UBX Parser

The UBX parser makes it easy to receive and decode messages in the u-blox propietary protocol.

Note

To follow this section we suggest to download u-blox ZED-F9P Interface Description document to use it as a reference.

Methods

class ubx.Parser(cb=None, raw_payload=False, verbose=0)

The ubx.Parser class is used to create an object that can access the UART1 port of the GPS/GNSS receivers mounted on the SBC.

The class needs to be initialized with the following parameters:

Parameter name

Value

Description

cb

Any function.
Default value is None.

Callback function to be called when a
UBX message is parsed.
Callback function argument is a variable
containing the UBX message fields in an array.

raw_payload

True, False.
Default value is False.

If set to False, the parse method will return a
message array with all the parsed message fields.
If set to True, the parse method will return a
message array with:

  1. Message class identifier

  2. Message Ide identifier

  3. Message payload (raw)

  4. Message payload length

See examples below to understand better

verbose

0, 1, default value is 0

If set to 1 parser will print in the terminal a
CRC failed message if the parsed message
is not valid
parse(buf):

Parse UBX message

Args:

buf: Variable containing one or many UBX messages. This variable may contain messages in other procotols, which will be ignored by the UBX parser.

Return:

Array of UBX messages contained in buf.

Example to parse a UBX NAV-PVT message with and without the raw_payload enabled:
>>> import sbc
>>> ubx_parser = sbc.ubx.Parser(raw_payload=False)
>>> ubx_msg = bytes([0xB5, 0x62, 0x01, 0x07, 0x5C, 0x00, 0xB8, 0x39, 0x92, 0x17, 0xE5, 0x07, 0x03, 0x12, 0x0D, 0x32, 0x29, 0x37, 0x19, 0x00, 0x00, 0x00, 0xB9, 0xE9, 0xFC, 0xFF, 0x03, 0x03, 0xEA, 0x19, 0x1E, 0x59, 0x5D, 0x00, 0x46, 0xFB, 0xCC, 0x18, 0x8F, 0xDE, 0x03, 0x00, 0xFF, 0x1B, 0x03, 0x00, 0xD8, 0x05, 0x00, 0x00, 0xD5, 0x06, 0x00, 0x00, 0xEF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xA5, 0x00, 0x00, 0x00, 0x80, 0xA8, 0x12, 0x01, 0x5F, 0x00, 0x00, 0x00, 0x6C, 0x18, 0x42, 0x3E, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE2, 0x62])
>>> msg = ubx_parser.parse(ubx_msg)
>>> print(msg)
[NavPvt {'lat': 416086854, 'vAcc': 1749, 'itow': 395459000, 'height': 253583, 'year': 2021, 'sAcc': 165, 'flags': 3, 'headVeh': 0, 'hAcc': 1496, 'reserved3': 1044519020, 'reserved2': 0, 'magDec': 0, 'magAcc': 0, 'hour': 13, 'day': 18, 'valid': 55, 'min': 50, 'headingAcc': 18000000, 'name': 'NavPvt', 'tAcc': 25, 'numSV': 25, 'velN': -17, 'flags3': 0, 'hMSL': 203775, 'sec': 41, 'gSpeed': 17, 'month': 3, 'fixType': 3, 'nano': -202311, 'flags2': 234, 'heading': 0, 'velD': 7, 'velE': 0, 'pDop': 95, 'lon': 6117662}]
>>> print('Received UBX message is: ', msg[0].name,', latitude value is: ', msg[0].lat)
Received UBX message is:  NavPvt , latitude value is:  416086854
>>> ubx_parser = sbc.ubx.Parser(raw_payload=True)
>>> msg = ubx_parser.parse(ubx_msg)
>>> print(msg)
[(1, 7, bytearray(b'\xb89\x92\x17\xe5\x07\x03\x12\r2)7\x19\x00\x00\x00\xb9\xe9\xfc\xff\x03\x03\xea\x19\x1eY]\x00F\xfb\xcc\x18\x8f\xde\x03\x00\xff\x1b\x03\x00\xd8\x05\x00\x00\xd5\x06\x00\x00\xef\xff\xff\xff\x00\x00\x00\x00\x07\x00\x00\x00\x11\x00\x00\x00\x00\x00\x00\x00\xa5\x00\x00\x00\x80\xa8\x12\x01_\x00\x00\x00l\x18B>\x00\x00\x00\x00\x00\x00\x00\x00'), 92)]
>>> print('UBX message class is: ', msg[0][0], ', message ide is: ', msg[0][1], ', message payload length is: ', msg[0][3], ', message payload is: ', msg[0][2])
UBX message class is:  1 , message ide is:  7 , message payload length is:  92 , message payload is:  bytearray(b'\xb89\x92\x17\xe5\x07\x03\x12\r2)7\x19\x00\x00\x00\xb9\xe9\xfc\xff\x03\x03\xea\x19\x1eY]\x00F\xfb\xcc\x18\x8f\xde\x03\x00\xff\x1b\x03\x00\xd8\x05\x00\x00\xd5\x06\x00\x00\xef\xff\xff\xff\x00\x00\x00\x00\x07\x00\x00\x00\x11\x00\x00\x00\x00\x00\x00\x00\xa5\x00\x00\x00\x80\xa8\x12\x01_\x00\x00\x00l\x18B>\x00\x00\x00\x00\x00\x00\x00\x00')
Example to use a callback to print a message everytime a UBX-NAV-PVT message is received:
>>> import sbc
>>> import time
>>> def ubx_callback(msg):
>>>     if msg.name == 'NavPvt':
>>>         print('NavPvt message received at GPS iTOW: ', msg.itow)
>>> gps1 = sbc.Gps(1, uart_baudrate = 38400)
>>> ubx_parser = sbc.ubx.Parser(cb = ubx_callback)
>>> time.sleep(1)
>>> while True:
>>>    ubx_parser.parse(gps1.read())
NavPvt message received at GPS iTOW:  396758000
NavPvt message received at GPS iTOW:  396759000
NavPvt message received at GPS iTOW:  396760000
NavPvt message received at GPS iTOW:  396761000
NavPvt message received at GPS iTOW:  396762000
NavPvt message received at GPS iTOW:  396763000
NavPvt message received at GPS iTOW:  396764000
...
ubx.request(gps,parser,msg_name,timeout_ms=1000):

Request (poll) a specific UBX message to the GPS/GNSS receiver

Args:

gps: Gps object.
parser: ubx.Parser object. The parser used must have raw_payload set to False.
msg_name: name of the UBX message to be polled.
timeout_ms: maximum time in milliseconds to wait for a response from the GPS/GNSS receiver. Default value is 1000ms.

Return:

Requested UBX message or None if the GPS/GNSS receiver does not answer.

Example to poll UBX NAV-RELPOSNED message:
>>> import sbc
>>> gps1 = sbc.Gps(1, uart_baudrate = 38400)
>>> ubx_parser = sbc.ubx.Parser()
>>> msg = sbc.ubx.request(gps1, ubx_parser, "NavRelposned")
>>> print(msg)
NavRelposned {'relPosHeading': 0, 'refStationId': 0, 'reserved1': 0, 'reserved0': 0, 'relPosLength': 0, 'accN': 0, 'itow': 465463000, 'relPosD': 0, 'relPosHPN': 0, 'relPosE': 0, 'reserved2': 0, 'name': 'NavRelposned', 'flags': 3, 'relPosN': 0, 'relPosHPD': 0, 'relPosHPE': 0, 'accE': 0, 'relPosHPLength': 0, 'version': 1, 'accD': 0, 'accLength': 0, 'accHeading': 0}
>>> print('Message name is:',msg.name,'which was received at iTOW:',msg.itow)
Message name is: NavRelposned which was received at iTOW: 465463000
ubx.request_from_cls_ide(gps,parser,cls,ide,timeout_ms=1000):

Request (poll) a specific UBX message (by Class and Message Ide) to the GPS/GNSS receiver

Args:

gps: Gps object.
parser: ubx.Parser object. The parser used must have raw_payload set to True.
cls: UBX message Class to be polled.
ide: UBX message Id to be polled.
timeout_ms: maximum time in milliseconds to wait for a response from the GPS/GNSS receiver. Default value is 1000ms.

Return:

Requested UBX message or None if the GPS/GNSS receiver does not answer.

Example to poll UBX NAV-RELPOSNED message, which Class is 0x01 and Id is 0x3C:

>>> import sbc
>>> gps1 = sbc.Gps(1, uart_baudrate = 38400)
>>> ubx_parser = sbc.ubx.Parser(raw_payload=True)
>>> msg = sbc.ubx.request_from_cls_ide(gps1, ubx_parser, 0x01, 0x3C)
>>> print(msg)
(1, 60, bytearray(b'\x01\x00\x00\x00(7P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), 64)
ubx.build(msg):

Builds a UBX binary message from a SBC readable msg.

Args:

msg: UBX message in SBC readable format.

Return:

Binary UBX message, including headers and CRC.

Example to generate UBX NAV-PVT message:
>>> import sbc
>>> gps1 = sbc.Gps(1, uart_baudrate = 38400)
>>> ubx_parser = sbc.ubx.Parser()
>>> msg = sbc.ubx.request(gps1, ubx_parser, "NavPvt")
>>> print(msg)
NavPvt {'lat': 425083600, 'vAcc': 5564, 'itow': 293472000, 'height': 1069380, 'year': 2022, 'sAcc': 412, 'flags': 3, 'headVeh': 0, 'hAcc': 3019, 'reserved3': 860200482, 'reserved2': 0, 'magDec': 0, 'magAcc': 0, 'hour': 9, 'day': 2, 'valid': 55, 'min': 30, 'headingAcc': 18000000, 'name': 'NavPvt', 'tAcc': 33, 'numSV': 14, 'velN': -9, 'flags3': 0, 'hMSL': 1020343, 'sec': 54, 'gSpeed': 10, 'month': 2, 'fixType': 3, 'nano': 347857, 'flags2': 234, 'heading': 0, 'velD': -39, 'velE': -6, 'pDop': 216, 'lon': 15306910}
>>> msg_binary = sbc.ubx.build(msg)
>>> print(msg_binary)
b'\xb5b\x01\x07\\\x000\xf9~\x11\xe6\x07\x02\x02\t\x1f87"\x00\x00\x00\x0bP\x04\x00\x03\x03\xea\x0e\x07\x8f\xe9\x00\x95CV\x19\xcaP\x10\x00=\x91\x0f\x00>\x0c\x00\x00]\x16\x00\x00\xf6\xff\xff\xff\xf2\xff\xff\xff\x1b\x00\x00\x00\x11\x00\x00\x00\x00\x00\x00\x00Y\x01\x00\x00\x80\xa8\x12\x01\xa6\x00\x00\x00"\x9eE3\x00\x00\x00\x00\x00\x00\x00\x00.\xba'
ubx.build_from_cls_ide(cls, ide, payload):

Builds a UBX binary message from the message inputs.

Args:

cls: UBX message Class.
ide: UBX message Id.
payload: UBX message payload.

Return:

Binary UBX message, including headers and CRC.

Example to generate UBX message bring your GPS/GNSS receiver to its default configuration:
>>> import sbc
>>> payload = bytes([0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x03])
>>> ubx_parser = sbc.ubx.Parser()
>>> print(sbc.ubx.build_from_cls_ide(0x06, 0x09, payload))
b'\xb5b\x06\t\r\x00\xff\xff\x00\x00\x00\x00\x00\x00\xff\xff\x00\x00\x03\x1b\x9a'
ubx.config_from_cls_ide(gps,parser,cls,ide,payload,timeout_ms=1000):

Send UBX configuration message to the GPS/GNSS receiver

Args:

gps: Gps object.
parser: ubx.Parser object.
cls: UBX message Class to be configured.
ide: UBX message Id to be configured.
payload: UBX message configuration payload.
timeout_ms: maximum time in milliseconds to wait for a response from the GPS/GNSS receiver. Default value is 1000ms.

Return:

True or False if config message is acknowledged/not-acknowledged by the GPS/GNSS receiver.

Example to bring your GPS/GNSS receiver to its default configuration :
>>> import sbc
>>> payload = bytes([0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x03])
>>> gps1 = sbc.Gps(1, uart_baudrate = 38400)
>>> ubx_parser = sbc.ubx.Parser()
>>> print(sbc.ubx.config_from_cls_ide(gps1, ubx_parser, 0x06, 0x09, payload))
True

Supported messages

Note

To understand better the meaning of the fields, units, … we suggest to download u-blox ZED-F9P Interface Description document .
Contact us if the message you need is not on the list and we will add it :)

Name

Class

Id

Fields

AckAck

0x05

0x01

clsId, msgId

AckNak

0x05

0x00

clsId, msgId

MonMsgpp

0x0A

0x06

msg1, msg2, msg3, msg4, msg5, msg6

MonVer

0x0A

0x04

swVersion, hwVersion, numExtensions, extensions

NavEoe

0x01

0x61

itow

NavHpposecef

0x01

0x13

version, reserved1, itow, ecefX, ecefY,
ecefZ, ecefXHp, ecefYHp, ecefZHp, flags, pAcc

NavHpposllh

0x01

0x14

version, reserved1, flags, itow, lon, lat, height, hMSL, lonHp,
latHp, heigthHp, hMSLHp, hAcc, vAcc

NavPvt

0x01

0x07

itow, year, month, day, hour, min, sec, valid, tAcc, nano, fixType,
flags, flags2, numSV, lon, lat, height, hMSL, hAcc, vAcc, velN,
velE, velD, gSpeed, heading, sAcc, headingAcc, pDop, flags3,
reserved2, reserved3, headVeh, magDec, magAcc

NavRelposned

0x01

0x3C

version, reserved0, refStationId, itow, relPosN, relPosE, relPosD,
relPosLength, relPosHeading, reserved1, relPosHPN, relPosHPE,
relPosHPD, relPosHPLength, accN, accE, accD, accLength,
accHeading, reserved2, flags

NavSat

0x01

0x35

itow, version, numSvs, reserved1, Svs

NavSig

0x01

0x43

itow, version, numSvs, reserved0, Sigs

NavStatus

0x01

0x03

itow, gpsFix, flags, fixStat, flags2, ttff, msss

NavSvin

0x01

0x3B

version, reserved1, itow, dur, meanX, meanY, meanZ, meanXHP,
meanYHP, meanZHP, reserved2, meanAcc, obs, valid, active,
reserved3

NavTimegps

0x01

0x20

itow, ftow, weeks, leapS, valid, tAcc

NavTimeutc

0x01

0x21

itow, tAcc, nano, year, month, day, hour, min, sec, valid

NavVelecef

0x01

0x11

itow, ecefVX, ecefVY, ecefVZ, sAcc

NavVelned

0x01

0x12

itow, velN, velE, velD, speed, gSpeed, heading, sAcc, cAcc

RxmRawx

0x02

0x15

week, leapS, numMeas, recStat, version, reserved1, Meas

RxmRtcm

0x02

0x32

version, flags, subType, refStation, msgType

RxmSfrbx

0x02

0x13

gnssId, svid, reserved1, freqId, numWords, chn, version,
reserved3, Words

TimTm2

0x0D

0x03

ch, flags, count, wnR, wnF, towMsR, towSubMsR, towMsF,
towSubMsF, accEst