ubx

package
v0.0.0-...-0cb6901 Latest Latest
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 Go to latest Published: Mar 1, 2026 License: MIT Imports: 15 Imported by: 0

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Index

Constants

View Source 
const Tag gpsprot.Tag = "UBX"

Tag is the identifier for UBX protocol packets

Variables

View Source 
var AllKeys = []ucv.AnyTypedKey{
	ucv.KNavspgDynmodel,
	ucv.KNavspgUtcstandard,
	ucv.KRateMeas,
	ucv.KRateNav,
	ucv.KRateTimeref,
	ucv.KSignalBdsEna,
	ucv.KSignalGalEna,
	ucv.KSignalGloEna,
	ucv.KSignalGpsEna,
	ucv.KSignalNavicEna,
	ucv.KSignalQzssEna,
	ucv.KSignalSbasEna,
	ucv.KTmodeEcefX,
	ucv.KTmodeEcefXHp,
	ucv.KTmodeEcefY,
	ucv.KTmodeEcefYHp,
	ucv.KTmodeEcefZ,
	ucv.KTmodeEcefZHp,
	ucv.KTmodeMode,
	ucv.KTmodePosType,
	ucv.KTmodeSvinMinDur,
	ucv.KTmodeSvinAccLimit,
	ucv.KTpAlignToTowTp1,
	ucv.KTpAntCabledelay,
	ucv.KTpDutyTp1,
	ucv.KTpDutyLockTp1,
	ucv.KTpFreqTp1,
	ucv.KTpFreqLockTp1,
	ucv.KTpLenLockTp1,
	ucv.KTpLenTp1,
	ucv.KTpPeriodLockTp1,
	ucv.KTpPeriodTp1,
	ucv.KTpPolTp1,
	ucv.KTpPulseDef,
	ucv.KTpPulseLengthDef,
	ucv.KTpSyncGnssTp1,
	ucv.KTpTimegridTp1,
	ucv.KTpTp1Ena,
	ucv.KTpUseLockedTp1,
}
View Source 
var AllMsgKeys = []ucv.KeyM{
	ucv.KUbxNavSat,
	ucv.KUbxNavTimegps,
	ucv.KUbxNavTimegal,
	ucv.KUbxNavTimeglo,
	ucv.KUbxNavTimebds,
	ucv.KUbxNavTimeutc,
	ucv.KUbxNavTimels,
	ucv.KUbxNavSvin,
	ucv.KUbxTimSvin,
	ucv.KUbxTimTp,
}
View Source 
var ErrTmodeLLHNotSupported = errors.New("TMODE does not support LLH coordinates, only ECEF")

ErrTmodeLLHNotSupported is returned when trying to convert tmodeConfig with LLH coordinates to TMODE. TMODE only supports ECEF coordinates.

View Source 
var PacketFormat gpsprot.PacketFormat = packetFormat{}

PacketFormat is the UBX packet format

Functions

func NewNMEASVNumbering 

func NewNMEASVNumbering() []gpsprot.NMEASVNumberingRange

NewNMEASVNumbering returns a slice of NMEASVNumberingRange describing the NMEA satellite numbering scheme used by u-blox.

Types

type CfgOld 

type CfgOld struct {
	// contains filtered or unexported fields
}

func (*CfgOld) SetMsgRate 

func (raw *CfgOld) SetMsgRate(msgID ubxbin.MsgID, rate byte)

type CfgVals 

type CfgVals struct {
	ucv.Map
}

func MakeCfgVals 

func MakeCfgVals() CfgVals

func (*CfgVals) AddData 

func (raw *CfgVals) AddData(cfgData []byte) (map[uint8]struct{}, error)

AddData adds cfgData containing items to the CfgVals map. It returns a map of the groups that were added.

func (*CfgVals) BaudRate 

func (known *CfgVals) BaudRate(target *gpsprot.ConfigTarget, port ucv.Port) []ucv.Item

func (*CfgVals) Cook 

func (raw *CfgVals) Cook(ver *Version, cp *gpsprot.ConfigProps)

func (*CfgVals) EnableSignals 

func (known *CfgVals) EnableSignals(enabled gpsprot.SignalSet, ver *Version) (gpsprot.SignalSet, []ucv.Item)

func (*CfgVals) NavMsgAuth 

func (known *CfgVals) NavMsgAuth(props *gpsprot.ConfigProps) []ucv.Item

func (*CfgVals) Transaction 

func (known *CfgVals) Transaction(target *gpsprot.ConfigTarget, ver *Version, port ucv.Port, monEnabledGNSS gpsprot.GNSSSet) ([]ucv.Item, []ucv.Key, error)

Transaction determines the transaction to achieve the specified target. The known argument gives what is known about the current configuration. The returned items specifies configuration database changes that are needed. If the specified changes cannot be determined because the value of some keys is not known, those keys are returned in the ucv.Key slice. Typically this function will get called twice. The first time, known will be empty, and some more keys will be needed. The caller will then fetch the additional keys, add them to known and call again.

type ConfigProtocol 

type ConfigProtocol struct {
	// contains filtered or unexported fields
}

func NewConfigProtocol 

func NewConfigProtocol() *ConfigProtocol

func (*ConfigProtocol) Configure 

func (px *ConfigProtocol) Configure(target *gpsprot.ConfigTarget) (gpsprot.Configurator, error)

Configure creates a Configurator for the given configuration target.

func (*ConfigProtocol) NativeMsg 

func (px *ConfigProtocol) NativeMsg(tag gpsprot.Tag, msgID string, msg interface{}, tRead time.Time) error

func (*ConfigProtocol) ProbeOK 

func (px *ConfigProtocol) ProbeOK() bool

func (*ConfigProtocol) ProbePacket 

func (px *ConfigProtocol) ProbePacket() []byte

func (*ConfigProtocol) Version 

func (px *ConfigProtocol) Version() *Version

type Configurator 

type Configurator struct {
	// contains filtered or unexported fields
}

func (*Configurator) ConfigProps 

func (c *Configurator) ConfigProps() *gpsprot.ConfigProps

func (*Configurator) GenerateRequests 

func (c *Configurator) GenerateRequests() error

GenerateRequests attempts to generate more requests, potentially increasing the slice size.

func (*Configurator) GetRequestCount 

func (c *Configurator) GetRequestCount() (count int, complete bool)

GetRequestCount returns the current number of requests and whether the slice is complete.

func (*Configurator) ReceiverInfo 

func (c *Configurator) ReceiverInfo() *gpsprot.ReceiverInfo

ReceiverInfo returns static information about the GPS receiver.

func (*Configurator) Request 

func (c *Configurator) Request(index int) gpsprot.ConfigRequest

Request returns the ConfigRequest at the given index.

type FWVer 

type FWVer struct {
	ProductCategory string `json:"productCategory"` // SPG, HPG, TIM etc
	Major           byte   `json:"major"`
	Minor           byte   `json:"minor"`
}

func (*FWVer) String 

func (fwv *FWVer) String() string

type MsgRate 

type MsgRate byte

type PacketProcessor 

type PacketProcessor struct {
	gpsprot.DefaultPacketProcessor
	// contains filtered or unexported fields
}

PacketProcessor implements the gpsprot.PacketProcessor interface for UBX packets

func NewPacketProcessor 

func NewPacketProcessor(mgr *gpsprot.NavEpochManager) *PacketProcessor

NewPacketProcessor creates a new UBX packet processor

func (*PacketProcessor) Dispatch 

func (p *PacketProcessor) Dispatch(m ubxbin.Msg, tRead time.Time) bool

Dispatch converts a UBX message to protocol-agnostic messages and sends them to the message handler. It reports whether the message was handled.

func (*PacketProcessor) FlushNavEpoch 

func (p *PacketProcessor) FlushNavEpoch(tRead time.Time) (*gpsprot.NavEpochMsg, gpsprot.MsgPriority, gpsprot.MsgHandler)

FlushNavEpoch implements gpsprot.EpochFlusher.

func (*PacketProcessor) ProcessPacket 

func (p *PacketProcessor) ProcessPacket(data string, tRead time.Time) (string, error)

ProcessPacket processes a UBX packet's data and returns the message ID and any error

func (*PacketProcessor) SetMsgHandler 

func (p *PacketProcessor) SetMsgHandler(handler gpsprot.MsgHandler)

SetMsgHandler sets the handler for protocol-agnostic messages

type ProtVer 

type ProtVer struct {
	Major byte `json:"major"`
	Minor byte `json:"minor"`
}

func (ProtVer) String 

func (pv ProtVer) String() string

type RawConfig 

type RawConfig struct {
	CfgOld
	CfgVals // access with valsPtr() so it gets lazily initialized
	// contains filtered or unexported fields
}

func (*RawConfig) AddMsg 

func (raw *RawConfig) AddMsg(m ubxbin.Msg) (bool, error)

func (*RawConfig) Config 

func (raw *RawConfig) Config(ver *Version) *gpsprot.ConfigProps

type Version 

type Version struct {
	HW            string          `json:"hw"`
	SW            string          `json:"sw"`
	Extensions    []string        `json:"extensions,omitempty"`
	FW            *FWVer          `json:"fw,omitempty"`
	Prot          *ProtVer        `json:"prot,omitempty"`
	Mod           string          `json:"mod"`
	RunsFromFlash bool            `json:"runsFromFlash"`
	GNSS          gpsprot.GNSSSet `json:"gnss,omitempty"`
}

func (*Version) ProductCategory 

func (v *Version) ProductCategory() string

Source Files

View all Source files

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