openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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meta:
id: ubx
endian: le
seq:
- id: magic
contents: [0xb5, 0x62]
- id: msg_type
type: u2be
- id: length
type: u2
- id: body
type:
switch-on: msg_type
cases:
0x0107: nav_pvt
0x0213: rxm_sfrbx
0x0215: rxm_rawx
0x0a09: mon_hw
0x0a0b: mon_hw2
0x0135: nav_sat
instances:
checksum:
pos: length + 6
type: u2
types:
mon_hw:
seq:
- id: pin_sel
type: u4
- id: pin_bank
type: u4
- id: pin_dir
type: u4
- id: pin_val
type: u4
- id: noise_per_ms
type: u2
- id: agc_cnt
type: u2
- id: a_status
type: u1
enum: antenna_status
- id: a_power
type: u1
enum: antenna_power
- id: flags
type: u1
- id: reserved1
size: 1
- id: used_mask
type: u4
- id: vp
size: 17
- id: jam_ind
type: u1
- id: reserved2
size: 2
- id: pin_irq
type: u4
- id: pull_h
type: u4
- id: pull_l
type: u4
enums:
antenna_status:
0: init
1: dontknow
2: ok
3: short
4: open
antenna_power:
0: off
1: on
2: dontknow
mon_hw2:
seq:
- id: ofs_i
type: s1
- id: mag_i
type: u1
- id: ofs_q
type: s1
- id: mag_q
type: u1
- id: cfg_source
type: u1
enum: config_source
- id: reserved1
size: 3
- id: low_lev_cfg
type: u4
- id: reserved2
size: 8
- id: post_status
type: u4
- id: reserved3
size: 4
enums:
config_source:
113: rom
111: otp
112: config_pins
102: flash
rxm_sfrbx:
seq:
- id: gnss_id
type: u1
enum: gnss_type
- id: sv_id
type: u1
- id: reserved1
size: 1
- id: freq_id
type: u1
- id: num_words
type: u1
- id: reserved2
size: 1
- id: version
type: u1
- id: reserved3
size: 1
- id: body
type: u4
repeat: expr
repeat-expr: num_words
rxm_rawx:
seq:
- id: rcv_tow
type: f8
- id: week
type: u2
- id: leap_s
type: s1
- id: num_meas
type: u1
- id: rec_stat
type: u1
- id: reserved1
size: 3
- id: meas
type: measurement
size: 32
repeat: expr
repeat-expr: num_meas
types:
measurement:
seq:
- id: pr_mes
type: f8
- id: cp_mes
type: f8
- id: do_mes
type: f4
- id: gnss_id
type: u1
enum: gnss_type
- id: sv_id
type: u1
- id: reserved2
size: 1
- id: freq_id
type: u1
- id: lock_time
type: u2
- id: cno
type: u1
- id: pr_stdev
type: u1
- id: cp_stdev
type: u1
- id: do_stdev
type: u1
- id: trk_stat
type: u1
- id: reserved3
size: 1
nav_sat:
seq:
- id: itow
type: u4
- id: version
type: u1
- id: num_svs
type: u1
- id: reserved
size: 2
- id: svs
type: nav
size: 12
repeat: expr
repeat-expr: num_svs
types:
nav:
seq:
- id: gnss_id
type: u1
enum: gnss_type
- id: sv_id
type: u1
- id: cno
type: u1
- id: elev
type: s1
- id: azim
type: s2
- id: pr_res
type: s2
- id: flags
type: u4
nav_pvt:
seq:
- id: i_tow
type: u4
- id: year
type: u2
- id: month
type: u1
- id: day
type: u1
- id: hour
type: u1
- id: min
type: u1
- id: sec
type: u1
- id: valid
type: u1
- id: t_acc
type: u4
- id: nano
type: s4
- id: fix_type
type: u1
- id: flags
type: u1
- id: flags2
type: u1
- id: num_sv
type: u1
- id: lon
type: s4
- id: lat
type: s4
- id: height
type: s4
- id: h_msl
type: s4
- id: h_acc
type: u4
- id: v_acc
type: u4
- id: vel_n
type: s4
- id: vel_e
type: s4
- id: vel_d
type: s4
- id: g_speed
type: s4
- id: head_mot
type: s4
- id: s_acc
type: s4
- id: head_acc
type: u4
- id: p_dop
type: u2
- id: flags3
type: u1
- id: reserved1
size: 5
- id: head_veh
type: s4
- id: mag_dec
type: s2
- id: mag_acc
type: u2
enums:
gnss_type:
0: gps
1: sbas
2: galileo
3: beidou
4: imes
5: qzss
6: glonass
