CfgPRT
This is a ROS message definition.
Source
# CFG-PRT (0x06 0x00)
# Port Configuration for DDC, UART, USB, SPI
#
# Several configurations can be concatenated to one input message. In this case
# the payload length can be a multiple of the normal length (see the other
# versions of CFG-PRT). Output messages from the module contain only one
# configuration unit.
#
uint8 CLASS_ID = 6
uint8 MESSAGE_ID = 0
uint8 port_id # Port Identifier Number
uint8 PORT_ID_DDC = 0
uint8 PORT_ID_UART1 = 1
uint8 PORT_ID_UART2 = 2
uint8 PORT_ID_USB = 3
uint8 PORT_ID_SPI = 4
uint8 reserved0 # Reserved
uint16 tx_ready # TX ready PIN configuration (since Firmware 7.01)
# reserved (Always set to zero) up to Firmware 7.01
uint16 TX_READY_EN = 1 # Enable TX ready feature for this
# port
uint16 TX_READY_POLARITY_HIGH_ACTIVE = 0 # Polarity High-active
uint16 TX_READY_POLARITY_LOW_ACTIVE = 2 # Polarity Low-active
uint16 TX_READY_PIN_SHIFT = 2 # PIO to be used (must not be in use
# already by another function)
uint16 TX_READY_PIN_MASK = 124 #
uint16 TX_READY_THRES_SHIFT = 7 # Threshold
uint16 TX_READY_THRES_MASK = 65408 # The given threshold is multiplied by
# 8 bytes.
# The TX ready PIN goes active
# after >= thres*8 bytes are pending
# for the port and going inactive
# after the last pending bytes have
# been written to hardware (0-4 bytes
# before end of stream).
uint32 mode # A bit mask describing the DDC, UART or SPI mode
# Reserved for USB
# DDC Mode Constants
uint32 MODE_DDC_SLAVE_ADDR_SHIFT = 1
uint32 MODE_DDC_SLAVE_ADDR_MASK = 254 # Slave address
# Range: 0x07 < slaveAddr < 0x78.
# UART Mode Constants
uint32 MODE_RESERVED1 = 16 # Default 1 for compatibility with A4
uint32 MODE_CHAR_LEN_MASK = 192 # Character Length
uint32 MODE_CHAR_LEN_5BIT = 0 # 5bit (not supported)
uint32 MODE_CHAR_LEN_6BIT = 64 # 6bit (not supported)
uint32 MODE_CHAR_LEN_7BIT = 128 # 7bit (supported only with parity)
uint32 MODE_CHAR_LEN_8BIT = 192 # 8bit
uint32 MODE_PARITY_MASK = 3584 #
uint32 MODE_PARITY_EVEN = 0 # Even Parity
uint32 MODE_PARITY_ODD = 512 # Odd Parity
uint32 MODE_PARITY_NO = 2048 # No Parity (even/odd ignored)
uint32 MODE_STOP_BITS_MASK = 12288 # Number of Stop Bits
uint32 MODE_STOP_BITS_1 = 0 # 1 Stop Bit
uint32 MODE_STOP_BITS_15 = 4096 # 1.5 Stop Bit
uint32 MODE_STOP_BITS_2 = 8192 # 2 Stop Bit
uint32 MODE_STOP_BITS_05 = 12288 # 0.5 Stop Bit
# SPI Mode Constants
uint32 MODE_SPI_SPI_MODE_CPOL = 4 # SPI Mode CPOL (0/1)
uint32 MODE_SPI_SPI_MODE_CPHA = 2 # SPI Mode CPH (0/1)
# (both CPOL/CPHA) can be = 1
uint32 MODE_SPI_FLOW_CONTROL = 64 # (u-blox 6 only)
# 0 Flow control disabled
# 1 Flow control enabled (9-bit mode)
uint32 MODE_SPI_FF_COUNT_SHIFT = 8
uint32 MODE_SPI_FF_COUNT_MASK = 16128 # Number of bytes containing 0xFF to
# receive before switching off
# reception.
# Range: 0(mechanism off)-63
uint32 baud_rate # UART Baudrate in bits/second [bits/s]
# Reserved for USB, SPI, DDC
# Possible values: 4800, 9600, 19200, 38400, 57600,
# 115200, 230400, 460800
uint16 in_proto_mask # 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.
uint16 out_proto_mask # 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.
uint16 PROTO_UBX = 1
uint16 PROTO_NMEA = 2
uint16 PROTO_RTCM = 4 # only for inProtoMask
uint16 PROTO_RTCM3 = 32 # (not supported in protocol versions less than 20)
uint16 flags # Flags for UART & SPI, Reserved for USB
uint16 FLAGS_EXTENDED_TX_TIMEOUT = 2 # if set, the port will timeout if
# allocated TX memory >=4 kB and no
# activity for 1.5s. If not set the port
# will timoout if no activity for 1.5s
# regardless on the amount of allocated
# TX memory.
uint16 reserved1 # Always set to zero