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:
version = U1(0)
reserved1 = U1(1)
refStationID = U2(2)
iTOW = U4(3)
relPosN = I4(
4
) # WARNING: these cm values must be combined with relPosHP* to get full precision
relPosE = I4(5)
relPosD = I4(6)
relPosLength = I4(7)
relPosHeading = I4(8) # 1e-5 Deg
reserved2 = U4(9)
relPosHPN = I1(10) # 0.1 mm resolutionto add to the cm values
relPosHPE = I1(11)
relPosHPD = I1(12)
relPosHPLength = I1(13)
accN = U4(14)
accE = U4(15)
accD = U4(16)
accLength = U4(17)
accHeading = U4(18)
reserved3 = U4(19)
flags = X4(
20
) # bits[0..7] = [gnssFixOK, diffSoln, relPosValid, carrSoln0,arrSoln1, isMoving, refPosMiss, refObsMiss]
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:
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:
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:
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, allowed={0: "SPAN Message V 0"
}) # Message version (Currently 0)
numRfBlocks = U1(2) # Number of RF blocks included
reserved0 = U(3, 2) # Reserved
class Repeated:
spectrum = U(1, 256) # Spectrum Bins (dB unreferenced)
span = U4(2) # Spectrum span (Hz)
res = U4(3) # Bin Resolution (Hz)
center = U4(4) # Center of spectrum span (Hz)
pga = U1(5) # PGA gain (dB)
reserved1 = U(6, 3) # Reserved
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:
iTOW = U4(1)
year = U2(2)
month = U1(3)
day = U1(4)
hour = U1(5)
min = U1(6)
sec = U1(7)
valid = X1(8)
tAcc = U4(9)
nano = I4(10)
fixType = U1(11)
flags = X1(12)
flags2 = X1(13)
numSV = U1(14)
lon = I4(15) # 1e-7 deg for lon,lat
lat = I4(16)
height = I4(17) # mm for heights; height is above ellipsoid
hMSL = I4(18)
hAcc = U4(19)
vAcc = U4(20)
velN = I4(21) # mm/s for speeds and velocities
velE = I4(22)
velD = I4(23)
gSpeed = I4(24)
headMot = I4(25) # 1e-5 deg for heading of motion
sAcc = U4(26)
headAcc = U4(27)
pDOP = U2(28)
flags3 = X1(29)
reserved1 = U1(30)
reserved1x = U4(31)
headVeh = I4(32)
magDec = I2(33) # 1e-2 deg for Magnetic declination
magAcc = U2(34)
class Repeated:
spectrum = U(1, 256) # Spectrum Bins (dB unreferenced)
span = U4(2) # Spectrum span (Hz)
res = U4(3) # Bin Resolution (Hz)
center = U4(4) # Center of spectrum span (Hz)
pga = U1(5) # PGA gain (dB)
reserved1 = U(6, 3) # Reserved
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:
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 Fields:
xxGNS = "1"
time = "2" # [hhmmss.ss]
lat = "3" # [ddmm.mmmmm]
NS = "4" # single char
lon = "5" # [hdddmm.mmmmm]
EW = CH(6) # single char
# N = No fix,
# E = estimated/dead reckoning fix,
# A = autonomous GNSS fix,
# D = differential GNSS fix,
# F = RTK float,
# R = RTK fixed
posMode = "7"
numSV = U1(8)
HDOP = R4(9)
alt = R4(10) # [m] amsl
sep = R4(11) # [m]
diffAge = "12" # [s] null when no DGPS
diffStation = "13" # basestation ID
navStatus = CH(14) # always V in
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 Fields:
tpIdx = U1(1) # Time pulse selection (0 = TIMEPULSE, 1 = TIMEPULSE2)
class Fields:
clsID = U1(1) # Class ID of the Not-Acknowledged Message
msgID = U1(2) # Message ID of the Not-Acknowledged Message
class Fields:
version = U1(1)
powerSetupValue = U1(2)
period = U2(3)
onTime = U2(4)
reserved = U2(5)
class Fields:
portID = U1(1)
class Fields:
first = U1(1)
second = U1(2)
class Repeated:
ext = U2(1)