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HighLevelAnalyzer.py
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# SparkFun u-blox UBX High Level Analyzer
# Based on https://github.com/saleae/hla-text-messages
# For more information and documentation about high level analyzers, please go to
# https://support.saleae.com/extensions/high-level-analyzer-extensions
from saleae.analyzers import HighLevelAnalyzer, AnalyzerFrame, StringSetting, NumberSetting, ChoicesSetting
from saleae.data import GraphTimeDelta
I2C_ADDRESS_SETTING = 'I2C Address (usually 66 = 0x42)'
SPI_CHANNEL_SETTING = 'SPI Channel'
UBLOX_MODULE_SETTING = 'u-blox Module'
class Hla(HighLevelAnalyzer):
temp_frame = None
sync_char_1 = 0xB5 # UBX preamble sync 1
sync_char_2 = 0x62 # UBX preamble sync 2
dollar = 0x24 # NMEA start delimiter
asterix = 0x2A # NMEA checksum delimiter
rtcm_preamble = 0xD3 # RTCM preamble
# Sync 'state machine'
looking_for_B5_dollar_D3 = 0 # Looking for UBX 0xB5, NMEA '$' or RTCM 0xD3
looking_for_sync_2 = 1 # Looking for UBX sync char 2 0x62
looking_for_class = 2 # Looking for UBX class byte
looking_for_ID = 3 # Looking for UBX ID byte
looking_for_length_LSB = 4 # Looking for UBX length bytes
looking_for_length_MSB = 5
processing_UBX_payload = 6 # Processing the UBX payload. Keep going until length bytes have been processed
looking_for_checksum_A = 7 # Looking for UBX checksum bytes
looking_for_checksum_B = 8
sync_lost = 9 # Go into this state if sync is lost (bad checksum etc.)
looking_for_asterix = 10 # Looking for NMEA '*'
looking_for_csum1 = 11 # Looking for NMEA checksum bytes
looking_for_csum2 = 12
looking_for_term1 = 13 # Looking for NMEA terminating bytes (CR and LF)
looking_for_term2 = 14
looking_for_RTCM_len1 = 15 # Looking for RTCM length byte (2 MS bits)
looking_for_RTCM_len2 = 16 # Looking for RTCM length byte (8 LS bits)
looking_for_RTCM_type1 = 17 # Looking for RTCM Type byte (8 MS bits, first byte of the payload)
looking_for_RTCM_type2 = 18 # Looking for RTCM Type byte (4 LS bits, second byte of the payload)
processing_RTCM_payload = 19 # Processing RTCM payload bytes
looking_for_RTCM_csum1 = 20 # Looking for the first 8 bits of the CRC-24Q checksum
looking_for_RTCM_csum2 = 21 # Looking for the second 8 bits of the CRC-24Q checksum
looking_for_RTCM_csum3 = 22 # Looking for the third 8 bits of the CRC-24Q checksum
# Mini state machine to avoid I2C Bytes-Available being decoded as data
decode_normal = 0 # Decode bytes as normal
write_seen_check_FD = 1 # Go into this state when a _write_ to i2c_address is seen
FD_seen_check_read = 2 # Go into this state if 0xFD is seen immediately after the write
ignore_avail_LSB = 3 # Ignore this byte - it is the LSB of Bytes-Available
ignore_avail_MSB = 4 # Ignore this byte - it is the MSB of Bytes-Available
# UBX Class (Numerical order)
UBX_CLASS = {
0x01: "NAV",
0x02: "RXM",
0x04: "INF",
0x05: "ACK",
0x06: "CFG",
0x09: "UPD",
0x0a: "MON",
0x0b: "AID",
0x0c: "DBG",
0x0d: "TIM",
0x10: "ESF",
0x13: "MGA",
0x21: "LOG",
0x27: "SEC",
0x28: "HNR",
0x29: "NAV2",
0xF0: "NMEA",
0xF1: "PUBX",
0xF4: "RTCM2",
0xF5: "RTCM3",
0xF6: "SPARTN",
0xF7: "NMEA-NAV2"
}
# UBX ID (Alphabetical order - as per the interface description)
UBX_ID = {
# ACK
(0x05, 0x01): ("ACK", "ACK"),
(0x05, 0x00): ("ACK", "NACK"),
# CFG
(0x06, 0x13): ("CFG", "ANT"),
(0x06, 0x93): ("CFG", "BATCH"),
(0x06, 0x09): ("CFG", "CFG"),
(0x06, 0x06): ("CFG", "DAT"),
(0x06, 0x70): ("CFG", "DGNSS"),
(0x06, 0x4c): ("CFG", "ESFA"),
(0x06, 0x56): ("CFG", "ESFALG"),
(0x06, 0x4d): ("CFG", "ESFG"),
(0x06, 0x69): ("CFG", "GEOFENCE"),
(0x06, 0x3e): ("CFG", "GNSS"),
(0x06, 0x5c): ("CFG", "HNR"),
(0x06, 0x02): ("CFG", "INF"),
(0x06, 0x39): ("CFG", "ITFM"),
(0x06, 0x47): ("CFG", "LOGFILTER"),
(0x06, 0x01): ("CFG", "MSG"),
(0x06, 0x24): ("CFG", "NAV5"),
(0x06, 0x23): ("CFG", "NAVX5"),
(0x06, 0x17): ("CFG", "NMEA"),
(0x06, 0x1e): ("CFG", "ODO"),
(0x06, 0x3b): ("CFG", "PM2"),
(0x06, 0x86): ("CFG", "PMS"),
(0x06, 0x00): ("CFG", "PRT"),
(0x06, 0x57): ("CFG", "PWR"),
(0x06, 0x08): ("CFG", "RATE"),
(0x06, 0x34): ("CFG", "RINV"), # poll contents of remote inventory
(0x06, 0x04): ("CFG", "RST"),
(0x06, 0x16): ("CFG", "SBAS"),
(0x06, 0x71): ("CFG", "TMODE3"),
(0x06, 0x31): ("CFG", "TP5"),
(0x06, 0x1b): ("CFG", "USB"),
(0x06, 0x8c): ("CFG", "VALDEL"),
(0x06, 0x8b): ("CFG", "VALGET"),
(0x06, 0x8a): ("CFG", "VALSET"),
# ESF
(0x10, 0x14): ("ESF", "ALG"),
(0x10, 0x15): ("ESF", "INS"),
(0x10, 0x02): ("ESF", "MEAS"),
(0x10, 0x03): ("ESF", "RAW"),
(0x10, 0x13): ("ESF", "RESETALG"),
(0x10, 0x10): ("ESF", "STATUS"),
# HNR
(0x28, 0x01): ("HNR", "ATT"),
(0x28, 0x02): ("HNR", "INS"),
(0x28, 0x00): ("HNR", "PVT"),
# INF
(0x04, 0x04): ("INF", "DEBUG"),
(0x04, 0x00): ("INF", "ERROR"),
(0x04, 0x02): ("INF", "NOTICE"),
(0x04, 0x03): ("INF", "TEST"),
(0x04, 0x01): ("INF", "WARNING"),
# LOG
(0x21, 0x07): ("LOG", "CREATE"),
(0x21, 0x03): ("LOG", "ERASE"),
(0x21, 0x0e): ("LOG", "FINDTIME"),
(0x21, 0x08): ("LOG", "INFO"),
(0x21, 0x09): ("LOG", "RETRIEVE"),
(0x21, 0x0b): ("LOG", "RETRIEVEPOS"),
(0x21, 0x0f): ("LOG", "RETRIEVEPOSEXTRA"),
(0x21, 0x0d): ("LOG", "RETRIEVESTRING"),
(0x21, 0x04): ("LOG", "STRING"),
# MGA
(0x13, 0x60): ("MGA", "ACK"),
(0x13, 0x20): ("MGA", "ANO"),
(0x13, 0x03): ("MGA", "BDS"),
(0x13, 0x80): ("MGA", "DBD"),
(0x13, 0x21): ("MGA", "FLASH"),
(0x13, 0x02): ("MGA", "GAL"),
(0x13, 0x06): ("MGA", "GLO"),
(0x13, 0x00): ("MGA", "GPS"),
(0x13, 0x40): ("MGA", "INI"),
(0x13, 0x05): ("MGA", "QZSS"),
# MON
(0x0a, 0x36): ("MON", "COMMS"),
(0x0a, 0x28): ("MON", "GNSS"),
(0x0a, 0x09): ("MON", "HW"),
(0x0a, 0x0b): ("MON", "HW2"),
(0x0a, 0x37): ("MON", "HW3"),
(0x0a, 0x02): ("MON", "IO"),
(0x0a, 0x06): ("MON", "MSGPP"),
(0x0a, 0x27): ("MON", "PATCH"),
(0x0a, 0x35): ("MON", "PMP"),
(0x0a, 0x2b): ("MON", "PT2"),
(0x0a, 0x38): ("MON", "RF"),
(0x0a, 0x07): ("MON", "RXBUF"),
(0x0a, 0x21): ("MON", "RXR"),
(0x0a, 0x2e): ("MON", "SMGR"),
(0x0a, 0x31): ("MON", "SPAN"),
(0x0a, 0x39): ("MON", "SYS"),
(0x0a, 0x0e): ("MON", "TEMP"),
(0x0a, 0x08): ("MON", "TXBUF"),
(0x0a, 0x04): ("MON", "VER"),
# NAV
(0x01, 0x05): ("NAV", "ATT"),
(0x01, 0x60): ("NAV", "AOPSTATUS"),
(0x01, 0x22): ("NAV", "CLOCK"),
(0x01, 0x36): ("NAV", "COV"),
(0x01, 0x31): ("NAV", "DGPS"),
(0x01, 0x04): ("NAV", "DOP"),
(0x01, 0x3d): ("NAV", "EELL"),
(0x01, 0x61): ("NAV", "EOE"),
(0x01, 0x39): ("NAV", "GEOFENCE"),
(0x01, 0x37): ("NAV", "HNR"),
(0x01, 0x13): ("NAV", "HPPOSECEF"),
(0x01, 0x14): ("NAV", "HPPOSLLH"),
(0x01, 0x28): ("NAV", "NMI"),
(0x01, 0x09): ("NAV", "ODO"),
(0x01, 0x34): ("NAV", "ORB"),
(0x01, 0x62): ("NAV", "PL"),
(0x01, 0x01): ("NAV", "POSECEF"),
(0x01, 0x02): ("NAV", "POSLLH"),
(0x01, 0x17): ("NAV", "PVAT"),
(0x01, 0x07): ("NAV", "PVT"),
(0x01, 0x3C): ("NAV", "RELPOSNED"),
(0x01, 0x10): ("NAV", "RESETODO"),
(0x01, 0x35): ("NAV", "SAT"),
(0x01, 0x32): ("NAV", "SBAS"),
(0x01, 0x43): ("NAV", "SIG"),
(0x01, 0x42): ("NAV", "SLAS"),
(0x01, 0x06): ("NAV", "SOL"),
(0x01, 0x03): ("NAV", "STATUS"),
(0x01, 0x3B): ("NAV", "SVIN"),
(0x01, 0x30): ("NAV", "SVINFO"),
(0x01, 0x24): ("NAV", "TIMEBDS"),
(0x01, 0x25): ("NAV", "TIMEGAL"),
(0x01, 0x23): ("NAV", "TIMEGLO"),
(0x01, 0x20): ("NAV", "TIMEGPS"),
(0x01, 0x26): ("NAV", "TIMELS"),
(0x01, 0x21): ("NAV", "TIMEUTC"),
(0x01, 0x63): ("NAV", "TIMENAVIC"),
(0x01, 0x27): ("NAV", "TIMEQZSS"),
(0x01, 0x64): ("NAV", "TIMETRUSTED"),
(0x01, 0x11): ("NAV", "VELECEF"),
(0x01, 0x12): ("NAV", "VELNED"),
# NAV2
(0x29, 0x22): ("NAV2", "CLOCK"),
(0x29, 0x36): ("NAV2", "COV"),
(0x29, 0x31): ("NAV2", "DGPS"),
(0x29, 0x04): ("NAV2", "DOP"),
(0x29, 0x61): ("NAV2", "EOE"),
(0x29, 0x3d): ("NAV2", "EELL"),
(0x29, 0x09): ("NAV2", "ODO"),
(0x29, 0x01): ("NAV2", "POSECEF"),
(0x29, 0x02): ("NAV2", "POSLLH"),
(0x29, 0x17): ("NAV2", "PVAT"),
(0x29, 0x07): ("NAV2", "PVT"),
(0x29, 0x35): ("NAV2", "SAT"),
(0x29, 0x32): ("NAV2", "SBAS"),
(0x29, 0x43): ("NAV2", "SIG"),
(0x29, 0x42): ("NAV2", "SLAS"),
(0x29, 0x03): ("NAV2", "STATUS"),
(0x29, 0x3b): ("NAV2", "SVIN"),
(0x29, 0x24): ("NAV2", "TIMEBDS"),
(0x29, 0x25): ("NAV2", "TIMEGAL"),
(0x29, 0x23): ("NAV2", "TIMEGLO"),
(0x29, 0x20): ("NAV2", "TIMEGPS"),
(0x29, 0x26): ("NAV2", "TIMELS"),
(0x29, 0x63): ("NAV2", "TIMENAVIC"),
(0x29, 0x21): ("NAV2", "TIMEUTC"),
(0x29, 0x27): ("NAV2", "TIMEQZSS"),
(0x29, 0x11): ("NAV2", "VELECEF"),
(0x29, 0x12): ("NAV2", "VELNED"),
# RXM
(0x02, 0x34): ("RXM", "COR"),
(0x02, 0x84): ("RXM", "MEAS20"),
(0x02, 0x86): ("RXM", "MEAS50"),
(0x02, 0x82): ("RXM", "MEASC12"),
(0x02, 0x80): ("RXM", "MEASD12"),
(0x02, 0x14): ("RXM", "MEASX"),
(0x02, 0x72): ("RXM", "PMP"),
(0x02, 0x41): ("RXM", "PMREQ"),
(0x02, 0x73): ("RXM", "QZSSL6"),
(0x02, 0x15): ("RXM", "RAWX"),
(0x02, 0x59): ("RXM", "RLM"),
(0x02, 0x32): ("RXM", "RTCM"),
(0x02, 0x13): ("RXM", "SFRBX"),
(0x02, 0x33): ("RXM", "SPARTN"),
(0x02, 0x36): ("RXM", "SPARTNKEY"),
# SEC
(0x27, 0x04): ("SEC", "ECSIGN"),
(0x27, 0x0A): ("SEC", "OSNMA"),
(0x27, 0x05): ("SEC", "SESSID"),
(0x27, 0x09): ("SEC", "SIG"),
(0x27, 0x10): ("SEC", "SIGLOG"),
(0x27, 0x01): ("SEC", "SIGN"),
(0x27, 0x03): ("SEC", "UNIQID"),
# TIM
(0x0d, 0x11): ("TIM", "DOSC"),
(0x0d, 0x16): ("TIM", "FCHG"),
(0x0d, 0x17): ("TIM", "HOC"),
(0x0d, 0x13): ("TIM", "SMEAS"),
(0x0d, 0x04): ("TIM", "SVIN"),
(0x0d, 0x05): ("TIM", "SYNC"),
(0x0d, 0x03): ("TIM", "TM2"),
(0x0d, 0x12): ("TIM", "TOS"),
(0x0d, 0x01): ("TIM", "TP"),
(0x0d, 0x15): ("TIM", "VCOCAL"),
(0x0d, 0x06): ("TIM", "VRFY"),
# UPD
(0x09, 0x14): ("UPD", "SOS" )
}
class_key_list = list(UBX_CLASS.keys())
class_val_list = list(UBX_CLASS.values())
id_key_list = list(UBX_ID.keys())
id_val_list = list(UBX_ID.values())
# Settings:
i2c_address = NumberSetting(label=I2C_ADDRESS_SETTING, min_value=1, max_value=127)
spi_channel = ChoicesSetting(label=SPI_CHANNEL_SETTING, choices=('miso', 'mosi'))
ublox_module = ChoicesSetting(label=UBLOX_MODULE_SETTING, choices=('M8', 'M6'))
# Base output formatting options:
result_types = {
'error': {
'format': 'Error!'
},
}
def __init__(self):
"""
Initialize HLA.
"""
self.ID = None
# The decode state machine
self.decode_state = self.sync_lost
# For I2C, we need a way to ignore the two Bytes-Available bytes read from register 0xFD
# to prevent them from being decoded as data
self.bytes_avail_state = self.decode_normal
# For I2C, we need a way to ignore any traffic to/from other devices on the bus otherwise
# it can confuse the decoder. Only analyze data when self.addressMatch is True.
self.addressMatch = True
self.this_is_byte = None
self.bytes_to_process = None
self.length_MSB = None
self.length_LSB = None
self.msg_class = None
self.pmp_numBytesUserData = None
self.pmp_version = None
self.ack_class = None
self.field = None
self.start_time = None
self.field_string = None
self.sum1 = 0 # Clear the checksum
self.sum2 = 0
self.nmea_sum = 0
self.rtcm_type = 0
self.rtcm_sum = 0
self.result_types["message"] = {
'format': '{{{data.str}}}'
}
# def get_capabilities(self): # Deprecated?
# return {
# 'settings': {
# I2C_ADDRESS_SETTING: {
# 'type': 'number',
# 'minimum': 1,
# 'maximum': 127
# },
# SPI_CHANNEL_SETTING: {
# 'type': 'choices',
# 'choices': ('miso', 'mosi')
# },
# UBLOX_MODULE_SETTING: {
# 'type': 'choices',
# 'choices': ('M8', 'M6')
# },
# }
# }
# def set_settings(self, settings): # Deprecated?
# if I2C_ADDRESS_SETTING in settings.keys():
# self.i2c_address = settings[I2C_ADDRESS_SETTING]
# if SPI_CHANNEL_SETTING in settings.keys():
# self.spi_channel = settings[SPI_CHANNEL_SETTING]
# if UBLOX_MODULE_SETTING in settings.keys():
# self.ublox_module = settings[UBLOX_MODULE_SETTING]
def clear_stored_message(self, frame):
self.temp_frame = AnalyzerFrame('message', frame.start_time, frame.end_time, {
'str': ''
})
self.decode_state = self.sync_lost # Initialize the state machine
def append_char(self, char):
self.temp_frame.data["str"] += char
def have_existing_message(self):
if self.temp_frame is None:
return False
if len(self.temp_frame.data["str"]) == 0:
return False
return True
def update_end_time(self, frame):
self.temp_frame.end_time = frame.end_time
def csum_ubx(self, value):
"""
Add value to checksums sum1 and sum2
"""
self.sum1 = self.sum1 + value
self.sum2 = self.sum2 + self.sum1
self.sum1 = self.sum1 & 0xFF
self.sum2 = self.sum2 & 0xFF
def csum_nmea(self, value):
"""
Ex-Or value into checksum
"""
self.nmea_sum = self.nmea_sum ^ value
def csum_rtcm(self, value):
"""
Add value to RTCM checksum using CRC-24Q
"""
crc = self.rtcm_sum # Seed is 0
crc ^= value << 16 # XOR-in incoming
for i in range(8):
crc <<= 1
if (crc & 0x1000000):
# CRC-24Q Polynomial:
# gi = 1 for i = 0, 1, 3, 4, 5, 6, 7, 10, 11, 14, 17, 18, 23, 24
# 0b 1 1000 0110 0100 1100 1111 1011
crc ^= 0x1864CFB # CRC-24Q
self.rtcm_sum = crc & 0xFFFFFF
def analyze_string(self, value, frame, start_byte, end_byte, prefix=None):
"""
Extract a string
"""
if (self.this_is_byte >= start_byte) and (self.this_is_byte <= end_byte):
if self.this_is_byte == start_byte:
self.field_string = chr(value)
self.start_time = frame.start_time
return True, None
elif self.this_is_byte == end_byte:
self.field_string += chr(value)
if prefix is not None:
self.field_string = prefix + self.field_string
return True, AnalyzerFrame('message', self.start_time, frame.end_time, {'str': self.field_string})
else:
self.field_string += chr(value)
return True, None
else:
return False, None
def analyze_unsigned(self, value, frame, start_byte, end_byte, name, fmt):
"""
Extract an unsigned 8, 16, 32 or 64 bit field
"""
if (self.this_is_byte >= start_byte) and (self.this_is_byte <= end_byte):
if self.this_is_byte == start_byte:
self.field = value
self.start_time = frame.start_time
else:
self.field += value << ((self.this_is_byte - start_byte) * 8)
if self.this_is_byte == end_byte:
if fmt == 'hex':
field_str = hex(self.field)
else:
field_str = str(self.field) # Default to 'dec' (decimal)
return True, AnalyzerFrame('message', self.start_time, frame.end_time, {'str': name + field_str})
else:
return True, None
else:
return False, None
def analyze_signed(self, value, frame, start_byte, end_byte, name):
"""
Extract a signed 8, 16, 32 or 64 bit field in decimal format
"""
if (self.this_is_byte >= start_byte) and (self.this_is_byte <= end_byte):
if self.this_is_byte == start_byte:
self.field = value
self.start_time = frame.start_time
else:
self.field += value << ((self.this_is_byte - start_byte) * 8)
if self.this_is_byte == end_byte:
twos_comp_neg = 0x80 << ((end_byte - start_byte) * 8)
twos_comp_pos = 0x7F
if end_byte > start_byte:
for x in range(end_byte - start_byte):
twos_comp_pos <<= 8
twos_comp_pos |= 0xFF
self.field = -(self.field & twos_comp_neg) | (self.field & twos_comp_pos)
field_str = str(self.field)
return True, AnalyzerFrame('message', self.start_time, frame.end_time, {'str': name + field_str})
else:
return True, None
else:
return False, None
def analyze_array(self, value, frame, start_byte, end_byte, name, fmt):
"""
Extract an array of hex or decimal values
"""
if (self.this_is_byte >= start_byte) and (self.this_is_byte <= end_byte):
if fmt == 'hex':
field_str = "0x{:02X}".format(value)
else:
field_str = str(value) # Default to 'dec' (decimal)
return True, AnalyzerFrame('message', frame.start_time, frame.end_time, {'str': name + field_str})
else:
return False, None
def get_ubx_class(self, class_name):
if class_name in self.class_val_list:
return self.class_key_list[self.class_val_list.index(class_name)]
return None
def get_ubx_class_and_id(self, class_name, id_name):
if (class_name, id_name) in self.id_val_list:
return self.id_key_list[self.id_val_list.index((class_name, id_name))]
return (None,None)
def analyze_ubx(self, frame, value):
"""
Analyze frame according to the UBX interface description
"""
if self.msg_class == self.get_ubx_class("ACK"): # if self.msg_class == ACK
if ((self.msg_class, self.ID) == self.get_ubx_class_and_id("ACK","ACK")) or (
(self.msg_class, self.ID) == self.get_ubx_class_and_id("ACK","NACK")): # if self.ID == ACK or NACK
if self.this_is_byte == 0:
self.ack_class = value
if value in self.UBX_CLASS:
class_str = self.UBX_CLASS[value]
else:
class_str = 'Class'
return AnalyzerFrame('message', frame.start_time, frame.end_time, {'str': class_str})
elif self.this_is_byte == 1:
if (self.ack_class, value) in self.UBX_ID:
id_str = self.UBX_ID[self.ack_class, value][1]
else:
id_str = 'ID'
return AnalyzerFrame('message', frame.start_time, frame.end_time,
{'str': id_str})
else:
return AnalyzerFrame('message', frame.start_time, frame.end_time, {'str': '?'})
elif self.msg_class == self.get_ubx_class("CFG"): # if self.msg_class == CFG
if (self.msg_class, self.ID) == self.get_ubx_class_and_id("CFG","PRT"): # if self.ID == PRT
# there are both messages with lengths 1 and 20 on M6 _and_ M8, they almost completely match
if self.length_MSB == 0 and (self.length_LSB == 20 or self.length_LSB == 1):
success, field = self.analyze_unsigned(value, frame, 0, 0, 'portID ', 'hex')
if success:
return field
if self.length_MSB == 0 and self.length_LSB == 20:
# called 'reserved0' on M6 and 'reserved1' on M8
name = 'reserved1 '
if self.ublox_module == 'M6':
name = 'reserved0 '
success, field = self.analyze_unsigned(value, frame, 1, 1, name, 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 2, 3, 'txReady ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 4, 7, 'mode ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 8, 11, 'baudrate ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 12, 13, 'inProtoMask ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 14, 15, 'outProtoMask ', 'hex')
if success:
return field
# called 'reserved4' on M6 and 'flags' on M8
name = 'flags '
if self.ublox_module == 'M6':
name = 'reserved4 '
success, field = self.analyze_unsigned(value, frame, 16, 17, name, 'hex')
if success:
return field
# called 'reserved5' on M6 and 'reserved2' on M8
name = 'reserved2 '
if self.ublox_module == 'M6':
name = 'reserved5 '
success, field = self.analyze_unsigned(value, frame, 18, 19, name, 'hex')
if success:
return field
elif (self.msg_class, self.ID) == self.get_ubx_class_and_id("CFG","MSG"): # if self.ID == MSG
# there are messages with lengths 2, 3 and 8 on M6 _and_ M8, the field sizes and names completely match
if self.length_MSB == 0 and self.length_LSB in [2, 3, 8]:
# datasheet states U1, but hex makes more sense to interpret
success, field = self.analyze_unsigned(value, frame, 0, 0, 'msgClass ', 'hex')
if success:
return field
# datasheet states U1, but hex makes more sense to interpret
success, field = self.analyze_unsigned(value, frame, 1, 1, 'msgId ', 'hex')
if success:
return field
if self.length_MSB == 0 and self.length_LSB in [3, 8]:
success, field = self.analyze_unsigned(value, frame, 2, 2, 'rate ', 'dec')
if success:
return field
if self.length_MSB == 0 and self.length_LSB == 8:
for p in range(3, 7+1):
success, field = self.analyze_unsigned(value, frame, p, p, 'rate ', 'dec')
if success:
return field
elif (self.msg_class, self.ID) == self.get_ubx_class_and_id("CFG","RST"): # if self.ID == RST
# there are messages with length 4 on M6 _and_ M8, the field sizes and names completely match
if self.length_MSB == 0 and self.length_LSB == 4:
success, field = self.analyze_unsigned(value, frame, 0, 1, 'navBbrMask ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 2, 2, 'resetMode ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 3, 3, 'reserved1 ', 'dec')
if success:
return field
elif (self.msg_class, self.ID) == self.get_ubx_class_and_id("CFG","VALSET"): # if self.ID == VALSET
success, field = self.analyze_unsigned(value, frame, 0, 0, 'version ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 1, 1, 'layers ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 4, 7, 'key[0] ', 'hex')
if success:
return field
elif (self.msg_class, self.ID) == self.get_ubx_class_and_id("CFG","VALGET"): # if self.ID == VALGET
success, field = self.analyze_unsigned(value, frame, 0, 0, 'version ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 1, 1, 'layers ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 4, 7, 'key[0] ', 'hex')
if success:
return field
elif (self.msg_class, self.ID) == self.get_ubx_class_and_id("CFG","VALDEL"): # if self.ID == VALDEL
success, field = self.analyze_unsigned(value, frame, 0, 0, 'version ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 1, 1, 'layers ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 4, 7, 'key[0] ', 'hex')
if success:
return field
elif self.msg_class == self.get_ubx_class("MON"): # if self.msg_class == MON
if (self.msg_class, self.ID) == self.get_ubx_class_and_id("MON","HW"): # if self.ID == HW
# M8: 60 Bytes (VP is 17 bytes). M6: 68 Bytes (VP is 25 bytes).
success, field = self.analyze_unsigned(value, frame, 0, 3, 'pinSel ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 4, 7, 'pinBank ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 8, 11, 'pinDir ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 12, 15, 'pinVal ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 16, 17, 'noisePerMS ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 18, 19, 'agcCnt ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 20, 20, 'aStatus ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 21, 21, 'aPower ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 22, 22, 'flags ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 23, 23, 'reserved1 ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 24, 27, 'usedMask ', 'hex')
if success:
return field
# M8: lastByte is 59 (VP is 17 bytes). M6: lastByte is 67 (VP is 25 bytes).
lastByte = self.length_LSB + (self.length_MSB << 8) - 1
vpNumber = "VP{} ".format(self.this_is_byte - 28)
success, field = self.analyze_array(value, frame, 28, lastByte - 15, vpNumber, 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, lastByte - 14, lastByte - 14, 'jamInd ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, lastByte - 13, lastByte - 12, 'reserved2 ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, lastByte - 11, lastByte - 8, 'pinIrq ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, lastByte - 7, lastByte - 4, 'pullH ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, lastByte - 3, lastByte, 'pullL ', 'hex')
if success:
return field
elif (self.msg_class, self.ID) == self.get_ubx_class_and_id("MON","VER"): # if self.ID == VER
# M6 sends swVersion[30], hwVersion[10], romVersion[30], extension[30 * N]
# M8 sends swVersion[30], hwVersion[10], extension[30 * N]
if self.this_is_byte <= 39:
success, field = self.analyze_string(value, frame, 0, 29, 'swVersion ')
if success:
return field
success, field = self.analyze_string(value, frame, 30, 39, 'hwVersion ')
if success:
return field
elif self.this_is_byte <= 69 and self.ublox_module == 'M6':
success, field = self.analyze_string(value, frame, 40, 69, 'romVersion ')
if success:
return field
else:
startByte = self.this_is_byte - 10 # Subtract 10 for the hwVersion
startByte //= 30 # Modulo 30
startByte *= 30
startByte += 10
success, field = self.analyze_string(value, frame, startByte, startByte + 29, 'extension ')
if success:
return field
elif self.msg_class == self.get_ubx_class("NAV"): # if self.msg_class == NAV
if (self.msg_class, self.ID) == self.get_ubx_class_and_id("NAV","POSECEF"): # if self.ID == POSECEF
success, field = self.analyze_unsigned(value, frame, 0, 3, 'iTOW ', 'dec')
if success:
return field
success, field = self.analyze_signed(value, frame, 4, 7, 'ecefX ')
if success:
return field
success, field = self.analyze_signed(value, frame, 8, 11, 'ecefY ')
if success:
return field
success, field = self.analyze_signed(value, frame, 12, 15, 'ecefZ ')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 16, 19, 'pAcc ', 'dec')
if success:
return field
elif (self.msg_class, self.ID) == self.get_ubx_class_and_id("NAV","POSLLH"): # if self.ID == POSLLH
success, field = self.analyze_unsigned(value, frame, 0, 3, 'iTOW ', 'dec')
if success:
return field
success, field = self.analyze_signed(value, frame, 4, 7, 'lon ')
if success:
return field
success, field = self.analyze_signed(value, frame, 8, 11, 'lat ')
if success:
return field
success, field = self.analyze_signed(value, frame, 12, 15, 'height ')
if success:
return field
success, field = self.analyze_signed(value, frame, 16, 19, 'hMSL ')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 20, 23, 'hAcc ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 24, 27, 'vAcc ', 'dec')
if success:
return field
elif (self.msg_class, self.ID) == self.get_ubx_class_and_id("NAV","PVT"): # if self.ID == PVT
success, field = self.analyze_unsigned(value, frame, 0, 3, 'iTOW ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 4, 5, 'year ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 6, 6, 'month ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 7, 7, 'day ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 8, 8, 'hour ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 9, 9, 'min ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 10, 10, 'sec ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 11, 11, 'valid ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 12, 15, 'tAcc ', 'dec')
if success:
return field
success, field = self.analyze_signed(value, frame, 16, 19, 'nano ')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 20, 20, 'fixType ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 21, 21, 'flags ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 22, 22, 'flags2 ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 23, 23, 'numSV ', 'dec')
if success:
return field
success, field = self.analyze_signed(value, frame, 24, 27, 'lon ')
if success:
return field
success, field = self.analyze_signed(value, frame, 28, 31, 'lat ')
if success:
return field
success, field = self.analyze_signed(value, frame, 32, 35, 'height ')
if success:
return field
success, field = self.analyze_signed(value, frame, 36, 39, 'hMSL ')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 40, 43, 'hAcc ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 44, 47, 'vAcc ', 'dec')
if success:
return field
success, field = self.analyze_signed(value, frame, 48, 51, 'velN ')
if success:
return field
success, field = self.analyze_signed(value, frame, 52, 55, 'velE ')
if success:
return field
success, field = self.analyze_signed(value, frame, 56, 59, 'velD ')
if success:
return field
success, field = self.analyze_signed(value, frame, 60, 63, 'gSpeed ')
if success:
return field
success, field = self.analyze_signed(value, frame, 64, 67, 'headMot ')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 68, 71, 'sAcc ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 72, 75, 'headAcc ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 76, 77, 'pDOP ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 78, 79, 'flags3 ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 80, 83, 'reserved0 ', 'hex')
if success:
return field
success, field = self.analyze_signed(value, frame, 84, 87, 'headVeh ')
if success:
return field
success, field = self.analyze_signed(value, frame, 88, 89, 'magDec ')
if success:
return field
success, field = self.analyze_signed(value, frame, 90, 91, 'magAcc ')
if success:
return field
elif (self.msg_class, self.ID) == self.get_ubx_class_and_id("NAV","STATUS"): # if self.ID == STATUS
success, field = self.analyze_unsigned(value, frame, 0, 3, 'iTOW ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 4, 4, 'gpsFix ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 5, 5, 'flags ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 6, 6, 'fixStat ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 7, 7, 'flags2 ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 8, 11, 'ttff ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 12, 15, 'msss ', 'dec')
if success:
return field
elif (self.msg_class, self.ID) == self.get_ubx_class_and_id("NAV","TIMEGPS"): # if self.ID == TIMEGPS
success, field = self.analyze_unsigned(value, frame, 0, 3, 'iTOW ', 'dec')
if success:
return field
success, field = self.analyze_signed(value, frame, 4, 7, 'fTOW ')
if success:
return field
success, field = self.analyze_signed(value, frame, 8, 9, 'week ')
if success:
return field
success, field = self.analyze_signed(value, frame, 10, 10, 'leapS ')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 11, 11, 'valid ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 12, 15, 'tAcc ', 'hex')
if success:
return field
elif self.msg_class == self.get_ubx_class("RXM"): # if self.msg_class == RXM
if (self.msg_class, self.ID) == self.get_ubx_class_and_id("RXM","PMP"): # if self.ID == PMP
success, field = self.analyze_unsigned(value, frame, 0, 0, 'version ', 'dec')
if success:
self.pmp_version = value
return field
success, field = self.analyze_unsigned(value, frame, 4, 7, 'timeTag ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 8, 11, 'uniqueWord[0] ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 12, 15, 'uniqueWord[1] ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 16, 17, 'serviceIdentifier ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 18, 18, 'spare ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 19, 19, 'uniqueWordBitErrors ', 'dec')
if success:
return field
if self.pmp_version == 0x01:
success, field = self.analyze_unsigned(value, frame, 1, 1, 'reserved0 ', 'hex')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 2, 3, 'numBytesUserData ', 'dec')
if success:
if self.this_is_byte == 2:
self.pmp_numBytesUserData = value
else:
self.pmp_numBytesUserData += value << 8
return field
success, field = self.analyze_unsigned(value, frame, 20, 21, 'fecBits ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 22, 22, 'ebno ', 'dec')
if success:
return field
success, field = self.analyze_unsigned(value, frame, 23, 23, 'reserved1 ', 'hex')
if success:
return field
if self.this_is_byte == 24:
self.start_time = frame.start_time
return None
if self.this_is_byte == 24 + self.pmp_numBytesUserData - 1:
return AnalyzerFrame('message', self.start_time, frame.end_time, {'str': 'userData'})
return None
else: # PMP version == 0
success, field = self.analyze_unsigned(value, frame, 1, 3, 'reserved0 ', 'hex')