ubx.h

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/**
 * @file ubx.h
 *
 * U-Blox protocol definition. Following u-blox 6/7/8 Receiver Description
 * including Prototol Specification.
 *
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 * @author Julian Oes <julian@oes.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 * @author Beat Küng <beat-kueng@gmx.net>
 *
 * @author Hannes Delago
 *   (rework, add ubx7+ compatibility)
 *
 */

#pragma once

#include "gps_helper.h"
#include "base_station.h"
#include "../../definitions.h"

#define UBX_SYNC1 0xB5
#define UBX_SYNC2 0x62

/* Message Classes */
#define UBX_CLASS_NAV       0x01
#define UBX_CLASS_INF       0x04
#define UBX_CLASS_ACK       0x05
#define UBX_CLASS_CFG       0x06
#define UBX_CLASS_MON       0x0A
#define UBX_CLASS_RTCM3 0xF5

/* Message IDs */
#define UBX_ID_NAV_POSLLH   0x02
#define UBX_ID_NAV_DOP      0x04
#define UBX_ID_NAV_SOL      0x06
#define UBX_ID_NAV_PVT      0x07
#define UBX_ID_NAV_VELNED   0x12
#define UBX_ID_NAV_TIMEUTC  0x21
#define UBX_ID_NAV_SVINFO   0x30
#define UBX_ID_NAV_SAT      0x35
#define UBX_ID_NAV_SVIN     0x3B
#define UBX_ID_NAV_RELPOSNED    0x3C
#define UBX_ID_INF_DEBUG    0x04
#define UBX_ID_INF_ERROR    0x00
#define UBX_ID_INF_NOTICE   0x02
#define UBX_ID_INF_WARNING  0x01
#define UBX_ID_ACK_NAK      0x00
#define UBX_ID_ACK_ACK      0x01
#define UBX_ID_CFG_PRT      0x00 // deprecated in protocol version >= 27 -> use CFG_VALSET
#define UBX_ID_CFG_MSG      0x01 // deprecated in protocol version >= 27 -> use CFG_VALSET
#define UBX_ID_CFG_RATE 0x08 // deprecated in protocol version >= 27 -> use CFG_VALSET
#define UBX_ID_CFG_CFG      0x09 // deprecated in protocol version >= 27 -> use CFG_VALSET
#define UBX_ID_CFG_NAV5 0x24 // deprecated in protocol version >= 27 -> use CFG_VALSET
#define UBX_ID_CFG_RST  0x04
#define UBX_ID_CFG_SBAS 0x16
#define UBX_ID_CFG_TMODE3   0x71 // deprecated in protocol version >= 27 -> use CFG_VALSET
#define UBX_ID_CFG_VALSET   0x8A
#define UBX_ID_CFG_VALGET   0x8B
#define UBX_ID_CFG_VALDEL   0x8C
#define UBX_ID_MON_VER      0x04
#define UBX_ID_MON_HW       0x09 // deprecated in protocol version >= 27 -> use MON_RF
#define UBX_ID_MON_RF       0x38

/* UBX ID for RTCM3 output messages */
/* Minimal messages for RTK: 1005, 1077 + (1087 or 1127) */
/* Reduced message size using MSM4: 1005, 1074 + (1084 or 1124)  */
#define UBX_ID_RTCM3_1005   0x05    /**< Stationary RTK reference station ARP */
#define UBX_ID_RTCM3_1074   0x4A    /**< GPS MSM4 */
#define UBX_ID_RTCM3_1077   0x4D    /**< GPS MSM7 */
#define UBX_ID_RTCM3_1084   0x54    /**< GLONASS MSM4 */
#define UBX_ID_RTCM3_1087   0x57    /**< GLONASS MSM7 */
#define UBX_ID_RTCM3_1094   0x5E    /**< Galileo MSM4 */
#define UBX_ID_RTCM3_1097   0x61    /**< Galileo MSM7 */
#define UBX_ID_RTCM3_1124   0x7C    /**< BeiDou MSM4 */
#define UBX_ID_RTCM3_1127   0x7F    /**< BeiDou MSM7 */
#define UBX_ID_RTCM3_1230   0xE6    /**< GLONASS code-phase biases */
#define UBX_ID_RTCM3_4072   0xFE    /**< Reference station PVT (u-blox proprietary RTCM Message) - Used for moving baseline */


/* Message Classes & IDs */
#define UBX_MSG_NAV_POSLLH  ((UBX_CLASS_NAV) | UBX_ID_NAV_POSLLH << 8)
#define UBX_MSG_NAV_SOL     ((UBX_CLASS_NAV) | UBX_ID_NAV_SOL << 8)
#define UBX_MSG_NAV_DOP     ((UBX_CLASS_NAV) | UBX_ID_NAV_DOP << 8)
#define UBX_MSG_NAV_PVT     ((UBX_CLASS_NAV) | UBX_ID_NAV_PVT << 8)
#define UBX_MSG_NAV_VELNED  ((UBX_CLASS_NAV) | UBX_ID_NAV_VELNED << 8)
#define UBX_MSG_NAV_TIMEUTC ((UBX_CLASS_NAV) | UBX_ID_NAV_TIMEUTC << 8)
#define UBX_MSG_NAV_SVINFO  ((UBX_CLASS_NAV) | UBX_ID_NAV_SVINFO << 8)
#define UBX_MSG_NAV_SAT ((UBX_CLASS_NAV) | UBX_ID_NAV_SAT << 8)
#define UBX_MSG_NAV_SVIN    ((UBX_CLASS_NAV) | UBX_ID_NAV_SVIN << 8)
#define UBX_MSG_NAV_RELPOSNED   ((UBX_CLASS_NAV) | UBX_ID_NAV_RELPOSNED << 8)
#define UBX_MSG_INF_DEBUG   ((UBX_CLASS_INF) | UBX_ID_INF_DEBUG << 8)
#define UBX_MSG_INF_ERROR   ((UBX_CLASS_INF) | UBX_ID_INF_ERROR << 8)
#define UBX_MSG_INF_NOTICE  ((UBX_CLASS_INF) | UBX_ID_INF_NOTICE << 8)
#define UBX_MSG_INF_WARNING ((UBX_CLASS_INF) | UBX_ID_INF_WARNING << 8)
#define UBX_MSG_ACK_NAK     ((UBX_CLASS_ACK) | UBX_ID_ACK_NAK << 8)
#define UBX_MSG_ACK_ACK     ((UBX_CLASS_ACK) | UBX_ID_ACK_ACK << 8)
#define UBX_MSG_CFG_PRT     ((UBX_CLASS_CFG) | UBX_ID_CFG_PRT << 8)
#define UBX_MSG_CFG_MSG     ((UBX_CLASS_CFG) | UBX_ID_CFG_MSG << 8)
#define UBX_MSG_CFG_RATE    ((UBX_CLASS_CFG) | UBX_ID_CFG_RATE << 8)
#define UBX_MSG_CFG_CFG     ((UBX_CLASS_CFG) | UBX_ID_CFG_CFG << 8)
#define UBX_MSG_CFG_NAV5    ((UBX_CLASS_CFG) | UBX_ID_CFG_NAV5 << 8)
#define UBX_MSG_CFG_RST     ((UBX_CLASS_CFG) | UBX_ID_CFG_RST << 8)
#define UBX_MSG_CFG_SBAS    ((UBX_CLASS_CFG) | UBX_ID_CFG_SBAS << 8)
#define UBX_MSG_CFG_TMODE3  ((UBX_CLASS_CFG) | UBX_ID_CFG_TMODE3 << 8)
#define UBX_MSG_CFG_VALGET  ((UBX_CLASS_CFG) | UBX_ID_CFG_VALGET << 8)
#define UBX_MSG_CFG_VALSET  ((UBX_CLASS_CFG) | UBX_ID_CFG_VALSET << 8)
#define UBX_MSG_CFG_VALDEL  ((UBX_CLASS_CFG) | UBX_ID_CFG_VALDEL << 8)
#define UBX_MSG_MON_HW      ((UBX_CLASS_MON) | UBX_ID_MON_HW << 8)
#define UBX_MSG_MON_VER     ((UBX_CLASS_MON) | UBX_ID_MON_VER << 8)
#define UBX_MSG_MON_RF      ((UBX_CLASS_MON) | UBX_ID_MON_RF << 8)
#define UBX_MSG_RTCM3_1005  ((UBX_CLASS_RTCM3) | UBX_ID_RTCM3_1005 << 8)
#define UBX_MSG_RTCM3_1077  ((UBX_CLASS_RTCM3) | UBX_ID_RTCM3_1077 << 8)
#define UBX_MSG_RTCM3_1087  ((UBX_CLASS_RTCM3) | UBX_ID_RTCM3_1087 << 8)
#define UBX_MSG_RTCM3_1074  ((UBX_CLASS_RTCM3) | UBX_ID_RTCM3_1074 << 8)
#define UBX_MSG_RTCM3_1084  ((UBX_CLASS_RTCM3) | UBX_ID_RTCM3_1084 << 8)
#define UBX_MSG_RTCM3_1094  ((UBX_CLASS_RTCM3) | UBX_ID_RTCM3_1094 << 8)
#define UBX_MSG_RTCM3_1097  ((UBX_CLASS_RTCM3) | UBX_ID_RTCM3_1097 << 8)
#define UBX_MSG_RTCM3_1124  ((UBX_CLASS_RTCM3) | UBX_ID_RTCM3_1124 << 8)
#define UBX_MSG_RTCM3_1127  ((UBX_CLASS_RTCM3) | UBX_ID_RTCM3_1127 << 8)
#define UBX_MSG_RTCM3_1230  ((UBX_CLASS_RTCM3) | UBX_ID_RTCM3_1230 << 8)
#define UBX_MSG_RTCM3_4072  ((UBX_CLASS_RTCM3) | UBX_ID_RTCM3_4072 << 8)

/* RX NAV-PVT message content details */
/*   Bitfield "valid" masks */
#define UBX_RX_NAV_PVT_VALID_VALIDDATE      0x01    /**< validDate (Valid UTC Date) */
#define UBX_RX_NAV_PVT_VALID_VALIDTIME      0x02    /**< validTime (Valid UTC Time) */
#define UBX_RX_NAV_PVT_VALID_FULLYRESOLVED  0x04    /**< fullyResolved (1 = UTC Time of Day has been fully resolved (no seconds uncertainty)) */

/*   Bitfield "flags" masks */
#define UBX_RX_NAV_PVT_FLAGS_GNSSFIXOK      0x01    /**< gnssFixOK (A valid fix (i.e within DOP & accuracy masks)) */
#define UBX_RX_NAV_PVT_FLAGS_DIFFSOLN       0x02    /**< diffSoln (1 if differential corrections were applied) */
#define UBX_RX_NAV_PVT_FLAGS_PSMSTATE       0x1C    /**< psmState (Power Save Mode state (see Power Management)) */
#define UBX_RX_NAV_PVT_FLAGS_HEADVEHVALID   0x20    /**< headVehValid (Heading of vehicle is valid) */
#define UBX_RX_NAV_PVT_FLAGS_CARRSOLN       0xC0    /**< Carrier phase range solution (RTK mode) */

/* RX NAV-TIMEUTC message content details */
/*   Bitfield "valid" masks */
#define UBX_RX_NAV_TIMEUTC_VALID_VALIDTOW   0x01    /**< validTOW (1 = Valid Time of Week) */
#define UBX_RX_NAV_TIMEUTC_VALID_VALIDKWN   0x02    /**< validWKN (1 = Valid Week Number) */
#define UBX_RX_NAV_TIMEUTC_VALID_VALIDUTC   0x04    /**< validUTC (1 = Valid UTC Time) */
#define UBX_RX_NAV_TIMEUTC_VALID_UTCSTANDARD    0xF0    /**< utcStandard (0..15 = UTC standard identifier) */

/* TX CFG-PRT message contents
 * Note: not used with protocol version 27+ anymore
 */
#define UBX_TX_CFG_PRT_PORTID       0x01        /**< UART1 */
#define UBX_TX_CFG_PRT_PORTID_USB   0x03        /**< USB */
#define UBX_TX_CFG_PRT_PORTID_SPI   0x04        /**< SPI */
#define UBX_TX_CFG_PRT_MODE     0x000008D0  /**< 0b0000100011010000: 8N1 */
#define UBX_TX_CFG_PRT_MODE_SPI 0x00000100
#define UBX_TX_CFG_PRT_BAUDRATE     38400       /**< choose 38400 as GPS baudrate (pre M8* boards only) */
#define UBX_TX_CFG_PRT_INPROTOMASK_GPS  ((1<<5) | 0x01) /**< RTCM3 in and UBX in */
#define UBX_TX_CFG_PRT_INPROTOMASK_RTCM (0x01)  /**< UBX in */
#define UBX_TX_CFG_PRT_OUTPROTOMASK_GPS (0x01)          /**< UBX out */
#define UBX_TX_CFG_PRT_OUTPROTOMASK_RTCM    ((1<<5) | 0x01)     /**< RTCM3 out and UBX out */

#define UBX_BAUDRATE_M8_AND_NEWER 115200 /**< baudrate for M8+ boards */

/* TX CFG-RATE message contents
 * Note: not used with protocol version 27+ anymore
 */
#define UBX_TX_CFG_RATE_MEASINTERVAL        200     /**< 200ms for 5Hz (F9* boards use 10Hz) */
#define UBX_TX_CFG_RATE_NAVRATE     1       /**< cannot be changed */
#define UBX_TX_CFG_RATE_TIMEREF     0       /**< 0: UTC, 1: GPS time */

/* TX CFG-NAV5 message contents
 * Note: not used with protocol version 27+ anymore
 */
#define UBX_TX_CFG_NAV5_MASK        0x0005      /**< Only update dynamic model and fix mode */
#define UBX_TX_CFG_NAV5_FIXMODE     2       /**< 1 2D only, 2 3D only, 3 Auto 2D/3D */

/* TX CFG-RST message contents
 */
#define UBX_TX_CFG_RST_BBR_MODE_HOT_START   0
#define UBX_TX_CFG_RST_BBR_MODE_WARM_START  1
#define UBX_TX_CFG_RST_BBR_MODE_COLD_START  0xFFFF
#define UBX_TX_CFG_RST_MODE_HARDWARE        0
#define UBX_TX_CFG_RST_MODE_SOFTWARE        1

/* Key ID's for CFG-VAL{GET,SET,DEL} */
#define UBX_CFG_KEY_CFG_UART1_BAUDRATE           0x40520001
#define UBX_CFG_KEY_CFG_UART1_STOPBITS           0x20520002
#define UBX_CFG_KEY_CFG_UART1_DATABITS           0x20520003
#define UBX_CFG_KEY_CFG_UART1_PARITY             0x20520004
#define UBX_CFG_KEY_CFG_UART1_ENABLED            0x20520005
#define UBX_CFG_KEY_CFG_UART1_REMAP              0x20520006
#define UBX_CFG_KEY_CFG_UART1INPROT_UBX          0x10730001
#define UBX_CFG_KEY_CFG_UART1INPROT_NMEA         0x10730002
#define UBX_CFG_KEY_CFG_UART1INPROT_RTCM3X       0x10730004
#define UBX_CFG_KEY_CFG_UART1OUTPROT_UBX         0x10740001
#define UBX_CFG_KEY_CFG_UART1OUTPROT_NMEA        0x10740002
#define UBX_CFG_KEY_CFG_UART1OUTPROT_RTCM3X      0x10740004

#define UBX_CFG_KEY_CFG_UART2_BAUDRATE           0x40530001
#define UBX_CFG_KEY_CFG_UART2_STOPBITS           0x20530002
#define UBX_CFG_KEY_CFG_UART2_DATABITS           0x20530003
#define UBX_CFG_KEY_CFG_UART2_PARITY             0x20530004
#define UBX_CFG_KEY_CFG_UART2_ENABLED            0x20530005
#define UBX_CFG_KEY_CFG_UART2_REMAP              0x20530006
#define UBX_CFG_KEY_CFG_UART2INPROT_UBX          0x10750001
#define UBX_CFG_KEY_CFG_UART2INPROT_NMEA         0x10750002
#define UBX_CFG_KEY_CFG_UART2INPROT_RTCM3X       0x10750004
#define UBX_CFG_KEY_CFG_UART2OUTPROT_UBX         0x10760001
#define UBX_CFG_KEY_CFG_UART2OUTPROT_NMEA        0x10760002
#define UBX_CFG_KEY_CFG_UART2OUTPROT_RTCM3X      0x10760004

#define UBX_CFG_KEY_CFG_USB_ENABLED              0x10650001
#define UBX_CFG_KEY_CFG_USBINPROT_UBX            0x10770001
#define UBX_CFG_KEY_CFG_USBINPROT_NMEA           0x10770002
#define UBX_CFG_KEY_CFG_USBINPROT_RTCM3X         0x10770004
#define UBX_CFG_KEY_CFG_USBOUTPROT_UBX           0x10780001
#define UBX_CFG_KEY_CFG_USBOUTPROT_NMEA          0x10780002
#define UBX_CFG_KEY_CFG_USBOUTPROT_RTCM3X        0x10780004

#define UBX_CFG_KEY_CFG_SPIINPROT_UBX            0x10790001
#define UBX_CFG_KEY_CFG_SPIINPROT_NMEA           0x10790002
#define UBX_CFG_KEY_CFG_SPIINPROT_RTCM3X         0x10790004
#define UBX_CFG_KEY_CFG_SPIOUTPROT_UBX           0x107a0001
#define UBX_CFG_KEY_CFG_SPIOUTPROT_NMEA          0x107a0002
#define UBX_CFG_KEY_CFG_SPIOUTPROT_RTCM3X        0x107a0004

#define UBX_CFG_KEY_NAVHPG_DGNSSMODE             0x20140011

#define UBX_CFG_KEY_NAVSPG_FIXMODE               0x20110011
#define UBX_CFG_KEY_NAVSPG_UTCSTANDARD           0x2011001c
#define UBX_CFG_KEY_NAVSPG_DYNMODEL              0x20110021

#define UBX_CFG_KEY_ODO_USE_ODO                  0x10220001
#define UBX_CFG_KEY_ODO_USE_COG                  0x10220002
#define UBX_CFG_KEY_ODO_OUTLPVEL                 0x10220003
#define UBX_CFG_KEY_ODO_OUTLPCOG                 0x10220004

#define UBX_CFG_KEY_RATE_MEAS                    0x30210001
#define UBX_CFG_KEY_RATE_NAV                     0x30210002
#define UBX_CFG_KEY_RATE_TIMEREF                 0x20210003

#define UBX_CFG_KEY_TMODE_MODE                   0x20030001
#define UBX_CFG_KEY_TMODE_POS_TYPE               0x20030002
#define UBX_CFG_KEY_TMODE_LAT                    0x40030009
#define UBX_CFG_KEY_TMODE_LON                    0x4003000a
#define UBX_CFG_KEY_TMODE_HEIGHT                 0x4003000b
#define UBX_CFG_KEY_TMODE_LAT_HP                 0x2003000c
#define UBX_CFG_KEY_TMODE_LON_HP                 0x2003000d
#define UBX_CFG_KEY_TMODE_HEIGHT_HP              0x2003000e
#define UBX_CFG_KEY_TMODE_FIXED_POS_ACC          0x4003000f
#define UBX_CFG_KEY_TMODE_SVIN_MIN_DUR           0x40030010
#define UBX_CFG_KEY_TMODE_SVIN_ACC_LIMIT         0x40030011

#define UBX_CFG_KEY_MSGOUT_UBX_MON_RF_I2C        0x20910359
#define UBX_CFG_KEY_MSGOUT_UBX_NAV_SVIN_I2C      0x20910088
#define UBX_CFG_KEY_MSGOUT_UBX_NAV_SAT_I2C       0x20910015
#define UBX_CFG_KEY_MSGOUT_UBX_NAV_DOP_I2C       0x20910038
#define UBX_CFG_KEY_MSGOUT_UBX_NAV_PVT_I2C       0x20910006
#define UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1005_I2C  0x209102bd
#define UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1077_I2C  0x209102cc
#define UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1087_I2C  0x209102d1
#define UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1097_I2C  0x20910318
#define UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1127_I2C  0x209102d6
#define UBX_CFG_KEY_MSGOUT_RTCM_3X_TYPE1230_I2C  0x20910303

#define UBX_CFG_KEY_SPI_ENABLED                  0x10640006
#define UBX_CFG_KEY_SPI_MAXFF                    0x20640001


class RTCMParsing;


/*** u-blox protocol binary message and payload definitions ***/
#pragma pack(push, 1)

/* General: Header */
typedef struct {
    uint8_t     sync1;
    uint8_t     sync2;
    uint16_t    msg;
    uint16_t    length;
} ubx_header_t;

/* General: Checksum */
typedef struct {
    uint8_t     ck_a;
    uint8_t     ck_b;
} ubx_checksum_t ;

/* Rx NAV-POSLLH */
typedef struct {
    uint32_t    iTOW;       /**< GPS Time of Week [ms] */
    int32_t     lon;        /**< Longitude [1e-7 deg] */
    int32_t     lat;        /**< Latitude [1e-7 deg] */
    int32_t     height;     /**< Height above ellipsoid [mm] */
    int32_t     hMSL;       /**< Height above mean sea level [mm] */
    uint32_t    hAcc;       /**< Horizontal accuracy estimate [mm] */
    uint32_t    vAcc;       /**< Vertical accuracy estimate [mm] */
} ubx_payload_rx_nav_posllh_t;

/* Rx NAV-DOP */
typedef struct {
    uint32_t    iTOW;       /**< GPS Time of Week [ms] */
    uint16_t    gDOP;       /**< Geometric DOP [0.01] */
    uint16_t    pDOP;       /**< Position DOP [0.01] */
    uint16_t    tDOP;       /**< Time DOP [0.01] */
    uint16_t    vDOP;       /**< Vertical DOP [0.01] */
    uint16_t    hDOP;       /**< Horizontal DOP [0.01] */
    uint16_t    nDOP;       /**< Northing DOP [0.01] */
    uint16_t    eDOP;       /**< Easting DOP [0.01] */
} ubx_payload_rx_nav_dop_t;

/* Rx NAV-SOL */
typedef struct {
    uint32_t    iTOW;       /**< GPS Time of Week [ms] */
    int32_t     fTOW;       /**< Fractional part of iTOW (range: +/-500000) [ns] */
    int16_t     week;       /**< GPS week */
    uint8_t     gpsFix;     /**< GPSfix type: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */
    uint8_t     flags;
    int32_t     ecefX;
    int32_t     ecefY;
    int32_t     ecefZ;
    uint32_t    pAcc;
    int32_t     ecefVX;
    int32_t     ecefVY;
    int32_t     ecefVZ;
    uint32_t    sAcc;
    uint16_t    pDOP;       /**< Position DOP [0.01] */
    uint8_t     reserved1;
    uint8_t     numSV;      /**< Number of SVs used in Nav Solution */
    uint32_t    reserved2;
} ubx_payload_rx_nav_sol_t;

/* Rx NAV-PVT (ubx8) */
typedef struct {
    uint32_t    iTOW;       /**< GPS Time of Week [ms] */
    uint16_t    year;       /**< Year (UTC)*/
    uint8_t     month;      /**< Month, range 1..12 (UTC) */
    uint8_t     day;        /**< Day of month, range 1..31 (UTC) */
    uint8_t     hour;       /**< Hour of day, range 0..23 (UTC) */
    uint8_t     min;        /**< Minute of hour, range 0..59 (UTC) */
    uint8_t     sec;        /**< Seconds of minute, range 0..60 (UTC) */
    uint8_t     valid;      /**< Validity flags (see UBX_RX_NAV_PVT_VALID_...) */
    uint32_t    tAcc;       /**< Time accuracy estimate (UTC) [ns] */
    int32_t     nano;       /**< Fraction of second (UTC) [-1e9...1e9 ns] */
    uint8_t     fixType;    /**< GNSSfix type: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GNSS + dead reckoning, 5 = time only fix */
    uint8_t     flags;      /**< Fix Status Flags (see UBX_RX_NAV_PVT_FLAGS_...) */
    uint8_t     reserved1;
    uint8_t     numSV;      /**< Number of SVs used in Nav Solution */
    int32_t     lon;        /**< Longitude [1e-7 deg] */
    int32_t     lat;        /**< Latitude [1e-7 deg] */
    int32_t     height;     /**< Height above ellipsoid [mm] */
    int32_t     hMSL;       /**< Height above mean sea level [mm] */
    uint32_t    hAcc;       /**< Horizontal accuracy estimate [mm] */
    uint32_t    vAcc;       /**< Vertical accuracy estimate [mm] */
    int32_t     velN;       /**< NED north velocity [mm/s]*/
    int32_t     velE;       /**< NED east velocity [mm/s]*/
    int32_t     velD;       /**< NED down velocity [mm/s]*/
    int32_t     gSpeed;     /**< Ground Speed (2-D) [mm/s] */
    int32_t     headMot;    /**< Heading of motion (2-D) [1e-5 deg] */
    uint32_t    sAcc;       /**< Speed accuracy estimate [mm/s] */
    uint32_t    headAcc;    /**< Heading accuracy estimate (motion and vehicle) [1e-5 deg] */
    uint16_t    pDOP;       /**< Position DOP [0.01] */
    uint16_t    reserved2;
    uint32_t    reserved3;
    int32_t     headVeh;    /**< (ubx8+ only) Heading of vehicle (2-D) [1e-5 deg] */
    uint32_t    reserved4;  /**< (ubx8+ only) */
} ubx_payload_rx_nav_pvt_t;
#define UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX7    (sizeof(ubx_payload_rx_nav_pvt_t) - 8)
#define UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX8    (sizeof(ubx_payload_rx_nav_pvt_t))

/* Rx NAV-TIMEUTC */
typedef struct {
    uint32_t    iTOW;       /**< GPS Time of Week [ms] */
    uint32_t    tAcc;       /**< Time accuracy estimate (UTC) [ns] */
    int32_t     nano;       /**< Fraction of second, range -1e9 .. 1e9 (UTC) [ns] */
    uint16_t    year;       /**< Year, range 1999..2099 (UTC) */
    uint8_t     month;      /**< Month, range 1..12 (UTC) */
    uint8_t     day;        /**< Day of month, range 1..31 (UTC) */
    uint8_t     hour;       /**< Hour of day, range 0..23 (UTC) */
    uint8_t     min;        /**< Minute of hour, range 0..59 (UTC) */
    uint8_t     sec;        /**< Seconds of minute, range 0..60 (UTC) */
    uint8_t     valid;      /**< Validity Flags (see UBX_RX_NAV_TIMEUTC_VALID_...) */
} ubx_payload_rx_nav_timeutc_t;

/* Rx NAV-SVINFO Part 1 */
typedef struct {
    uint32_t    iTOW;       /**< GPS Time of Week [ms] */
    uint8_t     numCh;      /**< Number of channels */
    uint8_t     globalFlags;
    uint16_t    reserved2;
} ubx_payload_rx_nav_svinfo_part1_t;

/* Rx NAV-SVINFO Part 2 (repeated) */
typedef struct {
    uint8_t     chn;        /**< Channel number, 255 for SVs not assigned to a channel */
    uint8_t     svid;       /**< Satellite ID */
    uint8_t     flags;
    uint8_t     quality;
    uint8_t     cno;        /**< Carrier to Noise Ratio (Signal Strength) [dbHz] */
    int8_t      elev;       /**< Elevation [deg] */
    int16_t     azim;       /**< Azimuth [deg] */
    int32_t     prRes;      /**< Pseudo range residual [cm] */
} ubx_payload_rx_nav_svinfo_part2_t;

/* Rx NAV-SAT Part 1 */
typedef struct {
    uint32_t    iTOW;       /**< GPS Time of Week [ms] */
    uint8_t     version;    /**< Message version (1) */
    uint8_t     numSvs;     /**< Number of Satellites */
    uint16_t    reserved;
} ubx_payload_rx_nav_sat_part1_t;

/* Rx NAV-SAT Part 2 (repeated) */
typedef struct {
    uint8_t     gnssId;     /**< GNSS identifier */
    uint8_t     svId;       /**< Satellite ID */
    uint8_t     cno;        /**< Carrier to Noise Ratio (Signal Strength) [dbHz] */
    int8_t      elev;       /**< Elevation [deg] range: +/-90 */
    int16_t     azim;       /**< Azimuth [deg] range: 0-360 */
    int16_t     prRes;      /**< Pseudo range residual [0.1 m] */
    uint32_t    flags;
} ubx_payload_rx_nav_sat_part2_t;

/* Rx NAV-SVIN (survey-in info) */
typedef struct {
    uint8_t     version;
    uint8_t     reserved1[3];
    uint32_t    iTOW;
    uint32_t    dur;
    int32_t     meanX;
    int32_t     meanY;
    int32_t     meanZ;
    int8_t      meanXHP;
    int8_t      meanYHP;
    int8_t      meanZHP;
    int8_t      reserved2;
    uint32_t    meanAcc;
    uint32_t    obs;
    uint8_t     valid;
    uint8_t     active;
    uint8_t     reserved3[2];
} ubx_payload_rx_nav_svin_t;

/* Rx NAV-VELNED */
typedef struct {
    uint32_t    iTOW;       /**< GPS Time of Week [ms] */
    int32_t     velN;       /**< North velocity component [cm/s]*/
    int32_t     velE;       /**< East velocity component [cm/s]*/
    int32_t     velD;       /**< Down velocity component [cm/s]*/
    uint32_t    speed;      /**< Speed (3-D) [cm/s] */
    uint32_t    gSpeed;     /**< Ground speed (2-D) [cm/s] */
    int32_t     heading;    /**< Heading of motion 2-D [1e-5 deg] */
    uint32_t    sAcc;       /**< Speed accuracy estimate [cm/s] */
    uint32_t    cAcc;       /**< Course / Heading accuracy estimate [1e-5 deg] */
} ubx_payload_rx_nav_velned_t;

/* Rx MON-HW (ubx6) */
typedef struct {
    uint32_t    pinSel;
    uint32_t    pinBank;
    uint32_t    pinDir;
    uint32_t    pinVal;
    uint16_t    noisePerMS;
    uint16_t    agcCnt;
    uint8_t     aStatus;
    uint8_t     aPower;
    uint8_t     flags;
    uint8_t     reserved1;
    uint32_t    usedMask;
    uint8_t     VP[25];
    uint8_t     jamInd;
    uint16_t    reserved3;
    uint32_t    pinIrq;
    uint32_t    pullH;
    uint32_t    pullL;
} ubx_payload_rx_mon_hw_ubx6_t;

/* Rx MON-HW (ubx7+) */
typedef struct {
    uint32_t    pinSel;
    uint32_t    pinBank;
    uint32_t    pinDir;
    uint32_t    pinVal;
    uint16_t    noisePerMS;
    uint16_t    agcCnt;
    uint8_t     aStatus;
    uint8_t     aPower;
    uint8_t     flags;
    uint8_t     reserved1;
    uint32_t    usedMask;
    uint8_t     VP[17];
    uint8_t     jamInd;
    uint16_t    reserved3;
    uint32_t    pinIrq;
    uint32_t    pullH;
    uint32_t    pullL;
} ubx_payload_rx_mon_hw_ubx7_t;

/* Rx MON-RF (replaces MON-HW, protocol 27+) */
typedef struct {
    uint8_t version;
    uint8_t nBlocks;         /**< number of RF blocks included */
    uint8_t reserved1[2];

    struct ubx_payload_rx_mon_rf_block_t {
        uint8_t blockId;     /**< RF block id */
        uint8_t flags;       /**< jammingState */
        uint8_t antStatus;   /**< Status of the antenna superior state machine */
        uint8_t antPower;    /**< Current power status of antenna */
        uint32_t postStatus; /**< POST status word */
        uint8_t reserved2[4];
        uint16_t noisePerMS; /**< Noise level as measured by the GPS core */
        uint16_t agcCnt;     /**< AGC Monitor (counts SIGI xor SIGLO, range 0 to 8191 */
        uint8_t jamInd;      /**< CW jamming indicator, scaled (0=no CW jamming, 255=strong CW jamming) */
        int8_t ofsI;         /**< Imbalance of I-part of complex signal */
        uint8_t magI;        /**< Magnitude of I-part of complex signal (0=no signal, 255=max magnitude) */
        int8_t ofsQ;         /**< Imbalance of Q-part of complex signal */
        uint8_t magQ;        /**< Magnitude of Q-part of complex signal (0=no signal, 255=max magnitude) */
        uint8_t reserved3[3];
    };

    ubx_payload_rx_mon_rf_block_t block[1]; ///< only read out the first block
} ubx_payload_rx_mon_rf_t;

/* Rx MON-VER Part 1 */
typedef struct {
    uint8_t     swVersion[30];
    uint8_t     hwVersion[10];
} ubx_payload_rx_mon_ver_part1_t;

/* Rx MON-VER Part 2 (repeated) */
typedef struct {
    uint8_t     extension[30];
} ubx_payload_rx_mon_ver_part2_t;

/* Rx ACK-ACK */
typedef union {
    uint16_t    msg;
    struct {
        uint8_t clsID;
        uint8_t msgID;
    };
} ubx_payload_rx_ack_ack_t;

/* Rx ACK-NAK */
typedef union {
    uint16_t    msg;
    struct {
        uint8_t clsID;
        uint8_t msgID;
    };
} ubx_payload_rx_ack_nak_t;

/* Tx CFG-PRT */
typedef struct {
    uint8_t     portID;
    uint8_t     reserved0;
    uint16_t    txReady;
    uint32_t    mode;
    uint32_t    baudRate;
    uint16_t    inProtoMask;
    uint16_t    outProtoMask;
    uint16_t    flags;
    uint16_t    reserved5;
} ubx_payload_tx_cfg_prt_t;

/* Tx CFG-RATE */
typedef struct {
    uint16_t    measRate;   /**< Measurement Rate, GPS measurements are taken every measRate milliseconds */
    uint16_t    navRate;    /**< Navigation Rate, in number of measurement cycles. This parameter cannot be changed, and must be set to 1 */
    uint16_t    timeRef;    /**< Alignment to reference time: 0 = UTC time, 1 = GPS time */
} ubx_payload_tx_cfg_rate_t;

/* Tx CFG-CFG */
typedef struct {
    uint32_t    clearMask;  /**< Clear settings */
    uint32_t    saveMask;   /**< Save settings */
    uint32_t    loadMask;   /**< Load settings */
    uint8_t     deviceMask; /**< Storage devices to apply this top */
} ubx_payload_tx_cfg_cfg_t;

/* Tx CFG-VALSET (protocol version 27+) */
typedef struct {
    uint8_t     version;    /**< Message version, set to 0 */
    uint8_t     layers; /**< The layers where the configuration should be applied (@see UBX_CFG_LAYER_*) */
    uint8_t     reserved1[2];
    uint8_t     cfgData;    /**< configuration data (key and value pairs, max 64) */
} ubx_payload_tx_cfg_valset_t;

#define UBX_CFG_LAYER_RAM (1 << 0)
#define UBX_CFG_LAYER_BBR (1 << 1)
#define UBX_CFG_LAYER_FLASH (1 << 2)

/* Tx CFG-NAV5 */
typedef struct {
    uint16_t    mask;
    uint8_t     dynModel;   /**< Dynamic Platform model: 0 Portable, 2 Stationary, 3 Pedestrian, 4 Automotive, 5 Sea, 6 Airborne <1g, 7 Airborne <2g, 8 Airborne <4g */
    uint8_t     fixMode;    /**< Position Fixing Mode: 1 2D only, 2 3D only, 3 Auto 2D/3D */
    int32_t     fixedAlt;
    uint32_t    fixedAltVar;
    int8_t      minElev;
    uint8_t     drLimit;
    uint16_t    pDop;
    uint16_t    tDop;
    uint16_t    pAcc;
    uint16_t    tAcc;
    uint8_t     staticHoldThresh;
    uint8_t     dgpsTimeOut;
    uint8_t     cnoThreshNumSVs;    /**< (ubx7+ only, else 0) */
    uint8_t     cnoThresh;      /**< (ubx7+ only, else 0) */
    uint16_t    reserved;
    uint16_t    staticHoldMaxDist;  /**< (ubx8+ only, else 0) */
    uint8_t     utcStandard;        /**< (ubx8+ only, else 0) */
    uint8_t     reserved3;
    uint32_t    reserved4;
} ubx_payload_tx_cfg_nav5_t;

/* tx cfg-rst */
typedef struct {
    uint16_t    navBbrMask;
    uint8_t     resetMode;
    uint8_t     reserved1;
} ubx_payload_tx_cfg_rst_t;

/* tx cfg-sbas */
typedef struct {
    uint8_t     mode;
    uint8_t     usage;
    uint8_t     maxSBAS;
    uint8_t     scanmode2;
    uint32_t    scanmode1;
} ubx_payload_tx_cfg_sbas_t;

/* Tx CFG-MSG */
typedef struct {
    union {
        uint16_t    msg;
        struct {
            uint8_t msgClass;
            uint8_t msgID;
        };
    };
    uint8_t rate;
} ubx_payload_tx_cfg_msg_t;

/* CFG-TMODE3 ublox 8 (protocol version >= 20) */
typedef struct {
    uint8_t     version;
    uint8_t     reserved1;
    uint16_t    flags;
    int32_t     ecefXOrLat;
    int32_t     ecefYOrLon;
    int32_t     ecefZOrAlt;
    int8_t      ecefXOrLatHP;
    int8_t      ecefYOrLonHP;
    int8_t      ecefZOrAltHP;
    uint8_t     reserved2;
    uint32_t    fixedPosAcc;
    uint32_t    svinMinDur;
    uint32_t    svinAccLimit;
    uint8_t     reserved3[8];
} ubx_payload_tx_cfg_tmode3_t;

/* General message and payload buffer union */
typedef union {
    ubx_payload_rx_nav_pvt_t        payload_rx_nav_pvt;
    ubx_payload_rx_nav_posllh_t     payload_rx_nav_posllh;
    ubx_payload_rx_nav_sol_t        payload_rx_nav_sol;
    ubx_payload_rx_nav_dop_t        payload_rx_nav_dop;
    ubx_payload_rx_nav_timeutc_t        payload_rx_nav_timeutc;
    ubx_payload_rx_nav_svinfo_part1_t   payload_rx_nav_svinfo_part1;
    ubx_payload_rx_nav_svinfo_part2_t   payload_rx_nav_svinfo_part2;
    ubx_payload_rx_nav_sat_part1_t      payload_rx_nav_sat_part1;
    ubx_payload_rx_nav_sat_part2_t      payload_rx_nav_sat_part2;
    ubx_payload_rx_nav_svin_t       payload_rx_nav_svin;
    ubx_payload_rx_nav_velned_t     payload_rx_nav_velned;
    ubx_payload_rx_mon_hw_ubx6_t        payload_rx_mon_hw_ubx6;
    ubx_payload_rx_mon_hw_ubx7_t        payload_rx_mon_hw_ubx7;
    ubx_payload_rx_mon_rf_t         payload_rx_mon_rf;
    ubx_payload_rx_mon_ver_part1_t      payload_rx_mon_ver_part1;
    ubx_payload_rx_mon_ver_part2_t      payload_rx_mon_ver_part2;
    ubx_payload_rx_ack_ack_t        payload_rx_ack_ack;
    ubx_payload_rx_ack_nak_t        payload_rx_ack_nak;
    ubx_payload_tx_cfg_prt_t        payload_tx_cfg_prt;
    ubx_payload_tx_cfg_rate_t       payload_tx_cfg_rate;
    ubx_payload_tx_cfg_nav5_t       payload_tx_cfg_nav5;
    ubx_payload_tx_cfg_rst_t        payload_tx_cfg_rst;
    ubx_payload_tx_cfg_sbas_t       payload_tx_cfg_sbas;
    ubx_payload_tx_cfg_msg_t        payload_tx_cfg_msg;
    ubx_payload_tx_cfg_tmode3_t     payload_tx_cfg_tmode3;
    ubx_payload_tx_cfg_cfg_t        payload_tx_cfg_cfg;
    ubx_payload_tx_cfg_valset_t     payload_tx_cfg_valset;
} ubx_buf_t;

#pragma pack(pop)
/*** END OF u-blox protocol binary message and payload definitions ***/

/* Decoder state */
typedef enum {
    UBX_DECODE_SYNC1 = 0,
    UBX_DECODE_SYNC2,
    UBX_DECODE_CLASS,
    UBX_DECODE_ID,
    UBX_DECODE_LENGTH1,
    UBX_DECODE_LENGTH2,
    UBX_DECODE_PAYLOAD,
    UBX_DECODE_CHKSUM1,
    UBX_DECODE_CHKSUM2,

    UBX_DECODE_RTCM3
} ubx_decode_state_t;

/* Rx message state */
typedef enum {
    UBX_RXMSG_IGNORE = 0,
    UBX_RXMSG_HANDLE,
    UBX_RXMSG_DISABLE,
    UBX_RXMSG_ERROR_LENGTH
} ubx_rxmsg_state_t;

/* ACK state */
typedef enum {
    UBX_ACK_IDLE = 0,
    UBX_ACK_WAITING,
    UBX_ACK_GOT_ACK,
    UBX_ACK_GOT_NAK
} ubx_ack_state_t;


class GPSDriverUBX : public GPSBaseStationSupport
{
public:
    GPSDriverUBX(Interface gpsInterface, GPSCallbackPtr callback, void *callback_user,
             struct vehicle_gps_position_s *gps_position,
             struct satellite_info_s *satellite_info,
             uint8_t dynamic_model = 7);

    virtual ~GPSDriverUBX();

    int receive(unsigned timeout) override;
    int configure(unsigned &baudrate, OutputMode output_mode) override;
    int reset(GPSRestartType restart_type) override;

private:

    /**
     * Start or restart the survey-in procees. This is only used in RTCM ouput mode.
     * It will be called automatically after configuring.
     * @return 0 on success, <0 on error
     */
    int restartSurveyIn();

    /**
     * restartSurveyIn for protocol version < 27 (_proto_ver_27_or_higher == false)
     */
    int restartSurveyInPreV27();

    /**
     * Parse the binary UBX packet
     */
    int parseChar(const uint8_t b);

    /**
     * Start payload rx
     */
    int payloadRxInit(void);

    /**
     * Add payload rx byte
     */
    int payloadRxAdd(const uint8_t b);
    int payloadRxAddNavSvinfo(const uint8_t b);
    int payloadRxAddNavSat(const uint8_t b);
    int payloadRxAddMonVer(const uint8_t b);

    /**
     * Finish payload rx
     */
    int payloadRxDone(void);

    /**
     * Reset the parse state machine for a fresh start
     */
    void decodeInit(void);

    /**
     * While parsing add every byte (except the sync bytes) to the checksum
     */
    void addByteToChecksum(const uint8_t);

    /**
     * Send a message
     * @return true on success, false on write error (errno set)
     */
    bool sendMessage(const uint16_t msg, const uint8_t *payload, const uint16_t length);

    /**
     * Configure message rate.
     * Note: this is deprecated with protocol version >= 27
     * @return true on success, false on write error
     */
    bool configureMessageRate(const uint16_t msg, const uint8_t rate);

    /**
     * Calculate & add checksum for given buffer
     */
    void calcChecksum(const uint8_t *buffer, const uint16_t length, ubx_checksum_t *checksum);

    /**
     * Wait for message acknowledge
     */
    int waitForAck(const uint16_t msg, const unsigned timeout, const bool report);

    /**
     * Combines the configure_message_rate & wait_for_ack calls.
     * Note: this is deprecated with protocol version >= 27
     * @return true on success
     */
    inline bool configureMessageRateAndAck(uint16_t msg, uint8_t rate, bool report_ack_error = false);

    /**
     * Send configuration values and desired message rates
     * @return 0 on success, <0 on error
     */
    int configureDevice();
    /**
     * Send configuration values and desired message rates (for protocol version < 27)
     * @return 0 on success, <0 on error
     */
    int configureDevicePreV27();

    /**
     * Init _buf as CFG-VALSET
     * @return size of the message (without any config values)
     */
    int initCfgValset();

    /**
     * Add a configuration value to _buf and increase the message size msg_size as needed
     * @param key_id one of the UBX_CFG_KEY_* constants
     * @param value configuration value
     * @param msg_size CFG-VALSET message size: this is an input & output param
     * @return true on success, false if buffer too small
     */
    template<typename T>
    bool cfgValset(uint32_t key_id, T value, int &msg_size);

    /**
     * Add a configuration value that is port-specific (MSGOUT messages).
     * Note: Key ID must be the one for I2C, and the implementation assumes the
     *       Key ID's are in increasing order for the other ports: I2C, UART1, UART2, USB, SPI
     *       (this is a safe assumption for all MSGOUT messages according to u-blox).
     *
     * @param key_id I2C key ID
     * @param value configuration value
     * @param msg_size CFG-VALSET message size: this is an input & output param
     * @return true on success, false if buffer too small
     */
    bool cfgValsetPort(uint32_t key_id, uint8_t value, int &msg_size);

    int activateRTCMOutput();

    /**
     * Calculate FNV1 hash
     */
    uint32_t fnv1_32_str(uint8_t *str, uint32_t hval);

    enum class Board : uint8_t {
        unknown = 0,
        u_blox5 = 5,
        u_blox6 = 6,
        u_blox7 = 7,
        u_blox8 = 8, ///< M8N or M8P
        u_blox9 = 9, ///< F9P
    };

    struct vehicle_gps_position_s *_gps_position {nullptr};
    struct satellite_info_s *_satellite_info {nullptr};
    uint64_t        _last_timestamp_time{0};
    bool            _configured{false};
    ubx_ack_state_t     _ack_state{UBX_ACK_IDLE};
    bool            _got_posllh{false};
    bool            _got_velned{false};
    ubx_decode_state_t  _decode_state{};
    uint16_t        _rx_msg{};
    ubx_rxmsg_state_t   _rx_state{UBX_RXMSG_IGNORE};
    uint16_t        _rx_payload_length{};
    uint16_t        _rx_payload_index{};
    uint8_t         _rx_ck_a{};
    uint8_t         _rx_ck_b{};
    gps_abstime     _disable_cmd_last{0};
    uint16_t        _ack_waiting_msg{0};
    ubx_buf_t       _buf{};
    uint32_t        _ubx_version{0};
    bool            _use_nav_pvt{false};
    bool            _proto_ver_27_or_higher{false}; ///< true if protocol version 27 or higher detected
    OutputMode      _output_mode{OutputMode::GPS};

    RTCMParsing *_rtcm_parsing{nullptr};

    const Interface     _interface;
    Board           _board{Board::unknown};

    // ublox Dynamic platform model default 7: airborne with <2g acceleration
    uint8_t _dyn_model{7};
};