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, navBbrMask=0, resetMode=0):
payload = struct.pack(
'<HBB', navBbrMask, resetMode,0
)
UBXMessage.__init__(
self, CFG._class, CFG.RST._id, payload
)
def __init__(self, ser, debug=False):
"""Instantiate with serial."""
from UBXMessage import UBXMessage
threading.Thread.__init__(self)
self.ser = ser
self.debug = debug
self._shutDown = False
self.ubx_chksum = UBXMessage.Checksum()
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)
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
)