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ubx_interface.py
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from enum import Enum
SYNC1 = 0xB5 # int(181)
SYNC2 = 0x62 # int(98)
CLASS = {
"NAV": 0x01,
"RXM": 0x02,
"INF": 0x04,
"ACK": 0x05,
"CFG": 0x06,
"UPD": 0x09,
"MON": 0x0A,
"AID": 0x0B,
"TIM": 0x0D,
"USR": 0x40,
}
CLIDPAIR = {
# ACK
"ACK-ACK": (0x05, 0x01),
"ACK-NACK": (0x05, 0x00),
# AID: not reviewed
"AID-ALM": (0x0B, 0x30),
"AID-DATA": (0x0B, 0x10),
"AID-EPH": (0x0B, 0x31),
"AID-HUI": (0x0B, 0x02),
"AID-INI": (0x0B, 0x01),
"AID-REQ": (0x0B, 0x00),
# CFG
"CFG-ANT": (0x06, 0x13),
"CFG-CFG": (0x06, 0x09),
"CFG-DAT": (0x06, 0x06),
"CFG-DGNSS": (0x06, 0x70),
"CFG-GEOFENCE": (0x06, 0x69),
"CFG-GNSS": (0x06, 0x3E),
"CFG-INF": (0x06, 0x02),
"CFG-ITFM": (0x06, 0x39),
"CFG-LOGFILTER": (0x06, 0x47),
"CFG-MSG": (0x06, 0x01),
"CFG-NAV5": (0x06, 0x24),
"CFG-NAVX5": (0x06, 0x23),
"CFG-NMEA": (0x06, 0x17),
"CFG-ODO": (0x06, 0x1E),
"CFG-PRT": (0x06, 0x00),
"CFG-PWR": (0x06, 0x57),
"CFG-RATE": (0x06, 0x08),
"CFG-RINV": (0x06, 0x34),
"CFG-RST": (0x06, 0x04),
"CFG-SBAS": (0x06, 0x16),
"CFG-TMODE3": (0x06, 0x71),
"CFG-TP5": (0x06, 0x31),
"CFG-USB": (0x06, 0x1B),
"CFG-VALDEL": (0x06, 0x8C),
"CFG-VALGET": (0x06, 0x8B),
"CFG-VALSET": (0x06, 0x8A),
# CFG: not reviewed
"CFG-TMODE": (0x06, 0x1D),
"CFG-TP": (0x06, 0x07),
"CFG-EKF": (0x06, 0x12),
"CFG-FXN": (0x06, 0x0E),
"CFG-LIC": (0x06, 0x80),
"CFG-NAV2": (0x06, 0x1A),
"CFG-RXM": (0x06, 0x11),
"CFG-TM": (0x06, 0x10),
"CFG-TM2": (0x06, 0x19),
# INF: not reviewed
"INF-DEBUG": (0x04, 0x04),
"INF-ERROR": (0x04, 0x00),
"INF-NOTICE": (0x04, 0x02),
"INF-TEST": (0x04, 0x03),
"INF-USER": (0x04, 0x07),
"INF-WARNING": (0x04, 0x01),
# MON
"MON-COMMS": (0x0A, 0x36),
"MON-GNSS": (0x0A, 0x28),
"MON-HW": (0x0A, 0x09),
"MON-HW2": (0x0A, 0x0B),
"MON-HW3": (0x0A, 0x37),
"MON-IO": (0x0A, 0x02),
"MON-MSGPP": (0x0A, 0x06),
"MON-PATCH": (0x0A, 0x27),
"MON-RF": (0x0A, 0x38),
"MON-RXBUF": (0x0A, 0x07),
"MON-RXR": (0x0A, 0x21),
"MON-SPAN": (0x0A, 0x31),
"MON-SYS": (0x0A, 0x39),
"MON-TXBUF": (0x0A, 0x08),
"MON-VER": (0x0A, 0x04),
# MON: not reviewed
"MON-EXCEPT": (0x0A, 0x05),
"MON-IPC": (0x0A, 0x03),
"MON-SCHD": (0x0A, 0x01),
"MON-USB": (0x0A, 0x0A),
# NAV
"NAV-CLOCK": (0x01, 0x22),
"NAV-COV": (0x01, 0x36),
"NAV-DOP": (0x01, 0x04),
"NAV-EOE": (0x01, 0x61),
"NAV-GEOFENCE": (0x01, 0x39),
"NAV-HPPOSECEF": (0x01, 0x13),
"NAV-HPPOSLLH": (0x01, 0x14),
"NAV-ODO": (0x01, 0x09),
"NAV-ORB": (0x01, 0x34),
"NAV-PL": (0x01, 0x62),
"NAV-POSECEF": (0x01, 0x01),
"NAV-POSLLH": (0x01, 0x02),
"NAV-PVT": (0x01, 0x07),
"NAV-RELPOSNED": (0x01, 0x3C),
"NAV-RESETODO": (0x01, 0x10),
"NAV-SAT": (0x01, 0x35),
"NAV-SBAS": (0x01, 0x32),
"NAV-SIG": (0x01, 0x43),
"NAV-SLAS": (0x01, 0x42),
"NAV-STATUS": (0x01, 0x03),
"NAV-SVIN": (0x01, 0x3B),
"NAV-TIMEBDS": (0x01, 0x24),
"NAV-TIMEGAL": (0x01, 0x25),
"NAV-TIMEGLO": (0x01, 0x23),
"NAV-TIMEGPS": (0x01, 0x20),
"NAV-TIMELS": (0x01, 0x26),
"NAV-TIMEQZSS": (0x01, 0x27),
"NAV-TIMEUTC": (0x01, 0x21),
"NAV-VELECEF": (0x01, 0x11),
"NAV-VELNED": (0x01, 0x12),
# NAV: not reviewed
"NAV-DGPS": (0x01, 0x31),
"NAV-EKFSTATUS": (0x01, 0x40),
"NAV-POSUTM": (0x01, 0x08),
"NAV-SOL": (0x01, 0x06),
"NAV-SVINFO": (0x01, 0x30),
# NAV2
"NAV2-CLOCK": (0x29, 0x22),
"NAV2-COV": (0x29, 0x36),
"NAV2-DOP": (0x29, 0x04),
"NAV2-EOE": (0x29, 0x61),
"NAV2-ODO": (0x29, 0x09),
"NAV2-POSECEF": (0x29, 0x01),
"NAV2-POSLLH": (0x29, 0x02),
"NAV2-PVT": (0x29, 0x07),
"NAV2-SAT": (0x29, 0x35),
"NAV2-SBAS": (0x29, 0x32),
"NAV2-SIG": (0x29, 0x43),
"NAV2-SLAS": (0x29, 0x42),
"NAV2-STATUS": (0x29, 0x03),
"NAV2-SVIN": (0x29, 0x3B),
"NAV2-TIMEBDS": (0x29, 0x24),
"NAV2-TIMEGAL": (0x29, 0x25),
"NAV2-TIMEGLO": (0x29, 0x23),
"NAV2-TIMEGPS": (0x29, 0x20),
"NAV2-TIMELS": (0x29, 0x26),
"NAV2-TIMEQZSS": (0x29, 0x27),
"NAV2-TIMEUTC": (0x29, 0x21),
"NAV2-VELECEF": (0x29, 0x11),
"NAV2-VELNED": (0x29, 0x12),
# RX2M
"RXM-COR": (0x02, 0x34),
"RXM-MEASX": (0x02, 0x14),
"RXM-PMP": (0x02, 0x72),
"RXM-PMREQ": (0x02, 0x41),
"RXM-QZSSL6": (0x02, 0x73),
"RXM-RAWX": (0x02, 0x15),
"RXM-RLM": (0x02, 0x59),
"RXM-RTCM": (0x02, 0x32),
"RXM-SFRBX": (0x02, 0x13),
"RXM-SPARTN": (0x02, 0x33),
"RXM-SPARTNKEY": (0x02, 0x36),
# RX2M: not reviewed
"RXM-ALM": (0x02, 0x30),
"RXM-EPH": (0x02, 0x31),
"RXM-POSREQ": (0x02, 0x40),
"RXM-RAW": (0x02, 0x10),
"RXM-SFRB": (0x02, 0x11),
"RXM-SVSI": (0x02, 0x20),
# TIM
"TIM-TM2": (0x0D, 0x03),
"TIM-TP": (0x0D, 0x01),
"TIM-VRFY": (0x0D, 0x06),
# TIM: not reviewed
"TIM-SVIN": (0x0D, 0x04),
"TIM-TM": (0x0D, 0x02),
"UPD-DOWNL": (0x09, 0x01),
"UPD-EXEC": (0x09, 0x03),
"UPD-MEMCPY": (0x09, 0x04),
"UPD-UPLOAD": (0x09, 0x02),
}
CLIDPAIR_INV = dict([[v, k] for k, v in CLIDPAIR.items()])
MSGATTR = {
"NAV-PVT": [
"iTOW",
"year",
"month",
"day",
"hour",
"min",
"second",
"validDate",
"validMag",
"validTime",
"fullyResolved",
"tAcc",
"nano",
"fixType",
"gnssFixOk",
"diffSoln",
"psmState",
"headVehValid",
"carrSoln",
"numSV",
"lon",
"lat",
"height",
"hMSL",
"hAcc",
"vAcc",
"velN",
"velE",
"velD",
"gSpeed",
"headMot",
"sAcc",
"headAcc",
"pDOP",
"headVeh",
"magDec",
"magAcc",
],
"NAV-DOP": ["iTOW", "gDOP", "pDOP", "tDOP", "vDOP", "hDOP", "nDOP", "eDOP"],
"MON-RF": [
"version",
"nBlocks",
"reserved0",
{
"rgroup": (
"nBlocks",
[
"blockId",
"jammingState",
"antStatus",
"antPower",
"postStatus",
"reserved1",
"noisePerMS",
"agcCnt",
"jamInd",
"ofsI",
"magI",
"ofsQ",
"magQ",
"reserved2",
],
)
},
],
"MON-SYS": [
"msgVer",
"bootType",
"cpuLoad",
"cpuLoadMax",
"memUsage",
"memUsageMax",
"ioUsage",
"ioUsageMax",
"runTime",
"noticeCount",
"warnCount",
"errorCount",
"tempValue",
"reserved0",
],
"MON-HW2": [
"ofsI",
"magI",
"ofsQ",
"magQ",
"cfgSource",
"reserved0",
"lowLevCfg",
"reserved1",
"postStatus",
"reserved2"
]
}
MSGFMT = {
"NAV-PVT": "<LHBBBBBBLlBBBBllllLLlllllLLHHHHlhH",
"NAV-DOP": "<IHHHHHHH",
"MON-RF": "<BBBB",
}
UBX_TO_PY_DTYPE = {
# 8-bit (1 byte)
"U1": "B",
"I1": "b",
"X1": "B",
# 16-bit (2 bytes)
"U2": "H",
"I2": "",
"X2": "",
# 32-bit (4 bytes)
"U4": "I",
"I4": "i",
"X4": "",
# 32-bit (4 bytes)
"R4": "",
# 64-bit (8 bytes)
"R8": "",
"CH": None,
}
class UbxParserState(Enum):
"""ublox Protocol Parser State"""
IDLE = 1
SYNC = 2
READING = 3