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274 lines
10 KiB
274 lines
10 KiB
2 months ago
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# This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
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import kaitaistruct
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from kaitaistruct import KaitaiStruct, KaitaiStream, BytesIO
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from enum import Enum
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if getattr(kaitaistruct, 'API_VERSION', (0, 9)) < (0, 9):
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raise Exception("Incompatible Kaitai Struct Python API: 0.9 or later is required, but you have %s" % (kaitaistruct.__version__))
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class Ubx(KaitaiStruct):
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class GnssType(Enum):
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gps = 0
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sbas = 1
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galileo = 2
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beidou = 3
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imes = 4
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qzss = 5
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glonass = 6
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def __init__(self, _io, _parent=None, _root=None):
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self._io = _io
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self._parent = _parent
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self._root = _root if _root else self
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self._read()
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def _read(self):
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self.magic = self._io.read_bytes(2)
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if not self.magic == b"\xB5\x62":
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raise kaitaistruct.ValidationNotEqualError(b"\xB5\x62", self.magic, self._io, u"/seq/0")
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self.msg_type = self._io.read_u2be()
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self.length = self._io.read_u2le()
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_on = self.msg_type
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if _on == 2569:
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self.body = Ubx.MonHw(self._io, self, self._root)
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elif _on == 533:
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self.body = Ubx.RxmRawx(self._io, self, self._root)
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elif _on == 531:
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self.body = Ubx.RxmSfrbx(self._io, self, self._root)
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elif _on == 309:
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self.body = Ubx.NavSat(self._io, self, self._root)
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elif _on == 2571:
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self.body = Ubx.MonHw2(self._io, self, self._root)
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elif _on == 263:
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self.body = Ubx.NavPvt(self._io, self, self._root)
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class RxmRawx(KaitaiStruct):
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def __init__(self, _io, _parent=None, _root=None):
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self._io = _io
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self._parent = _parent
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self._root = _root if _root else self
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self._read()
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def _read(self):
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self.rcv_tow = self._io.read_f8le()
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self.week = self._io.read_u2le()
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self.leap_s = self._io.read_s1()
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self.num_meas = self._io.read_u1()
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self.rec_stat = self._io.read_u1()
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self.reserved1 = self._io.read_bytes(3)
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self._raw_meas = []
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self.meas = []
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for i in range(self.num_meas):
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self._raw_meas.append(self._io.read_bytes(32))
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_io__raw_meas = KaitaiStream(BytesIO(self._raw_meas[i]))
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self.meas.append(Ubx.RxmRawx.Measurement(_io__raw_meas, self, self._root))
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class Measurement(KaitaiStruct):
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def __init__(self, _io, _parent=None, _root=None):
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self._io = _io
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self._parent = _parent
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self._root = _root if _root else self
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self._read()
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def _read(self):
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self.pr_mes = self._io.read_f8le()
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self.cp_mes = self._io.read_f8le()
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self.do_mes = self._io.read_f4le()
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self.gnss_id = KaitaiStream.resolve_enum(Ubx.GnssType, self._io.read_u1())
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self.sv_id = self._io.read_u1()
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self.reserved2 = self._io.read_bytes(1)
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self.freq_id = self._io.read_u1()
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self.lock_time = self._io.read_u2le()
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self.cno = self._io.read_u1()
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self.pr_stdev = self._io.read_u1()
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self.cp_stdev = self._io.read_u1()
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self.do_stdev = self._io.read_u1()
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self.trk_stat = self._io.read_u1()
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self.reserved3 = self._io.read_bytes(1)
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class RxmSfrbx(KaitaiStruct):
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def __init__(self, _io, _parent=None, _root=None):
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self._io = _io
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self._parent = _parent
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self._root = _root if _root else self
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self._read()
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def _read(self):
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self.gnss_id = KaitaiStream.resolve_enum(Ubx.GnssType, self._io.read_u1())
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self.sv_id = self._io.read_u1()
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self.reserved1 = self._io.read_bytes(1)
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self.freq_id = self._io.read_u1()
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self.num_words = self._io.read_u1()
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self.reserved2 = self._io.read_bytes(1)
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self.version = self._io.read_u1()
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self.reserved3 = self._io.read_bytes(1)
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self.body = []
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for i in range(self.num_words):
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self.body.append(self._io.read_u4le())
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class NavSat(KaitaiStruct):
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def __init__(self, _io, _parent=None, _root=None):
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self._io = _io
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self._parent = _parent
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self._root = _root if _root else self
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self._read()
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def _read(self):
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self.itow = self._io.read_u4le()
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self.version = self._io.read_u1()
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self.num_svs = self._io.read_u1()
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self.reserved = self._io.read_bytes(2)
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self._raw_svs = []
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self.svs = []
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for i in range(self.num_svs):
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self._raw_svs.append(self._io.read_bytes(12))
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_io__raw_svs = KaitaiStream(BytesIO(self._raw_svs[i]))
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self.svs.append(Ubx.NavSat.Nav(_io__raw_svs, self, self._root))
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class Nav(KaitaiStruct):
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def __init__(self, _io, _parent=None, _root=None):
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self._io = _io
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self._parent = _parent
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self._root = _root if _root else self
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self._read()
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def _read(self):
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self.gnss_id = KaitaiStream.resolve_enum(Ubx.GnssType, self._io.read_u1())
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self.sv_id = self._io.read_u1()
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self.cno = self._io.read_u1()
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self.elev = self._io.read_s1()
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self.azim = self._io.read_s2le()
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self.pr_res = self._io.read_s2le()
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self.flags = self._io.read_u4le()
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class NavPvt(KaitaiStruct):
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def __init__(self, _io, _parent=None, _root=None):
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self._io = _io
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self._parent = _parent
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self._root = _root if _root else self
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self._read()
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def _read(self):
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self.i_tow = self._io.read_u4le()
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self.year = self._io.read_u2le()
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self.month = self._io.read_u1()
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self.day = self._io.read_u1()
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self.hour = self._io.read_u1()
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self.min = self._io.read_u1()
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self.sec = self._io.read_u1()
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self.valid = self._io.read_u1()
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self.t_acc = self._io.read_u4le()
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self.nano = self._io.read_s4le()
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self.fix_type = self._io.read_u1()
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self.flags = self._io.read_u1()
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self.flags2 = self._io.read_u1()
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self.num_sv = self._io.read_u1()
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self.lon = self._io.read_s4le()
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self.lat = self._io.read_s4le()
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self.height = self._io.read_s4le()
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self.h_msl = self._io.read_s4le()
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self.h_acc = self._io.read_u4le()
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self.v_acc = self._io.read_u4le()
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self.vel_n = self._io.read_s4le()
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self.vel_e = self._io.read_s4le()
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self.vel_d = self._io.read_s4le()
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self.g_speed = self._io.read_s4le()
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self.head_mot = self._io.read_s4le()
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self.s_acc = self._io.read_s4le()
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self.head_acc = self._io.read_u4le()
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self.p_dop = self._io.read_u2le()
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self.flags3 = self._io.read_u1()
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self.reserved1 = self._io.read_bytes(5)
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self.head_veh = self._io.read_s4le()
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self.mag_dec = self._io.read_s2le()
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self.mag_acc = self._io.read_u2le()
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class MonHw2(KaitaiStruct):
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class ConfigSource(Enum):
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flash = 102
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otp = 111
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config_pins = 112
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rom = 113
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def __init__(self, _io, _parent=None, _root=None):
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self._io = _io
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self._parent = _parent
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self._root = _root if _root else self
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self._read()
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def _read(self):
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self.ofs_i = self._io.read_s1()
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self.mag_i = self._io.read_u1()
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self.ofs_q = self._io.read_s1()
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self.mag_q = self._io.read_u1()
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self.cfg_source = KaitaiStream.resolve_enum(Ubx.MonHw2.ConfigSource, self._io.read_u1())
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self.reserved1 = self._io.read_bytes(3)
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self.low_lev_cfg = self._io.read_u4le()
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self.reserved2 = self._io.read_bytes(8)
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self.post_status = self._io.read_u4le()
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self.reserved3 = self._io.read_bytes(4)
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class MonHw(KaitaiStruct):
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class AntennaStatus(Enum):
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init = 0
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dontknow = 1
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ok = 2
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short = 3
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open = 4
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class AntennaPower(Enum):
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false = 0
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true = 1
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dontknow = 2
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def __init__(self, _io, _parent=None, _root=None):
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self._io = _io
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self._parent = _parent
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self._root = _root if _root else self
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self._read()
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def _read(self):
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self.pin_sel = self._io.read_u4le()
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self.pin_bank = self._io.read_u4le()
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self.pin_dir = self._io.read_u4le()
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self.pin_val = self._io.read_u4le()
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self.noise_per_ms = self._io.read_u2le()
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self.agc_cnt = self._io.read_u2le()
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self.a_status = KaitaiStream.resolve_enum(Ubx.MonHw.AntennaStatus, self._io.read_u1())
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self.a_power = KaitaiStream.resolve_enum(Ubx.MonHw.AntennaPower, self._io.read_u1())
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self.flags = self._io.read_u1()
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self.reserved1 = self._io.read_bytes(1)
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self.used_mask = self._io.read_u4le()
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self.vp = self._io.read_bytes(17)
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self.jam_ind = self._io.read_u1()
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self.reserved2 = self._io.read_bytes(2)
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self.pin_irq = self._io.read_u4le()
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self.pull_h = self._io.read_u4le()
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self.pull_l = self._io.read_u4le()
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@property
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def checksum(self):
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if hasattr(self, '_m_checksum'):
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return self._m_checksum
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_pos = self._io.pos()
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self._io.seek((self.length + 6))
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self._m_checksum = self._io.read_u2le()
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self._io.seek(_pos)
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return getattr(self, '_m_checksum', None)
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