ubxmessage.h 44 KB

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  1. /*
  2. * ubxproto
  3. * Copyright (c) 2014, Alexey Edelev aka semlanik, All rights reserved.
  4. *
  5. * This library is free software; you can redistribute it and/or
  6. * modify it under the terms of the GNU Lesser General Public
  7. * License as published by the Free Software Foundation; either
  8. * version 3.0 of the License, or (at your option) any later version.
  9. *
  10. * This library is distributed in the hope that it will be useful,
  11. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  12. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
  13. * Lesser General Public License for more details.
  14. *
  15. * You should have received a copy of the GNU Lesser General Public
  16. * License along with this library.
  17. *
  18. * Additionally to GNU Lesser General Public License you MUST NOT
  19. * static link this library to your application and MUST add link to author
  20. * and source of this library in your application.
  21. *
  22. * Actual LGPL text https://www.gnu.org/licenses/lgpl.html
  23. *
  24. * File: ubxmessage.h
  25. */
  26. /*! \file */
  27. #ifndef UBXMESSAGE_H
  28. #define UBXMESSAGE_H
  29. #include <stdio.h>
  30. #ifdef __linux__
  31. #include <sys/types.h>
  32. #elif defined(_WIN32)
  33. //Need to add other OS depend headers
  34. #endif
  35. /*
  36. * Need to clarify how many I/O ports has each version of UBLOX before define UBX_IO_PORTS_NUM macros
  37. * current proto vesion has hardcoded 6 I/O ports by default. If you have other I/O ports amount
  38. * please define macro manualy by yourself.
  39. */
  40. #define UBX_IO_PORTS_NUM 6
  41. //#if!defined UBLOX_VERSION
  42. //#error Before using library define UBLOX_VERSION first
  43. //#else
  44. //#if UBLOX_VERSION == 5 || UBLOX_VERSION == 6
  45. //#define UBX_IO_PORTS_NUM 6
  46. //#else
  47. //#define UBX_IO_PORTS_NUM 6
  48. //#endif
  49. //#endif
  50. #if defined (__linux__)
  51. typedef u_int8_t UBXU1_t;
  52. typedef int8_t UBXI1_t;
  53. typedef u_int8_t UBXX1_t;
  54. typedef u_int16_t UBXU2_t;
  55. typedef int16_t UBXI2_t;
  56. typedef u_int16_t UBXX2_t;
  57. typedef u_int32_t UBXU4_t;
  58. typedef int32_t UBXI4_t;
  59. typedef u_int32_t UBXX4_t;
  60. typedef float UBXR4_t;
  61. typedef double UBXR8_t;
  62. typedef char UBXCH_t;
  63. #else
  64. typedef unsigned char UBXU1_t;
  65. typedef char UBXI1_t;
  66. typedef unsigned char UBXX1_t;
  67. typedef unsigned short UBXU2_t;
  68. typedef short UBXI2_t;
  69. typedef unsigned short UBXX2_t;
  70. typedef unsigned int UBXU4_t;
  71. typedef int UBXI4_t;
  72. typedef unsigned int UBXX4_t;
  73. typedef float UBXR4_t;
  74. typedef double UBXR8_t;
  75. typedef char UBXCH_t;
  76. #endif
  77. static const int UBX_CHECKSUM_SIZE = 2;
  78. static const int UBX_HEADER_SIZE = 6;
  79. static const UBXU2_t UBX_PREAMBLE = 0xB562;
  80. typedef enum
  81. {
  82. UBXMsgClassNAV = 0x01,
  83. UBXMsgClassRXM = 0x02,
  84. UBXMsgClassINF = 0x04,
  85. UBXMsgClassACK = 0x05,
  86. UBXMsgClassCFG = 0x06,
  87. UBXMsgClassMON = 0x0A,
  88. UBXMsgClassAID = 0x0B,
  89. UBXMsgClassTIM = 0x0D,
  90. UBXMsgClassLOG = 0x21,
  91. UBXMsgClassInvalid = 255
  92. } UBXMessageClass;
  93. typedef enum
  94. {
  95. UBXMsgIdACK_NACK = 0x00,
  96. UBXMsgIdACK_ACK = 0x01,
  97. UBXMsgIdAID_ALM = 0x30,
  98. UBXMsgIdAID_ALPSRV = 0x32,
  99. UBXMsgIdAID_ALP = 0x50,
  100. UBXMsgIdAID_AOP = 0x33,
  101. UBXMsgIdAID_DATA = 0x10,
  102. UBXMsgIdAID_EPH = 0x31,
  103. UBXMsgIdAID_HUI = 0x02,
  104. UBXMsgIdAID_INI = 0x01,
  105. UBXMsgIdAID_REQ = 0x00,
  106. UBXMsgIdCFG_ANT = 0x13,
  107. UBXMsgIdCFG_CFG = 0x09,
  108. UBXMsgIdCFG_DAT = 0x06,
  109. UBXMsgIdCFG_GNSS = 0x3E,
  110. UBXMsgIdCFG_INF = 0x02,
  111. UBXMsgIdCFG_ITFM = 0x39,
  112. UBXMsgIdCFG_LOGFILTER = 0x47,
  113. UBXMsgIdCFG_MSG = 0x01,
  114. UBXMsgIdCFG_NAV5 = 0x24,
  115. UBXMsgIdCFG_NAVX5 = 0x23,
  116. UBXMsgIdCFG_NMEA = 0x17,
  117. UBXMsgIdCFG_NVS = 0x22,
  118. UBXMsgIdCFG_PM2 = 0x3B,
  119. UBXMsgIdCFG_PRT = 0x00,
  120. UBXMsgIdCFG_RATE = 0x08,
  121. UBXMsgIdCFG_RINV = 0x34,
  122. UBXMsgIdCFG_RST = 0x04,
  123. UBXMsgIdCFG_RXM = 0x11,
  124. UBXMsgIdCFG_SBAS = 0x16,
  125. UBXMsgIdCFG_TP5 = 0x31,
  126. UBXMsgIdCFG_USB = 0x1B,
  127. UBXMsgIdINF_DEBUG = 0x04,
  128. UBXMsgIdINF_ERROR = 0x00,
  129. UBXMsgIdINF_NOTICE = 0x02,
  130. UBXMsgIdINF_TEST = 0x03,
  131. UBXMsgIdINF_WARNING = 0x01,
  132. UBXMsgIdLOG_CREATE = 0x07,
  133. UBXMsgIdLOG_ERASE = 0x03,
  134. UBXMsgIdLOG_FINDTIME = 0x0E,
  135. UBXMsgIdLOG_INFO = 0x08,
  136. UBXMsgIdLOG_RETRIEVEPOS = 0x0B,
  137. UBXMsgIdLOG_RETRIEVESTRING = 0x0D,
  138. UBXMsgIdLOG_RETRIEVE = 0x09,
  139. UBXMsgIdLOG_STRING = 0x04,
  140. UBXMsgIdMON_HW2 = 0x0B,
  141. UBXMsgIdMON_HW = 0x09,
  142. UBXMsgIdMON_IO = 0x02,
  143. UBXMsgIdMON_MSGPP = 0x06,
  144. UBXMsgIdMON_RXBUF = 0x07,
  145. UBXMsgIdMON_RXR = 0x21,
  146. UBXMsgIdMON_TXBUF = 0x08,
  147. UBXMsgIdMON_VER = 0x04,
  148. UBXMsgIdNAV_AOPSTATUS = 0x60,
  149. UBXMsgIdNAV_CLOCK = 0x22,
  150. UBXMsgIdNAV_DGPS = 0x31,
  151. UBXMsgIdNAV_DOP = 0x04,
  152. UBXMsgIdNAV_POSECEF = 0x01,
  153. UBXMsgIdNAV_POSLLH = 0x02,
  154. UBXMsgIdNAV_PVT = 0x07,
  155. UBXMsgIdNAV_SBAS = 0x32,
  156. UBXMsgIdNAV_SOL = 0x06,
  157. UBXMsgIdNAV_STATUS = 0x03,
  158. UBXMsgIdNAV_SVINFO = 0x30,
  159. UBXMsgIdNAV_TIMEGPS = 0x20,
  160. UBXMsgIdNAV_TIMEUTC = 0x21,
  161. UBXMsgIdNAV_VELECEF = 0x11,
  162. UBXMsgIdNAV_VELNED = 0x12,
  163. UBXMsgIdRXM_ALM = 0x30,
  164. UBXMsgIdRXM_EPH = 0x31,
  165. UBXMsgIdRXM_PMREQ = 0x41,
  166. UBXMsgIdRXM_RAW = 0x10,
  167. UBXMsgIdRXM_SFRB = 0x11,
  168. UBXMsgIdRXM_SVSI = 0x20,
  169. UBXMsgIdTIM_TM2 = 0x03,
  170. UBXMsgIdTIM_TP = 0x01,
  171. UBXMsgIdTIM_VRFY = 0x06,
  172. UBXMsgIdInvalid = 0xFF
  173. } UBXMessageId;
  174. typedef enum
  175. {
  176. UBXHardwareReset = 0x00,
  177. UBXControlledReset = 0x01,
  178. UBXControlledResetGNSSOnly = 0x02,
  179. UBXHardwareResetAfterShutdown = 0x04,
  180. UBXControlledGNSSStop = 0x08,
  181. UBXControlledGNSSStart = 0x09
  182. } UBXResetMode;
  183. typedef enum
  184. {
  185. UBXBBRHotstart = 0x0000,
  186. UBXBBRWarmstart = 0x0001,
  187. UBXBBRColdstart = 0xFFFF
  188. } UBXBBRSpecialSets;
  189. typedef enum
  190. {
  191. UBXBBReph = 1,
  192. UBXBBRalm = 1 << 1,
  193. UBXBBRhealth = 1 << 2,
  194. UBXBBRklob = 1 << 3,
  195. UBXBBRpos = 1 << 4,
  196. UBXBBRclkd = 1 << 5,
  197. UBXBBRosc = 1 << 6,
  198. UBXBBRutc = 1 << 7,
  199. UBXBBRrtc = 1 << 8,
  200. UBXBBRsfdr = 1 << 11,
  201. UBXBBRvmon = 1 << 12,
  202. UBXBBRtct = 1 << 13,
  203. UBXBBRaop = 1 << 15
  204. } UBXBBRMask;
  205. typedef enum
  206. {
  207. UBXHUIHealthValid = 1,
  208. UBXHUIUTCValid = 1 << 1,
  209. UBXHUIKlobValid = 1 << 2
  210. } UBXHUIFlags;
  211. typedef enum
  212. {
  213. UBXINIfEdge = 1 << 1,
  214. UBXINItm1 = 1 << 4,
  215. UBXINIf1 = 1 << 6
  216. } UBXINItmCfg;
  217. typedef enum
  218. {
  219. UBXINIpos = 1,
  220. UBXINItime = 1 << 1,
  221. UBXINIclockD = 1 << 2,
  222. UBXINItp = 1 << 3,
  223. UBXINIclockF = 1 << 4,
  224. UBXINIlla = 1 << 5,
  225. UBXINIaltInv = 1 << 6,
  226. UBXINIprevTm = 1 << 7,
  227. UBXINIutc = 1 << 10
  228. } UBXINIFlags;
  229. typedef enum
  230. {
  231. UBXANTsvcs = 1,
  232. UBXANTscd = 1 << 1,
  233. UBXANTocd = 1 << 2,
  234. UBXANTpdwnOnSCD = 1 << 3,
  235. UBXANTrecovery = 1 << 4
  236. } UBXANTFlags;
  237. typedef enum
  238. {
  239. //CFG_CFG message
  240. UBXCFGioPort = 1,
  241. UBXCFGmsgConf = 1 << 1,
  242. UBXCFGinfMsg = 1 << 2,
  243. UBXCFGnavConf = 1 << 3,
  244. UBXCFGrxmConf = 1 << 4,
  245. UBXCFGrinvConf = 1 << 9,
  246. UBXCFGantConf = 1 << 10,
  247. //CFG_NVS message
  248. UBXCFGalm = 1 << 17,
  249. UBXCFGaopConf = 1 << 29
  250. } UBXCFGMask;
  251. typedef enum
  252. {
  253. UBXCFGdevBBR = 1,
  254. UBXCFGdevFlash = 1 << 1,
  255. UBXCFGdevEEPROM = 1 << 2,
  256. UBXCFGdevSpiFlash = 1 << 5
  257. } UBXCFGDeviceMask;
  258. typedef enum
  259. {
  260. UBXCFGTimepulse = 0,
  261. UBXCFGTimepulse2 = 1
  262. } UBXCFGTimepulses;
  263. typedef enum
  264. {
  265. UBXCFGTimepulseActive = 1,
  266. UBXCFGTimepulseLockGpsFreq = 1 << 1,
  267. UBXCFGTimepulseLockedOtherSet = 1 << 2,
  268. UBXCFGTimepulseIsFreq = 1 << 3,
  269. UBXCFGTimepulseIsLenght = 1 << 4,
  270. UBXCFGTimepulseAlignToTow = 1 << 5,
  271. UBXCFGTimepulsePolarity = 1 << 6,
  272. UBXCFGTimepulseGridUTSGPS = 1 << 7
  273. } UBXCFGTimepulseFlags;
  274. typedef enum
  275. {
  276. UBXProtocol = 0,
  277. UBXNMEAProtocol
  278. } UBXCFGProtocolIds;
  279. typedef enum
  280. {
  281. UBXGPS,
  282. UBXSBAS,
  283. UBXQZSS = 5,
  284. UBXGLONASS = 6
  285. } UBXGNSSIds;
  286. typedef enum
  287. {
  288. UBXInfError = 1,
  289. UBXInfWarning = 1 << 1,
  290. UBXInfNotice = 1 << 2,
  291. UBXInfDebug = 1 << 3,
  292. UBXInfTest = 1 << 4
  293. } UBXCFGInfMsgMask;
  294. typedef enum
  295. {
  296. UBXITFMAntUnknown = 0,
  297. UBXITFMAntPassive = 1,
  298. UBXITFMAntActive = 2
  299. } UBXITFMAntSetting;
  300. typedef enum
  301. {
  302. UBXLOGFILTERRecordEnabled = 1,
  303. UBXLOGFILTERPsmOncePerWakupEnabled = 1 << 1,
  304. UBXLOGFILTERApplyAllFilterSettings = 1 << 2
  305. } UBXLOGFILTERFlags;
  306. typedef enum
  307. {
  308. UBXNAV5Dyn = 1,
  309. UBXNAV5MinEl = 1 << 1,
  310. UBXNAV5PosFixMode = 1 << 2,
  311. UBXNAV5DrLim = 1 << 3,
  312. UBXNAV5PosMask = 1 << 4,
  313. UBXNAV5TimeMask = 1 << 5,
  314. UBXNAV5StaticHoldMask = 1 << 6,
  315. UBXNAV5DgpsMask = 1 << 7,
  316. } UBXNAV5Mask;
  317. typedef enum
  318. {
  319. UBXNAV5ModelPortable = 0,
  320. UBXNAV5ModelStationary = 2,
  321. UBXNAV5ModelPedestrian = 3,
  322. UBXNAV5ModelAutomotive = 4,
  323. UBXNAV5ModelSea = 5,
  324. UBXNAV5ModelAirborne1g = 6,
  325. UBXNAV5ModelAirborne2g = 7,
  326. UBXNAV5ModelAirborne4g = 8
  327. } UBXNAV5Model;
  328. typedef enum
  329. {
  330. UBXNAV5Fix2DOnly = 1,
  331. UBXNAV5Fix3DOnly = 2,
  332. UBXNAV5FixAuto2D3D = 3
  333. } UBXNAV5FixMode;
  334. typedef enum
  335. {
  336. UBXNAVX5AopMinMax = 1 << 2,
  337. UBXNAVX5AopMinCno = 1 << 3,
  338. UBXNAVX5AopInitial3dfix = 1 << 6,
  339. UBXNAVX5AopWknRoll = 1 << 9,
  340. UBXNAVX5AopPPP = 1 << 13,
  341. UBXNAVX5Aop = 1 << 14
  342. } UBXNAVX5Mask;
  343. typedef enum
  344. {
  345. UBXNMEAPosFilter = 1,
  346. UBXNMEAMskPosFilter = 1 << 1,
  347. UBXNMEATimeFilter = 1 << 2,
  348. UBXNMEADateFilter = 1 << 3,
  349. UBXNMEAGPSOnlyFilter = 1 << 4,
  350. UBXNMEATrackFilter = 1 << 5,
  351. } UBXNMEAFilter;
  352. typedef enum
  353. {
  354. UBXNMEAVersion23 = 0x23,
  355. UBXNMEAVersion21 = 0x21
  356. } UBXNMEAVersion;
  357. typedef enum
  358. {
  359. UBXNMEACompatFlag = 1,
  360. UBXNMEAConsiderFlag = 1 << 1
  361. } UBXNMEAFlags;
  362. typedef enum
  363. {
  364. UBXNMEAGPSFilter = 1,
  365. UBXNMEASBASFilter = 1 << 1,
  366. UBXNMEAQZSSFilter = 1 << 4,
  367. UBXNMEAGLONASSFilter = 1 << 5
  368. } UBXNMEAGNSSToFilter;
  369. typedef enum
  370. {
  371. UBXNMEASVNumStrict = 0,
  372. UBXNMEASVNumExtended = 1
  373. } UBXNMEASVNumbering;
  374. typedef enum
  375. {
  376. UBXNMEATalkerNotOverriden = 0,
  377. UBXNMEATalkerGP = 1,
  378. UBXNMEATalkerGL = 2,
  379. UBXNMEATalkerGN = 3
  380. } UBXNMEATalkerIds;
  381. typedef enum
  382. {
  383. UBXNMEAGSVTalkerGNSSSpecific = 0,
  384. UBXNMEAGSVTalkerMain = 1
  385. } UBXNMEAGSVTalkerIds;
  386. typedef enum
  387. {
  388. UBXPM2LimitCurrentDisabled = 0x00,
  389. UBXPM2LimitCurrentEnabled = 0x01
  390. } UBXPM2LimitPeakCurrent;
  391. typedef enum
  392. {
  393. UBXPM2OnOffOperation = 0x00,
  394. UBXPM2CyclicTrackOperation = 0x01
  395. } UBXPM2Mode;
  396. typedef enum
  397. {
  398. UBXPRTMode5BitCharLen = 0x00, //Not supported
  399. UBXPRTMode6BitCharLen = 0x01, //Not supported
  400. UBXPRTMode7BitCharLen = 0x02, //Supported only with parity
  401. UBXPRTMode8BitCharLen = 0x03
  402. } UBXPRTModeCharLen;
  403. typedef enum
  404. {
  405. UBXPRTModeEvenParity = 0,
  406. UBXPRTModeOddParity = 1,
  407. UBXPRTModeNoParity = 1 << 3,
  408. UBXPRTModeReserved = 1 << 2
  409. } UBXPRTModeParity;
  410. typedef enum
  411. {
  412. UBXPRTMode1StopBit = 0,
  413. UBXPRTMode1dot5StopBit = 1,
  414. UBXPRTMode2StopBit = 2,
  415. UBXPRTMode0dot5StopBit = 3,
  416. } UBXPRTModeStopBits;
  417. typedef enum
  418. {
  419. UBXPRTInProtoInUBX = 1,
  420. UBXPRTInProtoInNMEA = 1 << 1,
  421. UBXPRTInProtoInRTCM = 1 << 2
  422. } UBXPRTInProtoMask;
  423. typedef enum
  424. {
  425. UBXPRTOutProtoOutUBX = 1,
  426. UBXPRTOutProtoOutNMEA = 1 << 1
  427. } UBXPRTOutProtoMask;
  428. typedef enum
  429. {
  430. UBXPRTExtendedTxTimeout = 1 << 1
  431. } UBXPRTFlags;
  432. typedef enum
  433. {
  434. UBXPRTSPIMode0 = 0, //CPOL = 0, CPHA = 0
  435. UBXPRTSPIMode1, //CPOL = 0, CPHA = 1
  436. UBXPRTSPIMode2, //CPOL = 1, CPHA = 0
  437. UBXPRTSPIMode3, //CPOL = 1, CPHA = 1
  438. } UBXPRTSPIMode;
  439. typedef enum
  440. {
  441. UBXRINVDump = 1,
  442. UBXRINVBinary = 1 << 1
  443. } UBXRINVFlags;
  444. typedef enum
  445. {
  446. UBXRXMContinousMode = 0,
  447. UBXRXMPowerSaveMode = 1
  448. } UBXRXMLowPowerModes;
  449. typedef enum
  450. {
  451. UBXSBASModeEnabled = 1,
  452. UBXSBASModeTest = 1 << 1
  453. } UBXSBASModes;
  454. typedef enum
  455. {
  456. UBXSBASUsageRange = 1,
  457. UBXSBASUsageDiffCorr = 1 << 1,
  458. UBXSBASUsageIntegrity = 1 << 2
  459. } UBXSBASUsage;
  460. typedef enum
  461. {
  462. UBXSBASScanModePRN152 = 1,
  463. UBXSBASScanModePRN153 = 1 << 1,
  464. UBXSBASScanModePRN154 = 1 << 2,
  465. UBXSBASScanModePRN155 = 1 << 3,
  466. UBXSBASScanModePRN156 = 1 << 4,
  467. UBXSBASScanModePRN157 = 1 << 5,
  468. UBXSBASScanModePRN158 = 1 << 6
  469. } UBXSBASScanModes2;
  470. typedef enum
  471. {
  472. UBXSBASScanModePRN120 = 1,
  473. UBXSBASScanModePRN121 = 1 << 1,
  474. UBXSBASScanModePRN122 = 1 << 2,
  475. UBXSBASScanModePRN123 = 1 << 3,
  476. UBXSBASScanModePRN124 = 1 << 4,
  477. UBXSBASScanModePRN125 = 1 << 5,
  478. UBXSBASScanModePRN126 = 1 << 6,
  479. UBXSBASScanModePRN127 = 1 << 7,
  480. UBXSBASScanModePRN128 = 1 << 8,
  481. UBXSBASScanModePRN129 = 1 << 9,
  482. UBXSBASScanModePRN130 = 1 << 10,
  483. UBXSBASScanModePRN131 = 1 << 11,
  484. UBXSBASScanModePRN132 = 1 << 12,
  485. UBXSBASScanModePRN133 = 1 << 13,
  486. UBXSBASScanModePRN134 = 1 << 14,
  487. UBXSBASScanModePRN135 = 1 << 15,
  488. UBXSBASScanModePRN136 = 1 << 16,
  489. UBXSBASScanModePRN137 = 1 << 17,
  490. UBXSBASScanModePRN138 = 1 << 18,
  491. UBXSBASScanModePRN139 = 1 << 19,
  492. UBXSBASScanModePRN140 = 1 << 20,
  493. UBXSBASScanModePRN141 = 1 << 21,
  494. UBXSBASScanModePRN142 = 1 << 22,
  495. UBXSBASScanModePRN143 = 1 << 23,
  496. UBXSBASScanModePRN144 = 1 << 24,
  497. UBXSBASScanModePRN145 = 1 << 25,
  498. UBXSBASScanModePRN146 = 1 << 26,
  499. UBXSBASScanModePRN147 = 1 << 27,
  500. UBXSBASScanModePRN148 = 1 << 28,
  501. UBXSBASScanModePRN149 = 1 << 29,
  502. UBXSBASScanModePRN150 = 1 << 30,
  503. UBXSBASScanModePRN151 = 1 << 31,
  504. } UBXSBASScanModes1;
  505. typedef enum
  506. {
  507. USBFlagReEnum = 1,
  508. USBFlagPowerMode = 1 << 1
  509. } UBXUSBFlags;
  510. typedef enum
  511. {
  512. UBXLOGCfgCircular = 1
  513. } UBXLOGCfg;
  514. typedef enum
  515. {
  516. UBXLOGMaximumSafeSize = 0,
  517. UBXLOGMinimunSize = 1,
  518. UBXLOGUserDefined = 2,
  519. } UBXLOGSize;
  520. typedef enum
  521. {
  522. UBXLOGStatusRecording = 1 << 3,
  523. UBXLOGStatusInactive = 1 << 4,
  524. UBXLOGStatusCircular = 1 << 5
  525. } UBXLOGStatus;
  526. typedef enum
  527. {
  528. UBXRETRIEVEPOS2DFix = 2,
  529. UBXRETRIEVEPOS3DFix = 3
  530. } UBXRETRIEVEPOSFixType;
  531. typedef enum
  532. {
  533. UBXRXRAwake = 1
  534. } UBXRXRFlags;
  535. typedef enum
  536. {
  537. UBXAOPStatusIdle = 0,
  538. UBXAOPStatusRunning = 1
  539. } UBXAOPStatus;
  540. typedef enum
  541. {
  542. UBXAOPCfgUseAOP = 1
  543. } UBXAOPCfg;
  544. typedef enum
  545. {
  546. UBXGPSNoFix = 0x00,
  547. UBXGPSDeadReckoning = 0x01,
  548. UBXGPS2DFix = 0x02,
  549. UBXGPS3DFix = 0x03,
  550. UBXGPSGNSSDeadReckoning = 0x04,
  551. UBXGPSTimeOnlyFix = 0x05
  552. } UBXGPSFix;
  553. typedef enum
  554. {
  555. UBXPVTValidDate = 1,
  556. UBXPVTValidTime = 1 << 1,
  557. UBXPVTFullyResolved = 1 << 2,
  558. } UBXPVTValid;
  559. typedef enum
  560. {
  561. UBXPVTPSMStateNA = 0,
  562. UBXPVTPSMStateEnabled = 1,
  563. UBXPVTPSMStateAcquisition = 2,
  564. UBXPVTPSMStateTracking = 3,
  565. UBXPVTPSMStatePowerOptim = 4,
  566. UBXPVTPSMStateInactive = 5,
  567. } UBXPVTPSMStates;
  568. typedef enum
  569. {
  570. UBXSBASServiceRanging = 1,
  571. UBXSBASServiceCorrections = 1 << 1,
  572. UBXSBASServiceIntegrity = 1 << 2,
  573. UBXSBASServiceTestmode = 1 << 3
  574. } UBXSBASService;
  575. typedef enum
  576. {
  577. UBXSBASSOLGPSfixOK = 1,
  578. UBXSBASSOLDiffSoln = 1 << 1,
  579. UBXSBASSOLWKNSet = 1 << 2,
  580. UBXSBASSOLTOWSet = 1 << 3
  581. } UBXSBASSOLFlags;
  582. typedef enum
  583. {
  584. UBXSVINFOAntarisChip = 0,
  585. UBXSVINFOUBlox5Chip = 1,
  586. UBXSVINFOUBlox6Chip = 2
  587. } UBXSVINFOChipGen;
  588. typedef enum
  589. {
  590. UBXSVINFOFlagsSVUsed = 1,
  591. UBXSVINFOFlagsDiffCorr = 1 << 1,
  592. UBXSVINFOFlagsOrbitAvail = 1 << 2,
  593. UBXSVINFOFlagsOrbitEph = 1 << 3,
  594. UBXSVINFOFlagsUnhealthy = 1 << 4,
  595. UBXSVINFOFlagsOrbitAlm = 1 << 5,
  596. UBXSVINFOFlagsOrbitAop = 1 << 6,
  597. UBXSVINFOFlagsSmoothed = 1 << 7
  598. } UBXSVINFOFlags;
  599. typedef enum
  600. {
  601. UBXSVINFOQualityChannelIdle = 0,
  602. UBXSVINFOQualityChannelSearching = 1,
  603. UBXSVINFOQualitySignalAquired = 2,
  604. UBXSVINFOQualitySignalDetected = 3,
  605. UBXSVINFOQualityCodeLockOnSignal = 4,
  606. UBXSVINFOQualityCodeCarrierLocked = 5
  607. } UBXSVINFOQualityId;
  608. typedef enum
  609. {
  610. UBXTIMEGPSTowValid = 1,
  611. UBXTIMEGPSWeekValid = 1 << 1,
  612. UBXTIMEGPSLeapSValid = 1 << 2
  613. } UBXTIMEGPSValidityFlags;
  614. typedef enum
  615. {
  616. UBXTIMEUTCValidTOW = 1,
  617. UBXTIMEUTCValidWKN = 1 << 1,
  618. UBXTIMEUTCValidUTC = 1 << 2
  619. } UBXTIMEUTCValidityFlags;
  620. typedef enum
  621. {
  622. UBXPMREQBackup = 1 << 1
  623. } UBXPMREQFlags;
  624. typedef enum
  625. {
  626. UBXTM2FlagsModeSingle = 0,
  627. UBXTM2FlagsModeRunning = 1
  628. } UBXTM2FlagsMode;
  629. typedef enum
  630. {
  631. UBXTM2FlagsRunArmed = 0,
  632. UBXTM2FlagsRunStopped = 1
  633. } UBXTM2FlagsRun;
  634. typedef enum
  635. {
  636. UBXTM2FlagsTimeBaseReceiverTime = 0,
  637. UBXTM2FlagsTimeBaseGPS = 1,
  638. UBXTM2FlagsTimeBaseUTC = 2
  639. } UBXTM2FlagsTimeBase;
  640. typedef enum
  641. {
  642. UBXTM2FlagsUTCNotAvailable = 0,
  643. UBXTM2FlagsUTCAvailable = 1
  644. } UBXTM2FlagsUTC;
  645. typedef enum
  646. {
  647. UBXTM2FlagsTimeInvalid = 0,
  648. UBXTM2FlagsTimeValid = 1
  649. } UBXTM2FlagsTime;
  650. typedef enum
  651. {
  652. UBXTPTimeBaseUTC = 1,
  653. UBXTPUTCAvailable = 1 << 1
  654. } UBXTPFlags;
  655. typedef enum
  656. {
  657. UBXVRFYNoTimeAidingDone = 0,
  658. UBXVRFYSourceRTC = 2,
  659. UBXVRFYSourceAID_INI = 3
  660. } UBXVRFYFlagsSource;
  661. #pragma pack(push,1)
  662. typedef struct {
  663. UBXU1_t msgClass;
  664. UBXU1_t msgId;
  665. UBXU2_t length;
  666. } UBXHdr;
  667. typedef struct {
  668. UBXU1_t idSize;
  669. UBXU1_t type;
  670. UBXU2_t offset;
  671. UBXU2_t size;
  672. UBXU2_t fileId;
  673. UBXU2_t dataSize;
  674. UBXU1_t id1;
  675. UBXU1_t id2;
  676. UBXU4_t id3;
  677. } UBXAID_ALPSRV;
  678. typedef struct {
  679. UBXU1_t msgClass;
  680. UBXU1_t msgId;
  681. } UBXACK_ACK;
  682. typedef struct {
  683. UBXU1_t msgClass;
  684. UBXU1_t msgId;
  685. } UBXACK_NACK;
  686. //typedef struct UBXAID_ALM_POLL {
  687. //No payload
  688. //};
  689. typedef struct {
  690. UBXU1_t svid;
  691. } UBXAID_ALM_POLL_OPT;
  692. typedef struct {
  693. UBXU4_t svid;
  694. UBXU4_t week;
  695. } UBXAID_ALM;
  696. typedef struct {
  697. UBXU4_t svid;
  698. UBXU4_t week;
  699. UBXU4_t dwrd[8];
  700. } UBXAID_ALM_OPT;
  701. typedef struct {
  702. //Variable payload
  703. #ifdef __WINDOWS__
  704. UBXU1_t payload;
  705. #endif
  706. } UBXAID_ALP;
  707. typedef struct {
  708. UBXU1_t dummy;
  709. } UBXAID_ALP_END;
  710. typedef struct {
  711. UBXU4_t predTow;
  712. UBXU4_t predDur;
  713. UBXI4_t age;
  714. UBXU2_t predWno;
  715. UBXU2_t almWno;
  716. UBXU4_t reserved1;
  717. UBXU1_t svs;
  718. UBXU1_t reserved2;
  719. UBXU2_t reserved3;
  720. } UBXAID_ALP_POLL;
  721. //typedef struct {
  722. //No payload
  723. //} UBXAID_AOP_POLL;
  724. typedef struct {
  725. UBXU1_t svid;
  726. } UBXAID_AOP_POLL_OPT;
  727. typedef struct {
  728. UBXU1_t svid;
  729. UBXU1_t data[59];
  730. } UBXAID_AOP;
  731. typedef struct {
  732. UBXU1_t svid;
  733. UBXU1_t data[59];
  734. UBXU1_t optional0[48];
  735. UBXU1_t optional1[48];
  736. UBXU1_t optional2[48];
  737. } UBXAID_AOP_OPT;
  738. //typedef struct {
  739. //No payload
  740. //} UBXAID_DATA_POLL;
  741. //typedef struct UBXAID_EPH_POLL {
  742. //No payload
  743. //};
  744. typedef struct {
  745. UBXU1_t svid;
  746. } UBXAID_EPH_POLL_OPT;
  747. typedef struct {
  748. UBXU4_t svid;
  749. UBXU4_t how;
  750. } UBXAID_EPH;
  751. typedef struct {
  752. UBXU4_t svid;
  753. UBXU4_t how;
  754. UBXU4_t sf1d[8];
  755. UBXU4_t sf2d[8];
  756. UBXU4_t sf3d[8];
  757. } UBXAID_EPH_OPT;
  758. //typedef struct {
  759. //No payload
  760. //} UBXAID_HUI_POLL;
  761. typedef struct {
  762. UBXI4_t health;
  763. UBXR4_t utcA0;
  764. UBXR4_t utcA1;
  765. UBXI4_t utcTOW;
  766. UBXI2_t utcWNT;
  767. UBXI2_t utcLS;
  768. UBXI2_t utcWNF;
  769. UBXI2_t utcDN;
  770. UBXI2_t utcLSF;
  771. UBXI2_t utcSpare;
  772. UBXR4_t klobA0;
  773. UBXR4_t klobA1;
  774. UBXR4_t klobA2;
  775. UBXR4_t klobA3;
  776. UBXR4_t klobB0;
  777. UBXR4_t klobB1;
  778. UBXR4_t klobB2;
  779. UBXR4_t klobB3;
  780. UBXX2_t flags;
  781. } UBXAID_HUI;
  782. //typedef struct {
  783. //No payload
  784. //} UBXAID_INI_POLL;
  785. typedef struct {
  786. UBXI1_t ecefXOrLat;
  787. UBXI1_t ecefYOrLat;
  788. UBXI1_t ecefZOrLat;
  789. UBXU1_t posAcc;
  790. UBXI1_t tmCfg;
  791. UBXU2_t wnoOrDate;
  792. UBXU4_t towOrDate;
  793. UBXI4_t towNs;
  794. UBXU4_t tAccMS;
  795. UBXU4_t tAccNS;
  796. UBXI4_t clkDOrFreq;
  797. UBXU4_t clkDAccOrFreqAcc;
  798. UBXX4_t flags;
  799. } UBXAID_INI;
  800. //typedef struct {
  801. //No payload
  802. //} UBXAID_REQ;
  803. //typedef struct {
  804. //No payload
  805. //} UBXCFG_ANT_POLL;
  806. typedef struct {
  807. UBXX2_t UBXANTpinSwitch:5;
  808. UBXX2_t UBXANTpinSCD:5;
  809. UBXX2_t UBXANTpinOCD:5;
  810. UBXX2_t UBXANTreconfig:1;
  811. } UBXANTPins;
  812. typedef struct {
  813. UBXX2_t flags; //See UBXANTFlags to fill this field
  814. UBXANTPins pins;
  815. } UBXCFG_ANT;
  816. typedef struct {
  817. UBXX4_t clearMask; //See UBXCFGMask to fill this field
  818. UBXX4_t saveMask; //See UBXCFGMask to fill this field
  819. UBXX4_t loadMask; //See UBXCFGMask to fill this field
  820. } UBXCFG_CFG;
  821. typedef struct {
  822. UBXX4_t clearMask; //See UBXCFGMask to fill this field
  823. UBXX4_t saveMask; //See UBXCFGMask to fill this field
  824. UBXX4_t loadMask; //See UBXCFGMask to fill this field
  825. UBXX1_t deviceMask; //See UBXCFGDeviceMask to fill this field
  826. } UBXCFG_CFG_OPT;
  827. //typedef struct {
  828. //No payload
  829. //} UBXCFG_DAT_POLL;
  830. typedef struct {
  831. UBXR8_t majA;
  832. UBXR8_t flat;
  833. UBXR4_t dX;
  834. UBXR4_t dY;
  835. UBXR4_t dZ;
  836. UBXR4_t rotX;
  837. UBXR4_t rotY;
  838. UBXR4_t rotZ;
  839. UBXR4_t scale;
  840. } UBXCFG_DAT_IN;
  841. typedef struct {
  842. UBXU2_t datumNum;
  843. UBXCH_t datumName[6];
  844. UBXR8_t majA;
  845. UBXR8_t flat;
  846. UBXR4_t dX;
  847. UBXR4_t dY;
  848. UBXR4_t dZ;
  849. UBXR4_t rotX;
  850. UBXR4_t rotY;
  851. UBXR4_t rotZ;
  852. UBXR4_t scale;
  853. } UBXCFG_DAT_OUT;
  854. //typedef struct {
  855. //No payload
  856. //} UBXCFG_GNSS_POLL;
  857. typedef struct {
  858. UBXU1_t msgVer;
  859. UBXU1_t numTrkChHw;
  860. UBXU1_t numTrkChUse;
  861. UBXU1_t numConfigBlocks;
  862. //Variable addition here
  863. //See structure below
  864. } UBXCFG_GNSS;
  865. typedef struct {
  866. UBXU1_t gnssId; //See UBXGNSSIds to fill this field
  867. UBXU1_t resTrkCh;
  868. UBXU1_t maxTrkCh;
  869. UBXU1_t reserved1;
  870. UBXX4_t flags; //0 - disabled, 1 - enabled
  871. } UBXCFG_GNSS_PART;
  872. typedef struct {
  873. UBXU1_t protocolId;
  874. } UBXCFG_INF_POLL;
  875. typedef struct {
  876. //Variable payload
  877. //See structure UBXCFG_INF_PART below
  878. #ifdef __WINDOWS__
  879. UBXU1_t payload;
  880. #endif
  881. } UBXCFG_INF;
  882. typedef struct {
  883. UBXU1_t protocolId;
  884. UBXU1_t reserved0;
  885. UBXU2_t reserved1;
  886. UBXX1_t infMsgMask[6]; //See UBXCFGInfMsgMask to fill this field
  887. } UBXCFG_INF_PART;
  888. //typedef struct {
  889. //No payload
  890. //} UBXCFG_ITFM_POLL;
  891. typedef struct
  892. {
  893. UBXX4_t bbThreshold:4;
  894. UBXX4_t cwThreshold:5;
  895. UBXX4_t reserved1:22; //Should be 0x16B156
  896. UBXX4_t enbled:1;
  897. } UBXITFMConfig;
  898. typedef struct
  899. {
  900. UBXX4_t reserved2:12; //Should be 0x31E
  901. UBXX4_t antSetting:2; //See UBXITFMAntSetting to fill this field
  902. UBXX4_t reserved3:18; //Should be 0x00
  903. } UBXITFMConfig2;
  904. typedef struct {
  905. UBXITFMConfig config;
  906. UBXITFMConfig2 config2;
  907. } UBXCFG_ITFM;
  908. //typedef struct {
  909. //No payload data
  910. //} UBXCFG_LOGFILTER_POLL;
  911. typedef struct {
  912. UBXU1_t version;
  913. UBXX1_t flags; //See UBXLOGFILTERFlags to fill this field
  914. UBXU2_t minIterval;
  915. UBXU2_t timeThreshold;
  916. UBXU2_t speedThreshold;
  917. UBXU4_t positionThreshold;
  918. } UBXCFG_LOGFILTER;
  919. typedef struct {
  920. UBXU1_t msgClass;
  921. UBXU1_t msgId;
  922. } UBXCFG_MSG_POLL;
  923. typedef struct {
  924. UBXU1_t msgClass;
  925. UBXU1_t msgId;
  926. UBXU1_t rate[6];
  927. } UBXCFG_MSG_RATES;
  928. typedef struct {
  929. UBXU1_t msgClass;
  930. UBXU1_t msgId;
  931. UBXU1_t rate;
  932. } UBXCFG_MSG_RATE;
  933. //typedef struct {
  934. //No payload data
  935. //} UBXCFG_NAV5_POLL;
  936. typedef struct {
  937. UBXX2_t mask; //See UBXNAV5Mask to fill this field
  938. UBXU1_t dynModel; //See UBXNAV5Model to fill this field
  939. UBXU1_t fixMode; //See UBXNAV5FixMode to fill this field
  940. UBXI4_t fixedAlt;
  941. UBXU4_t fixedAltVar;
  942. UBXI1_t minElev;
  943. UBXU1_t drLimit;
  944. UBXU2_t pDop;
  945. UBXU2_t tDop;
  946. UBXU2_t pAcc;
  947. UBXU2_t tAcc;
  948. UBXU1_t staticHoldThresh;
  949. UBXU1_t dgpsTimeOut;
  950. UBXU1_t cnoThreshNumSVs;
  951. UBXU1_t cnoThresh;
  952. UBXU2_t reserved2; //Set to 0
  953. UBXU4_t reserved3; //Set to 0
  954. UBXU4_t reserved4; //Set to 0
  955. } UBXCFG_NAV5;
  956. //typedef struct {
  957. //No payload
  958. //} UBXCFG_NAVX5_POLL;
  959. typedef struct {
  960. UBXU2_t version;
  961. UBXX2_t mask1; //See UBXNAVX5Mask to fill this field
  962. UBXU4_t reserved0; //Set 0
  963. UBXU1_t reserved1; //Set 0
  964. UBXU1_t reserved2; //Set 0
  965. UBXU1_t minSVs;
  966. UBXU1_t maxSVs;
  967. UBXU1_t minCNO;
  968. UBXU1_t reserved5; //Set 0
  969. UBXU1_t iniFix3D;
  970. UBXU1_t reserved6; //Set 0
  971. UBXU1_t reserved7; //Set 0
  972. UBXU1_t reserved8; //Set 0
  973. UBXU2_t wknRollover;
  974. UBXU4_t reserved9; //Set 0
  975. UBXU1_t reserved10; //Set 0
  976. UBXU1_t reserved11; //Set 0
  977. UBXU1_t usePPP;
  978. UBXU1_t aopCFG; // 0-disabled, 1 - enabled
  979. UBXU1_t reserved12; //Set 0
  980. UBXU1_t reserved13; //Set 0
  981. UBXU1_t aopOrbMaxErr;
  982. UBXU1_t reserved14; //Set 0
  983. UBXU1_t reserved15; //Set 0
  984. UBXU2_t reserved3; //Set 0
  985. UBXU4_t reserved4; //Set 0
  986. } UBXCFG_NAVX5;
  987. //typedef struct UBXCFG_NMEA_POLL {
  988. //No payload
  989. //};
  990. typedef struct {
  991. UBXX1_t filter; //See UBXNMEAFilter to fill this field
  992. UBXU1_t nmeaVersion;
  993. UBXU1_t numSV;
  994. UBXX1_t flags; //See UBXNMEAFlags to fill this field
  995. UBXX4_t gnssToFilter; //See UBXNMEAGNSSToFilter to fill this field
  996. UBXU1_t svNumbering;
  997. UBXU1_t mainTalkerId;
  998. UBXU1_t gsvTalkerId;
  999. UBXU1_t reserved;
  1000. } UBXCFG_NMEA;
  1001. typedef struct {
  1002. UBXX4_t clearMask; //See UBXCFGMask CFG_NVS section to fill this field
  1003. UBXX4_t saveMask; //See UBXCFGMask CFG_NVS section to fill this field
  1004. UBXX4_t loadMask; //See UBXCFGMask CFG_NVS section to fill this field
  1005. UBXX1_t deviceMask; //See UBXCFGDeviceMask to fill this field
  1006. } UBXCFG_NVS;
  1007. //typedef struct {
  1008. //No payload
  1009. //} UBXCFG_PM2_POLL;
  1010. typedef struct
  1011. {
  1012. UBXX4_t blank1:1;
  1013. UBXX4_t reserved:3;
  1014. UBXX4_t extIntSelect:1;
  1015. UBXX4_t extIntWake:1;
  1016. UBXX4_t extIntBackup:1;
  1017. UBXX4_t blank2:1;
  1018. UBXX4_t limitPeakCurr:2; //See UBXPM2LimitPeakCurrent to fill this field
  1019. UBXX4_t waitTimeFix:1;
  1020. UBXX4_t updateRTC:1;
  1021. UBXX4_t updateEPH:1;
  1022. UBXX4_t blank3:3;
  1023. UBXX4_t doNotEnterOff:1;
  1024. UBXX4_t mode:2; //See UBXPM2Mode to fill this field
  1025. } UBXCFG_PM2Flags;
  1026. typedef struct {
  1027. UBXU1_t version;
  1028. UBXU1_t reserved1;
  1029. UBXU1_t reserved2;
  1030. UBXU1_t reserved3;
  1031. UBXCFG_PM2Flags flags;
  1032. UBXU4_t updatePeriod;
  1033. UBXU4_t searchPeriod;
  1034. UBXU4_t gridOffset;
  1035. UBXU2_t onTime;
  1036. UBXU2_t minAcqTime;
  1037. UBXU2_t reserved4;
  1038. UBXU2_t reserved5;
  1039. UBXU4_t reserved6;
  1040. UBXU4_t reserved7;
  1041. UBXU1_t reserved8;
  1042. UBXU1_t reserved9;
  1043. UBXU2_t reserved10;
  1044. UBXU4_t reserved11;
  1045. } UBXCFG_PM2;
  1046. //typedef struct {
  1047. //No payload
  1048. //} UBXCFG_PRT_POLL;
  1049. typedef struct {
  1050. UBXU1_t portId;
  1051. } UBXCFG_PRT_POLL_OPT;
  1052. typedef struct
  1053. {
  1054. UBXX2_t en:1; //0 - disabled, 1 - enabled
  1055. UBXX2_t pol:1; //0 - High-active, 1 - Low-active
  1056. UBXX2_t pin:5;
  1057. UBXX2_t thres:9; //Given value is multiplied by 8 bytes
  1058. } UBXCFG_PRTTxReady;
  1059. typedef struct
  1060. {
  1061. UBXX4_t blank0:4;
  1062. UBXX4_t reserved1:1;
  1063. UBXX4_t blank1:1;
  1064. UBXX4_t charLen:2; //See UBXPRTModeCharLen to fill this field
  1065. UBXX4_t blank2:1;
  1066. UBXX4_t parity:3; //See UBXPRTModeParity to fill this field
  1067. UBXX4_t nStopBits:2; //See UBXPRTModeStopBits to fill this field
  1068. UBXX4_t blank3:18;
  1069. } UBXCFG_PRTUARTMode;
  1070. typedef struct
  1071. {
  1072. UBXX4_t blank0:1;
  1073. UBXX4_t spiMode:2; //See UBXPRTSPIMode to fill this field
  1074. UBXX4_t blank1:3;
  1075. UBXX4_t flowControl:1; //0 - disabled, 1 - enabled
  1076. UBXX4_t blank2:1;
  1077. UBXX4_t ffCnt:8;
  1078. UBXX4_t blank3:16;
  1079. } UBXCFG_PRTSPIMode;
  1080. typedef struct
  1081. {
  1082. UBXX4_t blank0:1;
  1083. UBXX4_t slaveAddr:7; //Range: 0x07 < slaveAddr < 0x78. Bit 0 shall be 0
  1084. UBXX4_t blank1:24;
  1085. } UBXCFG_PRTDDCMode;
  1086. typedef union
  1087. {
  1088. UBXCFG_PRTUARTMode UART;
  1089. UBXCFG_PRTSPIMode SPI;
  1090. UBXCFG_PRTDDCMode DDC;
  1091. UBXX4_t USB; //reserved
  1092. } UBXCFG_PRTMode;
  1093. typedef union
  1094. {
  1095. UBXU4_t UARTbaudRate;
  1096. UBXU4_t OtherReserved;
  1097. } UBXCFG_PRT5Option;
  1098. typedef struct
  1099. {
  1100. UBXU1_t portID;
  1101. UBXU1_t reserved0;
  1102. UBXCFG_PRTTxReady txReady;
  1103. UBXCFG_PRTMode mode;
  1104. UBXCFG_PRT5Option option;
  1105. UBXX2_t inProtoMask; //See UBXPRTInProtoMask to fill this field
  1106. UBXX2_t outProtoMask; //See UBXPRTOutProtoMask to fill this field
  1107. UBXX2_t flags; //See UBXPRTFlags to fill this field, shall be 0 for USB
  1108. UBXU1_t reserved5;
  1109. } UBXCFG_PRT;
  1110. //typedef struct {
  1111. //No payload
  1112. //} UBXCFG_RATE_POLL;
  1113. typedef struct {
  1114. UBXU2_t measRate;
  1115. UBXU2_t navRate;
  1116. UBXU2_t timeRef;
  1117. } UBXCFG_RATE;
  1118. //typedef struct {
  1119. //No payload
  1120. //} UBXCFG_RINV_POLL;
  1121. typedef struct {
  1122. UBXX1_t flags; //See UBXRINVFlags to fill this field
  1123. //Variable payload size
  1124. } UBXCFG_RINV;
  1125. typedef struct {
  1126. UBXX2_t navBBRMask;
  1127. UBXU1_t resetMode;
  1128. UBXU1_t reserved1;
  1129. } UBXCFG_RST;
  1130. //typedef struct {
  1131. //No payload
  1132. //} UBXCFG_RXM_POLL;
  1133. typedef struct {
  1134. UBXU1_t reserved1; //Shall be set to 8
  1135. UBXU1_t lpMode; //See UBXRXMLowPowerModes to fill this field
  1136. } UBXCFG_RXM;
  1137. //typedef struct {
  1138. //No payload
  1139. //} UBXCFG_SBAS_POLL;
  1140. typedef struct {
  1141. UBXX1_t mode; //See UBXSBASModes to fill this field
  1142. UBXX1_t usage; //See UBXSBASUsage to fill this field
  1143. UBXU1_t maxSBAS;
  1144. UBXX1_t scanmode2; //See UBXSBASScanModes2 to fill this field
  1145. UBXX4_t scanmode1; //See UBXSBASScanModes1 to fill this field
  1146. } UBXCFG_SBAS;
  1147. //typedef struct {
  1148. //No payload
  1149. //} UBXCFG_TP5_POLL;
  1150. typedef struct {
  1151. UBXU1_t tpIdx;
  1152. } UBXCFG_TP5_POLL_OPT;
  1153. typedef struct {
  1154. UBXU1_t tpIdx;
  1155. UBXU1_t reserved0;
  1156. UBXU2_t reserved1;
  1157. UBXI2_t antCableDelay;
  1158. UBXI2_t rfGroupDelay;
  1159. UBXU4_t freqPeriod;
  1160. UBXU4_t freqPeriodLock;
  1161. UBXU4_t pulseLenRatio;
  1162. UBXU4_t pulseLenRatioLock;
  1163. UBXI4_t userConfigDelay;
  1164. UBXX4_t flags; //See UBXCFGTimepulseFlags to fill this field
  1165. } UBXCFG_TP5;
  1166. //typedef struct {
  1167. //No payload
  1168. //} UBXCFG_USB_POLL;
  1169. typedef struct {
  1170. UBXU2_t vendorId;
  1171. UBXU2_t productId;
  1172. UBXU2_t reserved1;//Set to 0
  1173. UBXU2_t reserved2;//Set to 1
  1174. UBXU2_t powerConsumption;
  1175. UBXX2_t flags;
  1176. UBXCH_t vendorString[32];
  1177. UBXCH_t productString[32];
  1178. UBXCH_t serialNumber[32];
  1179. } UBXCFG_USB;
  1180. typedef struct {
  1181. #ifdef __WINDOWS__
  1182. UBXCH_t payload;
  1183. #endif
  1184. //Variable payload of UBXCH_t
  1185. } UBXINF_DEBUG;
  1186. typedef struct {
  1187. #ifdef __WINDOWS__
  1188. UBXCH_t payload;
  1189. #endif
  1190. //Variable payload of UBXCH_t
  1191. } UBXINF_ERROR;
  1192. typedef struct {
  1193. #ifdef __WINDOWS__
  1194. UBXU1_t payload;
  1195. #endif
  1196. //Variable payload of UBXCH_t
  1197. } UBXINF_NOTICE;
  1198. typedef struct {
  1199. #ifdef __WINDOWS__
  1200. UBXU1_t payload;
  1201. #endif
  1202. //Variable payload of UBXCH_t
  1203. } UBXINF_TEST;
  1204. typedef struct {
  1205. #ifdef __WINDOWS__
  1206. UBXU1_t payload;
  1207. #endif
  1208. //Variable payload of UBXCH_t
  1209. } UBXINF_WARNING;
  1210. typedef struct {
  1211. UBXU1_t version;
  1212. UBXX1_t logCfg; //See UBXLOGCfg
  1213. UBXU1_t reserved; //Set to 0
  1214. UBXU1_t logSize;
  1215. UBXU4_t userDefinedSize;
  1216. } UBXLOG_CREATE;
  1217. //typedef struct UBXLOG_ERASE {
  1218. //No payload
  1219. //};
  1220. typedef struct {
  1221. UBXU1_t version; //Shall be 0
  1222. UBXU1_t type; //Shall be 0
  1223. UBXU2_t reserved1;
  1224. UBXU2_t year;
  1225. UBXU1_t month;
  1226. UBXU1_t day;
  1227. UBXU1_t hour;
  1228. UBXU1_t minute;
  1229. UBXU1_t second;
  1230. UBXU1_t reserved2;
  1231. } UBXLOG_FINDTIME_IN;
  1232. typedef struct {
  1233. UBXU1_t version; //Shall be 1
  1234. UBXU1_t type; //Shall be 1
  1235. UBXU2_t reserved1;
  1236. UBXU4_t entryNumber;
  1237. } UBXLOG_FINDTIME_OUT;
  1238. //typedef struct UBXLOG_INFO_POLL {
  1239. //No payload
  1240. //};
  1241. typedef struct
  1242. {
  1243. UBXU1_t version;
  1244. UBXU1_t reserved1[3];
  1245. UBXU4_t filestoreCapacity;
  1246. UBXU4_t reserved2;
  1247. UBXU4_t reserved3;
  1248. UBXU4_t currentMaxLogSize;
  1249. UBXU4_t currentLogSize;
  1250. UBXU4_t entryCount;
  1251. UBXU2_t oldestYear;
  1252. UBXU1_t oldestMonth;
  1253. UBXU1_t oldestDay;
  1254. UBXU1_t oldestHour;
  1255. UBXU1_t oldestMinute;
  1256. UBXU1_t oldestSecond;
  1257. UBXU1_t reserved4;
  1258. UBXU2_t newestYear;
  1259. UBXU1_t newestMonth;
  1260. UBXU1_t newestDay;
  1261. UBXU1_t newestHour;
  1262. UBXU1_t newestMinute;
  1263. UBXU1_t newestSecond;
  1264. UBXU1_t reserved5;
  1265. UBXX1_t status; //See UBXLOGStatus to fill this field
  1266. UBXU1_t reserved6[3];
  1267. } UBXLOG_INFO;
  1268. typedef struct {
  1269. UBXU4_t entryIndex;
  1270. UBXI4_t lon;
  1271. UBXI4_t lat;
  1272. UBXI4_t hMSL;
  1273. UBXU4_t hAcc;
  1274. UBXU4_t gSpeed;
  1275. UBXU4_t heading;
  1276. UBXU1_t version; //Shall be 0
  1277. UBXU1_t fixType; //See UBXRETRIEVEPOSFixType to fill this field
  1278. UBXU2_t year;
  1279. UBXU1_t month;
  1280. UBXU1_t day;
  1281. UBXU1_t hour;
  1282. UBXU1_t minute;
  1283. UBXU1_t second;
  1284. UBXU1_t reserved1;
  1285. UBXU1_t numSV;
  1286. UBXU1_t reserved2;
  1287. } UBXLOG_RETRIEVEPOS;
  1288. typedef struct {
  1289. UBXU4_t entryIndex;
  1290. UBXU1_t version; //Shall be 0
  1291. UBXU1_t reserved1;
  1292. UBXU2_t year;
  1293. UBXU1_t month;
  1294. UBXU1_t day;
  1295. UBXU1_t hour;
  1296. UBXU1_t minute;
  1297. UBXU1_t second;
  1298. UBXU1_t reserved2;
  1299. UBXU2_t byteCount;
  1300. //Variable payload according byteCount
  1301. } UBXLOG_RETRIEVESTRING;
  1302. typedef struct {
  1303. UBXU4_t startNumber;
  1304. UBXU4_t entryCount;
  1305. UBXU1_t version;
  1306. UBXU1_t reserved[3];
  1307. } UBXLOG_RETRIEVE;
  1308. typedef struct {
  1309. #ifdef __WINDOWS__
  1310. UBXU1_t payload;
  1311. #endif
  1312. //Variable payload UBXU1_t
  1313. } UBXLOG_STRING;
  1314. typedef struct {
  1315. UBXI1_t ofsI;
  1316. UBXU1_t magI;
  1317. UBXI1_t ofsQ;
  1318. UBXU1_t magQ;
  1319. UBXU1_t cfgSource;
  1320. UBXU1_t reserved0[3];
  1321. UBXU4_t lowLevCfg;
  1322. UBXU4_t reserved1[2];
  1323. UBXU4_t postStatus;
  1324. UBXU4_t reserved2;
  1325. } UBXMON_HW2;
  1326. typedef struct
  1327. {
  1328. UBXX1_t UBXHWFlagsRTCCalib:1;
  1329. UBXX1_t UBXHWFlagsSafeBoot:1;
  1330. UBXX1_t UBXHWFlagsJammingState:2;
  1331. } UBXHWFlags;
  1332. typedef struct {
  1333. UBXX4_t pinSel;
  1334. UBXX4_t pinBank;
  1335. UBXX4_t pinDir;
  1336. UBXX4_t pinVal;
  1337. UBXU2_t noisePerMS;
  1338. UBXU2_t agcCnt;
  1339. UBXU1_t aStatus;
  1340. UBXU1_t aPower;
  1341. UBXHWFlags flags;
  1342. UBXU1_t reserved1;
  1343. UBXX4_t usedMask;
  1344. UBXU1_t VP[17];
  1345. UBXU1_t jamInd;
  1346. UBXU2_t reserved3;
  1347. UBXX4_t pinIrq;
  1348. UBXX4_t pullH;
  1349. UBXX4_t pullL;
  1350. } UBXMON_HW;
  1351. typedef struct
  1352. {
  1353. UBXU4_t rxBytes;
  1354. UBXU4_t txBytes;
  1355. UBXU2_t parityErrs;
  1356. UBXU2_t framingErrs;
  1357. UBXU2_t overrunErrs;
  1358. UBXU2_t breakCond;
  1359. UBXU1_t rxBusy;
  1360. UBXU1_t txBusy;
  1361. UBXU2_t reserved1;
  1362. } UBXMON_IO_PART;
  1363. typedef struct {
  1364. UBXMON_IO_PART ioPortInfo[UBX_IO_PORTS_NUM];
  1365. }UBXMON_IO ;
  1366. typedef struct {
  1367. UBXU2_t msg1[8];
  1368. UBXU2_t msg2[8];
  1369. UBXU2_t msg3[8];
  1370. UBXU2_t msg4[8];
  1371. UBXU2_t msg5[8];
  1372. UBXU2_t msg6[8];
  1373. UBXU4_t skipped[6];
  1374. } UBXMON_MSGPP;
  1375. typedef struct {
  1376. UBXU2_t pending[6];
  1377. UBXU1_t usage[6];
  1378. UBXU1_t peakUsage[6];
  1379. } UBXMON_RXBUF;
  1380. typedef struct {
  1381. UBXX1_t flags; //See UBXRXRFlags to fill this field
  1382. } UBXMON_RXR;
  1383. typedef struct {
  1384. UBXU2_t pending[6];
  1385. UBXU1_t usage[6];
  1386. UBXU1_t peakUsage[6];
  1387. UBXU1_t tUsage;
  1388. UBXU1_t tPeakusage;
  1389. UBXX1_t errors;
  1390. UBXU1_t reserved1;
  1391. } UBXMON_TXBUF;
  1392. //typedef struct {
  1393. //No payload
  1394. //} UBXMON_VER_POLL;
  1395. typedef struct {
  1396. UBXCH_t swVersion[30];
  1397. UBXCH_t hwVersion[10];
  1398. //Variable payload of UBXMON_VER_PART type
  1399. } UBXMON_VER;
  1400. typedef struct
  1401. {
  1402. UBXCH_t extension[30];
  1403. } UBXMON_VER_PART;
  1404. typedef struct {
  1405. UBXU4_t iTOW;
  1406. UBXU1_t aopCfg; //See UBXAOPCfg to fill this field
  1407. UBXU1_t status; //See UBXAOPStatus to fill this field
  1408. UBXU1_t reserved0;
  1409. UBXU1_t reserved1;
  1410. UBXU4_t availGPS;
  1411. UBXU4_t reserved2;
  1412. UBXU4_t reserved3;
  1413. } UBXNAV_AOPSTATUS;
  1414. typedef struct {
  1415. UBXU4_t iTOW;
  1416. UBXI4_t clkB;
  1417. UBXI4_t clkD;
  1418. UBXU4_t tAcc;
  1419. UBXU4_t fAcc;
  1420. } UBXNAV_CLOCK;
  1421. typedef struct {
  1422. UBXU4_t iTOW;
  1423. UBXI4_t age;
  1424. UBXI2_t baseId;
  1425. UBXI2_t baseHealth;
  1426. UBXU1_t numCh;
  1427. UBXU1_t status;
  1428. UBXU2_t reserved1;
  1429. } UBXNAV_DGPS;
  1430. typedef struct
  1431. {
  1432. UBXX1_t channel:4;
  1433. UBXX1_t dgpsUsed:1;
  1434. } UBXDGPSFlags;
  1435. typedef struct {
  1436. UBXU1_t svid;
  1437. UBXDGPSFlags flags;
  1438. UBXU2_t ageC;
  1439. UBXR4_t prc;
  1440. UBXR4_t prrc;
  1441. } UBXNAV_DGPS_PART;
  1442. typedef struct {
  1443. UBXU4_t iTOW;
  1444. UBXU2_t gDOP;
  1445. UBXU2_t pDOP;
  1446. UBXU2_t tDOP;
  1447. UBXU2_t vDOP;
  1448. UBXU2_t hDOP;
  1449. UBXU2_t nDOP;
  1450. UBXU2_t eDOP;
  1451. } UBXNAV_DOP;
  1452. typedef struct {
  1453. UBXU4_t iTOW;
  1454. UBXI4_t ecefX;
  1455. UBXI4_t ecefY;
  1456. UBXI4_t ecefZ;
  1457. UBXU4_t pAcc;
  1458. } UBXNAV_POSECEF;
  1459. typedef struct {
  1460. UBXU4_t iTOW;
  1461. UBXI4_t lon;
  1462. UBXI4_t lat;
  1463. UBXI4_t height;
  1464. UBXI4_t hMSL;
  1465. UBXU4_t hAcc;
  1466. UBXU4_t vAcc;
  1467. } UBXNAV_POSLLH;
  1468. typedef struct
  1469. {
  1470. UBXX1_t gnssFixOk:1;
  1471. UBXX1_t diffSoln:1;
  1472. UBXX1_t psmState:3; //See UBXPVTPSMStates to fill this field
  1473. } UBXPVTFlags;
  1474. typedef struct {
  1475. UBXU4_t iTOW;
  1476. UBXU2_t year;
  1477. UBXU1_t month;
  1478. UBXU1_t day;
  1479. UBXU1_t hour;
  1480. UBXU1_t min;
  1481. UBXU1_t sec;
  1482. UBXX1_t valid; //See UBXPVTValid to fill this field
  1483. UBXU4_t tAcc;
  1484. UBXI4_t nano;
  1485. UBXU1_t fixType; //See UBXGPSFix to fill this field
  1486. UBXPVTFlags flags;
  1487. UBXU1_t reserved1;
  1488. UBXU1_t numSV;
  1489. UBXI4_t lon;
  1490. UBXI4_t lat;
  1491. UBXI4_t height;
  1492. UBXI4_t hMSL;
  1493. UBXU4_t hAcc;
  1494. UBXU4_t vAcc;
  1495. UBXI4_t velN;
  1496. UBXI4_t velE;
  1497. UBXI4_t velD;
  1498. UBXI4_t gSpeed;
  1499. UBXI4_t heading;
  1500. UBXU4_t sAcc;
  1501. UBXU4_t headingAcc;
  1502. UBXU2_t pDOP;
  1503. UBXX2_t reserved2;
  1504. UBXU4_t reserved3;
  1505. } UBXNAV_PVT;
  1506. typedef struct {
  1507. UBXU4_t iTOW;
  1508. UBXU1_t geo;
  1509. UBXU1_t mode;
  1510. UBXI1_t sys;
  1511. UBXX1_t service; //See UBXSBASService to fill this field
  1512. UBXU1_t cnt;
  1513. UBXU1_t reserved0[3];
  1514. //Variable payload of UBXNAV_SBAS_PART type
  1515. } UBXNAV_SBAS;
  1516. typedef struct {
  1517. UBXU1_t svid;
  1518. UBXU1_t flags;
  1519. UBXU1_t udre;
  1520. UBXU1_t svSys;
  1521. UBXU1_t svService;
  1522. UBXU1_t reserved1;
  1523. UBXI2_t prc;
  1524. UBXU2_t reserved2;
  1525. UBXI2_t ic;
  1526. } UBXNAV_SBAS_PART;
  1527. typedef struct {
  1528. UBXU4_t iTOW;
  1529. UBXI4_t fTOW;
  1530. UBXI2_t week;
  1531. UBXU1_t gpsFix; //See UBXGPSFix to fill this field
  1532. UBXX1_t flags; //See UBXSBASSOLFlags to fill this field
  1533. UBXI4_t ecefX;
  1534. UBXI4_t ecefY;
  1535. UBXI4_t ecefZ;
  1536. UBXU4_t pAcc;
  1537. UBXI4_t ecefVX;
  1538. UBXI4_t ecefVY;
  1539. UBXI4_t ecefVZ;
  1540. UBXU4_t sAcc;
  1541. UBXU2_t pDOP;
  1542. UBXU1_t reserved1;
  1543. UBXU1_t numSV;
  1544. UBXU4_t reserved2;
  1545. } UBXNAV_SOL;
  1546. typedef struct {
  1547. UBXU4_t iTOW;
  1548. UBXU1_t gpsFix;
  1549. UBXX1_t flags; //See UBXGPSFix to fill this field
  1550. UBXX1_t fixStat; //See UBXSBASSOLFlags to fill this field
  1551. UBXX1_t flags2;
  1552. UBXU4_t ttff;
  1553. UBXU4_t msss;
  1554. } UBXNAV_STATUS;
  1555. typedef struct
  1556. {
  1557. UBXX1_t chipGen:3; //See UBXSVINFOChipGen to fill this field
  1558. } UBXSVINFOGlobalFlags;
  1559. typedef struct {
  1560. UBXU4_t iTOW;
  1561. UBXU1_t numCh;
  1562. UBXSVINFOGlobalFlags globalFlags;
  1563. UBXU2_t reserved2;
  1564. //Variable payload of UBXNAV_SVINFO_PART type
  1565. } UBXNAV_SVINFO;
  1566. typedef struct
  1567. {
  1568. UBXX1_t qualityInd:4; //See UBXSVINFOQualityId to fill this field
  1569. } UBXSVINFOQuality;
  1570. typedef struct {
  1571. UBXU1_t chn;
  1572. UBXU1_t svid;
  1573. UBXX1_t flags; //See UBXSVINFOFlags to fill this field
  1574. UBXX1_t quality;
  1575. UBXU1_t cno;
  1576. UBXI1_t elev;
  1577. UBXI2_t azim;
  1578. UBXI4_t prRes;
  1579. } UBXNAV_SVINFO_PART;
  1580. typedef struct {
  1581. UBXU4_t iTOW;
  1582. UBXI4_t fTOW;
  1583. UBXI2_t week;
  1584. UBXI1_t leapS;
  1585. UBXX1_t valid; //See UBXTIMEGPSValidityFlags to fill this field
  1586. UBXU4_t tAcc;
  1587. } UBXNAV_TIMEGPS;
  1588. typedef struct {
  1589. UBXU4_t iTOW;
  1590. UBXU4_t tAcc;
  1591. UBXI4_t nano;
  1592. UBXU2_t year;
  1593. UBXU1_t month;
  1594. UBXU1_t day;
  1595. UBXU1_t hour;
  1596. UBXU1_t min;
  1597. UBXU1_t sec;
  1598. UBXX1_t valid; //See UBXTIMEUTCValidityFlags to fill this field
  1599. } UBXNAV_TIMEUTC;
  1600. typedef struct {
  1601. UBXU4_t iTOW;
  1602. UBXI4_t ecefVX;
  1603. UBXI4_t ecefVY;
  1604. UBXI4_t ecefVZ;
  1605. UBXU4_t sAcc;
  1606. } UBXNAV_VELECEF;
  1607. typedef struct {
  1608. UBXU4_t iTOW;
  1609. UBXI4_t velN;
  1610. UBXI4_t velE;
  1611. UBXI4_t velD;
  1612. UBXU4_t speed;
  1613. UBXU4_t gSpeed;
  1614. UBXI4_t heading;
  1615. UBXU4_t sAcc;
  1616. UBXU4_t cAcc;
  1617. } UBXNAV_VELNED;
  1618. //typedef struct {
  1619. //No payload
  1620. //} UBXRXM_ALM_POLL;
  1621. typedef struct {
  1622. UBXU1_t svid;
  1623. } UBXRXM_ALM_POLL_OPT;
  1624. typedef struct {
  1625. /* ###################################################
  1626. * This RMX messages marked as obsolete API use AID instead
  1627. */
  1628. UBXU4_t svid;
  1629. UBXU4_t week;
  1630. } UBXRXM_ALM;
  1631. typedef struct {
  1632. /* ###################################################
  1633. * This RMX messages marked as obsolete API use AID instead
  1634. */
  1635. UBXU4_t svid;
  1636. UBXU4_t week;
  1637. UBXU4_t dwrd[8];
  1638. } UBXRXM_ALM_OPT;
  1639. //typedef struct {
  1640. //No payload
  1641. //} UBXRXM_EPH_POLL;
  1642. typedef struct {
  1643. UBXU1_t svid;
  1644. } UBXRXM_EPH_POLL_OPT;
  1645. typedef struct {
  1646. /* ###################################################
  1647. * This RMX messages marked as obsolete API use AID instead
  1648. */
  1649. UBXU4_t svid;
  1650. UBXU4_t how;
  1651. } UBXRXM_EPH;
  1652. typedef struct {
  1653. /* ###################################################
  1654. * This RMX messages marked as obsolete API use AID instead
  1655. */
  1656. UBXU4_t svid;
  1657. UBXU4_t how;
  1658. UBXU4_t sf1d[8];
  1659. UBXU4_t sf2d[8];
  1660. UBXU4_t sf3d[8];
  1661. } UBXRXM_EPH_OPT;
  1662. typedef struct {
  1663. UBXU4_t duration;
  1664. UBXX4_t flags; //See UBXPMREQFlags to fill this field
  1665. } UBXRXM_PMREQ;
  1666. typedef struct {
  1667. UBXI4_t rcvTow;
  1668. UBXI2_t week;
  1669. UBXU1_t numSV;
  1670. UBXU1_t reserved1;
  1671. //Variable payload of UBXRXM_RAW_PART type
  1672. } UBXRXM_RAW;
  1673. typedef struct
  1674. {
  1675. UBXR8_t cpMes;
  1676. UBXR8_t prMes;
  1677. UBXR4_t doMes;
  1678. UBXU1_t sv;
  1679. UBXI1_t mesQI;
  1680. UBXI1_t cno;
  1681. UBXU1_t lli;
  1682. } UBXRXM_RAW_PART;
  1683. typedef struct {
  1684. UBXU1_t chn;
  1685. UBXU1_t svid;
  1686. UBXX4_t dwrd[10];
  1687. } UBXRXM_SFRB;
  1688. typedef struct {
  1689. UBXU4_t iTOW;
  1690. UBXI2_t week;
  1691. UBXU1_t numVis;
  1692. UBXU1_t numSV;
  1693. //Variable payload of UBXRXM_SVSI_PART type
  1694. } UBXRXM_SVSI;
  1695. typedef struct
  1696. {
  1697. UBXX1_t ura:4;
  1698. UBXX1_t healthy:1;
  1699. UBXX1_t ephVal:1;
  1700. UBXX1_t almVal:1;
  1701. UBXX1_t notAvail:1;
  1702. } UBXSVSISVFlags;
  1703. typedef struct
  1704. {
  1705. UBXX1_t almAge:4;
  1706. UBXX1_t ephAge:4;
  1707. } UBXSVSIAge;
  1708. typedef struct
  1709. {
  1710. UBXU1_t svid;
  1711. UBXSVSISVFlags svFlag;
  1712. UBXI2_t azim;
  1713. UBXI1_t elev;
  1714. UBXSVSIAge age;
  1715. } UBXRXM_SVSI_PART;
  1716. typedef struct
  1717. {
  1718. UBXX1_t mode:1; //See UBXTM2FlagsMode to fill this field
  1719. UBXX1_t run:1; //See UBXTM2FlagsRun to fill this field
  1720. UBXX1_t newFallingEdge:1;
  1721. UBXX1_t timeBase:2; //See UBXTM2FlagsTimeBase to fill this field
  1722. UBXX1_t utc:1; //See UBXTM2FlagsUTC to fill this field
  1723. UBXX1_t time:1; //See UBXTM2FlagsTime to fill this field
  1724. UBXX1_t newRisingEdge:1;
  1725. } UBXTM2Flags;
  1726. typedef struct {
  1727. UBXU1_t ch;
  1728. UBXTM2Flags flags;
  1729. UBXU2_t count;
  1730. UBXU2_t wnR;
  1731. UBXU2_t wnF;
  1732. UBXU4_t towMsR;
  1733. UBXU4_t towSubMsR;
  1734. UBXU4_t towMsF;
  1735. UBXU4_t towSubMsF;
  1736. UBXU4_t accEst;
  1737. } UBXTIM_TM2;
  1738. typedef struct {
  1739. UBXU4_t towMS;
  1740. UBXU4_t towSubMS;
  1741. UBXI4_t qErr;
  1742. UBXU2_t week;
  1743. UBXX1_t flags;
  1744. UBXU1_t reserved1;
  1745. } UBXTIM_TP;
  1746. typedef struct
  1747. {
  1748. UBXX1_t src:3; //See UBXVRFYFlagsSource to fill this field
  1749. } UBXVRFYFlags;
  1750. typedef struct {
  1751. UBXI4_t itow;
  1752. UBXI4_t frac;
  1753. UBXI4_t deltaMs;
  1754. UBXI4_t deltaNs;
  1755. UBXU2_t wno;
  1756. UBXVRFYFlags flags;
  1757. UBXU1_t reserved1;
  1758. } UBXTIM_VRFY;
  1759. typedef union
  1760. {
  1761. UBXACK_NACK ACK_NACK;
  1762. UBXACK_ACK ACK_ACK;
  1763. UBXAID_ALM_POLL_OPT AID_ALM_POLL_OPT;
  1764. UBXAID_ALM AID_ALM;
  1765. UBXAID_ALM_OPT AID_ALM_OPT;
  1766. UBXAID_ALPSRV AID_ALPSRV;
  1767. UBXAID_ALP_POLL AID_ALP_POLL;
  1768. UBXAID_ALP_END AID_ALP_END;
  1769. UBXAID_ALP AID_ALP;
  1770. UBXAID_AOP_POLL_OPT AID_AOP_POLL_OPT;
  1771. UBXAID_AOP AID_AOP;
  1772. UBXAID_AOP_OPT AID_AOP_OPT;
  1773. UBXAID_EPH_POLL_OPT AID_EPH_POLL_OPT;
  1774. UBXAID_EPH AID_EPH;
  1775. UBXAID_EPH_OPT AID_EPH_OPT;
  1776. UBXAID_HUI AID_HUI;
  1777. UBXAID_INI AID_INI;
  1778. UBXCFG_ANT CFG_ANT;
  1779. UBXCFG_CFG CFG_CFG;
  1780. UBXCFG_CFG_OPT CFG_CFG_OPT;
  1781. UBXCFG_DAT_IN CFG_DAT_IN;
  1782. UBXCFG_DAT_OUT CFG_DAT_OUT;
  1783. UBXCFG_GNSS CFG_GNSS;
  1784. UBXCFG_INF_POLL CFG_INF_POLL;
  1785. UBXCFG_INF CFG_INF;
  1786. UBXCFG_ITFM CFG_ITFM;
  1787. UBXCFG_LOGFILTER CFG_LOGFILTER;
  1788. UBXCFG_MSG_POLL CFG_MSG_POLL;
  1789. UBXCFG_MSG_RATE CFG_MSG_RATE;
  1790. UBXCFG_MSG_RATES CFG_MSG_RATES;
  1791. UBXCFG_NAV5 CFG_NAV5;
  1792. UBXCFG_NAVX5 CFG_NAVX5;
  1793. UBXCFG_NMEA CFG_NMEA;
  1794. UBXCFG_NVS CFG_NVS;
  1795. UBXCFG_PM2 CFG_PM2;
  1796. UBXCFG_PRT_POLL_OPT CFG_PRT_POLL_OPT;
  1797. UBXCFG_PRT CFG_PRT;
  1798. UBXCFG_RATE CFG_RATE;
  1799. UBXCFG_RINV CFG_RINV;
  1800. UBXCFG_RST CFG_RST;
  1801. UBXCFG_RXM CFG_RXM;
  1802. UBXCFG_SBAS CFG_SBAS;
  1803. UBXCFG_TP5_POLL_OPT CFG_TP5_POLL_OPT;
  1804. UBXCFG_TP5 CFG_TP5;
  1805. UBXCFG_USB CFG_USB;
  1806. UBXINF_DEBUG INF_DEBUG;
  1807. UBXINF_ERROR INF_ERROR;
  1808. UBXINF_NOTICE INF_NOTICE;
  1809. UBXINF_TEST INF_TEST;
  1810. UBXINF_WARNING INF_WARNING;
  1811. UBXLOG_CREATE LOG_CREATE;
  1812. UBXLOG_FINDTIME_IN LOG_FINDTIME_IN;
  1813. UBXLOG_FINDTIME_OUT LOG_FINDTIME_OUT;
  1814. UBXLOG_INFO LOG_INFO;
  1815. UBXLOG_RETRIEVEPOS LOG_RETRIEVEPOS;
  1816. UBXLOG_RETRIEVESTRING LOG_RETRIEVESTRING;
  1817. UBXLOG_RETRIEVE LOG_RETRIEVE;
  1818. UBXLOG_STRING LOG_STRING;
  1819. UBXMON_HW2 MON_HW2;
  1820. UBXMON_HW MON_HW;
  1821. UBXMON_IO MON_IO;
  1822. UBXMON_MSGPP MON_MSGPP;
  1823. UBXMON_RXBUF MON_RXBUF;
  1824. UBXMON_RXR MON_RXR;
  1825. UBXMON_TXBUF MON_TXBUF;
  1826. UBXMON_VER MON_VER;
  1827. UBXNAV_AOPSTATUS NAV_AOPSTATUS;
  1828. UBXNAV_CLOCK NAV_CLOCK;
  1829. UBXNAV_DGPS NAV_DGPS;
  1830. UBXNAV_DOP NAV_DOP;
  1831. UBXNAV_POSECEF NAV_POSECEF;
  1832. UBXNAV_POSLLH NAV_POSLLH;
  1833. UBXNAV_PVT NAV_PVT;
  1834. UBXNAV_SBAS NAV_SBAS;
  1835. UBXNAV_SOL NAV_SOL;
  1836. UBXNAV_STATUS NAV_STATUS;
  1837. UBXNAV_SVINFO NAV_SVINFO;
  1838. UBXNAV_TIMEGPS NAV_TIMEGPS;
  1839. UBXNAV_TIMEUTC NAV_TIMEUTC;
  1840. UBXNAV_VELECEF NAV_VELECEF;
  1841. UBXNAV_VELNED NAV_VELNED;
  1842. UBXRXM_ALM_POLL_OPT RXM_ALM_POLL_OPT;
  1843. UBXRXM_ALM_OPT RXM_ALM_OPT;
  1844. UBXRXM_EPH_POLL_OPT RXM_EPH_POLL_OPT;
  1845. UBXRXM_EPH RXM_EPH;
  1846. UBXRXM_EPH_OPT RXM_EPH_OPT;
  1847. UBXRXM_PMREQ RXM_PMREQ;
  1848. UBXRXM_RAW RXM_RAW;
  1849. UBXRXM_SFRB RXM_SFRB;
  1850. UBXRXM_SVSI RXM_SVSI;
  1851. UBXTIM_TM2 TIM_TM2;
  1852. UBXTIM_TP TIM_TP;
  1853. UBXTIM_VRFY TIM_VRFY;
  1854. } UBXMsgs;
  1855. typedef struct
  1856. {
  1857. int fileId;
  1858. char* alpData;
  1859. int dataSize;
  1860. } UBXAlpFileInfo;
  1861. typedef struct
  1862. {
  1863. UBXU2_t preamble;
  1864. UBXHdr hdr;
  1865. UBXMsgs payload;
  1866. } UBXMsg;
  1867. typedef struct
  1868. {
  1869. int size;
  1870. char* data;
  1871. } UBXMsgBuffer;
  1872. #pragma pack(pop)
  1873. #endif // UBXMESSAGE_H