diff --git a/examples/Dead_Reckoning/Example7_setESFAutoAlignment/Example7_setESFAutoAlignment.ino b/examples/Dead_Reckoning/Example7_setESFAutoAlignment/Example7_setESFAutoAlignment.ino new file mode 100644 index 0000000..17e2167 --- /dev/null +++ b/examples/Dead_Reckoning/Example7_setESFAutoAlignment/Example7_setESFAutoAlignment.ino @@ -0,0 +1,116 @@ +/* + By: Nathan Seidle + SparkFun Electronics + Date: August, 2021 + License: MIT. See license file for more information but you can + basically do whatever you want with this code. + + This example configures the AutoAlignment option for the IMU. + The ZED-F9R Integration guide recommends enabling Auto Alignment once + the device has been attached to the vehicle's frame. + Enabling auto-alignment will cause the the sensor fusion status + to begin initialization. After driving around a few turns, the sensors + should enter 'Calibrated' state. See example 1 for fusion state or + monitor UBX-ESF-STATUS. + + As of writing the ZED-F9R is using HPS v1.2 firmware. Please update using u-center if necessary. + + Feel like supporting open source hardware? + Buy a board from SparkFun! + ZED-F9R: https://www.sparkfun.com/products/16344 + ZED-F9R pHat: https://www.sparkfun.com/products/16475 + NEO-M8U: https://www.sparkfun.com/products/16329 + + Hardware Connections: + Plug a Qwiic cable into the GPS and a Redboard Qwiic + If you don't have a platform with a Qwiic connection use the + SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/17912) + Open the serial monitor at 115200 baud to see the output + +*/ + +#include //Needed for I2C to GPS + +#include //http://librarymanager/All#SparkFun_u-blox_GNSS +SFE_UBLOX_GNSS myGNSS; + +void setup() +{ + Serial.begin(115200); + while (!Serial); //Wait for user to open terminal + Serial.println(F("SparkFun u-blox Example")); + + Wire.begin(); + + //myGNSS.enableDebugging(); // Uncomment this line to enable debug messages on Serial + + if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port + { + Serial.println(F("Warning! u-blox GPS did not begin correctly.")); + Serial.println(F("(This may be because the I2C port is busy with HNR messages.)")); + } + + bool esfAutoAlignment = myGNSS.getESFAutoAlignment(); + Serial.print(F("esfAutoAlignment: ")); + if (esfAutoAlignment == true) + Serial.println(F("True")); + else + Serial.println(F("False")); + + myGNSS.setESFAutoAlignment(true); //Enable UBX-CFG-ESFALG Automatic IMU-mount Alignment + + myGNSS.setAutoHNRATT(false); //Make sure auto HNR attitude messages are disabled + myGNSS.setAutoHNRINS(false); //Make sure auto HNR vehicle dynamics messages are disabled + myGNSS.setAutoHNRPVT(false); //Make sure auto HNR PVT messages are disabled + + myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise) + myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR +} + +void loop() +{ + // ESF data is produced at the navigation rate, so by default we'll get fresh data once per second + if (myGNSS.getEsfInfo()) // Poll new ESF STATUS data + { + Serial.print(F("Fusion Mode: ")); + Serial.print(myGNSS.packetUBXESFSTATUS->data.fusionMode); + if (myGNSS.packetUBXESFSTATUS->data.fusionMode == 0) + Serial.println(F(" Sensor is initializing...")); + else if (myGNSS.packetUBXESFSTATUS->data.fusionMode == 1) + Serial.println(F(" Sensor is calibrated!")); + else if (myGNSS.packetUBXESFSTATUS->data.fusionMode == 2) + Serial.println(F(" Sensor fusion is suspended!")); + else if (myGNSS.packetUBXESFSTATUS->data.fusionMode == 3) + Serial.println(F(" Sensor fusion is disabled!")); + } + + // Poll and print selected HNR data + if (myGNSS.getHNRAtt(125) == true) // Request HNR Att data using a 125ms timeout + { + Serial.print(F("Roll: ")); + Serial.print(myGNSS.getHNRroll(), 2); // Use the helper function to get the roll in degrees + Serial.print(F(" Pitch: ")); + Serial.print(myGNSS.getHNRpitch(), 2); // Use the helper function to get the pitch in degrees + Serial.print(F(" Heading: ")); + Serial.println(myGNSS.getHNRheading(), 2); // Use the helper function to get the heading in degrees + } + if (myGNSS.getHNRDyn(125) == true) // Request HNR Dyn data using a 125ms timeout + { + Serial.print(F("xAccel: ")); + Serial.print(myGNSS.packetUBXHNRINS->data.xAccel); + Serial.print(F(" yAccel: ")); + Serial.print(myGNSS.packetUBXHNRINS->data.yAccel); + Serial.print(F(" zAccel: ")); + Serial.println(myGNSS.packetUBXHNRINS->data.zAccel); + } + if (myGNSS.getHNRPVT(125) == true) // Request HNR PVT data using a 125ms timeout + { + Serial.print(F("ns: ")); + Serial.print(myGNSS.packetUBXHNRPVT->data.nano); + Serial.print(F(" Lat: ")); + Serial.print(myGNSS.packetUBXHNRPVT->data.lat); + Serial.print(F(" Lon: ")); + Serial.println(myGNSS.packetUBXHNRPVT->data.lon); + } + +} \ No newline at end of file diff --git a/examples/Example1_BasicNMEARead/Example1_BasicNMEARead.ino b/examples/Example1_BasicNMEARead/Example1_BasicNMEARead.ino index 55a7a23..3ecdf04 100644 --- a/examples/Example1_BasicNMEARead/Example1_BasicNMEARead.ino +++ b/examples/Example1_BasicNMEARead/Example1_BasicNMEARead.ino @@ -23,7 +23,7 @@ #include //Needed for I2C to GNSS -#include //Click here to get the library: http://librarymanager/All#SparkFun_Ublox_GPS +#include //Click here to get the library: http://librarymanager/All#SparkFun_u-blox_GNSS SFE_UBLOX_GNSS myGNSS; void setup() diff --git a/keys/ZED-F9P_InterfaceDescription_(UBX-18010854)_keys_sorted.txt b/keys/ZED-F9P_InterfaceDescription_(UBX-18010854)_keys_sorted.txt new file mode 100644 index 0000000..c7dd085 --- /dev/null +++ b/keys/ZED-F9P_InterfaceDescription_(UBX-18010854)_keys_sorted.txt @@ -0,0 +1,646 @@ +0x10050007 +0x10050008 +0x10050009 +0x1005000a +0x1005000b +0x10110013 +0x10110025 +0x10110061 +0x10220001 +0x10220002 +0x10220003 +0x10220004 +0x10240012 +0x10240020 +0x10240030 +0x10240040 +0x10240050 +0x10310001 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initPacketUBXESFRAW KEYWORD2 flushESFRAW KEYWORD2 logESFRAW KEYWORD2 +getESFAutoAlignment KEYWORD2 +setESFAutoAlignment KEYWORD2 + getHNRAtt KEYWORD2 getHNRATT KEYWORD2 setAutoHNRATT KEYWORD2 diff --git a/library.properties b/library.properties index 0a1e61b..50fbe0f 100644 --- a/library.properties +++ b/library.properties @@ -1,5 +1,5 @@ name=SparkFun u-blox GNSS Arduino Library -version=2.0.12 +version=2.0.13 author=SparkFun Electronics maintainer=SparkFun Electronics sentence=Library for I2C and Serial Communication with u-blox GNSS modules

diff --git a/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp b/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp index 22b2d6a..648060b 100644 --- a/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp +++ b/src/SparkFun_u-blox_GNSS_Arduino_Library.cpp @@ -5074,6 +5074,72 @@ boolean SFE_UBLOX_GNSS::resetIMUalignment(uint16_t maxWait) return (sendCommand(&packetCfg, maxWait, true) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK } +//UBX-CFG-ESFALG is not documented. This was found using u-center. +//Returns the state of the UBX-CFG-ESFALG 'Automatic IMU-mount Alignment' flag +bool SFE_UBLOX_GNSS::getESFAutoAlignment(uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_ESFALG; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) + { + #ifndef SFE_UBLOX_REDUCED_PROG_MEM + if (_printDebug == true) + { + _debugSerial->println(F("getESFAutoAlignment failed")); + } + #endif + + return (false); //If command send fails then bail + } + + return (payloadCfg[1] & 0b1); //Return Bit 0 +} + +//Set the state of the UBX-CFG-ESFALG 'Automatic IMU-mount Alignment' flag +bool SFE_UBLOX_GNSS::setESFAutoAlignment(bool enable, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_ESFALG; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) + { + #ifndef SFE_UBLOX_REDUCED_PROG_MEM + if (_printDebug == true) + { + _debugSerial->println(F("getESFAutoAlignment failed")); + } + #endif + + return (false); //If command send fails then bail + } + + //payloadCfg is now filled + + if (enable) + payloadCfg[1] |= 0b1; + else + payloadCfg[1] &= ~(0b1); + + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_SENT) // This time we are only expecting an ACK + { + #ifndef SFE_UBLOX_REDUCED_PROG_MEM + if (_printDebug == true) + { + _debugSerial->println(F("setESFAutoAlignment failed")); + } + #endif + return (false); + } + + return (true); +} + + //Get the time pulse parameters using UBX_CFG_TP5 boolean SFE_UBLOX_GNSS::getTimePulseParameters(UBX_CFG_TP5_data_t *data, uint16_t maxWait) { diff --git a/src/SparkFun_u-blox_GNSS_Arduino_Library.h b/src/SparkFun_u-blox_GNSS_Arduino_Library.h index 91c2321..a7fb2d7 100644 --- a/src/SparkFun_u-blox_GNSS_Arduino_Library.h +++ b/src/SparkFun_u-blox_GNSS_Arduino_Library.h @@ -766,6 +766,10 @@ class SFE_UBLOX_GNSS //Reset ESF automatic IMU-mount alignment boolean resetIMUalignment(uint16_t maxWait = defaultMaxWait); + //Enable/disable esfAutoAlignment + bool getESFAutoAlignment(uint16_t maxWait = defaultMaxWait); + bool setESFAutoAlignment(bool enable, uint16_t maxWait = defaultMaxWait); + //Configure Time Pulse Parameters boolean getTimePulseParameters(UBX_CFG_TP5_data_t *data = NULL, uint16_t maxWait = defaultMaxWait); // Get the time pulse parameters using UBX_CFG_TP5 boolean setTimePulseParameters(UBX_CFG_TP5_data_t *data = NULL, uint16_t maxWait = defaultMaxWait); // Set the time pulse parameters using UBX_CFG_TP5 diff --git a/src/u-blox_config_keys.h b/src/u-blox_config_keys.h index 9217d46..6caba0f 100644 --- a/src/u-blox_config_keys.h +++ b/src/u-blox_config_keys.h @@ -566,6 +566,217 @@ const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_UART1 = 0x20910093; // Output rat const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_UART2 = 0x20910094; // Output rate of the UBX-TIM-VRFY message on port UART2 const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_USB = 0x20910095; // Output rate of the UBX-TIM-VRFY message on port USB +//Additional CFG_MSGOUT keys for the ZED-F9R HPS120 +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_COV_I2C = 0x20910083; // Output rate of the UBX-NAV-COV message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_COV_UART1 = 0x20910084; // Output rate of the UBX-NAV-COV message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_COV_UART2 = 0x20910085; // Output rate of the UBX-NAV-COV message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_COV_USB = 0x20910086; // Output rate of the UBX-NAV-COV message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_COV_SPI = 0x20910087; // Output rate of the UBX-NAV-COV message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_THS_I2C = 0x209100e2; // Output rate of the NMEA-GX-THS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_THS_UART1 = 0x209100e3; // Output rate of the NMEA-GX-THS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_THS_UART2 = 0x209100e4; // Output rate of the NMEA-GX-THS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_THS_USB = 0x209100e5; // Output rate of the NMEA-GX-THS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_THS_SPI = 0x209100e6; // Output rate of the NMEA-GX-THS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_STATUS_I2C = 0x20910105; // Output rate of the UBX-ESF-STATUS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_STATUS_UART1 = 0x20910106; // Output rate of the UBX-ESF-STATUS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_STATUS_UART2 = 0x20910107; // Output rate of the UBX-ESF-STATUS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_STATUS_USB = 0x20910108; // Output rate of the UBX-ESF-STATUS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_STATUS_SPI = 0x20910109; // Output rate of the UBX-ESF-STATUS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_ALG_I2C = 0x2091010f; // Output rate of the UBX-ESF-ALG message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_ALG_UART1 = 0x20910110; // Output rate of the UBX-ESF-ALG message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_ALG_UART2 = 0x20910111; // Output rate of the UBX-ESF-ALG message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_ALG_USB = 0x20910112; // Output rate of the UBX-ESF-ALG message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_ALG_SPI = 0x20910113; // Output rate of the UBX-ESF-ALG message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_INS_I2C = 0x20910114; // Output rate of the UBX-ESF-INS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_INS_UART1 = 0x20910115; // Output rate of the UBX-ESF-INS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_INS_UART2 = 0x20910116; // Output rate of the UBX-ESF-INS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_INS_USB = 0x20910117; // Output rate of the UBX-ESF-INS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_INS_SPI = 0x20910118; // Output rate of the UBX-ESF-INS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_MEAS_I2C = 0x20910277; // Output rate of the UBX-ESF-MEAS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_MEAS_UART1 = 0x20910278; // Output rate of the UBX-ESF-MEAS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_MEAS_UART2 = 0x20910279; // Output rate of the UBX-ESF-MEAS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_MEAS_USB = 0x2091027a; // Output rate of the UBX-ESF-MEAS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_MEAS_SPI = 0x2091027b; // Output rate of the UBX-ESF-MEAS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_RAW_I2C = 0x2091029f; // Output rate of the UBX-ESF-RAW message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_RAW_UART1 = 0x209102a0; // Output rate of the UBX-ESF-RAW message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_RAW_UART2 = 0x209102a1; // Output rate of the UBX-ESF-RAW message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_RAW_USB = 0x209102a2; // Output rate of the UBX-ESF-RAW message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_ESF_RAW_SPI = 0x209102a3; // Output rate of the UBX-ESF-RAW message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_EELL_I2C = 0x20910313; // Output rate of the UBX-NAV-EELL message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_EELL_UART1 = 0x20910314; // Output rate of the UBX-NAV-EELL message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_EELL_UART2 = 0x20910315; // Output rate of the UBX-NAV-EELL message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_EELL_USB = 0x20910316; // Output rate of the UBX-NAV-EELL message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_EELL_SPI = 0x20910317; // Output rate of the UBX-NAV-EELL message on port SPI + +//Additional CFG_MSGOUT keys for the ZED-F9T +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GGA_I2C = 0x20910661; // Output rate of the NMEA-NAV2-GX-GGA message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GGA_SPI = 0x20910665; // Output rate of the NMEA-NAV2-GX-GGA message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GGA_UART1 = 0x20910662; // Output rate of the NMEA-NAV2-GX-GGA message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GGA_UART2 = 0x20910663; // Output rate of the NMEA-NAV2-GX-GGA message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GGA_USB = 0x20910664; // Output rate of the NMEA-NAV2-GX-GGA message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GLL_I2C = 0x20910670; // Output rate of the NMEA-NAV2-GX-GLL message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GLL_SPI = 0x20910674; // Output rate of the NMEA-NAV2-GX-GLL message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GLL_UART1 = 0x20910671; // Output rate of the NMEA-NAV2-GX-GLL message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GLL_UART2 = 0x20910672; // Output rate of the NMEA-NAV2-GX-GLL message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GLL_USB = 0x20910673; // Output rate of the NMEA-NAV2-GX-GLL message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GNS_I2C = 0x2091065c; // Output rate of the NMEA-NAV2-GX-GNS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GNS_SPI = 0x20910660; // Output rate of the NMEA-NAV2-GX-GNS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GNS_UART1 = 0x2091065d; // Output rate of the NMEA-NAV2-GX-GNS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GNS_UART2 = 0x2091065e; // Output rate of the NMEA-NAV2-GX-GNS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GNS_USB = 0x2091065f; // Output rate of the NMEA-NAV2-GX-GNS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GSA_I2C = 0x20910666; // Output rate of the NMEA-NAV2-GX-GSA message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GSA_SPI = 0x2091066a; // Output rate of the NMEA-NAV2-GX-GSA message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GSA_UART1 = 0x20910667; // Output rate of the NMEA-NAV2-GX-GSA message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GSA_UART2 = 0x20910668; // Output rate of the NMEA-NAV2-GX-GSA message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_GSA_USB = 0x20910669; // Output rate of the NMEA-NAV2-GX-GSA message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_RMC_I2C = 0x20910652; // Output rate of the NMEA-NAV2-GX-RMC message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_RMC_SPI = 0x20910656; // Output rate of the NMEA-NAV2-GX-RMC message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_RMC_UART1 = 0x20910653; // Output rate of the NMEA-NAV2-GX-RMC message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_RMC_UART2 = 0x20910654; // Output rate of the NMEA-NAV2-GX-RMC message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_RMC_USB = 0x20910655; // Output rate of the NMEA-NAV2-GX-RMC message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_VTG_I2C = 0x20910657; // Output rate of the NMEA-NAV2-GX-VTG message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_VTG_SPI = 0x2091065b; // Output rate of the NMEA-NAV2-GX-VTG message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_VTG_UART1 = 0x20910658; // Output rate of the NMEA-NAV2-GX-VTG message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_VTG_UART2 = 0x20910659; // Output rate of the NMEA-NAV2-GX-VTG message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_VTG_USB = 0x2091065a; // Output rate of the NMEA-NAV2-GX-VTG message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_ZDA_I2C = 0x2091067f; // Output rate of the NMEA-NAV2-GX-ZDA message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_ZDA_SPI = 0x20910683; // Output rate of the NMEA-NAV2-GX-ZDA message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_ZDA_UART1 = 0x20910680; // Output rate of the NMEA-NAV2-GX-ZDA message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_ZDA_UART2 = 0x20910681; // Output rate of the NMEA-NAV2-GX-ZDA message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_NAV2_ID_ZDA_USB = 0x20910682; // Output rate of the NMEA-NAV2-GX-ZDA message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_CLOCK_I2C = 0x20910430; // Output rate of the UBX-NAV2-CLOCK message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_CLOCK_SPI = 0x20910434; // Output rate of the UBX-NAV2-CLOCK message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_CLOCK_UART1 = 0x20910431; // Output rate of the UBX-NAV2-CLOCK message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_CLOCK_UART2 = 0x20910432; // Output rate of the UBX-NAV2-CLOCK message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_CLOCK_USB = 0x20910433; // Output rate of the UBX-NAV2-CLOCK message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_COV_I2C = 0x20910435; // Output rate of the UBX-NAV2-COV message onport I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_COV_SPI = 0x20910439; // Output rate of the UBX-NAV2-COV message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_COV_UART1 = 0x20910436; // Output rate of the UBX-NAV2-COV message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_COV_UART2 = 0x20910437; // Output rate of the UBX-NAV2-COV message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_COV_USB = 0x20910438; // Output rate of the UBX-NAV2-COV message onport USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_DOP_I2C = 0x20910465; // Output rate of the UBX-NAV2-DOP message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_DOP_SPI = 0x20910469; // Output rate of the UBX-NAV2-DOP message onport SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_DOP_UART1 = 0x20910466; // Output rate of the UBX-NAV2-DOP message onport UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_DOP_UART2 = 0x20910467; // Output rate of the UBX-NAV2-DOP message onport UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_DOP_USB = 0x20910468; // Output rate of the UBX-NAV2-DOP message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EOE_I2C = 0x20910565; // Output rate of the UBX-NAV2-EOE message onport I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EOE_SPI = 0x20910569; // Output rate of the UBX-NAV2-EOE message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EOE_UART1 = 0x20910566; // Output rate of the UBX-NAV2-EOE message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EOE_UART2 = 0x20910567; // Output rate of the UBX-NAV2-EOE message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_EOE_USB = 0x20910568; // Output rate of the UBX-NAV2-EOE message onport USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_ODO_I2C = 0x20910475; // Output rate of the UBX-NAV2-ODO message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_ODO_SPI = 0x20910479; // Output rate of the UBX-NAV2-ODO message onport SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_ODO_UART1 = 0x20910476; // Output rate of the UBX-NAV2-ODO message onport UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_ODO_UART2 = 0x20910477; // Output rate of the UBX-NAV2-ODO message onport UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_ODO_USB = 0x20910478; // Output rate of the UBX-NAV2-ODO message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSECEF_I2C = 0x20910480; // Output rate of the UBX-NAV2-POSECEF message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSECEF_SPI = 0x20910484; // Output rate of the UBX-NAV2-POSECEF message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSECEF_UART1 = 0x20910481; // Output rate of the UBX-NAV2-POSECEF message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSECEF_UART2 = 0x20910482; // Output rate of the UBX-NAV2-POSECEF message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSECEF_USB = 0x20910483; // Output rate of the UBX-NAV2-POSECEF message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSLLH_I2C = 0x20910485; // Output rate of the UBX-NAV2-POSLLH message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSLLH_SPI = 0x20910489; // Output rate of the UBX-NAV2-POSLLH message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSLLH_UART1 = 0x20910486; // Output rate of the UBX-NAV2-POSLLH message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSLLH_UART2 = 0x20910487; // Output rate of the UBX-NAV2-POSLLH message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_POSLLH_USB = 0x20910488; // Output rate of the UBX-NAV2-POSLLH message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVT_I2C = 0x20910490; // Output rate of the UBX-NAV2-PVT message onport I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVT_SPI = 0x20910494; // Output rate of the UBX-NAV2-PVT message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVT_UART1 = 0x20910491; // Output rate of the UBX-NAV2-PVT message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVT_UART2 = 0x20910492; // Output rate of the UBX-NAV2-PVT message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_PVT_USB = 0x20910493; // Output rate of the UBX-NAV2-PVT message onport USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SAT_I2C = 0x20910495; // Output rate of the UBX-NAV2-SAT message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SAT_SPI = 0x20910499; // Output rate of the UBX-NAV2-SAT message onport SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SAT_UART1 = 0x20910496; // Output rate of the UBX-NAV2-SAT message onport UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SAT_UART2 = 0x20910497; // Output rate of the UBX-NAV2-SAT message onport UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SAT_USB = 0x20910498; // Output rate of the UBX-NAV2-SAT message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SBAS_I2C = 0x20910500; // Output rate of the UBX-NAV2-SBAS messageon port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SBAS_SPI = 0x20910504; // Output rate of the UBX-NAV2-SBAS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SBAS_UART1 = 0x20910501; // Output rate of the UBX-NAV2-SBAS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SBAS_UART2 = 0x20910502; // Output rate of the UBX-NAV2-SBAS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SBAS_USB = 0x20910503; // Output rate of the UBX-NAV2-SBAS messageon port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SIG_I2C = 0x20910505; // Output rate of the UBX-NAV2-SIG message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SIG_SPI = 0x20910509; // Output rate of the UBX-NAV2-SIG message onport SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SIG_UART1 = 0x20910506; // Output rate of the UBX-NAV2-SIG message onport UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SIG_UART2 = 0x20910507; // Output rate of the UBX-NAV2-SIG message onport UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_SIG_USB = 0x20910508; // Output rate of the UBX-NAV2-SIG message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_STATUS_I2C = 0x20910515; // Output rate of the UBX-NAV2-STATUS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_STATUS_SPI = 0x20910519; // Output rate of the UBX-NAV2-STATUS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_STATUS_UART1 = 0x20910516; // Output rate of the UBX-NAV2-STATUS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_STATUS_UART2 = 0x20910517; // Output rate of the UBX-NAV2-STATUS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_STATUS_USB = 0x20910518; // Output rate of the UBX-NAV2-STATUS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEBDS_I2C = 0x20910525; // Output rate of the UBX-NAV2-TIMEBDS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEBDS_SPI = 0x20910529; // Output rate of the UBX-NAV2-TIMEBDS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEBDS_UART1 = 0x20910526; // Output rate of the UBX-NAV2-TIMEBDS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEBDS_UART2 = 0x20910527; // Output rate of the UBX-NAV2-TIMEBDS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEBDS_USB = 0x20910528; // Output rate of the UBX-NAV2-TIMEBDS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGAL_I2C = 0x20910530; // Output rate of the UBX-NAV2-TIMEGAL message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGAL_SPI = 0x20910534; // Output rate of the UBX-NAV2-TIMEGAL message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGAL_UART1 = 0x20910531; // Output rate of the UBX-NAV2-TIMEGAL message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGAL_UART2 = 0x20910532; // Output rate of the UBX-NAV2-TIMEGAL message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGAL_USB = 0x20910533; // Output rate of the UBX-NAV2-TIMEGAL message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGLO_I2C = 0x20910535; // Output rate of the UBX-NAV2-TIMEGLO message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGLO_SPI = 0x20910539; // Output rate of the UBX-NAV2-TIMEGLO message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGLO_UART1 = 0x20910536; // Output rate of the UBX-NAV2-TIMEGLO message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGLO_UART2 = 0x20910537; // Output rate of the UBX-NAV2-TIMEGLO message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGLO_USB = 0x20910538; // Output rate of the UBX-NAV2-TIMEGLO message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGPS_I2C = 0x20910540; // Output rate of the UBX-NAV2-TIMEGPS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGPS_SPI = 0x20910544; // Output rate of the UBX-NAV2-TIMEGPS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGPS_UART1 = 0x20910541; // Output rate of the UBX-NAV2-TIMEGPS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGPS_UART2 = 0x20910542; // Output rate of the UBX-NAV2-TIMEGPS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEGPS_USB = 0x20910543; // Output rate of the UBX-NAV2-TIMEGPS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMELS_I2C = 0x20910545; // Output rate of the UBX-NAV2-TIMELS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMELS_SPI = 0x20910549; // Output rate of the UBX-NAV2-TIMELS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMELS_UART1 = 0x20910546; // Output rate of the UBX-NAV2-TIMELS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMELS_UART2 = 0x20910547; // Output rate of the UBX-NAV2-TIMELS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMELS_USB = 0x20910548; // Output rate of the UBX-NAV2-TIMELS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEUTC_I2C = 0x20910550; // Output rate of the UBX-NAV2-TIMEUTC message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEUTC_SPI = 0x20910554; // Output rate of the UBX-NAV2-TIMEUTC message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEUTC_UART1 = 0x20910551; // Output rate of the UBX-NAV2-TIMEUTC message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEUTC_UART2 = 0x20910552; // Output rate of the UBX-NAV2-TIMEUTC message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_TIMEUTC_USB = 0x20910553; // Output rate of the UBX-NAV2-TIMEUTC message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELECEF_I2C = 0x20910555; // Output rate of the UBX-NAV2-VELECEF message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELECEF_SPI = 0x20910559; // Output rate of the UBX-NAV2-VELECEF message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELECEF_UART1 = 0x20910556; // Output rate of the UBX-NAV2-VELECEF message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELECEF_UART2 = 0x20910557; // Output rate of the UBX-NAV2-VELECEF message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELECEF_USB = 0x20910558; // Output rate of the UBX-NAV2-VELECEF message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELNED_I2C = 0x20910560; // Output rate of the UBX-NAV2-VELNED message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELNED_SPI = 0x20910564; // Output rate of the UBX-NAV2-VELNED message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELNED_UART1 = 0x20910561; // Output rate of the UBX-NAV2-VELNED message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELNED_UART2 = 0x20910562; // Output rate of the UBX-NAV2-VELNED message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV2_VELNED_USB = 0x20910563; // Output rate of the UBX-NAV2-VELNED message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_NMI_I2C = 0x20910590; // Output rate of the UBX-NAV-NMI message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_NMI_SPI = 0x20910594; // Output rate of the UBX-NAV-NMI message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_NMI_UART1 = 0x20910591; // Output rate of the UBX-NAV-NMI message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_NMI_UART2 = 0x20910592; // Output rate of the UBX-NAV-NMI message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_NMI_USB = 0x20910593; // Output rate of the UBX-NAV-NMI message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_TM_I2C = 0x20910610; // Output rate of the UBX-RXM-TM message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_TM_SPI = 0x20910614; // Output rate of the UBX-RXM-TM message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_TM_UART1 = 0x20910611; // Output rate of the UBX-RXM-TM message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_TM_UART2 = 0x20910612; // Output rate of the UBX-RXM-TM message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_TM_USB = 0x20910613; // Output rate of the UBX-RXM-TM message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIGLOG_I2C = 0x20910689; // Output rate of the UBX-SEC-SIGLOG message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIGLOG_SPI = 0x2091068d; // Output rate of the UBX-SEC-SIGLOG message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIGLOG_UART1 = 0x2091068a; // Output rate of the UBX-SEC-SIGLOG message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIGLOG_UART2 = 0x2091068b; // Output rate of the UBX-SEC-SIGLOG message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIGLOG_USB = 0x2091068c; // Output rate of the UBX-SEC-SIGLOG message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIG_I2C = 0x20910634; // Output rate of the UBX-DBG-SKYMAP message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIG_SPI = 0x20910638; // Output rate of the UBX-SEC-SIG message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIG_UART1 = 0x20910635; // Output rate of the UBX-SEC-SIG message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIG_UART2 = 0x20910636; // Output rate of the UBX-SEC-SIG message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_SEC_SIG_USB = 0x20910637; // Output rate of the UBX-SEC-SIG message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_SVIN_I2C = 0x20910097; // Output rate of the UBX-TIM-SVIN message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_SVIN_SPI = 0x2091009b; // Output rate of the UBX-TIM-SVIN message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_SVIN_UART1 = 0x20910098; // Output rate of the UBX-TIM-SVIN message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_SVIN_UART2 = 0x20910099; // Output rate of the UBX-TIM-SVIN message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_SVIN_USB = 0x2091009a; // Output rate of the UBX-TIM-SVIN message on port USB + +//CFG-NAV2: Secondary output configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_NAV2_OUT_ENABLED = 0x10170001; // Enable secondary (NAV2) output +const uint32_t UBLOX_CFG_NAV2_SBAS_USE_INTEGRITY = 0x10170002; // Use SBAS integrity information in the secondary output + //CFG-NAVHPG: High precision navigation configuration //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- const uint32_t UBLOX_CFG_NAVHPG_DGNSSMODE = 0x20140011; // Differential corrections mode @@ -575,6 +786,7 @@ const uint32_t UBLOX_CFG_NAVHPG_DGNSSMODE = 0x20140011; // Differential correct const uint32_t UBLOX_CFG_NAVSPG_FIXMODE = 0x20110011; // Position fix mode const uint32_t UBLOX_CFG_NAVSPG_INIFIX3D = 0x10110013; // Initial fix must be a 3D fix const uint32_t UBLOX_CFG_NAVSPG_WKNROLLOVER = 0x30110017; // GPS week rollover number +const uint32_t UBLOX_CFG_NAVSPG_USE_PPP = 0x10110019; // Use precise point positioning (PPP) const uint32_t UBLOX_CFG_NAVSPG_UTCSTANDARD = 0x2011001c; // UTC standard to be used const uint32_t UBLOX_CFG_NAVSPG_DYNMODEL = 0x20110021; // Dynamic platform model const uint32_t UBLOX_CFG_NAVSPG_ACKAIDING = 0x10110025; // Acknowledge assistance input messages @@ -602,6 +814,7 @@ const uint32_t UBLOX_CFG_NAVSPG_OUTFIL_FACC = 0x301100b5; // Output filter frequ const uint32_t UBLOX_CFG_NAVSPG_CONSTR_ALT = 0x401100c1; // Fixed altitude (mean sea level) for 2D fix mode const uint32_t UBLOX_CFG_NAVSPG_CONSTR_ALTVAR = 0x401100c2; // Fixed altitude variance for 2D mode const uint32_t UBLOX_CFG_NAVSPG_CONSTR_DGNSSTO = 0x201100c4; // DGNSS timeout +const uint32_t UBLOX_CFG_NAVSPG_SIGATTCOMP = 0x201100d6; // Permanently attenuated signal compensation mode //CFG-NMEA: NMEA protocol configuration //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- @@ -651,6 +864,7 @@ const uint32_t UBLOX_CFG_QZSS_USE_SLAS_RAIM_UNCORR = 0x10370007; // Raim out mea const uint32_t UBLOX_CFG_RATE_MEAS = 0x30210001; // Nominal time between GNSS measurements const uint32_t UBLOX_CFG_RATE_NAV = 0x30210002; // Ratio of number of measurements to number of navigation solutions const uint32_t UBLOX_CFG_RATE_TIMEREF = 0x20210003; // Time system to which measurements are aligned +const uint32_t UBLOX_CFG_RATE_NAV_PRIO = 0x20210004; // Output rate of priority navigation mode messages //CFG-RINV: Remote inventory //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- @@ -676,21 +890,73 @@ const uint32_t UBLOX_CFG_SBAS_USE_DIFFCORR = 0x10360004; // Use SBAS differenti const uint32_t UBLOX_CFG_SBAS_USE_INTEGRITY = 0x10360005; // Use SBAS integrity information const uint32_t UBLOX_CFG_SBAS_PRNSCANMASK = 0x50360006; // SBAS PRN search configuration +//CFG-SEC: Security configuration (ZED-F9R) +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_SEC_CFG_LOCK = 0x10f60009; // Configuration lockdown +const uint32_t UBLOX_CFG_SEC_CFG_LOCK_UNLOCKGRP1 = 0x30f6000a; // Configuration lockdown exempted group 1 +const uint32_t UBLOX_CFG_SEC_CFG_LOCK_UNLOCKGRP2 = 0x30f6000b; // Configuration lockdown exempted group 2 + +//CFG-SFCORE: Sensor fusion (SF) core configuration (ZED-F9R) +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_SFCORE_USE_SF = 0x10080001; // Use ADR/UDR sensor fusion + +//CFG-SFIMU: Sensor fusion (SF) inertial measurement unit (IMU) configuration (ZED-F9R) +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_SFIMU_GYRO_TC_UPDATE_PERIOD = 0x30060007; // Time period between each update for the saved temperature-dependent gyroscope bias table +const uint32_t UBLOX_CFG_SFIMU_GYRO_RMSTHDL = 0x20060008; // Gyroscope sensor RMS threshold +const uint32_t UBLOX_CFG_SFIMU_GYRO_FREQUENCY = 0x20060009; // Nominal gyroscope sensor data sampling frequency +const uint32_t UBLOX_CFG_SFIMU_GYRO_LATENCY = 0x3006000a; // Gyroscope sensor data latency due to e.g. CAN bus +const uint32_t UBLOX_CFG_SFIMU_GYRO_ACCURACY = 0x3006000b; // Gyroscope sensor data accuracy +const uint32_t UBLOX_CFG_SFIMU_ACCEL_RMSTHDL = 0x20060015; // Accelerometer RMS threshold +const uint32_t UBLOX_CFG_SFIMU_ACCEL_FREQUENCY = 0x20060016; // Nominal accelerometer sensor data sampling frequency +const uint32_t UBLOX_CFG_SFIMU_ACCEL_LATENCY = 0x30060017; // Accelerometer sensor data latency due to e.g. CAN bus +const uint32_t UBLOX_CFG_SFIMU_ACCEL_ACCURACY = 0x30060018; // Accelerometer sensor data accuracy +const uint32_t UBLOX_CFG_SFIMU_IMU_EN = 0x1006001d; // IMU enabled +const uint32_t UBLOX_CFG_SFIMU_IMU_I2C_SCL_PIO = 0x2006001e; // SCL PIO of the IMU I2C +const uint32_t UBLOX_CFG_SFIMU_IMU_I2C_SDA_PIO = 0x2006001f; // SDA PIO of the IMU I2C +const uint32_t UBLOX_CFG_SFIMU_AUTO_MNTALG_ENA = 0x10060027; // Enable automatic IMU-mount alignment +const uint32_t UBLOX_CFG_SFIMU_IMU_MNTALG_YAW = 0x4006002d; // User-defined IMU-mount yaw angle [0, 360] +const uint32_t UBLOX_CFG_SFIMU_IMU_MNTALG_PITCH = 0x3006002e; // User-defined IMU-mount pitch angle [-90, 90] +const uint32_t UBLOX_CFG_SFIMU_IMU_MNTALG_ROLL = 0x3006002f; // User-defined IMU-mount roll angle [-180, 180] + +//CFG-SFODO: Sensor fusion (SF) odometer configuration (ZED-F9R) +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_SFODO_COMBINE_TICKS = 0x10070001; // Use combined rear wheel ticks instead of the single tick +const uint32_t UBLOX_CFG_SFODO_USE_SPEED = 0x10070003; // Use speed measurements +const uint32_t UBLOX_CFG_SFODO_DIS_AUTOCOUNTMAX = 0x10070004; // Disable automatic estimation of maximum absolute wheel tick counter +const uint32_t UBLOX_CFG_SFODO_DIS_AUTODIRPINPOL = 0x10070005; // Disable automatic wheel tick direction pin polarity detection +const uint32_t UBLOX_CFG_SFODO_DIS_AUTOSPEED = 0x10070006; // Disable automatic receiver reconfiguration for processing speed data +const uint32_t UBLOX_CFG_SFODO_FACTOR = 0x40070007; // Wheel tick scale factor +const uint32_t UBLOX_CFG_SFODO_QUANT_ERROR = 0x40070008; // Wheel tick quantization +const uint32_t UBLOX_CFG_SFODO_COUNT_MAX = 0x40070009; // Wheel tick counter maximum value +const uint32_t UBLOX_CFG_SFODO_LATENCY = 0x3007000a; // Wheel tick data latency due to e.g. CAN bus +const uint32_t UBLOX_CFG_SFODO_FREQUENCY = 0x2007000b; // Nominal wheel tick data frequency (0 = not set) +const uint32_t UBLOX_CFG_SFODO_CNT_BOTH_EDGES = 0x1007000d; // Count both rising and falling edges on wheel tick signal +const uint32_t UBLOX_CFG_SFODO_SPEED_BAND = 0x3007000e; // Speed sensor dead band (0 = not set) +const uint32_t UBLOX_CFG_SFODO_USE_WT_PIN = 0x1007000f; // Wheel tick signal enabled +const uint32_t UBLOX_CFG_SFODO_DIR_PINPOL = 0x10070010; // Wheel tick direction pin polarity +const uint32_t UBLOX_CFG_SFODO_DIS_AUTOSW = 0x10070011; // Disable automatic use of wheel tick or speed data received over the software interface + //CFG-SIGNAL: Satellite systems (GNSS) signal configuration //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- const uint32_t UBLOX_CFG_SIGNAL_GPS_ENA = 0x1031001f; // GPS enable const uint32_t UBLOX_CFG_SIGNAL_GPS_L1CA_ENA = 0x10310001; // GPS L1C/A +const uint32_t UBLOX_CFG_SIGNAL_GPS_L5_ENA = 0x10310004; // GPS L5 const uint32_t UBLOX_CFG_SIGNAL_GPS_L2C_ENA = 0x10310003; // GPS L2C (only on u-blox F9 platform products) const uint32_t UBLOX_CFG_SIGNAL_SBAS_ENA = 0x10310020; // SBAS enable const uint32_t UBLOX_CFG_SIGNAL_SBAS_L1CA_ENA = 0x10310005; // SBAS L1C/A const uint32_t UBLOX_CFG_SIGNAL_GAL_ENA = 0x10310021; // Galileo enable const uint32_t UBLOX_CFG_SIGNAL_GAL_E1_ENA = 0x10310007; // Galileo E1 +const uint32_t UBLOX_CFG_SIGNAL_GAL_E5A_ENA = 0x10310009; // Galileo E5a const uint32_t UBLOX_CFG_SIGNAL_GAL_E5B_ENA = 0x1031000a; // Galileo E5b (only on u-blox F9 platform products) const uint32_t UBLOX_CFG_SIGNAL_BDS_ENA = 0x10310022; // BeiDou Enable const uint32_t UBLOX_CFG_SIGNAL_BDS_B1_ENA = 0x1031000d; // BeiDou B1I +const uint32_t UBLOX_CFG_SIGNAL_BDS_B1C_ENA = 0x1031000f; // BeiDou B1C +const uint32_t UBLOX_CFG_SIGNAL_BDS_B2A_ENA = 0x10310028; // BeiDou B2a const uint32_t UBLOX_CFG_SIGNAL_BDS_B2_ENA = 0x1031000e; // BeiDou B2I (only on u-blox F9 platform products) const uint32_t UBLOX_CFG_SIGNAL_QZSS_ENA = 0x10310024; // QZSS enable const uint32_t UBLOX_CFG_SIGNAL_QZSS_L1CA_ENA = 0x10310012; // QZSS L1C/A +const uint32_t UBLOX_CFG_SIGNAL_QZSS_L5_ENA = 0x10310017; // QZSS L5 const uint32_t UBLOX_CFG_SIGNAL_QZSS_L1S_ENA = 0x10310014; // QZSS L1S const uint32_t UBLOX_CFG_SIGNAL_QZSS_L2C_ENA = 0x10310015; // QZSS L2C (only on u-blox F9 platform products) const uint32_t UBLOX_CFG_SIGNAL_GLO_ENA = 0x10310025; // GLONASS enable @@ -741,6 +1007,9 @@ const uint32_t UBLOX_CFG_TMODE_SVIN_ACC_LIMIT = 0x40030011; // Survey-in positio //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- const uint32_t UBLOX_CFG_TP_PULSE_DEF = 0x20050023; // Determines whether the time pulse is interpreted as frequency or period const uint32_t UBLOX_CFG_TP_PULSE_LENGTH_DEF = 0x20050030; // Determines whether the time pulse length is interpreted as length[us] or pulse ratio[%] +const uint32_t UBLOX_CFG_TP_ANT_CABLEDELAY = 0x30050001; // Antenna cable delay +const uint32_t UBLOX_CFG_TP_PERIOD_TP1 = 0x40050002; // Time pulse period (TP1) +const uint32_t UBLOX_CFG_TP_PERIOD_LOCK_TP1 = 0x40050003; // Time pulse period when locked to GNSS time (TP1) const uint32_t UBLOX_CFG_TP_FREQ_TP1 = 0x40050024; // Time pulse frequency (TP1) const uint32_t UBLOX_CFG_TP_FREQ_LOCK_TP1 = 0x40050025; // Time pulse frequency when locked to GNSS time (TP1) const uint32_t UBLOX_CFG_TP_LEN_TP1 = 0x40050004; // Time pulse length (TP1) @@ -754,6 +1023,23 @@ const uint32_t UBLOX_CFG_TP_USE_LOCKED_TP1 = 0x10050009; // Use locked parameter const uint32_t UBLOX_CFG_TP_ALIGN_TO_TOW_TP1 = 0x1005000a; // Align time pulse to top of second (TP1) const uint32_t UBLOX_CFG_TP_POL_TP1 = 0x1005000b; // Set time pulse polarity (TP1) const uint32_t UBLOX_CFG_TP_TIMEGRID_TP1 = 0x2005000c; // Time grid to use (TP1) +const uint32_t UBLOX_CFG_TP_PERIOD_TP2 = 0x4005000d; // Time pulse period (TP2) +const uint32_t UBLOX_CFG_TP_PERIOD_LOCK_TP2 = 0x4005000e; // Time pulse period when locked to GNSS time +const uint32_t UBLOX_CFG_TP_FREQ_TP2 = 0x40050026; // Time pulse frequency (TP2) +const uint32_t UBLOX_CFG_TP_FREQ_LOCK_TP2 = 0x40050027; // Time pulse frequency when locked to GNSS time +const uint32_t UBLOX_CFG_TP_LEN_TP2 = 0x4005000f; // Time pulse length (TP2) +const uint32_t UBLOX_CFG_TP_LEN_LOCK_TP2 = 0x40050010; // Time pulse length when locked to GNSS time +const uint32_t UBLOX_CFG_TP_DUTY_TP2 = 0x5005002c; // Time pulse duty cycle (TP2) +const uint32_t UBLOX_CFG_TP_DUTY_LOCK_TP2 = 0x5005002d; // Time pulse duty cycle when locked to GNSS time +const uint32_t UBLOX_CFG_TP_USER_DELAY_TP2 = 0x40050011; // User-configurable time pulse delay (TP2) +const uint32_t UBLOX_CFG_TP_TP2_ENA = 0x10050012; // Enable the second timepulse +const uint32_t UBLOX_CFG_TP_SYNC_GNSS_TP2 = 0x10050013; // Sync time pulse to GNSS time or local clock +const uint32_t UBLOX_CFG_TP_USE_LOCKED_TP2 = 0x10050014; // Use locked parameters when possible (TP2) +const uint32_t UBLOX_CFG_TP_ALIGN_TO_TOW_TP2 = 0x10050015; // Align time pulse to top of second (TP2) +const uint32_t UBLOX_CFG_TP_POL_TP2 = 0x10050016; // Set time pulse polarity (TP2) +const uint32_t UBLOX_CFG_TP_TIMEGRID_TP2 = 0x20050017; // Time grid to use (TP2) +const uint32_t UBLOX_CFG_TP_DRSTR_TP1 = 0x20050035; // Set drive strength of TP1 +const uint32_t UBLOX_CFG_TP_DRSTR_TP2 = 0x20050036; // Set drive strength of TP2 //CFG-TXREADY: TX ready configuration //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-