/* * ubxproto * 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 #include "portable_endian.h" #ifdef __linux__ #include #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