no-OS/doxygen/nmea__ubx_8h_source.html

/***************************************************************************/

#ifndef __NMEA_UBX_H__

#define __NMEA_UBX_H__


#include <stdbool.h>

#include <stdint.h>

#include <string.h>

#include "no_os_util.h"

#include "no_os_uart.h"

#include "no_os_gpio.h"

#include "no_os_irq.h"

#include "no_os_delay.h"

#include "no_os_alloc.h"

#include "no_os_print_log.h"

#include "no_os_error.h"

#include <stdlib.h>

#include <errno.h>


/* UBX Protocol constants */

#define UBX_SYNCH_1                 0xB5

#define UBX_SYNCH_2                 0x62


/* UBX Class IDs */

#define UBX_CLASS_NAV                   0x01

#define UBX_CLASS_RXM                   0x02

#define UBX_CLASS_INF                   0x04

#define UBX_CLASS_ACK                   0x05

#define UBX_CLASS_CFG                   0x06

#define UBX_CLASS_UPD                   0x09

#define UBX_CLASS_MON                   0x0A

#define UBX_CLASS_TIM                   0x0D

#define UBX_CLASS_MGA                   0x13

#define UBX_CLASS_LOG                   0x21

#define UBX_CLASS_SEC                   0x27

#define UBX_CLASS_NMEA                  0xF0

#define UBX_CLASS_PUBX                  0xF1


/* UBX-CFG Message IDs */

#define UBX_CFG_ANT                     0x13

#define UBX_CFG_BATCH                   0x93

#define UBX_CFG_CFG                     0x09

#define UBX_CFG_DAT                     0x06

#define UBX_CFG_DGNSS                   0x70

#define UBX_CFG_ESFALG                  0x56

#define UBX_CFG_ESFA                    0x4C

#define UBX_CFG_ESFG                    0x4D

#define UBX_CFG_GEOFENCE                0x69

#define UBX_CFG_GNSS                    0x3E

#define UBX_CFG_HNR                     0x5C

#define UBX_CFG_INF                     0x02

#define UBX_CFG_ITFM                    0x39

#define UBX_CFG_LOGFILTER               0x47

#define UBX_CFG_MSG                     0x01

#define UBX_CFG_NAV5                    0x24

#define UBX_CFG_NAVX5                   0x23

#define UBX_CFG_NMEA                    0x17

#define UBX_CFG_ODO                     0x1E

#define UBX_CFG_PM2                     0x3B

#define UBX_CFG_PMS                     0x86

#define UBX_CFG_PRT                     0x00

#define UBX_CFG_PWR                     0x57

#define UBX_CFG_RATE                    0x08

#define UBX_CFG_RINV                    0x34

#define UBX_CFG_RST                     0x04

#define UBX_CFG_RXM                     0x11

#define UBX_CFG_SBAS                    0x16

#define UBX_CFG_SMGR                    0x62

#define UBX_CFG_TMODE3                  0x71

#define UBX_CFG_TP5                     0x31

#define UBX_CFG_USB                     0x1B

#define UBX_CFG_VALDEL                  0x8C

#define UBX_CFG_VALGET                  0x8B

#define UBX_CFG_VALSET                  0x8A


/* Class: NAV */

#define UBX_NAV_ATT                     0x05

#define UBX_NAV_CLOCK                   0x22

#define UBX_NAV_DOP                     0x04

#define UBX_NAV_EOE                     0x61

#define UBX_NAV_GEOFENCE                0x39

#define UBX_NAV_HPPOSECEF               0x13

#define UBX_NAV_HPPOSLLH                0x14

#define UBX_NAV_ODO                     0x09

#define UBX_NAV_ORB                     0x34

#define UBX_NAV_PL                      0x62

#define UBX_NAV_POSECEF                 0x01

#define UBX_NAV_POSLLH                  0x02

#define UBX_NAV_PVT                     0x07

#define UBX_NAV_PVAT                    0x17

#define UBX_NAV_RELPOSNED               0x3C

#define UBX_NAV_RESETODO                0x10

#define UBX_NAV_SAT                     0x35

#define UBX_NAV_SIG                     0x43

#define UBX_NAV_STATUS                  0x03

#define UBX_NAV_SVIN                    0x3B

#define UBX_NAV_TIMEBDS                 0x24

#define UBX_NAV_TIMEGAL                 0x25

#define UBX_NAV_TIMEGLO                 0x23

#define UBX_NAV_TIMEGPS                 0x20

#define UBX_NAV_TIMELS                  0x26

#define UBX_NAV_TIMEUTC                 0x21

#define UBX_NAV_VELECEF                 0x11

#define UBX_NAV_VELNED                  0x12

#define UBX_NAV_AOPSTATUS               0x60


/* Class: TIM */

#define UBX_TIM_DOSC                    0x11

#define UBX_TIM_FCHG                    0x16

#define UBX_TIM_HOC                     0x17

#define UBX_TIM_SMEAS                   0x13

#define UBX_TIM_SVIN                    0x04

#define UBX_TIM_TM2                     0x03

#define UBX_TIM_TOS                     0x12

#define UBX_TIM_TP                      0x01

#define UBX_TIM_VCOCAL                  0x15

#define UBX_TIM_VRFY                    0x06


/* Class: ACK */

#define UBX_ACK_NACK                    0x00

#define UBX_ACK_ACK                     0x01

#define UBX_ACK_NONE                    0x02


/* Value layer definitions for UBX-CFG-VALSET */

#define VAL_LAYER_RAM                   0x01

#define VAL_LAYER_BBR                   0x02

#define VAL_LAYER_FLASH                 0x04

#define VAL_LAYER_ALL                   (VAL_LAYER_RAM | VAL_LAYER_BBR | VAL_LAYER_FLASH)


/* Value size definitions */

#define VAL_SIZE_1                  0x01

#define VAL_SIZE_8                  0x02

#define VAL_SIZE_16                 0x03

#define VAL_SIZE_32                 0x04

#define VAL_SIZE_64                 0x05


/* Protocol IDs */

#define VAL_ID_PROT_UBX                 0x01

#define VAL_ID_PROT_NMEA                0x02

#define VAL_ID_PROT_RTCM3               0x04


#define VAL_GROUP_I2C                   0x51

#define VAL_GROUP_I2COUTPROT                0x72

#define VAL_GROUP_UART1INPROT               0x73

#define VAL_GROUP_UART1OUTPROT              0x74

#define VAL_GROUP_UART2INPROT               0x75

#define VAL_GROUP_UART2OUTPROT              0x76

#define VAL_GROUP_USBINPROT                 0x77

#define VAL_GROUP_USBOUTPROT                0x78


/* U-BLOX config keys */

#define UBLOX_CFG_BDS_USE_PRN_1_TO_5  0x10340014


/* CFG-GEOFENCE: Geofencing configuration */

#define UBLOX_CFG_GEOFENCE_CONFLVL              0x20240011

#define UBLOX_CFG_GEOFENCE_USE_PIO              0x10240012

#define UBLOX_CFG_GEOFENCE_PINPOL           0x20240013

#define UBLOX_CFG_GEOFENCE_PIN              0x20240014

#define UBLOX_CFG_GEOFENCE_USE_FENCE1           0x10240020

#define UBLOX_CFG_GEOFENCE_FENCE1_LAT           0x40240021

#define UBLOX_CFG_GEOFENCE_FENCE1_LON           0x40240022

#define UBLOX_CFG_GEOFENCE_FENCE1_RAD           0x40240023

#define UBLOX_CFG_GEOFENCE_USE_FENCE2           0x10240030

#define UBLOX_CFG_GEOFENCE_FENCE2_LAT           0x40240031

#define UBLOX_CFG_GEOFENCE_FENCE2_LON           0x40240032

#define UBLOX_CFG_GEOFENCE_FENCE2_RAD           0x40240033

#define UBLOX_CFG_GEOFENCE_USE_FENCE3           0x10240040

#define UBLOX_CFG_GEOFENCE_FENCE3_LAT           0x40240041

#define UBLOX_CFG_GEOFENCE_FENCE3_LON           0x40240042

#define UBLOX_CFG_GEOFENCE_FENCE3_RAD           0x40240043

#define UBLOX_CFG_GEOFENCE_USE_FENCE4           0x10240050

#define UBLOX_CFG_GEOFENCE_FENCE4_LAT           0x40240051

#define UBLOX_CFG_GEOFENCE_FENCE4_LON           0x40240052

#define UBLOX_CFG_GEOFENCE_FENCE4_RAD           0x40240053


/* CFG-HW: Hardware configuration */

#define UBLOX_CFG_HW_ANT_CFG_VOLTCTRL           0x10a3002e

#define UBLOX_CFG_HW_ANT_CFG_SHORTDET           0x10a3002f

#define UBLOX_CFG_HW_ANT_CFG_SHORTDET_POL       0x10a30030

#define UBLOX_CFG_HW_ANT_CFG_OPENDET            0x10a30031

#define UBLOX_CFG_HW_ANT_CFG_OPENDET_POL        0x10a30032

#define UBLOX_CFG_HW_ANT_CFG_PWRDOWN            0x10a30033

#define UBLOX_CFG_HW_ANT_CFG_PWRDOWN_POL        0x10a30034

#define UBLOX_CFG_HW_ANT_CFG_RECOVER            0x10a30035

#define UBLOX_CFG_HW_ANT_SUP_SWITCH_PIN         0x20a30036

#define UBLOX_CFG_HW_ANT_SUP_SHORT_PIN          0x20a30037

#define UBLOX_CFG_HW_ANT_SUP_OPEN_PIN           0x20a30038

#define UBLOX_CFG_HW_ANT_ON_SHORT_US            0x30a3003c

#define UBLOX_CFG_HW_SENS_WOM_MODE              0x20a30063

#define UBLOX_CFG_HW_SENS_WOM_THLD              0x20a30064

#define UBLOX_CFG_HW_ANT_SUP_ENGINE             0x20a30054

#define UBLOX_CFG_HW_ANT_SUP_SHORT_THR          0x20a30055

#define UBLOX_CFG_HW_ANT_SUP_OPEN_THR           0x20a30056


/* CFG-I2C: Configuration of the I2C interface */

#define UBLOX_CFG_I2C_ADDRESS               0x20510001

#define UBLOX_CFG_I2C_EXTENDEDTIMEOUT           0x10510002

#define UBLOX_CFG_I2C_ENABLED               0x10510003


/* CFG-I2CINPROT: Input protocol configuration of the I2C interface */

#define UBLOX_CFG_I2CINPROT_UBX             0x10710001

#define UBLOX_CFG_I2CINPROT_NMEA            0x10710002

#define UBLOX_CFG_I2CINPROT_RTCM3X          0x10710004

#define UBLOX_CFG_I2CINPROT_SPARTN              0x10710005


/* CFG-I2COUTPROT: Output protocol configuration of the I2C interface */

#define UBLOX_CFG_I2COUTPROT_UBX            0x10720001

#define UBLOX_CFG_I2COUTPROT_NMEA           0x10720002

#define UBLOX_CFG_I2COUTPROT_RTCM3X             0x10720004


/* CFG-INFMSG: Information message configuration */

#define UBLOX_CFG_INFMSG_UBX_I2C            0x20920001

#define UBLOX_CFG_INFMSG_UBX_UART1          0x20920002

#define UBLOX_CFG_INFMSG_UBX_UART2              0x20920003

#define UBLOX_CFG_INFMSG_UBX_USB            0x20920004

#define UBLOX_CFG_INFMSG_UBX_SPI            0x20920005

#define UBLOX_CFG_INFMSG_NMEA_I2C           0x20920006

#define UBLOX_CFG_INFMSG_NMEA_UART1             0x20920007

#define UBLOX_CFG_INFMSG_NMEA_UART2             0x20920008

#define UBLOX_CFG_INFMSG_NMEA_USB           0x20920009

#define UBLOX_CFG_INFMSG_NMEA_SPI           0x2092000a


/* CFG-ITFM: Jamming and interference monitor configuration */

#define UBLOX_CFG_ITFM_BBTHRESHOLD              0x20410001

#define UBLOX_CFG_ITFM_CWTHRESHOLD              0x20410002

#define UBLOX_CFG_ITFM_ENABLE               0x1041000d

#define UBLOX_CFG_ITFM_ANTSETTING           0x20410010

#define UBLOX_CFG_ITFM_ENABLE_AUX           0x10410013


/* CFG-LOGFILTER: Data logger configuration */

#define UBLOX_CFG_LOGFILTER_RECORD_ENA          0x10de0002

#define UBLOX_CFG_LOGFILTER_APPLY_ALL_FILTERS       0x10de0004

#define UBLOX_CFG_LOGFILTER_MIN_INTERVAL        0x30de0005

#define UBLOX_CFG_LOGFILTER_TIME_THRS           0x30de0006

#define UBLOX_CFG_LOGFILTER_SPEED_THRS          0x30de0007

#define UBLOX_CFG_LOGFILTER_POSITION_THRS       0x40de0008


/* CFG-MOT: Motion detector configuration */

#define UBLOX_CFG_MOT_GNSSSPEED_THRS            0x20250038

#define UBLOX_CFG_MOT_GNSSDIST_THRS             0x3025003b

#define UBLOX_CFG_MOT_IMU_FILT_WINDOW           0x30250016


/* CFG-MSGOUT: Message output configuration */

/* For each message and port a separate output rate (per second, per epoch) can be configured. */

#define UBLOX_CFG_MSGOUT_NMEA_ID_DTM_I2C        0x209100a6

#define UBLOX_CFG_MSGOUT_NMEA_ID_DTM_SPI        0x209100aa

#define UBLOX_CFG_MSGOUT_NMEA_ID_DTM_UART1          0x209100a7

#define UBLOX_CFG_MSGOUT_NMEA_ID_DTM_UART2          0x209100a8

#define UBLOX_CFG_MSGOUT_NMEA_ID_DTM_USB        0x209100a9

#define UBLOX_CFG_MSGOUT_NMEA_ID_GBS_I2C        0x209100dd

#define UBLOX_CFG_MSGOUT_NMEA_ID_GBS_SPI        0x209100e1

#define UBLOX_CFG_MSGOUT_NMEA_ID_GBS_UART1          0x209100de

#define UBLOX_CFG_MSGOUT_NMEA_ID_GBS_UART2          0x209100df

#define UBLOX_CFG_MSGOUT_NMEA_ID_GBS_USB        0x209100e0

#define UBLOX_CFG_MSGOUT_NMEA_ID_GGA_I2C        0x209100ba

#define UBLOX_CFG_MSGOUT_NMEA_ID_GGA_SPI        0x209100be

#define UBLOX_CFG_MSGOUT_NMEA_ID_GGA_UART1          0x209100bb

#define UBLOX_CFG_MSGOUT_NMEA_ID_GGA_UART2          0x209100bc

#define UBLOX_CFG_MSGOUT_NMEA_ID_GGA_USB        0x209100bd

#define UBLOX_CFG_MSGOUT_NMEA_ID_GLL_I2C        0x209100c9

#define UBLOX_CFG_MSGOUT_NMEA_ID_GLL_SPI        0x209100cd

#define UBLOX_CFG_MSGOUT_NMEA_ID_GLL_UART1          0x209100ca

#define UBLOX_CFG_MSGOUT_NMEA_ID_GLL_UART2          0x209100cb

#define UBLOX_CFG_MSGOUT_NMEA_ID_GLL_USB        0x209100cc

#define UBLOX_CFG_MSGOUT_NMEA_ID_GNS_I2C        0x209100b5

#define UBLOX_CFG_MSGOUT_NMEA_ID_GNS_SPI        0x209100b9

#define UBLOX_CFG_MSGOUT_NMEA_ID_GNS_UART1          0x209100b6

#define UBLOX_CFG_MSGOUT_NMEA_ID_GNS_UART2          0x209100b7

#define UBLOX_CFG_MSGOUT_NMEA_ID_GNS_USB        0x209100b8

#define UBLOX_CFG_MSGOUT_NMEA_ID_GRS_I2C        0x209100ce

#define UBLOX_CFG_MSGOUT_NMEA_ID_GRS_SPI        0x209100d2

#define UBLOX_CFG_MSGOUT_NMEA_ID_GRS_UART1          0x209100cf

#define UBLOX_CFG_MSGOUT_NMEA_ID_GRS_UART2          0x209100d0

#define UBLOX_CFG_MSGOUT_NMEA_ID_GRS_USB        0x209100d1

#define UBLOX_CFG_MSGOUT_NMEA_ID_GSA_I2C        0x209100bf

#define UBLOX_CFG_MSGOUT_NMEA_ID_GSA_SPI        0x209100c3

#define UBLOX_CFG_MSGOUT_NMEA_ID_GSA_UART1          0x209100c0

#define UBLOX_CFG_MSGOUT_NMEA_ID_GSA_UART2          0x209100c1

#define UBLOX_CFG_MSGOUT_NMEA_ID_GSA_USB        0x209100c2

#define UBLOX_CFG_MSGOUT_NMEA_ID_GST_I2C        0x209100d3

#define UBLOX_CFG_MSGOUT_NMEA_ID_GST_SPI        0x209100d7

#define UBLOX_CFG_MSGOUT_NMEA_ID_GST_UART1          0x209100d4

#define UBLOX_CFG_MSGOUT_NMEA_ID_GST_UART2          0x209100d5

#define UBLOX_CFG_MSGOUT_NMEA_ID_GST_USB        0x209100d6

#define UBLOX_CFG_MSGOUT_NMEA_ID_GSV_I2C        0x209100c4

#define UBLOX_CFG_MSGOUT_NMEA_ID_GSV_SPI        0x209100c8

#define UBLOX_CFG_MSGOUT_NMEA_ID_GSV_UART1          0x209100c5

#define UBLOX_CFG_MSGOUT_NMEA_ID_GSV_UART2          0x209100c6

#define UBLOX_CFG_MSGOUT_NMEA_ID_GSV_USB        0x209100c7

#define UBLOX_CFG_MSGOUT_NMEA_ID_RLM_I2C        0x20910400

#define UBLOX_CFG_MSGOUT_NMEA_ID_RLM_SPI        0x20910404

#define UBLOX_CFG_MSGOUT_NMEA_ID_RLM_UART1          0x20910401

#define UBLOX_CFG_MSGOUT_NMEA_ID_RLM_UART2          0x20910402

#define UBLOX_CFG_MSGOUT_NMEA_ID_RLM_USB        0x20910403

#define UBLOX_CFG_MSGOUT_NMEA_ID_RMC_I2C        0x209100ab

#define UBLOX_CFG_MSGOUT_NMEA_ID_RMC_SPI        0x209100af

#define UBLOX_CFG_MSGOUT_NMEA_ID_RMC_UART1          0x209100ac

#define UBLOX_CFG_MSGOUT_NMEA_ID_RMC_UART2          0x209100ad

#define UBLOX_CFG_MSGOUT_NMEA_ID_RMC_USB        0x209100ae

#define UBLOX_CFG_MSGOUT_NMEA_ID_VLW_I2C        0x209100e7

#define UBLOX_CFG_MSGOUT_NMEA_ID_VLW_SPI        0x209100eb

#define UBLOX_CFG_MSGOUT_NMEA_ID_VLW_UART1          0x209100e8

#define UBLOX_CFG_MSGOUT_NMEA_ID_VLW_UART2          0x209100e9

#define UBLOX_CFG_MSGOUT_NMEA_ID_VLW_USB        0x209100ea

#define UBLOX_CFG_MSGOUT_NMEA_ID_VTG_I2C        0x209100b0

#define UBLOX_CFG_MSGOUT_NMEA_ID_VTG_SPI        0x209100b4

#define UBLOX_CFG_MSGOUT_NMEA_ID_VTG_UART1          0x209100b1

#define UBLOX_CFG_MSGOUT_NMEA_ID_VTG_UART2          0x209100b2

#define UBLOX_CFG_MSGOUT_NMEA_ID_VTG_USB        0x209100b3

#define UBLOX_CFG_MSGOUT_NMEA_ID_ZDA_I2C        0x209100d8

#define UBLOX_CFG_MSGOUT_NMEA_ID_ZDA_SPI        0x209100dc

#define UBLOX_CFG_MSGOUT_NMEA_ID_ZDA_UART1          0x209100d9

#define UBLOX_CFG_MSGOUT_NMEA_ID_ZDA_UART2  .       0x209100da

#define UBLOX_CFG_MSGOUT_NMEA_ID_ZDA_USB        0x209100db

#define UBLOX_CFG_MSGOUT_PUBX_ID_POLYP_I2C          0x209100ec

#define UBLOX_CFG_MSGOUT_PUBX_ID_POLYP_SPI          0x209100f0

#define UBLOX_CFG_MSGOUT_PUBX_ID_POLYP_UART1        0x209100ed

#define UBLOX_CFG_MSGOUT_PUBX_ID_POLYP_UART2        0x209100ee

#define UBLOX_CFG_MSGOUT_PUBX_ID_POLYP_USB          0x209100ef

#define UBLOX_CFG_MSGOUT_PUBX_ID_POLYS_I2C          0x209100f1

#define UBLOX_CFG_MSGOUT_PUBX_ID_POLYS_SPI          0x209100f5

#define UBLOX_CFG_MSGOUT_PUBX_ID_POLYS_UART1        0x209100f2

#define UBLOX_CFG_MSGOUT_PUBX_ID_POLYS_UART2        0x209100f3

#define UBLOX_CFG_MSGOUT_PUBX_ID_POLYS_USB          0x209100f4

#define UBLOX_CFG_MSGOUT_PUBX_ID_POLYT_I2C          0x209100f6

#define UBLOX_CFG_MSGOUT_PUBX_ID_POLYT_SPI          0x209100fa

#define UBLOX_CFG_MSGOUT_PUBX_ID_POLYT_UART1        0x209100f7

#define UBLOX_CFG_MSGOUT_PUBX_ID_POLYT_UART2        0x209100f8

#define UBLOX_CFG_MSGOUT_PUBX_ID_POLYT_USB          0x209100f9

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_I2C       0x209102bd

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_SPI       0x209102c1

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_UART1     0x209102be

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_UART2     0x209102bf

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_USB       0x209102c0

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_I2C       0x2091035e

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_SPI       0x20910362

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_UART1     0x2091035f

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_UART2     0x20910360

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_USB       0x20910361

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1077_I2C       0x209102cc

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1077_SPI       0x209102d0

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1077_UART1     0x209102cd

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1077_UART2     0x209102ce

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1077_USB       0x209102cf

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_I2C       0x20910363

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_SPI       0x20910367

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_UART1     0x20910364

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_UART2     0x20910365

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_USB       0x20910366

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1087_I2C       0x209102d1

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1087_SPI       0x209102d5

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1087_UART1     0x209102d2

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1087_UART2     0x209102d3

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1087_USB       0x209102d4

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_I2C       0x20910368

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_SPI       0x2091036c

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_UART1     0x20910369

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_UART2     0x2091036a

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_USB       0x2091036b

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1097_I2C       0x20910318

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1097_SPI       0x2091031c

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1097_UART1     0x20910319

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1097_UART2     0x2091031a

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1097_USB       0x2091031b

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_I2C       0x2091036d

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_SPI       0x20910371

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_UART1     0x2091036e

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_UART2     0x2091036f

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_USB       0x20910370

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1127_I2C       0x209102d6

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1127_SPI       0x209102da

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1127_UART1     0x209102d7

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1127_UART2     0x209102d8

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1127_USB       0x209102d9

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_I2C       0x20910303

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_SPI       0x20910307

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_UART1     0x20910304

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_UART2     0x20910305

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_USB       0x20910306

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_0_I2C     0x209102fe

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_0_SPI     0x20910302

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_0_UART1   0x209102ff

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_0_UART2   0x20910300

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_0_USB     0x20910301

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_1_I2C     0x20910381

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_1_SPI     0x20910385

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_1_UART1   0x20910382

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_1_UART2   0x20910383

#define UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_1_USB     0x20910384

#define UBLOX_CFG_MSGOUT_UBX_LOG_INFO_I2C       0x20910259

#define UBLOX_CFG_MSGOUT_UBX_LOG_INFO_SPI       0x2091025d

#define UBLOX_CFG_MSGOUT_UBX_LOG_INFO_UART1         0x2091025a

#define UBLOX_CFG_MSGOUT_UBX_LOG_INFO_UART2         0x2091025b

#define UBLOX_CFG_MSGOUT_UBX_LOG_INFO_USB       0x2091025c

#define UBLOX_CFG_MSGOUT_UBX_MON_COMMS_I2C          0x2091034f

#define UBLOX_CFG_MSGOUT_UBX_MON_COMMS_SPI          0x20910353

#define UBLOX_CFG_MSGOUT_UBX_MON_COMMS_UART1        0x20910350

#define UBLOX_CFG_MSGOUT_UBX_MON_COMMS_UART2        0x20910351

#define UBLOX_CFG_MSGOUT_UBX_MON_COMMS_USB          0x20910352

#define UBLOX_CFG_MSGOUT_UBX_MON_HW2_I2C        0x209101b9

#define UBLOX_CFG_MSGOUT_UBX_MON_HW2_SPI        0x209101bd

#define UBLOX_CFG_MSGOUT_UBX_MON_HW2_UART1          0x209101ba

#define UBLOX_CFG_MSGOUT_UBX_MON_HW2_UART2          0x209101bb

#define UBLOX_CFG_MSGOUT_UBX_MON_HW2_USB        0x209101bc

#define UBLOX_CFG_MSGOUT_UBX_MON_HW3_I2C        0x20910354

#define UBLOX_CFG_MSGOUT_UBX_MON_HW3_SPI        0x20910358

#define UBLOX_CFG_MSGOUT_UBX_MON_HW3_UART1          0x20910355

#define UBLOX_CFG_MSGOUT_UBX_MON_HW3_UART2          0x20910356

#define UBLOX_CFG_MSGOUT_UBX_MON_HW3_USB        0x20910357

#define UBLOX_CFG_MSGOUT_UBX_MON_HW_I2C         0x209101b4

#define UBLOX_CFG_MSGOUT_UBX_MON_HW_SPI         0x209101b8

#define UBLOX_CFG_MSGOUT_UBX_MON_HW_UART1       0x209101b5

#define UBLOX_CFG_MSGOUT_UBX_MON_HW_UART2       0x209101b6

#define UBLOX_CFG_MSGOUT_UBX_MON_HW_USB         0x209101b7

#define UBLOX_CFG_MSGOUT_UBX_MON_IO_I2C         0x209101a5

#define UBLOX_CFG_MSGOUT_UBX_MON_IO_SPI         0x209101a9

#define UBLOX_CFG_MSGOUT_UBX_MON_IO_UART1       0x209101a6

#define UBLOX_CFG_MSGOUT_UBX_MON_IO_UART2       0x209101a7

#define UBLOX_CFG_MSGOUT_UBX_MON_IO_USB         0x209101a8

#define UBLOX_CFG_MSGOUT_UBX_MON_MSGPP_I2C          0x20910196

#define UBLOX_CFG_MSGOUT_UBX_MON_MSGPP_SPI          0x2091019a

#define UBLOX_CFG_MSGOUT_UBX_MON_MSGPP_UART1        0x20910197

#define UBLOX_CFG_MSGOUT_UBX_MON_MSGPP_UART2        0x20910198

#define UBLOX_CFG_MSGOUT_UBX_MON_MSGPP_USB          0x20910199

#define UBLOX_CFG_MSGOUT_UBX_MON_RF_I2C         0x20910359

#define UBLOX_CFG_MSGOUT_UBX_MON_RF_SPI         0x2091035d

#define UBLOX_CFG_MSGOUT_UBX_MON_RF_UART1       0x2091035a

#define UBLOX_CFG_MSGOUT_UBX_MON_RF_UART2       0x2091035b

#define UBLOX_CFG_MSGOUT_UBX_MON_RF_USB         0x2091035c

#define UBLOX_CFG_MSGOUT_UBX_MON_RXBUF_I2C          0x209101a0

#define UBLOX_CFG_MSGOUT_UBX_MON_RXBUF_SPI          0x209101a4

#define UBLOX_CFG_MSGOUT_UBX_MON_RXBUF_UART1        0x209101a1

#define UBLOX_CFG_MSGOUT_UBX_MON_RXBUF_UART2        0x209101a2

#define UBLOX_CFG_MSGOUT_UBX_MON_RXBUF_USB          0x209101a3

#define UBLOX_CFG_MSGOUT_UBX_MON_RXR_I2C        0x20910187

#define UBLOX_CFG_MSGOUT_UBX_MON_RXR_SPI        0x2091018b

#define UBLOX_CFG_MSGOUT_UBX_MON_RXR_UART1          0x20910188

#define UBLOX_CFG_MSGOUT_UBX_MON_RXR_UART2          0x20910189

#define UBLOX_CFG_MSGOUT_UBX_MON_RXR_USB        0x2091018a

#define UBLOX_CFG_MSGOUT_UBX_MON_SPAN_I2C       0x2091038b

#define UBLOX_CFG_MSGOUT_UBX_MON_SPAN_SPI       0x2091038f

#define UBLOX_CFG_MSGOUT_UBX_MON_SPAN_UART1         0x2091038c

#define UBLOX_CFG_MSGOUT_UBX_MON_SPAN_UART2         0x2091038d

#define UBLOX_CFG_MSGOUT_UBX_MON_SPAN_USB       0x2091038e

#define UBLOX_CFG_MSGOUT_UBX_MON_SYS_I2C        0x2091069d

#define UBLOX_CFG_MSGOUT_UBX_MON_SYS_SPI        0x209106a1

#define UBLOX_CFG_MSGOUT_UBX_MON_SYS_UART1          0x2091069e

#define UBLOX_CFG_MSGOUT_UBX_MON_SYS_UART2          0x2091069f

#define UBLOX_CFG_MSGOUT_UBX_MON_SYS_USB        0x209106a0

#define UBLOX_CFG_MSGOUT_UBX_MON_TXBUF_I2C          0x2091019b

#define UBLOX_CFG_MSGOUT_UBX_MON_TXBUF_SPI          0x2091019f

#define UBLOX_CFG_MSGOUT_UBX_MON_TXBUF_UART1        0x2091019c

#define UBLOX_CFG_MSGOUT_UBX_MON_TXBUF_UART2        0x2091019d

#define UBLOX_CFG_MSGOUT_UBX_MON_TXBUF_USB          0x2091019e

#define UBLOX_CFG_MSGOUT_UBX_NAV_ATT_I2C        0x2091001f

#define UBLOX_CFG_MSGOUT_UBX_NAV_ATT_SPI        0x20910023

#define UBLOX_CFG_MSGOUT_UBX_NAV_ATT_UART1          0x20910020

#define UBLOX_CFG_MSGOUT_UBX_NAV_ATT_UART2          0x20910021

#define UBLOX_CFG_MSGOUT_UBX_NAV_ATT_USB        0x20910022

#define UBLOX_CFG_MSGOUT_UBX_NAV_CLOCK_I2C          0x20910065

#define UBLOX_CFG_MSGOUT_UBX_NAV_CLOCK_SPI          0x20910069

#define UBLOX_CFG_MSGOUT_UBX_NAV_CLOCK_UART1        0x20910066

#define UBLOX_CFG_MSGOUT_UBX_NAV_CLOCK_UART2        0x20910067

#define UBLOX_CFG_MSGOUT_UBX_NAV_CLOCK_USB          0x20910068

#define UBLOX_CFG_MSGOUT_UBX_NAV_DOP_I2C        0x20910038

#define UBLOX_CFG_MSGOUT_UBX_NAV_DOP_SPI        0x2091003c

#define UBLOX_CFG_MSGOUT_UBX_NAV_DOP_UART1          0x20910039

#define UBLOX_CFG_MSGOUT_UBX_NAV_DOP_UART2          0x2091003a

#define UBLOX_CFG_MSGOUT_UBX_NAV_DOP_USB        0x2091003b

#define UBLOX_CFG_MSGOUT_UBX_NAV_EOE_I2C        0x2091015f

#define UBLOX_CFG_MSGOUT_UBX_NAV_EOE_SPI        0x20910163

#define UBLOX_CFG_MSGOUT_UBX_NAV_EOE_UART1          0x20910160

#define UBLOX_CFG_MSGOUT_UBX_NAV_EOE_UART2          0x20910161

#define UBLOX_CFG_MSGOUT_UBX_NAV_EOE_USB        0x20910162

#define UBLOX_CFG_MSGOUT_UBX_NAV_GEOFENCE_I2C       0x209100a1

#define UBLOX_CFG_MSGOUT_UBX_NAV_GEOFENCE_SPI       0x209100a5

#define UBLOX_CFG_MSGOUT_UBX_NAV_GEOFENCE_UART1     0x209100a2

#define UBLOX_CFG_MSGOUT_UBX_NAV_GEOFENCE_UART2     0x209100a3

#define UBLOX_CFG_MSGOUT_UBX_NAV_GEOFENCE_USB       0x209100a4

#define UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSECEF_I2C      0x2091002e

#define UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSECEF_SPI      0x20910032

#define UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSECEF_UART1    0x2091002f

#define UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSECEF_UART2    0x20910030

#define UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSECEF_USB      0x20910031

#define UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSLLH_I2C       0x20910033

#define UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSLLH_SPI       0x20910037

#define UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSLLH_UART1     0x20910034

#define UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSLLH_UART2     0x20910035

#define UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSLLH_USB       0x20910036

#define UBLOX_CFG_MSGOUT_UBX_NAV_ODO_I2C        0x2091007e

#define UBLOX_CFG_MSGOUT_UBX_NAV_ODO_SPI        0x20910082

#define UBLOX_CFG_MSGOUT_UBX_NAV_ODO_UART1          0x2091007f

#define UBLOX_CFG_MSGOUT_UBX_NAV_ODO_UART2          0x20910080

#define UBLOX_CFG_MSGOUT_UBX_NAV_ODO_USB        0x20910081

#define UBLOX_CFG_MSGOUT_UBX_NAV_ORB_I2C        0x20910010

#define UBLOX_CFG_MSGOUT_UBX_NAV_ORB_SPI        0x20910014

#define UBLOX_CFG_MSGOUT_UBX_NAV_ORB_UART1          0x20910011

#define UBLOX_CFG_MSGOUT_UBX_NAV_ORB_UART2          0x20910012

#define UBLOX_CFG_MSGOUT_UBX_NAV_ORB_USB        0x20910013

#define UBLOX_CFG_MSGOUT_UBX_NAV_PL_I2C         0x20910415

#define UBLOX_CFG_MSGOUT_UBX_NAV_PL_SPI         0x20910419

#define UBLOX_CFG_MSGOUT_UBX_NAV_PL_UART1       0x20910416

#define UBLOX_CFG_MSGOUT_UBX_NAV_PL_UART2       0x20910417

#define UBLOX_CFG_MSGOUT_UBX_NAV_PL_USB         0x20910418

#define UBLOX_CFG_MSGOUT_UBX_NAV_POSECEF_I2C        0x20910024

#define UBLOX_CFG_MSGOUT_UBX_NAV_POSECEF_SPI        0x20910028

#define UBLOX_CFG_MSGOUT_UBX_NAV_POSECEF_UART1      0x20910025

#define UBLOX_CFG_MSGOUT_UBX_NAV_POSECEF_UART2      0x20910026

#define UBLOX_CFG_MSGOUT_UBX_NAV_POSECEF_USB        0x20910027

#define UBLOX_CFG_MSGOUT_UBX_NAV_POSLLH_I2C         0x20910029

#define UBLOX_CFG_MSGOUT_UBX_NAV_POSLLH_SPI         0x2091002d

#define UBLOX_CFG_MSGOUT_UBX_NAV_POSLLH_UART1       0x2091002a

#define UBLOX_CFG_MSGOUT_UBX_NAV_POSLLH_UART2       0x2091002b

#define UBLOX_CFG_MSGOUT_UBX_NAV_POSLLH_USB         0x2091002c

#define UBLOX_CFG_MSGOUT_UBX_NAV_PVT_I2C        0x20910006

#define UBLOX_CFG_MSGOUT_UBX_NAV_PVT_SPI        0x2091000a

#define UBLOX_CFG_MSGOUT_UBX_NAV_PVT_UART1          0x20910007

#define UBLOX_CFG_MSGOUT_UBX_NAV_PVT_UART2          0x20910008

#define UBLOX_CFG_MSGOUT_UBX_NAV_PVT_USB        0x20910009

#define UBLOX_CFG_MSGOUT_UBX_NAV_RELPOSNED_I2C      0x2091008d

#define UBLOX_CFG_MSGOUT_UBX_NAV_RELPOSNED_SPI      0x20910091

#define UBLOX_CFG_MSGOUT_UBX_NAV_RELPOSNED_UART1    0x2091008e

#define UBLOX_CFG_MSGOUT_UBX_NAV_RELPOSNED_UART2    0x2091008f

#define UBLOX_CFG_MSGOUT_UBX_NAV_RELPOSNED_USB      0x20910090

#define UBLOX_CFG_MSGOUT_UBX_NAV_SAT_I2C        0x20910015

#define UBLOX_CFG_MSGOUT_UBX_NAV_SAT_SPI        0x20910019

#define UBLOX_CFG_MSGOUT_UBX_NAV_SAT_UART1          0x20910016

#define UBLOX_CFG_MSGOUT_UBX_NAV_SAT_UART2          0x20910017

#define UBLOX_CFG_MSGOUT_UBX_NAV_SAT_USB        0x20910018

#define UBLOX_CFG_MSGOUT_UBX_NAV_SBAS_I2C       0x2091006a

#define UBLOX_CFG_MSGOUT_UBX_NAV_SBAS_SPI       0x2091006e

#define UBLOX_CFG_MSGOUT_UBX_NAV_SBAS_UART1         0x2091006b

#define UBLOX_CFG_MSGOUT_UBX_NAV_SBAS_UART2         0x2091006c

#define UBLOX_CFG_MSGOUT_UBX_NAV_SBAS_USB       0x2091006d

#define UBLOX_CFG_MSGOUT_UBX_NAV_SIG_I2C        0x20910345

#define UBLOX_CFG_MSGOUT_UBX_NAV_SIG_SPI        0x20910349

#define UBLOX_CFG_MSGOUT_UBX_NAV_SIG_UART1          0x20910346

#define UBLOX_CFG_MSGOUT_UBX_NAV_SIG_UART2          0x20910347

#define UBLOX_CFG_MSGOUT_UBX_NAV_SIG_USB        0x20910348

#define UBLOX_CFG_MSGOUT_UBX_NAV_SLAS_I2C       0x20910336

#define UBLOX_CFG_MSGOUT_UBX_NAV_SLAS_SPI       0x2091033a

#define UBLOX_CFG_MSGOUT_UBX_NAV_SLAS_UART1         0x20910337

#define UBLOX_CFG_MSGOUT_UBX_NAV_SLAS_UART2         0x20910338

#define UBLOX_CFG_MSGOUT_UBX_NAV_SLAS_USB       0x20910339

#define UBLOX_CFG_MSGOUT_UBX_NAV_STATUS_I2C         0x2091001a

#define UBLOX_CFG_MSGOUT_UBX_NAV_STATUS_SPI         0x2091001e

#define UBLOX_CFG_MSGOUT_UBX_NAV_STATUS_UART1       0x2091001b

#define UBLOX_CFG_MSGOUT_UBX_NAV_STATUS_UART2       0x2091001c

#define UBLOX_CFG_MSGOUT_UBX_NAV_STATUS_USB         0x2091001d

#define UBLOX_CFG_MSGOUT_UBX_NAV_SVIN_I2C       0x20910088

#define UBLOX_CFG_MSGOUT_UBX_NAV_SVIN_SPI       0x2091008c

#define UBLOX_CFG_MSGOUT_UBX_NAV_SVIN_UART1         0x20910089

#define UBLOX_CFG_MSGOUT_UBX_NAV_SVIN_UART2         0x2091008a

#define UBLOX_CFG_MSGOUT_UBX_NAV_SVIN_USB       0x2091008b

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEBDS_I2C        0x20910051

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEBDS_SPI        0x20910055

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEBDS_UART1      0x20910052

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEBDS_UART2      0x20910053

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEBDS_USB        0x20910054

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGAL_I2C        0x20910056

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGAL_SPI        0x2091005a

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGAL_UART1      0x20910057

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGAL_UART2      0x20910058

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGAL_USB        0x20910059

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGLO_I2C        0x2091004c

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGLO_SPI        0x20910050

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGLO_UART1      0x2091004d

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGLO_UART2      0x2091004e

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGLO_USB        0x2091004f

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGPS_I2C        0x20910047

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGPS_SPI        0x2091004b

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGPS_UART1      0x20910048

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGPS_UART2      0x20910049

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGPS_USB        0x2091004a

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMELS_I2C         0x20910060

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMELS_SPI         0x20910064

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMELS_UART1       0x20910061

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMELS_UART2       0x20910062

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMELS_USB         0x20910063

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEQZSS_I2C       0x20910386

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEQZSS_SPI       0x2091038a

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEQZSS_UART1     0x20910387

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEQZSS_UART2     0x20910388

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEQZSS_USB       0x20910389

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEUTC_I2C        0x2091005b

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEUTC_SPI        0x2091005f

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEUTC_UART1      0x2091005c

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEUTC_UART2      0x2091005d

#define UBLOX_CFG_MSGOUT_UBX_NAV_TIMEUTC_USB        0x2091005e

#define UBLOX_CFG_MSGOUT_UBX_NAV_VELECEF_I2C        0x2091003d

#define UBLOX_CFG_MSGOUT_UBX_NAV_VELECEF_SPI        0x20910041

#define UBLOX_CFG_MSGOUT_UBX_NAV_VELECEF_UART1      0x2091003e

#define UBLOX_CFG_MSGOUT_UBX_NAV_VELECEF_UART2      0x2091003f

#define UBLOX_CFG_MSGOUT_UBX_NAV_VELECEF_USB        0x20910040

#define UBLOX_CFG_MSGOUT_UBX_NAV_VELNED_I2C         0x20910042

#define UBLOX_CFG_MSGOUT_UBX_NAV_VELNED_SPI         0x20910046

#define UBLOX_CFG_MSGOUT_UBX_NAV_VELNED_UART1       0x20910043

#define UBLOX_CFG_MSGOUT_UBX_NAV_VELNED_UART2       0x20910044

#define UBLOX_CFG_MSGOUT_UBX_NAV_VELNED_USB         0x20910045

#define UBLOX_CFG_MSGOUT_UBX_RXM_COR_I2C        0x209106b6

#define UBLOX_CFG_MSGOUT_UBX_RXM_COR_SPI        0x209106ba

#define UBLOX_CFG_MSGOUT_UBX_RXM_COR_UART1          0x209106b7

#define UBLOX_CFG_MSGOUT_UBX_RXM_COR_UART2          0x209106b8

#define UBLOX_CFG_MSGOUT_UBX_RXM_COR_USB        0x209106b9

#define UBLOX_CFG_MSGOUT_UBX_RXM_MEASX_I2C          0x20910204

#define UBLOX_CFG_MSGOUT_UBX_RXM_MEASX_SPI          0x20910208

#define UBLOX_CFG_MSGOUT_UBX_RXM_MEASX_UART1        0x20910205

#define UBLOX_CFG_MSGOUT_UBX_RXM_MEASX_UART2        0x20910206

#define UBLOX_CFG_MSGOUT_UBX_RXM_MEASX_USB          0x20910207

#define UBLOX_CFG_MSGOUT_UBX_RXM_RAWX_I2C       0x209102a4

#define UBLOX_CFG_MSGOUT_UBX_RXM_RAWX_SPI       0x209102a8

#define UBLOX_CFG_MSGOUT_UBX_RXM_RAWX_UART1         0x209102a5

#define UBLOX_CFG_MSGOUT_UBX_RXM_RAWX_UART2         0x209102a6

#define UBLOX_CFG_MSGOUT_UBX_RXM_RAWX_USB       0x209102a7

#define UBLOX_CFG_MSGOUT_UBX_RXM_RLM_I2C        0x2091025e

#define UBLOX_CFG_MSGOUT_UBX_RXM_RLM_SPI        0x20910262

#define UBLOX_CFG_MSGOUT_UBX_RXM_RLM_UART1          0x2091025f

#define UBLOX_CFG_MSGOUT_UBX_RXM_RLM_UART2          0x20910260

#define UBLOX_CFG_MSGOUT_UBX_RXM_RLM_USB        0x20910261

#define UBLOX_CFG_MSGOUT_UBX_RXM_RTCM_I2C       0x20910268

#define UBLOX_CFG_MSGOUT_UBX_RXM_RTCM_SPI       0x2091026c

#define UBLOX_CFG_MSGOUT_UBX_RXM_RTCM_UART1         0x20910269

#define UBLOX_CFG_MSGOUT_UBX_RXM_RTCM_UART2         0x2091026a

#define UBLOX_CFG_MSGOUT_UBX_RXM_RTCM_USB       0x2091026b

#define UBLOX_CFG_MSGOUT_UBX_RXM_SFRBX_I2C          0x20910231

#define UBLOX_CFG_MSGOUT_UBX_RXM_SFRBX_SPI          0x20910235

#define UBLOX_CFG_MSGOUT_UBX_RXM_SFRBX_UART1        0x20910232

#define UBLOX_CFG_MSGOUT_UBX_RXM_SFRBX_UART2        0x20910233

#define UBLOX_CFG_MSGOUT_UBX_RXM_SFRBX_USB          0x20910234

#define UBLOX_CFG_MSGOUT_UBX_RXM_SPARTN_I2C         0x20910605

#define UBLOX_CFG_MSGOUT_UBX_RXM_SPARTN_UART1       0x20910606

#define UBLOX_CFG_MSGOUT_UBX_RXM_SPARTN_UART2       0x20910607

#define UBLOX_CFG_MSGOUT_UBX_RXM_SPARTN_USB         0x20910608

#define UBLOX_CFG_MSGOUT_UBX_RXM_SPARTN_SPI         0x20910609

#define UBLOX_CFG_MSGOUT_UBX_SEC_SIG_I2C        0x20910634

#define UBLOX_CFG_MSGOUT_UBX_SEC_SIG_SPI        0x20910638

#define UBLOX_CFG_MSGOUT_UBX_SEC_SIG_UART1      0x20910635

#define UBLOX_CFG_MSGOUT_UBX_SEC_SIG_UART2          0x20910636

#define UBLOX_CFG_MSGOUT_UBX_SEC_SIG_USB        0x20910637

#define UBLOX_CFG_MSGOUT_UBX_TIM_TM2_I2C        0x20910178

#define UBLOX_CFG_MSGOUT_UBX_TIM_TM2_SPI        0x2091017c

#define UBLOX_CFG_MSGOUT_UBX_TIM_TM2_UART1          0x20910179

#define UBLOX_CFG_MSGOUT_UBX_TIM_TM2_UART2          0x2091017a

#define UBLOX_CFG_MSGOUT_UBX_TIM_TM2_USB        0x2091017b

#define UBLOX_CFG_MSGOUT_UBX_TIM_TP_I2C         0x2091017d

#define UBLOX_CFG_MSGOUT_UBX_TIM_TP_SPI         0x20910181

#define UBLOX_CFG_MSGOUT_UBX_TIM_TP_UART1       0x2091017e

#define UBLOX_CFG_MSGOUT_UBX_TIM_TP_UART2       0x2091017f

#define UBLOX_CFG_MSGOUT_UBX_TIM_TP_USB         0x20910180

#define UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_I2C       0x20910092

#define UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_SPI       0x20910096

#define UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_UART1         0x20910093

#define UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_UART2         0x20910094

#define UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_USB       0x20910095


/* CFG-NAV2: Secondary output configuration */

#define UBLOX_CFG_NAV2_OUT_ENABLED              0x10170001

#define UBLOX_CFG_NAV2_SBAS_USE_INTEGRITY       0x10170002


/* CFG-NAVHPG: High precision navigation configuration */

#define UBLOX_CFG_NAVHPG_DGNSSMODE              0x20140011


/* CFG-NAVSPG: Standard precision navigation configuration */

#define UBLOX_CFG_NAVSPG_FIXMODE            0x20110011

#define UBLOX_CFG_NAVSPG_INIFIX3D           0x10110013

#define UBLOX_CFG_NAVSPG_WKNROLLOVER            0x30110017

#define UBLOX_CFG_NAVSPG_USE_PPP            0x10110019

#define UBLOX_CFG_NAVSPG_UTCSTANDARD            0x2011001c

#define UBLOX_CFG_NAVSPG_DYNMODEL           0x20110021

#define UBLOX_CFG_NAVSPG_ACKAIDING              0x10110025

#define UBLOX_CFG_NAVSPG_USE_USRDAT             0x10110061

#define UBLOX_CFG_NAVSPG_USRDAT_MAJA            0x50110062

#define UBLOX_CFG_NAVSPG_USRDAT_FLAT            0x50110063

#define UBLOX_CFG_NAVSPG_USRDAT_DX              0x40110064

#define UBLOX_CFG_NAVSPG_USRDAT_DY              0x40110065

#define UBLOX_CFG_NAVSPG_USRDAT_DZ              0x40110066

#define UBLOX_CFG_NAVSPG_USRDAT_ROTX            0x40110067

#define UBLOX_CFG_NAVSPG_USRDAT_ROTY            0x40110068

#define UBLOX_CFG_NAVSPG_USRDAT_ROTZ            0x40110069

#define UBLOX_CFG_NAVSPG_USRDAT_SCALE           0x4011006a

#define UBLOX_CFG_NAVSPG_INFIL_MINSVS           0x201100a1

#define UBLOX_CFG_NAVSPG_INFIL_MAXSVS           0x201100a2

#define UBLOX_CFG_NAVSPG_INFIL_MINCNO           0x201100a3

#define UBLOX_CFG_NAVSPG_INFIL_MINELEV          0x201100a4

#define UBLOX_CFG_NAVSPG_INFIL_NCNOTHRS         0x201100aa

#define UBLOX_CFG_NAVSPG_INFIL_CNOTHRS          0x201100ab

#define UBLOX_CFG_NAVSPG_OUTFIL_PDOP            0x301100b1

#define UBLOX_CFG_NAVSPG_OUTFIL_TDOP            0x301100b2

#define UBLOX_CFG_NAVSPG_OUTFIL_PACC            0x301100b3

#define UBLOX_CFG_NAVSPG_OUTFIL_TACC            0x301100b4

#define UBLOX_CFG_NAVSPG_OUTFIL_FACC            0x301100b5

#define UBLOX_CFG_NAVSPG_CONSTR_ALT             0x401100c1

#define UBLOX_CFG_NAVSPG_CONSTR_ALTVAR          0x401100c2

#define UBLOX_CFG_NAVSPG_CONSTR_DGNSSTO         0x201100c4

#define UBLOX_CFG_NAVSPG_SIGATTCOMP             0x201100d6

#define UBLOX_CFG_NAVSPG_PL_ENA             0x101100d7


/* CFG-NMEA: NMEA protocol configuration */

#define UBLOX_CFG_NMEA_PROTVER              0x20930001

#define UBLOX_CFG_NMEA_MAXSVS               0x20930002

#define UBLOX_CFG_NMEA_COMPAT               0x10930003

#define UBLOX_CFG_NMEA_CONSIDER             0x10930004

#define UBLOX_CFG_NMEA_LIMIT82              0x10930005

#define UBLOX_CFG_NMEA_HIGHPREC             0x10930006

#define UBLOX_CFG_NMEA_SVNUMBERING              0x20930007

#define UBLOX_CFG_NMEA_FILT_GPS             0x10930011

#define UBLOX_CFG_NMEA_FILT_SBAS            0x10930012

#define UBLOX_CFG_NMEA_FILT_GAL             0x10930013

#define UBLOX_CFG_NMEA_FILT_QZSS            0x10930015

#define UBLOX_CFG_NMEA_FILT_GLO             0x10930016

#define UBLOX_CFG_NMEA_FILT_BDS             0x10930017

#define UBLOX_CFG_NMEA_OUT_INVFIX           0x10930021

#define UBLOX_CFG_NMEA_OUT_MSKFIX           0x10930022

#define UBLOX_CFG_NMEA_OUT_INVTIME              0x10930023

#define UBLOX_CFG_NMEA_OUT_INVDATE              0x10930024

#define UBLOX_CFG_NMEA_OUT_ONLYGPS              0x10930025

#define UBLOX_CFG_NMEA_OUT_FROZENCOG            0x10930026

#define UBLOX_CFG_NMEA_MAINTALKERID             0x20930031

#define UBLOX_CFG_NMEA_GSVTALKERID              0x20930032

#define UBLOX_CFG_NMEA_BDSTALKERID              0x30930033


/* CFG-ODO: Odometer and low-speed course over ground filter configuration */

#define UBLOX_CFG_ODO_USE_ODO               0x10220001

#define UBLOX_CFG_ODO_USE_COG               0x10220002

#define UBLOX_CFG_ODO_OUTLPVEL              0x10220003

#define UBLOX_CFG_ODO_OUTLPCOG              0x10220004

#define UBLOX_CFG_ODO_PROFILE               0x20220005

#define UBLOX_CFG_ODO_COGMAXSPEED           0x20220021

#define UBLOX_CFG_ODO_COGMAXPOSACC              0x20220022

#define UBLOX_CFG_ODO_VELLPGAIN             0x20220031

#define UBLOX_CFG_ODO_COGLPGAIN             0x20220032


/* CFG-QZSS: QZSS system configuration */

#define UBLOX_CFG_QZSS_USE_SLAS_DGNSS           0x10370005

#define UBLOX_CFG_QZSS_USE_SLAS_TESTMODE        0x10370006

#define UBLOX_CFG_QZSS_USE_SLAS_RAIM_UNCORR         0x10370007

#define UBLOX_CFG_QZSS_SLAS_MAX_BASELINE        0x30370008


/* CFG-RATE: Navigation and measurement rate configuration */

#define UBLOX_CFG_RATE_MEAS                 0x30210001

#define UBLOX_CFG_RATE_NAV                  0x30210002

#define UBLOX_CFG_RATE_TIMEREF              0x20210003

#define UBLOX_CFG_RATE_NAV_PRIO             0x20210004


/* CFG-RINV: Remote inventory configuration */

#define UBLOX_CFG_RINV_DUMP                 0x10c70001

#define UBLOX_CFG_RINV_BINARY               0x10c70002

#define UBLOX_CFG_RINV_DATA_SIZE            0x20c70003

#define UBLOX_CFG_RINV_CHUNK0               0x50c70004

#define UBLOX_CFG_RINV_CHUNK1               0x50c70005

#define UBLOX_CFG_RINV_CHUNK2               0x50c70006

#define UBLOX_CFG_RINV_CHUNK3               0x50c70007


/* CFG-RTCM: RTCM protocol configuration */

#define UBLOX_CFG_RTCM_DF003_OUT            0x30090001

#define UBLOX_CFG_RTCM_DF003_IN             0x30090008

#define UBLOX_CFG_RTCM_DF003_IN_FILTER          0x20090009


/* CFG-SBAS: SBAS configuration */

#define UBLOX_CFG_SBAS_USE_TESTMODE             0x10360002

#define UBLOX_CFG_SBAS_USE_RANGING              0x10360003

#define UBLOX_CFG_SBAS_USE_DIFFCORR             0x10360004

#define UBLOX_CFG_SBAS_USE_INTEGRITY            0x10360005

#define UBLOX_CFG_SBS_ACCEPT_NOT_IN_PRNMASK         0x30360008

#define UBLOX_CFG_SBAS_USE_IONOONLY             0x10360007

#define UBLOX_CFG_SBAS_PRNSCANMASK              0x50360006


/* CFG-SIGNAL: Satellite systems (GNSS) signal configuration */

#define UBLOX_CFG_SIGNAL_GPS_ENA            0x1031001f

#define UBLOX_CFG_SIGNAL_GPS_L1CA_ENA           0x10310001

#define UBLOX_CFG_SIGNAL_GPS_L5_ENA             0x10310004

#define UBLOX_CFG_SIGNAL_GPS_L2C_ENA            0x10310003

#define UBLOX_CFG_SIGNAL_SBAS_ENA           0x10310020

#define UBLOX_CFG_SIGNAL_SBAS_L1CA_ENA          0x10310005

#define UBLOX_CFG_SIGNAL_GAL_ENA            0x10310021

#define UBLOX_CFG_SIGNAL_GAL_E1_ENA             0x10310007

#define UBLOX_CFG_SIGNAL_GAL_E5A_ENA            0x10310009

#define UBLOX_CFG_SIGNAL_GAL_E5B_ENA            0x1031000a

#define UBLOX_CFG_SIGNAL_BDS_ENA            0x10310022

#define UBLOX_CFG_SIGNAL_BDS_B1_ENA             0x1031000d

#define UBLOX_CFG_SIGNAL_BDS_B1C_ENA            0x1031000f

#define UBLOX_CFG_SIGNAL_BDS_B2A_ENA            0x10310028

#define UBLOX_CFG_SIGNAL_BDS_B2_ENA             0x1031000e

#define UBLOX_CFG_SIGNAL_QZSS_ENA           0x10310024

#define UBLOX_CFG_SIGNAL_QZSS_L1CA_ENA          0x10310012

#define UBLOX_CFG_SIGNAL_QZSS_L5_ENA            0x10310017

#define UBLOX_CFG_SIGNAL_QZSS_L1S_ENA           0x10310014

#define UBLOX_CFG_SIGNAL_QZSS_L2C_ENA           0x10310015

#define UBLOX_CFG_SIGNAL_GLO_ENA            0x10310025

#define UBLOX_CFG_SIGNAL_GLO_L1_ENA             0x10310018

#define UBLOX_CFG_SIGNAL_GLO_L2_ENA             0x1031001a


/* CFG-SPARTN: Configuration of the SPARTN interface */

#define UBLOX_CFG_SPARTN_USE_SOURCE             0x20a70001


/* CFG-SPI: Configuration of the SPI interface */

#define UBLOX_CFG_SPI_MAXFF                 0x20640001

#define UBLOX_CFG_SPI_CPOLARITY             0x10640002

#define UBLOX_CFG_SPI_CPHASE                0x10640003

#define UBLOX_CFG_SPI_EXTENDEDTIMEOUT           0x10640005

#define UBLOX_CFG_SPI_ENABLED               0x10640006


/* CFG-SPIINPROT: Input protocol configuration of the SPI interface */

#define UBLOX_CFG_SPIINPROT_UBX             0x10790001

#define UBLOX_CFG_SPIINPROT_NMEA            0x10790002

#define UBLOX_CFG_SPIINPROT_RTCM3X              0x10790004

#define UBLOX_CFG_SPIINPROT_SPARTN              0x10790005


/* CFG-SPIOUTPROT: Output protocol configuration of the SPI interface */

#define UBLOX_CFG_SPIOUTPROT_UBX            0x107a0001

#define UBLOX_CFG_SPIOUTPROT_NMEA           0x107a0002

#define UBLOX_CFG_SPIOUTPROT_RTCM3X             0x107a0004


/* CFG-TMODE: Time mode configuration */

#define UBLOX_CFG_TMODE_MODE                0x20030001

#define UBLOX_CFG_TMODE_POS_TYPE            0x20030002

#define UBLOX_CFG_TMODE_ECEF_X              0x40030003

#define UBLOX_CFG_TMODE_ECEF_Y              0x40030004

#define UBLOX_CFG_TMODE_ECEF_Z              0x40030005

#define UBLOX_CFG_TMODE_ECEF_X_HP           0x20030006

#define UBLOX_CFG_TMODE_ECEF_Y_HP           0x20030007

#define UBLOX_CFG_TMODE_ECEF_Z_HP           0x20030008

#define UBLOX_CFG_TMODE_LAT                 0x40030009

#define UBLOX_CFG_TMODE_LON                 0x4003000a

#define UBLOX_CFG_TMODE_HEIGHT              0x4003000b

#define UBLOX_CFG_TMODE_LAT_HP              0x2003000c

#define UBLOX_CFG_TMODE_LON_HP              0x2003000d

#define UBLOX_CFG_TMODE_HEIGHT_HP           0x2003000e

#define UBLOX_CFG_TMODE_FIXED_POS_ACC           0x4003000f

#define UBLOX_CFG_TMODE_SVIN_MIN_DUR            0x40030010

#define UBLOX_CFG_TMODE_SVIN_ACC_LIMIT          0x40030011


/* CFG-TP: Timepulse configuration */

#define UBLOX_CFG_TP_PULSE_DEF              0x20050023

#define UBLOX_CFG_TP_PULSE_LENGTH_DEF           0x20050030

#define UBLOX_CFG_TP_ANT_CABLEDELAY             0x30050001

#define UBLOX_CFG_TP_PERIOD_TP1             0x40050002

#define UBLOX_CFG_TP_PERIOD_LOCK_TP1            0x40050003

#define UBLOX_CFG_TP_FREQ_TP1               0x40050024

#define UBLOX_CFG_TP_FREQ_LOCK_TP1          0x40050025

#define UBLOX_CFG_TP_LEN_TP1                0x40050004

#define UBLOX_CFG_TP_LEN_LOCK_TP1           0x40050005

#define UBLOX_CFG_TP_DUTY_TP1               0x5005002a

#define UBLOX_CFG_TP_DUTY_LOCK_TP1          0x5005002b

#define UBLOX_CFG_TP_USER_DELAY_TP1             0x40050006

#define UBLOX_CFG_TP_TP1_ENA                0x10050007

#define UBLOX_CFG_TP_SYNC_GNSS_TP1              0x10050008

#define UBLOX_CFG_TP_USE_LOCKED_TP1             0x10050009

#define UBLOX_CFG_TP_ALIGN_TO_TOW_TP1           0x1005000a

#define UBLOX_CFG_TP_POL_TP1                0x1005000b

#define UBLOX_CFG_TP_TIMEGRID_TP1           0x2005000c

#define UBLOX_CFG_TP_PERIOD_TP2             0x4005000d

#define UBLOX_CFG_TP_PERIOD_LOCK_TP2            0x4005000e

#define UBLOX_CFG_TP_FREQ_TP2               0x40050026

#define UBLOX_CFG_TP_FREQ_LOCK_TP2              0x40050027

#define UBLOX_CFG_TP_LEN_TP2                0x4005000f

#define UBLOX_CFG_TP_LEN_LOCK_TP2           0x40050010

#define UBLOX_CFG_TP_DUTY_TP2               0x5005002c

#define UBLOX_CFG_TP_DUTY_LOCK_TP2              0x5005002d

#define UBLOX_CFG_TP_USER_DELAY_TP2             0x40050011

#define UBLOX_CFG_TP_TP2_ENA                0x10050012

#define UBLOX_CFG_TP_SYNC_GNSS_TP2          0x10050013

#define UBLOX_CFG_TP_USE_LOCKED_TP2             0x10050014

#define UBLOX_CFG_TP_ALIGN_TO_TOW_TP2           0x10050015

#define UBLOX_CFG_TP_POL_TP2                0x10050016

#define UBLOX_CFG_TP_TIMEGRID_TP2           0x20050017

#define UBLOX_CFG_TP_DRSTR_TP1              0x20050035

#define UBLOX_CFG_TP_DRSTR_TP2              0x20050036


/* CFG-TXREADY: TX ready configuration */

#define UBLOX_CFG_TXREADY_ENABLED           0x10a20001

#define UBLOX_CFG_TXREADY_POLARITY              0x10a20002

#define UBLOX_CFG_TXREADY_PIN               0x20a20003

#define UBLOX_CFG_TXREADY_THRESHOLD             0x30a20004

#define UBLOX_CFG_TXREADY_INTERFACE             0x20a20005


/* CFG-UART1: Configuration of the UART1 interface */

#define UBLOX_CFG_UART1_BAUDRATE            0x40520001

#define UBLOX_CFG_UART1_STOPBITS            0x20520002

#define UBLOX_CFG_UART1_DATABITS            0x20520003

#define UBLOX_CFG_UART1_PARITY              0x20520004

#define UBLOX_CFG_UART1_ENABLED             0x10520005


/* CFG-UART1INPROT: Input protocol configuration of the UART1 interface */

#define UBLOX_CFG_UART1INPROT_UBX           0x10730001

#define UBLOX_CFG_UART1INPROT_NMEA              0x10730002

#define UBLOX_CFG_UART1INPROT_RTCM3X            0x10730004

#define UBLOX_CFG_UART1INPROT_SPARTN            0x10730005


/* CFG-UART1OUTPROT: Output protocol configuration of the UART1 interface */

#define UBLOX_CFG_UART1OUTPROT_UBX              0x10740001

#define UBLOX_CFG_UART1OUTPROT_NMEA             0x10740002

#define UBLOX_CFG_UART1OUTPROT_RTCM3X           0x10740004


/* CFG-UART2: Configuration of the UART2 interface */

#define UBLOX_CFG_UART2_BAUDRATE            0x40530001

#define UBLOX_CFG_UART2_STOPBITS            0x20530002

#define UBLOX_CFG_UART2_DATABITS            0x20530003

#define UBLOX_CFG_UART2_PARITY              0x20530004

#define UBLOX_CFG_UART2_ENABLED             0x10530005

#define UBLOX_CFG_UART2_REMAP               0x10530006


/* CFG-UART2INPROT: Input protocol configuration of the UART2 interface */

#define UBLOX_CFG_UART2INPROT_UBX           0x10750001

#define UBLOX_CFG_UART2INPROT_NMEA              0x10750002

#define UBLOX_CFG_UART2INPROT_RTCM3X            0x10750004

#define UBLOX_CFG_UART2INPROT_SPARTN            0x10750005


/* CFG-UART2OUTPROT: Output protocol configuration of the UART2 interface */

#define UBLOX_CFG_UART2OUTPROT_UBX              0x10760001

#define UBLOX_CFG_UART2OUTPROT_NMEA             0x10760002

#define UBLOX_CFG_UART2OUTPROT_RTCM3X           0x10760004


/* CFG-USB: Configuration of the USB interface */

#define UBLOX_CFG_USB_ENABLED               0x10650001

#define UBLOX_CFG_USB_SELFPOW               0x10650002

#define UBLOX_CFG_USB_VENDOR_ID             0x3065000a

#define UBLOX_CFG_USB_PRODUCT_ID            0x3065000b

#define UBLOX_CFG_USB_POWER                 0x3065000c

#define UBLOX_CFG_USB_VENDOR_STR0           0x5065000d

#define UBLOX_CFG_USB_VENDOR_STR1           0x5065000e

#define UBLOX_CFG_USB_VENDOR_STR2           0x5065000f

#define UBLOX_CFG_USB_VENDOR_STR3           0x50650010

#define UBLOX_CFG_USB_PRODUCT_STR0              0x50650011

#define UBLOX_CFG_USB_PRODUCT_STR1              0x50650012

#define UBLOX_CFG_USB_PRODUCT_STR2              0x50650013

#define UBLOX_CFG_USB_PRODUCT_STR3              0x50650014

#define UBLOX_CFG_USB_SERIAL_NO_STR0            0x50650015

#define UBLOX_CFG_USB_SERIAL_NO_STR1            0x50650016

#define UBLOX_CFG_USB_SERIAL_NO_STR2            0x50650017

#define UBLOX_CFG_USB_SERIAL_NO_STR3            0x50650018


/* CFG-USBINPROT: Input protocol configuration of the USB interface */

#define UBLOX_CFG_USBINPROT_UBX             0x10770001

#define UBLOX_CFG_USBINPROT_NMEA            0x10770002

#define UBLOX_CFG_USBINPROT_RTCM3X              0x10770004

#define UBLOX_CFG_USBINPROT_SPARTN              0x10770005


/* CFG-USBOUTPROT: Output protocol configuration of the USB interface */

#define UBLOX_CFG_USBOUTPROT_UBX            0x10780001

#define UBLOX_CFG_USBOUTPROT_NMEA           0x10780002

#define UBLOX_CFG_USBOUTPROT_RTCM3X             0x10780004


/* Some key UBX configuration keys */

#define UBLOX_CFG_UART1INPROT_UBX           0x10730001

#define UBLOX_CFG_UART1INPROT_NMEA          0x10730002

#define UBLOX_CFG_UART1INPROT_RTCM3X            0x10730004

#define UBLOX_CFG_UART1OUTPROT_UBX          0x10740001

#define UBLOX_CFG_UART1OUTPROT_NMEA         0x10740002

#define UBLOX_CFG_UART1OUTPROT_RTCM3X           0x10740004


#define UBLOX_CFG_UART2INPROT_UBX           0x10750001

#define UBLOX_CFG_UART2INPROT_NMEA          0x10750002

#define UBLOX_CFG_UART2INPROT_RTCM3X            0x10750004

#define UBLOX_CFG_UART2OUTPROT_UBX          0x10760001

#define UBLOX_CFG_UART2OUTPROT_NMEA         0x10760002

#define UBLOX_CFG_UART2OUTPROT_RTCM3X           0x10760004


/* CFG-USBINPROT: Input protocol configuration of the USB interface */

#define UBLOX_CFG_USBINPROT_UBX 0x10770001

#define UBLOX_CFG_USBINPROT_NMEA 0x10770002

#define UBLOX_CFG_USBINPROT_RTCM3X 0x10770004

#define UBLOX_CFG_USBINPROT_SPARTN 0x10770005


/* CFG-USBOUTPROT: Output protocol configuration of the USB interface */

#define UBLOX_CFG_USBOUTPROT_UBX 0x10780001

#define UBLOX_CFG_USBOUTPROT_NMEA 0x10780002

#define UBLOX_CFG_USBOUTPROT_RTCM3X 0x10780004


#define UBLOX_CFG_MSGOUT_NAV_PVT_UART1          0x20910006

#define UBLOX_CFG_MSGOUT_NAV_TIMEUTC_UART1      0x2091005c


/* Maximum packet sizes */

#define UBX_MAX_PACKET_SIZE             1024

#define UBX_HEADER_SIZE                 6

#define UBX_CHECKSUM_SIZE               2


/* ENABLE and DISABLE */

#define ENABLE                      1u

#define DISABLE                     0u


/* Configuration save/load/clear masks */

#define UBLOX_SAVE_TO_FLASH             0x04

#define UBLOX_SAVE_TO_BBR               0x02

#define UBLOX_SAVE_TO_RAM               0x01

#define UBLOX_LOAD_FROM_FLASH               0x04

#define UBLOX_LOAD_FROM_BBR             0x02

#define UBLOX_CLEAR_ALL_LAYERS              0x07


/* NMEA command templates */

#define NMEA_MAX_CMD_SIZE               100


/* Time puls period 1 sec in us */

#define S_TO_US                     1000000

/* Time puls length 1 ms in us */

#define MS_TO_US                    1000


enum gnss_config_layer {

    GNSS_CONFIG_LAYER_RAM,

    GNSS_CONFIG_LAYER_BBR,

    GNSS_CONFIG_LAYER_FLASH,

    GNSS_CONFIG_LAYER_ALL

};


enum gnss_protocol {

    GNSS_PROTOCOL_UBX,

    GNSS_PROTOCOL_NMEA,

    GNSS_PROTOCOL_RTCM3

};


struct gnss_ubx_packet {

    uint8_t sync1;

    uint8_t sync2;

    uint8_t cls;

    uint8_t id;

    uint16_t length;

    uint8_t *payload;

    uint8_t checksumA;

    uint8_t checksumB;

};


struct gnss_ubx_nav_pvt {

    uint32_t iTOW;

    uint16_t year;

    uint8_t month;

    uint8_t day;

    uint8_t hour;

    uint8_t min;

    uint8_t sec;

    uint8_t valid;

    uint32_t tAcc;

    int32_t nano;

    uint8_t fixType;

    uint8_t flags;

    uint8_t flags2;

    uint8_t numSV;

    int32_t lon;

    int32_t lat;

    int32_t height;

    int32_t hMSL;

    uint32_t hAcc;

    uint32_t vAcc;

    int32_t velN;

    int32_t velE;

    int32_t velD;

    int32_t gSpeed;

    int32_t headMot;

    uint32_t sAcc;

    uint32_t headAcc;

    uint16_t pDOP;

    uint16_t flags3;

    uint8_t reserved0;

    uint8_t reserved1;

    uint8_t reserved2;

    uint8_t reserved3;

    int32_t headVeh;

    int16_t magDec;

    uint16_t magAcc;

};


struct gnss_ubx_nav_timeutc {

    uint32_t iTOW;

    uint32_t tAcc;

    int32_t nano;

    uint16_t year;

    uint8_t month;

    uint8_t day;

    uint8_t hour;

    uint8_t min;

    uint8_t sec;

    uint8_t valid;

};


struct gnss_precise_time {

    uint32_t unix_epoch;

    int32_t nanoseconds;

    uint32_t time_accuracy;

    bool time_valid;

    bool time_fully_resolved;

    bool date_valid;

    uint16_t year;

    uint8_t month;

    uint8_t day;

    uint8_t hour;

    uint8_t minute;

    uint8_t second;

};


struct gnss_nmea_time {

    uint8_t hour;

    uint8_t minute;

    uint8_t second;

    uint16_t milliseconds;

    uint8_t day;

    uint8_t month;

    uint16_t year;

    bool time_valid;

    bool date_valid;

    uint32_t unix_epoch;

};


struct gnss_nmea_position {

    uint8_t fix_quality;

    uint8_t satellites_used;

    float hdop;

    float altitude;

    float latitude;

    float longitude;

    bool position_valid;

    bool fix_valid;

};


enum device_type {

    GNSS_DEVICE_UBX_CAPABLE,

    GNSS_DEVICE_NMEA_ONLY

};


enum nmea_constellation_support {

    NMEA_GPS_ONLY,

    NMEA_GNSS_MULTI

};


struct gnss_init_param {

    struct no_os_uart_init_param *uart_init;

    struct no_os_gpio_desc *gpio_reset;

    struct no_os_irq_ctrl_desc *irq_ctrl;

    enum device_type device_type;

    enum nmea_constellation_support nmea_constellation_type;

    uint8_t ubx_input_enable;

    uint8_t nmea_input_enable;

    uint8_t ubx_output_enable;

    uint8_t nmea_output_enable;

    uint32_t baud_rate;

    /* PPS frequency Hz */

    uint32_t pps_frequency;

    /* PPS signal length ms */

    uint32_t pps_pulse_length;

    /* PPS enable */

    uint8_t pps_enable;

    struct no_os_gpio_desc *irq_gpio;

    struct no_os_callback_desc *irq_cb;

};


struct gnss_dev {

    struct no_os_uart_desc *uart_desc;

    struct no_os_gpio_desc *gpio_reset;

    struct no_os_gpio_desc *irq_gpio;

    struct no_os_gpio_desc *led_desc;

    struct no_os_irq_ctrl_desc *irq_ctrl;

    enum device_type device_type;

    enum nmea_constellation_support nmea_constellation_type;

    struct no_os_callback_desc irq_cb;

    uint8_t rx_buffer[UBX_MAX_PACKET_SIZE];

    uint8_t tx_buffer[UBX_MAX_PACKET_SIZE];

    struct gnss_ubx_nav_pvt nav_data;

    struct gnss_ubx_nav_timeutc time_data;

    struct gnss_nmea_time nmea_timing_cache;

    struct gnss_nmea_position nmea_position_cache;

    uint8_t position_refresh_counter;

    /* PPS frequency Hz */

    uint32_t pps_frequency;

    /* PPS signal length ms */

    uint32_t pps_pulse_length;

    /* PPS enable */

    uint8_t pps_enable;

};


/* Initialize the GNSS device and configure communication. */

int gnss_init(struct gnss_dev **device,

          struct gnss_init_param init_param);


/* Free the resources allocated by gnss_init(). */

int gnss_remove(struct gnss_dev *dev);


/* Read raw data from the GNSS device. */

int gnss_read(struct gnss_dev *dev, uint8_t *data, uint16_t size);


/* Write raw data to the GNSS device. */

int gnss_write(struct gnss_dev *dev, uint8_t *data, uint16_t size);


/* Reset the device using hardware reset pin. */

int gnss_hw_reset(struct gnss_dev *dev);


/* Reset the UBX-capable device using software reset command. */

int gnss_ubx_sw_reset(struct gnss_dev *dev);


/* Send UBX binary protocol packet to device. */

int gnss_ubx_send_packet(struct gnss_dev *dev, uint8_t cls,

             uint8_t id, uint8_t *payload, uint16_t length);


/* Receive UBX binary protocol packet from device. */

int gnss_ubx_receive_packet(struct gnss_dev *dev,

                struct gnss_ubx_packet *packet);


/* Calculate UBX packet checksum. */

void gnss_calculate_checksum(uint8_t *data, uint16_t length,

                 uint8_t *checksumA, uint8_t *checksumB);


/* Verify UBX packet checksum. */

int gnss_verify_checksum(uint8_t *data, uint16_t length,

             uint8_t checksumA, uint8_t checksumB);


/* Wait for UBX command acknowledgment with timeout. */

int gnss_ubx_wait_for_ack(struct gnss_dev *dev, uint8_t cls, uint8_t id);


/* Set UBX configuration value without waiting for acknowledgment. */

int gnss_ubx_set_val_no_ack(struct gnss_dev *dev, uint32_t key_id,

                uint64_t value, uint8_t value_size, uint8_t layer);


/* Set UBX configuration value and wait for acknowledgment. */

int gnss_ubx_set_val(struct gnss_dev *dev, uint32_t key_id,

             uint64_t value, uint8_t value_size, uint8_t layer);


/* Get UBX configuration value by key. */

int gnss_ubx_get_val(struct gnss_dev *dev, uint32_t key_id,

             uint64_t *value, uint8_t value_size, uint8_t layer);


/* Clear save load configuration from flash/BBR. */

int gnss_ubx_clr_save_load_config(struct gnss_dev *dev, uint8_t mask);


/* Configure input protocol on UART1 */

int gnss_ubx_set_input_protocol_uart1(struct gnss_dev *dev,

                      enum gnss_protocol protocol,

                      uint8_t enable, uint8_t layer);


/* Configure output protocol on UART1 */

int gnss_ubx_set_output_protocol_uart1(struct gnss_dev *dev,

                       enum gnss_protocol protocol,

                       uint8_t enable, uint8_t layer);


/* Configure output protocol on USB */

int gnss_ubx_set_output_protocol_usb(struct gnss_dev *dev,

                     enum gnss_protocol protocol,

                     uint8_t enable, uint8_t layer);


/* Configure input protocol on UART2 */

int gnss_ubx_set_input_protocol_uart2(struct gnss_dev *dev,

                      enum gnss_protocol protocol,

                      uint8_t enable, uint8_t layer);


/* Configure output protocol on UART2 */

int gnss_ubx_set_output_protocol_uart2(struct gnss_dev *dev,

                       enum gnss_protocol protocol,

                       uint8_t enable, uint8_t layer);


/* Configure UBX device baudrate via UBX commands. */

int gnss_ubx_configure_baudrate(struct gnss_dev *dev,

                uint32_t baudrate);


/* Poll navigation data (NAV-PVT) */

int gnss_ubx_poll_nav_pvt(struct gnss_dev *dev,

              struct gnss_ubx_nav_pvt *nav_data);


/* Poll time data (NAV-TIMEUTC) */

int gnss_ubx_poll_nav_timeutc(struct gnss_dev *dev,

                  struct gnss_ubx_nav_timeutc *time_data);


/* Get latest navigation data */

int gnss_get_nav_data(struct gnss_dev *dev,

              struct gnss_ubx_nav_pvt *nav_data);


/* Get latest time data */

int gnss_get_time_data(struct gnss_dev *dev,

               struct gnss_ubx_nav_timeutc *time_data);


/* Convert coordinates from 1e-7 degrees to float degrees */

float gnss_coord_to_degrees(int32_t coord);


/* Convert velocity from cm/s to m/s */

float gnss_velocity_to_ms(int32_t vel);


/* Convert time accuracy from ns to ms */

float gnss_time_acc_to_ms(uint32_t acc);


/* Convert position accuracy from mm to m */

float gnss_pos_acc_to_m(uint32_t acc);


/* Get nanosecond fraction of current time from NAV-PVT data */

int32_t gnss_ubx_get_nanoseconds(struct gnss_dev *dev);


/* Check if the current time is valid */

int gnss_ubx_get_time_valid(struct gnss_dev *dev, bool *valid);


/* Check if the current time is fully resolved */

int gnss_ubx_get_time_fully_resolved(struct gnss_dev *dev, bool *resolved);


/* Calculate Unix epoch from date/time components */

uint32_t gnss_calculate_unix_epoch(uint16_t year, uint8_t month,

                   uint8_t day, uint8_t hour,

                   uint8_t minute, uint8_t second);


/* Get Unix epoch time with microsecond precision */

int gnss_ubx_get_unix_epoch_with_micros(struct gnss_dev *dev,

                    uint32_t *epoch, uint32_t *microseconds);


/* Get comprehensive precise time information */

int gnss_ubx_get_precise_time(struct gnss_dev *dev,

                  struct gnss_precise_time *precise_time);


/* Configure time pulse output for PPS (Pulse Per Second) */

int gnss_ubx_configure_time_pulse(struct gnss_dev *dev,

                  bool enable);


/* Configure PPS output with optimal settings for timing sync */

int gnss_init_pps(struct gnss_dev *dev, bool enable);


/* Check if time pulse is currently enabled */

int gnss_ubx_is_time_pulse_enabled(struct gnss_dev *dev, bool *enabled);


/* Send NMEA command to enable UBX protocol */

int gnss_ubx_enable_via_nmea(struct gnss_dev *dev);


/* Calculate NMEA checksum */

uint8_t gnss_nmea_checksum(const char *data);


/* Build PUBX command string programmatically */

int gnss_ubx_build_pubx_config(char *cmd_buffer, size_t cmd_buffer_size,

                   uint8_t msgid, uint8_t port, uint16_t inprot,

                   uint16_t outprot, uint32_t baudrate, uint8_t autobaud);


/* Configure NMEA-only device for timing operation */

int gnss_configure_nmea_device(struct gnss_dev *dev,

                   uint32_t baudrate, uint8_t message_rate_hz);


/*Configure baudrate via standard NMEA command for NMEA-only devices */

int gnss_configure_baudrate_via_nmea(struct gnss_dev *dev,

                     uint32_t baudrate);


/* Enable GPRMC message and disable others for clean timing via NMEA commands */

int gnss_configure_messages_via_nmea(struct gnss_dev *dev,

                     uint8_t rate_hz);


/* Refresh timing data from device (unified API for both UBX and NMEA devices) */

int gnss_refresh_timing_data(struct gnss_dev *dev);


/* Get comprehensive timing information (unified API for both device types) */

int gnss_get_unified_timing(struct gnss_dev *dev,

                struct gnss_precise_time *precise_time);


/* Check if timing data is valid (unified API for both device types) */

int gnss_is_timing_valid(struct gnss_dev *dev, bool *valid);


/* Get Unix epoch time with best available precision (unified API) */

int gnss_get_unix_epoch_unified(struct gnss_dev *dev,

                uint32_t *epoch, uint32_t *fractional_seconds);


/* Parse GPGGA sentence for position and fix information */

int gnss_parse_gpgga_sentence(const char *sentence,

                  struct gnss_nmea_position *position_data);


/* Get GPS fix quality and position data (NMEA-only devices) */

int gnss_get_nmea_position_data(struct gnss_dev *dev,

                struct gnss_nmea_position *position_data);


#endif /* __NMEA_UBX_H__ */

init_param
struct ad7616_init_param init_param
Definition ad7616_sdz.c:106

errno.h
Error macro definition for ARM Compiler.

device_type
device_type
Definition ltc2312.h:66

gnss_ubx_receive_packet
int gnss_ubx_receive_packet(struct gnss_dev *dev, struct gnss_ubx_packet *packet)
UBX packet receive.
Definition nmea_ubx.c:401

gnss_init_pps
int gnss_init_pps(struct gnss_dev *dev, bool enable)
Configure PPS output with optimal settings for timing sync.
Definition nmea_ubx.c:1470

gnss_parse_gpgga_sentence
int gnss_parse_gpgga_sentence(const char *sentence, struct gnss_nmea_position *position_data)
Parse GPGGA sentence for position and fix information.
Definition nmea_ubx.c:2281

nmea_constellation_support
nmea_constellation_support
NMEA constellation support for NMEA-only devices.
Definition nmea_ubx.h:1281

NMEA_GNSS_MULTI
@ NMEA_GNSS_MULTI
Definition nmea_ubx.h:1285

NMEA_GPS_ONLY
@ NMEA_GPS_ONLY
Definition nmea_ubx.h:1283

gnss_ubx_wait_for_ack
int gnss_ubx_wait_for_ack(struct gnss_dev *dev, uint8_t cls, uint8_t id)
Wait for ACK/NAK.
Definition nmea_ubx.c:493

gnss_velocity_to_ms
float gnss_velocity_to_ms(int32_t vel)
Convert velocity from cm/s to m/s.
Definition nmea_ubx.c:1173

gnss_ubx_build_pubx_config
int gnss_ubx_build_pubx_config(char *cmd_buffer, size_t cmd_buffer_size, uint8_t msgid, uint8_t port, uint16_t inprot, uint16_t outprot, uint32_t baudrate, uint8_t autobaud)

gnss_verify_checksum
int gnss_verify_checksum(uint8_t *data, uint16_t length, uint8_t checksumA, uint8_t checksumB)
Verify UBX checksum.
Definition nmea_ubx.c:82

gnss_get_nav_data
int gnss_get_nav_data(struct gnss_dev *dev, struct gnss_ubx_nav_pvt *nav_data)
Get latest navigation data.
Definition nmea_ubx.c:1132

gnss_ubx_set_val_no_ack
int gnss_ubx_set_val_no_ack(struct gnss_dev *dev, uint32_t key_id, uint64_t value, uint8_t value_size, uint8_t layer)
Set configuration value by key (no ACK version)
Definition nmea_ubx.c:539

gnss_calculate_unix_epoch
uint32_t gnss_calculate_unix_epoch(uint16_t year, uint8_t month, uint8_t day, uint8_t hour, uint8_t minute, uint8_t second)
Calculate Unix epoch from date/time components.
Definition nmea_ubx.c:1255

gnss_is_timing_valid
int gnss_is_timing_valid(struct gnss_dev *dev, bool *valid)
Check if timing data is valid (unified API for both device types)
Definition nmea_ubx.c:2201

gnss_coord_to_degrees
float gnss_coord_to_degrees(int32_t coord)
Convert coordinates from 1e-7 degrees to float degrees.
Definition nmea_ubx.c:1163

gnss_ubx_set_input_protocol_uart1
int gnss_ubx_set_input_protocol_uart1(struct gnss_dev *dev, enum gnss_protocol protocol, uint8_t enable, uint8_t layer)
Configure input protocol on UART1.
Definition nmea_ubx.c:839

gnss_ubx_poll_nav_timeutc
int gnss_ubx_poll_nav_timeutc(struct gnss_dev *dev, struct gnss_ubx_nav_timeutc *time_data)
Poll time data (NAV-TIMEUTC)
Definition nmea_ubx.c:1082

gnss_ubx_configure_baudrate
int gnss_ubx_configure_baudrate(struct gnss_dev *dev, uint32_t baudrate)
Configure UBX device baudrate via UBX commands.
Definition nmea_ubx.c:1007

gnss_ubx_get_precise_time
int gnss_ubx_get_precise_time(struct gnss_dev *dev, struct gnss_precise_time *precise_time)
Get comprehensive precise time information.
Definition nmea_ubx.c:1319

gnss_ubx_get_val
int gnss_ubx_get_val(struct gnss_dev *dev, uint32_t key_id, uint64_t *value, uint8_t value_size, uint8_t layer)
Get configuration value by key.
Definition nmea_ubx.c:706

gnss_write
int gnss_write(struct gnss_dev *dev, uint8_t *data, uint16_t size)
Write data to the device.
Definition nmea_ubx.c:309

gnss_ubx_send_packet
int gnss_ubx_send_packet(struct gnss_dev *dev, uint8_t cls, uint8_t id, uint8_t *payload, uint16_t length)
Send UBX binary protocol packet to the GNSS device.
Definition nmea_ubx.c:346

gnss_configure_baudrate_via_nmea
int gnss_configure_baudrate_via_nmea(struct gnss_dev *dev, uint32_t baudrate)
Configure baudrate via standard NMEA command for NMEA-only devices.
Definition nmea_ubx.c:1528

gnss_get_time_data
int gnss_get_time_data(struct gnss_dev *dev, struct gnss_ubx_nav_timeutc *time_data)
Get latest time data.
Definition nmea_ubx.c:1148

gnss_config_layer
gnss_config_layer
GNSS configuration storage layers for UBX devices.
Definition nmea_ubx.h:1032

GNSS_CONFIG_LAYER_RAM
@ GNSS_CONFIG_LAYER_RAM
Definition nmea_ubx.h:1034

GNSS_CONFIG_LAYER_BBR
@ GNSS_CONFIG_LAYER_BBR
Definition nmea_ubx.h:1036

GNSS_CONFIG_LAYER_FLASH
@ GNSS_CONFIG_LAYER_FLASH
Definition nmea_ubx.h:1038

GNSS_CONFIG_LAYER_ALL
@ GNSS_CONFIG_LAYER_ALL
Definition nmea_ubx.h:1040

gnss_remove
int gnss_remove(struct gnss_dev *dev)
Remove the GNSS device and release allocated resources.
Definition nmea_ubx.c:229

gnss_ubx_clr_save_load_config
int gnss_ubx_clr_save_load_config(struct gnss_dev *dev, uint8_t mask)
Clear save load configuration from flash/BBR.
Definition nmea_ubx.c:803

gnss_hw_reset
int gnss_hw_reset(struct gnss_dev *dev)
Reset the GNSS device using hardware reset pin.
Definition nmea_ubx.c:250

gnss_calculate_checksum
void gnss_calculate_checksum(uint8_t *data, uint16_t length, uint8_t *checksumA, uint8_t *checksumB)
Calculate UBX checksum.
Definition nmea_ubx.c:58

gnss_ubx_enable_via_nmea
int gnss_ubx_enable_via_nmea(struct gnss_dev *dev)

gnss_init
int gnss_init(struct gnss_dev **device, struct gnss_init_param init_param)
Initialize the GNSS device and configure communication.
Definition nmea_ubx.c:102

gnss_get_unified_timing
int gnss_get_unified_timing(struct gnss_dev *dev, struct gnss_precise_time *precise_time)
Get comprehensive timing information (unified API for both device types)
Definition nmea_ubx.c:2130

gnss_refresh_timing_data
int gnss_refresh_timing_data(struct gnss_dev *dev)
Refresh timing data from device (unified API for both UBX and NMEA devices)
Definition nmea_ubx.c:2063

gnss_ubx_set_output_protocol_usb
int gnss_ubx_set_output_protocol_usb(struct gnss_dev *dev, enum gnss_protocol protocol, uint8_t enable, uint8_t layer)
Configure output protocol USB.
Definition nmea_ubx.c:907

gnss_ubx_is_time_pulse_enabled
int gnss_ubx_is_time_pulse_enabled(struct gnss_dev *dev, bool *enabled)
Check if time pulse is currently enabled.
Definition nmea_ubx.c:1490

gnss_protocol
gnss_protocol
GNSS communication protocol types.
Definition nmea_ubx.h:1047

GNSS_PROTOCOL_UBX
@ GNSS_PROTOCOL_UBX
Definition nmea_ubx.h:1049

GNSS_PROTOCOL_RTCM3
@ GNSS_PROTOCOL_RTCM3
Definition nmea_ubx.h:1053

GNSS_PROTOCOL_NMEA
@ GNSS_PROTOCOL_NMEA
Definition nmea_ubx.h:1051

gnss_ubx_set_input_protocol_uart2
int gnss_ubx_set_input_protocol_uart2(struct gnss_dev *dev, enum gnss_protocol protocol, uint8_t enable, uint8_t layer)
Configure input protocol on UART2.
Definition nmea_ubx.c:941

gnss_time_acc_to_ms
float gnss_time_acc_to_ms(uint32_t acc)
Convert time accuracy from ns to ms.
Definition nmea_ubx.c:1183

gnss_ubx_set_output_protocol_uart1
int gnss_ubx_set_output_protocol_uart1(struct gnss_dev *dev, enum gnss_protocol protocol, uint8_t enable, uint8_t layer)
Configure output protocol on UART1.
Definition nmea_ubx.c:873

gnss_ubx_set_output_protocol_uart2
int gnss_ubx_set_output_protocol_uart2(struct gnss_dev *dev, enum gnss_protocol protocol, uint8_t enable, uint8_t layer)
Configure output protocol on UART2.
Definition nmea_ubx.c:975

gnss_ubx_poll_nav_pvt
int gnss_ubx_poll_nav_pvt(struct gnss_dev *dev, struct gnss_ubx_nav_pvt *nav_data)
Poll navigation data (NAV-PVT)
Definition nmea_ubx.c:1035

gnss_ubx_get_nanoseconds
int32_t gnss_ubx_get_nanoseconds(struct gnss_dev *dev)
Get nanosecond fraction of current time from NAV-PVT data.
Definition nmea_ubx.c:1203

gnss_nmea_checksum
uint8_t gnss_nmea_checksum(const char *data)

gnss_configure_messages_via_nmea
int gnss_configure_messages_via_nmea(struct gnss_dev *dev, uint8_t rate_hz)
Enable GPRMC/GNRMC message and disable others for clean timing via NMEA commands.
Definition nmea_ubx.c:1568

gnss_ubx_get_time_fully_resolved
int gnss_ubx_get_time_fully_resolved(struct gnss_dev *dev, bool *resolved)
Check if the current time is fully resolved.
Definition nmea_ubx.c:1234

gnss_get_nmea_position_data
int gnss_get_nmea_position_data(struct gnss_dev *dev, struct gnss_nmea_position *position_data)
Get GPS fix quality and position data (NMEA-only devices)
Definition nmea_ubx.c:2392

gnss_get_unix_epoch_unified
int gnss_get_unix_epoch_unified(struct gnss_dev *dev, uint32_t *epoch, uint32_t *fractional_seconds)
Get Unix epoch time with best available precision (unified API)
Definition nmea_ubx.c:2229

gnss_pos_acc_to_m
float gnss_pos_acc_to_m(uint32_t acc)
Convert position accuracy from mm to m.
Definition nmea_ubx.c:1193

gnss_ubx_set_val
int gnss_ubx_set_val(struct gnss_dev *dev, uint32_t key_id, uint64_t value, uint8_t value_size, uint8_t layer)
Set configuration value by key.
Definition nmea_ubx.c:619

gnss_configure_nmea_device
int gnss_configure_nmea_device(struct gnss_dev *dev, uint32_t baudrate, uint8_t message_rate_hz)
Configure NMEA-only device for timing operation.
Definition nmea_ubx.c:1700

gnss_read
int gnss_read(struct gnss_dev *dev, uint8_t *data, uint16_t size)
Read data from the device.
Definition nmea_ubx.c:326

gnss_ubx_get_unix_epoch_with_micros
int gnss_ubx_get_unix_epoch_with_micros(struct gnss_dev *dev, uint32_t *epoch, uint32_t *microseconds)
Get Unix epoch time with microsecond precision.
Definition nmea_ubx.c:1279

gnss_ubx_get_time_valid
int gnss_ubx_get_time_valid(struct gnss_dev *dev, bool *valid)
Check if the current time is valid.
Definition nmea_ubx.c:1217

gnss_ubx_configure_time_pulse
int gnss_ubx_configure_time_pulse(struct gnss_dev *dev, bool enable)
Configure time pulse output for PPS (Pulse Per Second)
Definition nmea_ubx.c:1364

GNSS_DEVICE_NMEA_ONLY
@ GNSS_DEVICE_NMEA_ONLY
Definition nmea_ubx.h:1274

GNSS_DEVICE_UBX_CAPABLE
@ GNSS_DEVICE_UBX_CAPABLE
Definition nmea_ubx.h:1272

UBX_MAX_PACKET_SIZE
#define UBX_MAX_PACKET_SIZE
Definition nmea_ubx.h:1004

gnss_ubx_sw_reset
int gnss_ubx_sw_reset(struct gnss_dev *dev)
Reset the device using SW reset.
Definition nmea_ubx.c:284

no_os_alloc.h

no_os_delay.h
Header file of Delay functions.

no_os_error.h
Error codes definition.

no_os_gpio.h
Header file of GPIO Interface.

no_os_irq.h
Header file of IRQ interface.

no_os_print_log.h
Print messages helpers.

no_os_uart.h
Header file of UART interface.

no_os_util.h
Header file of utility functions.

device
Definition ad9361_util.h:63

gnss_dev
GNSS Device structure.
Definition nmea_ubx.h:1329

gnss_dev::nav_data
struct gnss_ubx_nav_pvt nav_data
Definition nmea_ubx.h:1351

gnss_dev::irq_ctrl
struct no_os_irq_ctrl_desc * irq_ctrl
Definition nmea_ubx.h:1339

gnss_dev::device_type
enum device_type device_type
Definition nmea_ubx.h:1341

gnss_dev::tx_buffer
uint8_t tx_buffer[UBX_MAX_PACKET_SIZE]
Definition nmea_ubx.h:1349

gnss_dev::rx_buffer
uint8_t rx_buffer[UBX_MAX_PACKET_SIZE]
Definition nmea_ubx.h:1347

gnss_dev::position_refresh_counter
uint8_t position_refresh_counter
Definition nmea_ubx.h:1359

gnss_dev::gpio_reset
struct no_os_gpio_desc * gpio_reset
Definition nmea_ubx.h:1333

gnss_dev::irq_gpio
struct no_os_gpio_desc * irq_gpio
Definition nmea_ubx.h:1335

gnss_dev::pps_pulse_length
uint32_t pps_pulse_length
Definition nmea_ubx.h:1363

gnss_dev::led_desc
struct no_os_gpio_desc * led_desc
Definition nmea_ubx.h:1337

gnss_dev::uart_desc
struct no_os_uart_desc * uart_desc
Definition nmea_ubx.h:1331

gnss_dev::nmea_constellation_type
enum nmea_constellation_support nmea_constellation_type
Definition nmea_ubx.h:1343

gnss_dev::irq_cb
struct no_os_callback_desc irq_cb
Definition nmea_ubx.h:1345

gnss_dev::pps_enable
uint8_t pps_enable
Definition nmea_ubx.h:1365

gnss_dev::nmea_timing_cache
struct gnss_nmea_time nmea_timing_cache
Definition nmea_ubx.h:1355

gnss_dev::nmea_position_cache
struct gnss_nmea_position nmea_position_cache
Definition nmea_ubx.h:1357

gnss_dev::time_data
struct gnss_ubx_nav_timeutc time_data
Definition nmea_ubx.h:1353

gnss_dev::pps_frequency
uint32_t pps_frequency
Definition nmea_ubx.h:1361

gnss_init_param
GNSS Device initialization parameters.
Definition nmea_ubx.h:1292

gnss_init_param::nmea_output_enable
uint8_t nmea_output_enable
Definition nmea_ubx.h:1310

gnss_init_param::ubx_output_enable
uint8_t ubx_output_enable
Definition nmea_ubx.h:1308

gnss_init_param::pps_pulse_length
uint32_t pps_pulse_length
Definition nmea_ubx.h:1316

gnss_init_param::baud_rate
uint32_t baud_rate
Definition nmea_ubx.h:1312

gnss_init_param::uart_init
struct no_os_uart_init_param * uart_init
Definition nmea_ubx.h:1294

gnss_init_param::irq_ctrl
struct no_os_irq_ctrl_desc * irq_ctrl
Definition nmea_ubx.h:1298

gnss_init_param::pps_enable
uint8_t pps_enable
Definition nmea_ubx.h:1318

gnss_init_param::irq_gpio
struct no_os_gpio_desc * irq_gpio
Definition nmea_ubx.h:1320

gnss_init_param::device_type
enum device_type device_type
Definition nmea_ubx.h:1300

gnss_init_param::irq_cb
struct no_os_callback_desc * irq_cb
Definition nmea_ubx.h:1322

gnss_init_param::gpio_reset
struct no_os_gpio_desc * gpio_reset
Definition nmea_ubx.h:1296

gnss_init_param::nmea_input_enable
uint8_t nmea_input_enable
Definition nmea_ubx.h:1306

gnss_init_param::pps_frequency
uint32_t pps_frequency
Definition nmea_ubx.h:1314

gnss_init_param::nmea_constellation_type
enum nmea_constellation_support nmea_constellation_type
Definition nmea_ubx.h:1302

gnss_init_param::ubx_input_enable
uint8_t ubx_input_enable
Definition nmea_ubx.h:1304

gnss_nmea_position
GPGGA sentence position and fix data structure for NMEA-only devices.
Definition nmea_ubx.h:1247

gnss_nmea_position::satellites_used
uint8_t satellites_used
Definition nmea_ubx.h:1251

gnss_nmea_position::longitude
float longitude
Definition nmea_ubx.h:1259

gnss_nmea_position::position_valid
bool position_valid
Definition nmea_ubx.h:1261

gnss_nmea_position::altitude
float altitude
Definition nmea_ubx.h:1255

gnss_nmea_position::fix_quality
uint8_t fix_quality
Definition nmea_ubx.h:1249

gnss_nmea_position::hdop
float hdop
Definition nmea_ubx.h:1253

gnss_nmea_position::fix_valid
bool fix_valid
Definition nmea_ubx.h:1263

gnss_nmea_position::latitude
float latitude
Definition nmea_ubx.h:1257

gnss_nmea_time
GPRMC sentence time data structure for NMEA-only devices.
Definition nmea_ubx.h:1220

gnss_nmea_time::milliseconds
uint16_t milliseconds
Definition nmea_ubx.h:1228

gnss_nmea_time::unix_epoch
uint32_t unix_epoch
Definition nmea_ubx.h:1240

gnss_nmea_time::date_valid
bool date_valid
Definition nmea_ubx.h:1238

gnss_nmea_time::year
uint16_t year
Definition nmea_ubx.h:1234

gnss_nmea_time::minute
uint8_t minute
Definition nmea_ubx.h:1224

gnss_nmea_time::month
uint8_t month
Definition nmea_ubx.h:1232

gnss_nmea_time::time_valid
bool time_valid
Definition nmea_ubx.h:1236

gnss_nmea_time::second
uint8_t second
Definition nmea_ubx.h:1226

gnss_nmea_time::hour
uint8_t hour
Definition nmea_ubx.h:1222

gnss_nmea_time::day
uint8_t day
Definition nmea_ubx.h:1230

gnss_precise_time
Precise time information with nanosecond resolution.
Definition nmea_ubx.h:1189

gnss_precise_time::second
uint8_t second
Definition nmea_ubx.h:1213

gnss_precise_time::day
uint8_t day
Definition nmea_ubx.h:1207

gnss_precise_time::time_valid
bool time_valid
Definition nmea_ubx.h:1197

gnss_precise_time::hour
uint8_t hour
Definition nmea_ubx.h:1209

gnss_precise_time::time_fully_resolved
bool time_fully_resolved
Definition nmea_ubx.h:1199

gnss_precise_time::year
uint16_t year
Definition nmea_ubx.h:1203

gnss_precise_time::nanoseconds
int32_t nanoseconds
Definition nmea_ubx.h:1193

gnss_precise_time::date_valid
bool date_valid
Definition nmea_ubx.h:1201

gnss_precise_time::time_accuracy
uint32_t time_accuracy
Definition nmea_ubx.h:1195

gnss_precise_time::unix_epoch
uint32_t unix_epoch
Definition nmea_ubx.h:1191

gnss_precise_time::month
uint8_t month
Definition nmea_ubx.h:1205

gnss_precise_time::minute
uint8_t minute
Definition nmea_ubx.h:1211

gnss_ubx_nav_pvt
UBX-NAV-PVT (Position, Velocity, Time) solution message structure.
Definition nmea_ubx.h:1083

gnss_ubx_nav_pvt::velE
int32_t velE
Definition nmea_ubx.h:1127

gnss_ubx_nav_pvt::nano
int32_t nano
Definition nmea_ubx.h:1103

gnss_ubx_nav_pvt::hAcc
uint32_t hAcc
Definition nmea_ubx.h:1121

gnss_ubx_nav_pvt::gSpeed
int32_t gSpeed
Definition nmea_ubx.h:1131

gnss_ubx_nav_pvt::magDec
int16_t magDec
Definition nmea_ubx.h:1153

gnss_ubx_nav_pvt::magAcc
uint16_t magAcc
Definition nmea_ubx.h:1155

gnss_ubx_nav_pvt::height
int32_t height
Definition nmea_ubx.h:1117

gnss_ubx_nav_pvt::vAcc
uint32_t vAcc
Definition nmea_ubx.h:1123

gnss_ubx_nav_pvt::sAcc
uint32_t sAcc
Definition nmea_ubx.h:1135

gnss_ubx_nav_pvt::iTOW
uint32_t iTOW
Definition nmea_ubx.h:1085

gnss_ubx_nav_pvt::sec
uint8_t sec
Definition nmea_ubx.h:1097

gnss_ubx_nav_pvt::flags3
uint16_t flags3
Definition nmea_ubx.h:1141

gnss_ubx_nav_pvt::lat
int32_t lat
Definition nmea_ubx.h:1115

gnss_ubx_nav_pvt::reserved3
uint8_t reserved3
Definition nmea_ubx.h:1149

gnss_ubx_nav_pvt::tAcc
uint32_t tAcc
Definition nmea_ubx.h:1101

gnss_ubx_nav_pvt::hour
uint8_t hour
Definition nmea_ubx.h:1093

gnss_ubx_nav_pvt::year
uint16_t year
Definition nmea_ubx.h:1087

gnss_ubx_nav_pvt::hMSL
int32_t hMSL
Definition nmea_ubx.h:1119

gnss_ubx_nav_pvt::day
uint8_t day
Definition nmea_ubx.h:1091

gnss_ubx_nav_pvt::lon
int32_t lon
Definition nmea_ubx.h:1113

gnss_ubx_nav_pvt::numSV
uint8_t numSV
Definition nmea_ubx.h:1111

gnss_ubx_nav_pvt::flags2
uint8_t flags2
Definition nmea_ubx.h:1109

gnss_ubx_nav_pvt::pDOP
uint16_t pDOP
Definition nmea_ubx.h:1139

gnss_ubx_nav_pvt::valid
uint8_t valid
Definition nmea_ubx.h:1099

gnss_ubx_nav_pvt::headAcc
uint32_t headAcc
Definition nmea_ubx.h:1137

gnss_ubx_nav_pvt::velD
int32_t velD
Definition nmea_ubx.h:1129

gnss_ubx_nav_pvt::flags
uint8_t flags
Definition nmea_ubx.h:1107

gnss_ubx_nav_pvt::min
uint8_t min
Definition nmea_ubx.h:1095

gnss_ubx_nav_pvt::reserved1
uint8_t reserved1
Definition nmea_ubx.h:1145

gnss_ubx_nav_pvt::headMot
int32_t headMot
Definition nmea_ubx.h:1133

gnss_ubx_nav_pvt::headVeh
int32_t headVeh
Definition nmea_ubx.h:1151

gnss_ubx_nav_pvt::reserved2
uint8_t reserved2
Definition nmea_ubx.h:1147

gnss_ubx_nav_pvt::velN
int32_t velN
Definition nmea_ubx.h:1125

gnss_ubx_nav_pvt::reserved0
uint8_t reserved0
Definition nmea_ubx.h:1143

gnss_ubx_nav_pvt::month
uint8_t month
Definition nmea_ubx.h:1089

gnss_ubx_nav_pvt::fixType
uint8_t fixType
Definition nmea_ubx.h:1105

gnss_ubx_nav_timeutc
UBX-NAV-TIMEUTC (UTC time solution) message structure.
Definition nmea_ubx.h:1162

gnss_ubx_nav_timeutc::tAcc
uint32_t tAcc
Definition nmea_ubx.h:1166

gnss_ubx_nav_timeutc::hour
uint8_t hour
Definition nmea_ubx.h:1176

gnss_ubx_nav_timeutc::day
uint8_t day
Definition nmea_ubx.h:1174

gnss_ubx_nav_timeutc::min
uint8_t min
Definition nmea_ubx.h:1178

gnss_ubx_nav_timeutc::sec
uint8_t sec
Definition nmea_ubx.h:1180

gnss_ubx_nav_timeutc::month
uint8_t month
Definition nmea_ubx.h:1172

gnss_ubx_nav_timeutc::valid
uint8_t valid
Definition nmea_ubx.h:1182

gnss_ubx_nav_timeutc::iTOW
uint32_t iTOW
Definition nmea_ubx.h:1164

gnss_ubx_nav_timeutc::nano
int32_t nano
Definition nmea_ubx.h:1168

gnss_ubx_nav_timeutc::year
uint16_t year
Definition nmea_ubx.h:1170

gnss_ubx_packet
UBX binary protocol packet structure.
Definition nmea_ubx.h:1060

gnss_ubx_packet::sync2
uint8_t sync2
Definition nmea_ubx.h:1064

gnss_ubx_packet::length
uint16_t length
Definition nmea_ubx.h:1070

gnss_ubx_packet::id
uint8_t id
Definition nmea_ubx.h:1068

gnss_ubx_packet::cls
uint8_t cls
Definition nmea_ubx.h:1066

gnss_ubx_packet::checksumB
uint8_t checksumB
Definition nmea_ubx.h:1076

gnss_ubx_packet::sync1
uint8_t sync1
Definition nmea_ubx.h:1062

gnss_ubx_packet::checksumA
uint8_t checksumA
Definition nmea_ubx.h:1074

gnss_ubx_packet::payload
uint8_t * payload
Definition nmea_ubx.h:1072

no_os_callback_desc
Structure describing a callback to be registered.
Definition no_os_irq.h:136

no_os_gpio_desc
Structure holding the GPIO descriptor.
Definition no_os_gpio.h:84

no_os_irq_ctrl_desc
Definition no_os_irq.h:117

no_os_uart_desc
Stucture holding the UART descriptor.
Definition no_os_uart.h:122

no_os_uart_init_param
Structure holding the parameters for UART initialization.
Definition no_os_uart.h:98