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- /*
- * 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
- */
- /*! \file */
- #ifndef UBXMESSAGE_H
- #define UBXMESSAGE_H
- #include <stdio.h>
- #include "portable_endian.h"
- #ifdef __linux__
- #include <sys/types.h>
- #elif defined(_WIN32)
- //Need to add other OS depend headers
- #endif
- /*
- * Need to clarify how many I/O ports has each version of UBLOX before define UBX_IO_PORTS_NUM macros
- * current proto vesion has hardcoded 6 I/O ports by default. If you have other I/O ports amount
- * please define macro manualy by yourself.
- */
- #define UBX_IO_PORTS_NUM 6
- //#if!defined UBLOX_VERSION
- //#error Before using library define UBLOX_VERSION first
- //#else
- //#if UBLOX_VERSION == 5 || UBLOX_VERSION == 6
- //#define UBX_IO_PORTS_NUM 6
- //#else
- //#define UBX_IO_PORTS_NUM 6
- //#endif
- //#endif
- static const int UBX_CHECKSUM_SIZE = 2;
- static const int UBX_HEADER_SIZE = 6;
- static const u_int16_t UBX_PREAMBLE = 0xB562;
- #if defined (__linux__)
- typedef u_int8_t UBXU1_t;
- typedef int8_t UBXI1_t;
- typedef u_int8_t UBXX1_t;
- typedef u_int16_t UBXU2_t;
- typedef int16_t UBXI2_t;
- typedef u_int16_t UBXX2_t;
- typedef u_int32_t UBXU4_t;
- typedef int32_t UBXI4_t;
- typedef u_int32_t UBXX4_t;
- typedef float UBXR4_t;
- typedef double UBXR8_t;
- typedef char UBXCH_t;
- #else
- 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,
- UBXMsgClassRXM = 0x02,
- UBXMsgClassINF = 0x04,
- UBXMsgClassACK = 0x05,
- UBXMsgClassCFG = 0x06,
- UBXMsgClassMON = 0x0A,
- UBXMsgClassAID = 0x0B,
- UBXMsgClassTIM = 0x0D,
- UBXMsgClassLOG = 0x21,
- 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,
- UBXMsgIdInvalid = 0xFF
- };
- enum UBXResetMode
- {
- UBXHardwareReset = 0x00,
- UBXControlledReset = 0x01,
- UBXControlledResetGNSSOnly = 0x02,
- UBXHardwareResetAfterShutdown = 0x04,
- UBXControlledGNSSStop = 0x08,
- UBXControlledGNSSStart = 0x09
- };
- enum UBXBBRSpecialSets
- {
- UBXBBRHotstart = 0x0000,
- UBXBBRWarmstart = 0x0001,
- UBXBBRColdstart = 0xFFFF
- };
- enum UBXBBRMask
- {
- UBXBBReph = 1,
- UBXBBRalm = 1 << 1,
- UBXBBRhealth = 1 << 2,
- UBXBBRklob = 1 << 3,
- UBXBBRpos = 1 << 4,
- UBXBBRclkd = 1 << 5,
- UBXBBRosc = 1 << 6,
- UBXBBRutc = 1 << 7,
- UBXBBRrtc = 1 << 8,
- UBXBBRsfdr = 1 << 11,
- UBXBBRvmon = 1 << 12,
- UBXBBRtct = 1 << 13,
- UBXBBRaop = 1 << 15
- };
- 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 = 5,
- UBXGLONASS = 6
- };
- 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 UBXNAV5Model
- {
- UBXNAV5ModelPortable = 0,
- UBXNAV5ModelStationary = 2,
- UBXNAV5ModelPedestrian = 3,
- UBXNAV5ModelAutomotive = 4,
- UBXNAV5ModelSea = 5,
- UBXNAV5ModelAirborne1g = 6,
- UBXNAV5ModelAirborne2g = 7,
- UBXNAV5ModelAirborne4g = 8
- };
- enum UBXNAV5FixMode
- {
- UBXNAV5Fix2DOnly = 1,
- UBXNAV5Fix3DOnly = 2,
- UBXNAV5FixAuto2D3D = 3
- };
- 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 UBXNMEAVersion
- {
- UBXNMEAVersion23 = 0x23,
- UBXNMEAVersion21 = 0x21
- };
- enum UBXNMEAFlags
- {
- UBXNMEACompatFlag = 1,
- UBXNMEAConsiderFlag = 1 << 1
- };
- enum UBXNMEAGNSSToFilter
- {
- UBXNMEAGPSFilter = 1,
- UBXNMEASBASFilter = 1 << 1,
- UBXNMEAQZSSFilter = 1 << 4,
- UBXNMEAGLONASSFilter = 1 << 5
- };
- enum UBXNMEASVNumbering
- {
- UBXNMEASVNumStrict = 0,
- UBXNMEASVNumExtended = 1
- };
- enum UBXNMEATalkerIds
- {
- UBXNMEATalkerNotOverriden = 0,
- UBXNMEATalkerGP = 1,
- UBXNMEATalkerGL = 2,
- UBXNMEATalkerGN = 3
- };
- enum UBXNMEAGSVTalkerIds
- {
- UBXNMEAGSVTalkerGNSSSpecific = 0,
- UBXNMEAGSVTalkerMain = 1
- };
- 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
- {
- UBXPRTExtendedTxTimeout = 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
- {
- UBXRINVDump = 1,
- UBXRINVBinary = 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 = 1,
- USBFlagPowerMode = 1 << 1
- };
- enum UBXLOGCfg
- {
- UBXLOGCfgCircular = 1
- };
- 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
- {
- UBXTPTimeBaseUTC = 1,
- UBXTPUTCAvailable = 1 << 1
- };
- enum UBXVRFYFlagsSource
- {
- UBXVRFYNoTimeAidingDone = 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 {
- //Variable 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; //See UBXNAV5Model to fill this field
- UBXU1_t fixMode; //See UBXNAV5FixMode to fill this field
- 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];
- UBXU1_t tUsage;
- UBXU1_t tPeakusage;
- UBXX1_t errors;
- UBXU1_t reserved1;
- };
- 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;
- //Variable payload of UBXRXM_SVSI_PART type
- };
- 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
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