u-blox_Class_and_ID.h

/*
  An Arduino Library which allows you to communicate seamlessly with u-blox GNSS modules using the Configuration Interface

  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/15136
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  https://www.sparkfun.com/products/18037
  https://www.sparkfun.com/products/18719
  https://www.sparkfun.com/products/18774
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  https://www.sparkfun.com/products/17722

  Original version by Nathan Seidle @ SparkFun Electronics, September 6th, 2018
  v2.0 rework by Paul Clark @ SparkFun Electronics, December 31st, 2020
  v3.0 rework by Paul Clark @ SparkFun Electronics, December 8th, 2022

  https://github.com/sparkfun/SparkFun_u-blox_GNSS_v3

  This library is an updated version of the popular SparkFun u-blox GNSS Arduino Library.
  v3 uses the u-blox Configuration Interface (VALSET and VALGET) to:
  detect the module (during begin); configure message intervals; configure the base location; etc..

  This version of the library will not work with older GNSS modules.
  It is specifically written for newer modules like the ZED-F9P, ZED-F9R and MAX-M10S.
  For older modules, please use v2 of the library: https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library

  Development environment specifics:
  Arduino IDE 1.8.19

  SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT).
  The MIT License (MIT)
  Copyright (c) 2018 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.
*/

// u-blox Class and ID definitions

#pragma once

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
const uint8_t UBX_CLASS_PUBX = 0xF1; // Proprietary NMEA-format messages defined by u-blox

// 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_THS = 0x0E; // GxTHS (True heading and status)
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_MAINTALKERID_GQ = 0x07;            // main talker ID is QZSS
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: PUBX
// The following are used to enable PUBX messages with configureMessage
// See the M8 receiver description & protocol specification for more details
const uint8_t UBX_PUBX_CONFIG = 0x41;   // Set protocols and baud rate
const uint8_t UBX_PUBX_POSITION = 0x00; // Lat/Long position data
const uint8_t UBX_PUBX_RATE = 0x40;     // Set/get NMEA message output rate
const uint8_t UBX_PUBX_SVSTATUS = 0x03; // Satellite status
const uint8_t UBX_PUBX_TIME = 0x04;     // Time of day and clock information

// 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_ANO = 0x20;            // Multiple GNSS AssistNow Offline assistance - NOT SUPPORTED BY THE ZED-F9P! "The ZED-F9P supports AssistNow Online only."
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_PMP = 0x35;   // PMP monitoring data
const uint8_t UBX_MON_PT2 = 0x2B;   // Multi-GNSS production test monitor
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_SPAN = 0x31;  // Signal characteristics
const uint8_t UBX_MON_SYS = 0x39;   // Current system performance information
const uint8_t UBX_MON_TEMP = 0x0E;  // Temperature value and state
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_COV = 0x36;       // Covariance matrices
const uint8_t UBX_NAV_DOP = 0x04;       // Dilution of precision
const uint8_t UBX_NAV_EELL = 0x3D;      // Position error ellipse parameters
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_PL = 0x62;        // Protection Level Information
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_PVAT = 0x17;      // Navigation position velocity attitude time solution (ZED-F9R only)
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_SBAS = 0x32;      // SBAS subsystem
const uint8_t UBX_NAV_SLAS = 0x42;      // QZSS L1S SLAS status data
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_TIMENAVIC = 0x63; // NavIC time solution
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
const uint8_t UBX_NAV_AOPSTATUS = 0x60; // AssistNow Autonomous status

// 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_COR = 0x34;       // Differential correction input status
const uint8_t UBX_RXM_MEASX = 0x14;     // Satellite Measurements for RRLP
const uint8_t UBX_RXM_PMP = 0x72;       // PMP raw data (NEO-D9S) (two different versions) (packet size for version 0x01 is variable)
const uint8_t UBX_RXM_QZSSL6 = 0x73;    // QZSSL6 data (NEO-D9C)
const uint8_t UBX_RXM_PMREQ = 0x41;     // Requests a Power Management task (two different 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;     // Broadcast Navigation Data Subframe
const uint8_t UBX_RXM_SPARTN = 0x33;    // SPARTN input status
const uint8_t UBX_RXM_SPARTNKEY = 0x36; // Poll/transfer dynamic SPARTN keys

// 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_SIG = 0x09;    // Signal security information
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

// CFG-TMODE: Time mode configuration
const uint8_t SVIN_MODE_DISABLE = 0x00;
const uint8_t SVIN_MODE_ENABLE = 0x01; // Survey-In
const uint8_t SVIN_MODE_FIXED = 0x02;

// 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;

// Port IDs used by MON-COMMS
// UBX-18010802 - R15 also documents 0x0101 and 0x0200 - both are "Reserved"
const uint16_t COM_PORT_ID_I2C = 0x0000; // Port IDs used by MON-COMMS
const uint16_t COM_PORT_ID_UART1 = 0x0100;
const uint16_t COM_PORT_ID_UART2 = 0x0201;
const uint16_t COM_PORT_ID_USB = 0x0300;
const uint16_t COM_PORT_ID_SPI = 0x0400;

const uint8_t COM_TYPE_UBX = (1 << 0);
const uint8_t COM_TYPE_NMEA = (1 << 1);
const uint8_t COM_TYPE_RTCM3 = (1 << 5);
const uint8_t COM_TYPE_SPARTN = (1 << 6);

// Odometer configuration - flags
const uint8_t UBX_CFG_ODO_USE_ODO = (1 << 0);
const uint8_t UBX_CFG_ODO_USE_COG = (1 << 1);
const uint8_t UBX_CFG_ODO_OUT_LP_VEL = (1 << 2);
const uint8_t UBX_CFG_ODO_OUT_LP_COG = (1 << 3);

// Odometer configuration - odoCfg
enum odoCfg_e
{
  UBX_CFG_ODO_RUN = 0,
  UBX_CFG_ODO_CYCLE,
  UBX_CFG_ODO_SWIM,
  UBX_CFG_ODO_CAR,
  UBX_CFG_ODO_CUSTOM,
};

// 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,          // Wrist-worn watch. Not supported in protocol versions less than 18. Only recommended for wrist worn applications. Receiver will filter out arm motion.
  DYN_MODEL_BIKE,           // Motorbike. Supported in protocol versions 19.2. (not available in all products)
  DYN_MODEL_MOWER,          // Robotic lawn mower. Added in HPS 1.21 (not available in all products)
  DYN_MODEL_ESCOOTER,       // E-scooter. Added in HPS 1.21 (not available in all products)
  DYN_MODEL_RAIL,           // Rail vehicles (trains, trams). Added in HPS 1.40 (not available in all products)
  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, // Note! IMES has no UBLOX_CFG_SIGNAL__ENA configuration key...
  SFE_UBLOX_GNSS_ID_QZSS,
  SFE_UBLOX_GNSS_ID_GLONASS,
  SFE_UBLOX_GNSS_ID_UNKNOWN
};

// 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
};

typedef enum
{
  SFE_UBLOX_MGA_ASSIST_ACK_NO,     // Do not expect UBX-MGA-ACK's. If the module outputs them, they will be ignored
  SFE_UBLOX_MGA_ASSIST_ACK_YES,    // Expect and check for UBX-MGA-ACK's
  SFE_UBLOX_MGA_ASSIST_ACK_ENQUIRE // Check UBX-CFG-NAVX5 ackAiding to determine if UBX-MGA-ACK's are expected
} sfe_ublox_mga_assist_ack_e;

// The infoCode byte included in UBX-MGA-ACK-DATA0
enum sfe_ublox_mga_ack_infocode_e
{
  SFE_UBLOX_MGA_ACK_INFOCODE_ACCEPTED,
  SFE_UBLOX_MGA_ACK_INFOCODE_NO_TIME,
  SFE_UBLOX_MGA_ACK_INFOCODE_NOT_SUPPORTED,
  SFE_UBLOX_MGA_ACK_INFOCODE_SIZE_MISMATCH,
  SFE_UBLOX_MGA_ACK_INFOCODE_NOT_STORED,
  SFE_UBLOX_MGA_ACK_INFOCODE_NOT_READY,
  SFE_UBLOX_MGA_ACK_INFOCODE_TYPE_UNKNOWN
};

// The mainTalkerId, set by UBX-CFG-NMEA setMainTalkerID
enum sfe_ublox_talker_ids_e
{
  SFE_UBLOX_MAIN_TALKER_ID_DEFAULT,
  SFE_UBLOX_MAIN_TALKER_ID_GP,
  SFE_UBLOX_MAIN_TALKER_ID_GL,
  SFE_UBLOX_MAIN_TALKER_ID_GN,
  SFE_UBLOX_MAIN_TALKER_ID_GA,
  SFE_UBLOX_MAIN_TALKER_ID_GB,
  SFE_UBLOX_MAIN_TALKER_ID_GQ
};

// The DGNSS differential mode
enum sfe_ublox_dgnss_mode_e
{
  SFE_UBLOX_DGNSS_MODE_FLOAT = 2, // No attempts are made to fix ambiguities
  SFE_UBLOX_DGNSS_MODE_FIXED      // Ambiguities are fixed whenever possible
};

// MON HW Antenna Status
enum sfe_ublox_antenna_status_e
{
  SFE_UBLOX_ANTENNA_STATUS_INIT,
  SFE_UBLOX_ANTENNA_STATUS_DONTKNOW,
  SFE_UBLOX_ANTENNA_STATUS_OK,
  SFE_UBLOX_ANTENNA_STATUS_SHORT,
  SFE_UBLOX_ANTENNA_STATUS_OPEN
};

// NEO-F10N LNA Mode
enum sfe_ublox_lna_mode_e
{
  SFE_UBLOX_LNA_MODE_NORMAL, // Default - full gain
  SFE_UBLOX_LNA_MODE_LOWGAIN,
  SFE_UBLOX_LNA_MODE_BYPASS
};