SparkFun_u-blox_GNSS_Arduino_Library.h

/*
	This is a library written for the u-blox ZED-F9P and NEO-M8P-2
	SparkFun sells these at its website: www.sparkfun.com
	Do you like this library? Help support SparkFun. Buy a board!
	https://www.sparkfun.com/products/16481
	https://www.sparkfun.com/products/15136
	https://www.sparkfun.com/products/15005
	https://www.sparkfun.com/products/15733
	https://www.sparkfun.com/products/15193
	https://www.sparkfun.com/products/15210

	Original version by Nathan Seidle @ SparkFun Electronics, September 6th, 2018
	v2.0 rework by Paul Clark @ SparkFun Electronics, December 31st, 2020

	This library handles configuring and handling the responses
	from a u-blox GPS module. Works with most modules from u-blox including
	the Zed-F9P, NEO-M8P-2, NEO-M9N, ZOE-M8Q, SAM-M8Q, and many others.

	https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library

	Development environment specifics:
	Arduino IDE 1.8.13

	SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT).
	The MIT License (MIT)
	Copyright (c) 2016 SparkFun Electronics
	Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
	associated documentation files (the "Software"), to deal in the Software without restriction,
	including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
	and/or sell copies of the Software, and to permit persons to whom the Software is furnished to
	do so, subject to the following conditions:

	The above copyright notice and this permission notice shall be included in all copies or substantial
	portions of the Software.

	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
	NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
	IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
	WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
	SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/

#ifndef SPARKFUN_UBLOX_ARDUINO_LIBRARY_H
#define SPARKFUN_UBLOX_ARDUINO_LIBRARY_H

#if (ARDUINO >= 100)
#include "Arduino.h"
#else
#include "WProgram.h"
#endif

#include <Wire.h>

#include <SPI.h>

#include "u-blox_config_keys.h"
#include "u-blox_structs.h"

//Unomment the next line (or add SFE_UBLOX_REDUCED_PROG_MEM as a compiler directive) to reduce the amount of program memory used by the library
//#define SFE_UBLOX_REDUCED_PROG_MEM // Uncommenting this line will delete the minor debug messages to save memory

//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=

//Define a digital pin to aid debugging
//Leave set to -1 if not needed
const int debugPin = -1;

// Global Status Returns
typedef enum
{
	SFE_UBLOX_STATUS_SUCCESS,
	SFE_UBLOX_STATUS_FAIL,
	SFE_UBLOX_STATUS_CRC_FAIL,
	SFE_UBLOX_STATUS_TIMEOUT,
	SFE_UBLOX_STATUS_COMMAND_NACK, // Indicates that the command was unrecognised, invalid or that the module is too busy to respond
	SFE_UBLOX_STATUS_OUT_OF_RANGE,
	SFE_UBLOX_STATUS_INVALID_ARG,
	SFE_UBLOX_STATUS_INVALID_OPERATION,
	SFE_UBLOX_STATUS_MEM_ERR,
	SFE_UBLOX_STATUS_HW_ERR,
	SFE_UBLOX_STATUS_DATA_SENT,		// This indicates that a 'set' was successful
	SFE_UBLOX_STATUS_DATA_RECEIVED, // This indicates that a 'get' (poll) was successful
	SFE_UBLOX_STATUS_I2C_COMM_FAILURE,
	SFE_UBLOX_STATUS_DATA_OVERWRITTEN // This is an error - the data was valid but has been or _is being_ overwritten by another packet
} sfe_ublox_status_e;

// ubxPacket validity
typedef enum
{
	SFE_UBLOX_PACKET_VALIDITY_NOT_VALID,
	SFE_UBLOX_PACKET_VALIDITY_VALID,
	SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED,
	SFE_UBLOX_PACKET_NOTACKNOWLEDGED // This indicates that we received a NACK
} sfe_ublox_packet_validity_e;

// Identify which packet buffer is in use:
// packetCfg (or a custom packet), packetAck or packetBuf
// packetAuto is used to store expected "automatic" messages
typedef enum
{
	SFE_UBLOX_PACKET_PACKETCFG,
	SFE_UBLOX_PACKET_PACKETACK,
	SFE_UBLOX_PACKET_PACKETBUF,
	SFE_UBLOX_PACKET_PACKETAUTO
} sfe_ublox_packet_buffer_e;

// Define a struct to allow selective logging / processing of NMEA messages
// Set the individual bits to pass the NMEA messages to the file buffer and/or processNMEA
// Setting bits.all will pass all messages to the file buffer and processNMEA
typedef struct
{
	union
	{
		uint32_t all;
		struct
		{
			uint32_t all : 1;
			uint32_t UBX_NMEA_DTM : 1;
			uint32_t UBX_NMEA_GAQ : 1;
			uint32_t UBX_NMEA_GBQ : 1;
			uint32_t UBX_NMEA_GBS : 1;
			uint32_t UBX_NMEA_GGA : 1;
			uint32_t UBX_NMEA_GLL : 1;
			uint32_t UBX_NMEA_GLQ : 1;
			uint32_t UBX_NMEA_GNQ : 1;
			uint32_t UBX_NMEA_GNS : 1;
			uint32_t UBX_NMEA_GPQ : 1;
			uint32_t UBX_NMEA_GQQ : 1;
			uint32_t UBX_NMEA_GRS : 1;
			uint32_t UBX_NMEA_GSA : 1;
			uint32_t UBX_NMEA_GST : 1;
			uint32_t UBX_NMEA_GSV : 1;
			uint32_t UBX_NMEA_RLM : 1;
			uint32_t UBX_NMEA_RMC : 1;
			uint32_t UBX_NMEA_TXT : 1;
			uint32_t UBX_NMEA_VLW : 1;
			uint32_t UBX_NMEA_VTG : 1;
			uint32_t UBX_NMEA_ZDA : 1;
		} bits;
	};
} sfe_ublox_nmea_filtering_t;

// Define an enum to make it easy to enable/disable selected NMEA messages for logging / processing
typedef enum
{
	SFE_UBLOX_FILTER_NMEA_ALL = 0x00000001,
	SFE_UBLOX_FILTER_NMEA_DTM = 0x00000002,
	SFE_UBLOX_FILTER_NMEA_GAQ = 0x00000004,
	SFE_UBLOX_FILTER_NMEA_GBQ = 0x00000008,
	SFE_UBLOX_FILTER_NMEA_GBS = 0x00000010,
	SFE_UBLOX_FILTER_NMEA_GGA = 0x00000020,
	SFE_UBLOX_FILTER_NMEA_GLL = 0x00000040,
	SFE_UBLOX_FILTER_NMEA_GLQ = 0x00000080,
	SFE_UBLOX_FILTER_NMEA_GNQ = 0x00000100,
	SFE_UBLOX_FILTER_NMEA_GNS = 0x00000200,
	SFE_UBLOX_FILTER_NMEA_GPQ = 0x00000400,
	SFE_UBLOX_FILTER_NMEA_GQQ = 0x00000800,
	SFE_UBLOX_FILTER_NMEA_GRS = 0x00001000,
	SFE_UBLOX_FILTER_NMEA_GSA = 0x00002000,
	SFE_UBLOX_FILTER_NMEA_GST = 0x00004000,
	SFE_UBLOX_FILTER_NMEA_GSV = 0x00008000,
	SFE_UBLOX_FILTER_NMEA_RLM = 0x00010000,
	SFE_UBLOX_FILTER_NMEA_RMC = 0x00020000,
	SFE_UBLOX_FILTER_NMEA_TXT = 0x00040000,
	SFE_UBLOX_FILTER_NMEA_VLW = 0x00080000,
	SFE_UBLOX_FILTER_NMEA_VTG = 0x00100000,
	SFE_UBLOX_FILTER_NMEA_ZDA = 0x00200000
} sfe_ublox_nmea_filtering_e;

//Registers
const uint8_t UBX_SYNCH_1 = 0xB5;
const uint8_t UBX_SYNCH_2 = 0x62;

//The following are UBX Class IDs. Descriptions taken from ZED-F9P Interface Description Document page 32, NEO-M8P Interface Description page 145
const uint8_t UBX_CLASS_NAV = 0x01;	 //Navigation Results Messages: Position, Speed, Time, Acceleration, Heading, DOP, SVs used
const uint8_t UBX_CLASS_RXM = 0x02;	 //Receiver Manager Messages: Satellite Status, RTC Status
const uint8_t UBX_CLASS_INF = 0x04;	 //Information Messages: Printf-Style Messages, with IDs such as Error, Warning, Notice
const uint8_t UBX_CLASS_ACK = 0x05;	 //Ack/Nak Messages: Acknowledge or Reject messages to UBX-CFG input messages
const uint8_t UBX_CLASS_CFG = 0x06;	 //Configuration Input Messages: Configure the receiver.
const uint8_t UBX_CLASS_UPD = 0x09;	 //Firmware Update Messages: Memory/Flash erase/write, Reboot, Flash identification, etc.
const uint8_t UBX_CLASS_MON = 0x0A;	 //Monitoring Messages: Communication Status, CPU Load, Stack Usage, Task Status
const uint8_t UBX_CLASS_AID = 0x0B;	 //(NEO-M8P ONLY!!!) AssistNow Aiding Messages: Ephemeris, Almanac, other A-GPS data input
const uint8_t UBX_CLASS_TIM = 0x0D;	 //Timing Messages: Time Pulse Output, Time Mark Results
const uint8_t UBX_CLASS_ESF = 0x10;	 //(NEO-M8P ONLY!!!) External Sensor Fusion Messages: External Sensor Measurements and Status Information
const uint8_t UBX_CLASS_MGA = 0x13;	 //Multiple GNSS Assistance Messages: Assistance data for various GNSS
const uint8_t UBX_CLASS_LOG = 0x21;	 //Logging Messages: Log creation, deletion, info and retrieval
const uint8_t UBX_CLASS_SEC = 0x27;	 //Security Feature Messages
const uint8_t UBX_CLASS_HNR = 0x28;	 //(NEO-M8P ONLY!!!) High Rate Navigation Results Messages: High rate time, position speed, heading
const uint8_t UBX_CLASS_NMEA = 0xF0; //NMEA Strings: standard NMEA strings

//Class: CFG
//The following are used for configuration. Descriptions are from the ZED-F9P Interface Description pg 33-34 and NEO-M9N Interface Description pg 47-48
const uint8_t UBX_CFG_ANT = 0x13;		//Antenna Control Settings. Used to configure the antenna control settings
const uint8_t UBX_CFG_BATCH = 0x93;		//Get/set data batching configuration.
const uint8_t UBX_CFG_CFG = 0x09;		//Clear, Save, and Load Configurations. Used to save current configuration
const uint8_t UBX_CFG_DAT = 0x06;		//Set User-defined Datum or The currently defined Datum
const uint8_t UBX_CFG_DGNSS = 0x70;		//DGNSS configuration
const uint8_t UBX_CFG_ESFALG = 0x56;		//ESF alignment
const uint8_t UBX_CFG_ESFA = 0x4C;		//ESF accelerometer
const uint8_t UBX_CFG_ESFG = 0x4D;		//ESF gyro
const uint8_t UBX_CFG_GEOFENCE = 0x69;	//Geofencing configuration. Used to configure a geofence
const uint8_t UBX_CFG_GNSS = 0x3E;		//GNSS system configuration
const uint8_t UBX_CFG_HNR = 0x5C;		//High Navigation Rate
const uint8_t UBX_CFG_INF = 0x02;		//Depending on packet length, either: poll configuration for one protocol, or information message configuration
const uint8_t UBX_CFG_ITFM = 0x39;		//Jamming/Interference Monitor configuration
const uint8_t UBX_CFG_LOGFILTER = 0x47; //Data Logger Configuration
const uint8_t UBX_CFG_MSG = 0x01;		//Poll a message configuration, or Set Message Rate(s), or Set Message Rate
const uint8_t UBX_CFG_NAV5 = 0x24;		//Navigation Engine Settings. Used to configure the navigation engine including the dynamic model.
const uint8_t UBX_CFG_NAVX5 = 0x23;		//Navigation Engine Expert Settings
const uint8_t UBX_CFG_NMEA = 0x17;		//Extended NMEA protocol configuration V1
const uint8_t UBX_CFG_ODO = 0x1E;		//Odometer, Low-speed COG Engine Settings
const uint8_t UBX_CFG_PM2 = 0x3B;		//Extended power management configuration
const uint8_t UBX_CFG_PMS = 0x86;		//Power mode setup
const uint8_t UBX_CFG_PRT = 0x00;		//Used to configure port specifics. Polls the configuration for one I/O Port, or Port configuration for UART ports, or Port configuration for USB port, or Port configuration for SPI port, or Port configuration for DDC port
const uint8_t UBX_CFG_PWR = 0x57;		//Put receiver in a defined power state
const uint8_t UBX_CFG_RATE = 0x08;		//Navigation/Measurement Rate Settings. Used to set port baud rates.
const uint8_t UBX_CFG_RINV = 0x34;		//Contents of Remote Inventory
const uint8_t UBX_CFG_RST = 0x04;		//Reset Receiver / Clear Backup Data Structures. Used to reset device.
const uint8_t UBX_CFG_RXM = 0x11;		//RXM configuration
const uint8_t UBX_CFG_SBAS = 0x16;		//SBAS configuration
const uint8_t UBX_CFG_TMODE3 = 0x71;	//Time Mode Settings 3. Used to enable Survey In Mode
const uint8_t UBX_CFG_TP5 = 0x31;		//Time Pulse Parameters
const uint8_t UBX_CFG_USB = 0x1B;		//USB Configuration
const uint8_t UBX_CFG_VALDEL = 0x8C;	//Used for config of higher version u-blox modules (ie protocol v27 and above). Deletes values corresponding to provided keys/ provided keys with a transaction
const uint8_t UBX_CFG_VALGET = 0x8B;	//Used for config of higher version u-blox modules (ie protocol v27 and above). Configuration Items
const uint8_t UBX_CFG_VALSET = 0x8A;	//Used for config of higher version u-blox modules (ie protocol v27 and above). Sets values corresponding to provided key-value pairs/ provided key-value pairs within a transaction.

//Class: NMEA
//The following are used to enable NMEA messages. Descriptions come from the NMEA messages overview in the ZED-F9P Interface Description
const uint8_t UBX_NMEA_MSB = 0xF0;	//All NMEA enable commands have 0xF0 as MSB. Equal to UBX_CLASS_NMEA
const uint8_t UBX_NMEA_DTM = 0x0A;	//GxDTM (datum reference)
const uint8_t UBX_NMEA_GAQ = 0x45;	//GxGAQ (poll a standard message (if the current talker ID is GA))
const uint8_t UBX_NMEA_GBQ = 0x44;	//GxGBQ (poll a standard message (if the current Talker ID is GB))
const uint8_t UBX_NMEA_GBS = 0x09;	//GxGBS (GNSS satellite fault detection)
const uint8_t UBX_NMEA_GGA = 0x00;	//GxGGA (Global positioning system fix data)
const uint8_t UBX_NMEA_GLL = 0x01;	//GxGLL (latitude and long, whith time of position fix and status)
const uint8_t UBX_NMEA_GLQ = 0x43;	//GxGLQ (poll a standard message (if the current Talker ID is GL))
const uint8_t UBX_NMEA_GNQ = 0x42;	//GxGNQ (poll a standard message (if the current Talker ID is GN))
const uint8_t UBX_NMEA_GNS = 0x0D;	//GxGNS (GNSS fix data)
const uint8_t UBX_NMEA_GPQ = 0x40;	//GxGPQ (poll a standard message (if the current Talker ID is GP))
const uint8_t UBX_NMEA_GQQ = 0x47;	//GxGQQ (poll a standard message (if the current Talker ID is GQ))
const uint8_t UBX_NMEA_GRS = 0x06;	//GxGRS (GNSS range residuals)
const uint8_t UBX_NMEA_GSA = 0x02;	//GxGSA (GNSS DOP and Active satellites)
const uint8_t UBX_NMEA_GST = 0x07;	//GxGST (GNSS Pseudo Range Error Statistics)
const uint8_t UBX_NMEA_GSV = 0x03;	//GxGSV (GNSS satellites in view)
const uint8_t UBX_NMEA_RLM = 0x0B;	//GxRMC (Return link message (RLM))
const uint8_t UBX_NMEA_RMC = 0x04;	//GxRMC (Recommended minimum data)
const uint8_t UBX_NMEA_TXT = 0x41;	//GxTXT (text transmission)
const uint8_t UBX_NMEA_VLW = 0x0F;	//GxVLW (dual ground/water distance)
const uint8_t UBX_NMEA_VTG = 0x05;	//GxVTG (course over ground and Ground speed)
const uint8_t UBX_NMEA_ZDA = 0x08;	//GxZDA (Time and Date)

//The following are used to configure the NMEA protocol main talker ID and GSV talker ID
const uint8_t UBX_NMEA_MAINTALKERID_NOTOVERRIDDEN = 0x00; //main talker ID is system dependent
const uint8_t UBX_NMEA_MAINTALKERID_GP = 0x01;			  //main talker ID is GPS
const uint8_t UBX_NMEA_MAINTALKERID_GL = 0x02;			  //main talker ID is GLONASS
const uint8_t UBX_NMEA_MAINTALKERID_GN = 0x03;			  //main talker ID is combined receiver
const uint8_t UBX_NMEA_MAINTALKERID_GA = 0x04;			  //main talker ID is Galileo
const uint8_t UBX_NMEA_MAINTALKERID_GB = 0x05;			  //main talker ID is BeiDou
const uint8_t UBX_NMEA_GSVTALKERID_GNSS = 0x00;			  //GNSS specific Talker ID (as defined by NMEA)
const uint8_t UBX_NMEA_GSVTALKERID_MAIN = 0x01;			  //use the main Talker ID

//Class: HNR
//The following are used to configure the HNR message rates
const uint8_t UBX_HNR_ATT = 0x01;			  //HNR Attitude
const uint8_t UBX_HNR_INS = 0x02;			  //HNR Vehicle Dynamics
const uint8_t UBX_HNR_PVT = 0x00;			  //HNR PVT

//Class: INF
//The following are used to configure INF UBX messages (information messages).  Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34)
const uint8_t UBX_INF_CLASS = 0x04;	  //All INF messages have 0x04 as the class
const uint8_t UBX_INF_DEBUG = 0x04;	  //ASCII output with debug contents
const uint8_t UBX_INF_ERROR = 0x00;	  //ASCII output with error contents
const uint8_t UBX_INF_NOTICE = 0x02;  //ASCII output with informational contents
const uint8_t UBX_INF_TEST = 0x03;	  //ASCII output with test contents
const uint8_t UBX_INF_WARNING = 0x01; //ASCII output with warning contents

//Class: LOG
//The following are used to configure LOG UBX messages (loggings messages).  Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34)
const uint8_t UBX_LOG_CREATE = 0x07;		   //Create Log File
const uint8_t UBX_LOG_ERASE = 0x03;			   //Erase Logged Data
const uint8_t UBX_LOG_FINDTIME = 0x0E;		   //Find index of a log entry based on a given time, or response to FINDTIME requested
const uint8_t UBX_LOG_INFO = 0x08;			   //Poll for log information, or Log information
const uint8_t UBX_LOG_RETRIEVEPOSEXTRA = 0x0F; //Odometer log entry
const uint8_t UBX_LOG_RETRIEVEPOS = 0x0B;	   //Position fix log entry
const uint8_t UBX_LOG_RETRIEVESTRING = 0x0D;   //Byte string log entry
const uint8_t UBX_LOG_RETRIEVE = 0x09;		   //Request log data
const uint8_t UBX_LOG_STRING = 0x04;		   //Store arbitrary string on on-board flash

//Class: MGA
//The following are used to configure MGA UBX messages (Multiple GNSS Assistance Messages).  Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34)
const uint8_t UBX_MGA_ACK_DATA0 = 0x60;		 //Multiple GNSS Acknowledge message
const uint8_t UBX_MGA_BDS_EPH = 0x03;		 //BDS Ephemeris Assistance
const uint8_t UBX_MGA_BDS_ALM = 0x03;		 //BDS Almanac Assistance
const uint8_t UBX_MGA_BDS_HEALTH = 0x03;	 //BDS Health Assistance
const uint8_t UBX_MGA_BDS_UTC = 0x03;		 //BDS UTC Assistance
const uint8_t UBX_MGA_BDS_IONO = 0x03;		 //BDS Ionospheric Assistance
const uint8_t UBX_MGA_DBD = 0x80;			 //Either: Poll the Navigation Database, or Navigation Database Dump Entry
const uint8_t UBX_MGA_GAL_EPH = 0x02;		 //Galileo Ephemeris Assistance
const uint8_t UBX_MGA_GAL_ALM = 0x02;		 //Galileo Almanac Assitance
const uint8_t UBX_MGA_GAL_TIMOFFSET = 0x02;	 //Galileo GPS time offset assistance
const uint8_t UBX_MGA_GAL_UTC = 0x02;		 //Galileo UTC Assistance
const uint8_t UBX_MGA_GLO_EPH = 0x06;		 //GLONASS Ephemeris Assistance
const uint8_t UBX_MGA_GLO_ALM = 0x06;		 //GLONASS Almanac Assistance
const uint8_t UBX_MGA_GLO_TIMEOFFSET = 0x06; //GLONASS Auxiliary Time Offset Assistance
const uint8_t UBX_MGA_GPS_EPH = 0x00;		 //GPS Ephemeris Assistance
const uint8_t UBX_MGA_GPS_ALM = 0x00;		 //GPS Almanac Assistance
const uint8_t UBX_MGA_GPS_HEALTH = 0x00;	 //GPS Health Assistance
const uint8_t UBX_MGA_GPS_UTC = 0x00;		 //GPS UTC Assistance
const uint8_t UBX_MGA_GPS_IONO = 0x00;		 //GPS Ionosphere Assistance
const uint8_t UBX_MGA_INI_POS_XYZ = 0x40;	 //Initial Position Assistance
const uint8_t UBX_MGA_INI_POS_LLH = 0x40;	 //Initial Position Assitance
const uint8_t UBX_MGA_INI_TIME_UTC = 0x40;	 //Initial Time Assistance
const uint8_t UBX_MGA_INI_TIME_GNSS = 0x40;	 //Initial Time Assistance
const uint8_t UBX_MGA_INI_CLKD = 0x40;		 //Initial Clock Drift Assitance
const uint8_t UBX_MGA_INI_FREQ = 0x40;		 //Initial Frequency Assistance
const uint8_t UBX_MGA_INI_EOP = 0x40;		 //Earth Orientation Parameters Assistance
const uint8_t UBX_MGA_QZSS_EPH = 0x05;		 //QZSS Ephemeris Assistance
const uint8_t UBX_MGA_QZSS_ALM = 0x05;		 //QZSS Almanac Assistance
const uint8_t UBX_MGA_QZAA_HEALTH = 0x05;	 //QZSS Health Assistance

//Class: MON
//The following are used to configure the MON UBX messages (monitoring messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 35)
const uint8_t UBX_MON_COMMS = 0x36; //Comm port information
const uint8_t UBX_MON_GNSS = 0x28;	//Information message major GNSS selection
const uint8_t UBX_MON_HW2 = 0x0B;	//Extended Hardware Status
const uint8_t UBX_MON_HW3 = 0x37;	//HW I/O pin information
const uint8_t UBX_MON_HW = 0x09;	//Hardware Status
const uint8_t UBX_MON_IO = 0x02;	//I/O Subsystem Status
const uint8_t UBX_MON_MSGPP = 0x06; //Message Parse and Process Status
const uint8_t UBX_MON_PATCH = 0x27; //Output information about installed patches
const uint8_t UBX_MON_RF = 0x38;	//RF information
const uint8_t UBX_MON_RXBUF = 0x07; //Receiver Buffer Status
const uint8_t UBX_MON_RXR = 0x21;	//Receiver Status Information
const uint8_t UBX_MON_TXBUF = 0x08; //Transmitter Buffer Status. Used for query tx buffer size/state.
const uint8_t UBX_MON_VER = 0x04;	//Receiver/Software Version. Used for obtaining Protocol Version.

//Class: NAV
//The following are used to configure the NAV UBX messages (navigation results messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 35-36)
const uint8_t UBX_NAV_ATT = 0x05;		//Vehicle "Attitude" Solution
const uint8_t UBX_NAV_CLOCK = 0x22;		//Clock Solution
const uint8_t UBX_NAV_DOP = 0x04;		//Dilution of precision
const uint8_t UBX_NAV_EOE = 0x61;		//End of Epoch
const uint8_t UBX_NAV_GEOFENCE = 0x39;	//Geofencing status. Used to poll the geofence status
const uint8_t UBX_NAV_HPPOSECEF = 0x13; //High Precision Position Solution in ECEF. Used to find our positional accuracy (high precision).
const uint8_t UBX_NAV_HPPOSLLH = 0x14;	//High Precision Geodetic Position Solution. Used for obtaining lat/long/alt in high precision
const uint8_t UBX_NAV_ODO = 0x09;		//Odometer Solution
const uint8_t UBX_NAV_ORB = 0x34;		//GNSS Orbit Database Info
const uint8_t UBX_NAV_POSECEF = 0x01;	//Position Solution in ECEF
const uint8_t UBX_NAV_POSLLH = 0x02;	//Geodetic Position Solution
const uint8_t UBX_NAV_PVT = 0x07;		//All the things! Position, velocity, time, PDOP, height, h/v accuracies, number of satellites. Navigation Position Velocity Time Solution.
const uint8_t UBX_NAV_RELPOSNED = 0x3C; //Relative Positioning Information in NED frame
const uint8_t UBX_NAV_RESETODO = 0x10;	//Reset odometer
const uint8_t UBX_NAV_SAT = 0x35;		//Satellite Information
const uint8_t UBX_NAV_SIG = 0x43;		//Signal Information
const uint8_t UBX_NAV_STATUS = 0x03;	//Receiver Navigation Status
const uint8_t UBX_NAV_SVIN = 0x3B;		//Survey-in data. Used for checking Survey In status
const uint8_t UBX_NAV_TIMEBDS = 0x24;	//BDS Time Solution
const uint8_t UBX_NAV_TIMEGAL = 0x25;	//Galileo Time Solution
const uint8_t UBX_NAV_TIMEGLO = 0x23;	//GLO Time Solution
const uint8_t UBX_NAV_TIMEGPS = 0x20;	//GPS Time Solution
const uint8_t UBX_NAV_TIMELS = 0x26;	//Leap second event information
const uint8_t UBX_NAV_TIMEUTC = 0x21;	//UTC Time Solution
const uint8_t UBX_NAV_VELECEF = 0x11;	//Velocity Solution in ECEF
const uint8_t UBX_NAV_VELNED = 0x12;	//Velocity Solution in NED

//Class: RXM
//The following are used to configure the RXM UBX messages (receiver manager messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
const uint8_t UBX_RXM_MEASX = 0x14; //Satellite Measurements for RRLP
const uint8_t UBX_RXM_PMREQ = 0x41; //Requests a Power Management task (two differenent packet sizes)
const uint8_t UBX_RXM_RAWX = 0x15;	//Multi-GNSS Raw Measurement Data
const uint8_t UBX_RXM_RLM = 0x59;	//Galileo SAR Short-RLM report (two different packet sizes)
const uint8_t UBX_RXM_RTCM = 0x32;	//RTCM input status
const uint8_t UBX_RXM_SFRBX = 0x13; //Boradcast Navigation Data Subframe

//Class: SEC
//The following are used to configure the SEC UBX messages (security feature messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
const uint8_t UBX_SEC_UNIQID = 0x03; //Unique chip ID

//Class: TIM
//The following are used to configure the TIM UBX messages (timing messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
const uint8_t UBX_TIM_TM2 = 0x03;  //Time mark data
const uint8_t UBX_TIM_TP = 0x01;   //Time Pulse Timedata
const uint8_t UBX_TIM_VRFY = 0x06; //Sourced Time Verification

//Class: UPD
//The following are used to configure the UPD UBX messages (firmware update messages). Descriptions from UBX messages overview (ZED-F9P Interface Description Document page 36)
const uint8_t UBX_UPD_SOS = 0x14; //Poll Backup Fil Restore Status, Create Backup File in Flash, Clear Backup File in Flash, Backup File Creation Acknowledge, System Restored from Backup

//The following are used to enable RTCM messages
const uint8_t UBX_RTCM_MSB = 0xF5;	  //All RTCM enable commands have 0xF5 as MSB
const uint8_t UBX_RTCM_1005 = 0x05;	  //Stationary RTK reference ARP
const uint8_t UBX_RTCM_1074 = 0x4A;	  //GPS MSM4
const uint8_t UBX_RTCM_1077 = 0x4D;	  //GPS MSM7
const uint8_t UBX_RTCM_1084 = 0x54;	  //GLONASS MSM4
const uint8_t UBX_RTCM_1087 = 0x57;	  //GLONASS MSM7
const uint8_t UBX_RTCM_1094 = 0x5E;	  //Galileo MSM4
const uint8_t UBX_RTCM_1097 = 0x61;	  //Galileo MSM7
const uint8_t UBX_RTCM_1124 = 0x7C;	  //BeiDou MSM4
const uint8_t UBX_RTCM_1127 = 0x7F;	  //BeiDou MSM7
const uint8_t UBX_RTCM_1230 = 0xE6;	  //GLONASS code-phase biases, set to once every 10 seconds
const uint8_t UBX_RTCM_4072_0 = 0xFE; //Reference station PVT (ublox proprietary RTCM message)
const uint8_t UBX_RTCM_4072_1 = 0xFD; //Additional reference station information (ublox proprietary RTCM message)

// Class: ACK
const uint8_t UBX_ACK_NACK = 0x00;
const uint8_t UBX_ACK_ACK = 0x01;
const uint8_t UBX_ACK_NONE = 0x02; //Not a real value

//Class: ESF
// The following constants are used to get External Sensor Measurements and Status
// Information.
const uint8_t UBX_ESF_MEAS = 0x02;
const uint8_t UBX_ESF_RAW = 0x03;
const uint8_t UBX_ESF_STATUS = 0x10;
const uint8_t UBX_ESF_RESETALG = 0x13;
const uint8_t UBX_ESF_ALG = 0x14;
const uint8_t UBX_ESF_INS = 0x15; //36 bytes

const uint8_t SVIN_MODE_DISABLE = 0x00;
const uint8_t SVIN_MODE_ENABLE = 0x01;

//The following consts are used to configure the various ports and streams for those ports. See -CFG-PRT.
const uint8_t COM_PORT_I2C = 0;
const uint8_t COM_PORT_UART1 = 1;
const uint8_t COM_PORT_UART2 = 2;
const uint8_t COM_PORT_USB = 3;
const uint8_t COM_PORT_SPI = 4;

const uint8_t COM_TYPE_UBX = (1 << 0);
const uint8_t COM_TYPE_NMEA = (1 << 1);
const uint8_t COM_TYPE_RTCM3 = (1 << 5);

// Configuration Sub-Section mask definitions for saveConfigSelective (UBX-CFG-CFG)
const uint32_t VAL_CFG_SUBSEC_IOPORT = 0x00000001;	 // ioPort - communications port settings (causes IO system reset!)
const uint32_t VAL_CFG_SUBSEC_MSGCONF = 0x00000002;	 // msgConf - message configuration
const uint32_t VAL_CFG_SUBSEC_INFMSG = 0x00000004;	 // infMsg - INF message configuration
const uint32_t VAL_CFG_SUBSEC_NAVCONF = 0x00000008;	 // navConf - navigation configuration
const uint32_t VAL_CFG_SUBSEC_RXMCONF = 0x00000010;	 // rxmConf - receiver manager configuration
const uint32_t VAL_CFG_SUBSEC_SENCONF = 0x00000100;	 // senConf - sensor interface configuration (requires protocol 19+)
const uint32_t VAL_CFG_SUBSEC_RINVCONF = 0x00000200; // rinvConf - remove inventory configuration
const uint32_t VAL_CFG_SUBSEC_ANTCONF = 0x00000400;	 // antConf - antenna configuration
const uint32_t VAL_CFG_SUBSEC_LOGCONF = 0x00000800;	 // logConf - logging configuration
const uint32_t VAL_CFG_SUBSEC_FTSCONF = 0x00001000;	 // ftsConf - FTS configuration (FTS products only)

// Bitfield wakeupSources for UBX_RXM_PMREQ
const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_UARTRX = 0x00000008;	// uartrx
const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0 = 0x00000020; // extint0
const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT1 = 0x00000040; // extint1
const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_SPICS = 0x00000080;	// spics

enum dynModel // Possible values for the dynamic platform model, which provide more accuract position output for the situation. Description extracted from ZED-F9P Integration Manual
{
	DYN_MODEL_PORTABLE = 0, //Applications with low acceleration, e.g. portable devices. Suitable for most situations.
	// 1 is not defined
	DYN_MODEL_STATIONARY = 2, //Used in timing applications (antenna must be stationary) or other stationary applications. Velocity restricted to 0 m/s. Zero dynamics assumed.
	DYN_MODEL_PEDESTRIAN,	  //Applications with low acceleration and speed, e.g. how a pedestrian would move. Low acceleration assumed.
	DYN_MODEL_AUTOMOTIVE,	  //Used for applications with equivalent dynamics to those of a passenger car. Low vertical acceleration assumed
	DYN_MODEL_SEA,			  //Recommended for applications at sea, with zero vertical velocity. Zero vertical velocity assumed. Sea level assumed.
	DYN_MODEL_AIRBORNE1g,	  //Airborne <1g acceleration. Used for applications with a higher dynamic range and greater vertical acceleration than a passenger car. No 2D position fixes supported.
	DYN_MODEL_AIRBORNE2g,	  //Airborne <2g acceleration. Recommended for typical airborne environments. No 2D position fixes supported.
	DYN_MODEL_AIRBORNE4g,	  //Airborne <4g acceleration. Only recommended for extremely dynamic environments. No 2D position fixes supported.
	DYN_MODEL_WRIST,		  // Not supported in protocol versions less than 18. Only recommended for wrist worn applications. Receiver will filter out arm motion.
	DYN_MODEL_BIKE,			  // Supported in protocol versions 19.2
	DYN_MODEL_UNKNOWN = 255 // getDynamicModel will return 255 if sendCommand fails
};

// The GNSS identifiers - used by UBX-CFG-GNSS (0x06 0x3E) GNSS system configuration
enum sfe_ublox_gnss_ids_e
{
	SFE_UBLOX_GNSS_ID_GPS,
	SFE_UBLOX_GNSS_ID_SBAS,
	SFE_UBLOX_GNSS_ID_GALILEO,
	SFE_UBLOX_GNSS_ID_BEIDOU,
	SFE_UBLOX_GNSS_ID_IMES,
	SFE_UBLOX_GNSS_ID_QZSS,
	SFE_UBLOX_GNSS_ID_GLONASS
};

// The GNSS identifiers of leap second event info source - used by UBX-NAV-TIMELS
enum sfe_ublox_ls_src_e
{
	SFE_UBLOX_LS_SRC_DEFAULT,
	SFE_UBLOX_LS_SRC_GLONASS,
	SFE_UBLOX_LS_SRC_GPS,
	SFE_UBLOX_LS_SRC_SBAS,
	SFE_UBLOX_LS_SRC_BEIDOU,
	SFE_UBLOX_LS_SRC_GALILEO,
	SFE_UBLOX_LS_SRC_AIDED,
	SFE_UBLOX_LS_SRC_CONFIGURED,
	SFE_UBLOX_LS_SRC_UNKNOWN = 255
};

#ifndef MAX_PAYLOAD_SIZE
// v2.0: keep this for backwards-compatibility, but this is largely superseded by setPacketCfgPayloadSize
#define MAX_PAYLOAD_SIZE 256 //We need ~220 bytes for getProtocolVersion on most ublox modules
//#define MAX_PAYLOAD_SIZE 768 //Worst case: UBX_CFG_VALSET packet with 64 keyIDs each with 64 bit values
#endif

// For storing SPI bytes received during sendSpiCommand
#define SFE_UBLOX_SPI_BUFFER_SIZE 128

// Default maximum NMEA byte count
// maxNMEAByteCount was set to 82: https://en.wikipedia.org/wiki/NMEA_0183#Message_structure
// but the u-blox HP (RTK) GGA messages are 88 bytes long
// The user can adjust maxNMEAByteCount by calling setMaxNMEAByteCount
#define SFE_UBLOX_MAX_NMEA_BYTE_COUNT 88

//-=-=-=-=- UBX binary specific variables
struct ubxPacket
{
	uint8_t cls;
	uint8_t id;
	uint16_t len; //Length of the payload. Does not include cls, id, or checksum bytes
	uint16_t counter; //Keeps track of number of overall bytes received. Some responses are larger than 255 bytes.
	uint16_t startingSpot; //The counter value needed to go past before we begin recording into payload array
	uint8_t *payload; // We will allocate RAM for the payload if/when needed.
	uint8_t checksumA; //Given to us from module. Checked against the rolling calculated A/B checksums.
	uint8_t checksumB;
	sfe_ublox_packet_validity_e valid;			 //Goes from NOT_DEFINED to VALID or NOT_VALID when checksum is checked
	sfe_ublox_packet_validity_e classAndIDmatch; // Goes from NOT_DEFINED to VALID or NOT_VALID when the Class and ID match the requestedClass and requestedID
};

// Struct to hold the results returned by getGeofenceState (returned by UBX-NAV-GEOFENCE)
typedef struct
{
	uint8_t status;	   // Geofencing status: 0 - Geofencing not available or not reliable; 1 - Geofencing active
	uint8_t numFences; // Number of geofences
	uint8_t combState; // Combined (logical OR) state of all geofences: 0 - Unknown; 1 - Inside; 2 - Outside
	uint8_t states[4]; // Geofence states: 0 - Unknown; 1 - Inside; 2 - Outside
} geofenceState;

// Struct to hold the current geofence parameters
typedef struct
{
	uint8_t numFences; // Number of active geofences
	int32_t lats[4];   // Latitudes of geofences (in degrees * 10^-7)
	int32_t longs[4];  // Longitudes of geofences (in degrees * 10^-7)
	uint32_t rads[4];  // Radii of geofences (in m * 10^-2)
} geofenceParams_t;

// Struct to hold the module software version
typedef struct
{
	uint8_t versionLow;		 //Loaded from getProtocolVersion().
	uint8_t versionHigh;
	bool moduleQueried;
} moduleSWVersion_t;

const uint16_t DAYS_SINCE_MONTH[4][16] = 
{
    {   0,   0,  31,  60,  91, 121, 152, 182, 213, 244, 274, 305, 335, 335, 335, 335 },
    {   0,   0,  31,  59,  90, 120, 151, 181, 212, 243, 273, 304, 334, 334, 334, 334 },
    {   0,   0,  31,  59,  90, 120, 151, 181, 212, 243, 273, 304, 334, 334, 334, 334 },
    {   0,   0,  31,  59,  90, 120, 151, 181, 212, 243, 273, 304, 334, 334, 334, 334 },
};

class SFE_UBLOX_GNSS
{
public:
	SFE_UBLOX_GNSS(void);

// A default of 250ms for maxWait seems fine for I2C but is not enough for SerialUSB.
// If you know you are only going to be using I2C / Qwiic communication, you can
// safely reduce defaultMaxWait to 250.
#ifndef defaultMaxWait // Let's allow the user to define their own value if they want to
#define defaultMaxWait 1100
#endif

	//New in v2.0: allow the payload size for packetCfg to be changed
	void setPacketCfgPayloadSize(size_t payloadSize); // Set packetCfgPayloadSize

	//By default use the default I2C address, and use Wire port
	boolean begin(TwoWire &wirePort = Wire, uint8_t deviceAddress = 0x42); //Returns true if module is detected
	//serialPort needs to be perviously initialized to correct baud rate
	boolean begin(Stream &serialPort); //Returns true if module is detected
	//SPI - supply instance of SPIClass, chip select pin and SPI speed (in Hz)
	boolean begin(SPIClass &spiPort, uint8_t csPin, uint32_t spiSpeed);

	void end(void); //Stop all automatic message processing. Free all used RAM

	void setI2CpollingWait(uint8_t newPollingWait_ms); // Allow the user to change the I2C polling wait if required
	void setSPIpollingWait(uint8_t newPollingWait_ms); // Allow the user to change the SPI polling wait if required

	//Set the max number of bytes set in a given I2C transaction
	uint8_t i2cTransactionSize = 32; //Default to ATmega328 limit

	//Control the size of the internal I2C transaction amount
	void setI2CTransactionSize(uint8_t bufferSize);
	uint8_t getI2CTransactionSize(void);

	//Control the size of the spi buffer. If the buffer isn't big enough, we'll start to lose bytes
	//That we receive if the buffer is full!
	void setSpiTransactionSize(uint8_t bufferSize);
	uint8_t getSpiTransactionSize(void);

	//Control the size of maxNMEAByteCount
	void setMaxNMEAByteCount(int8_t newMax);
	int8_t getMaxNMEAByteCount(void);

	//Returns true if device answers on _gpsI2Caddress address or via Serial
	boolean isConnected(uint16_t maxWait = 1100);

	// Enable debug messages using the chosen Serial port (Stream)
	// Boards like the RedBoard Turbo use SerialUSB (not Serial).
	// But other boards like the SAMD51 Thing Plus use Serial (not SerialUSB).
	// These lines let the code compile cleanly on as many SAMD boards as possible.
	#if defined(ARDUINO_ARCH_SAMD)	// Is this a SAMD board?
	#if defined(USB_VID)						// Is the USB Vendor ID defined?
	#if (USB_VID == 0x1B4F)					// Is this a SparkFun board?
	#if !defined(ARDUINO_SAMD51_THING_PLUS) & !defined(ARDUINO_SAMD51_MICROMOD) // If it is not a SAMD51 Thing Plus or SAMD51 MicroMod
	void enableDebugging(Stream &debugPort = SerialUSB, boolean printLimitedDebug = false); //Given a port to print to, enable debug messages. Default to all, not limited.
	#else
	void enableDebugging(Stream &debugPort = Serial, boolean printLimitedDebug = false); //Given a port to print to, enable debug messages. Default to all, not limited.
	#endif
	#else
	void enableDebugging(Stream &debugPort = Serial, boolean printLimitedDebug = false); //Given a port to print to, enable debug messages. Default to all, not limited.
	#endif
	#else
	void enableDebugging(Stream &debugPort = Serial, boolean printLimitedDebug = false); //Given a port to print to, enable debug messages. Default to all, not limited.
	#endif
	#else
	void enableDebugging(Stream &debugPort = Serial, boolean printLimitedDebug = false); //Given a port to print to, enable debug messages. Default to all, not limited.
	#endif

	void disableDebugging(void); //Turn off debug statements
	void debugPrint(char *message); //Safely print debug statements
	void debugPrintln(char *message); //Safely print debug statements
	const char *statusString(sfe_ublox_status_e stat); //Pretty print the return value

	// Check for the arrival of new I2C/Serial data

	void disableUBX7Fcheck(boolean disabled = true); // When logging RAWX data, we need to be able to disable the "7F" check in checkUbloxI2C

	//Changed in V1.8.1: provides backward compatibility for the examples that call checkUblox directly
	//Will default to using packetCfg to look for explicit autoPVT packets so they get processed correctly by processUBX
	boolean checkUblox(uint8_t requestedClass = 0, uint8_t requestedID = 0); //Checks module with user selected commType

	boolean checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID);	   //Method for I2C polling of data, passing any new bytes to process()
	boolean checkUbloxSerial(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Method for serial polling of data, passing any new bytes to process()
	boolean checkUbloxSpi(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Method for spi polling of data, passing any new bytes to process()

	// Process the incoming data

	void process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID);	//Processes NMEA and UBX binary sentences one byte at a time
	void processNMEA(char incoming) __attribute__((weak)); //Given a NMEA character, do something with it. User can overwrite if desired to use something like tinyGPS or MicroNMEA libraries
	void processRTCMframe(uint8_t incoming); //Monitor the incoming bytes for start and length bytes
	void processRTCM(uint8_t incoming) __attribute__((weak)); //Given rtcm byte, do something with it. User can overwrite if desired to pipe bytes to radio, internet, etc.
	void processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Given a character, file it away into the uxb packet structure
	void processUBXpacket(ubxPacket *msg); //Once a packet has been received and validated, identify this packet's class/id and update internal flags

	// Send I2C/Serial/SPI commands to the module

	void calcChecksum(ubxPacket *msg); //Sets the checksumA and checksumB of a given messages
	sfe_ublox_status_e sendCommand(ubxPacket *outgoingUBX, uint16_t maxWait = defaultMaxWait, boolean expectACKonly = false); //Given a packet and payload, send everything including CRC bytes, return true if we got a response
	sfe_ublox_status_e sendI2cCommand(ubxPacket *outgoingUBX, uint16_t maxWait = defaultMaxWait);
	void sendSerialCommand(ubxPacket *outgoingUBX);
	void sendSpiCommand(ubxPacket *outgoingUBX);

	void printPacket(ubxPacket *packet, boolean alwaysPrintPayload = false); //Useful for debugging

	// After sending a message to the module, wait for the expected response (data+ACK or just data)

	sfe_ublox_status_e waitForACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait);	 //Poll the module until a config packet and an ACK is received, or just an ACK
	sfe_ublox_status_e waitForNoACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait); //Poll the module until a config packet is received

	// Check if any callbacks need to be called
	void checkCallbacks(void);

	// Push (e.g.) RTCM data directly to the module
	// Warning: this function does not check that the data is valid. It is the user's responsibility to ensure the data is valid before pushing.
	// Default to using a restart between transmissions. But processors like ESP32 seem to need a stop (#30). Set stop to true to use a stop instead.
	boolean pushRawData(uint8_t *dataBytes, size_t numDataBytes, boolean stop = false);

	// Support for data logging
	void setFileBufferSize(uint16_t bufferSize); // Set the size of the file buffer. This must be called _before_ .begin.
	uint16_t getFileBufferSize(void); // Return the size of the file buffer
	uint16_t extractFileBufferData(uint8_t *destination, uint16_t numBytes); // Extract numBytes of data from the file buffer. Copy it to destination. It is the user's responsibility to ensure destination is large enough.
	uint16_t fileBufferAvailable(void);		// Returns the number of bytes available in file buffer which are waiting to be read
	uint16_t getMaxFileBufferAvail(void);	// Returns the maximum number of bytes which the file buffer has contained. Handy for checking the buffer is large enough to handle all the incoming data.
	void clearFileBuffer(void);				// Empty the file buffer - discard all contents
	void clearMaxFileBufferAvail(void);		// Reset fileBufferMaxAvail

	// Specific commands

	//Port configurations
	boolean getPortSettings(uint8_t portID, uint16_t maxWait = defaultMaxWait);					   //Returns the current protocol bits in the UBX-CFG-PRT command for a given port
	boolean setPortOutput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof
	boolean setPortInput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait);  //Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof

	boolean setI2CAddress(uint8_t deviceAddress, uint16_t maxTime = defaultMaxWait);			   //Changes the I2C address of the u-blox module
	void setSerialRate(uint32_t baudrate, uint8_t uartPort = COM_PORT_UART1, uint16_t maxTime = defaultMaxWait); //Changes the serial baud rate of the u-blox module, uartPort should be COM_PORT_UART1/2

	boolean setI2COutput(uint8_t comSettings, uint16_t maxWait = defaultMaxWait);				//Configure I2C port to output UBX, NMEA, RTCM3 or a combination thereof
	boolean setUART1Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait);				//Configure UART1 port to output UBX, NMEA, RTCM3 or a combination thereof
	boolean setUART2Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait);				//Configure UART2 port to output UBX, NMEA, RTCM3 or a combination thereof
	boolean setUSBOutput(uint8_t comSettings, uint16_t maxWait = defaultMaxWait);				//Configure USB port to output UBX, NMEA, RTCM3 or a combination thereof
	boolean setSPIOutput(uint8_t comSettings, uint16_t maxWait = defaultMaxWait);				//Configure SPI port to output UBX, NMEA, RTCM3 or a combination thereof
	void setNMEAOutputPort(Stream &nmeaOutputPort);												//Sets the internal variable for the port to direct NMEA characters to

	//Reset to defaults

	void factoryReset(); //Send factory reset sequence (i.e. load "default" configuration and perform hardReset)
	void hardReset();	 //Perform a reset leading to a cold start (zero info start-up)
	boolean factoryDefault(uint16_t maxWait = defaultMaxWait);							 //Reset module to factory defaults

	//Save configuration to BBR / Flash

	boolean saveConfiguration(uint16_t maxWait = defaultMaxWait);						 //Save current configuration to flash and BBR (battery backed RAM)
	boolean saveConfigSelective(uint32_t configMask, uint16_t maxWait = defaultMaxWait); //Save the selected configuration sub-sections to flash and BBR (battery backed RAM)

	//Functions to turn on/off message types for a given port ID (see COM_PORT_I2C, etc above)
	boolean configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait);
	boolean enableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait);
	boolean disableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait);
	boolean enableNMEAMessage(uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait);
	boolean disableNMEAMessage(uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait);
	boolean enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait); //Given a message number turns on a message ID for output over given PortID
	boolean disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait = defaultMaxWait); //Turn off given RTCM message from a given port

	//Functions used for RTK and base station setup
	//It is probably safe to assume that users of the RTK will be using I2C / Qwiic. So let's leave maxWait set to 250ms.
	boolean getSurveyMode(uint16_t maxWait = 250); //Get the current TimeMode3 settings
	boolean setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); //Control survey in mode
	boolean enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); //Begin Survey-In for NEO-M8P
	boolean disableSurveyMode(uint16_t maxWait = 250); //Stop Survey-In mode
	// Given coordinates, put receiver into static position. Set latlong to true to pass in lat/long values instead of ecef.
	// For ECEF the units are: cm, 0.1mm, cm, 0.1mm, cm, 0.1mm
	// For Lat/Lon/Alt the units are: degrees^-7, degrees^-9, degrees^-7, degrees^-9, cm, 0.1mm
	bool setStaticPosition(int32_t ecefXOrLat, int8_t ecefXOrLatHP, int32_t ecefYOrLon, int8_t ecefYOrLonHP, int32_t ecefZOrAlt, int8_t ecefZOrAltHP, bool latLong = false, uint16_t maxWait = 250);
	bool setStaticPosition(int32_t ecefXOrLat, int32_t ecefYOrLon, int32_t ecefZOrAlt, bool latLong = false, uint16_t maxWait = 250);

	//Read the module's protocol version
	uint8_t getProtocolVersionHigh(uint16_t maxWait = defaultMaxWait); //Returns the PROTVER XX.00 from UBX-MON-VER register
	uint8_t getProtocolVersionLow(uint16_t maxWait = defaultMaxWait);	//Returns the PROTVER 00.XX from UBX-MON-VER register
	boolean getProtocolVersion(uint16_t maxWait = defaultMaxWait);		//Queries module, loads low/high bytes
	moduleSWVersion_t *moduleSWVersion = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary

	//Support for geofences
	boolean addGeofence(int32_t latitude, int32_t longitude, uint32_t radius, byte confidence = 0, byte pinPolarity = 0, byte pin = 0, uint16_t maxWait = defaultMaxWait); // Add a new geofence
	boolean clearGeofences(uint16_t maxWait = defaultMaxWait); //Clears all geofences
	boolean clearAntPIO(uint16_t maxWait = defaultMaxWait); //Clears the antenna control pin settings to release the PIOs
	boolean getGeofenceState(geofenceState &currentGeofenceState, uint16_t maxWait = defaultMaxWait); //Returns the combined geofence state
	// Storage for the geofence parameters. RAM is allocated for this if/when required.
	geofenceParams_t *currentGeofenceParams = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary

	//Power save / off
	boolean powerSaveMode(bool power_save = true, uint16_t maxWait = defaultMaxWait);
	uint8_t getPowerSaveMode(uint16_t maxWait = defaultMaxWait); // Returns 255 if the sendCommand fails
	boolean powerOff(uint32_t durationInMs, uint16_t maxWait = defaultMaxWait);
	boolean powerOffWithInterrupt(uint32_t durationInMs, uint32_t wakeupSources = VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0, boolean forceWhileUsb = true, uint16_t maxWait = 1100);

	//Change the dynamic platform model using UBX-CFG-NAV5
	boolean setDynamicModel(dynModel newDynamicModel = DYN_MODEL_PORTABLE, uint16_t maxWait = defaultMaxWait);
	uint8_t getDynamicModel(uint16_t maxWait = defaultMaxWait); // Get the dynamic model - returns 255 if the sendCommand fails

	//Reset the odometer
	boolean resetOdometer(uint16_t maxWait = defaultMaxWait); // Reset the odometer

	//Enable/Disable individual GNSS systems using UBX-CFG-GNSS
	//Note: you must leave at least one major GNSS enabled! If in doubt, enable GPS before disabling the others
	//TO DO: Add support for sigCfgMask and maxTrkCh. (Need to resolve ambiguity with maxWait)
	boolean enableGNSS(boolean enable, sfe_ublox_gnss_ids_e id, uint16_t maxWait = defaultMaxWait);
	boolean isGNSSenabled(sfe_ublox_gnss_ids_e id, uint16_t maxWait = defaultMaxWait);

	//Reset ESF automatic IMU-mount alignment
	boolean resetIMUalignment(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

	//General configuration (used only on protocol v27 and higher - ie, ZED-F9P)

	//It is probably safe to assume that users of the ZED-F9P will be using I2C / Qwiic.
	//If they are using Serial then the higher baud rate will also help. So let's leave maxWait set to 250ms.
	uint32_t createKey(uint16_t group, uint16_t id, uint8_t size); //Form 32-bit key from group/id/size
	sfe_ublox_status_e getVal(uint32_t keyID, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250);					 //Load payload with response
	uint8_t getVal8(uint32_t keyID, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250);								 //Returns the value at a given key location
	uint16_t getVal16(uint32_t keyID, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250);							 //Returns the value at a given key location
	uint32_t getVal32(uint32_t keyID, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250);							 //Returns the value at a given key location
	uint8_t getVal8(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250);	 //Returns the value at a given group/id/size location
	uint16_t getVal16(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
	uint32_t getVal32(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Returns the value at a given group/id/size location
	uint8_t setVal(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = 250);				 //Sets the 16-bit value at a given group/id/size location
	uint8_t setVal8(uint32_t keyID, uint8_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = 250);				 //Sets the 8-bit value at a given group/id/size location
	uint8_t setVal16(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = 250);			 //Sets the 16-bit value at a given group/id/size location
	uint8_t setVal32(uint32_t keyID, uint32_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = 250);			 //Sets the 32-bit value at a given group/id/size location
	uint8_t newCfgValset8(uint32_t keyID, uint8_t value, uint8_t layer = VAL_LAYER_ALL);								 //Define a new UBX-CFG-VALSET with the given KeyID and 8-bit value
	uint8_t newCfgValset16(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_ALL);								 //Define a new UBX-CFG-VALSET with the given KeyID and 16-bit value
	uint8_t newCfgValset32(uint32_t keyID, uint32_t value, uint8_t layer = VAL_LAYER_ALL);								 //Define a new UBX-CFG-VALSET with the given KeyID and 32-bit value
	uint8_t addCfgValset8(uint32_t keyID, uint8_t value);																 //Add a new KeyID and 8-bit value to an existing UBX-CFG-VALSET ubxPacket
	uint8_t addCfgValset16(uint32_t keyID, uint16_t value);																 //Add a new KeyID and 16-bit value to an existing UBX-CFG-VALSET ubxPacket
	uint8_t addCfgValset32(uint32_t keyID, uint32_t value);																 //Add a new KeyID and 32-bit value to an existing UBX-CFG-VALSET ubxPacket
	uint8_t sendCfgValset8(uint32_t keyID, uint8_t value, uint16_t maxWait = 250);										 //Add the final KeyID and 8-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
	uint8_t sendCfgValset16(uint32_t keyID, uint16_t value, uint16_t maxWait = 250);									 //Add the final KeyID and 16-bit value to an existing UBX-CFG-VALSET ubxPacket and send it
	uint8_t sendCfgValset32(uint32_t keyID, uint32_t value, uint16_t maxWait = 250);									 //Add the final KeyID and 32-bit value to an existing UBX-CFG-VALSET ubxPacket and send it

// getPVT will only return data once in each navigation cycle. By default, that is once per second.
// Therefore we should set defaultMaxWait to slightly longer than that.
// If you change the navigation frequency to (e.g.) 4Hz using setNavigationFrequency(4)
// then you should use a shorter maxWait. 300msec would be about right: getPVT(300)

	// get and set functions for all of the "automatic" message processing

	// Navigation (NAV)

	boolean getNAVPOSECEF(uint16_t maxWait = defaultMaxWait); // NAV POSECEF
	boolean setAutoNAVPOSECEF(boolean enabled, uint16_t maxWait = defaultMaxWait);  //Enable/disable automatic POSECEF reports at the navigation frequency
	boolean setAutoNAVPOSECEF(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic POSECEF reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoNAVPOSECEFrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic POSECEF reports
	boolean setAutoNAVPOSECEFcallback(void (*callbackPointer)(UBX_NAV_POSECEF_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic POSECEF reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoNAVPOSECEF(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and POSECEF is send cyclically already
	void flushNAVPOSECEF(); //Mark all the data as read/stale
	void logNAVPOSECEF(boolean enabled = true); // Log data to file buffer

	boolean getNAVSTATUS(uint16_t maxWait = defaultMaxWait); // NAV STATUS
	boolean setAutoNAVSTATUS(boolean enabled, uint16_t maxWait = defaultMaxWait);  //Enable/disable automatic STATUS reports at the navigation frequency
	boolean setAutoNAVSTATUS(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic STATUS reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoNAVSTATUSrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic STATUS reports
	boolean setAutoNAVSTATUScallback(void (*callbackPointer)(UBX_NAV_STATUS_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic STATUS reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoNAVSTATUS(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and STATUS is send cyclically already
	void flushNAVSTATUS(); //Mark all the data as read/stale
	void logNAVSTATUS(boolean enabled = true); // Log data to file buffer

	boolean getDOP(uint16_t maxWait = defaultMaxWait); //Query module for latest dilution of precision values and load global vars:. If autoDOP is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new DOP is available.
	boolean setAutoDOP(boolean enabled, uint16_t maxWait = defaultMaxWait);  //Enable/disable automatic DOP reports at the navigation frequency
	boolean setAutoDOP(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic DOP reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoDOPrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic DOP reports
	boolean setAutoDOPcallback(void (*callbackPointer)(UBX_NAV_DOP_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic DOP reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoDOP(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and DOP is send cyclically already
	void flushDOP(); //Mark all the DOP data as read/stale
	void logNAVDOP(boolean enabled = true); // Log data to file buffer

	boolean getVehAtt(uint16_t maxWait = defaultMaxWait); // NAV ATT Helper
	boolean getNAVATT(uint16_t maxWait = defaultMaxWait); // NAV ATT
	boolean setAutoNAVATT(boolean enabled, uint16_t maxWait = defaultMaxWait);  //Enable/disable automatic vehicle attitude reports at the navigation frequency
	boolean setAutoNAVATT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic vehicle attitude reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoNAVATTrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic ATT reports
	boolean setAutoNAVATTcallback(void (*callbackPointer)(UBX_NAV_ATT_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic ATT reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoNAVATT(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and vehicle attitude is send cyclically already
	void flushNAVATT(); //Mark all the data as read/stale
	void logNAVATT(boolean enabled = true); // Log data to file buffer

	boolean getPVT(uint16_t maxWait = defaultMaxWait);	//Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new PVT is available.
	boolean setAutoPVT(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency
	boolean setAutoPVT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoPVTrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic PVT reports
	boolean setAutoPVTcallback(void (*callbackPointer)(UBX_NAV_PVT_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic PVT reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoPVT(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and PVT is send cyclically already
	void flushPVT(); //Mark all the PVT data as read/stale
	void logNAVPVT(boolean enabled = true); // Log data to file buffer

	boolean getNAVODO(uint16_t maxWait = defaultMaxWait); // NAV ODO
	boolean setAutoNAVODO(boolean enabled, uint16_t maxWait = defaultMaxWait);  //Enable/disable automatic ODO reports at the navigation frequency
	boolean setAutoNAVODO(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ODO reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoNAVODOrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic ODO reports
	boolean setAutoNAVODOcallback(void (*callbackPointer)(UBX_NAV_ODO_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic ODO reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoNAVODO(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and ODO is send cyclically already
	void flushNAVODO(); //Mark all the data as read/stale
	void logNAVODO(boolean enabled = true); // Log data to file buffer

	boolean getNAVVELECEF(uint16_t maxWait = defaultMaxWait); // NAV VELECEF
	boolean setAutoNAVVELECEF(boolean enabled, uint16_t maxWait = defaultMaxWait);  //Enable/disable automatic VELECEF reports at the navigation frequency
	boolean setAutoNAVVELECEF(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic VELECEF reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoNAVVELECEFrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic VELECEF reports
	boolean setAutoNAVVELECEFcallback(void (*callbackPointer)(UBX_NAV_VELECEF_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic VELECEF reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoNAVVELECEF(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and VELECEF is send cyclically already
	void flushNAVVELECEF(); //Mark all the data as read/stale
	void logNAVVELECEF(boolean enabled = true); // Log data to file buffer

	boolean getNAVVELNED(uint16_t maxWait = defaultMaxWait); // NAV VELNED
	boolean setAutoNAVVELNED(boolean enabled, uint16_t maxWait = defaultMaxWait);  //Enable/disable automatic VELNED reports at the navigation frequency
	boolean setAutoNAVVELNED(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic VELNED reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoNAVVELNEDrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic VELNED reports
	boolean setAutoNAVVELNEDcallback(void (*callbackPointer)(UBX_NAV_VELNED_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic VELNED reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoNAVVELNED(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and VELNED is send cyclically already
	void flushNAVVELNED(); //Mark all the data as read/stale
	void logNAVVELNED(boolean enabled = true); // Log data to file buffer

	boolean getNAVHPPOSECEF(uint16_t maxWait = defaultMaxWait); // NAV HPPOSECEF
	boolean setAutoNAVHPPOSECEF(boolean enabled, uint16_t maxWait = defaultMaxWait);  //Enable/disable automatic HPPOSECEF reports at the navigation frequency
	boolean setAutoNAVHPPOSECEF(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HPPOSECEF reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoNAVHPPOSECEFrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic HPPOSECEF reports
	boolean setAutoNAVHPPOSECEFcallback(void (*callbackPointer)(UBX_NAV_HPPOSECEF_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic HPPOSECEF reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoNAVHPPOSECEF(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and HPPOSECEF is send cyclically already
	void flushNAVHPPOSECEF(); //Mark all the data as read/stale
	void logNAVHPPOSECEF(boolean enabled = true); // Log data to file buffer

	boolean getHPPOSLLH(uint16_t maxWait = defaultMaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new HPPOSLLH is available.
	boolean setAutoHPPOSLLH(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HPPOSLLH reports at the navigation frequency
	boolean setAutoHPPOSLLH(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HPPOSLLH reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoHPPOSLLHrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic HPPOSLLH reports
	boolean setAutoHPPOSLLHcallback(void (*callbackPointer)(UBX_NAV_HPPOSLLH_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic HPPOSLLH reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoHPPOSLLH(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and HPPOSLLH is send cyclically already
	void flushHPPOSLLH(); //Mark all the HPPPOSLLH data as read/stale. This is handy to get data alignment after CRC failure
	void logNAVHPPOSLLH(boolean enabled = true); // Log data to file buffer

	boolean getNAVCLOCK(uint16_t maxWait = defaultMaxWait); // NAV CLOCK
	boolean setAutoNAVCLOCK(boolean enabled, uint16_t maxWait = defaultMaxWait);  //Enable/disable automatic clock reports at the navigation frequency
	boolean setAutoNAVCLOCK(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic clock reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoNAVCLOCKrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic CLOCK reports
	boolean setAutoNAVCLOCKcallback(void (*callbackPointer)(UBX_NAV_CLOCK_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic CLOCK reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoNAVCLOCK(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and clock is send cyclically already
	void flushNAVCLOCK(); //Mark all the data as read/stale
	void logNAVCLOCK(boolean enabled = true); // Log data to file buffer

	// Add "auto" support for NAV SVIN - to avoid needing 'global' storage
	boolean getSurveyStatus(uint16_t maxWait); //Reads survey in status

	// Add "auto" support for NAV TIMELS - to avoid needing 'global' storage
	boolean getLeapSecondEvent(uint16_t maxWait); //Reads leap second event info

	boolean getRELPOSNED(uint16_t maxWait = defaultMaxWait); //Get Relative Positioning Information of the NED frame
	boolean setAutoRELPOSNED(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic RELPOSNED reports
	boolean setAutoRELPOSNED(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic RELPOSNED, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoRELPOSNEDrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic RELPOSNEDreports
	boolean setAutoRELPOSNEDcallback(void (*callbackPointer)(UBX_NAV_RELPOSNED_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic RELPOSNED reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoRELPOSNED(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and RELPOSNED is send cyclically already
	void flushNAVRELPOSNED(); //Mark all the data as read/stale
	void logNAVRELPOSNED(boolean enabled = true); // Log data to file buffer

	// Receiver Manager Messages (RXM)

	boolean getRXMSFRBX(uint16_t maxWait = defaultMaxWait); // RXM SFRBX
	boolean setAutoRXMSFRBX(boolean enabled, uint16_t maxWait = defaultMaxWait);  //Enable/disable automatic RXM SFRBX reports at the navigation frequency
	boolean setAutoRXMSFRBX(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic RXM SFRBX reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoRXMSFRBXrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic SFRBX reports
	boolean setAutoRXMSFRBXcallback(void (*callbackPointer)(UBX_RXM_SFRBX_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic SFRBX reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoRXMSFRBX(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and RXM SFRBX is send cyclically already
	void flushRXMSFRBX(); //Mark all the data as read/stale
	void logRXMSFRBX(boolean enabled = true); // Log data to file buffer

	boolean getRXMRAWX(uint16_t maxWait = defaultMaxWait); // RXM RAWX
	boolean setAutoRXMRAWX(boolean enabled, uint16_t maxWait = defaultMaxWait);  //Enable/disable automatic RXM RAWX reports at the navigation frequency
	boolean setAutoRXMRAWX(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic RXM RAWX reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoRXMRAWXrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic RAWX reports
	boolean setAutoRXMRAWXcallback(void (*callbackPointer)(UBX_RXM_RAWX_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic RAWX reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoRXMRAWX(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and RXM RAWX is send cyclically already
	void flushRXMRAWX(); //Mark all the data as read/stale
	void logRXMRAWX(boolean enabled = true); // Log data to file buffer

	// Configuration (CFG)

	// Add "auto" support for CFG RATE - because we use it for isConnected (to stop it being mugged by other messages)
	boolean getNavigationFrequencyInternal(uint16_t maxWait = defaultMaxWait); //Get the number of nav solutions sent per second currently being output by module

	// Timing messages (TIM)

	boolean getTIMTM2(uint16_t maxWait = defaultMaxWait); // TIM TM2
	boolean setAutoTIMTM2(boolean enabled, uint16_t maxWait = defaultMaxWait);  //Enable/disable automatic TIM TM2 reports at the navigation frequency
	boolean setAutoTIMTM2(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic TIM TM2 reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoTIMTM2rate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic TIM TM2 reports
	boolean setAutoTIMTM2callback(void (*callbackPointer)(UBX_TIM_TM2_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic TM2 reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoTIMTM2(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and TIM TM2 is send cyclically already
	void flushTIMTM2(); //Mark all the data as read/stale
	void logTIMTM2(boolean enabled = true); // Log data to file buffer

	// Sensor fusion (dead reckoning) (ESF)

	boolean getEsfAlignment(uint16_t maxWait = defaultMaxWait); // ESF ALG Helper
	boolean getESFALG(uint16_t maxWait = defaultMaxWait); // ESF ALG
	boolean setAutoESFALG(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ESF ALG reports
	boolean setAutoESFALG(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ESF ALG reports, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoESFALGrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic ALG reports
	boolean setAutoESFALGcallback(void (*callbackPointer)(UBX_ESF_ALG_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic ALG reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoESFALG(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and ESF ALG is send cyclically already
	void flushESFALG(); //Mark all the data as read/stale
	void logESFALG(boolean enabled = true); // Log data to file buffer

	boolean getEsfInfo(uint16_t maxWait = defaultMaxWait); // ESF STATUS Helper
	boolean getESFSTATUS(uint16_t maxWait = defaultMaxWait); // ESF STATUS
	boolean setAutoESFSTATUS(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ESF STATUS reports
	boolean setAutoESFSTATUS(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ESF STATUS reports, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoESFSTATUSrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic STATUS reports
	boolean setAutoESFSTATUScallback(void (*callbackPointer)(UBX_ESF_STATUS_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic STATUS reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoESFSTATUS(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and ESF STATUS is send cyclically already
	void flushESFSTATUS(); //Mark all the data as read/stale
	void logESFSTATUS(boolean enabled = true); // Log data to file buffer

	boolean getEsfIns(uint16_t maxWait = defaultMaxWait); // ESF INS Helper
	boolean getESFINS(uint16_t maxWait = defaultMaxWait); // ESF INS
	boolean setAutoESFINS(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ESF INS reports
	boolean setAutoESFINS(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ESF INS reports, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoESFINSrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic INS reports
	boolean setAutoESFINScallback(void (*callbackPointer)(UBX_ESF_INS_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic INS reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoESFINS(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and ESF INS is send cyclically already
	void flushESFINS(); //Mark all the data as read/stale
	void logESFINS(boolean enabled = true); // Log data to file buffer

	boolean getEsfDataInfo(uint16_t maxWait = defaultMaxWait); // ESF MEAS Helper
	boolean getESFMEAS(uint16_t maxWait = defaultMaxWait); // ESF MEAS
	boolean setAutoESFMEAS(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ESF MEAS reports
	boolean setAutoESFMEAS(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ESF MEAS reports, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoESFMEASrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic MEAS reports
	boolean setAutoESFMEAScallback(void (*callbackPointer)(UBX_ESF_MEAS_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic MEAS reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoESFMEAS(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and ESF MEAS is send cyclically already
	void flushESFMEAS(); //Mark all the data as read/stale
	void logESFMEAS(boolean enabled = true); // Log data to file buffer

	boolean getEsfRawDataInfo(uint16_t maxWait = defaultMaxWait); // ESF RAW Helper
	boolean getESFRAW(uint16_t maxWait = defaultMaxWait); // ESF RAW
	boolean setAutoESFRAW(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ESF RAW reports
	boolean setAutoESFRAW(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic ESF RAW reports, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoESFRAWrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic RAW reports
	boolean setAutoESFRAWcallback(void (*callbackPointer)(UBX_ESF_RAW_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic RAW reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoESFRAW(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and ESF RAW is send cyclically already
	void flushESFRAW(); //Mark all the data as read/stale
	void logESFRAW(boolean enabled = true); // Log data to file buffer

	// High navigation rate (HNR)

	boolean getHNRAtt(uint16_t maxWait = defaultMaxWait); // HNR ATT Helper
	boolean getHNRATT(uint16_t maxWait = defaultMaxWait); // Returns true if the get HNR attitude is successful
	boolean setAutoHNRATT(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HNR Attitude reports at the HNR rate
	boolean setAutoHNRATT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HNR Attitude reports at the HNR rate, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoHNRATTrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic ATT reports
	boolean setAutoHNRATTcallback(void (*callbackPointer)(UBX_HNR_ATT_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic ATT reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoHNRATT(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and HNR Attitude is send cyclically already
	void flushHNRATT(); //Mark all the data as read/stale
	void logHNRATT(boolean enabled = true); // Log data to file buffer

	boolean getHNRDyn(uint16_t maxWait = defaultMaxWait); // HNR INS Helper
	boolean getHNRINS(uint16_t maxWait = defaultMaxWait); // Returns true if the get HNR dynamics is successful
	boolean setAutoHNRINS(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HNR dynamics reports at the HNR rate
	boolean setAutoHNRINS(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HNR dynamics reports at the HNR rate, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoHNRINSrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic INS reports
	boolean setAutoHNRINScallback(void (*callbackPointer)(UBX_HNR_INS_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic INS reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoHNRINS(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and HNR dynamics is send cyclically already
	void flushHNRINS(); //Mark all the data as read/stale
	void logHNRINS(boolean enabled = true); // Log data to file buffer

	boolean getHNRPVT(uint16_t maxWait = defaultMaxWait); // Returns true if the get HNR PVT is successful
	boolean setAutoHNRPVT(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HNR PVT reports at the HNR rate
	boolean setAutoHNRPVT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HNR PVT reports at the HNR rate, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
	boolean setAutoHNRPVTrate(uint8_t rate, boolean implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic PVT reports
	boolean setAutoHNRPVTcallback(void (*callbackPointer)(UBX_HNR_PVT_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic PVT reports at the navigation frequency. Data is accessed from the callback.
	boolean assumeAutoHNRPVT(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and HNR PVT is send cyclically already
	void flushHNRPVT(); //Mark all the data as read/stale
	void logHNRPVT(boolean enabled = true); // Log data to file buffer

	// Helper functions for NMEA logging
	void setNMEALoggingMask(uint32_t messages = SFE_UBLOX_FILTER_NMEA_ALL); // Add selected NMEA messages to file buffer - if enabled. Default to adding ALL messages to the file buffer
	uint32_t getNMEALoggingMask(); // Return which NMEA messages are selected for logging to the file buffer - if enabled

	// Helper functions to control which NMEA messages are passed to processNMEA
	void setProcessNMEAMask(uint32_t messages = SFE_UBLOX_FILTER_NMEA_ALL); // Control which NMEA messages are passed to processNMEA. Default to passing ALL messages
	uint32_t getProcessNMEAMask(); // Return which NMEA messages are passed to processNMEA

	// Helper functions for CFG RATE

	boolean setNavigationFrequency(uint8_t navFreq, uint16_t maxWait = defaultMaxWait);	//Set the number of nav solutions sent per second
	uint8_t getNavigationFrequency(uint16_t maxWait = defaultMaxWait);					//Get the number of nav solutions sent per second currently being output by module
	boolean setMeasurementRate(uint16_t rate, uint16_t maxWait = defaultMaxWait);		//Set the elapsed time between GNSS measurements in milliseconds, which defines the rate
	uint16_t getMeasurementRate(uint16_t maxWait = defaultMaxWait);					 	//Return the elapsed time between GNSS measurements in milliseconds
	boolean setNavigationRate(uint16_t rate, uint16_t maxWait = defaultMaxWait);		//Set the ratio between the number of measurements and the number of navigation solutions. Unit is cycles. Max is 127
	uint16_t getNavigationRate(uint16_t maxWait = defaultMaxWait);					 	//Return the ratio between the number of measurements and the number of navigation solutions. Unit is cycles
	void flushCFGRATE(); // Mark the measurement and navigation rate data as stale - used by the set rate functions

	// Helper functions for DOP

	uint16_t getGeometricDOP(uint16_t maxWait = defaultMaxWait);
	uint16_t getPositionDOP(uint16_t maxWait = defaultMaxWait);
	uint16_t getTimeDOP(uint16_t maxWait = defaultMaxWait);
	uint16_t getVerticalDOP(uint16_t maxWait = defaultMaxWait);
	uint16_t getHorizontalDOP(uint16_t maxWait = defaultMaxWait);
	uint16_t getNorthingDOP(uint16_t maxWait = defaultMaxWait);
	uint16_t getEastingDOP(uint16_t maxWait = defaultMaxWait);

	// Helper functions for ATT

	float getATTroll(uint16_t maxWait = defaultMaxWait); // Returned as degrees
	float getATTpitch(uint16_t maxWait = defaultMaxWait); // Returned as degrees
	float getATTheading(uint16_t maxWait = defaultMaxWait); // Returned as degrees

	// Helper functions for PVT

	uint32_t getTimeOfWeek(uint16_t maxWait = defaultMaxWait);
	uint16_t getYear(uint16_t maxWait = defaultMaxWait);
	uint8_t getMonth(uint16_t maxWait = defaultMaxWait);
	uint8_t getDay(uint16_t maxWait = defaultMaxWait);
	uint8_t getHour(uint16_t maxWait = defaultMaxWait);
	uint8_t getMinute(uint16_t maxWait = defaultMaxWait);
	uint8_t getSecond(uint16_t maxWait = defaultMaxWait);
	uint16_t getMillisecond(uint16_t maxWait = defaultMaxWait);
	int32_t getNanosecond(uint16_t maxWait = defaultMaxWait);
	uint32_t getUnixEpoch(uint16_t maxWait = defaultMaxWait);
	uint32_t getUnixEpoch(uint32_t& microsecond, uint16_t maxWait = defaultMaxWait);

	bool getDateValid(uint16_t maxWait = defaultMaxWait);
	bool getTimeValid(uint16_t maxWait = defaultMaxWait);
	bool getTimeFullyResolved(uint16_t maxWait = defaultMaxWait);
	bool getConfirmedDate(uint16_t maxWait = defaultMaxWait);
	bool getConfirmedTime(uint16_t maxWait = defaultMaxWait);

	uint8_t getFixType(uint16_t maxWait = defaultMaxWait); //Returns the type of fix: 0=no, 3=3D, 4=GNSS+Deadreckoning

	bool getGnssFixOk(uint16_t maxWait = defaultMaxWait); //Get whether we have a valid fix (i.e within DOP & accuracy masks)
	bool getDiffSoln(uint16_t maxWait = defaultMaxWait); //Get whether differential corrections were applied
	bool getHeadVehValid(uint16_t maxWait = defaultMaxWait);
	uint8_t getCarrierSolutionType(uint16_t maxWait = defaultMaxWait); //Returns RTK solution: 0=no, 1=float solution, 2=fixed solution

	uint8_t getSIV(uint16_t maxWait = defaultMaxWait); //Returns number of sats used in fix
	int32_t getLongitude(uint16_t maxWait = defaultMaxWait); //Returns the current longitude in degrees * 10-7. Auto selects between HighPrecision and Regular depending on ability of module.
	int32_t getLatitude(uint16_t maxWait = defaultMaxWait); //Returns the current latitude in degrees * 10^-7. Auto selects between HighPrecision and Regular depending on ability of module.
	int32_t getAltitude(uint16_t maxWait = defaultMaxWait); //Returns the current altitude in mm above ellipsoid
	int32_t getAltitudeMSL(uint16_t maxWait = defaultMaxWait); //Returns the current altitude in mm above mean sea level
	int32_t getHorizontalAccEst(uint16_t maxWait = defaultMaxWait);
	int32_t getVerticalAccEst(uint16_t maxWait = defaultMaxWait);
	int32_t getNedNorthVel(uint16_t maxWait = defaultMaxWait);
	int32_t getNedEastVel(uint16_t maxWait = defaultMaxWait);
	int32_t getNedDownVel(uint16_t maxWait = defaultMaxWait);
	int32_t getGroundSpeed(uint16_t maxWait = defaultMaxWait); //Returns speed in mm/s
	int32_t getHeading(uint16_t maxWait = defaultMaxWait); //Returns heading in degrees * 10^-5
	uint32_t getSpeedAccEst(uint16_t maxWait = defaultMaxWait);
	uint32_t getHeadingAccEst(uint16_t maxWait = defaultMaxWait);
	uint16_t getPDOP(uint16_t maxWait = defaultMaxWait); //Returns positional dillution of precision * 10^-2 (dimensionless)

	bool getInvalidLlh(uint16_t maxWait = defaultMaxWait);

	int32_t getHeadVeh(uint16_t maxWait = defaultMaxWait);
	int16_t getMagDec(uint16_t maxWait = defaultMaxWait);
	uint16_t getMagAcc(uint16_t maxWait = defaultMaxWait);

	int32_t getGeoidSeparation(uint16_t maxWait = defaultMaxWait);

	// Helper functions for HPPOSECEF

	uint32_t getPositionAccuracy(uint16_t maxWait = 1100); //Returns the 3D accuracy of the current high-precision fix, in mm. Supported on NEO-M8P, ZED-F9P,

	// Helper functions for HPPOSLLH

	uint32_t getTimeOfWeekFromHPPOSLLH(uint16_t maxWait = defaultMaxWait);
	int32_t getHighResLongitude(uint16_t maxWait = defaultMaxWait);
	int32_t getHighResLatitude(uint16_t maxWait = defaultMaxWait);
	int32_t getElipsoid(uint16_t maxWait = defaultMaxWait);
	int32_t getMeanSeaLevel(uint16_t maxWait = defaultMaxWait);
	int8_t getHighResLongitudeHp(uint16_t maxWait = defaultMaxWait);
	int8_t getHighResLatitudeHp(uint16_t maxWait = defaultMaxWait);
	int8_t getElipsoidHp(uint16_t maxWait = defaultMaxWait);
	int8_t getMeanSeaLevelHp(uint16_t maxWait = defaultMaxWait);
	uint32_t getHorizontalAccuracy(uint16_t maxWait = defaultMaxWait);
	uint32_t getVerticalAccuracy(uint16_t maxWait = defaultMaxWait);

	// Helper functions for SVIN

	boolean getSurveyInActive(uint16_t maxWait = defaultMaxWait);
	boolean getSurveyInValid(uint16_t maxWait = defaultMaxWait);
	uint16_t getSurveyInObservationTime(uint16_t maxWait = defaultMaxWait); // Truncated to 65535 seconds
	float getSurveyInMeanAccuracy(uint16_t maxWait = defaultMaxWait); // Returned as m

	// Helper functions for TIMELS

	uint8_t getLeapIndicator(int32_t& timeToLsEvent, uint16_t maxWait = defaultMaxWait);
	int8_t getCurrentLeapSeconds(sfe_ublox_ls_src_e& source, uint16_t maxWait = defaultMaxWait);

	// Helper functions for RELPOSNED

	float getRelPosN(uint16_t maxWait = defaultMaxWait); // Returned as m
	float getRelPosE(uint16_t maxWait = defaultMaxWait); // Returned as m
	float getRelPosD(uint16_t maxWait = defaultMaxWait); // Returned as m
	float getRelPosAccN(uint16_t maxWait = defaultMaxWait); // Returned as m
	float getRelPosAccE(uint16_t maxWait = defaultMaxWait); // Returned as m
	float getRelPosAccD(uint16_t maxWait = defaultMaxWait); // Returned as m

	// Helper functions for ESF

	float getESFroll(uint16_t maxWait = defaultMaxWait); // Returned as degrees
	float getESFpitch(uint16_t maxWait = defaultMaxWait); // Returned as degrees
	float getESFyaw(uint16_t maxWait = defaultMaxWait); // Returned as degrees
	boolean getSensorFusionMeasurement(UBX_ESF_MEAS_sensorData_t *sensorData, uint8_t sensor, uint16_t maxWait = defaultMaxWait);
	boolean getSensorFusionMeasurement(UBX_ESF_MEAS_sensorData_t *sensorData, UBX_ESF_MEAS_data_t ubxDataStruct, uint8_t sensor);
	boolean getRawSensorMeasurement(UBX_ESF_RAW_sensorData_t *sensorData, uint8_t sensor, uint16_t maxWait = defaultMaxWait);
	boolean getRawSensorMeasurement(UBX_ESF_RAW_sensorData_t *sensorData, UBX_ESF_RAW_data_t ubxDataStruct, uint8_t sensor);
	boolean getSensorFusionStatus(UBX_ESF_STATUS_sensorStatus_t *sensorStatus, uint8_t sensor, uint16_t maxWait = defaultMaxWait);
	boolean getSensorFusionStatus(UBX_ESF_STATUS_sensorStatus_t *sensorStatus, UBX_ESF_STATUS_data_t ubxDataStruct, uint8_t sensor);

	// Helper functions for HNR

	boolean setHNRNavigationRate(uint8_t rate, uint16_t maxWait = 1100); // Returns true if the setHNRNavigationRate is successful
	uint8_t getHNRNavigationRate(uint16_t maxWait = 1100); // Returns 0 if the getHNRNavigationRate fails
	float getHNRroll(uint16_t maxWait = defaultMaxWait); // Returned as degrees
	float getHNRpitch(uint16_t maxWait = defaultMaxWait); // Returned as degrees
	float getHNRheading(uint16_t maxWait = defaultMaxWait); // Returned as degrees

	// Functions to extract signed and unsigned 8/16/32-bit data from a ubxPacket
	// From v2.0: These are public. The user can call these to extract data from custom packets
	uint32_t extractLong(ubxPacket *msg, uint8_t spotToStart); //Combine four bytes from payload into long
	int32_t extractSignedLong(ubxPacket *msg, uint8_t spotToStart); //Combine four bytes from payload into signed long (avoiding any ambiguity caused by casting)
	uint16_t extractInt(ubxPacket *msg, uint8_t spotToStart); //Combine two bytes from payload into int
	int16_t extractSignedInt(ubxPacket *msg, int8_t spotToStart);
	uint8_t extractByte(ubxPacket *msg, uint8_t spotToStart); //Get byte from payload
	int8_t extractSignedChar(ubxPacket *msg, uint8_t spotToStart); //Get signed 8-bit value from payload

	// Pointers to storage for the "automatic" messages
	// RAM is allocated for these if/when required.

	UBX_NAV_POSECEF_t *packetUBXNAVPOSECEF = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_NAV_STATUS_t *packetUBXNAVSTATUS = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_NAV_DOP_t *packetUBXNAVDOP = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_NAV_ATT_t *packetUBXNAVATT = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_NAV_PVT_t *packetUBXNAVPVT = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_NAV_ODO_t *packetUBXNAVODO = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_NAV_VELECEF_t *packetUBXNAVVELECEF = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_NAV_VELNED_t *packetUBXNAVVELNED = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_NAV_HPPOSECEF_t *packetUBXNAVHPPOSECEF = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_NAV_HPPOSLLH_t *packetUBXNAVHPPOSLLH = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_NAV_CLOCK_t *packetUBXNAVCLOCK = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_NAV_TIMELS_t *packetUBXNAVTIMELS = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_NAV_SVIN_t *packetUBXNAVSVIN = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_NAV_RELPOSNED_t *packetUBXNAVRELPOSNED = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary

	UBX_RXM_SFRBX_t *packetUBXRXMSFRBX = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_RXM_RAWX_t *packetUBXRXMRAWX = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary

	UBX_CFG_RATE_t *packetUBXCFGRATE = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary

	UBX_TIM_TM2_t *packetUBXTIMTM2 = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary

	UBX_ESF_ALG_t *packetUBXESFALG = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_ESF_INS_t *packetUBXESFINS = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_ESF_MEAS_t *packetUBXESFMEAS = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_ESF_RAW_t *packetUBXESFRAW = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_ESF_STATUS_t *packetUBXESFSTATUS = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary

	UBX_HNR_PVT_t *packetUBXHNRPVT = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_HNR_ATT_t *packetUBXHNRATT = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
	UBX_HNR_INS_t *packetUBXHNRINS = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary

	uint16_t rtcmFrameCounter = 0; //Tracks the type of incoming byte inside RTCM frame

private:
	//Depending on the sentence type the processor will load characters into different arrays
	enum SentenceTypes
	{
		NONE = 0,
		NMEA,
		UBX,
		RTCM
	} currentSentence = NONE;

	//Depending on the ubx binary response class, store binary responses into different places
	enum classTypes
	{
		CLASS_NONE = 0,
		CLASS_ACK,
		CLASS_NOT_AN_ACK
	} ubxFrameClass = CLASS_NONE;

	enum commTypes
	{
		COMM_TYPE_I2C = 0,
		COMM_TYPE_SERIAL,
		COMM_TYPE_SPI
	} commType = COMM_TYPE_I2C; //Controls which port we look to for incoming bytes

	//Functions
	boolean checkUbloxInternal(ubxPacket *incomingUBX, uint8_t requestedClass = 255, uint8_t requestedID = 255); //Checks module with user selected commType
	void addToChecksum(uint8_t incoming);																		 //Given an incoming byte, adjust rollingChecksumA/B

	//Return true if this "automatic" message has storage allocated for it
	boolean checkAutomatic(uint8_t Class, uint8_t ID);

	//Calculate how much RAM is needed to store the payload for a given automatic message
	uint16_t getMaxPayloadSize(uint8_t Class, uint8_t ID);

	//Do the actual transfer to SPI
	void spiTransfer(uint8_t byteToTransfer);

	boolean initGeofenceParams(); // Allocate RAM for currentGeofenceParams and initialize it
	boolean initModuleSWVersion(); // Allocate RAM for moduleSWVersion and initialize it

	// The initPacket functions need to be private as they don't check if memory has already been allocated.
	// Functions like setAutoNAVPOSECEF will check that memory has not been allocated before calling initPacket.
	boolean initPacketUBXNAVPOSECEF(); // Allocate RAM for packetUBXNAVPOSECEF and initialize it
	boolean initPacketUBXNAVSTATUS(); // Allocate RAM for packetUBXNAVSTATUS and initialize it
	boolean initPacketUBXNAVDOP(); // Allocate RAM for packetUBXNAVDOP and initialize it
	boolean initPacketUBXNAVATT(); // Allocate RAM for packetUBXNAVATT and initialize it
	boolean initPacketUBXNAVPVT(); // Allocate RAM for packetUBXNAVPVT and initialize it
	boolean initPacketUBXNAVODO(); // Allocate RAM for packetUBXNAVODO and initialize it
	boolean initPacketUBXNAVVELECEF(); // Allocate RAM for packetUBXNAVVELECEF and initialize it
	boolean initPacketUBXNAVVELNED(); // Allocate RAM for packetUBXNAVVELNED and initialize it
	boolean initPacketUBXNAVHPPOSECEF(); // Allocate RAM for packetUBXNAVHPPOSECEF and initialize it
	boolean initPacketUBXNAVHPPOSLLH(); // Allocate RAM for packetUBXNAVHPPOSLLH and initialize it
	boolean initPacketUBXNAVCLOCK(); // Allocate RAM for packetUBXNAVCLOCK and initialize it
	boolean initPacketUBXNAVTIMELS(); // Allocate RAM for packetUBXNAVTIMELS and initialize it
	boolean initPacketUBXNAVSVIN(); // Allocate RAM for packetUBXNAVSVIN and initialize it
	boolean initPacketUBXNAVRELPOSNED(); // Allocate RAM for packetUBXNAVRELPOSNED and initialize it
	boolean initPacketUBXRXMSFRBX(); // Allocate RAM for packetUBXRXMSFRBX and initialize it
	boolean initPacketUBXRXMRAWX(); // Allocate RAM for packetUBXRXMRAWX and initialize it
	boolean initPacketUBXCFGRATE(); // Allocate RAM for packetUBXCFGRATE and initialize it
	boolean initPacketUBXTIMTM2(); // Allocate RAM for packetUBXTIMTM2 and initialize it
	boolean initPacketUBXESFALG(); // Allocate RAM for packetUBXESFALG and initialize it
	boolean initPacketUBXESFSTATUS(); // Allocate RAM for packetUBXESFSTATUS and initialize it
	boolean initPacketUBXESFINS(); // Allocate RAM for packetUBXESFINS and initialize it
	boolean initPacketUBXESFMEAS(); // Allocate RAM for packetUBXESFMEAS and initialize it
	boolean initPacketUBXESFRAW(); // Allocate RAM for packetUBXESFRAW and initialize it
	boolean initPacketUBXHNRATT(); // Allocate RAM for packetUBXHNRATT and initialize it
	boolean initPacketUBXHNRINS(); // Allocate RAM for packetUBXHNRINS and initialize it
	boolean initPacketUBXHNRPVT(); // Allocate RAM for packetUBXHNRPVT and initialize it

	//Variables
	TwoWire *_i2cPort;				//The generic connection to user's chosen I2C hardware
	Stream *_serialPort;			//The generic connection to user's chosen Serial hardware
	Stream *_nmeaOutputPort = NULL; //The user can assign an output port to print NMEA sentences if they wish
	Stream *_debugSerial;			//The stream to send debug messages to if enabled

	SPIClass *_spiPort;				//The instance of SPIClass
	uint8_t _csPin;					//The chip select pin
	uint32_t _spiSpeed;				//The speed to use for SPI (Hz)

	uint8_t _gpsI2Caddress = 0x42; //Default 7-bit unshifted address of the ublox 6/7/8/M8/F9 series
	//This can be changed using the ublox configuration software

	boolean _printDebug = false;		//Flag to print the serial commands we are sending to the Serial port for debug
	boolean _printLimitedDebug = false; //Flag to print limited debug messages. Useful for I2C debugging or high navigation rates

	boolean ubx7FcheckDisabled = false; // Flag to indicate if the "7F" check should be ignored in checkUbloxI2C

	sfe_ublox_nmea_filtering_t _logNMEA; // Flags to indicate which NMEA messages should be added to the file buffer for logging
	sfe_ublox_nmea_filtering_t _processNMEA; // Flags to indicate which NMEA messages should be passed to processNMEA

	//The packet buffers
	//These are pointed at from within the ubxPacket
	uint8_t payloadAck[2];				  // Holds the requested ACK/NACK
	uint8_t payloadBuf[2];				  // Temporary buffer used to screen incoming packets or dump unrequested packets
	size_t packetCfgPayloadSize = 0; // Size for the packetCfg payload. .begin will set this to MAX_PAYLOAD_SIZE if necessary. User can change with setPacketCfgPayloadSize
	uint8_t *payloadCfg = NULL;
	uint8_t *payloadAuto = NULL;

	uint8_t *spiBuffer = NULL; 				// A buffer to store any bytes being recieved back from the device while we are sending via SPI
	uint8_t spiBufferIndex = 0;				// Index into the SPI buffer
	uint8_t spiTransactionSize = SFE_UBLOX_SPI_BUFFER_SIZE;	//Default size of the SPI buffer

	//Init the packet structures and init them with pointers to the payloadAck, payloadCfg, payloadBuf and payloadAuto arrays
	ubxPacket packetAck = {0, 0, 0, 0, 0, payloadAck, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
	ubxPacket packetBuf = {0, 0, 0, 0, 0, payloadBuf, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
	ubxPacket packetCfg = {0, 0, 0, 0, 0, payloadCfg, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
	ubxPacket packetAuto = {0, 0, 0, 0, 0, payloadAuto, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};

	//Flag if this packet is unrequested (and so should be ignored and not copied into packetCfg or packetAck)
	boolean ignoreThisPayload = false;

	//Identify which buffer is in use
	//Data is stored in packetBuf until the requested class and ID can be validated
	//If a match is seen, data is diverted into packetAck or packetCfg
	//"Automatic" messages which have RAM allocated for them are diverted into packetAuto
	sfe_ublox_packet_buffer_e activePacketBuffer = SFE_UBLOX_PACKET_PACKETBUF;

	//Limit checking of new data to every X ms
	//If we are expecting an update every X Hz then we should check every quarter that amount of time
	//Otherwise we may block ourselves from seeing new data
	uint8_t i2cPollingWait = 100; //Default to 100ms. Adjusted when user calls setNavigationFrequency() or setHNRNavigationRate() or setMeasurementRate()
	uint8_t i2cPollingWaitNAV = 100; //We need to record the desired polling rate for standard nav messages
	uint8_t i2cPollingWaitHNR = 100; //and for HNR too so we can set i2cPollingWait to the lower of the two

	//The SPI polling wait is a little different. checkUbloxSpi will delay for this amount before returning if
	//there is no data waiting to be read. This prevents waitForACKResponse from pounding the SPI bus too hard.
	uint8_t spiPollingWait = 9; //Default to 9ms; waitForACKResponse delays for 1ms on top of this. User can adjust with setSPIPollingWait.

	unsigned long lastCheck = 0;

	uint16_t ubxFrameCounter; //Count all UBX frame bytes. [Fixed header(2bytes), CLS(1byte), ID(1byte), length(2bytes), payload(x bytes), checksums(2bytes)]
	uint8_t rollingChecksumA; //Rolls forward as we receive incoming bytes. Checked against the last two A/B checksum bytes
	uint8_t rollingChecksumB; //Rolls forward as we receive incoming bytes. Checked against the last two A/B checksum bytes

	int8_t nmeaByteCounter;				//Count all NMEA message bytes.
	// Abort NMEA message reception if nmeaByteCounter exceeds maxNMEAByteCount.
	// The user can adjust maxNMEAByteCount by calling setMaxNMEAByteCount
	int8_t maxNMEAByteCount = SFE_UBLOX_MAX_NMEA_BYTE_COUNT;
	uint8_t nmeaAddressField[6];		// NMEA Address Field - includes the start character (*)
	boolean logThisNMEA();				// Return true if we should log this NMEA message
	boolean processThisNMEA();			// Return true if we should pass this NMEA message to processNMEA

	uint16_t rtcmLen = 0;

	// Flag to prevent reentry into checkCallbacks
	// Prevent badness if the user accidentally calls checkCallbacks from inside a callback
	volatile boolean checkCallbacksReentrant = false;

	// Support for data logging
	uint8_t *ubxFileBuffer = NULL; // Pointer to the file buffer. RAM is allocated for this if required in .begin
	uint16_t fileBufferSize = 0; // The size of the file buffer. This can be changed by calling setFileBufferSize _before_ .begin
	uint16_t fileBufferHead; // The incoming byte is written into the file buffer at this location
	uint16_t fileBufferTail; // The next byte to be read from the buffer will be read from this location
	uint16_t fileBufferMaxAvail = 0; // The maximum number of bytes the file buffer has contained. Handy for checking the buffer is large enough to handle all the incoming data.
	boolean createFileBuffer(void); // Create the file buffer. Called by .begin
	uint16_t fileBufferSpaceAvailable(void); // Check how much space is available in the buffer
	uint16_t fileBufferSpaceUsed(void); // Check how much space is used in the buffer
	boolean storePacket(ubxPacket *msg); // Add a UBX packet to the file buffer
	boolean storeFileBytes(uint8_t *theBytes, uint16_t numBytes); // Add theBytes to the file buffer
	void writeToFileBuffer(uint8_t *theBytes, uint16_t numBytes); // Write theBytes to the file buffer
};

#endif