Crate ublox

ublox

This project aims to build a pure-rust I/O library for ublox GPS devices, specifically using the UBX protocol.

An example of using this library to talk to a device can be seen in the ublox_cli subfolder of this project.

Constructing Packets

Constructing packets happens using the Builder variant of the packet, for example:

use ublox::{CfgPrtUartBuilder, UartPortId};

let packet: [u8; 28] = CfgPrtUartBuilder {
   portid: UartPortId::Uart1,
   reserved0: 0,
   tx_ready: 0,
   mode: 0x8d0,
   baud_rate: 9600,
   in_proto_mask: 0x07,
   out_proto_mask: 0x01,
   flags: 0,
   reserved5: 0,
}.into_packet_bytes();

See the documentation for the individual Builder structs for information on the fields.

Parsing Packets

Parsing packets happens by instantiating a Parser object and then adding data into it using its consume() method. The parser contains an internal buffer of data, and when consume() is called that data is copied into the internal buffer and an iterator-like object is returned to access the packets. For example:

use ublox::Parser;

let mut parser = Parser::default();
let my_raw_data = vec![1, 2, 3, 4]; // From your serial port
let mut it = parser.consume(&my_raw_data);
loop {
    match it.next() {
        Some(Ok(packet)) => {
            // We've received a &PacketRef, we can handle it
        }
        Some(Err(_)) => {
            // Received a malformed packet
        }
        None => {
	    // The internal buffer is now empty
            break;
        }
    }
}

no_std Support

This library supports no_std environments, with two caveats about the Parser traits:

• You must have a global allocator configured, and
• If your device is "poorly behaved" (i.e. is not a real u-blox GPS device but a maliciously designed device), then the amount of memory allocated can grow up to 64K.

A deterministic-memory Parser implementation is on the roadmap.

Structs

AckAck	Messages in this class are sent as a result of a CFG message being received, decoded and processed by thereceiver.
AckAckRef	Messages in this class are sent as a result of a CFG message being received, decoded and processed by thereceiver. Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
AckNak	Message Not-Acknowledge
AckNakRef	Message Not-Acknowledge Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
AidIni
AidIniBuilder	Struct that is used to construct packets, see the crate-level documentation for more information
AlpSrv	ALP client requests AlmanacPlus data from server
AlpSrvRef	ALP client requests AlmanacPlus data from server Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
CfgMsgAllPorts	Set Message rate configuration Send rate is relative to the event a message is registered on. For example, if the rate of a navigation message is set to 2, the message is sent every second navigation solution
CfgMsgAllPortsBuilder	Set Message rate configuration Send rate is relative to the event a message is registered on. For example, if the rate of a navigation message is set to 2, the message is sent every second navigation solution Struct that is used to construct packets, see the crate-level documentation for more information
CfgMsgSinglePort	Set Message Rate the current port
CfgMsgSinglePortBuilder	Set Message Rate the current port Struct that is used to construct packets, see the crate-level documentation for more information
CfgNav5	Navigation Engine Settings
CfgNav5Builder	Navigation Engine Settings Struct that is used to construct packets, see the crate-level documentation for more information
CfgNav5Params	CfgNav5 parameters bitmask
CfgNav5Ref	Navigation Engine Settings Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
CfgPrtSpi	Port Configuration for SPI Port
CfgPrtSpiBuilder	Port Configuration for SPI Port Struct that is used to construct packets, see the crate-level documentation for more information
CfgPrtSpiRef	Port Configuration for SPI Port Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
CfgPrtUart	Port Configuration for UART
CfgPrtUartBuilder	Port Configuration for UART Struct that is used to construct packets, see the crate-level documentation for more information
CfgPrtUartRef	Port Configuration for UART Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
CfgRate	Navigation/Measurement Rate Settings
CfgRateBuilder	Navigation/Measurement Rate Settings Struct that is used to construct packets, see the crate-level documentation for more information
CfgRst	Reset Receiver / Clear Backup Data Structures
CfgRstBuilder	Reset Receiver / Clear Backup Data Structures Struct that is used to construct packets, see the crate-level documentation for more information
FixStatusInfo	Fix Status Information
InProtoMask	A mask describing which input protocolsare active Each bit of this mask is used for aprotocol. Through that, multiple protocols can be defined on a single port Used in CfgPrtSpi
MonVer	Receiver/Software Version
MonVerRef	Receiver/Software Version Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
NavBbrMask	Battery backed RAM sections to clear
NavBbrPredefinedMask	Predefined values for NavBbrMask
NavDop	Dilution of precision
NavDopRef	Dilution of precision Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
NavPosLlh	Geodetic Position Solution
NavPosLlhRef	Geodetic Position Solution Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
NavPosVelTime	Navigation Position Velocity Time Solution
NavPosVelTimeFlags	Fix status flags for NavPosVelTime
NavPosVelTimeFlags2	Additional flags for NavPosVelTime
NavPosVelTimeRef	Navigation Position Velocity Time Solution Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
NavSolution	Navigation Solution Information
NavSolutionRef	Navigation Solution Information Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
NavStatus	Receiver Navigation Status
NavStatusFlags	Navigation Status Flags
NavStatusRef	Receiver Navigation Status Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
NavTimeUTC	UTC Time Solution
NavTimeUTCRef	UTC Time Solution Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
NavTimeUtcFlags	Validity Flags of NavTimeUTC
NavVelNed	Velocity Solution in NED
NavVelNedRef	Velocity Solution in NED Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
OutProtoMask	A mask describing which output protocols are active. Each bit of this mask is used for aprotocol. Through that, multiple protocols can be defined on a single port Used in CfgPrtSpi
Parser	Streaming parser for UBX protocol with buffer
ParserIter	Iterator over data stored in Parser buffer
Position	Represents a world position, can be constructed from NavPosLlh and NavPosVelTime packets.
UbxPacketRequest	Request specific packet
UbxUnknownPacketRef	Packet not supported yet by this crate
Velocity

Enums

AlignmentToReferenceTime	Alignment to reference time
CfgNav5DynModel	Dynamic platform model
CfgNav5FixMode	Position Fixing Mode
CfgNav5UtcStandard	UTC standard to be used
DateTimeError
GpsFix	GPS fix Type
MapMatchingStatus
MemWriterError
NavStatusFlags2	Further information about navigation output Only for FW version >= 7.01; undefined otherwise
PacketRef	All possible packets enum
ParserError	Error that possible during packets parsing
ResetMode	Reset Type
SpiPortId	Port Identifier Number (= 4 for SPI port)
UartPortId	Port Identifier Number (= 1 or 2 for UART ports)

Traits

MemWriter	Abstraction for buffer creation/reallocation to storing packet
UbxPacketCreator
UbxPacketMeta	Information about concrete UBX protocol's packet