drivers/gnss/gnss_u_blox_protocol/gnss_u_blox_protocol.h - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /*
  * Copyright 2024 NXP
  *
  * SPDX-License-Identifier: Apache-2.0
  */

 #include <zephyr/kernel.h>
 #include <zephyr/types.h>
 #include <zephyr/modem/ubx.h>
 #include "gnss_u_blox_protocol_defines.h"

 #ifndef ZEPHYR_U_BLOX_PROTOCOL_
 #define ZEPHYR_U_BLOX_PROTOCOL_

 #define UBX_BAUDRATE_COUNT			9

 /* When a configuration frame is sent, the device requires some delay to reflect the changes. */
 /* TODO: check what is the precise waiting time for each message. */
 #define UBX_CFG_RST_WAIT_MS			6000
 #define UBX_CFG_GNSS_WAIT_MS			6000
 #define UBX_CFG_NAV5_WAIT_MS			6000

 extern const uint32_t ubx_baudrate[UBX_BAUDRATE_COUNT];

 #define UBX_FRM_GET_PAYLOAD_SZ		0
 #define UBX_CFG_ACK_PAYLOAD_SZ		2
 #define UBX_CFG_NAK_PAYLOAD_SZ		2
 #define UBX_CFG_RATE_PAYLOAD_SZ		6
 #define UBX_CFG_PRT_POLL_PAYLOAD_SZ	1
 #define UBX_CFG_PRT_POLL_FRM_SZ		(UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_PRT_POLL_PAYLOAD_SZ)
 #define UBX_CFG_PRT_SET_PAYLOAD_SZ	20
 #define UBX_CFG_PRT_SET_FRM_SZ		(UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_PRT_SET_PAYLOAD_SZ)
 #define UBX_CFG_RST_PAYLOAD_SZ		4
 #define UBX_CFG_RST_FRM_SZ		(UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_RST_PAYLOAD_SZ)
 #define UBX_CFG_NAV5_PAYLOAD_SZ		36
 #define UBX_CFG_NAV5_FRM_SZ		(UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_NAV5_PAYLOAD_SZ)
 #define UBX_CFG_MSG_PAYLOAD_SZ		3
 #define UBX_CFG_MSG_FRM_SZ		(UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_MSG_PAYLOAD_SZ)
 #define UBX_CFG_GNSS_PAYLOAD_INIT_SZ	4
 #define UBX_CFG_GNSS_PAYLOAD_CFG_BLK_SZ	8
 #define UBX_CFG_GNSS_PAYLOAD_SZ(n)	\
 	(UBX_CFG_GNSS_PAYLOAD_INIT_SZ + UBX_CFG_GNSS_PAYLOAD_CFG_BLK_SZ * n)
 #define UBX_CFG_GNSS_FRM_SZ(n)		(UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_GNSS_PAYLOAD_SZ(n))


 int ubx_create_and_validate_frame(uint8_t *ubx_frame, uint16_t ubx_frame_size, uint8_t msg_cls,
 				  uint8_t msg_id, const void *payload, uint16_t payload_size);

 struct ubx_cfg_ack_payload {
 	uint8_t message_class;
 	uint8_t message_id;
 };

 void ubx_cfg_ack_payload_default(struct ubx_cfg_ack_payload *payload);

 #define UBX_CFG_RATE_TIME_REF_UTC	0	/* Align measurements to UTC time. */
 #define UBX_CFG_RATE_TIME_REF_GPS	1	/* Align measurements to GPS time. */
 #define UBX_CFG_RATE_TIME_REF_GLO	2	/* Align measurements to GLONASS time. */
 #define UBX_CFG_RATE_TIME_REF_BDS	3	/* Align measurements to BeiDou time. */
 #define UBX_CFG_RATE_TIME_REF_GAL	4	/* Align measurements to Galileo time. */

 struct ubx_cfg_rate_payload {
 	uint16_t meas_rate_ms;
 	uint16_t nav_rate;
 	uint16_t time_ref;
 };

 void ubx_cfg_rate_payload_default(struct ubx_cfg_rate_payload *payload);

 struct ubx_cfg_prt_poll_payload {
 	uint8_t port_id;
 };

 void ubx_cfg_prt_poll_payload_default(struct ubx_cfg_prt_poll_payload *payload);

 #define UBX_CFG_PRT_IN_PROTO_UBX			BIT(0)
 #define UBX_CFG_PRT_IN_PROTO_NMEA			BIT(1)
 #define UBX_CFG_PRT_IN_PROTO_RTCM			BIT(2)
 #define UBX_CFG_PRT_IN_PROTO_RTCM3			BIT(5)
 #define UBX_CFG_PRT_OUT_PROTO_UBX			BIT(0)
 #define UBX_CFG_PRT_OUT_PROTO_NMEA			BIT(1)
 #define UBX_CFG_PRT_OUT_PROTO_RTCM3			BIT(5)

 #define UBX_CFG_PRT_PORT_MODE_CHAR_LEN_5		0U
 #define UBX_CFG_PRT_PORT_MODE_CHAR_LEN_6		BIT(6)
 #define UBX_CFG_PRT_PORT_MODE_CHAR_LEN_7		BIT(7)
 #define UBX_CFG_PRT_PORT_MODE_CHAR_LEN_8		(BIT(6) | BIT(7))

 #define UBX_CFG_PRT_PORT_MODE_PARITY_EVEN		0U
 #define UBX_CFG_PRT_PORT_MODE_PARITY_ODD		BIT(9)
 #define UBX_CFG_PRT_PORT_MODE_PARITY_NONE		BIT(11)

 #define UBX_CFG_PRT_PORT_MODE_STOP_BITS_1		0U
 #define UBX_CFG_PRT_PORT_MODE_STOP_BITS_1_HALF		BIT(12)
 #define UBX_CFG_PRT_PORT_MODE_STOP_BITS_2		BIT(13)
 #define UBX_CFG_PRT_PORT_MODE_STOP_BITS_HALF		(BIT(12) | BIT(13))

 #define UBX_CFG_PRT_RESERVED0				0x00
 #define UBX_CFG_PRT_TX_READY_PIN_CONF_DEFAULT		0x0000
 #define UBX_CFG_PRT_TX_READY_PIN_CONF_EN		BIT(0)
 #define UBX_CFG_PRT_TX_READY_PIN_CONF_POL_LOW		BIT(1)
 #define UBX_CFG_PRT_TX_READY_PIN_CONF_POL_HIGH		0U
 #define UBX_CFG_PRT_RESERVED1				0x00
 #define UBX_CFG_PRT_FLAGS_DEFAULT			0x0000
 #define UBX_CFG_PRT_FLAGS_EXTENDED_TX_TIMEOUT		BIT(0)

 struct ubx_cfg_prt_set_payload {
 	uint8_t port_id;
 	uint8_t reserved0;
 	uint16_t tx_ready_pin_conf;
 	uint32_t port_mode;
 	uint32_t baudrate;
 	uint16_t in_proto_mask;
 	uint16_t out_proto_mask;
 	uint16_t flags;
 	uint8_t reserved1;
 };

 void ubx_cfg_prt_set_payload_default(struct ubx_cfg_prt_set_payload *payload);

 #define UBX_CFG_RST_NAV_BBR_MASK_HOT_START				0x0000
 #define UBX_CFG_RST_NAV_BBR_MASK_WARM_START				0x0001
 #define UBX_CFG_RST_NAV_BBR_MASK_COLD_START				0xFFFF

 #define UBX_CFG_RST_RESET_MODE_HARD_RESET				0x00
 #define UBX_CFG_RST_RESET_MODE_CONTROLLED_SOFT_RESET			0x01
 #define UBX_CFG_RST_RESET_MODE_CONTROLLED_SOFT_RESET_GNSS_ONLY		0x02
 #define UBX_CFG_RST_RESET_MODE_HARD_RESET_AFTER_SHUTDOWN		0x04
 #define UBX_CFG_RST_RESET_MODE_CONTROLLED_GNSS_STOP			0x08
 #define UBX_CFG_RST_RESET_MODE_CONTROLLED_GNSS_START			0x09

 #define UBX_CFG_RST_RESERVED0						0x00

 struct ubx_cfg_rst_payload {
 	uint16_t nav_bbr_mask;
 	uint8_t reset_mode;
 	uint8_t reserved0;
 };

 void ubx_cfg_rst_payload_default(struct ubx_cfg_rst_payload *payload);

 #define UBX_CFG_NAV5_MASK_ALL				0x05FF
 #define UBX_CFG_NAV5_FIX_MODE_DEFAULT			UBX_FIX_AUTO_FIX
 #define UBX_CFG_NAV5_FIXED_ALT_DEFAULT			0
 #define UBX_CFG_NAV5_FIXED_ALT_VAR_DEFAULT		1U
 #define UBX_CFG_NAV5_MIN_ELEV_DEFAULT			5
 #define UBX_CFG_NAV5_DR_LIMIT_DEFAULT			3U
 #define UBX_CFG_NAV5_P_DOP_DEFAULT			100U
 #define UBX_CFG_NAV5_T_DOP_DEFAULT			100U
 #define UBX_CFG_NAV5_P_ACC_DEFAULT			100U
 #define UBX_CFG_NAV5_T_ACC_DEFAULT			350U
 #define UBX_CFG_NAV5_STATIC_HOLD_THRESHOLD_DEFAULT	0U
 #define UBX_CFG_NAV5_DGNSS_TIMEOUT_DEFAULT		60U
 #define UBX_CFG_NAV5_CNO_THRESHOLD_NUM_SVS_DEFAULT	0U
 #define UBX_CFG_NAV5_CNO_THRESHOLD_DEFAULT		0U
 #define UBX_CFG_NAV5_RESERVED0				0U
 #define UBX_CFG_NAV5_STATIC_HOLD_DIST_THRESHOLD		0U
 #define UBX_CFG_NAV5_UTC_STANDARD_DEFAULT		UBX_UTC_AUTOUTC

 struct ubx_cfg_nav5_payload {
 	uint16_t mask;
 	uint8_t dyn_model;

 	uint8_t fix_mode;

 	int32_t fixed_alt;
 	uint32_t fixed_alt_var;

 	int8_t min_elev;
 	uint8_t dr_limit;

 	uint16_t p_dop;
 	uint16_t t_dop;
 	uint16_t p_acc;
 	uint16_t t_acc;

 	uint8_t static_hold_threshold;
 	uint8_t dgnss_timeout;
 	uint8_t cno_threshold_num_svs;
 	uint8_t cno_threshold;

 	uint16_t reserved0;

 	uint16_t static_hold_dist_threshold;
 	uint8_t utc_standard;
 };

 void ubx_cfg_nav5_payload_default(struct ubx_cfg_nav5_payload *payload);

 #define UBX_CFG_GNSS_MSG_VER			0x00
 #define UBX_CFG_GNSS_NUM_TRK_CH_HW_DEFAULT	0x31
 #define UBX_CFG_GNSS_NUM_TRK_CH_USE_DEFAULT	0x31

 #define UBX_CFG_GNSS_RESERVED0			0x00
 #define UBX_CFG_GNSS_FLAG_ENABLE		BIT(0)
 #define UBX_CFG_GNSS_FLAG_DISABLE		0U
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT		16
 /* When gnss_id is 0 (GPS) */
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_GPS_L1C_A	(0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_GPS_L2C	(0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_GPS_L5	(0x20 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
 /* When gnss_id is 1 (SBAS) */
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_SBAS_L1C_A	(0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
 /* When gnss_id is 2 (Galileo) */
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_GALILEO_E1	(0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_GALILEO_E5A	(0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_GALILEO_E5B	(0x20 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
 /* When gnss_id is 3 (BeiDou) */
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_BEIDOU_B1I	(0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_BEIDOU_B2I	(0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_BEIDOU_B2A	(0x80 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
 /* When gnss_id is 4 (IMES) */
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_IMES_L1	(0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
 /* When gnss_id is 5 (QZSS) */
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_QZSS_L1C_A	(0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_QZSS_L1S	(0x04 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_QZSS_L2C	(0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_QZSS_L5	(0x20 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
 /* When gnss_id is 6 (GLONASS) */
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_GLONASS_L1	(0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
 #define UBX_CFG_GNSS_FLAG_SGN_CNF_GLONASS_L2	(0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)

 struct ubx_cfg_gnss_payload_config_block {
 	uint8_t gnss_id;
 	uint8_t num_res_trk_ch;
 	uint8_t max_num_trk_ch;
 	uint8_t reserved0;
 	uint32_t flags;
 };

 struct ubx_cfg_gnss_payload {
 	uint8_t msg_ver;
 	uint8_t num_trk_ch_hw;
 	uint8_t num_trk_ch_use;
 	uint8_t num_config_blocks;
 	struct ubx_cfg_gnss_payload_config_block config_blocks[];
 };

 void ubx_cfg_gnss_payload_default(struct ubx_cfg_gnss_payload *payload);

 #define UBX_CFG_MSG_RATE_DEFAULT			1

 struct ubx_cfg_msg_payload {
 	uint8_t message_class;
 	uint8_t message_id;
 	uint8_t rate;
 };

 void ubx_cfg_msg_payload_default(struct ubx_cfg_msg_payload *payload);

 #endif /* ZEPHYR_U_BLOX_PROTOCOL_ */
	/*
	* Copyright 2024 NXP
	*
	* SPDX-License-Identifier: Apache-2.0
	*/

	#include <zephyr/kernel.h>
	#include <zephyr/types.h>
	#include <zephyr/modem/ubx.h>
	#include "gnss_u_blox_protocol_defines.h"

	#ifndef ZEPHYR_U_BLOX_PROTOCOL_
	#define ZEPHYR_U_BLOX_PROTOCOL_

	#define UBX_BAUDRATE_COUNT 9

	/* When a configuration frame is sent, the device requires some delay to reflect the changes. */
	/* TODO: check what is the precise waiting time for each message. */
	#define UBX_CFG_RST_WAIT_MS 6000
	#define UBX_CFG_GNSS_WAIT_MS 6000
	#define UBX_CFG_NAV5_WAIT_MS 6000

	extern const uint32_t ubx_baudrate[UBX_BAUDRATE_COUNT];

	#define UBX_FRM_GET_PAYLOAD_SZ 0
	#define UBX_CFG_ACK_PAYLOAD_SZ 2
	#define UBX_CFG_NAK_PAYLOAD_SZ 2
	#define UBX_CFG_RATE_PAYLOAD_SZ 6
	#define UBX_CFG_PRT_POLL_PAYLOAD_SZ 1
	#define UBX_CFG_PRT_POLL_FRM_SZ (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_PRT_POLL_PAYLOAD_SZ)
	#define UBX_CFG_PRT_SET_PAYLOAD_SZ 20
	#define UBX_CFG_PRT_SET_FRM_SZ (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_PRT_SET_PAYLOAD_SZ)
	#define UBX_CFG_RST_PAYLOAD_SZ 4
	#define UBX_CFG_RST_FRM_SZ (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_RST_PAYLOAD_SZ)
	#define UBX_CFG_NAV5_PAYLOAD_SZ 36
	#define UBX_CFG_NAV5_FRM_SZ (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_NAV5_PAYLOAD_SZ)
	#define UBX_CFG_MSG_PAYLOAD_SZ 3
	#define UBX_CFG_MSG_FRM_SZ (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_MSG_PAYLOAD_SZ)
	#define UBX_CFG_GNSS_PAYLOAD_INIT_SZ 4
	#define UBX_CFG_GNSS_PAYLOAD_CFG_BLK_SZ 8
	#define UBX_CFG_GNSS_PAYLOAD_SZ(n) \
	(UBX_CFG_GNSS_PAYLOAD_INIT_SZ + UBX_CFG_GNSS_PAYLOAD_CFG_BLK_SZ * n)
	#define UBX_CFG_GNSS_FRM_SZ(n) (UBX_FRM_SZ_WO_PAYLOAD + UBX_CFG_GNSS_PAYLOAD_SZ(n))


	int ubx_create_and_validate_frame(uint8_t *ubx_frame, uint16_t ubx_frame_size, uint8_t msg_cls,
	uint8_t msg_id, const void *payload, uint16_t payload_size);

	struct ubx_cfg_ack_payload {
	uint8_t message_class;
	uint8_t message_id;
	};

	void ubx_cfg_ack_payload_default(struct ubx_cfg_ack_payload *payload);

	#define UBX_CFG_RATE_TIME_REF_UTC 0 /* Align measurements to UTC time. */
	#define UBX_CFG_RATE_TIME_REF_GPS 1 /* Align measurements to GPS time. */
	#define UBX_CFG_RATE_TIME_REF_GLO 2 /* Align measurements to GLONASS time. */
	#define UBX_CFG_RATE_TIME_REF_BDS 3 /* Align measurements to BeiDou time. */
	#define UBX_CFG_RATE_TIME_REF_GAL 4 /* Align measurements to Galileo time. */

	struct ubx_cfg_rate_payload {
	uint16_t meas_rate_ms;
	uint16_t nav_rate;
	uint16_t time_ref;
	};

	void ubx_cfg_rate_payload_default(struct ubx_cfg_rate_payload *payload);

	struct ubx_cfg_prt_poll_payload {
	uint8_t port_id;
	};

	void ubx_cfg_prt_poll_payload_default(struct ubx_cfg_prt_poll_payload *payload);

	#define UBX_CFG_PRT_IN_PROTO_UBX BIT(0)
	#define UBX_CFG_PRT_IN_PROTO_NMEA BIT(1)
	#define UBX_CFG_PRT_IN_PROTO_RTCM BIT(2)
	#define UBX_CFG_PRT_IN_PROTO_RTCM3 BIT(5)
	#define UBX_CFG_PRT_OUT_PROTO_UBX BIT(0)
	#define UBX_CFG_PRT_OUT_PROTO_NMEA BIT(1)
	#define UBX_CFG_PRT_OUT_PROTO_RTCM3 BIT(5)

	#define UBX_CFG_PRT_PORT_MODE_CHAR_LEN_5 0U
	#define UBX_CFG_PRT_PORT_MODE_CHAR_LEN_6 BIT(6)
	#define UBX_CFG_PRT_PORT_MODE_CHAR_LEN_7 BIT(7)
	#define UBX_CFG_PRT_PORT_MODE_CHAR_LEN_8 (BIT(6) \| BIT(7))

	#define UBX_CFG_PRT_PORT_MODE_PARITY_EVEN 0U
	#define UBX_CFG_PRT_PORT_MODE_PARITY_ODD BIT(9)
	#define UBX_CFG_PRT_PORT_MODE_PARITY_NONE BIT(11)

	#define UBX_CFG_PRT_PORT_MODE_STOP_BITS_1 0U
	#define UBX_CFG_PRT_PORT_MODE_STOP_BITS_1_HALF BIT(12)
	#define UBX_CFG_PRT_PORT_MODE_STOP_BITS_2 BIT(13)
	#define UBX_CFG_PRT_PORT_MODE_STOP_BITS_HALF (BIT(12) \| BIT(13))

	#define UBX_CFG_PRT_RESERVED0 0x00
	#define UBX_CFG_PRT_TX_READY_PIN_CONF_DEFAULT 0x0000
	#define UBX_CFG_PRT_TX_READY_PIN_CONF_EN BIT(0)
	#define UBX_CFG_PRT_TX_READY_PIN_CONF_POL_LOW BIT(1)
	#define UBX_CFG_PRT_TX_READY_PIN_CONF_POL_HIGH 0U
	#define UBX_CFG_PRT_RESERVED1 0x00
	#define UBX_CFG_PRT_FLAGS_DEFAULT 0x0000
	#define UBX_CFG_PRT_FLAGS_EXTENDED_TX_TIMEOUT BIT(0)

	struct ubx_cfg_prt_set_payload {
	uint8_t port_id;
	uint8_t reserved0;
	uint16_t tx_ready_pin_conf;
	uint32_t port_mode;
	uint32_t baudrate;
	uint16_t in_proto_mask;
	uint16_t out_proto_mask;
	uint16_t flags;
	uint8_t reserved1;
	};

	void ubx_cfg_prt_set_payload_default(struct ubx_cfg_prt_set_payload *payload);

	#define UBX_CFG_RST_NAV_BBR_MASK_HOT_START 0x0000
	#define UBX_CFG_RST_NAV_BBR_MASK_WARM_START 0x0001
	#define UBX_CFG_RST_NAV_BBR_MASK_COLD_START 0xFFFF

	#define UBX_CFG_RST_RESET_MODE_HARD_RESET 0x00
	#define UBX_CFG_RST_RESET_MODE_CONTROLLED_SOFT_RESET 0x01
	#define UBX_CFG_RST_RESET_MODE_CONTROLLED_SOFT_RESET_GNSS_ONLY 0x02
	#define UBX_CFG_RST_RESET_MODE_HARD_RESET_AFTER_SHUTDOWN 0x04
	#define UBX_CFG_RST_RESET_MODE_CONTROLLED_GNSS_STOP 0x08
	#define UBX_CFG_RST_RESET_MODE_CONTROLLED_GNSS_START 0x09

	#define UBX_CFG_RST_RESERVED0 0x00

	struct ubx_cfg_rst_payload {
	uint16_t nav_bbr_mask;
	uint8_t reset_mode;
	uint8_t reserved0;
	};

	void ubx_cfg_rst_payload_default(struct ubx_cfg_rst_payload *payload);

	#define UBX_CFG_NAV5_MASK_ALL 0x05FF
	#define UBX_CFG_NAV5_FIX_MODE_DEFAULT UBX_FIX_AUTO_FIX
	#define UBX_CFG_NAV5_FIXED_ALT_DEFAULT 0
	#define UBX_CFG_NAV5_FIXED_ALT_VAR_DEFAULT 1U
	#define UBX_CFG_NAV5_MIN_ELEV_DEFAULT 5
	#define UBX_CFG_NAV5_DR_LIMIT_DEFAULT 3U
	#define UBX_CFG_NAV5_P_DOP_DEFAULT 100U
	#define UBX_CFG_NAV5_T_DOP_DEFAULT 100U
	#define UBX_CFG_NAV5_P_ACC_DEFAULT 100U
	#define UBX_CFG_NAV5_T_ACC_DEFAULT 350U
	#define UBX_CFG_NAV5_STATIC_HOLD_THRESHOLD_DEFAULT 0U
	#define UBX_CFG_NAV5_DGNSS_TIMEOUT_DEFAULT 60U
	#define UBX_CFG_NAV5_CNO_THRESHOLD_NUM_SVS_DEFAULT 0U
	#define UBX_CFG_NAV5_CNO_THRESHOLD_DEFAULT 0U
	#define UBX_CFG_NAV5_RESERVED0 0U
	#define UBX_CFG_NAV5_STATIC_HOLD_DIST_THRESHOLD 0U
	#define UBX_CFG_NAV5_UTC_STANDARD_DEFAULT UBX_UTC_AUTOUTC

	struct ubx_cfg_nav5_payload {
	uint16_t mask;
	uint8_t dyn_model;

	uint8_t fix_mode;

	int32_t fixed_alt;
	uint32_t fixed_alt_var;

	int8_t min_elev;
	uint8_t dr_limit;

	uint16_t p_dop;
	uint16_t t_dop;
	uint16_t p_acc;
	uint16_t t_acc;

	uint8_t static_hold_threshold;
	uint8_t dgnss_timeout;
	uint8_t cno_threshold_num_svs;
	uint8_t cno_threshold;

	uint16_t reserved0;

	uint16_t static_hold_dist_threshold;
	uint8_t utc_standard;
	};

	void ubx_cfg_nav5_payload_default(struct ubx_cfg_nav5_payload *payload);

	#define UBX_CFG_GNSS_MSG_VER 0x00
	#define UBX_CFG_GNSS_NUM_TRK_CH_HW_DEFAULT 0x31
	#define UBX_CFG_GNSS_NUM_TRK_CH_USE_DEFAULT 0x31

	#define UBX_CFG_GNSS_RESERVED0 0x00
	#define UBX_CFG_GNSS_FLAG_ENABLE BIT(0)
	#define UBX_CFG_GNSS_FLAG_DISABLE 0U
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT 16
	/* When gnss_id is 0 (GPS) */
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_GPS_L1C_A (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_GPS_L2C (0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_GPS_L5 (0x20 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
	/* When gnss_id is 1 (SBAS) */
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_SBAS_L1C_A (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
	/* When gnss_id is 2 (Galileo) */
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_GALILEO_E1 (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_GALILEO_E5A (0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_GALILEO_E5B (0x20 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
	/* When gnss_id is 3 (BeiDou) */
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_BEIDOU_B1I (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_BEIDOU_B2I (0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_BEIDOU_B2A (0x80 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
	/* When gnss_id is 4 (IMES) */
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_IMES_L1 (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
	/* When gnss_id is 5 (QZSS) */
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_QZSS_L1C_A (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_QZSS_L1S (0x04 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_QZSS_L2C (0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_QZSS_L5 (0x20 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
	/* When gnss_id is 6 (GLONASS) */
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_GLONASS_L1 (0x01 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)
	#define UBX_CFG_GNSS_FLAG_SGN_CNF_GLONASS_L2 (0x10 << UBX_CFG_GNSS_FLAG_SGN_CNF_SHIFT)

	struct ubx_cfg_gnss_payload_config_block {
	uint8_t gnss_id;
	uint8_t num_res_trk_ch;
	uint8_t max_num_trk_ch;
	uint8_t reserved0;
	uint32_t flags;
	};

	struct ubx_cfg_gnss_payload {
	uint8_t msg_ver;
	uint8_t num_trk_ch_hw;
	uint8_t num_trk_ch_use;
	uint8_t num_config_blocks;
	struct ubx_cfg_gnss_payload_config_block config_blocks[];
	};

	void ubx_cfg_gnss_payload_default(struct ubx_cfg_gnss_payload *payload);

	#define UBX_CFG_MSG_RATE_DEFAULT 1

	struct ubx_cfg_msg_payload {
	uint8_t message_class;
	uint8_t message_id;
	uint8_t rate;
	};

	void ubx_cfg_msg_payload_default(struct ubx_cfg_msg_payload *payload);

	#endif /* ZEPHYR_U_BLOX_PROTOCOL_ */