMessageId
|
|
|
+{
|
|
|
+ UBXMsgIdACK_NACK = 0x00,
|
|
|
+ UBXMsgIdACK_ACK = 0x01,
|
|
|
+ UBXMsgIdAID_ALM = 0x30,
|
|
|
+ UBXMsgIdAID_ALPSRV = 0x32,
|
|
|
+ UBXMsgIdAID_ALP = 0x50,
|
|
|
+ UBXMsgIdAID_AOP = 0x33,
|
|
|
+ UBXMsgIdAID_DATA = 0x10,
|
|
|
+ UBXMsgIdAID_EPH = 0x31,
|
|
|
+ UBXMsgIdAID_HUI = 0x02,
|
|
|
+ UBXMsgIdAID_INI = 0x01,
|
|
|
+ UBXMsgIdAID_REQ = 0x00,
|
|
|
+ UBXMsgIdCFG_ANT = 0x13,
|
|
|
+ UBXMsgIdCFG_CFG = 0x09,
|
|
|
+ UBXMsgIdCFG_DAT = 0x06,
|
|
|
+ UBXMsgIdCFG_GNSS = 0x3E,
|
|
|
+ UBXMsgIdCFG_INF = 0x02,
|
|
|
+ UBXMsgIdCFG_ITFM = 0x39,
|
|
|
+ UBXMsgIdCFG_LOGFILTER = 0x47,
|
|
|
+ UBXMsgIdCFG_MSG = 0x01,
|
|
|
+ UBXMsgIdCFG_NAV5 = 0x24,
|
|
|
+ UBXMsgIdCFG_NAVX5 = 0x23,
|
|
|
+ UBXMsgIdCFG_NMEA = 0x17,
|
|
|
+ UBXMsgIdCFG_NVS = 0x22,
|
|
|
+ UBXMsgIdCFG_PM2 = 0x3B,
|
|
|
+ UBXMsgIdCFG_PRT = 0x00,
|
|
|
+ UBXMsgIdCFG_RATE = 0x08,
|
|
|
+ UBXMsgIdCFG_RINV = 0x34,
|
|
|
+ UBXMsgIdCFG_RST = 0x04,
|
|
|
+ UBXMsgIdCFG_RXM = 0x11,
|
|
|
+ UBXMsgIdCFG_SBAS = 0x16,
|
|
|
+ UBXMsgIdCFG_TP5 = 0x31,
|
|
|
+ UBXMsgIdCFG_USB = 0x1B,
|
|
|
+ UBXMsgIdINF_DEBUG = 0x04,
|
|
|
+ UBXMsgIdINF_ERROR = 0x00,
|
|
|
+ UBXMsgIdINF_NOTICE = 0x02,
|
|
|
+ UBXMsgIdINF_TEST = 0x03,
|
|
|
+ UBXMsgIdINF_WARNING = 0x01,
|
|
|
+ UBXMsgIdLOG_CREATE = 0x07,
|
|
|
+ UBXMsgIdLOG_ERASE = 0x03,
|
|
|
+ UBXMsgIdLOG_FINDTIME = 0x0E,
|
|
|
+ UBXMsgIdLOG_INFO = 0x08,
|
|
|
+ UBXMsgIdLOG_RETRIEVEPOS = 0x0B,
|
|
|
+ UBXMsgIdLOG_RETRIEVESTRING = 0x0D,
|
|
|
+ UBXMsgIdLOG_RETRIEVE = 0x09,
|
|
|
+ UBXMsgIdLOG_STRING = 0x04,
|
|
|
+ UBXMsgIdMON_HW2 = 0x0B,
|
|
|
+ UBXMsgIdMON_HW = 0x09,
|
|
|
+ UBXMsgIdMON_IO = 0x02,
|
|
|
+ UBXMsgIdMON_MSGPP = 0x06,
|
|
|
+ UBXMsgIdMON_RXBUF = 0x07,
|
|
|
+ UBXMsgIdMON_RXR = 0x21,
|
|
|
+ UBXMsgIdMON_TXBUF = 0x08,
|
|
|
+ UBXMsgIdMON_VER = 0x04,
|
|
|
+ UBXMsgIdNAV_AOPSTATUS = 0x60,
|
|
|
+ UBXMsgIdNAV_CLOCK = 0x22,
|
|
|
+ UBXMsgIdNAV_DGPS = 0x31,
|
|
|
+ UBXMsgIdNAV_DOP = 0x04,
|
|
|
+ UBXMsgIdNAV_POSECEF = 0x01,
|
|
|
+ UBXMsgIdNAV_POSLLH = 0x02,
|
|
|
+ UBXMsgIdNAV_PVT = 0x07,
|
|
|
+ UBXMsgIdNAV_SBAS = 0x32,
|
|
|
+ UBXMsgIdNAV_SOL = 0x06,
|
|
|
+ UBXMsgIdNAV_STATUS = 0x03,
|
|
|
+ UBXMsgIdNAV_SVINFO = 0x30,
|
|
|
+ UBXMsgIdNAV_TIMEGPS = 0x20,
|
|
|
+ UBXMsgIdNAV_TIMEUTC = 0x21,
|
|
|
+ UBXMsgIdNAV_VELECEF = 0x11,
|
|
|
+ UBXMsgIdNAV_VELNED = 0x12,
|
|
|
+ UBXMsgIdRXM_ALM = 0x30,
|
|
|
+ UBXMsgIdRXM_EPH = 0x31,
|
|
|
+ UBXMsgIdRXM_PMREQ = 0x41,
|
|
|
+ UBXMsgIdRXM_RAW = 0x10,
|
|
|
+ UBXMsgIdRXM_SFRB = 0x11,
|
|
|
+ UBXMsgIdRXM_SVSI = 0x20,
|
|
|
+ UBXMsgIdTIM_TM2 = 0x03,
|
|
|
+ UBXMsgIdTIM_TP = 0x01,
|
|
|
+ UBXMsgIdTIM_VRFY = 0x06,
|
|
|
+
|
|
|
+ MsgIdInvalid = 0xFF
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXResetMode
|
|
|
+{
|
|
|
+ UBXHardwareReset = 0x00, // Hardware reset (Watchdog) immediately
|
|
|
+ UBXControlledReset = 0x01, // Controlled Software reset
|
|
|
+ UBXControlledResetGNSSOnly = 0x02, //Controlled Software reset (GNSS only)
|
|
|
+ UBXHardwareResetAfterShutdown = 0x04, //Hardware reset (Watchdog) after
|
|
|
+ UBXControlledGNSSStop = 0x08, //Controlled GNSS stop
|
|
|
+ UBXControlledGNSSStart = 0x09 //Controlled GNSS start
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXBBRSpecialSets
|
|
|
+{
|
|
|
+ UBXBBRHotStart = 0x0000,
|
|
|
+ UBXBBRWarmStart = 0x0001,
|
|
|
+ UBXBBRColdStart = 0xFFFF
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXBBRMask
|
|
|
+{
|
|
|
+ UBXBBReph = 1, //Ephemeris
|
|
|
+ UBXBBRalm = 1 << 1, //Almanac
|
|
|
+ UBXBBRhealth = 1 << 2, //Health
|
|
|
+ UBXBBRklob = 1 << 3, //Klobuchar parameters
|
|
|
+ UBXBBRpos = 1 << 4, //Position
|
|
|
+ UBXBBRclkd = 1 << 5, //Clock Drift
|
|
|
+ UBXBBRosc = 1 << 6, //Oscillator Parameter
|
|
|
+ UBXBBRutc = 1 << 7, //UTC Correction + GPS Leap Seconds Parameters
|
|
|
+ UBXBBRrtc = 1 << 8, //RTC
|
|
|
+ UBXBBRsfdr = 1 << 11, //SFDR Parameters
|
|
|
+ UBXBBRvmon = 1 << 12, //SFDR Vehicle Monitoring Parameters
|
|
|
+ UBXBBRtct = 1 << 13, //TCT Parameters
|
|
|
+ UBXBBRaop = 1 << 15 //Autonomous Orbit Parameters
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXHUIFlags
|
|
|
+{
|
|
|
+ UBXHUIHealthValid = 1,
|
|
|
+ UBXHUIUTCValid = 1 << 1,
|
|
|
+ UBXHUIKlobValid = 1 << 2
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXINItmCfg
|
|
|
+{
|
|
|
+ UBXINIfEdge = 1 << 1,
|
|
|
+ UBXINItm1 = 1 << 4,
|
|
|
+ UBXINIf1 = 1 << 6
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXINIFlags
|
|
|
+{
|
|
|
+ UBXINIpos = 1,
|
|
|
+ UBXINItime = 1 << 1,
|
|
|
+ UBXINIclockD = 1 << 2,
|
|
|
+ UBXINItp = 1 << 3,
|
|
|
+ UBXINIclockF = 1 << 4,
|
|
|
+ UBXINIlla = 1 << 5,
|
|
|
+ UBXINIaltInv = 1 << 6,
|
|
|
+ UBXINIprevTm = 1 << 7,
|
|
|
+ UBXINIutc = 1 << 10
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXANTFlags
|
|
|
+{
|
|
|
+ UBXANTsvcs = 1,
|
|
|
+ UBXANTscd = 1 << 1,
|
|
|
+ UBXANTocd = 1 << 2,
|
|
|
+ UBXANTpdwnOnSCD = 1 << 3,
|
|
|
+ UBXANTrecovery = 1 << 4
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXCFGMask
|
|
|
+{
|
|
|
+ //CFG_CFG message
|
|
|
+ UBXCFGioPort = 1,
|
|
|
+ UBXCFGmsgConf = 1 << 1,
|
|
|
+ UBXCFGinfMsg = 1 << 2,
|
|
|
+ UBXCFGnavConf = 1 << 3,
|
|
|
+ UBXCFGrxmConf = 1 << 4,
|
|
|
+ UBXCFGrinvConf = 1 << 9,
|
|
|
+ UBXCFGantConf = 1 << 10,
|
|
|
+ //CFG_NVS message
|
|
|
+ UBXCFGalm = 1 << 17,
|
|
|
+ UBXCFGaopConf = 1 << 29
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXCFGDeviceMask
|
|
|
+{
|
|
|
+ UBXCFGdevBBR = 1,
|
|
|
+ UBXCFGdevFlash = 1 << 1,
|
|
|
+ UBXCFGdevEEPROM = 1 << 2,
|
|
|
+ UBXCFGdevSpiFlash = 1 << 5
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXCFGTimepulses
|
|
|
+{
|
|
|
+ UBXCFGTimepulse = 0,
|
|
|
+ UBXCFGTimepulse2 = 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXCFGTimepulseFlags
|
|
|
+{
|
|
|
+ UBXCFGTimepulseActive = 1,
|
|
|
+ UBXCFGTimepulseLockGpsFreq = 1 << 1,
|
|
|
+ UBXCFGTimepulseLockedOtherSet = 1 << 2,
|
|
|
+ UBXCFGTimepulseIsFreq = 1 << 3,
|
|
|
+ UBXCFGTimepulseIsLenght = 1 << 4,
|
|
|
+ UBXCFGTimepulseAlignToTow = 1 << 5,
|
|
|
+ UBXCFGTimepulsePolarity = 1 << 6,
|
|
|
+ UBXCFGTimepulseGridUTSGPS = 1 << 7
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXCFGProtocolIds
|
|
|
+{
|
|
|
+ UBXProtocol = 0,
|
|
|
+ UBXNMEAProtocol
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXGNSSIds
|
|
|
+{
|
|
|
+ UBXGPS,
|
|
|
+ UBXSBAS,
|
|
|
+ UBXQZSS,
|
|
|
+ UBXGLONASS
|
|
|
+};
|
|
|
+enum UBXCFGInfMsgMask
|
|
|
+{
|
|
|
+ UBXInfError = 1,
|
|
|
+ UBXInfWarning = 1 << 1,
|
|
|
+ UBXInfNotice = 1 << 2,
|
|
|
+ UBXInfDebug = 1 << 3,
|
|
|
+ UBXInfTest = 1 << 4
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXITFMAntSetting
|
|
|
+{
|
|
|
+ UBXITFMAntUnknown = 0,
|
|
|
+ UBXITFMAntPassive = 1,
|
|
|
+ UBXITFMAntActive = 2
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXLOGFILTERFlags
|
|
|
+{
|
|
|
+ UBXLOGFILTERRecordEnabled = 1,
|
|
|
+ UBXLOGFILTERPsmOncePerWakupEnabled = 1 << 1,
|
|
|
+ UBXLOGFILTERApplyAllFilterSettings = 1 << 2
|
|
|
+};
|
|
|
+
|
|
|
+
|
|
|
+enum UBXNAV5Mask
|
|
|
+{
|
|
|
+ UBXNAV5Dyn = 1,
|
|
|
+ UBXNAV5MinEl = 1 << 1,
|
|
|
+ UBXNAV5PosFixMode = 1 << 2,
|
|
|
+ UBXNAV5DrLim = 1 << 3,
|
|
|
+ UBXNAV5PosMask = 1 << 4,
|
|
|
+ UBXNAV5TimeMask = 1 << 5,
|
|
|
+ UBXNAV5StaticHoldMask = 1 << 6,
|
|
|
+ UBXNAV5DgpsMask = 1 << 7,
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXNAVX5Mask
|
|
|
+{
|
|
|
+ UBXNAVX5AopMinMax = 1 << 2,
|
|
|
+ UBXNAVX5AopMinCno = 1 << 3,
|
|
|
+ UBXNAVX5AopInitial3dfix = 1 << 6,
|
|
|
+ UBXNAVX5AopWknRoll = 1 << 9,
|
|
|
+ UBXNAVX5AopPPP = 1 << 13,
|
|
|
+ UBXNAVX5Aop = 1 << 14
|
|
|
+};
|
|
|
+
|
|
|
+
|
|
|
+enum UBXNMEAFilter
|
|
|
+{
|
|
|
+ UBXNMEAPosFilter = 1,
|
|
|
+ UBXNMEAMskPosFilter = 1 << 1,
|
|
|
+ UBXNMEATimeFilter = 1 << 2,
|
|
|
+ UBXNMEADateFilter = 1 << 3,
|
|
|
+ UBXNMEAGPSOnlyFilter = 1 << 4,
|
|
|
+ UBXNMEATrackFilter = 1 << 5,
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXNMEAFlags
|
|
|
+{
|
|
|
+ UBXNMEACompatFlag = 1,
|
|
|
+ UBXNMEAConsiderFlag = 1 << 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXNMEAGNSSToFilter
|
|
|
+{
|
|
|
+ UBXNMEAGPSFilter = 1,
|
|
|
+ UBXNMEASBASFilter = 1 << 1,
|
|
|
+ UBXNMEAQZSSFilter = 1 << 4,
|
|
|
+ UBXNMEAGLONASSFilter = 1 << 5
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXPM2LimitPeakCurrent
|
|
|
+{
|
|
|
+ UBXPM2LimitCurrentDisabled = 0x00,
|
|
|
+ UBXPM2LimitCurrentEnabled = 0x01
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXPM2Mode
|
|
|
+{
|
|
|
+ UBXPM2OnOffOperation = 0x00,
|
|
|
+ UBXPM2CyclicTrackOperation = 0x01
|
|
|
+};
|
|
|
+
|
|
|
+
|
|
|
+enum UBXPRTModeCharLen
|
|
|
+{
|
|
|
+ UBXPRTMode5BitCharLen = 0x00, //Not supported
|
|
|
+ UBXPRTMode6BitCharLen = 0x01, //Not supported
|
|
|
+ UBXPRTMode7BitCharLen = 0x02, //Supported only with parity
|
|
|
+ UBXPRTMode8BitCharLen = 0x03
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXPRTModeParity
|
|
|
+{
|
|
|
+ UBXPRTModeEvenParity = 0,
|
|
|
+ UBXPRTModeOddParity = 1,
|
|
|
+ UBXPRTModeNoParity = 1 << 3,
|
|
|
+ UBXPRTModeReserved = 1 << 2
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXPRTModeStopBits
|
|
|
+{
|
|
|
+ UBXPRTMode1StopBit = 0,
|
|
|
+ UBXPRTMode1dot5StopBit = 1,
|
|
|
+ UBXPRTMode2StopBit = 2,
|
|
|
+ UBXPRTMode0dot5StopBit = 3,
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXPRTInProtoMask
|
|
|
+{
|
|
|
+ UBXPRTInProtoInUBX = 1,
|
|
|
+ UBXPRTInProtoInNMEA = 1 << 1,
|
|
|
+ UBXPRTInProtoInRTCM = 1 << 2
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXPRTOutProtoMask
|
|
|
+{
|
|
|
+ UBXPRTOutProtoOutUBX = 1,
|
|
|
+ UBXPRTOutProtoOutNMEA = 1 << 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXPRTFlags
|
|
|
+{
|
|
|
+ extendedTxTimeout = 1 << 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXPRTSPIMode {
|
|
|
+ UBXPRTSPIMode0 = 0, //CPOL = 0, CPHA = 0
|
|
|
+ UBXPRTSPIMode1, //CPOL = 0, CPHA = 1
|
|
|
+ UBXPRTSPIMode2, //CPOL = 1, CPHA = 0
|
|
|
+ UBXPRTSPIMode3, //CPOL = 1, CPHA = 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXRINVFlags
|
|
|
+{
|
|
|
+ UBXRINVBinary = 1,
|
|
|
+ UBXRINVDump = 1 << 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXRXMLowPowerModes
|
|
|
+{
|
|
|
+ UBXRXMContinousMode = 0,
|
|
|
+ UBXRXMPowerSaveMode = 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXSBASModes
|
|
|
+{
|
|
|
+ UBXSBASModeEnabled = 1,
|
|
|
+ UBXSBASModeTest = 1 << 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXSBASUsage
|
|
|
+{
|
|
|
+ UBXSBASUsageRange = 1,
|
|
|
+ UBXSBASUsageDiffCorr = 1 << 1,
|
|
|
+ UBXSBASUsageIntegrity = 1 << 2
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXSBASScanModes2
|
|
|
+{
|
|
|
+ UBXSBASScanModePRN152 = 1,
|
|
|
+ UBXSBASScanModePRN153 = 1 << 1,
|
|
|
+ UBXSBASScanModePRN154 = 1 << 2,
|
|
|
+ UBXSBASScanModePRN155 = 1 << 3,
|
|
|
+ UBXSBASScanModePRN156 = 1 << 4,
|
|
|
+ UBXSBASScanModePRN157 = 1 << 5,
|
|
|
+ UBXSBASScanModePRN158 = 1 << 6
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXSBASScanModes1
|
|
|
+{
|
|
|
+ UBXSBASScanModePRN120 = 1,
|
|
|
+ UBXSBASScanModePRN121 = 1 << 1,
|
|
|
+ UBXSBASScanModePRN122 = 1 << 2,
|
|
|
+ UBXSBASScanModePRN123 = 1 << 3,
|
|
|
+ UBXSBASScanModePRN124 = 1 << 4,
|
|
|
+ UBXSBASScanModePRN125 = 1 << 5,
|
|
|
+ UBXSBASScanModePRN126 = 1 << 6,
|
|
|
+ UBXSBASScanModePRN127 = 1 << 7,
|
|
|
+ UBXSBASScanModePRN128 = 1 << 8,
|
|
|
+ UBXSBASScanModePRN129 = 1 << 9,
|
|
|
+ UBXSBASScanModePRN130 = 1 << 10,
|
|
|
+ UBXSBASScanModePRN131 = 1 << 11,
|
|
|
+ UBXSBASScanModePRN132 = 1 << 12,
|
|
|
+ UBXSBASScanModePRN133 = 1 << 13,
|
|
|
+ UBXSBASScanModePRN134 = 1 << 14,
|
|
|
+ UBXSBASScanModePRN135 = 1 << 15,
|
|
|
+ UBXSBASScanModePRN136 = 1 << 16,
|
|
|
+ UBXSBASScanModePRN137 = 1 << 17,
|
|
|
+ UBXSBASScanModePRN138 = 1 << 18,
|
|
|
+ UBXSBASScanModePRN139 = 1 << 19,
|
|
|
+ UBXSBASScanModePRN140 = 1 << 20,
|
|
|
+ UBXSBASScanModePRN141 = 1 << 21,
|
|
|
+ UBXSBASScanModePRN142 = 1 << 22,
|
|
|
+ UBXSBASScanModePRN143 = 1 << 23,
|
|
|
+ UBXSBASScanModePRN144 = 1 << 24,
|
|
|
+ UBXSBASScanModePRN145 = 1 << 25,
|
|
|
+ UBXSBASScanModePRN146 = 1 << 26,
|
|
|
+ UBXSBASScanModePRN147 = 1 << 27,
|
|
|
+ UBXSBASScanModePRN148 = 1 << 28,
|
|
|
+ UBXSBASScanModePRN149 = 1 << 29,
|
|
|
+ UBXSBASScanModePRN150 = 1 << 30,
|
|
|
+ UBXSBASScanModePRN151 = 1 << 31,
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXUSBFlags
|
|
|
+{
|
|
|
+ USBFlagReEnum,
|
|
|
+ USBFlagPowerMode
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXLOGCfg
|
|
|
+{
|
|
|
+ UBXLOGCfgCircular
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXLOGSize
|
|
|
+{
|
|
|
+ UBXLOGMaximumSafeSize = 0,
|
|
|
+ UBXLOGMinimunSize = 1,
|
|
|
+ UBXLOGUserDefined = 2,
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXLOGStatus
|
|
|
+{
|
|
|
+ UBXLOGStatusRecording = 1 << 3,
|
|
|
+ UBXLOGStatusInactive = 1 << 4,
|
|
|
+ UBXLOGStatusCircular = 1 << 5
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXRETRIEVEPOSFixType
|
|
|
+{
|
|
|
+ UBXRETRIEVEPOS2DFix = 2,
|
|
|
+ UBXRETRIEVEPOS3DFix = 3
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXRXRFlags
|
|
|
+{
|
|
|
+ UBXRXRAwake = 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXAOPStatus
|
|
|
+{
|
|
|
+ UBXAOPStatusIdle = 0,
|
|
|
+ UBXAOPStatusRunning = 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXAOPCfg
|
|
|
+{
|
|
|
+ UBXAOPCfgUseAOP = 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXGPSFix
|
|
|
+{
|
|
|
+ UBXGPSNoFix = 0x00,
|
|
|
+ UBXGPSDeadReckoning = 0x01,
|
|
|
+ UBXGPS2DFix = 0x02,
|
|
|
+ UBXGPS3DFix = 0x03,
|
|
|
+ UBXGPSGNSSDeadReckoning = 0x04,
|
|
|
+ UBXGPSTimeOnlyFix = 0x05
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXPVTValid
|
|
|
+{
|
|
|
+ UBXPVTValidDate = 1,
|
|
|
+ UBXPVTValidTime = 1 << 1,
|
|
|
+ UBXPVTFullyResolved = 1 << 2,
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXPVTPSMStates
|
|
|
+{
|
|
|
+ UBXPVTPSMStateNA = 0,
|
|
|
+ UBXPVTPSMStateEnabled = 1,
|
|
|
+ UBXPVTPSMStateAcquisition = 2,
|
|
|
+ UBXPVTPSMStateTracking = 3,
|
|
|
+ UBXPVTPSMStatePowerOptim = 4,
|
|
|
+ UBXPVTPSMStateInactive = 5,
|
|
|
+
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXSBASService
|
|
|
+{
|
|
|
+ UBXSBASServiceRanging = 1,
|
|
|
+ UBXSBASServiceCorrections = 1 << 1,
|
|
|
+ UBXSBASServiceIntegrity = 1 << 2,
|
|
|
+ UBXSBASServiceTestmode = 1 << 3
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXSBASSOLFlags
|
|
|
+{
|
|
|
+ UBXSBASSOLGPSfixOK = 1,
|
|
|
+ UBXSBASSOLDiffSoln = 1 << 1,
|
|
|
+ UBXSBASSOLWKNSet = 1 << 2,
|
|
|
+ UBXSBASSOLTOWSet = 1 << 3
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXSVINFOChipGen
|
|
|
+{
|
|
|
+ UBXSVINFOAntarisChip = 0,
|
|
|
+ UBXSVINFOUBlox5Chip = 1,
|
|
|
+ UBXSVINFOUBlox6Chip = 2
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXSVINFOFlags
|
|
|
+{
|
|
|
+ UBXSVINFOFlagsSVUsed = 1,
|
|
|
+ UBXSVINFOFlagsDiffCorr = 1 << 1,
|
|
|
+ UBXSVINFOFlagsOrbitAvail = 1 << 2,
|
|
|
+ UBXSVINFOFlagsOrbitEph = 1 << 3,
|
|
|
+ UBXSVINFOFlagsUnhealthy = 1 << 4,
|
|
|
+ UBXSVINFOFlagsOrbitAlm = 1 << 5,
|
|
|
+ UBXSVINFOFlagsOrbitAop = 1 << 6,
|
|
|
+ UBXSVINFOFlagsSmoothed = 1 << 7
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXSVINFOQualityId
|
|
|
+{
|
|
|
+ UBXSVINFOQualityChannelIdle = 0,
|
|
|
+ UBXSVINFOQualityChannelSearching = 1,
|
|
|
+ UBXSVINFOQualitySignalAquired = 2,
|
|
|
+ UBXSVINFOQualitySignalDetected = 3,
|
|
|
+ UBXSVINFOQualityCodeLockOnSignal = 4,
|
|
|
+ UBXSVINFOQualityCodeCarrierLocked = 5
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXTIMEGPSValidityFlags
|
|
|
+{
|
|
|
+ UBXTIMEGPSTowValid = 1,
|
|
|
+ UBXTIMEGPSWeekValid = 1 << 1,
|
|
|
+ UBXTIMEGPSLeapSValid = 1 << 2
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXTIMEUTCValidityFlags
|
|
|
+{
|
|
|
+ UBXTIMEUTCValidTOW = 1,
|
|
|
+ UBXTIMEUTCValidWKN = 1 << 1,
|
|
|
+ UBXTIMEUTCValidUTC = 1 << 2
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXPMREQFlags
|
|
|
+{
|
|
|
+ UBXPMREQBackup = 1 << 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXTM2FlagsMode
|
|
|
+{
|
|
|
+ UBXTM2FlagsModeSingle = 0,
|
|
|
+ UBXTM2FlagsModeRunning = 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXTM2FlagsRun
|
|
|
+{
|
|
|
+ UBXTM2FlagsRunArmed = 0,
|
|
|
+ UBXTM2FlagsRunStopped = 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXTM2FlagsTimeBase
|
|
|
+{
|
|
|
+ UBXTM2FlagsTimeBaseReceiverTime = 0,
|
|
|
+ UBXTM2FlagsTimeBaseGPS = 1,
|
|
|
+ UBXTM2FlagsTimeBaseUTC = 2
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXTM2FlagsUTC
|
|
|
+{
|
|
|
+ UBXTM2FlagsUTCNotAvailable = 0,
|
|
|
+ UBXTM2FlagsUTCAvailable = 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXTM2FlagsTime
|
|
|
+{
|
|
|
+ UBXTM2FlagsTimeInvalid = 0,
|
|
|
+ UBXTM2FlagsTimeValid = 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXTPFlags
|
|
|
+{
|
|
|
+ UBXTPTimeBase = 1,
|
|
|
+ UBXTPUTC = 1 << 1
|
|
|
+};
|
|
|
+
|
|
|
+enum UBXVRFYFlagsSource
|
|
|
+{
|
|
|
+ UBXVRFYNoTimeAidingSone = 0,
|
|
|
+ UBXVRFYSourceRTC = 2,
|
|
|
+ UBXVRFYSourceAID_INI = 3
|
|
|
+};
|
|
|
+
|
|
|
+#pragma pack(push,1)
|
|
|
+
|
|
|
+struct UBXHdr {
|
|
|
+ UBXU1_t msgClass;
|
|
|
+ UBXU1_t msgId;
|
|
|
+ UBXU2_t length;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_ALPSRV {
|
|
|
+ UBXU1_t idSize;
|
|
|
+ UBXU1_t type;
|
|
|
+ UBXU2_t offset;
|
|
|
+ UBXU2_t size;
|
|
|
+ UBXU2_t fileId;
|
|
|
+ UBXU2_t dataSize;
|
|
|
+ UBXU1_t id1;
|
|
|
+ UBXU1_t id2;
|
|
|
+ UBXU4_t id3;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXACK_ACK {
|
|
|
+ UBXU1_t msgClass;
|
|
|
+ UBXU1_t msgId;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXACK_NACK {
|
|
|
+ UBXU1_t msgClass;
|
|
|
+ UBXU1_t msgId;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_ALM_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_ALM_POLL_OPT {
|
|
|
+ UBXU1_t svid;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_ALM {
|
|
|
+ UBXU4_t svid;
|
|
|
+ UBXU4_t week;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_ALM_OPT {
|
|
|
+ UBXU4_t svid;
|
|
|
+ UBXU4_t week;
|
|
|
+ UBXU4_t dwrd[8];
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_ALP {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_ALP_END {
|
|
|
+ UBXU1_t dummy;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_ALP_POLL {
|
|
|
+ UBXU4_t predTow;
|
|
|
+ UBXU4_t predDur;
|
|
|
+ UBXI4_t age;
|
|
|
+ UBXU2_t predWno;
|
|
|
+ UBXU2_t almWno;
|
|
|
+ UBXU4_t reserved1;
|
|
|
+ UBXU1_t svs;
|
|
|
+ UBXU1_t reserved2;
|
|
|
+ UBXU2_t reserved3;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_AOP_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_AOP_POLL_OPT {
|
|
|
+ UBXU1_t svid;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_AOP {
|
|
|
+ UBXU1_t svid;
|
|
|
+ UBXU1_t data[59];
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_AOP_OPT {
|
|
|
+ UBXU1_t svid;
|
|
|
+ UBXU1_t data[59];
|
|
|
+ UBXU1_t optional0[48];
|
|
|
+ UBXU1_t optional1[48];
|
|
|
+ UBXU1_t optional2[48];
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_DATA_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_EPH_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_EPH_POLL_OPT {
|
|
|
+ UBXU1_t svid;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_EPH {
|
|
|
+ UBXU4_t svid;
|
|
|
+ UBXU4_t how;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_EPH_OPT {
|
|
|
+ UBXU4_t svid;
|
|
|
+ UBXU4_t how;
|
|
|
+ UBXU4_t sf1d[8];
|
|
|
+ UBXU4_t sf2d[8];
|
|
|
+ UBXU4_t sf3d[8];
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_HUI_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_HUI {
|
|
|
+ UBXI4_t health;
|
|
|
+ UBXR4_t utcA0;
|
|
|
+ UBXR4_t utcA1;
|
|
|
+ UBXI4_t utcTOW;
|
|
|
+ UBXI2_t utcWNT;
|
|
|
+ UBXI2_t utcLS;
|
|
|
+ UBXI2_t utcWNF;
|
|
|
+ UBXI2_t utcDN;
|
|
|
+ UBXI2_t utcLSF;
|
|
|
+ UBXI2_t utcSpare;
|
|
|
+ UBXR4_t klobA0;
|
|
|
+ UBXR4_t klobA1;
|
|
|
+ UBXR4_t klobA2;
|
|
|
+ UBXR4_t klobA3;
|
|
|
+ UBXR4_t klobB0;
|
|
|
+ UBXR4_t klobB1;
|
|
|
+ UBXR4_t klobB2;
|
|
|
+ UBXR4_t klobB3;
|
|
|
+ UBXX2_t flags;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_INI_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_INI {
|
|
|
+ UBXI1_t ecefXOrLat;
|
|
|
+ UBXI1_t ecefYOrLat;
|
|
|
+ UBXI1_t ecefZOrLat;
|
|
|
+ UBXU1_t posAcc;
|
|
|
+ UBXI1_t tmCfg;
|
|
|
+ UBXU2_t wnoOrDate;
|
|
|
+ UBXU4_t towOrDate;
|
|
|
+ UBXI4_t towNs;
|
|
|
+ UBXU4_t tAccMS;
|
|
|
+ UBXU4_t tAccNS;
|
|
|
+ UBXI4_t clkDOrFreq;
|
|
|
+ UBXU4_t clkDAccOrFreqAcc;
|
|
|
+ UBXX4_t flags;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAID_REQ {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_ANT_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXANTPins
|
|
|
+{
|
|
|
+ UBXX2_t UBXANTpinSwitch:5;
|
|
|
+ UBXX2_t UBXANTpinSCD:5;
|
|
|
+ UBXX2_t UBXANTpinOCD:5;
|
|
|
+ UBXX2_t UBXANTreconfig:1;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_ANT {
|
|
|
+ UBXX2_t flags; //See UBXANTFlags to fill this field
|
|
|
+ struct UBXANTPins pins;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_CFG {
|
|
|
+ UBXX4_t clearMask; //See UBXCFGMask to fill this field
|
|
|
+ UBXX4_t saveMask; //See UBXCFGMask to fill this field
|
|
|
+ UBXX4_t loadMask; //See UBXCFGMask to fill this field
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_CFG_OPT {
|
|
|
+ UBXX4_t clearMask; //See UBXCFGMask to fill this field
|
|
|
+ UBXX4_t saveMask; //See UBXCFGMask to fill this field
|
|
|
+ UBXX4_t loadMask; //See UBXCFGMask to fill this field
|
|
|
+ UBXX1_t deviceMask; //See UBXCFGDeviceMask to fill this field
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_DAT_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_DAT_IN {
|
|
|
+ UBXR8_t majA;
|
|
|
+ UBXR8_t flat;
|
|
|
+ UBXR4_t dX;
|
|
|
+ UBXR4_t dY;
|
|
|
+ UBXR4_t dZ;
|
|
|
+ UBXR4_t rotX;
|
|
|
+ UBXR4_t rotY;
|
|
|
+ UBXR4_t rotZ;
|
|
|
+ UBXR4_t scale;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_DAT_OUT {
|
|
|
+ UBXU2_t datumNum;
|
|
|
+ UBXCH_t datumName[6];
|
|
|
+ UBXR8_t majA;
|
|
|
+ UBXR8_t flat;
|
|
|
+ UBXR4_t dX;
|
|
|
+ UBXR4_t dY;
|
|
|
+ UBXR4_t dZ;
|
|
|
+ UBXR4_t rotX;
|
|
|
+ UBXR4_t rotY;
|
|
|
+ UBXR4_t rotZ;
|
|
|
+ UBXR4_t scale;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_GNSS_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_GNSS {
|
|
|
+ UBXU1_t msgVer;
|
|
|
+ UBXU1_t numTrkChHw;
|
|
|
+ UBXU1_t numTrkChUse;
|
|
|
+ UBXU1_t numConfigBlocks;
|
|
|
+ //Variable addition here
|
|
|
+ //See structure below
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_GNSS_PART
|
|
|
+{
|
|
|
+ UBXU1_t gnssId; //See UBXGNSSIds to fill this field
|
|
|
+ UBXU1_t resTrkCh;
|
|
|
+ UBXU1_t maxTrkCh;
|
|
|
+ UBXU1_t reserved1;
|
|
|
+ UBXX4_t flags; //0 - disabled, 1 - enabled
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_INF_POLL {
|
|
|
+ UBXU1_t protocolId;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_INF {
|
|
|
+ //Variable payload
|
|
|
+ //See structure UBXCFG_INF_PART below
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_INF_PART {
|
|
|
+ UBXU1_t protocolId;
|
|
|
+ UBXU1_t reserved0;
|
|
|
+ UBXU2_t reserved1;
|
|
|
+ UBXX1_t infMsgMask[6]; //See UBXCFGInfMsgMask to fill this field
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_ITFM_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXITFMConfig
|
|
|
+{
|
|
|
+ UBXX4_t bbThreshold:4;
|
|
|
+ UBXX4_t cwThreshold:5;
|
|
|
+ UBXX4_t reserved1:22; //Should be 0x16B156
|
|
|
+ UBXX4_t enbled:1;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXITFMConfig2
|
|
|
+{
|
|
|
+ UBXX4_t reserved2:12; //Should be 0x31E
|
|
|
+ UBXX4_t antSetting:2; //See UBXITFMAntSetting to fill this field
|
|
|
+ UBXX4_t reserved3:18; //Should be 0x00
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_ITFM {
|
|
|
+ struct UBXITFMConfig config;
|
|
|
+ struct UBXITFMConfig2 config2;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_LOGFILTER_POLL {
|
|
|
+ //No payload data
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_LOGFILTER {
|
|
|
+ UBXU1_t version;
|
|
|
+ UBXX1_t flags; //See UBXLOGFILTERFlags to fill this field
|
|
|
+ UBXU2_t minIterval;
|
|
|
+ UBXU2_t timeThreshold;
|
|
|
+ UBXU2_t speedThreshold;
|
|
|
+ UBXU4_t positionThreshold;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_MSG_POLL {
|
|
|
+ UBXU1_t msgClass;
|
|
|
+ UBXU1_t msgId;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_MSG_RATES {
|
|
|
+ UBXU1_t msgClass;
|
|
|
+ UBXU1_t msgId;
|
|
|
+ UBXU1_t rate[6];
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_MSG_RATE {
|
|
|
+ UBXU1_t msgClass;
|
|
|
+ UBXU1_t msgId;
|
|
|
+ UBXU1_t rate;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_NAV5_POLL {
|
|
|
+ //No payload data
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_NAV5 {
|
|
|
+ UBXX2_t mask; //See UBXNAV5Mask to fill this field
|
|
|
+ UBXU1_t dynModel;
|
|
|
+ UBXU1_t fixMode;
|
|
|
+ UBXI4_t fixedAlt;
|
|
|
+ UBXU4_t fixedAltVar;
|
|
|
+ UBXI1_t minElev;
|
|
|
+ UBXU1_t drLimit;
|
|
|
+ UBXU2_t pDop;
|
|
|
+ UBXU2_t tDop;
|
|
|
+ UBXU2_t pAcc;
|
|
|
+ UBXU2_t tAcc;
|
|
|
+ UBXU1_t staticHoldThresh;
|
|
|
+ UBXU1_t dgpsTimeOut;
|
|
|
+ UBXU1_t cnoThreshNumSVs;
|
|
|
+ UBXU1_t cnoThresh;
|
|
|
+ UBXU2_t reserved2; //Set to 0
|
|
|
+ UBXU4_t reserved3; //Set to 0
|
|
|
+ UBXU4_t reserved4; //Set to 0
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_NAVX5_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_NAVX5 {
|
|
|
+ UBXU2_t version;
|
|
|
+ UBXX2_t mask1; //See UBXNAVX5Mask to fill this field
|
|
|
+ UBXU4_t reserved0; //Set 0
|
|
|
+ UBXU1_t reserved1; //Set 0
|
|
|
+ UBXU1_t reserved2; //Set 0
|
|
|
+ UBXU1_t minSVs;
|
|
|
+ UBXU1_t maxSVs;
|
|
|
+ UBXU1_t minCNO;
|
|
|
+ UBXU1_t reserved5; //Set 0
|
|
|
+ UBXU1_t iniFix3D;
|
|
|
+ UBXU1_t reserved6; //Set 0
|
|
|
+ UBXU1_t reserved7; //Set 0
|
|
|
+ UBXU1_t reserved8; //Set 0
|
|
|
+ UBXU2_t wknRollover;
|
|
|
+ UBXU4_t reserved9; //Set 0
|
|
|
+ UBXU1_t reserved10; //Set 0
|
|
|
+ UBXU1_t reserved11; //Set 0
|
|
|
+ UBXU1_t usePPP;
|
|
|
+ UBXU1_t aopCFG; // 0-disabled, 1 - enabled
|
|
|
+ UBXU1_t reserved12; //Set 0
|
|
|
+ UBXU1_t reserved13; //Set 0
|
|
|
+ UBXU1_t aopOrbMaxErr;
|
|
|
+ UBXU1_t reserved14; //Set 0
|
|
|
+ UBXU1_t reserved15; //Set 0
|
|
|
+ UBXU2_t reserved3; //Set 0
|
|
|
+ UBXU4_t reserved4; //Set 0
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_NMEA_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_NMEA {
|
|
|
+ UBXX1_t filter; //See UBXNMEAFilter to fill this field
|
|
|
+ UBXU1_t nmeaVersion;
|
|
|
+ UBXU1_t numSV;
|
|
|
+ UBXX1_t flags; //See UBXNMEAFlags to fill this field
|
|
|
+ UBXX4_t gnssToFilter; //See UBXNMEAGNSSToFilter to fill this field
|
|
|
+ UBXU1_t svNumbering;
|
|
|
+ UBXU1_t mainTalkerId;
|
|
|
+ UBXU1_t gsvTalkerId;
|
|
|
+ UBXU1_t reserved;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_NVS {
|
|
|
+ UBXX4_t clearMask; //See UBXCFGMask CFG_NVS section to fill this field
|
|
|
+ UBXX4_t saveMask; //See UBXCFGMask CFG_NVS section to fill this field
|
|
|
+ UBXX4_t loadMask; //See UBXCFGMask CFG_NVS section to fill this field
|
|
|
+ UBXX1_t deviceMask; //See UBXCFGDeviceMask to fill this field
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_PM2_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_PM2Flags
|
|
|
+{
|
|
|
+ UBXX4_t blank1:1;
|
|
|
+ UBXX4_t reserved:3;
|
|
|
+ UBXX4_t extIntSelect:1;
|
|
|
+ UBXX4_t extIntWake:1;
|
|
|
+ UBXX4_t extIntBackup:1;
|
|
|
+ UBXX4_t blank2:1;
|
|
|
+ UBXX4_t limitPeakCurr:2; //See UBXPM2LimitPeakCurrent to fill this field
|
|
|
+ UBXX4_t waitTimeFix:1;
|
|
|
+ UBXX4_t updateRTC:1;
|
|
|
+ UBXX4_t updateEPH:1;
|
|
|
+ UBXX4_t blank3:3;
|
|
|
+ UBXX4_t doNotEnterOff:1;
|
|
|
+ UBXX4_t mode:2; //See UBXPM2Mode to fill this field
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_PM2 {
|
|
|
+ UBXU1_t version;
|
|
|
+ UBXU1_t reserved1;
|
|
|
+ UBXU1_t reserved2;
|
|
|
+ UBXU1_t reserved3;
|
|
|
+ struct UBXCFG_PM2Flags flags;
|
|
|
+ UBXU4_t updatePeriod;
|
|
|
+ UBXU4_t searchPeriod;
|
|
|
+ UBXU4_t gridOffset;
|
|
|
+ UBXU2_t onTime;
|
|
|
+ UBXU2_t minAcqTime;
|
|
|
+ UBXU2_t reserved4;
|
|
|
+ UBXU2_t reserved5;
|
|
|
+ UBXU4_t reserved6;
|
|
|
+ UBXU4_t reserved7;
|
|
|
+ UBXU1_t reserved8;
|
|
|
+ UBXU1_t reserved9;
|
|
|
+ UBXU2_t reserved10;
|
|
|
+ UBXU4_t reserved11;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_PRT_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_PRT_POLL_OPT {
|
|
|
+ UBXU1_t portId;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_PRTTxReady
|
|
|
+{
|
|
|
+ UBXX2_t en:1; //0 - disabled, 1 - enabled
|
|
|
+ UBXX2_t pol:1; //0 - High-active, 1 - Low-active
|
|
|
+ UBXX2_t pin:5;
|
|
|
+ UBXX2_t thres:9; //Given value is multiplied by 8 bytes
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_PRTUARTMode
|
|
|
+{
|
|
|
+ UBXX4_t blank0:4;
|
|
|
+ UBXX4_t reserved1:1;
|
|
|
+ UBXX4_t blank1:1;
|
|
|
+ UBXX4_t charLen:2; //See UBXPRTModeCharLen to fill this field
|
|
|
+ UBXX4_t blank2:1;
|
|
|
+ UBXX4_t parity:3; //See UBXPRTModeParity to fill this field
|
|
|
+ UBXX4_t nStopBits:2; //See UBXPRTModeStopBits to fill this field
|
|
|
+ UBXX4_t blank3:18;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_PRTSPIMode
|
|
|
+{
|
|
|
+ UBXX4_t blank0:1;
|
|
|
+ UBXX4_t spiMode:2; //See UBXPRTSPIMode to fill this field
|
|
|
+ UBXX4_t blank1:3;
|
|
|
+ UBXX4_t flowControl:1; //0 - disabled, 1 - enabled
|
|
|
+ UBXX4_t blank2:1;
|
|
|
+ UBXX4_t ffCnt:8;
|
|
|
+ UBXX4_t blank3:16;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_PRTDDCMode
|
|
|
+{
|
|
|
+ UBXX4_t blank0:1;
|
|
|
+ UBXX4_t slaveAddr:7; //Range: 0x07 < slaveAddr < 0x78. Bit 0 shall be 0
|
|
|
+ UBXX4_t blank1:24;
|
|
|
+};
|
|
|
+
|
|
|
+union UBXCFG_PRTMode
|
|
|
+{
|
|
|
+ struct UBXCFG_PRTUARTMode UART;
|
|
|
+ struct UBXCFG_PRTSPIMode SPI;
|
|
|
+ struct UBXCFG_PRTDDCMode DDC;
|
|
|
+ UBXX4_t USB; //reserved
|
|
|
+};
|
|
|
+
|
|
|
+union UBXCFG_PRT5Option
|
|
|
+{
|
|
|
+ UBXU4_t UARTbaudRate;
|
|
|
+ UBXU4_t OtherReserved;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_PRT
|
|
|
+{
|
|
|
+ UBXU1_t portID;
|
|
|
+ UBXU1_t reserved0;
|
|
|
+ struct UBXCFG_PRTTxReady txReady;
|
|
|
+ union UBXCFG_PRTMode mode;
|
|
|
+ union UBXCFG_PRT5Option option;
|
|
|
+ UBXX2_t inProtoMask; //See UBXPRTInProtoMask to fill this field
|
|
|
+ UBXX2_t outProtoMask; //See UBXPRTOutProtoMask to fill this field
|
|
|
+ UBXX2_t flags; //See UBXPRTFlags to fill this field, shall be 0 for USB
|
|
|
+ UBXU1_t reserved5;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_RATE_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_RATE {
|
|
|
+ UBXU2_t measRate;
|
|
|
+ UBXU2_t navRate;
|
|
|
+ UBXU2_t timeRef;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_RINV_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_RINV {
|
|
|
+ UBXX1_t flags; //See UBXRINVFlags to fill this field
|
|
|
+ //Variable payload size
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_RST {
|
|
|
+ UBXX2_t navBBRMask;
|
|
|
+ UBXU1_t resetMode;
|
|
|
+ UBXU1_t reserved1;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_RXM_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_RXM {
|
|
|
+ UBXU1_t reserved1; //Shall be set to 8
|
|
|
+ UBXU1_t lpMode; //See UBXRXMLowPowerModes to fill this field
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_SBAS_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_SBAS {
|
|
|
+ UBXX1_t mode; //See UBXSBASModes to fill this field
|
|
|
+ UBXX1_t usage; //See UBXSBASUsage to fill this field
|
|
|
+ UBXU1_t maxSBAS;
|
|
|
+ UBXX1_t scanmode2; //See UBXSBASScanModes2 to fill this field
|
|
|
+ UBXX4_t scanmode1; //See UBXSBASScanModes1 to fill this field
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_TP5_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_TP5_POLL_OPT {
|
|
|
+ UBXU1_t tpIdx;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_TP5 {
|
|
|
+ UBXU1_t tpIdx;
|
|
|
+ UBXU1_t reserved0;
|
|
|
+ UBXU2_t reserved1;
|
|
|
+ UBXI2_t antCableDelay;
|
|
|
+ UBXI2_t rfGroupDelay;
|
|
|
+ UBXU4_t freqPeriod;
|
|
|
+ UBXU4_t freqPeriodLock;
|
|
|
+ UBXU4_t pulseLenRatio;
|
|
|
+ UBXU4_t pulseLenRatioLock;
|
|
|
+ UBXI4_t userConfigDelay;
|
|
|
+ UBXX4_t flags; //See UBXCFGTimepulseFlags to fill this field
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_USB_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXCFG_USB {
|
|
|
+ UBXU2_t vendorId;
|
|
|
+ UBXU2_t productId;
|
|
|
+ UBXU2_t reserved1;//Set to 0
|
|
|
+ UBXU2_t reserved2;//Set to 1
|
|
|
+ UBXU2_t powerConsumption;
|
|
|
+ UBXX2_t flags;
|
|
|
+ UBXCH_t vendorString[32];
|
|
|
+ UBXCH_t productString[32];
|
|
|
+ UBXCH_t serialNumber[32];
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXINF_DEBUG {
|
|
|
+ //Variable payload of UBXCH_t
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXINF_ERROR {
|
|
|
+ //Variable payload of UBXCH_t
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXINF_NOTICE {
|
|
|
+ //Variable payload of UBXCH_t
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXINF_TEST {
|
|
|
+ //Variable payload of UBXCH_t
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXINF_WARNING {
|
|
|
+ //Variable payload of UBXCH_t
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXLOG_CREATE {
|
|
|
+ UBXU1_t version;
|
|
|
+ UBXX1_t logCfg; //See UBXLOGCfg
|
|
|
+ UBXU1_t reserved; //Set to 0
|
|
|
+ UBXU1_t logSize;
|
|
|
+ UBXU4_t userDefinedSize;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXLOG_ERASE {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXLOG_FINDTIME_IN {
|
|
|
+ UBXU1_t version; //Shall be 0
|
|
|
+ UBXU1_t type; //Shall be 0
|
|
|
+ UBXU2_t reserved1;
|
|
|
+ UBXU2_t year;
|
|
|
+ UBXU1_t month;
|
|
|
+ UBXU1_t day;
|
|
|
+ UBXU1_t hour;
|
|
|
+ UBXU1_t minute;
|
|
|
+ UBXU1_t second;
|
|
|
+ UBXU1_t reserved2;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXLOG_FINDTIME_OUT {
|
|
|
+ UBXU1_t version; //Shall be 1
|
|
|
+ UBXU1_t type; //Shall be 1
|
|
|
+ UBXU2_t reserved1;
|
|
|
+ UBXU4_t entryNumber;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXLOG_INFO_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXLOG_INFO
|
|
|
+{
|
|
|
+ UBXU1_t version;
|
|
|
+ UBXU1_t reserved1[3];
|
|
|
+ UBXU4_t filestoreCapacity;
|
|
|
+ UBXU4_t reserved2;
|
|
|
+ UBXU4_t reserved3;
|
|
|
+ UBXU4_t currentMaxLogSize;
|
|
|
+ UBXU4_t currentLogSize;
|
|
|
+ UBXU4_t entryCount;
|
|
|
+ UBXU2_t oldestYear;
|
|
|
+ UBXU1_t oldestMonth;
|
|
|
+ UBXU1_t oldestDay;
|
|
|
+ UBXU1_t oldestHour;
|
|
|
+ UBXU1_t oldestMinute;
|
|
|
+ UBXU1_t oldestSecond;
|
|
|
+ UBXU1_t reserved4;
|
|
|
+ UBXU2_t newestYear;
|
|
|
+ UBXU1_t newestMonth;
|
|
|
+ UBXU1_t newestDay;
|
|
|
+ UBXU1_t newestHour;
|
|
|
+ UBXU1_t newestMinute;
|
|
|
+ UBXU1_t newestSecond;
|
|
|
+ UBXU1_t reserved5;
|
|
|
+ UBXX1_t status; //See UBXLOGStatus to fill this field
|
|
|
+ UBXU1_t reserved6[3];
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXLOG_RETRIEVEPOS {
|
|
|
+ UBXU4_t entryIndex;
|
|
|
+ UBXI4_t lon;
|
|
|
+ UBXI4_t lat;
|
|
|
+ UBXI4_t hMSL;
|
|
|
+ UBXU4_t hAcc;
|
|
|
+ UBXU4_t gSpeed;
|
|
|
+ UBXU4_t heading;
|
|
|
+ UBXU1_t version; //Shall be 0
|
|
|
+ UBXU1_t fixType; //See UBXRETRIEVEPOSFixType to fill this field
|
|
|
+ UBXU2_t year;
|
|
|
+ UBXU1_t month;
|
|
|
+ UBXU1_t day;
|
|
|
+ UBXU1_t hour;
|
|
|
+ UBXU1_t minute;
|
|
|
+ UBXU1_t second;
|
|
|
+ UBXU1_t reserved1;
|
|
|
+ UBXU1_t numSV;
|
|
|
+ UBXU1_t reserved2;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXLOG_RETRIEVESTRING {
|
|
|
+ UBXU4_t entryIndex;
|
|
|
+ UBXU1_t version; //Shall be 0
|
|
|
+ UBXU1_t reserved1;
|
|
|
+ UBXU2_t year;
|
|
|
+ UBXU1_t month;
|
|
|
+ UBXU1_t day;
|
|
|
+ UBXU1_t hour;
|
|
|
+ UBXU1_t minute;
|
|
|
+ UBXU1_t second;
|
|
|
+ UBXU1_t reserved2;
|
|
|
+ UBXU2_t byteCount;
|
|
|
+ //Variable payload according byteCount
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXLOG_RETRIEVE {
|
|
|
+ UBXU4_t startNumber;
|
|
|
+ UBXU4_t entryCount;
|
|
|
+ UBXU1_t version;
|
|
|
+ UBXU1_t reserved[3];
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXLOG_STRING {
|
|
|
+ //Variable payload UBXU1_t
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXMON_HW2 {
|
|
|
+ UBXI1_t ofsI;
|
|
|
+ UBXU1_t magI;
|
|
|
+ UBXI1_t ofsQ;
|
|
|
+ UBXU1_t magQ;
|
|
|
+ UBXU1_t cfgSource;
|
|
|
+ UBXU1_t reserved0[3];
|
|
|
+ UBXU4_t lowLevCfg;
|
|
|
+ UBXU4_t reserved1[2];
|
|
|
+ UBXU4_t postStatus;
|
|
|
+ UBXU4_t reserved2;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXHWFlags
|
|
|
+{
|
|
|
+ UBXX1_t UBXHWFlagsRTCCalib:1;
|
|
|
+ UBXX1_t UBXHWFlagsSafeBoot:1;
|
|
|
+ UBXX1_t UBXHWFlagsJammingState:2;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXMON_HW {
|
|
|
+ UBXX4_t pinSel;
|
|
|
+ UBXX4_t pinBank;
|
|
|
+ UBXX4_t pinDir;
|
|
|
+ UBXX4_t pinVal;
|
|
|
+ UBXU2_t noisePerMS;
|
|
|
+ UBXU2_t agcCnt;
|
|
|
+ UBXU1_t aStatus;
|
|
|
+ UBXU1_t aPower;
|
|
|
+ struct UBXHWFlags flags;
|
|
|
+ UBXU1_t reserved1;
|
|
|
+ UBXX4_t usedMask;
|
|
|
+ UBXU1_t VP[17];
|
|
|
+ UBXU1_t jamInd;
|
|
|
+ UBXU2_t reserved3;
|
|
|
+ UBXX4_t pinIrq;
|
|
|
+ UBXX4_t pullH;
|
|
|
+ UBXX4_t pullL;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXMON_IO_PART
|
|
|
+{
|
|
|
+ UBXU4_t rxBytes;
|
|
|
+ UBXU4_t txBytes;
|
|
|
+ UBXU2_t parityErrs;
|
|
|
+ UBXU2_t framingErrs;
|
|
|
+ UBXU2_t overrunErrs;
|
|
|
+ UBXU2_t breakCond;
|
|
|
+ UBXU1_t rxBusy;
|
|
|
+ UBXU1_t txBusy;
|
|
|
+ UBXU2_t reserved1;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXMON_IO {
|
|
|
+ struct UBXMON_IO_PART ioPortInfo[UBX_IO_PORTS_NUM];
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXMON_MSGPP {
|
|
|
+ UBXU2_t msg1[8];
|
|
|
+ UBXU2_t msg2[8];
|
|
|
+ UBXU2_t msg3[8];
|
|
|
+ UBXU2_t msg4[8];
|
|
|
+ UBXU2_t msg5[8];
|
|
|
+ UBXU2_t msg6[8];
|
|
|
+ UBXU4_t skipped[6];
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXMON_RXBUF {
|
|
|
+ UBXU2_t pending[6];
|
|
|
+ UBXU1_t usage[6];
|
|
|
+ UBXU1_t peakUsage[6];
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXMON_RXR {
|
|
|
+ UBXX1_t flags; //See UBXRXRFlags to fill this field
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXMON_TXBUF {
|
|
|
+ UBXU2_t pending[6];
|
|
|
+ UBXU1_t usage[6];
|
|
|
+ UBXU1_t peakUsage[6];
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXMON_VER_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXMON_VER {
|
|
|
+ UBXCH_t swVersion[30];
|
|
|
+ UBXCH_t hwVersion[10];
|
|
|
+ //Variable payload of UBXMON_VER_PART type
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXMON_VER_PART
|
|
|
+{
|
|
|
+ UBXCH_t extension[30];
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_AOPSTATUS {
|
|
|
+ UBXU4_t iTOW;
|
|
|
+ UBXU1_t aopCfg; //See UBXAOPCfg to fill this field
|
|
|
+ UBXU1_t status; //See UBXAOPStatus to fill this field
|
|
|
+ UBXU1_t reserved0;
|
|
|
+ UBXU1_t reserved1;
|
|
|
+ UBXU4_t availGPS;
|
|
|
+ UBXU4_t reserved2;
|
|
|
+ UBXU4_t reserved3;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_CLOCK {
|
|
|
+ UBXU4_t iTOW;
|
|
|
+ UBXI4_t clkB;
|
|
|
+ UBXI4_t clkD;
|
|
|
+ UBXU4_t tAcc;
|
|
|
+ UBXU4_t fAcc;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_DGPS {
|
|
|
+ UBXU4_t iTOW;
|
|
|
+ UBXI4_t age;
|
|
|
+ UBXI2_t baseId;
|
|
|
+ UBXI2_t baseHealth;
|
|
|
+ UBXU1_t numCh;
|
|
|
+ UBXU1_t status;
|
|
|
+ UBXU2_t reserved1;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXDGPSFlags
|
|
|
+{
|
|
|
+ UBXX1_t channel:4;
|
|
|
+ UBXX1_t dgpsUsed:1;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_DGPS_PART {
|
|
|
+ UBXU1_t svid;
|
|
|
+ struct UBXDGPSFlags flags;
|
|
|
+ UBXU2_t ageC;
|
|
|
+ UBXR4_t prc;
|
|
|
+ UBXR4_t prrc;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_DOP {
|
|
|
+ UBXU4_t iTOW;
|
|
|
+ UBXU2_t gDOP;
|
|
|
+ UBXU2_t pDOP;
|
|
|
+ UBXU2_t tDOP;
|
|
|
+ UBXU2_t vDOP;
|
|
|
+ UBXU2_t hDOP;
|
|
|
+ UBXU2_t nDOP;
|
|
|
+ UBXU2_t eDOP;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_POSECEF {
|
|
|
+ UBXU4_t iTOW;
|
|
|
+ UBXI4_t ecefX;
|
|
|
+ UBXI4_t ecefY;
|
|
|
+ UBXI4_t ecefZ;
|
|
|
+ UBXU4_t pAcc;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_POSLLH {
|
|
|
+ UBXU4_t iTOW;
|
|
|
+ UBXI4_t lon;
|
|
|
+ UBXI4_t lat;
|
|
|
+ UBXI4_t height;
|
|
|
+ UBXI4_t hMSL;
|
|
|
+ UBXU4_t hAcc;
|
|
|
+ UBXU4_t vAcc;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXPVTFlags
|
|
|
+{
|
|
|
+ UBXX1_t gnssFixOk:1;
|
|
|
+ UBXX1_t diffSoln:1;
|
|
|
+ UBXX1_t psmState:3; //See UBXPVTPSMStates to fill this field
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_PVT {
|
|
|
+ UBXU4_t iTOW;
|
|
|
+ UBXU2_t year;
|
|
|
+ UBXU1_t month;
|
|
|
+ UBXU1_t day;
|
|
|
+ UBXU1_t hour;
|
|
|
+ UBXU1_t min;
|
|
|
+ UBXU1_t sec;
|
|
|
+ UBXX1_t valid; //See UBXPVTValid to fill this field
|
|
|
+ UBXU4_t tAcc;
|
|
|
+ UBXI4_t nano;
|
|
|
+ UBXU1_t fixType; //See UBXGPSFix to fill this field
|
|
|
+ struct UBXPVTFlags flags;
|
|
|
+ UBXU1_t reserved1;
|
|
|
+ UBXU1_t numSV;
|
|
|
+ UBXI4_t lon;
|
|
|
+ UBXI4_t lat;
|
|
|
+ UBXI4_t height;
|
|
|
+ UBXI4_t hMSL;
|
|
|
+ UBXU4_t hAcc;
|
|
|
+ UBXU4_t vAcc;
|
|
|
+ UBXI4_t velN;
|
|
|
+ UBXI4_t velE;
|
|
|
+ UBXI4_t velD;
|
|
|
+ UBXI4_t gSpeed;
|
|
|
+ UBXI4_t heading;
|
|
|
+ UBXU4_t sAcc;
|
|
|
+ UBXU4_t headingAcc;
|
|
|
+ UBXU2_t pDOP;
|
|
|
+ UBXX2_t reserved2;
|
|
|
+ UBXU4_t reserved3;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_SBAS {
|
|
|
+ UBXU4_t iTOW;
|
|
|
+ UBXU1_t geo;
|
|
|
+ UBXU1_t mode;
|
|
|
+ UBXI1_t sys;
|
|
|
+ UBXX1_t service; //See UBXSBASService to fill this field
|
|
|
+ UBXU1_t cnt;
|
|
|
+ UBXU1_t reserved0[3];
|
|
|
+ //Variable payload of UBXNAV_SBAS_PART type
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_SBAS_PART {
|
|
|
+ UBXU1_t svid;
|
|
|
+ UBXU1_t flags;
|
|
|
+ UBXU1_t udre;
|
|
|
+ UBXU1_t svSys;
|
|
|
+ UBXU1_t svService;
|
|
|
+ UBXU1_t reserved1;
|
|
|
+ UBXI2_t prc;
|
|
|
+ UBXU2_t reserved2;
|
|
|
+ UBXI2_t ic;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_SOL {
|
|
|
+ UBXU4_t iTOW;
|
|
|
+ UBXI4_t fTOW;
|
|
|
+ UBXI2_t week;
|
|
|
+ UBXU1_t gpsFix; //See UBXGPSFix to fill this field
|
|
|
+ UBXX1_t flags; //See UBXSBASSOLFlags to fill this field
|
|
|
+ UBXI4_t ecefX;
|
|
|
+ UBXI4_t ecefY;
|
|
|
+ UBXI4_t ecefZ;
|
|
|
+ UBXU4_t pAcc;
|
|
|
+ UBXI4_t ecefVX;
|
|
|
+ UBXI4_t ecefVY;
|
|
|
+ UBXI4_t ecefVZ;
|
|
|
+ UBXU4_t sAcc;
|
|
|
+ UBXU2_t pDOP;
|
|
|
+ UBXU1_t reserved1;
|
|
|
+ UBXU1_t numSV;
|
|
|
+ UBXU4_t reserved2;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_STATUS {
|
|
|
+ UBXU4_t iTOW;
|
|
|
+ UBXU1_t gpsFix;
|
|
|
+ UBXX1_t flags; //See UBXGPSFix to fill this field
|
|
|
+ UBXX1_t fixStat; //See UBXSBASSOLFlags to fill this field
|
|
|
+ UBXX1_t flags2;
|
|
|
+ UBXU4_t ttff;
|
|
|
+ UBXU4_t msss;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXSVINFOGlobalFlags
|
|
|
+{
|
|
|
+ UBXX1_t chipGen:3; //See UBXSVINFOChipGen to fill this field
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_SVINFO {
|
|
|
+ UBXU4_t iTOW;
|
|
|
+ UBXU1_t numCh;
|
|
|
+ struct UBXSVINFOGlobalFlags globalFlags;
|
|
|
+ UBXU2_t reserved2;
|
|
|
+ //Variable payload of UBXNAV_SVINFO_PART type
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXSVINFOQuality
|
|
|
+{
|
|
|
+ UBXX1_t qualityInd:4; //See UBXSVINFOQualityId to fill this field
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_SVINFO_PART {
|
|
|
+ UBXU1_t chn;
|
|
|
+ UBXU1_t svid;
|
|
|
+ UBXX1_t flags; //See UBXSVINFOFlags to fill this field
|
|
|
+ UBXX1_t quality;
|
|
|
+ UBXU1_t cno;
|
|
|
+ UBXI1_t elev;
|
|
|
+ UBXI2_t azim;
|
|
|
+ UBXI4_t prRes;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_TIMEGPS {
|
|
|
+ UBXU4_t iTOW;
|
|
|
+ UBXI4_t fTOW;
|
|
|
+ UBXI2_t week;
|
|
|
+ UBXI1_t leapS;
|
|
|
+ UBXX1_t valid; //See UBXTIMEGPSValidityFlags to fill this field
|
|
|
+ UBXU4_t tAcc;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_TIMEUTC {
|
|
|
+ UBXU4_t iTOW;
|
|
|
+ UBXU4_t tAcc;
|
|
|
+ UBXI4_t nano;
|
|
|
+ UBXU2_t year;
|
|
|
+ UBXU1_t month;
|
|
|
+ UBXU1_t day;
|
|
|
+ UBXU1_t hour;
|
|
|
+ UBXU1_t min;
|
|
|
+ UBXU1_t sec;
|
|
|
+ UBXX1_t valid; //See UBXTIMEUTCValidityFlags to fill this field
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_VELECEF {
|
|
|
+ UBXU4_t iTOW;
|
|
|
+ UBXI4_t ecefVX;
|
|
|
+ UBXI4_t ecefVY;
|
|
|
+ UBXI4_t ecefVZ;
|
|
|
+ UBXU4_t sAcc;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXNAV_VELNED {
|
|
|
+ UBXU4_t iTOW;
|
|
|
+ UBXI4_t velN;
|
|
|
+ UBXI4_t velE;
|
|
|
+ UBXI4_t velD;
|
|
|
+ UBXU4_t speed;
|
|
|
+ UBXU4_t gSpeed;
|
|
|
+ UBXI4_t heading;
|
|
|
+ UBXU4_t sAcc;
|
|
|
+ UBXU4_t cAcc;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXRXM_ALM_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXRXM_ALM_POLL_OPT {
|
|
|
+ UBXU1_t svid;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXRXM_ALM {
|
|
|
+ /* ###################################################
|
|
|
+ * This RMX messages marked as obsolete API use AID instead
|
|
|
+ */
|
|
|
+ UBXU4_t svid;
|
|
|
+ UBXU4_t week;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXRXM_ALM_OPT {
|
|
|
+ /* ###################################################
|
|
|
+ * This RMX messages marked as obsolete API use AID instead
|
|
|
+ */
|
|
|
+ UBXU4_t svid;
|
|
|
+ UBXU4_t week;
|
|
|
+ UBXU4_t dwrd[8];
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXRXM_EPH_POLL {
|
|
|
+ //No payload
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXRXM_EPH_POLL_OPT {
|
|
|
+ UBXU1_t svid;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXRXM_EPH {
|
|
|
+ /* ###################################################
|
|
|
+ * This RMX messages marked as obsolete API use AID instead
|
|
|
+ */
|
|
|
+ UBXU4_t svid;
|
|
|
+ UBXU4_t how;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXRXM_EPH_OPT {
|
|
|
+ /* ###################################################
|
|
|
+ * This RMX messages marked as obsolete API use AID instead
|
|
|
+ */
|
|
|
+ UBXU4_t svid;
|
|
|
+ UBXU4_t how;
|
|
|
+ UBXU4_t sf1d[8];
|
|
|
+ UBXU4_t sf2d[8];
|
|
|
+ UBXU4_t sf3d[8];
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXRXM_PMREQ {
|
|
|
+ UBXU4_t duration;
|
|
|
+ UBXX4_t flags; //See UBXPMREQFlags to fill this field
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXRXM_RAW {
|
|
|
+ UBXI4_t rcvTow;
|
|
|
+ UBXI2_t week;
|
|
|
+ UBXU1_t numSV;
|
|
|
+ UBXU1_t reserved1;
|
|
|
+ //Variable payload of UBXRXM_RAW_PART type
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXRXM_RAW_PART
|
|
|
+{
|
|
|
+ UBXR8_t cpMes;
|
|
|
+ UBXR8_t prMes;
|
|
|
+ UBXR4_t doMes;
|
|
|
+ UBXU1_t sv;
|
|
|
+ UBXI1_t mesQI;
|
|
|
+ UBXI1_t cno;
|
|
|
+ UBXU1_t lli;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXRXM_SFRB {
|
|
|
+ UBXU1_t chn;
|
|
|
+ UBXU1_t svid;
|
|
|
+ UBXX4_t dwrd[10];
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXRXM_SVSI {
|
|
|
+ UBXU4_t iTOW;
|
|
|
+ UBXI2_t week;
|
|
|
+ UBXU1_t numVis;
|
|
|
+ UBXU1_t numSV;
|
|
|
+
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXSVSISVFlags
|
|
|
+{
|
|
|
+ UBXX1_t ura:4;
|
|
|
+ UBXX1_t healthy:1;
|
|
|
+ UBXX1_t ephVal:1;
|
|
|
+ UBXX1_t almVal:1;
|
|
|
+ UBXX1_t notAvail:1;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXSVSIAge
|
|
|
+{
|
|
|
+ UBXX1_t almAge:4;
|
|
|
+ UBXX1_t ephAge:4;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXRXM_SVSI_PART
|
|
|
+{
|
|
|
+ UBXU1_t svid;
|
|
|
+ struct UBXSVSISVFlags svFlag;
|
|
|
+ UBXI2_t azim;
|
|
|
+ UBXI1_t elev;
|
|
|
+ struct UBXSVSIAge age;
|
|
|
+};
|
|
|
+
|
|
|
+
|
|
|
+struct UBXTM2Flags
|
|
|
+{
|
|
|
+ UBXX1_t mode:1; //See UBXTM2FlagsMode to fill this field
|
|
|
+ UBXX1_t run:1; //See UBXTM2FlagsRun to fill this field
|
|
|
+ UBXX1_t newFallingEdge:1;
|
|
|
+ UBXX1_t timeBase:2; //See UBXTM2FlagsTimeBase to fill this field
|
|
|
+ UBXX1_t utc:1; //See UBXTM2FlagsUTC to fill this field
|
|
|
+ UBXX1_t time:1; //See UBXTM2FlagsTime to fill this field
|
|
|
+ UBXX1_t newRisingEdge:1;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXTIM_TM2 {
|
|
|
+ UBXU1_t ch;
|
|
|
+ struct UBXTM2Flags flags;
|
|
|
+ UBXU2_t count;
|
|
|
+ UBXU2_t wnR;
|
|
|
+ UBXU2_t wnF;
|
|
|
+ UBXU4_t towMsR;
|
|
|
+ UBXU4_t towSubMsR;
|
|
|
+ UBXU4_t towMsF;
|
|
|
+ UBXU4_t towSubMsF;
|
|
|
+ UBXU4_t accEst;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXTIM_TP {
|
|
|
+ UBXU4_t towMS;
|
|
|
+ UBXU4_t towSubMS;
|
|
|
+ UBXI4_t qErr;
|
|
|
+ UBXU2_t week;
|
|
|
+ UBXX1_t flags;
|
|
|
+ UBXU1_t reserved1;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXVRFYFlags
|
|
|
+{
|
|
|
+ UBXX1_t src:3; //See UBXVRFYFlagsSource to fill this field
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXTIM_VRFY {
|
|
|
+ UBXI4_t itow;
|
|
|
+ UBXI4_t frac;
|
|
|
+ UBXI4_t deltaMs;
|
|
|
+ UBXI4_t deltaNs;
|
|
|
+ UBXU2_t wno;
|
|
|
+ struct UBXVRFYFlags flags;
|
|
|
+ UBXU1_t reserved1;
|
|
|
+};
|
|
|
+
|
|
|
+union UBXMsgs
|
|
|
+{
|
|
|
+ struct UBXACK_NACK ACK_NACK;
|
|
|
+ struct UBXACK_ACK ACK_ACK;
|
|
|
+ struct UBXAID_ALM_POLL AID_ALM_POLL;
|
|
|
+ struct UBXAID_ALM_POLL_OPT AID_ALM_POLL_OPT;
|
|
|
+ struct UBXAID_ALM AID_ALM;
|
|
|
+ struct UBXAID_ALM_OPT AID_ALM_OPT;
|
|
|
+ struct UBXAID_ALPSRV AID_ALPSRV;
|
|
|
+ struct UBXAID_ALP_POLL AID_ALP_POLL;
|
|
|
+ struct UBXAID_ALP_END AID_ALP_END;
|
|
|
+ struct UBXAID_ALP AID_ALP;
|
|
|
+ struct UBXAID_AOP_POLL AID_AOP_POLL;
|
|
|
+ struct UBXAID_AOP_POLL_OPT AID_AOP_POLL_OPT;
|
|
|
+ struct UBXAID_AOP AID_AOP;
|
|
|
+ struct UBXAID_AOP_OPT AID_AOP_OPT;
|
|
|
+ struct UBXAID_DATA_POLL AID_DATA_POLL;
|
|
|
+ struct UBXAID_EPH_POLL AID_EPH_POLL;
|
|
|
+ struct UBXAID_EPH_POLL_OPT AID_EPH_POLL_OPT;
|
|
|
+ struct UBXAID_EPH AID_EPH;
|
|
|
+ struct UBXAID_EPH_OPT AID_EPH_OPT;
|
|
|
+ struct UBXAID_HUI_POLL AID_HUI_POLL;
|
|
|
+ struct UBXAID_HUI AID_HUI;
|
|
|
+ struct UBXAID_INI_POLL AID_INI_POLL;
|
|
|
+ struct UBXAID_INI AID_INI;
|
|
|
+ struct UBXAID_REQ AID_REQ;
|
|
|
+ struct UBXCFG_ANT CFG_ANT;
|
|
|
+ struct UBXCFG_ANT_POLL CFG_ANT_POLL;
|
|
|
+ struct UBXCFG_CFG CFG_CFG;
|
|
|
+ struct UBXCFG_CFG_OPT CFG_CFG_OPT;
|
|
|
+ struct UBXCFG_DAT_IN CFG_DAT_IN;
|
|
|
+ struct UBXCFG_DAT_OUT CFG_DAT_OUT;
|
|
|
+ struct UBXCFG_DAT_POLL CFG_DAT_POLL;
|
|
|
+ struct UBXCFG_GNSS_POLL CFG_GNSS_POLL;
|
|
|
+ struct UBXCFG_GNSS CFG_GNSS;
|
|
|
+ struct UBXCFG_INF_POLL CFG_INF_POLL;
|
|
|
+ struct UBXCFG_INF CFG_INF;
|
|
|
+ struct UBXCFG_ITFM_POLL CFG_ITFM_POLL;
|
|
|
+ struct UBXCFG_ITFM CFG_ITFM;
|
|
|
+ struct UBXCFG_LOGFILTER_POLL CFG_LOGFILTER_POLL;
|
|
|
+ struct UBXCFG_LOGFILTER CFG_LOGFILTER;
|
|
|
+ struct UBXCFG_MSG_POLL CFG_MSG_POLL;
|
|
|
+ struct UBXCFG_MSG_RATE CFG_MSG_RATE;
|
|
|
+ struct UBXCFG_MSG_RATES CFG_MSG_RATES;
|
|
|
+ struct UBXCFG_NAV5_POLL CFG_NAV5_POLL;
|
|
|
+ struct UBXCFG_NAV5 CFG_NAV5;
|
|
|
+ struct UBXCFG_NAVX5_POLL CFG_NAVX5_POLL;
|
|
|
+ struct UBXCFG_NAVX5 CFG_NAVX5;
|
|
|
+ struct UBXCFG_NMEA_POLL CFG_NMEA_POLL;
|
|
|
+ struct UBXCFG_NMEA CFG_NMEA;
|
|
|
+ struct UBXCFG_NVS CFG_NVS;
|
|
|
+ struct UBXCFG_PM2_POLL CFG_PM2_POLL;
|
|
|
+ struct UBXCFG_PM2 CFG_PM2;
|
|
|
+ struct UBXCFG_PRT_POLL CFG_PRT_POLL;
|
|
|
+ struct UBXCFG_PRT_POLL_OPT CFG_PRT_POLL_OPT;
|
|
|
+ struct UBXCFG_PRT CFG_PRT;
|
|
|
+ struct UBXCFG_RATE_POLL CFG_RATE_POLL;
|
|
|
+ struct UBXCFG_RATE CFG_RATE;
|
|
|
+ struct UBXCFG_RINV CFG_RINV;
|
|
|
+ struct UBXCFG_RINV_POLL CFG_RINV_POLL;
|
|
|
+ struct UBXCFG_RST CFG_RST;
|
|
|
+ struct UBXCFG_RXM CFG_RXM;
|
|
|
+ struct UBXCFG_RXM_POLL CFG_RXM_POLL;
|
|
|
+ struct UBXCFG_SBAS_POLL CFG_SBAS_POLL;
|
|
|
+ struct UBXCFG_SBAS CFG_SBAS;
|
|
|
+ struct UBXCFG_TP5_POLL CFG_TP5_POLL;
|
|
|
+ struct UBXCFG_TP5_POLL_OPT CFG_TP5_POLL_OPT;
|
|
|
+ struct UBXCFG_TP5 CFG_TP5;
|
|
|
+ struct UBXCFG_USB_POLL CFG_USB_POLL;
|
|
|
+ struct UBXCFG_USB CFG_USB;
|
|
|
+ struct UBXINF_DEBUG INF_DEBUG;
|
|
|
+ struct UBXINF_ERROR INF_ERROR;
|
|
|
+ struct UBXINF_NOTICE INF_NOTICE;
|
|
|
+ struct UBXINF_TEST INF_TEST;
|
|
|
+ struct UBXINF_WARNING INF_WARNING;
|
|
|
+ struct UBXLOG_CREATE LOG_CREATE;
|
|
|
+ struct UBXLOG_ERASE LOG_ERASE;
|
|
|
+ struct UBXLOG_FINDTIME_IN LOG_FINDTIME_IN;
|
|
|
+ struct UBXLOG_FINDTIME_OUT LOG_FINDTIME_OUT;
|
|
|
+ struct UBXLOG_INFO_POLL LOG_INFO_POLL;
|
|
|
+ struct UBXLOG_INFO LOG_INFO;
|
|
|
+ struct UBXLOG_RETRIEVEPOS LOG_RETRIEVEPOS;
|
|
|
+ struct UBXLOG_RETRIEVESTRING LOG_RETRIEVESTRING;
|
|
|
+ struct UBXLOG_RETRIEVE LOG_RETRIEVE;
|
|
|
+ struct UBXLOG_STRING LOG_STRING;
|
|
|
+ struct UBXMON_HW2 MON_HW2;
|
|
|
+ struct UBXMON_HW MON_HW;
|
|
|
+ struct UBXMON_IO MON_IO;
|
|
|
+ struct UBXMON_MSGPP MON_MSGPP;
|
|
|
+ struct UBXMON_RXBUF MON_RXBUF;
|
|
|
+ struct UBXMON_RXR MON_RXR;
|
|
|
+ struct UBXMON_TXBUF MON_TXBUF;
|
|
|
+ struct UBXMON_VER_POLL MON_VER_POLL;
|
|
|
+ struct UBXMON_VER MON_VER;
|
|
|
+ struct UBXNAV_AOPSTATUS NAV_AOPSTATUS;
|
|
|
+ struct UBXNAV_CLOCK NAV_CLOCK;
|
|
|
+ struct UBXNAV_DGPS NAV_DGPS;
|
|
|
+ struct UBXNAV_DOP NAV_DOP;
|
|
|
+ struct UBXNAV_POSECEF NAV_POSECEF;
|
|
|
+ struct UBXNAV_POSLLH NAV_POSLLH;
|
|
|
+ struct UBXNAV_PVT NAV_PVT;
|
|
|
+ struct UBXNAV_SBAS NAV_SBAS;
|
|
|
+ struct UBXNAV_SOL NAV_SOL;
|
|
|
+ struct UBXNAV_STATUS NAV_STATUS;
|
|
|
+ struct UBXNAV_SVINFO NAV_SVINFO;
|
|
|
+ struct UBXNAV_TIMEGPS NAV_TIMEGPS;
|
|
|
+ struct UBXNAV_TIMEUTC NAV_TIMEUTC;
|
|
|
+ struct UBXNAV_VELECEF NAV_VELECEF;
|
|
|
+ struct UBXNAV_VELNED NAV_VELNED;
|
|
|
+ struct UBXRXM_ALM_POLL RXM_ALM_POLL;
|
|
|
+ struct UBXRXM_ALM_POLL_OPT RXM_ALM_POLL_OPT;
|
|
|
+ struct UBXRXM_ALM_OPT RXM_ALM_OPT;
|
|
|
+ struct UBXRXM_EPH_POLL RXM_EPH_POLL;
|
|
|
+ struct UBXRXM_EPH_POLL_OPT RXM_EPH_POLL_OPT;
|
|
|
+ struct UBXRXM_EPH RXM_EPH;
|
|
|
+ struct UBXRXM_EPH_OPT RXM_EPH_OPT;
|
|
|
+ struct UBXRXM_PMREQ RXM_PMREQ;
|
|
|
+ struct UBXRXM_RAW RXM_RAW;
|
|
|
+ struct UBXRXM_SFRB RXM_SFRB;
|
|
|
+ struct UBXRXM_SVSI RXM_SVSI;
|
|
|
+ struct UBXTIM_TM2 TIM_TM2;
|
|
|
+ struct UBXTIM_TP TIM_TP;
|
|
|
+ struct UBXTIM_VRFY TIM_VRFY;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXAlpFileInfo
|
|
|
+{
|
|
|
+ int fileId;
|
|
|
+ char* alpData;
|
|
|
+ int dataSize;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXMsg
|
|
|
+{
|
|
|
+ u_int16_t preamble;
|
|
|
+ struct UBXHdr hdr;
|
|
|
+ union UBXMsgs payload;
|
|
|
+};
|
|
|
+
|
|
|
+struct UBXMsgBuffer
|
|
|
+{
|
|
|
+ int size;
|
|
|
+ char* data;
|
|
|
+};
|
|
|
+
|
|
|
+#pragma pack(pop)
|
|
|
+
|
|
|
+#endif // UBXMESSAGE_H
|
