protocol.h File Reference

#include <stdint.h>
#include <zephyr/modem/ubx/checksum.h>

Go to the source code of this file.

Data Structures
struct	ubx_frame
struct	ubx_frame_match
struct	ubx_nav_pvt
struct	ubx_nav_sat
struct	ubx_nav_sat::ubx_nav_sat_info
struct	ubx_ack
struct	ubx_mon_gnss
struct	ubx_cfg_prt
struct	ubx_cfg_nav5
struct	ubx_cfg_rst
struct	ubx_cfg_rate
struct	ubx_cfg_val_hdr
struct	ubx_cfg_val_u8
struct	ubx_cfg_val_u16
struct	ubx_cfg_val_u32
struct	ubx_cfg_msg_rate
struct	ubx_mon_ver

Macros
#define	UBX_FRAME_HEADER_SZ   6
#define	UBX_FRAME_FOOTER_SZ   2
#define	UBX_FRAME_SZ_WITHOUT_PAYLOAD   (UBX_FRAME_HEADER_SZ + UBX_FRAME_FOOTER_SZ)
#define	UBX_FRAME_SZ(payload_size)   (payload_size + UBX_FRAME_SZ_WITHOUT_PAYLOAD)
#define	UBX_PREAMBLE_SYNC_CHAR_1   0xB5
#define	UBX_PREAMBLE_SYNC_CHAR_2   0x62
#define	UBX_FRAME_PREAMBLE_SYNC_CHAR_1_IDX   0
#define	UBX_FRAME_PREAMBLE_SYNC_CHAR_2_IDX   1
#define	UBX_FRAME_MSG_CLASS_IDX   2
#define	UBX_PAYLOAD_SZ_MAX   512
#define	UBX_FRAME_SZ_MAX   UBX_FRAME_SZ(UBX_PAYLOAD_SZ_MAX)
#define	UBX_NAV_PVT_VALID_DATE   BIT(0)
#define	UBX_NAV_PVT_VALID_TIME   BIT(1)
#define	UBX_NAV_PVT_VALID_UTC_TOD   BIT(2)
#define	UBX_NAV_PVT_VALID_MAGN   BIT(3)
#define	UBX_NAV_PVT_FLAGS_GNSS_FIX_OK   BIT(0)
#define	UBX_NAV_PVT_FLAGS3_INVALID_LLH   BIT(0)
#define	UBX_NAV_SAT_FLAGS_SV_USED   BIT(3)
#define	UBX_GNSS_SELECTION_GPS   BIT(0)
#define	UBX_GNSS_SELECTION_GLONASS   BIT(1)
#define	UBX_GNSS_SELECTION_BEIDOU   BIT(2)
#define	UBX_GNSS_SELECTION_GALILEO   BIT(3)
#define	UBX_CFG_PRT_MODE_CHAR_LEN(val)   (((val) & BIT_MASK(2)) << 6)
#define	UBX_CFG_PRT_MODE_PARITY(val)   (((val) & BIT_MASK(3)) << 9)
#define	UBX_CFG_PRT_MODE_STOP_BITS(val)   (((val) & BIT_MASK(2)) << 12)
#define	UBX_CFG_PRT_PROTO_MASK_UBX   BIT(0)
#define	UBX_CFG_PRT_PROTO_MASK_NMEA   BIT(1)
#define	UBX_CFG_PRT_PROTO_MASK_RTCM3   BIT(5)
#define	UBX_CFG_NAV5_APPLY_DYN   BIT(0)
#define	UBX_CFG_NAV5_APPLY_FIX_MODE   BIT(2)
#define	UBX_FRAME_DEFINE(_name, _frame)    const static struct ubx_frame _name = _frame
#define	UBX_FRAME_ARRAY_DEFINE(_name, ...)    const struct ubx_frame *_name[] = {__VA_ARGS__};
#define	UBX_FRAME_ACK_INITIALIZER(_class_id, _msg_id)    UBX_FRAME_INITIALIZER_PAYLOAD(UBX_CLASS_ID_ACK, UBX_MSG_ID_ACK, _class_id, _msg_id)
#define	UBX_FRAME_NAK_INITIALIZER(_class_id, _msg_id)    UBX_FRAME_INITIALIZER_PAYLOAD(UBX_CLASS_ID_ACK, UBX_MSG_ID_NAK, _class_id, _msg_id)
#define	UBX_FRAME_CFG_RST_INITIALIZER(_start_mode, _reset_mode)
#define	UBX_FRAME_CFG_RATE_INITIALIZER(_meas_rate_ms, _nav_rate, _time_ref)
#define	UBX_FRAME_CFG_MSG_RATE_INITIALIZER(_class_id, _msg_id, _rate)
#define	UBX_FRAME_CFG_VAL_SET_U8_INITIALIZER(_key, _value)
#define	UBX_FRAME_CFG_VAL_SET_U16_INITIALIZER(_key, _value)
#define	UBX_FRAME_CFG_VAL_SET_U32_INITIALIZER(_key, _value)
#define	UBX_FRAME_CFG_VAL_GET_INITIALIZER(_key)
#define	UBX_FRAME_INITIALIZER_PAYLOAD(_class_id, _msg_id, ...)    _UBX_FRAME_INITIALIZER_PAYLOAD(_class_id, _msg_id, __VA_ARGS__)
#define	UBX_FRAME_GET_INITIALIZER(_class_id, _msg_id)

Enumerations
enum	ubx_class_id {   UBX_CLASS_ID_NAV = 0x01 , UBX_CLASS_ID_RXM = 0x02 , UBX_CLASS_ID_INF = 0x04 , UBX_CLASS_ID_ACK = 0x05 ,   UBX_CLASS_ID_CFG = 0x06 , UBX_CLASS_ID_UPD = 0x09 , UBX_CLASS_ID_MON = 0x0A , UBX_CLASS_ID_TIM = 0x0D ,   UBX_CLASS_ID_MGA = 0x13 , UBX_CLASS_ID_LOG = 0x21 , UBX_CLASS_ID_SEC = 0x27 , UBX_CLASS_ID_NMEA_STD = 0xF0 ,   UBX_CLASS_ID_NMEA_PUBX = 0xF1 }
enum	ubx_msg_id_nav { UBX_MSG_ID_NAV_PVT = 0x07 , UBX_MSG_ID_NAV_SAT = 0x35 }
enum	ubx_nav_fix_type {   UBX_NAV_FIX_TYPE_NO_FIX = 0 , UBX_NAV_FIX_TYPE_DR = 1 , UBX_NAV_FIX_TYPE_2D = 2 , UBX_NAV_FIX_TYPE_3D = 3 ,   UBX_NAV_FIX_TYPE_GNSS_DR_COMBINED = 4 , UBX_NAV_FIX_TYPE_TIME_ONLY = 5 }
enum	ubx_nav_sat_health { UBX_NAV_SAT_HEALTH_UNKNOWN = 0 , UBX_NAV_SAT_HEALTH_HEALTHY = 1 , UBX_NAV_SAT_HEALTH_UNHEALTHY = 2 }
enum	ubx_gnss_id {   UBX_GNSS_ID_GPS = 0 , UBX_GNSS_ID_SBAS = 1 , UBX_GNSS_ID_GALILEO = 2 , UBX_GNSS_ID_BEIDOU = 3 ,   UBX_GNSS_ID_QZSS = 5 , UBX_GNSS_ID_GLONASS = 6 }
enum	ubx_msg_id_ack { UBX_MSG_ID_ACK = 0x01 , UBX_MSG_ID_NAK = 0x00 }
enum	ubx_msg_id_cfg {   UBX_MSG_ID_CFG_PRT = 0x00 , UBX_MSG_ID_CFG_MSG = 0x01 , UBX_MSG_ID_CFG_RST = 0x04 , UBX_MSG_ID_CFG_RATE = 0x08 ,   UBX_MSG_ID_CFG_NAV5 = 0x24 , UBX_MSG_ID_CFG_VAL_SET = 0x8A , UBX_MSG_ID_CFG_VAL_GET = 0x8B }
enum	ubx_msg_id_mon { UBX_MSG_ID_MON_VER = 0x04 , UBX_MSG_ID_MON_GNSS = 0x28 }
enum	ubx_cfg_port_id { UBX_CFG_PORT_ID_DDC = 0 , UBX_CFG_PORT_ID_UART = 1 , UBX_CFG_PORT_ID_USB = 2 , UBX_CFG_PORT_ID_SPI = 3 }
enum	ubx_cfg_char_len { UBX_CFG_PRT_PORT_MODE_CHAR_LEN_5 = 0 , UBX_CFG_PRT_PORT_MODE_CHAR_LEN_6 = 1 , UBX_CFG_PRT_PORT_MODE_CHAR_LEN_7 = 2 , UBX_CFG_PRT_PORT_MODE_CHAR_LEN_8 = 3 }
enum	ubx_cfg_parity { UBX_CFG_PRT_PORT_MODE_PARITY_EVEN = 0 , UBX_CFG_PRT_PORT_MODE_PARITY_ODD = 1 , UBX_CFG_PRT_PORT_MODE_PARITY_NONE = 4 }
enum	ubx_cfg_stop_bits { UBX_CFG_PRT_PORT_MODE_STOP_BITS_1 = 0 , UBX_CFG_PRT_PORT_MODE_STOP_BITS_1_5 = 1 , UBX_CFG_PRT_PORT_MODE_STOP_BITS_2 = 2 , UBX_CFG_PRT_PORT_MODE_STOP_BITS_0_5 = 3 }
enum	ubx_dyn_model {   UBX_DYN_MODEL_PORTABLE = 0 , UBX_DYN_MODEL_STATIONARY = 2 , UBX_DYN_MODEL_PEDESTRIAN = 3 , UBX_DYN_MODEL_AUTOMOTIVE = 4 ,   UBX_DYN_MODEL_SEA = 5 , UBX_DYN_MODEL_AIRBORNE_1G = 6 , UBX_DYN_MODEL_AIRBORNE_2G = 7 , UBX_DYN_MODEL_AIRBORNE_4G = 8 ,   UBX_DYN_MODEL_WRIST = 9 , UBX_DYN_MODEL_BIKE = 10 }
enum	ubx_fix_mode { UBX_FIX_MODE_2D_ONLY = 1 , UBX_FIX_MODE_3D_ONLY = 2 , UBX_FIX_MODE_AUTO = 3 }
enum	ubx_utc_standard {   UBX_UTC_STANDARD_AUTOMATIC = 0 , UBX_UTC_STANDARD_GPS = 3 , UBX_UTC_STANDARD_GALILEO = 5 , UBX_UTC_STANDARD_GLONASS = 6 ,   UBX_UTC_STANDARD_BEIDOU = 7 }
enum	ubx_cfg_rst_start_mode { UBX_CFG_RST_HOT_START = 0x0000 , UBX_CFG_RST_WARM_START = 0x0001 , UBX_CFG_RST_COLD_START = 0xFFFF }
enum	ubx_cfg_rst_mode { UBX_CFG_RST_MODE_HW = 0x00 , UBX_CFG_RST_MODE_SW = 0x01 , UBX_CFG_RST_MODE_GNSS_STOP = 0x08 , UBX_CFG_RST_MODE_GNSS_START = 0x09 }
enum	ubx_cfg_rate_time_ref {   UBX_CFG_RATE_TIME_REF_UTC = 0 , UBX_CFG_RATE_TIME_REF_GPS = 1 , UBX_CFG_RATE_TIME_REF_GLONASS = 2 , UBX_CFG_RATE_TIME_REF_BEIDOU = 3 ,   UBX_CFG_RATE_TIME_REF_GALILEO = 4 , UBX_CFG_RATE_TIME_REF_NAVIC = 5 }
enum	ubx_cfg_val_ver { UBX_CFG_VAL_VER_SIMPLE = 0 , UBX_CFG_VAL_VER_TRANSACTION = 1 }
enum	ubx_msg_id_nmea_std {   UBX_MSG_ID_NMEA_STD_DTM = 0x0A , UBX_MSG_ID_NMEA_STD_GBQ = 0x44 , UBX_MSG_ID_NMEA_STD_GBS = 0x09 , UBX_MSG_ID_NMEA_STD_GGA = 0x00 ,   UBX_MSG_ID_NMEA_STD_GLL = 0x01 , UBX_MSG_ID_NMEA_STD_GLQ = 0x43 , UBX_MSG_ID_NMEA_STD_GNQ = 0x42 , UBX_MSG_ID_NMEA_STD_GNS = 0x0D ,   UBX_MSG_ID_NMEA_STD_GPQ = 0x40 , UBX_MSG_ID_NMEA_STD_GRS = 0x06 , UBX_MSG_ID_NMEA_STD_GSA = 0x02 , UBX_MSG_ID_NMEA_STD_GST = 0x07 ,   UBX_MSG_ID_NMEA_STD_GSV = 0x03 , UBX_MSG_ID_NMEA_STD_RMC = 0x04 , UBX_MSG_ID_NMEA_STD_THS = 0x0E , UBX_MSG_ID_NMEA_STD_TXT = 0x41 ,   UBX_MSG_ID_NMEA_STD_VLW = 0x0F , UBX_MSG_ID_NMEA_STD_VTG = 0x05 , UBX_MSG_ID_NMEA_STD_ZDA = 0x08 }
enum	ubx_msg_id_nmea_pubx {   UBX_MSG_ID_NMEA_PUBX_CONFIG = 0x41 , UBX_MSG_ID_NMEA_PUBX_POSITION = 0x00 , UBX_MSG_ID_NMEA_PUBX_RATE = 0x40 , UBX_MSG_ID_NMEA_PUBX_SVSTATUS = 0x03 ,   UBX_MSG_ID_NMEA_PUBX_TIME = 0x04 }

Functions
static uint16_t	ubx_calc_checksum (const struct ubx_frame *frame, size_t len)
static int	ubx_frame_encode (uint8_t class, uint8_t id, const uint8_t *payload, size_t payload_len, uint8_t *buf, size_t buf_len)

Macro Definition Documentation

UBX_CFG_NAV5_APPLY_DYN

#define UBX_CFG_NAV5_APPLY_DYN   BIT(0)

UBX_CFG_NAV5_APPLY_FIX_MODE

#define UBX_CFG_NAV5_APPLY_FIX_MODE   BIT(2)

UBX_CFG_PRT_MODE_CHAR_LEN

#define UBX_CFG_PRT_MODE_CHAR_LEN

(

val

)

(((val) & BIT_MASK(2)) << 6)

UBX_CFG_PRT_MODE_PARITY

#define UBX_CFG_PRT_MODE_PARITY

(

val

)

(((val) & BIT_MASK(3)) << 9)

UBX_CFG_PRT_MODE_STOP_BITS

#define UBX_CFG_PRT_MODE_STOP_BITS

(

val

)

(((val) & BIT_MASK(2)) << 12)

UBX_CFG_PRT_PROTO_MASK_NMEA

#define UBX_CFG_PRT_PROTO_MASK_NMEA   BIT(1)

UBX_CFG_PRT_PROTO_MASK_RTCM3

#define UBX_CFG_PRT_PROTO_MASK_RTCM3   BIT(5)

UBX_CFG_PRT_PROTO_MASK_UBX

#define UBX_CFG_PRT_PROTO_MASK_UBX   BIT(0)

UBX_FRAME_ACK_INITIALIZER

#define UBX_FRAME_ACK_INITIALIZER	(		_class_id,
			_msg_id
	)		UBX_FRAME_INITIALIZER_PAYLOAD(UBX_CLASS_ID_ACK, UBX_MSG_ID_ACK, _class_id, _msg_id)

UBX_FRAME_ARRAY_DEFINE

#define UBX_FRAME_ARRAY_DEFINE	(		_name,
			...
	)		const struct ubx_frame *_name[] = {__VA_ARGS__};

UBX_FRAME_CFG_MSG_RATE_INITIALIZER

#define UBX_FRAME_CFG_MSG_RATE_INITIALIZER	(		_class_id,
			_msg_id,
			_rate
	)

Value:

        UBX_FRAME_INITIALIZER_PAYLOAD(UBX_CLASS_ID_CFG, UBX_MSG_ID_CFG_MSG,                        \
                                      _class_id, _msg_id, _rate)

UBX_FRAME_CFG_RATE_INITIALIZER

#define UBX_FRAME_CFG_RATE_INITIALIZER	(		_meas_rate_ms,
			_nav_rate,
			_time_ref
	)

Value:

        UBX_FRAME_INITIALIZER_PAYLOAD(UBX_CLASS_ID_CFG, UBX_MSG_ID_CFG_RATE,                       \
                                      (_meas_rate_ms & 0xFF), ((_meas_rate_ms >> 8) & 0xFF),       \
                                      (_nav_rate & 0xFF), ((_nav_rate >> 8) & 0xFF),               \
                                      (_time_ref & 0xFF), ((_time_ref >> 8) & 0xFF))

UBX_FRAME_CFG_RST_INITIALIZER

#define UBX_FRAME_CFG_RST_INITIALIZER	(		_start_mode,
			_reset_mode
	)

Value:

        UBX_FRAME_INITIALIZER_PAYLOAD(UBX_CLASS_ID_CFG, UBX_MSG_ID_CFG_RST,                        \
                                      (_start_mode & 0xFF), ((_start_mode >> 8) & 0xFF),           \
                                       _reset_mode, 0)

UBX_FRAME_CFG_VAL_GET_INITIALIZER

#define UBX_FRAME_CFG_VAL_GET_INITIALIZER

(

_key

)

Value:

        UBX_FRAME_INITIALIZER_PAYLOAD(UBX_CLASS_ID_CFG, UBX_MSG_ID_CFG_VAL_GET,                    \
                                      0x00, 0x00, 0x00, 0x00,                                      \
                                      ((_key) & 0xFF), (((_key) >> 8) & 0xFF),                     \
                                      (((_key) >> 16) & 0xFF), (((_key) >> 24) & 0xFF))

UBX_FRAME_CFG_VAL_SET_U16_INITIALIZER

#define UBX_FRAME_CFG_VAL_SET_U16_INITIALIZER	(		_key,
			_value
	)

Value:

        UBX_FRAME_INITIALIZER_PAYLOAD(UBX_CLASS_ID_CFG, UBX_MSG_ID_CFG_VAL_SET,                    \
                                      0x00, 0x01, 0x00, 0x00,                                      \
                                      ((_key) & 0xFF), (((_key) >> 8) & 0xFF),                     \
                                      (((_key) >> 16) & 0xFF), (((_key) >> 24) & 0xFF),            \
                                      ((_value) & 0xFF), (((_value) >> 8) & 0xFF))

UBX_FRAME_CFG_VAL_SET_U32_INITIALIZER

#define UBX_FRAME_CFG_VAL_SET_U32_INITIALIZER	(		_key,
			_value
	)

Value:

        UBX_FRAME_INITIALIZER_PAYLOAD(UBX_CLASS_ID_CFG, UBX_MSG_ID_CFG_VAL_SET,                    \
                                      0x00, 0x01, 0x00, 0x00,                                      \
                                      ((_key) & 0xFF), (((_key) >> 8) & 0xFF),                     \
                                      (((_key) >> 16) & 0xFF), (((_key) >> 24) & 0xFF),            \
                                      ((_value) & 0xFF), (((_value) >> 8) & 0xFF),                 \
                                      (((_value) >> 16) & 0xFF), (((_value) >> 24) & 0xFF))

UBX_FRAME_CFG_VAL_SET_U8_INITIALIZER

#define UBX_FRAME_CFG_VAL_SET_U8_INITIALIZER	(		_key,
			_value
	)

Value:

        UBX_FRAME_INITIALIZER_PAYLOAD(UBX_CLASS_ID_CFG, UBX_MSG_ID_CFG_VAL_SET,                    \
                                      0x00, 0x01, 0x00, 0x00,                                      \
                                      ((_key) & 0xFF), (((_key) >> 8) & 0xFF),                     \
                                      (((_key) >> 16) & 0xFF), (((_key) >> 24) & 0xFF),            \
                                      ((_value) & 0xFF))

UBX_FRAME_DEFINE

#define UBX_FRAME_DEFINE	(		_name,
			_frame
	)		const static struct ubx_frame _name = _frame

UBX_FRAME_FOOTER_SZ

#define UBX_FRAME_FOOTER_SZ   2

UBX_FRAME_GET_INITIALIZER

#define UBX_FRAME_GET_INITIALIZER	(		_class_id,
			_msg_id
	)

Value:

        {                                                                                          \
                .preamble_sync_char_1 = UBX_PREAMBLE_SYNC_CHAR_1,                                  \
                .preamble_sync_char_2 = UBX_PREAMBLE_SYNC_CHAR_2,                                  \
                .class = _class_id,                                                                \
                .id = _msg_id,                                                                     \
                .payload_size = 0,                                                                 \
                .payload_and_checksum = {                                                          \
                        UBX_CSUM(_class_id, _msg_id, 0, 0),                                        \
                },                                                                                 \
        }

UBX_FRAME_HEADER_SZ

#define UBX_FRAME_HEADER_SZ   6

UBX_FRAME_INITIALIZER_PAYLOAD

#define UBX_FRAME_INITIALIZER_PAYLOAD	(		_class_id,
			_msg_id,
			...
	)		_UBX_FRAME_INITIALIZER_PAYLOAD(_class_id, _msg_id, __VA_ARGS__)

UBX_FRAME_MSG_CLASS_IDX

#define UBX_FRAME_MSG_CLASS_IDX   2

UBX_FRAME_NAK_INITIALIZER

#define UBX_FRAME_NAK_INITIALIZER	(		_class_id,
			_msg_id
	)		UBX_FRAME_INITIALIZER_PAYLOAD(UBX_CLASS_ID_ACK, UBX_MSG_ID_NAK, _class_id, _msg_id)

UBX_FRAME_PREAMBLE_SYNC_CHAR_1_IDX

#define UBX_FRAME_PREAMBLE_SYNC_CHAR_1_IDX   0

UBX_FRAME_PREAMBLE_SYNC_CHAR_2_IDX

#define UBX_FRAME_PREAMBLE_SYNC_CHAR_2_IDX   1

UBX_FRAME_SZ

#define UBX_FRAME_SZ

(

payload_size

)

(payload_size + UBX_FRAME_SZ_WITHOUT_PAYLOAD)

UBX_FRAME_SZ_MAX

#define UBX_FRAME_SZ_MAX   UBX_FRAME_SZ(UBX_PAYLOAD_SZ_MAX)

UBX_FRAME_SZ_WITHOUT_PAYLOAD

#define UBX_FRAME_SZ_WITHOUT_PAYLOAD   (UBX_FRAME_HEADER_SZ + UBX_FRAME_FOOTER_SZ)

UBX_GNSS_SELECTION_BEIDOU

#define UBX_GNSS_SELECTION_BEIDOU   BIT(2)

UBX_GNSS_SELECTION_GALILEO

#define UBX_GNSS_SELECTION_GALILEO   BIT(3)

UBX_GNSS_SELECTION_GLONASS

#define UBX_GNSS_SELECTION_GLONASS   BIT(1)

UBX_GNSS_SELECTION_GPS

#define UBX_GNSS_SELECTION_GPS   BIT(0)

UBX_NAV_PVT_FLAGS3_INVALID_LLH

#define UBX_NAV_PVT_FLAGS3_INVALID_LLH   BIT(0)

UBX_NAV_PVT_FLAGS_GNSS_FIX_OK

#define UBX_NAV_PVT_FLAGS_GNSS_FIX_OK   BIT(0)

UBX_NAV_PVT_VALID_DATE

#define UBX_NAV_PVT_VALID_DATE   BIT(0)

UBX_NAV_PVT_VALID_MAGN

#define UBX_NAV_PVT_VALID_MAGN   BIT(3)

UBX_NAV_PVT_VALID_TIME

#define UBX_NAV_PVT_VALID_TIME   BIT(1)

UBX_NAV_PVT_VALID_UTC_TOD

#define UBX_NAV_PVT_VALID_UTC_TOD   BIT(2)

UBX_NAV_SAT_FLAGS_SV_USED

#define UBX_NAV_SAT_FLAGS_SV_USED   BIT(3)

UBX_PAYLOAD_SZ_MAX

#define UBX_PAYLOAD_SZ_MAX   512

UBX_PREAMBLE_SYNC_CHAR_1

#define UBX_PREAMBLE_SYNC_CHAR_1   0xB5

UBX_PREAMBLE_SYNC_CHAR_2

#define UBX_PREAMBLE_SYNC_CHAR_2   0x62

Enumeration Type Documentation

ubx_cfg_char_len

enum ubx_cfg_char_len

Enumerator
UBX_CFG_PRT_PORT_MODE_CHAR_LEN_5
UBX_CFG_PRT_PORT_MODE_CHAR_LEN_6
UBX_CFG_PRT_PORT_MODE_CHAR_LEN_7
UBX_CFG_PRT_PORT_MODE_CHAR_LEN_8

ubx_cfg_parity

enum ubx_cfg_parity

Enumerator
UBX_CFG_PRT_PORT_MODE_PARITY_EVEN
UBX_CFG_PRT_PORT_MODE_PARITY_ODD
UBX_CFG_PRT_PORT_MODE_PARITY_NONE

ubx_cfg_port_id

enum ubx_cfg_port_id

Enumerator
UBX_CFG_PORT_ID_DDC
UBX_CFG_PORT_ID_UART
UBX_CFG_PORT_ID_USB
UBX_CFG_PORT_ID_SPI

ubx_cfg_rate_time_ref

enum ubx_cfg_rate_time_ref

Enumerator
UBX_CFG_RATE_TIME_REF_UTC
UBX_CFG_RATE_TIME_REF_GPS
UBX_CFG_RATE_TIME_REF_GLONASS
UBX_CFG_RATE_TIME_REF_BEIDOU
UBX_CFG_RATE_TIME_REF_GALILEO
UBX_CFG_RATE_TIME_REF_NAVIC

ubx_cfg_rst_mode

enum ubx_cfg_rst_mode

Enumerator
UBX_CFG_RST_MODE_HW
UBX_CFG_RST_MODE_SW
UBX_CFG_RST_MODE_GNSS_STOP
UBX_CFG_RST_MODE_GNSS_START

ubx_cfg_rst_start_mode

enum ubx_cfg_rst_start_mode

Enumerator
UBX_CFG_RST_HOT_START
UBX_CFG_RST_WARM_START
UBX_CFG_RST_COLD_START

ubx_cfg_stop_bits

enum ubx_cfg_stop_bits

Enumerator
UBX_CFG_PRT_PORT_MODE_STOP_BITS_1
UBX_CFG_PRT_PORT_MODE_STOP_BITS_1_5
UBX_CFG_PRT_PORT_MODE_STOP_BITS_2
UBX_CFG_PRT_PORT_MODE_STOP_BITS_0_5

ubx_cfg_val_ver

enum ubx_cfg_val_ver

Enumerator
UBX_CFG_VAL_VER_SIMPLE
UBX_CFG_VAL_VER_TRANSACTION

ubx_class_id

enum ubx_class_id

Enumerator
UBX_CLASS_ID_NAV
UBX_CLASS_ID_RXM
UBX_CLASS_ID_INF
UBX_CLASS_ID_ACK
UBX_CLASS_ID_CFG
UBX_CLASS_ID_UPD
UBX_CLASS_ID_MON
UBX_CLASS_ID_TIM
UBX_CLASS_ID_MGA
UBX_CLASS_ID_LOG
UBX_CLASS_ID_SEC
UBX_CLASS_ID_NMEA_STD
UBX_CLASS_ID_NMEA_PUBX

ubx_dyn_model

enum ubx_dyn_model

Enumerator
UBX_DYN_MODEL_PORTABLE
UBX_DYN_MODEL_STATIONARY
UBX_DYN_MODEL_PEDESTRIAN
UBX_DYN_MODEL_AUTOMOTIVE
UBX_DYN_MODEL_SEA
UBX_DYN_MODEL_AIRBORNE_1G
UBX_DYN_MODEL_AIRBORNE_2G
UBX_DYN_MODEL_AIRBORNE_4G
UBX_DYN_MODEL_WRIST
UBX_DYN_MODEL_BIKE

ubx_fix_mode

enum ubx_fix_mode

Enumerator
UBX_FIX_MODE_2D_ONLY
UBX_FIX_MODE_3D_ONLY
UBX_FIX_MODE_AUTO

ubx_gnss_id

enum ubx_gnss_id

Enumerator
UBX_GNSS_ID_GPS
UBX_GNSS_ID_SBAS
UBX_GNSS_ID_GALILEO
UBX_GNSS_ID_BEIDOU
UBX_GNSS_ID_QZSS
UBX_GNSS_ID_GLONASS

ubx_msg_id_ack

enum ubx_msg_id_ack

Enumerator
UBX_MSG_ID_ACK
UBX_MSG_ID_NAK

ubx_msg_id_cfg

enum ubx_msg_id_cfg

Enumerator
UBX_MSG_ID_CFG_PRT
UBX_MSG_ID_CFG_MSG
UBX_MSG_ID_CFG_RST
UBX_MSG_ID_CFG_RATE
UBX_MSG_ID_CFG_NAV5
UBX_MSG_ID_CFG_VAL_SET
UBX_MSG_ID_CFG_VAL_GET

ubx_msg_id_mon

enum ubx_msg_id_mon

Enumerator
UBX_MSG_ID_MON_VER
UBX_MSG_ID_MON_GNSS

ubx_msg_id_nav

enum ubx_msg_id_nav

Enumerator
UBX_MSG_ID_NAV_PVT
UBX_MSG_ID_NAV_SAT

ubx_msg_id_nmea_pubx

enum ubx_msg_id_nmea_pubx

Enumerator
UBX_MSG_ID_NMEA_PUBX_CONFIG
UBX_MSG_ID_NMEA_PUBX_POSITION
UBX_MSG_ID_NMEA_PUBX_RATE
UBX_MSG_ID_NMEA_PUBX_SVSTATUS
UBX_MSG_ID_NMEA_PUBX_TIME

ubx_msg_id_nmea_std

enum ubx_msg_id_nmea_std

Enumerator
UBX_MSG_ID_NMEA_STD_DTM
UBX_MSG_ID_NMEA_STD_GBQ
UBX_MSG_ID_NMEA_STD_GBS
UBX_MSG_ID_NMEA_STD_GGA
UBX_MSG_ID_NMEA_STD_GLL
UBX_MSG_ID_NMEA_STD_GLQ
UBX_MSG_ID_NMEA_STD_GNQ
UBX_MSG_ID_NMEA_STD_GNS
UBX_MSG_ID_NMEA_STD_GPQ
UBX_MSG_ID_NMEA_STD_GRS
UBX_MSG_ID_NMEA_STD_GSA
UBX_MSG_ID_NMEA_STD_GST
UBX_MSG_ID_NMEA_STD_GSV
UBX_MSG_ID_NMEA_STD_RMC
UBX_MSG_ID_NMEA_STD_THS
UBX_MSG_ID_NMEA_STD_TXT
UBX_MSG_ID_NMEA_STD_VLW
UBX_MSG_ID_NMEA_STD_VTG
UBX_MSG_ID_NMEA_STD_ZDA

ubx_nav_fix_type

enum ubx_nav_fix_type

Enumerator
UBX_NAV_FIX_TYPE_NO_FIX
UBX_NAV_FIX_TYPE_DR
UBX_NAV_FIX_TYPE_2D
UBX_NAV_FIX_TYPE_3D
UBX_NAV_FIX_TYPE_GNSS_DR_COMBINED
UBX_NAV_FIX_TYPE_TIME_ONLY

ubx_nav_sat_health

enum ubx_nav_sat_health

Enumerator
UBX_NAV_SAT_HEALTH_UNKNOWN
UBX_NAV_SAT_HEALTH_HEALTHY
UBX_NAV_SAT_HEALTH_UNHEALTHY

ubx_utc_standard

enum ubx_utc_standard

Enumerator
UBX_UTC_STANDARD_AUTOMATIC
UBX_UTC_STANDARD_GPS
UBX_UTC_STANDARD_GALILEO
UBX_UTC_STANDARD_GLONASS
UBX_UTC_STANDARD_BEIDOU

Function Documentation

ubx_calc_checksum()

static uint16_t ubx_calc_checksum ( const struct ubx_frame *  frame, size_t  len  )

inlinestatic

Mismatch in expected and actual length results in an invalid frame

ubx_frame_encode()

static int ubx_frame_encode ( uint8_t  class, uint8_t  id, const uint8_t *  payload, size_t  payload_len, uint8_t *  buf, size_t  buf_len  )

inlinestatic