def __init__(self,
mask=0,
dynMode1=0,
fixMode=0,
fixedAlt=0,
fixedAltVar=0,
minElev=0,
drLimit=0,
pDop=0,
tDop=0,
pAcc=0,
tAcc=0,
staticHoldThr=0,
dgnssTimeout=0,
cnoThreshNumSvs=0,
cnoThres=0,
staticHoldMaxDist=0,
utcStandard=0):
payload = struct.pack('<HBBlLbBHHHHBBBBBBHBBBBBB', mask,
dynMode1, fixMode, fixedAlt, fixedAltVar,
minElev, drLimit, pDop, tDop, pAcc, tAcc,
staticHoldThr, dgnssTimeout,
cnoThreshNumSvs, cnoThres, 1, 2,
staticHoldMaxDist, utcStandard, 1, 2, 3,
4, 5)
UBXMessage.__init__(self, CFG._class, CFG.NAV5._id, payload)
def __init__(self,
msgClass=0,
msgId=0,
rate=None,
rateI2C=None,
rateUART1=None,
rateUSB=None,
rateSPI=None):
if rate: # Set message rate configuration for the current port.
payload = struct.pack(
'<BBB',
msgClass,
msgId,
rate,
)
elif rateI2C: # Set message rate configuration for all ports.
if not rateUART1:
raise ValueError('rateUART1 is not specified')
if not rateUSB:
raise ValueError('rateUSB is not specified')
if not rateSPI:
raise ValueError('rateSPI is not specified')
payload = struct.pack('<BBBBBBBB', msgClass, msgId,
rateI2C, rateUART1, 0, rateUSB,
rateSPI, 0)
else: # Poll request
payload = struct.pack('<BB', msgClass, msgId)
UBXMessage.__init__(self, CFG._class, CFG.MSG._id, payload)
def __init__(self, powerSetupValue=1, period=0, onTime=0):
payload = struct.pack(
'<BBhhBB', 0, powerSetupValue, period, onTime, 0, 0
)
UBXMessage.__init__(
self, CFG._class, CFG.PMS._id, payload
)
def __init__(self, Version=0, Layers=0, Position=0, KeyId=0):
payload = struct.pack(
'<BBHI', Version, Layers, Position, KeyId
)
UBXMessage.__init__(
self, CFG._class, CFG.VALGET._id, payload
)
def __init__(self, Version=0, Layers=0, KeyId=0, Value=0):
payload = struct.pack(
'<BBBBIH', Version, Layers, 0, 0, KeyId, Value
)
UBXMessage.__init__(
self, CFG._class, CFG.VALSET._id, payload
)
def __init__(self, navBbrMask=0, resetMode=0):
payload = struct.pack(
'<HBB', navBbrMask, resetMode,0
)
UBXMessage.__init__(
self, CFG._class, CFG.RST._id, payload
)
def __init__(self,
filterFlags=0,
nmeaVersion=0,
numSV=0,
flags=0,
gnssToFilter=0,
svNumbering=0,
mainTalkerId=0,
gsvTalkerId=0,
version=0,
bdsTalkerId_1=0,
bdsTalkerId_2=0):
payload = struct.pack('<BBBBLBBBBBBBBBBBB', filterFlags,
nmeaVersion, numSV, flags, gnssToFilter,
svNumbering, mainTalkerId, gsvTalkerId,
version, bdsTalkerId_1, bdsTalkerId_2, 1,
2, 3, 4, 5, 6)
UBXMessage.__init__(self, CFG._class, CFG.NMEA._id, payload)
def __init__(self, cfgBlocks):
msgVer = 0
numTrkChHw = 0x20 # R/O anyway
numTrkChUse = 0x20
numConfigBlocks = len(cfgBlocks)
payload = bytearray(4 + 8 * numConfigBlocks)
offset = 0
struct.pack_into('<BBBB', payload, offset, msgVer, numTrkChHw,
numTrkChUse, numConfigBlocks)
offset += 4
for cfg_block in cfgBlocks:
struct.pack_into('<BBBBI', payload, offset,
cfg_block['gnssId'],
cfg_block['resTrkCh'],
cfg_block['maxTrkCh'], 0,
cfg_block['flags'])
offset += 8
UBXMessage.__init__(self, CFG._class, CFG.GNSS._id, payload)