class Fields:
iTOW = U4(1)
year = U2(2)
month = U1(3)
day = U1(4)
hour = U1(5)
minute = U1(5)
sec = U1(5)
valid = X1(6)
tAcc = U4(7)
nano = I4(8)
fixType = U1(9)
flags = X1(10)
flags2 = X1(11)
numSV = U1(12)
lon = I4(13)
lat = I4(14)
height = I4(15)
hMSL = I4(16)
hAcc = U4(17)
vAcc = U4(18)
velN = I4(19)
velE = I4(20)
velD = I4(21)
gSpeed = I4(22)
headMot = I4(23)
sAcc = U4(24)
headAcc = U4(25)
pDOP = U2(26)
reserved1_1 = U4(27)
reserved1_2 = U2(28)
headVeh = I4(29)
magDec = I2(30)
magAcc = U2(31)
class Fields:
pinSel = X4(1) # Mask of Pins Set as Peripheral/PIO
pinBank = X4(2) # Mask of Pins Set as Bank A/B
pinDir = X4(3) # Mask of Pins Set as Input/Output
pinVal = X4(4) # Mask of Pins Value Low/High
noisePerMS = U2(5) # Noise Level as measured by the GPS Core
agcCnt = U2(
6) # AGC Monitor (counts SIGHI xor SIGLO, range 0 to 8191)
aStatus = U1(
7
) # Status of the Antenna Supervisor State Machine (0=INIT, 1=DONTKNOW, 2=OK, 3=SHORT, 4=OPEN)
aPower = U1(
8) # Current PowerStatus of Antenna (0=OFF, 1=ON, 2=DONTKNOW)
flags = X1(9) # Flags (see graphic below)
reserved1 = U1(10)
usedMask = X4(
11) # Mask of Pins that are used by the Virtual Pin Manager
VP = CH(
12,
17) # Array of Pin Mappings for each of the 17 Physical Pins
jamInd = U1(
13
) # CW Jamming indicator, scaled (0 = no CW jamming, 255 = strong CW jamming)
reserved2 = U2(14)
pinIrq = X4(15) # Mask of Pins Value using the PIO Irq
pullH = X4(
16) # Mask of Pins Value using the PIO Pull High Resistor
pullL = X4(
17) # Mask of Pins Value using the PIO Pull Low Resistor
class Fields:
mask = X2(1)
dynMode1 = U1(2)
fixMode = U1(3)
fixedAlt = I4(4)
fixedAltVar = U4(5)
minElev = I1(6)
drLimit = U1(7)
pDop = U2(8)
tDop = U2(9)
pAcc = U2(10)
tAcc = U2(11)
staticHoldThr = U1(12)
dgnssTimeout = U1(13)
cnoThreshNumSvs = U1(14)
cnoThres = U1(15)
reserved1_1 = U1(16)
reserved1_2 = U1(17)
staticHoldMaxDist = U2(18)
utcStandard = U1(19)
reserved2_1 = U1(20)
reserved2_2 = U1(21)
reserved2_3 = U1(22)
reserved2_4 = U1(23)
reserved2_5 = U1(24)
class Fields:
version = U2(1) # Type of the message
nEntries = U2(2) # The number of patches
class Repeated:
patchInfo = X4(1)
comparatorNumber = U4(2)
patchAddress = U4(3)
patchData = U4(4)
class Fields:
measRate = U2(1)
navRate = U2(2)
timeRef = U2(3,
allowed={
0: "UTC time",
1: "GPS time",
2: "GLONASS time",
3: "BeiDou time",
4: "Galileo time"
})
class Fields:
version = U1(1) # Message version (0x02 for this version)
reserved1 = U1(2) # Reserved
maxStartupStartupDur = U1(3) # Maximum time to spend in Acquisition state. If 0: bound disabled (see maxStartupStateDur). (not supported in protocol versions less than 17), (not supported in protocol versions 23 to 23.01)
reserved2 = U1(4) # Reserved
flags = X4(5) # PSM configuration flags (see graphic below)
updatePeriod = U4(6) # ms Position update period. If set to 0, the receiver will never retry a fix and it will wait for external events
searchPeriod = U4(7) # ms Acquisition retry period if previously failed. If set to 0, the receiver will never retry a startup (not supported in protocol versions 23 to 23.01)
gridOffset = U4(8) # ms Grid offset relative to GPS start of week (not supported in protocol versions 23 to 23.01)
onTime = U2(9) # s Time to stay in Tracking state (not supported in protocol versions 23 to 23.01)
minAcqTime = U2(10) # s minimal search time
reserved3 = U(11, 20) # Reserved
extintInactivityMs = U4(12) # ms inactivity time out on EXTINT pint if enabled
class Repeated:
gnssId = U1(29)
svId = U1(30)
cNo = U1(31)
mpathIndic = U1(32)
dopplerMS = I4(33)
dopplerHz = I4(34)
wholeChips = U2(35)
fracChips = U2(36)
codePhase = U4(37)
intCodePhase = U1(38)
pseuRangeRMSErr = U1(39)
reserved5_1 = U1(40)
reserved5_2 = U1(41)
class Fields:
timeTag = U4(1)
flags = X2(2)
id = U2(3)
class Repeated:
data = X4(1)
class Fields:
rcvrTow = R8(1)
week = U2(2)
leapS = I1(3)
numMeas = U1(4)
recStat = X1(5)
version = U1(6)
reserved1_1 = U1(7)
reserved1_2 = U1(8)
class Repeated:
prMeas = R8(1)
cpMeas = R8(2)
dpMeas = R4(3)
gnssId = U1(4)
svId = U1(5)
reserved2 = U1(6)
freqId = U1(7)
lockTime = U2(8)
cn0 = U1(9)
prStdev = X1(10)
cpStdev = X1(11)
doStdev = X1(12)
trkStat = X1(13)
reserved3 = U1(14)
class Fields:
Version = U1(1)
Layers = X1(2)
reserved1 = U1(3)
reserved2 = U1(4)
KeyId = I4(5)
Value = U2(6)
class Fields:
Version = U1(1)
Reserved1 = U1(2)
RefStationId = U2(3)
iTOW = U4(4)
RelPosN = I4(5)
RelPosE = I4(6)
RelPosD = I4(7)
RelPosLength = I4(8)
RelPosHeading = I4(9)
Reserved2 = U4(10)
RelPosHPN = I1(11)
RelPosHPE = I1(12)
RelPosHPD = I1(13)
relPosHPLength = I1(14)
accN = U4(15)
accE = U4(16)
accD = U4(17)
accLength = U4(18)
accHeading = U4(19)
Reserved3 = U4(20)
flags = X4(21,
allowed={
0: 'gnssFixOK',
1: 'diffSoln',
2: 'relPosValid',
3: 'carrSoln1',
4: 'carrSoln2',
5: 'isMoving',
6: 'refPosMiss',
7: 'refObsMiss',
8: 'relPosHeadingValid',
9: 'relPosNormalized'
})
class Fields:
version = U1(1)
reserved1 = U2(2)
reserved11 = U1(3)
iTow = U4(4)
dur = U4(5)
meanX = I4(6)
meanY = I4(7)
meanZ = I4(8)
meanXHP = I1(9)
meanYHP = I1(10)
meanZHP = I1(11)
reserved2 = U1(12)
meanAcc = U4(13)
obs = U4(14)
valid = U1(15)
active = U1(16)
reserved3 = U2(17)
class Fields:
version = U1(1)
reserved1_1 = U1(2)
reserved1_2 = U1(3)
reserved1_3 = U1(4)
gpsTOW = U4(5)
gloTOW = U4(6)
bdsTOW = U4(7)
reserved2_1 = U1(8)
reserved2_2 = U1(9)
reserved2_3 = U1(10)
reserved2_4 = U1(11)
qzssTOW = U4(12)
gpsTOWacc = U2(13)
gloTOWacc = U2(14)
bdsTOWacc = U2(15)
reserved3_1 = U1(16)
reserved3_2 = U1(17)
qzaaTOWacc = U2(18)
numSV = U1(19)
flags = U1(20)
reserved4_1 = U1(21)
reserved4_2 = U1(22)
reserved4_3 = U1(23)
reserved4_4 = U1(24)
reserved4_5 = U1(25)
reserved4_6 = U1(26)
reserved4_7 = U1(27)
reserved4_8 = U1(28)
class Repeated:
gnssId = U1(29)
svId = U1(30)
cNo = U1(31)
mpathIndic = U1(32)
dopplerMS = I4(33)
dopplerHz = I4(34)
wholeChips = U2(35)
fracChips = U2(36)
codePhase = U4(37)
intCodePhase = U1(38)
pseuRangeRMSErr = U1(39)
reserved5_1 = U1(40)
reserved5_2 = U1(41)
class Fields:
portID = U1(1)
reserved1 = U1(2)
txReady = X2(3)
mode = X4(4)
reserved2 = U4(5)
inProtoMask = X2(6)
outProtoMask = X2(7)
flags = X2(8)
reserved3 = U2(9)
class Fields:
dur = U4(1)
meanX = I4(2)
meanY = I4(3)
meanZ = I4(4)
meanV = U4(5)
obs = U4(6)
valid = U1(7)
active = U1(8)
reserved = U2(9)
class Fields:
iTOW = U4(1)
gDOP = U2(2)
pDOP = U2(3)
tDOP = U2(4)
vDOP = U2(5)
hDOP = U2(6)
nDOP = U2(7)
eDOP = U2(8)
class Fields:
tpIdx = U1(1) # Time pulse selection (0 = TIMEPULSE, 1 = TIMEPULSE2)
version = U1(2) # Message version (0x00 for this version)
reserved2 = U2(3)
antCableDelay = I2(4) # Antenna cable delay
rfGroupDelay = I2(5) # RF group delay
freqPeriod = U4(6) # Frequency or period time, depending on setting of bit 'isFreq'
freqPeriodLock = U4(7) # Frequency or period time when locked to GPS time, only used if 'lockedOtherSet' is set
pulseLenRatio = U4(8) # Pulse length or duty cycle, depending on 'isLength'
pulseLenRatioLock = U4(9) # Pulse length or duty cycle when locked to GPS time, only used if 'lockedOtherSet' is set
userConfigDelay = I4(10) # User configurable time pulse delay
flags = X4(11) # Configuration flags
class Repeated:
prMeas = R8(1)
cpMeas = R8(2)
dpMeas = R4(3)
gnssId = U1(4)
svId = U1(5)
reserved2 = U1(6)
freqId = U1(7)
lockTime = U2(8)
cn0 = U1(9)
prStdev = X1(10)
cpStdev = X1(11)
doStdev = X1(12)
trkStat = X1(13)
reserved3 = U1(14)
class Fields:
iTOW = U4(1)
numCh = U1(2)
globalFlags = X1(3,
allowed={
0: 'Antaris',
1: 'u-Blox 5',
2: 'u-Blox 6',
3: 'u-Blox 7',
4: 'u-Blox 8',
})
reserved1 = U2(4)
class Repeated:
chn = U1(1)
svid = U1(2)
flags = X1(3)
quality = X1(4)
cno = U1(5)
elev = I1(6)
axim = I2(7)
prRes = I4(8)
class Repeated:
ext = U2(1)
class Fields:
version = U1(1)
flags = X1(2)
subType = U2(3)
refStation = U2(4)
msgType = U2(5)
class Fields:
Version = U1(1)
Layers = U1(2)
Position = U2(3)
KeyId = U4(4)
class Fields:
version = U1(1)
powerSetupValue = U1(2)
period = U2(3)
onTime = U2(4)
reserved = U2(5)
