Expand description
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 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.
Structs
Messages in this class are sent as a result of a CFG message being received, decoded and processed by thereceiver.
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.
Message Not-Acknowledge
Message Not-Acknowledge Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Struct that is used to construct packets, see the crate-level documentation for more information
ALP client requests AlmanacPlus data from server
ALP client requests AlmanacPlus data from server Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Reset Receiver / Clear Backup Data Structures
Reset Receiver / Clear Backup Data Structures Struct that is used to construct packets, see the crate-level documentation for more information
Reset Receiver / Clear Backup Data Structures Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Information message conifg
Information message conifg Struct that is used to construct packets, see the crate-level documentation for more information
CfgInfMask parameters bitmask
Information message conifg Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
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
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
Set Message Rate the current port
Set Message Rate the current port Struct that is used to construct packets, see the crate-level documentation for more information
Navigation Engine Settings
Navigation Engine Settings Struct that is used to construct packets, see the crate-level documentation for more information
CfgNav5 parameters bitmask
Navigation Engine Settings Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Navigation Engine Expert Settings
Navigation Engine Expert Settings Struct that is used to construct packets, see the crate-level documentation for more information
CfgNavX51 parameters bitmask
CfgNavX5Params2 parameters bitmask
Navigation Engine Expert Settings Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Configure odometer
Configure odometer Struct that is used to construct packets, see the crate-level documentation for more information
Configure odometer Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Port Configuration for I2C
Port Configuration for I2C Struct that is used to construct packets, see the crate-level documentation for more information
Port Configuration for I2C Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Port Configuration for SPI Port
Port Configuration for SPI Port Struct that is used to construct packets, see the crate-level documentation for more information
Port Configuration for SPI Port Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Port Configuration for UART
Port Configuration for UART Struct that is used to construct packets, see the crate-level documentation for more information
Port Configuration for UART Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Navigation/Measurement Rate Settings
Navigation/Measurement Rate Settings Struct that is used to construct packets, see the crate-level documentation for more information
Reset Receiver / Clear Backup Data Structures
Reset Receiver / Clear Backup Data Structures Struct that is used to construct packets, see the crate-level documentation for more information
Fix Status Information
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
Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
GNSS Assistance ACK UBX-MGA-ACK
GNSS Assistance ACK UBX-MGA-ACK Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Hardware status
Hardware status Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Receiver/Software Version
Receiver/Software Version Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Battery backed RAM sections to clear
Predefined values for NavBbrMask
Dilution of precision
Dilution of precision Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Odometer solution
Odometer solution Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Geodetic Position Solution
Geodetic Position Solution Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Navigation Position Velocity Time Solution
Fix status flags for NavPosVelTime
Additional flags for NavPosVelTime
Navigation Position Velocity Time Solution Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Reset odometer
Reset odometer Struct that is used to construct packets, see the crate-level documentation for more information
Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Navigation Solution Information
Navigation Solution Information Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Receiver Navigation Status
Navigation Status Flags
Receiver Navigation Status Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
UTC Time Solution
UTC Time Solution Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
Validity Flags of NavTimeUTC
Velocity Solution in NED
Velocity Solution in NED Contains a reference to an underlying buffer, contains accessor methods to retrieve data.
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
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().
Iterator over data stored in Parser buffer
Represents a world position, can be constructed from NavPosLlh and NavPosVelTime packets.
Request specific packet
Packet not supported yet by this crate
Enums
Alignment to reference time
Dynamic platform model
Position Fixing Mode
UTC standard to be used
GPS fix Type
Port Identifier Number (= 0 for I2C ports)
Further information about navigation output Only for FW version >= 7.01; undefined otherwise
Odometer configuration profile
All possible packets enum
Error that possible during packets parsing
Reset Type
Port Identifier Number (= 4 for SPI port)
Port Identifier Number (= 1 or 2 for UART ports)
Traits
Abstraction for buffer creation/reallocation to storing packet
Information about concrete UBX protocol’s packet
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.