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 examples/ublox-cli subfolder of this project. More examples are available in the examples subfolder.

Constructing Packets

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

use ublox::{CfgPrtUartBuilder, UartPortId, UartMode, DataBits, Parity, StopBits, InProtoMask, OutProtoMask};

let packet: [u8; 28] = CfgPrtUartBuilder {
   portid: UartPortId::Uart1,
   reserved0: 0,
   tx_ready: 0,
   mode: UartMode::new(DataBits::Eight, Parity::None, StopBits::One),
   baud_rate: 9600,
   in_proto_mask: InProtoMask::all(),
   out_proto_mask: OutProtoMask::UBLOX,
   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 additionally supports no_std environments with a deterministic-size parser. To use this parser, simply create a FixedLinearBuffer and use it to construct a Parser object:

let mut buf = vec![0; 256];
let buf = ublox::FixedLinearBuffer::new(&mut buf[..]);
let mut parser = ublox::Parser::new(buf);

The resulting parser can be used like normal. The absolute smallest recommended buffer size is 36 bytes, large enough to contain a NavPosLlh packet.

Modules

• cfg_val

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.
• AntFlags
• CfgAnt
  Reset Receiver / Clear Backup Data Structures
• CfgAntBuilder
  Reset Receiver / Clear Backup Data Structures Struct that is used to construct packets, see the crate-level documentation for more information
• CfgAntRef
  Reset Receiver / Clear Backup Data Structures Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• CfgInf
  Information message conifg
• CfgInfBuilder
  Information message conifg Struct that is used to construct packets, see the crate-level documentation for more information
• CfgInfMask
  CfgInfMask parameters bitmask
• CfgInfRef
  Information message conifg Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• CfgItfm
  Configure Jamming interference monitoring
• CfgItfmAlgoBits
• CfgItfmBbThreshold
• CfgItfmBuilder
  Configure Jamming interference monitoring Struct that is used to construct packets, see the crate-level documentation for more information
• CfgItfmConfig
• CfgItfmConfig2
• CfgItfmCwThreshold
• CfgItfmGeneralBits
• CfgItfmRef
  Configure Jamming interference monitoring Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• CfgLayer
  A mask describing where configuration is applied.
• 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.
• CfgNavX5
  Navigation Engine Expert Settings
• CfgNavX5Builder
  Navigation Engine Expert Settings Struct that is used to construct packets, see the crate-level documentation for more information
• CfgNavX5Params1
  CfgNavX51 parameters bitmask
• CfgNavX5Params2
  CfgNavX5Params2 parameters bitmask
• CfgNavX5Ref
  Navigation Engine Expert Settings Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• CfgOdo
  Configure odometer
• CfgOdoBuilder
  Configure odometer Struct that is used to construct packets, see the crate-level documentation for more information
• CfgOdoRef
  Configure odometer Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• CfgPrtI2c
  Port Configuration for I2C
• CfgPrtI2cBuilder
  Port Configuration for I2C Struct that is used to construct packets, see the crate-level documentation for more information
• CfgPrtI2cRef
  Port Configuration for I2C 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
• CfgTmode2
  Time MODE2 Config Frame (32.10.36.1) only available on timing receivers
• CfgTmode2Builder
  Time MODE2 Config Frame (32.10.36.1) only available on timing receivers Struct that is used to construct packets, see the crate-level documentation for more information
• CfgTmode2Flags
• CfgTmode2Ref
  Time MODE2 Config Frame (32.10.36.1) only available on timing receivers Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• CfgTmode3
  Time MODE3 Config Frame (32.10.37.1) only available on timing receivers
• CfgTmode3Builder
  Time MODE3 Config Frame (32.10.37.1) only available on timing receivers Struct that is used to construct packets, see the crate-level documentation for more information
• CfgTmode3Flags
• CfgTmode3RcvrMode
• CfgTmode3Ref
  Time MODE3 Config Frame (32.10.37.1) only available on timing receivers Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• CfgTp5
  TP5: “Time Pulse” Config frame (32.10.38.4)
• CfgTp5Builder
  TP5: “Time Pulse” Config frame (32.10.38.4) Struct that is used to construct packets, see the crate-level documentation for more information
• CfgTp5Flags
• CfgTp5Ref
  TP5: “Time Pulse” Config frame (32.10.38.4) Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• CfgValIter
• CfgValSet
• CfgValSetBuilder
  Struct that is used to construct packets, see the crate-level documentation for more information
• DwrdIter
• EsfIns
• EsfInsBitFlags
• EsfInsRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• EsfMeas
• EsfMeasData
• EsfMeasDataIter
• EsfMeasRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• EsfRaw
• EsfRawData
• EsfRawDataIter
• EsfRawRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• FixStatusInfo
  Fix Status Information
• FixedLinearBuffer
• HnrAtt
• HnrAttRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• HnrIns
• HnrInsBitFlags
• HnrInsRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• HnrPvt
• HnrPvtFlags
  Fix status flags for HnrPvt
• HnrPvtRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• HnrPvtValidFlags
• InProtoMask
  A mask describing which input protocols are active Each bit of this mask is used for a protocol. Through that, multiple protocols can be defined on a single port Used in CfgPrtSpi and CfgPrtI2c
• InfDebug
• InfDebugRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• InfError
• InfErrorRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• InfNotice
• InfNoticeRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• InfTest
• InfTestRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• InfWarning
• InfWarningRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• MgaAck
  GNSS Assistance ACK UBX-MGA-ACK
• MgaAckRef
  GNSS Assistance ACK UBX-MGA-ACK Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• MgaGloEph
• MgaGloEphRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• MgaGpsEPH
• MgaGpsEPHRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• MgaGpsEph
• MgaGpsEphRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• MgaGpsIono
• MgaGpsIonoRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• MonGnss
  GNSS status monitoring, gives currently selected constellations
• MonGnssConstellMask
  Selected / available Constellation Mask
• MonGnssRef
  GNSS status monitoring, gives currently selected constellations Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• MonHw
  Hardware status
• MonHwRef
  Hardware status Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• MonVer
  Receiver/Software Version
• MonVerExtensionIter
• MonVerRef
  Receiver/Software Version Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• NavAtt
• NavAttRef
  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
• NavClock
• NavClockRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• NavDop
  Dilution of precision
• NavDopRef
  Dilution of precision Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• NavEoe
  End of Epoch Marker
• NavEoeRef
  End of Epoch Marker Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• NavHpPosEcef
  High Precision Geodetic Position Solution (ECEF)
• NavHpPosEcefFlags
• NavHpPosEcefRef
  High Precision Geodetic Position Solution (ECEF) Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• NavHpPosLlh
  High Precision Geodetic Position Solution
• NavHpPosLlhRef
  High Precision Geodetic Position Solution Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• NavOdo
  Odometer solution
• NavOdoRef
  Odometer solution 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.
• NavPvt
  Navigation Position Velocity Time Solution
• NavPvtFlags
  Fix status flags for NavPvt
• NavPvtFlags2
  Additional flags for NavPvt
• NavPvtRef
  Navigation Position Velocity Time Solution Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• NavResetOdo
  Reset odometer
• NavResetOdoBuilder
  Reset odometer Struct that is used to construct packets, see the crate-level documentation for more information
• NavSat
• NavSatIter
• NavSatRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• NavSatSvFlags
• NavSatSvInfo
• NavSatSvInfoRef
  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.
• NavTimeLs
  Leap second event information
• NavTimeLsFlags
  Fix status flags for NavTimeLsFlags
• NavTimeLsRef
  Leap second event information 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
• NavVelECEF
• NavVelECEFRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• NavVelNed
  Velocity Solution in NED
• NavVelNedRef
  Velocity Solution in NED Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• OdoCogFilterFlags
• OutProtoMask
  A mask describing which output protocols are active. Each bit of this mask is used for a protocol. Through that, multiple protocols can be defined on a single port Used in CfgPrtSpi and CfgPrtI2c
• PacketSerializer
• Parser
  Streaming parser for UBX protocol with buffer. The default constructor will build a parser containing a Vec, but you can pass your own underlying buffer by passing it to Parser::new().
• ParserIter
  Iterator over data stored in Parser buffer
• Position
  Represents a world position, can be constructed from NavPosLlh and NavPvt packets.
• PositionECEF
  Represents a world position in the ECEF coordinate system
• RecStatFlags
  CfgNavX5Params2 parameters bitmask
• RxmRawx
• RxmRawxInfo
• RxmRawxInfoIter
• RxmRawxInfoRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• RxmRawxRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• RxmRtcm
• RxmRtcmRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• RxmSfrbx
• RxmSfrbxRef
  Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• SecUniqId
  This message is used to retrieve a unique chip identifier
• SecUniqIdRef
  This message is used to retrieve a unique chip identifier Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• StdevFlags
• TimSvin
  Time mode survey-in status
• TimSvinRef
  Time mode survey-in status Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• TimTm2
  Time mark data
• TimTm2Flags
• TimTm2Ref
  Time mark data Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• TimTp
  Time pulse time data
• TimTpFlags
• TimTpRef
  Time pulse time data Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
• TimTpRefInfo
• TrkStatFlags
• UartMode
• UbxPacketRequest
  Request specific packet
• UbxUnknownPacketRef
  Packet not supported yet by this crate
• Velocity

Enums

• AlignmentToReferenceTime
  Alignment to reference time
• AntennaPower
• AntennaStatus
• CfgItfmAntennaSettings
  ITFM Antenna settings helps the interference monitoring module
• CfgNav5DynModel
  Dynamic platform model
• CfgNav5FixMode
  Position Fixing Mode
• CfgNav5UtcStandard
  UTC standard to be used
• CfgTmode2TimeXferModes
  Time transfer modes (32.10.36)
• CfgTp5TimePulseMode
  Time pulse selection, used in CfgTp5 frame
• DataBits
• DateTimeError
• GpsFix
  GPS fix Type
• I2cPortId
  Port Identifier Number (= 0 for I2C ports)
• MapMatchingStatus
• MemWriterError
• MsgAckInfoCode
• NavSatOrbitSource
• NavSatQualityIndicator
• NavSatSvHealth
• NavStatusFlags2
  Further information about navigation output Only for FW version >= 7.01; undefined otherwise
• OdoProfile
  Odometer configuration profile
• PacketRef
  All possible packets enum
• Parity
• ParserError
  Error that possible during packets parsing
• ResetMode
  Reset Type
• SpiPortId
  Port Identifier Number (= 4 for SPI port)
• StopBits
• TimTm2Mode
• TimTm2Run
• TimTm2TimeBase
• TimTpRefInfoTimeRefGnss
• TimTpRefInfoUtcStandard
• TimTpTimeBase
• 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
• UnderlyingBuffer
  This trait represents an underlying buffer used for the Parser. We provide implementations for Vec<u8> and for FixedLinearBuffer, if you want to use your own struct as an underlying buffer you can implement this trait.