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:
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 Repeated:
gnssId = U1(6)
svId = U1(7)
cno = U1(8)
elev = I1(9)
azim = I2(10)
prRes = I2(11)
flags = X4(12)
class Repeated:
gnssId = U1(1)
svId = U1(2)
cno = U1(3)
elev = I1(4)
azim = I2(5)
prRes = I2(5)
flags = X4(6)
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 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:
reserved1 = U1(1) # reserved
lpMode = U1( # Low Power Mode
2,
allowed={
0: "Continuous Mode",
1: "Power Save Mode",
4: "Continuous Mode" # for ver>=14 0 and 4 are the same
}
)
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 Repeated:
protocolID = U1(1,
allowed={
0: 'UBX',
1: 'NMEA',
255: 'Reserved',
})
reserved1_1 = U1(2)
reserved1_2 = U1(3)
reserved1_3 = U1(4)
infMsgMask = X1(5)
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 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 Fields:
version = U1(1)
reserved1_1 = U1(2)
reserved1_2 = U1(3)
reserved1_3 = U1(4)
uniqueId_1 = U1(5) # TODO - hack
uniqueId_2 = U1(6)
uniqueId_3 = U1(7)
uniqueId_4 = U1(8)
uniqueId_5 = U1(9)
class Repeated:
gnssId = U1(1,
allowed={
0: 'GPS',
1: 'SBAS',
2: 'Galileo',
3: 'BeiDou',
4: 'IMES',
5: 'QZSS',
6: 'GLONASS',
})
resTrkCh = U1(2)
maxTrkCh = U1(3)
reserved = U1(4)
flags = X4(5)
class Fields:
iTOW = U4(1)
version = U1(2)
numSvs = U1(3)
reserved1_1 = U1(4)
reserved1_2 = U1(5)
class Repeated:
gnssId = U1(6)
svId = U1(7)
cno = U1(8)
elev = I1(9)
azim = I2(10)
prRes = I2(11)
flags = X4(12)
class Fields:
iTOW = U4(1)
Version = U1(2)
numSvs = U1(3)
Reserved1 = U1(4)
Reserved2 = U1(5)
class Repeated:
gnssId = U1(1)
svId = U1(2)
cno = U1(3)
elev = I1(4)
azim = I2(5)
prRes = I2(5)
flags = X4(6)
class Fields:
Version = U1(1)
Reserved1_1 = U1(2)
Reserved1_2 = U1(3)
Flags = X1(4, allowed={1: 'invalidLlh'})
iTOW = U4(5)
lon = I4(6)
lat = I4(7)
height = I4(8)
hMSL = I4(9) # height above mean sea level
lonHp = I1(10)
latHp = I1(11)
heightHp = I1(12)
hMSLHp = I1(13)
hAcc = U4(14)
vAcc = U4(15)
class Fields:
msgClass = U1(1) # Message Class
msgId = U1(2) # Message Identifier
rateI2C = U1(3) # Send rate on I2C port
rateUART1 = U1(4) # Send rate on UART 1 port
rateRes1 = U1(5) # Send rate on port 4 (reserved)
rateUSB = U1(6) # Send rate on USB port
rateSPI = U1(7) # Send rate on SPI port
rateRes2 = U1(8) # Send rate on port 5 (reserved)
class Fields:
msgClass = U1(1)
msgID = U1(2)
rate_p1 = U1(3)
rate_p2 = U1(4)
rate_p3 = U1(5)
rate_usb = U1(6)
rate_p5 = U1(7)
rate_p6 = U1(8)
class Fields:
iTOW = U4(0) # GPS time of week
gpsFix = U1(4)
flags = X1(5)
fixStat = X1(6)
flags2 = X1(7)
ttff = U4(8) # time to first fix
msss = U4(12)
class Fields:
iTow = U4(1)
gpsFix = U1(2)
flags = X1(3)
fixStat = X1(4)
flags2 = X1(5)
ttff = U4(6)
msss = U4(7)
class Fields:
navBbrMask = X2(1) # BBR Sections to clear. The following Special Sets
# apply:
# 0x0000 Hot start
# 0x0001 Warm start
# 0xFFFF Cold start
resetMode = U1(2) # Reset Type
# 0x00 - Hardware reset (Watchdog) immediately
# 0x01 - Controlled Software reset
# 0x02 - Controlled Software reset (GNSS only)
# 0x04 - Hardware reset (Watchdog) after
# shutdown
# 0x08 - Controlled GNSS stop
# 0x09 - Controlled GNSS start
reserved1 = U1(3) # Reserved
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:
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:
gnssId = U1(1)
svId = U1(2)
reserved1 = U1(3)
freqId = U1(4)
numWords = U1(5)
chn = U1(6)
ver = U1(7)
reserved2 = U1(8)
class Repeated:
dwrd = U4(1)
class Fields:
msgVer = U1(1)
numTrkChHw = U1(2)
numTrkChUse = U1(3)
numConfigBlocks = U1(4)
class Repeated:
gnssId = U1(1,
allowed={
0: 'GPS',
1: 'SBAS',
2: 'Galileo',
3: 'BeiDou',
4: 'IMES',
5: 'QZSS',
6: 'GLONASS',
})
resTrkCh = U1(2)
maxTrkCh = U1(3)
reserved = U1(4)
flags = X4(5)
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 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)
