Paul
+116
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|
||||
/*
|
||||
By: Nathan Seidle
|
||||
SparkFun Electronics
|
||||
Date: August, 2021
|
||||
License: MIT. See license file for more information but you can
|
||||
basically do whatever you want with this code.
|
||||
|
||||
This example configures the AutoAlignment option for the IMU.
|
||||
The ZED-F9R Integration guide recommends enabling Auto Alignment once
|
||||
the device has been attached to the vehicle's frame.
|
||||
Enabling auto-alignment will cause the the sensor fusion status
|
||||
to begin initialization. After driving around a few turns, the sensors
|
||||
should enter 'Calibrated' state. See example 1 for fusion state or
|
||||
monitor UBX-ESF-STATUS.
|
||||
|
||||
As of writing the ZED-F9R is using HPS v1.2 firmware. Please update using u-center if necessary.
|
||||
|
||||
Feel like supporting open source hardware?
|
||||
Buy a board from SparkFun!
|
||||
ZED-F9R: https://www.sparkfun.com/products/16344
|
||||
ZED-F9R pHat: https://www.sparkfun.com/products/16475
|
||||
NEO-M8U: https://www.sparkfun.com/products/16329
|
||||
|
||||
Hardware Connections:
|
||||
Plug a Qwiic cable into the GPS and a Redboard Qwiic
|
||||
If you don't have a platform with a Qwiic connection use the
|
||||
SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/17912)
|
||||
Open the serial monitor at 115200 baud to see the output
|
||||
|
||||
*/
|
||||
|
||||
#include <Wire.h> //Needed for I2C to GPS
|
||||
|
||||
#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
|
||||
SFE_UBLOX_GNSS myGNSS;
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
while (!Serial); //Wait for user to open terminal
|
||||
Serial.println(F("SparkFun u-blox Example"));
|
||||
|
||||
Wire.begin();
|
||||
|
||||
//myGNSS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
|
||||
|
||||
if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
|
||||
{
|
||||
Serial.println(F("Warning! u-blox GPS did not begin correctly."));
|
||||
Serial.println(F("(This may be because the I2C port is busy with HNR messages.)"));
|
||||
}
|
||||
|
||||
bool esfAutoAlignment = myGNSS.getESFAutoAlignment();
|
||||
Serial.print(F("esfAutoAlignment: "));
|
||||
if (esfAutoAlignment == true)
|
||||
Serial.println(F("True"));
|
||||
else
|
||||
Serial.println(F("False"));
|
||||
|
||||
myGNSS.setESFAutoAlignment(true); //Enable UBX-CFG-ESFALG Automatic IMU-mount Alignment
|
||||
|
||||
myGNSS.setAutoHNRATT(false); //Make sure auto HNR attitude messages are disabled
|
||||
myGNSS.setAutoHNRINS(false); //Make sure auto HNR vehicle dynamics messages are disabled
|
||||
myGNSS.setAutoHNRPVT(false); //Make sure auto HNR PVT messages are disabled
|
||||
|
||||
myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
|
||||
myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
// ESF data is produced at the navigation rate, so by default we'll get fresh data once per second
|
||||
if (myGNSS.getEsfInfo()) // Poll new ESF STATUS data
|
||||
{
|
||||
Serial.print(F("Fusion Mode: "));
|
||||
Serial.print(myGNSS.packetUBXESFSTATUS->data.fusionMode);
|
||||
if (myGNSS.packetUBXESFSTATUS->data.fusionMode == 0)
|
||||
Serial.println(F(" Sensor is initializing..."));
|
||||
else if (myGNSS.packetUBXESFSTATUS->data.fusionMode == 1)
|
||||
Serial.println(F(" Sensor is calibrated!"));
|
||||
else if (myGNSS.packetUBXESFSTATUS->data.fusionMode == 2)
|
||||
Serial.println(F(" Sensor fusion is suspended!"));
|
||||
else if (myGNSS.packetUBXESFSTATUS->data.fusionMode == 3)
|
||||
Serial.println(F(" Sensor fusion is disabled!"));
|
||||
}
|
||||
|
||||
// Poll and print selected HNR data
|
||||
if (myGNSS.getHNRAtt(125) == true) // Request HNR Att data using a 125ms timeout
|
||||
{
|
||||
Serial.print(F("Roll: "));
|
||||
Serial.print(myGNSS.getHNRroll(), 2); // Use the helper function to get the roll in degrees
|
||||
Serial.print(F(" Pitch: "));
|
||||
Serial.print(myGNSS.getHNRpitch(), 2); // Use the helper function to get the pitch in degrees
|
||||
Serial.print(F(" Heading: "));
|
||||
Serial.println(myGNSS.getHNRheading(), 2); // Use the helper function to get the heading in degrees
|
||||
}
|
||||
if (myGNSS.getHNRDyn(125) == true) // Request HNR Dyn data using a 125ms timeout
|
||||
{
|
||||
Serial.print(F("xAccel: "));
|
||||
Serial.print(myGNSS.packetUBXHNRINS->data.xAccel);
|
||||
Serial.print(F(" yAccel: "));
|
||||
Serial.print(myGNSS.packetUBXHNRINS->data.yAccel);
|
||||
Serial.print(F(" zAccel: "));
|
||||
Serial.println(myGNSS.packetUBXHNRINS->data.zAccel);
|
||||
}
|
||||
if (myGNSS.getHNRPVT(125) == true) // Request HNR PVT data using a 125ms timeout
|
||||
{
|
||||
Serial.print(F("ns: "));
|
||||
Serial.print(myGNSS.packetUBXHNRPVT->data.nano);
|
||||
Serial.print(F(" Lat: "));
|
||||
Serial.print(myGNSS.packetUBXHNRPVT->data.lat);
|
||||
Serial.print(F(" Lon: "));
|
||||
Serial.println(myGNSS.packetUBXHNRPVT->data.lon);
|
||||
}
|
||||
|
||||
}
|
||||
@@ -23,7 +23,7 @@
|
||||
|
||||
#include <Wire.h> //Needed for I2C to GNSS
|
||||
|
||||
#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //Click here to get the library: http://librarymanager/All#SparkFun_Ublox_GPS
|
||||
#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //Click here to get the library: http://librarymanager/All#SparkFun_u-blox_GNSS
|
||||
SFE_UBLOX_GNSS myGNSS;
|
||||
|
||||
void setup()
|
||||
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||||
@@ -0,0 +1,646 @@
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0x10050007
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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0x209100d0
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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0x20a20005
|
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|
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|
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|
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|
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|
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0x30050001
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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0x20110021
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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0x20910027
|
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|
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|
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|
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|
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|
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0x2091002d
|
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0x20910038
|
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0x20910039
|
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|
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|
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|
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|
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|
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|
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0x20910040
|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
0x20910049
|
||||
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|
||||
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|
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|
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|
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|
||||
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|
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0x20910050
|
||||
0x20910051
|
||||
0x20910052
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
0x20910057
|
||||
0x20910058
|
||||
0x20910059
|
||||
0x2091005a
|
||||
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|
||||
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|
||||
0x2091005d
|
||||
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|
||||
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|
||||
0x20910060
|
||||
0x20910061
|
||||
0x20910062
|
||||
0x20910063
|
||||
0x20910064
|
||||
0x20910065
|
||||
0x20910066
|
||||
0x20910067
|
||||
0x20910068
|
||||
0x20910069
|
||||
0x2091006a
|
||||
0x2091006b
|
||||
0x2091006c
|
||||
0x2091006d
|
||||
0x2091006e
|
||||
0x2091007e
|
||||
0x2091007f
|
||||
0x20910080
|
||||
0x20910081
|
||||
0x20910082
|
||||
0x20910083
|
||||
0x20910084
|
||||
0x20910085
|
||||
0x20910086
|
||||
0x20910087
|
||||
0x20910092
|
||||
0x20910093
|
||||
0x20910094
|
||||
0x20910095
|
||||
0x20910096
|
||||
0x20910097
|
||||
0x20910098
|
||||
0x20910099
|
||||
0x2091009a
|
||||
0x2091009b
|
||||
0x209100a1
|
||||
0x209100a2
|
||||
0x209100a3
|
||||
0x209100a4
|
||||
0x209100a5
|
||||
0x209100a6
|
||||
0x209100a7
|
||||
0x209100a8
|
||||
0x209100a9
|
||||
0x209100aa
|
||||
0x209100ab
|
||||
0x209100ac
|
||||
0x209100ad
|
||||
0x209100ae
|
||||
0x209100af
|
||||
0x209100b0
|
||||
0x209100b1
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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0x20910485
|
||||
0x20910486
|
||||
0x20910487
|
||||
0x20910488
|
||||
0x20910489
|
||||
0x20910490
|
||||
0x20910491
|
||||
0x20910492
|
||||
0x20910493
|
||||
0x20910494
|
||||
0x20910495
|
||||
0x20910496
|
||||
0x20910497
|
||||
0x20910498
|
||||
0x20910499
|
||||
0x20910500
|
||||
0x20910501
|
||||
0x20910502
|
||||
0x20910503
|
||||
0x20910504
|
||||
0x20910505
|
||||
0x20910506
|
||||
0x20910507
|
||||
0x20910508
|
||||
0x20910509
|
||||
0x20910515
|
||||
0x20910516
|
||||
0x20910517
|
||||
0x20910518
|
||||
0x20910519
|
||||
0x20910525
|
||||
0x20910526
|
||||
0x20910527
|
||||
0x20910528
|
||||
0x20910529
|
||||
0x20910530
|
||||
0x20910531
|
||||
0x20910532
|
||||
0x20910533
|
||||
0x20910534
|
||||
0x20910535
|
||||
0x20910536
|
||||
0x20910537
|
||||
0x20910538
|
||||
0x20910539
|
||||
0x20910540
|
||||
0x20910541
|
||||
0x20910542
|
||||
0x20910543
|
||||
0x20910544
|
||||
0x20910545
|
||||
0x20910546
|
||||
0x20910547
|
||||
0x20910548
|
||||
0x20910549
|
||||
0x20910550
|
||||
0x20910551
|
||||
0x20910552
|
||||
0x20910553
|
||||
0x20910554
|
||||
0x20910555
|
||||
0x20910556
|
||||
0x20910557
|
||||
0x20910558
|
||||
0x20910559
|
||||
0x20910560
|
||||
0x20910561
|
||||
0x20910562
|
||||
0x20910563
|
||||
0x20910564
|
||||
0x20910565
|
||||
0x20910566
|
||||
0x20910567
|
||||
0x20910568
|
||||
0x20910569
|
||||
0x20910590
|
||||
0x20910591
|
||||
0x20910592
|
||||
0x20910593
|
||||
0x20910594
|
||||
0x20910610
|
||||
0x20910611
|
||||
0x20910612
|
||||
0x20910613
|
||||
0x20910614
|
||||
0x20910634
|
||||
0x20910635
|
||||
0x20910636
|
||||
0x20910637
|
||||
0x20910638
|
||||
0x20910652
|
||||
0x20910653
|
||||
0x20910654
|
||||
0x20910655
|
||||
0x20910656
|
||||
0x20910657
|
||||
0x20910658
|
||||
0x20910659
|
||||
0x2091065a
|
||||
0x2091065b
|
||||
0x2091065c
|
||||
0x2091065d
|
||||
0x2091065e
|
||||
0x2091065f
|
||||
0x20910660
|
||||
0x20910661
|
||||
0x20910662
|
||||
0x20910663
|
||||
0x20910664
|
||||
0x20910665
|
||||
0x20910666
|
||||
0x20910667
|
||||
0x20910668
|
||||
0x20910669
|
||||
0x2091066a
|
||||
0x20910670
|
||||
0x20910671
|
||||
0x20910672
|
||||
0x20910673
|
||||
0x20910674
|
||||
0x2091067f
|
||||
0x20910680
|
||||
0x20910681
|
||||
0x20910682
|
||||
0x20910683
|
||||
0x20910689
|
||||
0x2091068a
|
||||
0x2091068b
|
||||
0x2091068c
|
||||
0x2091068d
|
||||
0x20920001
|
||||
0x20920002
|
||||
0x20920003
|
||||
0x20920004
|
||||
0x20920005
|
||||
0x20920006
|
||||
0x20920007
|
||||
0x20920008
|
||||
0x20920009
|
||||
0x2092000a
|
||||
0x20930001
|
||||
0x20930002
|
||||
0x20930007
|
||||
0x20930031
|
||||
0x20930032
|
||||
0x20a20003
|
||||
0x20a20005
|
||||
0x20a30036
|
||||
0x20a30037
|
||||
0x20a30038
|
||||
0x20a30054
|
||||
0x20a30055
|
||||
0x20a30056
|
||||
0x20c70003
|
||||
0x30050001
|
||||
0x30060007
|
||||
0x3006000a
|
||||
0x3006000b
|
||||
0x30060017
|
||||
0x30060018
|
||||
0x3006002e
|
||||
0x3006002f
|
||||
0x3007000a
|
||||
0x3007000e
|
||||
0x30090001
|
||||
0x30090008
|
||||
0x30110017
|
||||
0x301100b1
|
||||
0x301100b2
|
||||
0x301100b3
|
||||
0x301100b4
|
||||
0x301100b5
|
||||
0x30210001
|
||||
0x30210002
|
||||
0x3025003b
|
||||
0x3065000a
|
||||
0x3065000b
|
||||
0x3065000c
|
||||
0x30930033
|
||||
0x30a20004
|
||||
0x30de0005
|
||||
0x30de0006
|
||||
0x30de0007
|
||||
0x30f6000a
|
||||
0x30f6000b
|
||||
0x40030003
|
||||
0x40030004
|
||||
0x40030005
|
||||
0x40030009
|
||||
0x4003000a
|
||||
0x4003000b
|
||||
0x4003000f
|
||||
0x40030010
|
||||
0x40030011
|
||||
0x40050002
|
||||
0x40050003
|
||||
0x40050004
|
||||
0x40050005
|
||||
0x40050006
|
||||
0x4005000d
|
||||
0x4005000e
|
||||
0x4005000f
|
||||
0x40050010
|
||||
0x40050011
|
||||
0x40050024
|
||||
0x40050025
|
||||
0x40050026
|
||||
0x40050027
|
||||
0x4006002d
|
||||
0x40070007
|
||||
0x40070008
|
||||
0x40070009
|
||||
0x40110064
|
||||
0x40110065
|
||||
0x40110066
|
||||
0x40110067
|
||||
0x40110068
|
||||
0x40110069
|
||||
0x4011006a
|
||||
0x401100c1
|
||||
0x401100c2
|
||||
0x40240021
|
||||
0x40240022
|
||||
0x40240023
|
||||
0x40240031
|
||||
0x40240032
|
||||
0x40240033
|
||||
0x40240041
|
||||
0x40240042
|
||||
0x40240043
|
||||
0x40240051
|
||||
0x40240052
|
||||
0x40240053
|
||||
0x40520001
|
||||
0x40530001
|
||||
0x40de0008
|
||||
0x5005002a
|
||||
0x5005002b
|
||||
0x5005002c
|
||||
0x5005002d
|
||||
0x50110062
|
||||
0x50110063
|
||||
0x50360006
|
||||
0x5065000d
|
||||
0x5065000e
|
||||
0x5065000f
|
||||
0x50650010
|
||||
0x50650011
|
||||
0x50650012
|
||||
0x50650013
|
||||
0x50650014
|
||||
0x50650015
|
||||
0x50650016
|
||||
0x50650017
|
||||
0x50650018
|
||||
0x50c70004
|
||||
0x50c70005
|
||||
0x50c70006
|
||||
0x50c70007
|
||||
@@ -365,6 +365,9 @@ initPacketUBXESFRAW KEYWORD2
|
||||
flushESFRAW KEYWORD2
|
||||
logESFRAW KEYWORD2
|
||||
|
||||
getESFAutoAlignment KEYWORD2
|
||||
setESFAutoAlignment KEYWORD2
|
||||
|
||||
getHNRAtt KEYWORD2
|
||||
getHNRATT KEYWORD2
|
||||
setAutoHNRATT KEYWORD2
|
||||
|
||||
+1
-1
@@ -1,5 +1,5 @@
|
||||
name=SparkFun u-blox GNSS Arduino Library
|
||||
version=2.0.12
|
||||
version=2.0.13
|
||||
author=SparkFun Electronics <techsupport@sparkfun.com>
|
||||
maintainer=SparkFun Electronics <sparkfun.com>
|
||||
sentence=Library for I2C and Serial Communication with u-blox GNSS modules<br/><br/>
|
||||
|
||||
@@ -5074,6 +5074,72 @@ boolean SFE_UBLOX_GNSS::resetIMUalignment(uint16_t maxWait)
|
||||
return (sendCommand(&packetCfg, maxWait, true) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
|
||||
}
|
||||
|
||||
//UBX-CFG-ESFALG is not documented. This was found using u-center.
|
||||
//Returns the state of the UBX-CFG-ESFALG 'Automatic IMU-mount Alignment' flag
|
||||
bool SFE_UBLOX_GNSS::getESFAutoAlignment(uint16_t maxWait)
|
||||
{
|
||||
packetCfg.cls = UBX_CLASS_CFG;
|
||||
packetCfg.id = UBX_CFG_ESFALG;
|
||||
packetCfg.len = 0;
|
||||
packetCfg.startingSpot = 0;
|
||||
|
||||
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
|
||||
{
|
||||
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
|
||||
if (_printDebug == true)
|
||||
{
|
||||
_debugSerial->println(F("getESFAutoAlignment failed"));
|
||||
}
|
||||
#endif
|
||||
|
||||
return (false); //If command send fails then bail
|
||||
}
|
||||
|
||||
return (payloadCfg[1] & 0b1); //Return Bit 0
|
||||
}
|
||||
|
||||
//Set the state of the UBX-CFG-ESFALG 'Automatic IMU-mount Alignment' flag
|
||||
bool SFE_UBLOX_GNSS::setESFAutoAlignment(bool enable, uint16_t maxWait)
|
||||
{
|
||||
packetCfg.cls = UBX_CLASS_CFG;
|
||||
packetCfg.id = UBX_CFG_ESFALG;
|
||||
packetCfg.len = 0;
|
||||
packetCfg.startingSpot = 0;
|
||||
|
||||
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
|
||||
{
|
||||
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
|
||||
if (_printDebug == true)
|
||||
{
|
||||
_debugSerial->println(F("getESFAutoAlignment failed"));
|
||||
}
|
||||
#endif
|
||||
|
||||
return (false); //If command send fails then bail
|
||||
}
|
||||
|
||||
//payloadCfg is now filled
|
||||
|
||||
if (enable)
|
||||
payloadCfg[1] |= 0b1;
|
||||
else
|
||||
payloadCfg[1] &= ~(0b1);
|
||||
|
||||
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_SENT) // This time we are only expecting an ACK
|
||||
{
|
||||
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
|
||||
if (_printDebug == true)
|
||||
{
|
||||
_debugSerial->println(F("setESFAutoAlignment failed"));
|
||||
}
|
||||
#endif
|
||||
return (false);
|
||||
}
|
||||
|
||||
return (true);
|
||||
}
|
||||
|
||||
|
||||
//Get the time pulse parameters using UBX_CFG_TP5
|
||||
boolean SFE_UBLOX_GNSS::getTimePulseParameters(UBX_CFG_TP5_data_t *data, uint16_t maxWait)
|
||||
{
|
||||
|
||||
@@ -766,6 +766,10 @@ public:
|
||||
//Reset ESF automatic IMU-mount alignment
|
||||
boolean resetIMUalignment(uint16_t maxWait = defaultMaxWait);
|
||||
|
||||
//Enable/disable esfAutoAlignment
|
||||
bool getESFAutoAlignment(uint16_t maxWait = defaultMaxWait);
|
||||
bool setESFAutoAlignment(bool enable, uint16_t maxWait = defaultMaxWait);
|
||||
|
||||
//Configure Time Pulse Parameters
|
||||
boolean getTimePulseParameters(UBX_CFG_TP5_data_t *data = NULL, uint16_t maxWait = defaultMaxWait); // Get the time pulse parameters using UBX_CFG_TP5
|
||||
boolean setTimePulseParameters(UBX_CFG_TP5_data_t *data = NULL, uint16_t maxWait = defaultMaxWait); // Set the time pulse parameters using UBX_CFG_TP5
|
||||
|
||||
@@ -566,6 +566,217 @@ const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_UART1 = 0x20910093; // Output rat
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_UART2 = 0x20910094; // Output rate of the UBX-TIM-VRFY message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_USB = 0x20910095; // Output rate of the UBX-TIM-VRFY message on port USB
|
||||
|
||||
//Additional CFG_MSGOUT keys for the ZED-F9R HPS120
|
||||
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_COV_I2C = 0x20910083; // Output rate of the UBX-NAV-COV message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_COV_UART1 = 0x20910084; // Output rate of the UBX-NAV-COV message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_COV_UART2 = 0x20910085; // Output rate of the UBX-NAV-COV message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_COV_USB = 0x20910086; // Output rate of the UBX-NAV-COV message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_COV_SPI = 0x20910087; // Output rate of the UBX-NAV-COV message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_THS_I2C = 0x209100e2; // Output rate of the NMEA-GX-THS message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_THS_UART1 = 0x209100e3; // Output rate of the NMEA-GX-THS message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_THS_UART2 = 0x209100e4; // Output rate of the NMEA-GX-THS message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_THS_USB = 0x209100e5; // Output rate of the NMEA-GX-THS message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_THS_SPI = 0x209100e6; // Output rate of the NMEA-GX-THS message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_STATUS_I2C = 0x20910105; // Output rate of the UBX-ESF-STATUS message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_STATUS_UART1 = 0x20910106; // Output rate of the UBX-ESF-STATUS message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_STATUS_UART2 = 0x20910107; // Output rate of the UBX-ESF-STATUS message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_STATUS_USB = 0x20910108; // Output rate of the UBX-ESF-STATUS message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_STATUS_SPI = 0x20910109; // Output rate of the UBX-ESF-STATUS message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_ALG_I2C = 0x2091010f; // Output rate of the UBX-ESF-ALG message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_ALG_UART1 = 0x20910110; // Output rate of the UBX-ESF-ALG message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_ALG_UART2 = 0x20910111; // Output rate of the UBX-ESF-ALG message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_ALG_USB = 0x20910112; // Output rate of the UBX-ESF-ALG message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_ALG_SPI = 0x20910113; // Output rate of the UBX-ESF-ALG message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_INS_I2C = 0x20910114; // Output rate of the UBX-ESF-INS message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_INS_UART1 = 0x20910115; // Output rate of the UBX-ESF-INS message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_INS_UART2 = 0x20910116; // Output rate of the UBX-ESF-INS message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_INS_USB = 0x20910117; // Output rate of the UBX-ESF-INS message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_INS_SPI = 0x20910118; // Output rate of the UBX-ESF-INS message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_MEAS_I2C = 0x20910277; // Output rate of the UBX-ESF-MEAS message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_MEAS_UART1 = 0x20910278; // Output rate of the UBX-ESF-MEAS message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_MEAS_UART2 = 0x20910279; // Output rate of the UBX-ESF-MEAS message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_MEAS_USB = 0x2091027a; // Output rate of the UBX-ESF-MEAS message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_MEAS_SPI = 0x2091027b; // Output rate of the UBX-ESF-MEAS message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_RAW_I2C = 0x2091029f; // Output rate of the UBX-ESF-RAW message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_RAW_UART1 = 0x209102a0; // Output rate of the UBX-ESF-RAW message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_RAW_UART2 = 0x209102a1; // Output rate of the UBX-ESF-RAW message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_RAW_USB = 0x209102a2; // Output rate of the UBX-ESF-RAW message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_RAW_SPI = 0x209102a3; // Output rate of the UBX-ESF-RAW message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_EELL_I2C = 0x20910313; // Output rate of the UBX-NAV-EELL message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_EELL_UART1 = 0x20910314; // Output rate of the UBX-NAV-EELL message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_EELL_UART2 = 0x20910315; // Output rate of the UBX-NAV-EELL message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_EELL_USB = 0x20910316; // Output rate of the UBX-NAV-EELL message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_EELL_SPI = 0x20910317; // Output rate of the UBX-NAV-EELL message on port SPI
|
||||
|
||||
//Additional CFG_MSGOUT keys for the ZED-F9T
|
||||
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GGA_I2C = 0x20910661; // Output rate of the NMEA-NAV2-GX-GGA message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GGA_SPI = 0x20910665; // Output rate of the NMEA-NAV2-GX-GGA message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GGA_UART1 = 0x20910662; // Output rate of the NMEA-NAV2-GX-GGA message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GGA_UART2 = 0x20910663; // Output rate of the NMEA-NAV2-GX-GGA message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GGA_USB = 0x20910664; // Output rate of the NMEA-NAV2-GX-GGA message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GLL_I2C = 0x20910670; // Output rate of the NMEA-NAV2-GX-GLL message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GLL_SPI = 0x20910674; // Output rate of the NMEA-NAV2-GX-GLL message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GLL_UART1 = 0x20910671; // Output rate of the NMEA-NAV2-GX-GLL message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GLL_UART2 = 0x20910672; // Output rate of the NMEA-NAV2-GX-GLL message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GLL_USB = 0x20910673; // Output rate of the NMEA-NAV2-GX-GLL message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GNS_I2C = 0x2091065c; // Output rate of the NMEA-NAV2-GX-GNS message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GNS_SPI = 0x20910660; // Output rate of the NMEA-NAV2-GX-GNS message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GNS_UART1 = 0x2091065d; // Output rate of the NMEA-NAV2-GX-GNS message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GNS_UART2 = 0x2091065e; // Output rate of the NMEA-NAV2-GX-GNS message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GNS_USB = 0x2091065f; // Output rate of the NMEA-NAV2-GX-GNS message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GSA_I2C = 0x20910666; // Output rate of the NMEA-NAV2-GX-GSA message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GSA_SPI = 0x2091066a; // Output rate of the NMEA-NAV2-GX-GSA message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GSA_UART1 = 0x20910667; // Output rate of the NMEA-NAV2-GX-GSA message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GSA_UART2 = 0x20910668; // Output rate of the NMEA-NAV2-GX-GSA message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GSA_USB = 0x20910669; // Output rate of the NMEA-NAV2-GX-GSA message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_RMC_I2C = 0x20910652; // Output rate of the NMEA-NAV2-GX-RMC message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_RMC_SPI = 0x20910656; // Output rate of the NMEA-NAV2-GX-RMC message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_RMC_UART1 = 0x20910653; // Output rate of the NMEA-NAV2-GX-RMC message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_RMC_UART2 = 0x20910654; // Output rate of the NMEA-NAV2-GX-RMC message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_RMC_USB = 0x20910655; // Output rate of the NMEA-NAV2-GX-RMC message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_VTG_I2C = 0x20910657; // Output rate of the NMEA-NAV2-GX-VTG message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_VTG_SPI = 0x2091065b; // Output rate of the NMEA-NAV2-GX-VTG message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_VTG_UART1 = 0x20910658; // Output rate of the NMEA-NAV2-GX-VTG message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_VTG_UART2 = 0x20910659; // Output rate of the NMEA-NAV2-GX-VTG message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_VTG_USB = 0x2091065a; // Output rate of the NMEA-NAV2-GX-VTG message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_ZDA_I2C = 0x2091067f; // Output rate of the NMEA-NAV2-GX-ZDA message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_ZDA_SPI = 0x20910683; // Output rate of the NMEA-NAV2-GX-ZDA message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_ZDA_UART1 = 0x20910680; // Output rate of the NMEA-NAV2-GX-ZDA message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_ZDA_UART2 = 0x20910681; // Output rate of the NMEA-NAV2-GX-ZDA message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_ZDA_USB = 0x20910682; // Output rate of the NMEA-NAV2-GX-ZDA message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_CLOCK_I2C = 0x20910430; // Output rate of the UBX-NAV2-CLOCK message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_CLOCK_SPI = 0x20910434; // Output rate of the UBX-NAV2-CLOCK message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_CLOCK_UART1 = 0x20910431; // Output rate of the UBX-NAV2-CLOCK message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_CLOCK_UART2 = 0x20910432; // Output rate of the UBX-NAV2-CLOCK message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_CLOCK_USB = 0x20910433; // Output rate of the UBX-NAV2-CLOCK message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_COV_I2C = 0x20910435; // Output rate of the UBX-NAV2-COV message onport I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_COV_SPI = 0x20910439; // Output rate of the UBX-NAV2-COV message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_COV_UART1 = 0x20910436; // Output rate of the UBX-NAV2-COV message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_COV_UART2 = 0x20910437; // Output rate of the UBX-NAV2-COV message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_COV_USB = 0x20910438; // Output rate of the UBX-NAV2-COV message onport USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_DOP_I2C = 0x20910465; // Output rate of the UBX-NAV2-DOP message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_DOP_SPI = 0x20910469; // Output rate of the UBX-NAV2-DOP message onport SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_DOP_UART1 = 0x20910466; // Output rate of the UBX-NAV2-DOP message onport UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_DOP_UART2 = 0x20910467; // Output rate of the UBX-NAV2-DOP message onport UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_DOP_USB = 0x20910468; // Output rate of the UBX-NAV2-DOP message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EOE_I2C = 0x20910565; // Output rate of the UBX-NAV2-EOE message onport I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EOE_SPI = 0x20910569; // Output rate of the UBX-NAV2-EOE message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EOE_UART1 = 0x20910566; // Output rate of the UBX-NAV2-EOE message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EOE_UART2 = 0x20910567; // Output rate of the UBX-NAV2-EOE message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EOE_USB = 0x20910568; // Output rate of the UBX-NAV2-EOE message onport USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_ODO_I2C = 0x20910475; // Output rate of the UBX-NAV2-ODO message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_ODO_SPI = 0x20910479; // Output rate of the UBX-NAV2-ODO message onport SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_ODO_UART1 = 0x20910476; // Output rate of the UBX-NAV2-ODO message onport UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_ODO_UART2 = 0x20910477; // Output rate of the UBX-NAV2-ODO message onport UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_ODO_USB = 0x20910478; // Output rate of the UBX-NAV2-ODO message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSECEF_I2C = 0x20910480; // Output rate of the UBX-NAV2-POSECEF message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSECEF_SPI = 0x20910484; // Output rate of the UBX-NAV2-POSECEF message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSECEF_UART1 = 0x20910481; // Output rate of the UBX-NAV2-POSECEF message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSECEF_UART2 = 0x20910482; // Output rate of the UBX-NAV2-POSECEF message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSECEF_USB = 0x20910483; // Output rate of the UBX-NAV2-POSECEF message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSLLH_I2C = 0x20910485; // Output rate of the UBX-NAV2-POSLLH message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSLLH_SPI = 0x20910489; // Output rate of the UBX-NAV2-POSLLH message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSLLH_UART1 = 0x20910486; // Output rate of the UBX-NAV2-POSLLH message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSLLH_UART2 = 0x20910487; // Output rate of the UBX-NAV2-POSLLH message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSLLH_USB = 0x20910488; // Output rate of the UBX-NAV2-POSLLH message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVT_I2C = 0x20910490; // Output rate of the UBX-NAV2-PVT message onport I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVT_SPI = 0x20910494; // Output rate of the UBX-NAV2-PVT message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVT_UART1 = 0x20910491; // Output rate of the UBX-NAV2-PVT message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVT_UART2 = 0x20910492; // Output rate of the UBX-NAV2-PVT message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVT_USB = 0x20910493; // Output rate of the UBX-NAV2-PVT message onport USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SAT_I2C = 0x20910495; // Output rate of the UBX-NAV2-SAT message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SAT_SPI = 0x20910499; // Output rate of the UBX-NAV2-SAT message onport SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SAT_UART1 = 0x20910496; // Output rate of the UBX-NAV2-SAT message onport UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SAT_UART2 = 0x20910497; // Output rate of the UBX-NAV2-SAT message onport UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SAT_USB = 0x20910498; // Output rate of the UBX-NAV2-SAT message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SBAS_I2C = 0x20910500; // Output rate of the UBX-NAV2-SBAS messageon port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SBAS_SPI = 0x20910504; // Output rate of the UBX-NAV2-SBAS message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SBAS_UART1 = 0x20910501; // Output rate of the UBX-NAV2-SBAS message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SBAS_UART2 = 0x20910502; // Output rate of the UBX-NAV2-SBAS message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SBAS_USB = 0x20910503; // Output rate of the UBX-NAV2-SBAS messageon port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SIG_I2C = 0x20910505; // Output rate of the UBX-NAV2-SIG message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SIG_SPI = 0x20910509; // Output rate of the UBX-NAV2-SIG message onport SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SIG_UART1 = 0x20910506; // Output rate of the UBX-NAV2-SIG message onport UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SIG_UART2 = 0x20910507; // Output rate of the UBX-NAV2-SIG message onport UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SIG_USB = 0x20910508; // Output rate of the UBX-NAV2-SIG message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_STATUS_I2C = 0x20910515; // Output rate of the UBX-NAV2-STATUS message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_STATUS_SPI = 0x20910519; // Output rate of the UBX-NAV2-STATUS message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_STATUS_UART1 = 0x20910516; // Output rate of the UBX-NAV2-STATUS message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_STATUS_UART2 = 0x20910517; // Output rate of the UBX-NAV2-STATUS message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_STATUS_USB = 0x20910518; // Output rate of the UBX-NAV2-STATUS message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEBDS_I2C = 0x20910525; // Output rate of the UBX-NAV2-TIMEBDS message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEBDS_SPI = 0x20910529; // Output rate of the UBX-NAV2-TIMEBDS message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEBDS_UART1 = 0x20910526; // Output rate of the UBX-NAV2-TIMEBDS message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEBDS_UART2 = 0x20910527; // Output rate of the UBX-NAV2-TIMEBDS message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEBDS_USB = 0x20910528; // Output rate of the UBX-NAV2-TIMEBDS message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGAL_I2C = 0x20910530; // Output rate of the UBX-NAV2-TIMEGAL message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGAL_SPI = 0x20910534; // Output rate of the UBX-NAV2-TIMEGAL message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGAL_UART1 = 0x20910531; // Output rate of the UBX-NAV2-TIMEGAL message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGAL_UART2 = 0x20910532; // Output rate of the UBX-NAV2-TIMEGAL message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGAL_USB = 0x20910533; // Output rate of the UBX-NAV2-TIMEGAL message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGLO_I2C = 0x20910535; // Output rate of the UBX-NAV2-TIMEGLO message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGLO_SPI = 0x20910539; // Output rate of the UBX-NAV2-TIMEGLO message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGLO_UART1 = 0x20910536; // Output rate of the UBX-NAV2-TIMEGLO message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGLO_UART2 = 0x20910537; // Output rate of the UBX-NAV2-TIMEGLO message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGLO_USB = 0x20910538; // Output rate of the UBX-NAV2-TIMEGLO message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGPS_I2C = 0x20910540; // Output rate of the UBX-NAV2-TIMEGPS message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGPS_SPI = 0x20910544; // Output rate of the UBX-NAV2-TIMEGPS message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGPS_UART1 = 0x20910541; // Output rate of the UBX-NAV2-TIMEGPS message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGPS_UART2 = 0x20910542; // Output rate of the UBX-NAV2-TIMEGPS message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGPS_USB = 0x20910543; // Output rate of the UBX-NAV2-TIMEGPS message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMELS_I2C = 0x20910545; // Output rate of the UBX-NAV2-TIMELS message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMELS_SPI = 0x20910549; // Output rate of the UBX-NAV2-TIMELS message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMELS_UART1 = 0x20910546; // Output rate of the UBX-NAV2-TIMELS message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMELS_UART2 = 0x20910547; // Output rate of the UBX-NAV2-TIMELS message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMELS_USB = 0x20910548; // Output rate of the UBX-NAV2-TIMELS message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEUTC_I2C = 0x20910550; // Output rate of the UBX-NAV2-TIMEUTC message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEUTC_SPI = 0x20910554; // Output rate of the UBX-NAV2-TIMEUTC message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEUTC_UART1 = 0x20910551; // Output rate of the UBX-NAV2-TIMEUTC message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEUTC_UART2 = 0x20910552; // Output rate of the UBX-NAV2-TIMEUTC message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEUTC_USB = 0x20910553; // Output rate of the UBX-NAV2-TIMEUTC message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELECEF_I2C = 0x20910555; // Output rate of the UBX-NAV2-VELECEF message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELECEF_SPI = 0x20910559; // Output rate of the UBX-NAV2-VELECEF message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELECEF_UART1 = 0x20910556; // Output rate of the UBX-NAV2-VELECEF message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELECEF_UART2 = 0x20910557; // Output rate of the UBX-NAV2-VELECEF message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELECEF_USB = 0x20910558; // Output rate of the UBX-NAV2-VELECEF message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELNED_I2C = 0x20910560; // Output rate of the UBX-NAV2-VELNED message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELNED_SPI = 0x20910564; // Output rate of the UBX-NAV2-VELNED message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELNED_UART1 = 0x20910561; // Output rate of the UBX-NAV2-VELNED message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELNED_UART2 = 0x20910562; // Output rate of the UBX-NAV2-VELNED message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELNED_USB = 0x20910563; // Output rate of the UBX-NAV2-VELNED message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_NMI_I2C = 0x20910590; // Output rate of the UBX-NAV-NMI message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_NMI_SPI = 0x20910594; // Output rate of the UBX-NAV-NMI message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_NMI_UART1 = 0x20910591; // Output rate of the UBX-NAV-NMI message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_NMI_UART2 = 0x20910592; // Output rate of the UBX-NAV-NMI message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_NMI_USB = 0x20910593; // Output rate of the UBX-NAV-NMI message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_TM_I2C = 0x20910610; // Output rate of the UBX-RXM-TM message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_TM_SPI = 0x20910614; // Output rate of the UBX-RXM-TM message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_TM_UART1 = 0x20910611; // Output rate of the UBX-RXM-TM message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_TM_UART2 = 0x20910612; // Output rate of the UBX-RXM-TM message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_TM_USB = 0x20910613; // Output rate of the UBX-RXM-TM message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIGLOG_I2C = 0x20910689; // Output rate of the UBX-SEC-SIGLOG message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIGLOG_SPI = 0x2091068d; // Output rate of the UBX-SEC-SIGLOG message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIGLOG_UART1 = 0x2091068a; // Output rate of the UBX-SEC-SIGLOG message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIGLOG_UART2 = 0x2091068b; // Output rate of the UBX-SEC-SIGLOG message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIGLOG_USB = 0x2091068c; // Output rate of the UBX-SEC-SIGLOG message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIG_I2C = 0x20910634; // Output rate of the UBX-DBG-SKYMAP message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIG_SPI = 0x20910638; // Output rate of the UBX-SEC-SIG message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIG_UART1 = 0x20910635; // Output rate of the UBX-SEC-SIG message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIG_UART2 = 0x20910636; // Output rate of the UBX-SEC-SIG message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIG_USB = 0x20910637; // Output rate of the UBX-SEC-SIG message on port USB
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_SVIN_I2C = 0x20910097; // Output rate of the UBX-TIM-SVIN message on port I2C
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_SVIN_SPI = 0x2091009b; // Output rate of the UBX-TIM-SVIN message on port SPI
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_SVIN_UART1 = 0x20910098; // Output rate of the UBX-TIM-SVIN message on port UART1
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_SVIN_UART2 = 0x20910099; // Output rate of the UBX-TIM-SVIN message on port UART2
|
||||
const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_SVIN_USB = 0x2091009a; // Output rate of the UBX-TIM-SVIN message on port USB
|
||||
|
||||
//CFG-NAV2: Secondary output configuration
|
||||
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
|
||||
const uint32_t UBLOX_CFG_NAV2_OUT_ENABLED = 0x10170001; // Enable secondary (NAV2) output
|
||||
const uint32_t UBLOX_CFG_NAV2_SBAS_USE_INTEGRITY = 0x10170002; // Use SBAS integrity information in the secondary output
|
||||
|
||||
//CFG-NAVHPG: High precision navigation configuration
|
||||
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
|
||||
const uint32_t UBLOX_CFG_NAVHPG_DGNSSMODE = 0x20140011; // Differential corrections mode
|
||||
@@ -575,6 +786,7 @@ const uint32_t UBLOX_CFG_NAVHPG_DGNSSMODE = 0x20140011; // Differential correct
|
||||
const uint32_t UBLOX_CFG_NAVSPG_FIXMODE = 0x20110011; // Position fix mode
|
||||
const uint32_t UBLOX_CFG_NAVSPG_INIFIX3D = 0x10110013; // Initial fix must be a 3D fix
|
||||
const uint32_t UBLOX_CFG_NAVSPG_WKNROLLOVER = 0x30110017; // GPS week rollover number
|
||||
const uint32_t UBLOX_CFG_NAVSPG_USE_PPP = 0x10110019; // Use precise point positioning (PPP)
|
||||
const uint32_t UBLOX_CFG_NAVSPG_UTCSTANDARD = 0x2011001c; // UTC standard to be used
|
||||
const uint32_t UBLOX_CFG_NAVSPG_DYNMODEL = 0x20110021; // Dynamic platform model
|
||||
const uint32_t UBLOX_CFG_NAVSPG_ACKAIDING = 0x10110025; // Acknowledge assistance input messages
|
||||
@@ -602,6 +814,7 @@ const uint32_t UBLOX_CFG_NAVSPG_OUTFIL_FACC = 0x301100b5; // Output filter frequ
|
||||
const uint32_t UBLOX_CFG_NAVSPG_CONSTR_ALT = 0x401100c1; // Fixed altitude (mean sea level) for 2D fix mode
|
||||
const uint32_t UBLOX_CFG_NAVSPG_CONSTR_ALTVAR = 0x401100c2; // Fixed altitude variance for 2D mode
|
||||
const uint32_t UBLOX_CFG_NAVSPG_CONSTR_DGNSSTO = 0x201100c4; // DGNSS timeout
|
||||
const uint32_t UBLOX_CFG_NAVSPG_SIGATTCOMP = 0x201100d6; // Permanently attenuated signal compensation mode
|
||||
|
||||
//CFG-NMEA: NMEA protocol configuration
|
||||
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
|
||||
@@ -651,6 +864,7 @@ const uint32_t UBLOX_CFG_QZSS_USE_SLAS_RAIM_UNCORR = 0x10370007; // Raim out mea
|
||||
const uint32_t UBLOX_CFG_RATE_MEAS = 0x30210001; // Nominal time between GNSS measurements
|
||||
const uint32_t UBLOX_CFG_RATE_NAV = 0x30210002; // Ratio of number of measurements to number of navigation solutions
|
||||
const uint32_t UBLOX_CFG_RATE_TIMEREF = 0x20210003; // Time system to which measurements are aligned
|
||||
const uint32_t UBLOX_CFG_RATE_NAV_PRIO = 0x20210004; // Output rate of priority navigation mode messages
|
||||
|
||||
//CFG-RINV: Remote inventory
|
||||
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
|
||||
@@ -676,21 +890,73 @@ const uint32_t UBLOX_CFG_SBAS_USE_DIFFCORR = 0x10360004; // Use SBAS differenti
|
||||
const uint32_t UBLOX_CFG_SBAS_USE_INTEGRITY = 0x10360005; // Use SBAS integrity information
|
||||
const uint32_t UBLOX_CFG_SBAS_PRNSCANMASK = 0x50360006; // SBAS PRN search configuration
|
||||
|
||||
//CFG-SEC: Security configuration (ZED-F9R)
|
||||
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
|
||||
const uint32_t UBLOX_CFG_SEC_CFG_LOCK = 0x10f60009; // Configuration lockdown
|
||||
const uint32_t UBLOX_CFG_SEC_CFG_LOCK_UNLOCKGRP1 = 0x30f6000a; // Configuration lockdown exempted group 1
|
||||
const uint32_t UBLOX_CFG_SEC_CFG_LOCK_UNLOCKGRP2 = 0x30f6000b; // Configuration lockdown exempted group 2
|
||||
|
||||
//CFG-SFCORE: Sensor fusion (SF) core configuration (ZED-F9R)
|
||||
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
|
||||
const uint32_t UBLOX_CFG_SFCORE_USE_SF = 0x10080001; // Use ADR/UDR sensor fusion
|
||||
|
||||
//CFG-SFIMU: Sensor fusion (SF) inertial measurement unit (IMU) configuration (ZED-F9R)
|
||||
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
|
||||
const uint32_t UBLOX_CFG_SFIMU_GYRO_TC_UPDATE_PERIOD = 0x30060007; // Time period between each update for the saved temperature-dependent gyroscope bias table
|
||||
const uint32_t UBLOX_CFG_SFIMU_GYRO_RMSTHDL = 0x20060008; // Gyroscope sensor RMS threshold
|
||||
const uint32_t UBLOX_CFG_SFIMU_GYRO_FREQUENCY = 0x20060009; // Nominal gyroscope sensor data sampling frequency
|
||||
const uint32_t UBLOX_CFG_SFIMU_GYRO_LATENCY = 0x3006000a; // Gyroscope sensor data latency due to e.g. CAN bus
|
||||
const uint32_t UBLOX_CFG_SFIMU_GYRO_ACCURACY = 0x3006000b; // Gyroscope sensor data accuracy
|
||||
const uint32_t UBLOX_CFG_SFIMU_ACCEL_RMSTHDL = 0x20060015; // Accelerometer RMS threshold
|
||||
const uint32_t UBLOX_CFG_SFIMU_ACCEL_FREQUENCY = 0x20060016; // Nominal accelerometer sensor data sampling frequency
|
||||
const uint32_t UBLOX_CFG_SFIMU_ACCEL_LATENCY = 0x30060017; // Accelerometer sensor data latency due to e.g. CAN bus
|
||||
const uint32_t UBLOX_CFG_SFIMU_ACCEL_ACCURACY = 0x30060018; // Accelerometer sensor data accuracy
|
||||
const uint32_t UBLOX_CFG_SFIMU_IMU_EN = 0x1006001d; // IMU enabled
|
||||
const uint32_t UBLOX_CFG_SFIMU_IMU_I2C_SCL_PIO = 0x2006001e; // SCL PIO of the IMU I2C
|
||||
const uint32_t UBLOX_CFG_SFIMU_IMU_I2C_SDA_PIO = 0x2006001f; // SDA PIO of the IMU I2C
|
||||
const uint32_t UBLOX_CFG_SFIMU_AUTO_MNTALG_ENA = 0x10060027; // Enable automatic IMU-mount alignment
|
||||
const uint32_t UBLOX_CFG_SFIMU_IMU_MNTALG_YAW = 0x4006002d; // User-defined IMU-mount yaw angle [0, 360]
|
||||
const uint32_t UBLOX_CFG_SFIMU_IMU_MNTALG_PITCH = 0x3006002e; // User-defined IMU-mount pitch angle [-90, 90]
|
||||
const uint32_t UBLOX_CFG_SFIMU_IMU_MNTALG_ROLL = 0x3006002f; // User-defined IMU-mount roll angle [-180, 180]
|
||||
|
||||
//CFG-SFODO: Sensor fusion (SF) odometer configuration (ZED-F9R)
|
||||
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
|
||||
const uint32_t UBLOX_CFG_SFODO_COMBINE_TICKS = 0x10070001; // Use combined rear wheel ticks instead of the single tick
|
||||
const uint32_t UBLOX_CFG_SFODO_USE_SPEED = 0x10070003; // Use speed measurements
|
||||
const uint32_t UBLOX_CFG_SFODO_DIS_AUTOCOUNTMAX = 0x10070004; // Disable automatic estimation of maximum absolute wheel tick counter
|
||||
const uint32_t UBLOX_CFG_SFODO_DIS_AUTODIRPINPOL = 0x10070005; // Disable automatic wheel tick direction pin polarity detection
|
||||
const uint32_t UBLOX_CFG_SFODO_DIS_AUTOSPEED = 0x10070006; // Disable automatic receiver reconfiguration for processing speed data
|
||||
const uint32_t UBLOX_CFG_SFODO_FACTOR = 0x40070007; // Wheel tick scale factor
|
||||
const uint32_t UBLOX_CFG_SFODO_QUANT_ERROR = 0x40070008; // Wheel tick quantization
|
||||
const uint32_t UBLOX_CFG_SFODO_COUNT_MAX = 0x40070009; // Wheel tick counter maximum value
|
||||
const uint32_t UBLOX_CFG_SFODO_LATENCY = 0x3007000a; // Wheel tick data latency due to e.g. CAN bus
|
||||
const uint32_t UBLOX_CFG_SFODO_FREQUENCY = 0x2007000b; // Nominal wheel tick data frequency (0 = not set)
|
||||
const uint32_t UBLOX_CFG_SFODO_CNT_BOTH_EDGES = 0x1007000d; // Count both rising and falling edges on wheel tick signal
|
||||
const uint32_t UBLOX_CFG_SFODO_SPEED_BAND = 0x3007000e; // Speed sensor dead band (0 = not set)
|
||||
const uint32_t UBLOX_CFG_SFODO_USE_WT_PIN = 0x1007000f; // Wheel tick signal enabled
|
||||
const uint32_t UBLOX_CFG_SFODO_DIR_PINPOL = 0x10070010; // Wheel tick direction pin polarity
|
||||
const uint32_t UBLOX_CFG_SFODO_DIS_AUTOSW = 0x10070011; // Disable automatic use of wheel tick or speed data received over the software interface
|
||||
|
||||
//CFG-SIGNAL: Satellite systems (GNSS) signal configuration
|
||||
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
|
||||
const uint32_t UBLOX_CFG_SIGNAL_GPS_ENA = 0x1031001f; // GPS enable
|
||||
const uint32_t UBLOX_CFG_SIGNAL_GPS_L1CA_ENA = 0x10310001; // GPS L1C/A
|
||||
const uint32_t UBLOX_CFG_SIGNAL_GPS_L5_ENA = 0x10310004; // GPS L5
|
||||
const uint32_t UBLOX_CFG_SIGNAL_GPS_L2C_ENA = 0x10310003; // GPS L2C (only on u-blox F9 platform products)
|
||||
const uint32_t UBLOX_CFG_SIGNAL_SBAS_ENA = 0x10310020; // SBAS enable
|
||||
const uint32_t UBLOX_CFG_SIGNAL_SBAS_L1CA_ENA = 0x10310005; // SBAS L1C/A
|
||||
const uint32_t UBLOX_CFG_SIGNAL_GAL_ENA = 0x10310021; // Galileo enable
|
||||
const uint32_t UBLOX_CFG_SIGNAL_GAL_E1_ENA = 0x10310007; // Galileo E1
|
||||
const uint32_t UBLOX_CFG_SIGNAL_GAL_E5A_ENA = 0x10310009; // Galileo E5a
|
||||
const uint32_t UBLOX_CFG_SIGNAL_GAL_E5B_ENA = 0x1031000a; // Galileo E5b (only on u-blox F9 platform products)
|
||||
const uint32_t UBLOX_CFG_SIGNAL_BDS_ENA = 0x10310022; // BeiDou Enable
|
||||
const uint32_t UBLOX_CFG_SIGNAL_BDS_B1_ENA = 0x1031000d; // BeiDou B1I
|
||||
const uint32_t UBLOX_CFG_SIGNAL_BDS_B1C_ENA = 0x1031000f; // BeiDou B1C
|
||||
const uint32_t UBLOX_CFG_SIGNAL_BDS_B2A_ENA = 0x10310028; // BeiDou B2a
|
||||
const uint32_t UBLOX_CFG_SIGNAL_BDS_B2_ENA = 0x1031000e; // BeiDou B2I (only on u-blox F9 platform products)
|
||||
const uint32_t UBLOX_CFG_SIGNAL_QZSS_ENA = 0x10310024; // QZSS enable
|
||||
const uint32_t UBLOX_CFG_SIGNAL_QZSS_L1CA_ENA = 0x10310012; // QZSS L1C/A
|
||||
const uint32_t UBLOX_CFG_SIGNAL_QZSS_L5_ENA = 0x10310017; // QZSS L5
|
||||
const uint32_t UBLOX_CFG_SIGNAL_QZSS_L1S_ENA = 0x10310014; // QZSS L1S
|
||||
const uint32_t UBLOX_CFG_SIGNAL_QZSS_L2C_ENA = 0x10310015; // QZSS L2C (only on u-blox F9 platform products)
|
||||
const uint32_t UBLOX_CFG_SIGNAL_GLO_ENA = 0x10310025; // GLONASS enable
|
||||
@@ -741,6 +1007,9 @@ const uint32_t UBLOX_CFG_TMODE_SVIN_ACC_LIMIT = 0x40030011; // Survey-in positio
|
||||
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
|
||||
const uint32_t UBLOX_CFG_TP_PULSE_DEF = 0x20050023; // Determines whether the time pulse is interpreted as frequency or period
|
||||
const uint32_t UBLOX_CFG_TP_PULSE_LENGTH_DEF = 0x20050030; // Determines whether the time pulse length is interpreted as length[us] or pulse ratio[%]
|
||||
const uint32_t UBLOX_CFG_TP_ANT_CABLEDELAY = 0x30050001; // Antenna cable delay
|
||||
const uint32_t UBLOX_CFG_TP_PERIOD_TP1 = 0x40050002; // Time pulse period (TP1)
|
||||
const uint32_t UBLOX_CFG_TP_PERIOD_LOCK_TP1 = 0x40050003; // Time pulse period when locked to GNSS time (TP1)
|
||||
const uint32_t UBLOX_CFG_TP_FREQ_TP1 = 0x40050024; // Time pulse frequency (TP1)
|
||||
const uint32_t UBLOX_CFG_TP_FREQ_LOCK_TP1 = 0x40050025; // Time pulse frequency when locked to GNSS time (TP1)
|
||||
const uint32_t UBLOX_CFG_TP_LEN_TP1 = 0x40050004; // Time pulse length (TP1)
|
||||
@@ -754,6 +1023,23 @@ const uint32_t UBLOX_CFG_TP_USE_LOCKED_TP1 = 0x10050009; // Use locked parameter
|
||||
const uint32_t UBLOX_CFG_TP_ALIGN_TO_TOW_TP1 = 0x1005000a; // Align time pulse to top of second (TP1)
|
||||
const uint32_t UBLOX_CFG_TP_POL_TP1 = 0x1005000b; // Set time pulse polarity (TP1)
|
||||
const uint32_t UBLOX_CFG_TP_TIMEGRID_TP1 = 0x2005000c; // Time grid to use (TP1)
|
||||
const uint32_t UBLOX_CFG_TP_PERIOD_TP2 = 0x4005000d; // Time pulse period (TP2)
|
||||
const uint32_t UBLOX_CFG_TP_PERIOD_LOCK_TP2 = 0x4005000e; // Time pulse period when locked to GNSS time
|
||||
const uint32_t UBLOX_CFG_TP_FREQ_TP2 = 0x40050026; // Time pulse frequency (TP2)
|
||||
const uint32_t UBLOX_CFG_TP_FREQ_LOCK_TP2 = 0x40050027; // Time pulse frequency when locked to GNSS time
|
||||
const uint32_t UBLOX_CFG_TP_LEN_TP2 = 0x4005000f; // Time pulse length (TP2)
|
||||
const uint32_t UBLOX_CFG_TP_LEN_LOCK_TP2 = 0x40050010; // Time pulse length when locked to GNSS time
|
||||
const uint32_t UBLOX_CFG_TP_DUTY_TP2 = 0x5005002c; // Time pulse duty cycle (TP2)
|
||||
const uint32_t UBLOX_CFG_TP_DUTY_LOCK_TP2 = 0x5005002d; // Time pulse duty cycle when locked to GNSS time
|
||||
const uint32_t UBLOX_CFG_TP_USER_DELAY_TP2 = 0x40050011; // User-configurable time pulse delay (TP2)
|
||||
const uint32_t UBLOX_CFG_TP_TP2_ENA = 0x10050012; // Enable the second timepulse
|
||||
const uint32_t UBLOX_CFG_TP_SYNC_GNSS_TP2 = 0x10050013; // Sync time pulse to GNSS time or local clock
|
||||
const uint32_t UBLOX_CFG_TP_USE_LOCKED_TP2 = 0x10050014; // Use locked parameters when possible (TP2)
|
||||
const uint32_t UBLOX_CFG_TP_ALIGN_TO_TOW_TP2 = 0x10050015; // Align time pulse to top of second (TP2)
|
||||
const uint32_t UBLOX_CFG_TP_POL_TP2 = 0x10050016; // Set time pulse polarity (TP2)
|
||||
const uint32_t UBLOX_CFG_TP_TIMEGRID_TP2 = 0x20050017; // Time grid to use (TP2)
|
||||
const uint32_t UBLOX_CFG_TP_DRSTR_TP1 = 0x20050035; // Set drive strength of TP1
|
||||
const uint32_t UBLOX_CFG_TP_DRSTR_TP2 = 0x20050036; // Set drive strength of TP2
|
||||
|
||||
//CFG-TXREADY: TX ready configuration
|
||||
//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
|
||||
|
||||
Reference in New Issue
Block a user