u-blox receivers over UBX: CFG-VALSET configuration from protocol 27, CFG-MSG and CFG-TMODE3 before it. More...

Namespaces
namespace	Cfg

namespace	Msg

namespace	MsgClass

namespace	Plan

Classes
struct	Ack
	ACK-ACK and ACK-NAK. More...

struct	Acknowledgement

struct	CfgKey
	A configuration key whose value is written and read as T. More...

struct	CfgMsg

struct	CfgMsgRates
	A CFG-MSG poll reply: the message's output rate on each I/O port. More...

struct	CfgNav5

struct	CfgPrt

struct	CfgRate

struct	CfgTmode3

struct	CheckedValsetBatch

struct	ConfigurationValue

class	ConfigurationValueCursor
	Reads only key/value entries; VALSET and VALGET validate their different headers separately. More...

struct	ConfigurationValues
	The values of one CFG-VALGET poll or response. More...

class	EpochAssembler

struct	Frame
	A received frame. Its views borrow the decoder's storage until the next consume(). More...

class	FrameDecoder

struct	Identity
	Receiver identity from MON-VER. More...

struct	MessageId

struct	MessageRates
	The CFG-MSG output rates of one message on each I/O port, as a poll returns them. More...

struct	MessageSchema

struct	MonHw
	MON-HW of u-blox 7 and later; protocol 27 deprecates it for MON-RF. More...

struct	MonRf
	MON-RF with its first RF block; F9P reports two blocks and X20 three. More...

struct	MonRfBlock

struct	MonVer

struct	MonVerExtension

struct	MsgOutKey
	A CFG-MSGOUT output rate key family, named by its I2C key. More...

struct	NavDop

struct	NavHpposllh

struct	NavPvt

struct	NavSat

struct	NavSatSatellite

struct	NavStatus

struct	NavSvin

struct	NavSvinfo

struct	NavSvinfoChannel

class	Protocol

class	ReceiverController
	Owns control-response correlation: decoding reports replies through accept(); only configuration opens requests. More...

struct	ReceiverProfile

struct	SecSig
	SEC-SIG header: v2 and v3 flags, or v1 jamFlags; the per-band groups that follow are not read. More...

Enumerations
enum class	MsgOutPort : uint32_t { UART1 = 1 , USB = 3 }
	A port's CFG-MSGOUT key is the family's I2C key id plus the port's offset. More...

enum class	Board : uint8_t { unknown = 0 , u_blox5 = 5 , u_blox6 = 6 , u_blox7 = 7 , u_blox8 = 8 , u_blox9 = 9 , u_blox9_F9P_L1L2 = 10 , u_blox10 = 11 , u_blox9_F9P_L1L5 = 12 , u_blox10_L1L5 = 13 , u_blox_X20 = 14 }

Functions
constexpr size_t	cfgKeyValueBytes (uint32_t keyId)
	Value size in bytes from bits 28-30 of a configuration key id, or 0 for a reserved size.

template<typename T , uint32_t Id>
consteval CfgKey< T >	cfgKey ()
	Builds every key below, so each one checks its value type against the size bits of its id.

constexpr unsigned	configurationValueBytes (uint32_t key)
	Value width in bytes of key; 0 for reserved sizes and for 8-byte values, which QGC never reads or writes.

std::optional< ConfigurationValues >	decodeConfigurationValues (std::span< const uint8_t > payload)
	Decodes a CFG-VALGET response (version 1, RAM layer) of at most ConfigurationValues::MAX_KEYS values.

QByteArray	messageName (MessageId message)
	The name of message, such as "UBX-CFG-VALSET", or its class and id in hex when it has none.

constexpr std::span< const uint8_t >	encodeFrame (MessageId message, std::span< const uint8_t > payload, std::span< uint8_t > out)
	Writes the frame of payload to the front of out.

double	coordinateDegrees (int32_t value, int64_t limitDegrees)

double	latitudeDegrees (int32_t value)

double	longitudeDegrees (int32_t value)

template<typename T >
constexpr MessageSchema	fixedSchema (int towOffset=-1)

template<typename Header , typename Block >
constexpr MessageSchema	repeatedSchema (MessageId message, size_t maximumBlocks)

constexpr const MessageSchema *	messageSchema (uint16_t message)

bool	validPayload (uint16_t message, std::span< const uint8_t > payload, const MessageSchema *schema)

constexpr ReceiverProfile	receiverProfile (Board board)

constexpr Board	boardFromHardwareVersion (std::string_view hardwareVersion)
	The generation whose MON-VER hwVersion is hardwareVersion; unknown when none matches.

Variables
const GPSReceiverFamily	FAMILY

constexpr std::pair< MessageId, std::string_view >	MESSAGE_NAMES []
	Readable names of the messages above, as the interface description writes them.

constexpr uint8_t	SYNC1 = 0xb5

constexpr uint8_t	SYNC2 = 0x62

constexpr size_t	HEADER_SIZE = 6

constexpr size_t	FRAME_OVERHEAD = HEADER_SIZE + 2
	Header and checksum.

constexpr size_t	MAX_PAYLOAD_SIZE = 4096
	The longest payload decoded.

constexpr size_t	MAX_SKIPPED_PAYLOAD_SIZE = 8192

template<Wire::Record T>
constexpr size_t	WIRE_SIZE = Wire::SIZE<T>

constexpr size_t	MAX_CONTROL_PAYLOAD_SIZE = 328

constexpr float	DOP_PER_UNIT = 0.01f

constexpr std::array	MESSAGE_SCHEMAS

constexpr std::array	RECEIVER_PROFILES

Detailed Description

u-blox receivers over UBX: CFG-VALSET configuration from protocol 27, CFG-MSG and CFG-TMODE3 before it.

UBX payload records with the fields QGC reads or writes. Records of decoded messages carry their message ID; bytes without a field are skipped on decode and zero on encode.

Enumeration Type Documentation

◆ Board

enum class UBX::Board : uint8_t

strong

Enumerator
unknown
u_blox5
u_blox6
u_blox7
u_blox8
u_blox9
u_blox9_F9P_L1L2
u_blox10
u_blox9_F9P_L1L5
u_blox10_L1L5
u_blox_X20

Definition at line 16 of file UBXPlan.h.

◆ MsgOutPort

enum class UBX::MsgOutPort : uint32_t

strong

A port's CFG-MSGOUT key is the family's I2C key id plus the port's offset.

Enumerator
UART1
USB

Definition at line 51 of file UBXConfigKeys.h.

Function Documentation

◆ boardFromHardwareVersion()

constexpr Board UBX::boardFromHardwareVersion ( std::string_view hardwareVersion )

constexpr

The generation whose MON-VER hwVersion is hardwareVersion; unknown when none matches.

Definition at line 93 of file UBXPlan.h.

References UBX::ReceiverProfile::board, RECEIVER_PROFILES, and unknown.

◆ cfgKey()

template<typename T , uint32_t Id>

consteval CfgKey< T > UBX::cfgKey ( )

Builds every key below, so each one checks its value type against the size bits of its id.

Definition at line 44 of file UBXConfigKeys.h.

References cfgKeyValueBytes().

◆ cfgKeyValueBytes()

constexpr size_t UBX::cfgKeyValueBytes ( uint32_t keyId )

constexpr

Value size in bytes from bits 28-30 of a configuration key id, or 0 for a reserved size.

Definition at line 16 of file UBXConfigKeys.h.

Referenced by cfgKey(), and configurationValueBytes().

◆ configurationValueBytes()

constexpr unsigned UBX::configurationValueBytes ( uint32_t key )

constexpr

Value width in bytes of key; 0 for reserved sizes and for 8-byte values, which QGC never reads or writes.

Definition at line 191 of file UBXConfigKeys.h.

References cfgKeyValueBytes().

Referenced by UBX::CheckedValsetBatch< Capacity >::append(), and UBX::ConfigurationValueCursor::next().

◆ coordinateDegrees()

double UBX::coordinateDegrees	(	int32_t	value,
		int64_t	limitDegrees
	)

inline

Converts a 1e-7 degree coordinate; values beyond +/-limitDegrees come from a corrupt or uninitialised solution and are reported as unavailable (NaN).

Definition at line 412 of file UBXMessageSchema.h.

References GPSProtocolMath::degreesFromE7().

Referenced by latitudeDegrees(), and longitudeDegrees().

◆ decodeConfigurationValues()

std::optional< ConfigurationValues > UBX::decodeConfigurationValues ( std::span< const uint8_t > payload )

inline

Decodes a CFG-VALGET response (version 1, RAM layer) of at most ConfigurationValues::MAX_KEYS values.

Definition at line 254 of file UBXConfigKeys.h.

References UBX::ConfigurationValues::count, UBX::ConfigurationValueCursor::empty(), UBX::ConfigurationValueCursor::next(), and UBX::ConfigurationValues::values.

◆ encodeFrame()

constexpr std::span< const uint8_t > UBX::encodeFrame	(	MessageId	message,
		std::span< const uint8_t >	payload,
		std::span< uint8_t >	out
	)

constexpr

Writes the frame of payload to the front of out.

Returns: the frame, or empty when it does not fit.

Definition at line 130 of file UBXFrame.h.

References UBX::MessageId::cls, QGC::fletcher8(), FRAME_OVERHEAD, HEADER_SIZE, UBX::MessageId::id, MAX_PAYLOAD_SIZE, SYNC1, and SYNC2.

◆ fixedSchema()

template<typename T >

constexpr MessageSchema UBX::fixedSchema ( int towOffset = -1 )

constexpr

Definition at line 440 of file UBXMessageSchema.h.

◆ latitudeDegrees()

double UBX::latitudeDegrees ( int32_t value )

inline

Definition at line 418 of file UBXMessageSchema.h.

References coordinateDegrees().

◆ longitudeDegrees()

double UBX::longitudeDegrees ( int32_t value )

inline

Definition at line 423 of file UBXMessageSchema.h.

References coordinateDegrees().

◆ messageName()

QByteArray UBX::messageName ( MessageId message )

inline

The name of message, such as "UBX-CFG-VALSET", or its class and id in hex when it has none.

Definition at line 104 of file UBXFrame.h.

References UBX::MessageId::cls, UBX::MessageId::id, MESSAGE_NAMES, and UBX::MessageId::value().

Referenced by UBX::Protocol::probe().

◆ messageSchema()

constexpr const MessageSchema * UBX::messageSchema ( uint16_t message )

constexpr

Definition at line 472 of file UBXMessageSchema.h.

References MESSAGE_SCHEMAS.

◆ receiverProfile()

constexpr ReceiverProfile UBX::receiverProfile ( Board board )

constexpr

Definition at line 82 of file UBXPlan.h.

References RECEIVER_PROFILES.

◆ repeatedSchema()

template<typename Header , typename Block >

constexpr MessageSchema UBX::repeatedSchema	(	MessageId	message,
		size_t	maximumBlocks
	)

constexpr

Definition at line 446 of file UBXMessageSchema.h.

References UBX::MessageId::value().

◆ validPayload()

bool UBX::validPayload	(	uint16_t	message,
		std::span< const uint8_t >	payload,
		const MessageSchema *	schema
	)

inline

Parameters

schema messageSchema(message), which callers also need.

Definition at line 483 of file UBXMessageSchema.h.

References UBX::MessageSchema::maximum, UBX::MessageSchema::minimum, UBX::Msg::MON_RF, UBX::Msg::NAV_SAT, UBX::Msg::NAV_SVINFO, UBX::Msg::SEC_SIG, UBX::MessageSchema::stride, and UBX::MessageId::value().

Variable Documentation

◆ DOP_PER_UNIT

constexpr float UBX::DOP_PER_UNIT = 0.01f

inlineconstexpr

Definition at line 408 of file UBXMessageSchema.h.

◆ FAMILY

const GPSReceiverFamily UBX::FAMILY

Initial value:

{
    .type = GPSType::ublox,
    .logCategory = &UBXProtocolLog,
    .stream = {.framers = GPSFrameKind::UBX | GPSFrameKind::RTCM3, .enabled = GPSFrameKind::UBX},
    .baudCandidates = Plan::BAUD_RATES,
    .create = &gpsCreateProtocol<Protocol>,
    .signature = &signature,
}

Definition at line 704 of file UBXConfigurator.cc.

◆ FRAME_OVERHEAD

constexpr size_t UBX::FRAME_OVERHEAD = HEADER_SIZE + 2

inlineconstexpr

Header and checksum.

Definition at line 122 of file UBXFrame.h.

Referenced by encodeFrame().

◆ HEADER_SIZE

constexpr size_t UBX::HEADER_SIZE = 6

inlineconstexpr

Definition at line 120 of file UBXFrame.h.

Referenced by UBX::FrameDecoder::consume(), and encodeFrame().

◆ MAX_CONTROL_PAYLOAD_SIZE

constexpr size_t UBX::MAX_CONTROL_PAYLOAD_SIZE = 328

inlineconstexpr

Definition at line 407 of file UBXMessageSchema.h.

◆ MAX_PAYLOAD_SIZE

constexpr size_t UBX::MAX_PAYLOAD_SIZE = 4096

inlineconstexpr

The longest payload decoded.

Definition at line 124 of file UBXFrame.h.

Referenced by UBX::FrameDecoder::consume(), and encodeFrame().

◆ MAX_SKIPPED_PAYLOAD_SIZE

constexpr size_t UBX::MAX_SKIPPED_PAYLOAD_SIZE = 8192

inlineconstexpr

A longer payload, up to this size, is read to its end and dropped, so the stream stays aligned on the next frame. It covers every documented message, the largest being RXM-RAWX at 8176 bytes; a longer claim is taken as noise.

Definition at line 127 of file UBXFrame.h.

Referenced by UBX::FrameDecoder::consume().

◆ MESSAGE_NAMES

constexpr std::pair<MessageId, std::string_view> UBX::MESSAGE_NAMES[]

inlineconstexpr

Initial value:

= {
    {Msg::NAV_STATUS, "UBX-NAV-STATUS"},     {Msg::NAV_DOP, "UBX-NAV-DOP"},         {Msg::NAV_PVT, "UBX-NAV-PVT"},
    {Msg::NAV_HPPOSLLH, "UBX-NAV-HPPOSLLH"}, {Msg::NAV_TIMEGPS, "UBX-NAV-TIMEGPS"}, {Msg::NAV_SVINFO, "UBX-NAV-SVINFO"},
    {Msg::NAV_SAT, "UBX-NAV-SAT"},           {Msg::NAV_SVIN, "UBX-NAV-SVIN"},       {Msg::NAV_EOE, "UBX-NAV-EOE"},
    {Msg::RXM_SFRBX, "UBX-RXM-SFRBX"},       {Msg::RXM_RAWX, "UBX-RXM-RAWX"},       {Msg::INF_ERROR, "UBX-INF-ERROR"},
    {Msg::INF_WARNING, "UBX-INF-WARNING"},   {Msg::INF_NOTICE, "UBX-INF-NOTICE"},   {Msg::INF_DEBUG, "UBX-INF-DEBUG"},
    {Msg::ACK_NAK, "UBX-ACK-NAK"},           {Msg::ACK_ACK, "UBX-ACK-ACK"},         {Msg::CFG_PRT, "UBX-CFG-PRT"},
    {Msg::CFG_MSG, "UBX-CFG-MSG"},           {Msg::CFG_RATE, "UBX-CFG-RATE"},       {Msg::CFG_NAV5, "UBX-CFG-NAV5"},
    {Msg::CFG_TMODE3, "UBX-CFG-TMODE3"},     {Msg::CFG_VALSET, "UBX-CFG-VALSET"},   {Msg::CFG_VALGET, "UBX-CFG-VALGET"},
    {Msg::MON_VER, "UBX-MON-VER"},           {Msg::MON_HW, "UBX-MON-HW"},           {Msg::MON_RF, "UBX-MON-RF"},
    {Msg::SEC_SIG, "UBX-SEC-SIG"},           {Msg::RTCM3_1005, "RTCM3-1005"},       {Msg::RTCM3_1074, "RTCM3-1074"},
    {Msg::RTCM3_1077, "RTCM3-1077"},         {Msg::RTCM3_1084, "RTCM3-1084"},       {Msg::RTCM3_1087, "RTCM3-1087"},
    {Msg::RTCM3_1094, "RTCM3-1094"},         {Msg::RTCM3_1097, "RTCM3-1097"},       {Msg::RTCM3_1124, "RTCM3-1124"},
    {Msg::RTCM3_1127, "RTCM3-1127"},         {Msg::RTCM3_1230, "RTCM3-1230"},
}

Readable names of the messages above, as the interface description writes them.

Definition at line 87 of file UBXFrame.h.

Referenced by messageName().

◆ MESSAGE_SCHEMAS

constexpr std::array UBX::MESSAGE_SCHEMAS

inlineconstexpr

Initial value:

= {
    MessageSchema{Msg::NAV_PVT.value(), 84, WIRE_SIZE<NavPvt>, 8, 0},
    fixedSchema<NavHpposllh>(4),
    fixedSchema<NavStatus>(),
    fixedSchema<NavDop>(0),
    fixedSchema<NavSvin>(),
    MessageSchema{Msg::NAV_EOE.value(), 4, 4, 1, 0},
    repeatedSchema<NavSat, NavSatSatellite>(Msg::NAV_SAT, 255),
    repeatedSchema<NavSvinfo, NavSvinfoChannel>(Msg::NAV_SVINFO, 255),
    MessageSchema{Msg::MON_VER.value(), WIRE_SIZE<MonVer>, 4090, WIRE_SIZE<MonVerExtension>, -1},
    fixedSchema<MonHw>(),
    repeatedSchema<MonRf, MonRfBlock>(Msg::MON_RF, 254),
    MessageSchema{Msg::SEC_SIG.value(), 4, 4096, 1, -1},
    fixedSchema<Ack>(),
    MessageSchema{Msg::ACK_NAK.value(), WIRE_SIZE<Ack>, WIRE_SIZE<Ack>, 1, -1},
    MessageSchema{Msg::CFG_VALGET.value(), 4, MAX_CONTROL_PAYLOAD_SIZE, 1, -1},
    fixedSchema<CfgMsgRates>(),
    MessageSchema{Msg::CFG_TMODE3.value(), WIRE_SIZE<CfgTmode3>, WIRE_SIZE<CfgTmode3>, 1, -1},
}

Definition at line 452 of file UBXMessageSchema.h.

Referenced by messageSchema().

◆ RECEIVER_PROFILES

constexpr std::array UBX::RECEIVER_PROFILES

inlineconstexpr

Initial value:

= {
    ReceiverProfile{},
    
    ReceiverProfile{.board = Board::u_blox5, .hardwareVersion = "00040005", .baseCapabilityKnown = true},
    ReceiverProfile{.board = Board::u_blox6, .hardwareVersion = "00040007", .baseCapabilityKnown = true},
    ReceiverProfile{.board = Board::u_blox7, .hardwareVersion = "00070000", .baseCapabilityKnown = true},
    ReceiverProfile{.board = Board::u_blox8, .hardwareVersion = "00080000"},
    ReceiverProfile{
        .board = Board::u_blox9, .hardwareVersion = "00190000", .baseCapabilityKnown = true, .protocol27 = true},
    ReceiverProfile{.board = Board::u_blox9_F9P_L1L2,
                    .rtcmOutput = true,
                    .baseCapabilityKnown = true,
                    .measurementPeriodMs = 200,
                    .protocol27 = true},
    ReceiverProfile{
        .board = Board::u_blox10, .hardwareVersion = "000A0000", .baseCapabilityKnown = true, .protocol27 = true},
    ReceiverProfile{.board = Board::u_blox9_F9P_L1L5,
                    .rtcmOutput = true,
                    .baseCapabilityKnown = true,
                    .l5HealthOverride = true,
                    .measurementPeriodMs = 200,
                    .protocol27 = true},
    ReceiverProfile{.board = Board::u_blox10_L1L5, .baseCapabilityKnown = true, .protocol27 = true},
    ReceiverProfile{.board = Board::u_blox_X20,
                    .hardwareVersion = "000B0000",
                    .rtcmOutput = true,
                    .baseCapabilityKnown = true,
                    .l5HealthOverride = true,
                    .protocol27 = true},
}

Definition at line 51 of file UBXPlan.h.

Referenced by boardFromHardwareVersion(), and receiverProfile().

◆ SYNC1

constexpr uint8_t UBX::SYNC1 = 0xb5

inlineconstexpr

Definition at line 118 of file UBXFrame.h.

Referenced by UBX::FrameDecoder::consume(), and encodeFrame().

◆ SYNC2

constexpr uint8_t UBX::SYNC2 = 0x62

inlineconstexpr

Definition at line 119 of file UBXFrame.h.

Referenced by UBX::FrameDecoder::consume(), and encodeFrame().

◆ WIRE_SIZE

template<Wire::Record T>

constexpr size_t UBX::WIRE_SIZE = Wire::SIZE<T>

inlineconstexpr

Definition at line 405 of file UBXMessageSchema.h.

Namespaces

Classes

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ Board

◆ MsgOutPort

Function Documentation

◆ boardFromHardwareVersion()

◆ cfgKey()

◆ cfgKeyValueBytes()

◆ configurationValueBytes()

◆ coordinateDegrees()

◆ decodeConfigurationValues()

◆ encodeFrame()

◆ fixedSchema()

◆ latitudeDegrees()

◆ longitudeDegrees()

◆ messageName()

◆ messageSchema()

◆ receiverProfile()

◆ repeatedSchema()

◆ validPayload()

Variable Documentation

◆ DOP_PER_UNIT

◆ FAMILY

◆ FRAME_OVERHEAD

◆ HEADER_SIZE

◆ MAX_CONTROL_PAYLOAD_SIZE

◆ MAX_PAYLOAD_SIZE

◆ MAX_SKIPPED_PAYLOAD_SIZE

◆ MESSAGE_NAMES

◆ MESSAGE_SCHEMAS

◆ RECEIVER_PROFILES

◆ SYNC1

◆ SYNC2

◆ WIRE_SIZE