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Adafruit_UBX.cpp
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/*!
* @file Adafruit_UBX.cpp
*
* @mainpage Arduino library for UBX protocol from u-blox GPS/RTK modules
*
* @section intro_sec Introduction
*
* This is a library for parsing UBX protocol messages from u-blox GPS/RTK modules.
* It works with any Stream-based interface including UART and DDC (I2C).
*
* Designed specifically to work with u-blox GPS/RTK modules
* like NEO-M8P, ZED-F9P, etc.
*
* @section author Author
*
* Written by Your Name for Project Name.
*
* @section license License
*
* MIT license, all text above must be included in any redistribution
*/
#include "Adafruit_UBX.h"
/*!
* @brief Constructor
* @param stream Reference to a Stream object (Serial, Adafruit_UBloxDDC, etc.)
*/
Adafruit_UBX::Adafruit_UBX(Stream &stream) {
_stream = &stream;
onUBXMessage = NULL;
}
/*!
* @brief Initializes the UBX parser
* @return Always returns true (initialization is trivial)
*/
bool Adafruit_UBX::begin() {
resetParser();
return true;
}
/*!
* @brief Configure the GPS module to output only UBX protocol (disables NMEA)
* @param portID Port identifier (UBX_PORT_DDC, UBX_PORT_UART1, etc.)
* @param checkAck Whether to wait for acknowledgment
* @param timeout_ms Maximum time to wait for acknowledgment in milliseconds
* @return UBXSendStatus indicating success, failure, or timeout
*/
UBXSendStatus Adafruit_UBX::setUBXOnly(UBXPortId portID, bool checkAck, uint16_t timeout_ms) {
UBX_CFG_PRT_t cfgPrt;
// Zero out the structure
memset(&cfgPrt, 0, sizeof(cfgPrt));
// Set the port ID
cfgPrt.fields.portID = portID;
// Configure the port appropriately
switch (portID) {
case UBX_PORT_DDC: // I2C/DDC port
// Set the I2C address to 0x42 (the default)
// For DDC, the mode field contains the I2C address in bits 7:1
cfgPrt.fields.mode = 0x42 << 1; // 0x84
// Set protocol masks to UBX only
cfgPrt.fields.inProtoMask = UBX_PROTOCOL_UBX;
cfgPrt.fields.outProtoMask = UBX_PROTOCOL_UBX;
break;
case UBX_PORT_UART1: // Fall through
case UBX_PORT_UART2: // UART ports
// Keep current baud rate (baudRate = 0 keeps current setting)
// Set 8N1 mode for binary protocol
cfgPrt.fields.mode = UBX_UART_MODE_8N1;
// Set protocol masks to UBX only
cfgPrt.fields.inProtoMask = UBX_PROTOCOL_UBX;
cfgPrt.fields.outProtoMask = UBX_PROTOCOL_UBX;
break;
case UBX_PORT_USB: // USB port
// Set protocol masks to UBX only
cfgPrt.fields.inProtoMask = UBX_PROTOCOL_UBX;
cfgPrt.fields.outProtoMask = UBX_PROTOCOL_UBX;
break;
case UBX_PORT_SPI: // SPI port
// Set protocol masks to UBX only
cfgPrt.fields.outProtoMask = UBX_PROTOCOL_UBX;
break;
default:
if (verbose_debug > 0) {
Serial.println(F("UBX: Invalid port ID"));
}
return UBX_SEND_FAIL; // Invalid port ID
}
// Send the message and wait for acknowledgment if requested
if (checkAck) {
return sendMessageWithAck(UBX_CLASS_CFG, UBX_CFG_PRT, cfgPrt.raw, sizeof(cfgPrt), timeout_ms);
} else {
if (sendMessage(UBX_CLASS_CFG, UBX_CFG_PRT, cfgPrt.raw, sizeof(cfgPrt))) {
return UBX_SEND_SUCCESS;
} else {
return UBX_SEND_FAIL;
}
}
}
/*!
* @brief Sets the callback function for UBX messages
* @param callback Function pointer to call when a complete UBX message is received
*/
void Adafruit_UBX::setMessageCallback(UBXMessageCallback callback) {
onUBXMessage = callback;
}
/*!
* @brief Reset the parser state machine
*/
void Adafruit_UBX::resetParser() {
_parserState = WAIT_SYNC_1;
_payloadCounter = 0;
_payloadLength = 0;
}
/*!
* @brief Calculate UBX checksum according to protocol
* @param buffer Pointer to the data buffer
* @param len Length of data to checksum
* @param checksumA Reference to store the first checksum byte
* @param checksumB Reference to store the second checksum byte
*/
void Adafruit_UBX::calculateChecksum(uint8_t *buffer, uint16_t len, uint8_t &checksumA, uint8_t &checksumB) {
checksumA = 0;
checksumB = 0;
for (uint16_t i = 0; i < len; i++) {
checksumA += buffer[i];
checksumB += checksumA;
}
}
/*!
* @brief Check for new UBX messages and parse them
* @return True if a complete message was parsed
*/
bool Adafruit_UBX::checkMessages() {
bool messageReceived = false;
// Process all available bytes
while (_stream->available()) {
uint8_t incomingByte = _stream->read();
// State machine for UBX protocol parsing
switch (_parserState) {
case WAIT_SYNC_1:
if (incomingByte == UBX_SYNC_CHAR_1) {
_parserState = WAIT_SYNC_2;
_buffer[0] = incomingByte; // Store for checksum calculation
}
break;
case WAIT_SYNC_2:
if (incomingByte == UBX_SYNC_CHAR_2) {
_parserState = GET_CLASS;
_buffer[1] = incomingByte; // Store for checksum calculation
} else {
resetParser(); // Invalid sync char, reset
}
break;
case GET_CLASS:
_msgClass = incomingByte;
_buffer[2] = incomingByte; // Store for checksum calculation
_parserState = GET_ID;
break;
case GET_ID:
_msgId = incomingByte;
_buffer[3] = incomingByte; // Store for checksum calculation
_parserState = GET_LENGTH_1;
break;
case GET_LENGTH_1:
_payloadLength = incomingByte;
_buffer[4] = incomingByte; // Store for checksum calculation
_parserState = GET_LENGTH_2;
break;
case GET_LENGTH_2:
_payloadLength |= (incomingByte << 8);
_buffer[5] = incomingByte; // Store for checksum calculation
if (_payloadLength > MAX_PAYLOAD_SIZE) {
resetParser(); // Payload too large, reset
} else {
_payloadCounter = 0;
_parserState = GET_PAYLOAD;
}
break;
case GET_PAYLOAD:
if (_payloadCounter < _payloadLength) {
_buffer[6 + _payloadCounter] = incomingByte;
_payloadCounter++;
if (_payloadCounter == _payloadLength) {
_parserState = GET_CHECKSUM_A;
}
}
break;
case GET_CHECKSUM_A:
// Calculate expected checksum
calculateChecksum(_buffer + 2, _payloadLength + 4, _checksumA, _checksumB);
if (incomingByte == _checksumA) {
_parserState = GET_CHECKSUM_B; // Checksum A matches
} else {
resetParser(); // Invalid checksum, reset
}
break;
case GET_CHECKSUM_B:
if (incomingByte == _checksumB) {
// We have a valid message!
if (onUBXMessage != NULL) {
onUBXMessage(_msgClass, _msgId, _payloadLength, _buffer + 6); // Call the callback with the message
}
messageReceived = true;
_lastMsgClass = _msgClass;
_lastMsgId = _msgId;
_lastPayloadLength = _payloadLength;
// Store a small copy of the payload if it's within size limits
if (_payloadLength <= sizeof(_lastPayload)) {
memcpy(_lastPayload, _buffer + 6, _payloadLength);
}
if (verbose_debug > 0) {
Serial.print("UBX RX: ");
// Print header (sync chars, class, id, length)
Serial.print("HDR[B5 62 ");
if (_msgClass < 0x10) Serial.print("0");
Serial.print(_msgClass, HEX);
Serial.print(" ");
if (_msgId < 0x10) Serial.print("0");
Serial.print(_msgId, HEX);
Serial.print(" ");
uint8_t lenLSB = _payloadLength & 0xFF;
uint8_t lenMSB = (_payloadLength >> 8) & 0xFF;
if (lenLSB < 0x10) Serial.print("0");
Serial.print(lenLSB, HEX);
Serial.print(" ");
if (lenMSB < 0x10) Serial.print("0");
Serial.print(lenMSB, HEX);
Serial.print("] ");
// Print payload if verbose debug is enabled
if (verbose_debug > 1 && _payloadLength > 0) {
Serial.print("PL[");
for (uint16_t i = 0; i < _payloadLength; i++) {
if (_buffer[6 + i] < 0x10) Serial.print("0");
Serial.print(_buffer[6 + i], HEX);
Serial.print(" ");
}
Serial.print("] ");
}
// Print checksum
Serial.print("CS[");
if (_checksumA < 0x10) Serial.print("0");
Serial.print(_checksumA, HEX);
Serial.print(" ");
if (_checksumB < 0x10) Serial.print("0");
Serial.print(_checksumB, HEX);
Serial.println("]");
}
}
resetParser(); // Reset for next message
break;
}
}
return messageReceived;
}
/*!
* @brief Send a UBX message and wait for acknowledgment
* @param msgClass Message class
* @param msgId Message ID
* @param payload Pointer to the payload data
* @param length Length of payload
* @param timeout_ms Maximum time to wait for acknowledgment
* @return UBXSendStatus indicating success, failure, or timeout
*/
UBXSendStatus Adafruit_UBX::sendMessageWithAck(uint8_t msgClass, uint8_t msgId, uint8_t *payload, uint16_t length, uint16_t timeout_ms = 500) {
// First send the message
if (!sendMessage(msgClass, msgId, payload, length)) {
if (verbose_debug > 0) {
Serial.println(F("UBX ACK: SEND FAIL"));
}
return UBX_SEND_FAIL;
}
uint32_t startTime = millis();
// Check for messages until timeout
while ((millis() - startTime) < timeout_ms) {
// Process incoming bytes
if (checkMessages()) {
// If we have a message handler, it will be called from checkMessages
// We need to check our last received message
if (_lastMsgClass == UBX_CLASS_ACK) {
if (_lastMsgId == UBX_ACK_ACK && _lastPayloadLength >= 2) {
// ACK-ACK message
if (_lastPayload[0] == msgClass && _lastPayload[1] == msgId) {
if (verbose_debug > 0) {
Serial.print(F("UBX ACK: SUCCESS for message class 0x"));
if (msgClass < 0x10) Serial.print("0");
Serial.print(msgClass, HEX);
Serial.print(" ID 0x");
if (msgId < 0x10) Serial.print("0");
Serial.println(msgId, HEX);
}
return UBX_SEND_SUCCESS;
}
} else if (_lastMsgId == UBX_ACK_NAK && _lastPayloadLength >= 2) {
// ACK-NAK message
if (_lastPayload[0] == msgClass && _lastPayload[1] == msgId) {
if (verbose_debug > 0) {
Serial.print(F("UBX ACK: NAK for message class 0x"));
if (msgClass < 0x10) Serial.print("0");
Serial.print(msgClass, HEX);
Serial.print(" ID 0x");
if (msgId < 0x10) Serial.print("0");
Serial.println(msgId, HEX);
}
return UBX_SEND_NAK;
}
}
}
}
// Short delay
delay(1);
}
if (verbose_debug > 0) {
Serial.print(F("UBX ACK: TIMEOUT waiting for ACK/NAK for message class 0x"));
if (msgClass < 0x10) Serial.print("0");
Serial.print(msgClass, HEX);
Serial.print(" ID 0x");
if (msgId < 0x10) Serial.print("0");
Serial.println(msgId, HEX);
}
return UBX_SEND_TIMEOUT;
}
/*!
* @brief Send a UBX message to the GPS module
* @param msgClass Message class
* @param msgId Message ID
* @param payload Pointer to the payload data (can be NULL for zero-length payload)
* @param length Length of payload
* @return True if message was sent successfully
*/
bool Adafruit_UBX::sendMessage(uint8_t msgClass, uint8_t msgId, uint8_t *payload, uint16_t length) {
// Buffer for message (2 sync chars + class + id + 2 length bytes + payload + 2 checksum bytes)
uint8_t msgBuffer[length + 8];
// Sync characters
msgBuffer[0] = UBX_SYNC_CHAR_1;
msgBuffer[1] = UBX_SYNC_CHAR_2;
// Message class and ID
msgBuffer[2] = msgClass;
msgBuffer[3] = msgId;
// Length (little endian)
msgBuffer[4] = length & 0xFF;
msgBuffer[5] = (length >> 8) & 0xFF;
// Payload
if (payload != NULL && length > 0) {
memcpy(&msgBuffer[6], payload, length);
}
// Calculate checksum
uint8_t checksumA, checksumB;
calculateChecksum(&msgBuffer[2], length + 4, checksumA, checksumB);
msgBuffer[6 + length] = checksumA;
msgBuffer[7 + length] = checksumB;
// Debug output
if (verbose_debug > 0) {
Serial.print("UBX TX: ");
// Print header (sync chars, class, id, length)
Serial.print("HDR[");
for (int i = 0; i < 6; i++) {
if (msgBuffer[i] < 0x10) Serial.print("0");
Serial.print(msgBuffer[i], HEX);
Serial.print(" ");
}
Serial.print("] ");
// Print payload if verbose debug is enabled
if (verbose_debug > 1 && length > 0) {
Serial.print("PL[");
for (uint16_t i = 0; i < length; i++) {
if (msgBuffer[6 + i] < 0x10) Serial.print("0");
Serial.print(msgBuffer[6 + i], HEX);
Serial.print(" ");
}
Serial.print("] ");
}
// Print checksum
Serial.print("CS[");
if (checksumA < 0x10) Serial.print("0");
Serial.print(checksumA, HEX);
Serial.print(" ");
if (checksumB < 0x10) Serial.print("0");
Serial.print(checksumB, HEX);
Serial.println("]");
}
// Send the message
size_t written = _stream->write(msgBuffer, length + 8);
return (written == length + 8);
}

98
Adafruit_UBX.h
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/*!
* @file Adafruit_UBX.h
*
* Arduino library for parsing UBX protocol from u-blox GPS/RTK modules.
*
* This library can use any Stream object as input (UART, DDC, or other).
*
* Adafruit invests time and resources providing this open source code,
* please support Adafruit and open-source hardware by purchasing
* products from Adafruit!
*
* Written by Your Name for Project Name.
*
* MIT license, all text here must be included in any redistribution.
*/
#ifndef ADAFRUIT_UBX_H
#define ADAFRUIT_UBX_H
#include <Arduino.h>
#include <Stream.h>
#include "Adafruit_uBlox_typedef.h"
// UBX protocol constants
#define UBX_SYNC_CHAR_1 0xB5 // First UBX protocol sync char (µ)
#define UBX_SYNC_CHAR_2 0x62 // Second UBX protocol sync char (b)
// UBX ACK Message IDs
#define UBX_ACK_NAK 0x00 // Message Not Acknowledged
#define UBX_ACK_ACK 0x01 // Message Acknowledged
// Callback function type for UBX messages - defined at global scope so other classes can use it
typedef void (*UBXMessageCallback)(uint8_t msgClass, uint8_t msgId, uint16_t payloadLen, uint8_t *payload);
/*!
* @brief Class for parsing UBX protocol messages from u-blox GPS/RTK modules
*/
class Adafruit_UBX {
public:
// Constructor
Adafruit_UBX(Stream &stream);
uint8_t verbose_debug = 0; // 0=off, 1=basic, 2=verbose
// Basic methods
bool begin();
bool checkMessages(); // Message parsing
bool sendMessage(uint8_t msgClass, uint8_t msgId, uint8_t *payload, uint16_t length); // Send a UBX message
UBXSendStatus sendMessageWithAck(uint8_t msgClass, uint8_t msgId, uint8_t *payload, uint16_t length, uint16_t timeout_ms = 500);
// Configure port to use UBX protocol only (disable NMEA)
UBXSendStatus setUBXOnly(UBXPortId portID, bool checkAck = true, uint16_t timeout_ms = 500);
void setMessageCallback(UBXMessageCallback callback); // Set callback function
UBXMessageCallback onUBXMessage; // Callback for message received
private:
Stream *_stream; // Stream interface for reading data
// Buffer for reading messages
static const uint16_t MAX_PAYLOAD_SIZE = 64; // Maximum UBX payload size
uint8_t _buffer[MAX_PAYLOAD_SIZE + 8]; // Buffer for message (header, payload, checksum)
// Parser state machine
enum ParserState {
WAIT_SYNC_1, // Waiting for first sync char (0xB5)
WAIT_SYNC_2, // Waiting for second sync char (0x62)
GET_CLASS, // Reading message class
GET_ID, // Reading message ID
GET_LENGTH_1, // Reading length LSB
GET_LENGTH_2, // Reading length MSB
GET_PAYLOAD, // Reading payload
GET_CHECKSUM_A, // Reading checksum A
GET_CHECKSUM_B // Reading checksum B
};
ParserState _parserState = WAIT_SYNC_1; // Current state of the parser
uint8_t _msgClass; // Message class of current message
uint8_t _msgId; // Message ID of current message
uint16_t _payloadLength; // Length of current message payload
uint16_t _payloadCounter; // Counter for payload bytes received
uint8_t _checksumA; // Running checksum A
uint8_t _checksumB; // Running checksum B
// Calculate checksum for a block of data
void calculateChecksum(uint8_t *buffer, uint16_t len, uint8_t &checksumA, uint8_t &checksumB);
// Reset parser state
void resetParser();
// Add to private section of Adafruit_UBX.h
uint8_t _lastMsgClass; // Class of last message
uint8_t _lastMsgId; // ID of last message
uint16_t _lastPayloadLength; // Length of last message payload
uint8_t _lastPayload[8]; // Buffer for small payloads (like ACK messages)
};
#endif // ADAFRUIT_UBX_H

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/*!
* @file Adafruit_UBloxDDC.cpp
*
* @mainpage Arduino library for u-blox GPS/RTK modules over DDC (I2C)
*
* @section intro_sec Introduction
*
* This is a library for the u-blox GPS/RTK modules using I2C interface (DDC)
*
* Designed specifically to work with u-blox GPS/RTK modules
* like NEO-M8P, ZED-F9P, etc.
*
* @section dependencies Dependencies
*
* This library depends on:
* <a href="https://github.com/adafruit/Adafruit_BusIO">Adafruit_BusIO</a>
*
* @section author Author
*
* Written by Your Name for Project Name.
*
* @section license License
*
* MIT license, all text above must be included in any redistribution
*/
#include "Adafruit_UBloxDDC.h"
/*!
* @brief Constructor
* @param address
* i2c address (default 0x42)
* @param wire
* TwoWire instance (default &Wire)
*/
Adafruit_UBloxDDC::Adafruit_UBloxDDC(uint8_t address, TwoWire *wire) {
_i2cDevice = new Adafruit_I2CDevice(address, wire);
}
/*!
* @brief Destructor - frees allocated resources
*/
Adafruit_UBloxDDC::~Adafruit_UBloxDDC() {
if (_i2cDevice) {
delete _i2cDevice;
}
}
/*!
* @brief Initializes the GPS module and I2C interface
* @return True if GPS module responds, false on any failure
*/
bool Adafruit_UBloxDDC::begin() {
return _i2cDevice->begin();
}
/*!
* @brief Gets the number of bytes available for reading
* @return Number of bytes available, or 0 if no data or error
*/
int Adafruit_UBloxDDC::available() {
uint8_t buffer[2];
// Create a register for reading bytes available
Adafruit_BusIO_Register bytesAvailableReg = Adafruit_BusIO_Register(_i2cDevice, REG_BYTES_AVAILABLE_MSB, 2);
if (!bytesAvailableReg.read(buffer, 2)) {
return 0;
}
uint16_t bytesAvailable = (uint16_t)buffer[0] << 8;
bytesAvailable |= buffer[1];
return bytesAvailable;
}
/*!
* @brief Reads a single byte from the data stream
* @return -1 if no data available or error, otherwise the byte read (0-255)
*/
int Adafruit_UBloxDDC::read() {
// If we have a peeked byte, return it
if (_hasPeeked) {
_hasPeeked = false;
return _lastByte;
}
uint8_t value;
// Create a register for the data stream
Adafruit_BusIO_Register dataStreamReg = Adafruit_BusIO_Register(_i2cDevice, REG_DATA_STREAM, 1);
if (!dataStreamReg.read(&value, 1)) {
return -1;
}
return value;
}
/*!
* @brief Peek at the next available byte without removing it from the stream
* @return -1 if no data available or error, otherwise the byte (0-255)
*/
int Adafruit_UBloxDDC::peek() {
// If we've already peeked, return the last byte
if (_hasPeeked) {
return _lastByte;
}
// Otherwise, read a byte and store it
_lastByte = read();
if (_lastByte != -1) {
_hasPeeked = true;
}
return _lastByte;
}
/*!
* @brief Write a single byte (required by Stream but not suitable for I2C)
* @param val Byte to write
* @return Always returns 0 as single-byte writes aren't supported on I2C
*/
size_t Adafruit_UBloxDDC::write(uint8_t val) {
// Single-byte writes aren't suitable for I2C/DDC
// This shouldn't be called if properly using the multi-byte version
return 0;
}
/*!
* @brief Write multiple bytes at once (required for I2C/DDC)
* @param buffer Pointer to data buffer
* @param size Number of bytes to write
* @return Number of bytes written
*/
size_t Adafruit_UBloxDDC::write(const uint8_t *buffer, size_t size) {
// For I2C/DDC, we need at least 2 bytes for a write
if (size < 2) {
// Single-byte writes aren't supported
return 0;
}
// Use Adafruit_BusIO to handle the I2C transaction
if (_i2cDevice->write(buffer, size)) {
return size;
}
return 0;
}
/*!
* @brief Read multiple bytes from the data stream
* @param buffer Pointer to buffer to store data
* @param length Maximum number of bytes to read
* @return Number of bytes actually read, which may be less than requested
*/
uint16_t Adafruit_UBloxDDC::readBytes(uint8_t* buffer, uint16_t length) {
if (buffer == nullptr || length == 0) {
return 0;
}
uint16_t bytesRead = 0;
uint16_t bytesAvailable = available();
// Don't try to read more bytes than are available
length = min(length, bytesAvailable);
// Handle any peeked byte first
if (_hasPeeked && length > 0) {
buffer[0] = _lastByte;
_hasPeeked = false;
bytesRead = 1;
}
if (bytesRead >= length) {
return bytesRead;
}
// Create a register for the data stream
Adafruit_BusIO_Register dataStreamReg = Adafruit_BusIO_Register(_i2cDevice, REG_DATA_STREAM, 1);
while (bytesRead < length) {
// Calculate chunk size (I2C has a limit on bytes per transfer)
uint16_t chunkSize = min(length - bytesRead, (uint16_t)32);
if (!dataStreamReg.read(&buffer[bytesRead], chunkSize)) {
break;
}
bytesRead += chunkSize;
}
return bytesRead;
}
/*!
* @brief Read a complete message from the device
* @param buffer Pointer to buffer to store message data
* @param maxLength Maximum length of buffer
* @return Number of bytes read into the buffer
*/
uint16_t Adafruit_UBloxDDC::readMessage(uint8_t* buffer, uint16_t maxLength) {
uint16_t bytesAvailable = available();
if (bytesAvailable == 0) {
return 0;
}
// Limit to buffer size
uint16_t bytesToRead = min(bytesAvailable, maxLength);
return readBytes(buffer, bytesToRead);
}
/*!
* @brief Read a message into the internal buffer and return a pointer to it
* @param messageLength Pointer to variable to store message length
* @return Pointer to internal buffer containing the message
*/
uint8_t* Adafruit_UBloxDDC::readMessage(uint16_t* messageLength) {
*messageLength = readMessage(_buffer, MAX_BUFFER_SIZE);
return _buffer;
}

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Adafruit_UBloxDDC.h
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/*!
* @file Adafruit_UBloxDDC.h
*
* Arduino library for interfacing with u-blox GPS/RTK modules over I2C (DDC).
*
* This library implements the Stream interface, allowing it to be used with
* existing GPS parsing libraries like TinyGPS++.
*
* Adafruit invests time and resources providing this open source code,
* please support Adafruit and open-source hardware by purchasing
* products from Adafruit!
*
* Written by Your Name for Project Name.
*
* MIT license, all text here must be included in any redistribution.
*/
#ifndef ADAFRUIT_UBLOXDDC_H
#define ADAFRUIT_UBLOXDDC_H
#include <Arduino.h>
#include <Stream.h>
#include <Adafruit_BusIO_Register.h>
#include <Adafruit_I2CDevice.h>
/*!
* @brief Arduino library for interfacing with u-blox GPS/RTK modules over I2C
*/
class Adafruit_UBloxDDC : public Stream {
private:
Adafruit_I2CDevice *_i2cDevice; ///< Underlying I2C device
// Register addresses
static const uint8_t REG_DATA_STREAM = 0xFF; ///< Register for reading data stream
static const uint8_t REG_BYTES_AVAILABLE_MSB = 0xFD; ///< MSB of bytes available
static const uint8_t REG_BYTES_AVAILABLE_LSB = 0xFE; ///< LSB of bytes available
// Buffer for reading messages
static const uint16_t MAX_BUFFER_SIZE = 128; ///< Maximum buffer size for messages
uint8_t _buffer[MAX_BUFFER_SIZE]; ///< Internal buffer for messages
// Last byte read for peek() implementation
int _lastByte = -1; ///< Last byte read by peek()
bool _hasPeeked = false; ///< Indicates if we have a peeked byte waiting
public:
// Constructor & destructor
Adafruit_UBloxDDC(uint8_t address = 0x42, TwoWire *wire = &Wire);
~Adafruit_UBloxDDC();
// Basic methods
bool begin();
// Stream interface implementation
virtual int available() override;
virtual int read() override;
virtual int peek() override;
// Stream interface implementation
virtual size_t write(uint8_t) override;
virtual size_t write(const uint8_t *buffer, size_t size) override;
// Additional methods
uint16_t readBytes(uint8_t* buffer, uint16_t length);
uint16_t readMessage(uint8_t* buffer, uint16_t maxLength);
uint8_t* readMessage(uint16_t* messageLength);
};
#endif // ADAFRUIT_UBLOXDDC_H

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/*!
* @file Adafruit_uBlox_typedef.h
*
* Type definitions for u-blox GPS/RTK module messages
*
* Adafruit invests time and resources providing this open source code,
* please support Adafruit and open-source hardware by purchasing
* products from Adafruit!
*
* Written by Your Name for Project Name.
*
* MIT license, all text here must be included in any redistribution.
*/
#ifndef ADAFRUIT_UBLOX_TYPEDEF_H
#define ADAFRUIT_UBLOX_TYPEDEF_H
#include <Arduino.h>
// UBX Message Classes
typedef enum {
UBX_CLASS_NAV = 0x01, // Navigation Results
UBX_CLASS_RXM = 0x02, // Receiver Manager Messages
UBX_CLASS_INF = 0x04, // Information Messages
UBX_CLASS_ACK = 0x05, // Acknowledgements
UBX_CLASS_CFG = 0x06, // Configuration
UBX_CLASS_UPD = 0x09, // Firmware Update
UBX_CLASS_MON = 0x0A, // Monitoring
UBX_CLASS_AID = 0x0B, // AssistNow Aiding
UBX_CLASS_TIM = 0x0D, // Timing
UBX_CLASS_ESF = 0x10, // External Sensor Fusion
UBX_CLASS_MGA = 0x13, // Multiple GNSS Assistance
UBX_CLASS_LOG = 0x21, // Logging
UBX_CLASS_SEC = 0x27, // Security
UBX_CLASS_HNR = 0x28, // High Rate Navigation
UBX_CLASS_NMEA = 0xF0 // NMEA Standard Messages
} UBXMessageClass;
// UBX CFG Message IDs
typedef enum {
UBX_CFG_PRT = 0x00, // Port Configuration
UBX_CFG_MSG = 0x01, // Message Configuration
UBX_CFG_RST = 0x04, // Reset Receiver
UBX_CFG_RATE = 0x08, // Navigation/Measurement Rate Settings
UBX_CFG_CFG = 0x09, // Clear, Save, and Load Configurations
UBX_CFG_NAVX5 = 0x23, // Navigation Engine Settings
UBX_CFG_GNSS = 0x3E, // GNSS Configuration
UBX_CFG_PMS = 0x86 // Power Mode Setup
} UBXCfgMessageId;
// Return values for functions that wait for acknowledgment
typedef enum {
UBX_SEND_SUCCESS = 0, // Message was acknowledged (ACK)
UBX_SEND_NAK, // Message was not acknowledged (NAK)
UBX_SEND_FAIL, // Failed to send the message
UBX_SEND_TIMEOUT // Timed out waiting for ACK/NAK
} UBXSendStatus;
// Port ID enum for different interfaces
typedef enum {
UBX_PORT_DDC = 0, // I2C / DDC port
UBX_PORT_UART1 = 1, // UART1 port
UBX_PORT_UART2 = 2, // UART2 port
UBX_PORT_USB = 3, // USB port
UBX_PORT_SPI = 4 // SPI port
} UBXPortId;
// UART mode flags (Charlen, Parity & Stop bit settings)
typedef enum {
UBX_UART_MODE_8N1 = 0x000, // 8-bit, no parity, 1 stop bit
UBX_UART_MODE_8E1 = 0x100, // 8-bit, even parity, 1 stop bit
UBX_UART_MODE_8O1 = 0x200, // 8-bit, odd parity, 1 stop bit
UBX_UART_MODE_7N1 = 0x400, // 7-bit, no parity, 1 stop bit
UBX_UART_MODE_7E1 = 0x500, // 7-bit, even parity, 1 stop bit
UBX_UART_MODE_7O1 = 0x600, // 7-bit, odd parity, 1 stop bit
UBX_UART_MODE_7N2 = 0x800, // 7-bit, no parity, 2 stop bits
UBX_UART_MODE_7E2 = 0x900, // 7-bit, even parity, 2 stop bits
UBX_UART_MODE_7O2 = 0xA00, // 7-bit, odd parity, 2 stop bits
UBX_UART_MODE_8N2 = 0xC00, // 8-bit, no parity, 2 stop bits
UBX_UART_MODE_8E2 = 0xD00, // 8-bit, even parity, 2 stop bits
UBX_UART_MODE_8O2 = 0xE00 // 8-bit, odd parity, 2 stop bits
} UBXUARTMode;
// Protocol flags for inProtoMask and outProtoMask
#define UBX_PROTOCOL_UBX 0x0001 // UBX protocol
#define UBX_PROTOCOL_NMEA 0x0002 // NMEA protocol
#define UBX_PROTOCOL_RTCM 0x0004 // RTCM2 protocol (only for inProtoMask)
#define UBX_PROTOCOL_RTCM3 0x0020 // RTCM3 protocol
// CFG-PRT (Port Configuration) Message
// Total size: 20 bytes
typedef union {
struct {
uint8_t portID; // Port identifier (0=DDC/I2C, 1=UART1, 2=UART2, 3=USB, 4=SPI)
uint8_t reserved1; // Reserved
uint16_t txReady; // TX ready PIN configuration
uint32_t mode; // UART mode (bit field) or Reserved for non-UART ports
uint32_t baudRate; // Baudrate in bits/second (UART only)
uint16_t inProtoMask; // Input protocol mask
uint16_t outProtoMask; // Output protocol mask
uint16_t flags; // Flags bit field
uint16_t reserved2; // Reserved
} fields;
uint8_t raw[20];
} UBX_CFG_PRT_t;
#endif // ADAFRUIT_UBLOX_TYPEDEF_H

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<div class="textblock"><code>#include &quot;<a class="el" href="_adafruit__u_blox___ubx___messages_8h_source.html">Adafruit_uBlox_Ubx_Messages.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="_adafruit__u_blox__typedef_8h_source.html">Adafruit_uBlox_typedef.h</a>&quot;</code><br />
<code>#include &lt;Arduino.h&gt;</code><br />
<code>#include &lt;Stream.h&gt;</code><br />
</div>
<p><a href="_adafruit___u_b_x_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_b_x.html">Adafruit_UBX</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class for parsing UBX protocol messages from u-blox GPS/RTK modules. <a href="class_adafruit___u_b_x.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Macros</h2></td></tr>
<tr class="memitem:ab9b7171ae257a615aa33d2510e484554"><td class="memItemLeft" align="right" valign="top"><a id="ab9b7171ae257a615aa33d2510e484554"></a>
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_adafruit___u_b_x_8h.html#ab9b7171ae257a615aa33d2510e484554">UBX_SYNC_CHAR_1</a>&#160;&#160;&#160;0xB5</td></tr>
<tr class="memdesc:ab9b7171ae257a615aa33d2510e484554"><td class="mdescLeft">&#160;</td><td class="mdescRight">First UBX protocol sync char (<28>) <br /></td></tr>
<tr class="separator:ab9b7171ae257a615aa33d2510e484554"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a18c4bdc24d4cbedd9214cfc352b6f16c"><td class="memItemLeft" align="right" valign="top"><a id="a18c4bdc24d4cbedd9214cfc352b6f16c"></a>
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_adafruit___u_b_x_8h.html#a18c4bdc24d4cbedd9214cfc352b6f16c">UBX_SYNC_CHAR_2</a>&#160;&#160;&#160;0x62</td></tr>
<tr class="memdesc:a18c4bdc24d4cbedd9214cfc352b6f16c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Second UBX protocol sync char (b) <br /></td></tr>
<tr class="separator:a18c4bdc24d4cbedd9214cfc352b6f16c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a708b6ea6923c64a09c24502cdcac3a9b"><td class="memItemLeft" align="right" valign="top"><a id="a708b6ea6923c64a09c24502cdcac3a9b"></a>
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_adafruit___u_b_x_8h.html#a708b6ea6923c64a09c24502cdcac3a9b">UBX_ACK_NAK</a>&#160;&#160;&#160;0x00</td></tr>
<tr class="memdesc:a708b6ea6923c64a09c24502cdcac3a9b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Message Not Acknowledged. <br /></td></tr>
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<tr class="memitem:a9863f96e55b0bd012a94613a086515c7"><td class="memItemLeft" align="right" valign="top"><a id="a9863f96e55b0bd012a94613a086515c7"></a>
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_adafruit___u_b_x_8h.html#a9863f96e55b0bd012a94613a086515c7">UBX_ACK_ACK</a>&#160;&#160;&#160;0x01</td></tr>
<tr class="memdesc:a9863f96e55b0bd012a94613a086515c7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Message Acknowledged. <br /></td></tr>
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<tr class="memitem:a0a0ecf74350f410cba0f0a0efd312d12"><td class="memItemLeft" align="right" valign="top">typedef void(*&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_adafruit___u_b_x_8h.html#a0a0ecf74350f410cba0f0a0efd312d12">UBXMessageCallback</a>) (uint8_t msgClass, uint8_t msgId, uint16_t payloadLen, uint8_t *payload)</td></tr>
<tr class="memdesc:a0a0ecf74350f410cba0f0a0efd312d12"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback function type for UBX messages - defined at global scope so other classes can use it. <a href="#a0a0ecf74350f410cba0f0a0efd312d12">More...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Arduino library for parsing UBX protocol from u-blox GPS/RTK modules.</p>
<p>This library can use any Stream object as input (UART, DDC, or other).</p>
<p>Adafruit invests time and resources providing this open source code, please support Adafruit and open-source hardware by purchasing products from Adafruit!</p>
<p>Written by Limor Fried/Ladyada for Adafruit Industries.</p>
<p>MIT license, all text here must be included in any redistribution. </p>
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<p>Callback function type for UBX messages - defined at global scope so other classes can use it. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">msgClass</td><td>Message class </td></tr>
<tr><td class="paramname">msgId</td><td>Message ID </td></tr>
<tr><td class="paramname">payloadLen</td><td>Length of payload data </td></tr>
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<div class="textblock"><h1><a class="anchor" id="ddc_intro_sec"></a>
Introduction</h1>
<p>This is a library for the u-blox GPS/RTK modules using I2C interface (DDC)</p>
<p>Designed specifically to work with u-blox GPS/RTK modules like NEO-M8P, ZED-F9P, etc.</p>
<h1><a class="anchor" id="ddc_dependencies"></a>
Dependencies</h1>
<p>This library depends on: <a href="https://github.com/adafruit/Adafruit_BusIO">Adafruit_BusIO</a></p>
<h1><a class="anchor" id="ddc_author"></a>
Author</h1>
<p>Written by Limor Fried/Ladyada for Adafruit Industries.</p>
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<div class="textblock"><code>#include &lt;Adafruit_BusIO_Register.h&gt;</code><br />
<code>#include &lt;Adafruit_I2CDevice.h&gt;</code><br />
<code>#include &lt;Arduino.h&gt;</code><br />
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<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Arduino library for interfacing with u-blox GPS/RTK modules over I2C. <a href="class_adafruit___u_blox_d_d_c.html#details">More...</a><br /></td></tr>
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<div class="textblock"><p>Arduino library for interfacing with u-blox GPS/RTK modules over I2C (DDC).</p>
<p>This library implements the Stream interface, allowing it to be used with existing GPS parsing libraries like TinyGPS++.</p>
<p>Adafruit invests time and resources providing this open source code, please support Adafruit and open-source hardware by purchasing products from Adafruit!</p>
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<div class="textblock"><p>Pre-built UBX message payloads for common tasks</p>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">union &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html">UBX_CFG_PRT_t</a></td></tr>
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Macros</h2></td></tr>
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#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_adafruit__u_blox__typedef_8h.html#ac8736b21efe1e6ffd28faffb977ce520">UBX_PROTOCOL_UBX</a>&#160;&#160;&#160;0x0001</td></tr>
<tr class="memdesc:ac8736b21efe1e6ffd28faffb977ce520"><td class="mdescLeft">&#160;</td><td class="mdescRight">UBX protocol. <br /></td></tr>
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<tr class="memitem:a6210c02436bf457745a27c9edcf8a15e"><td class="memItemLeft" align="right" valign="top"><a id="a6210c02436bf457745a27c9edcf8a15e"></a>
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_adafruit__u_blox__typedef_8h.html#a6210c02436bf457745a27c9edcf8a15e">UBX_PROTOCOL_NMEA</a>&#160;&#160;&#160;0x0002</td></tr>
<tr class="memdesc:a6210c02436bf457745a27c9edcf8a15e"><td class="mdescLeft">&#160;</td><td class="mdescRight">NMEA protocol. <br /></td></tr>
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<tr class="memitem:a4f3f0e692df4fa4f0328eb5a4fe34ee6"><td class="memItemLeft" align="right" valign="top"><a id="a4f3f0e692df4fa4f0328eb5a4fe34ee6"></a>
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_adafruit__u_blox__typedef_8h.html#a4f3f0e692df4fa4f0328eb5a4fe34ee6">UBX_PROTOCOL_RTCM</a>&#160;&#160;&#160;0x0004</td></tr>
<tr class="memdesc:a4f3f0e692df4fa4f0328eb5a4fe34ee6"><td class="mdescLeft">&#160;</td><td class="mdescRight">RTCM2 protocol (only for inProtoMask) <br /></td></tr>
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#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_adafruit__u_blox__typedef_8h.html#adf4de42aaab8bfa4bf0f417ed7fa8645">UBX_PROTOCOL_RTCM3</a>&#160;&#160;&#160;0x0020</td></tr>
<tr class="memdesc:adf4de42aaab8bfa4bf0f417ed7fa8645"><td class="mdescLeft">&#160;</td><td class="mdescRight">RTCM3 protocol. <br /></td></tr>
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Enumerations</h2></td></tr>
<tr class="memitem:a2ffd52bc8ed73f9b14ebbec077395add"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_adafruit__u_blox__typedef_8h.html#a2ffd52bc8ed73f9b14ebbec077395add">UBXMessageClass</a> { <br />
&#160;&#160;<b>UBX_CLASS_NAV</b> = 0x01,
<b>UBX_CLASS_RXM</b> = 0x02,
<b>UBX_CLASS_INF</b> = 0x04,
<b>UBX_CLASS_ACK</b> = 0x05,
<br />
&#160;&#160;<b>UBX_CLASS_CFG</b> = 0x06,
<b>UBX_CLASS_UPD</b> = 0x09,
<b>UBX_CLASS_MON</b> = 0x0A,
<b>UBX_CLASS_AID</b> = 0x0B,
<br />
&#160;&#160;<b>UBX_CLASS_TIM</b> = 0x0D,
<b>UBX_CLASS_ESF</b> = 0x10,
<b>UBX_CLASS_MGA</b> = 0x13,
<b>UBX_CLASS_LOG</b> = 0x21,
<br />
&#160;&#160;<b>UBX_CLASS_SEC</b> = 0x27,
<b>UBX_CLASS_HNR</b> = 0x28,
<b>UBX_CLASS_NMEA</b> = 0xF0
<br />
}</td></tr>
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<tr class="memitem:a02519f110ce36d6a6fbba19f5fbcb8f3"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_adafruit__u_blox__typedef_8h.html#a02519f110ce36d6a6fbba19f5fbcb8f3">UBXCfgMessageId</a> { <br />
&#160;&#160;<b>UBX_CFG_PRT</b> = 0x00,
<b>UBX_CFG_MSG</b> = 0x01,
<b>UBX_CFG_RST</b> = 0x04,
<b>UBX_CFG_RATE</b> = 0x08,
<br />
&#160;&#160;<b>UBX_CFG_CFG</b> = 0x09,
<b>UBX_CFG_NAVX5</b> = 0x23,
<b>UBX_CFG_GNSS</b> = 0x3E,
<b>UBX_CFG_PMS</b> = 0x86
<br />
}</td></tr>
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<tr class="memitem:ae70fb0a16a62be1c77c8627265992601"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_adafruit__u_blox__typedef_8h.html#ae70fb0a16a62be1c77c8627265992601">UBXSendStatus</a> { <b>UBX_SEND_SUCCESS</b> = 0,
<b>UBX_SEND_NAK</b>,
<b>UBX_SEND_FAIL</b>,
<b>UBX_SEND_TIMEOUT</b>
}</td></tr>
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<tr class="memitem:a04426de332e3384f4922a3e435e58b10"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_adafruit__u_blox__typedef_8h.html#a04426de332e3384f4922a3e435e58b10">UBXPortId</a> { <br />
&#160;&#160;<b>UBX_PORT_DDC</b> = 0,
<b>UBX_PORT_UART1</b> = 1,
<b>UBX_PORT_UART2</b> = 2,
<b>UBX_PORT_USB</b> = 3,
<br />
&#160;&#160;<b>UBX_PORT_SPI</b> = 4
<br />
}</td></tr>
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<tr class="memitem:a6585bf057b503034ba3b60010a8c28bf"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_adafruit__u_blox__typedef_8h.html#a6585bf057b503034ba3b60010a8c28bf">UBXUARTMode</a> { <br />
&#160;&#160;<b>UBX_UART_MODE_8N1</b> = 0x000,
<b>UBX_UART_MODE_8E1</b> = 0x100,
<b>UBX_UART_MODE_8O1</b> = 0x200,
<b>UBX_UART_MODE_7N1</b> = 0x400,
<br />
&#160;&#160;<b>UBX_UART_MODE_7E1</b> = 0x500,
<b>UBX_UART_MODE_7O1</b> = 0x600,
<b>UBX_UART_MODE_7N2</b> = 0x800,
<b>UBX_UART_MODE_7E2</b> = 0x900,
<br />
&#160;&#160;<b>UBX_UART_MODE_7O2</b> = 0xA00,
<b>UBX_UART_MODE_8N2</b> = 0xC00,
<b>UBX_UART_MODE_8E2</b> = 0xD00,
<b>UBX_UART_MODE_8O2</b> = 0xE00
<br />
}</td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Type definitions for u-blox GPS/RTK module messages</p>
<p>Adafruit invests time and resources providing this open source code, please support Adafruit and open-source hardware by purchasing products from Adafruit!</p>
<p>Written by Limor Fried/Ladyada for Adafruit Industries.</p>
<p>MIT license, all text here must be included in any redistribution. </p>
</div><h2 class="groupheader">Enumeration Type Documentation</h2>
<a id="a2ffd52bc8ed73f9b14ebbec077395add"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2ffd52bc8ed73f9b14ebbec077395add">&#9670;&nbsp;</a></span>UBXMessageClass</h2>
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<td class="memname">enum <a class="el" href="_adafruit__u_blox__typedef_8h.html#a2ffd52bc8ed73f9b14ebbec077395add">UBXMessageClass</a></td>
</tr>
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<p>UBX protocol message class identifiers. </p>
</div>
</div>
<a id="a02519f110ce36d6a6fbba19f5fbcb8f3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a02519f110ce36d6a6fbba19f5fbcb8f3">&#9670;&nbsp;</a></span>UBXCfgMessageId</h2>
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<p>UBX CFG Message IDs. </p>
</div>
</div>
<a id="ae70fb0a16a62be1c77c8627265992601"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae70fb0a16a62be1c77c8627265992601">&#9670;&nbsp;</a></span>UBXSendStatus</h2>
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<p>Return values for functions that wait for acknowledgment. </p>
</div>
</div>
<a id="a04426de332e3384f4922a3e435e58b10"></a>
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</tr>
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<p>Port ID enum for different interfaces. </p>
</div>
</div>
<a id="a6585bf057b503034ba3b60010a8c28bf"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6585bf057b503034ba3b60010a8c28bf">&#9670;&nbsp;</a></span>UBXUARTMode</h2>
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<td class="memname">enum <a class="el" href="_adafruit__u_blox__typedef_8h.html#a6585bf057b503034ba3b60010a8c28bf">UBXUARTMode</a></td>
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<p>UART mode flags (Charlen, Parity &amp; Stop bit settings). </p>
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<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_adafruit___u_blox_d_d_c.html" target="_self">Adafruit_UBloxDDC</a></td><td class="desc">Arduino library for interfacing with u-blox GPS/RTK modules over I2C </td></tr>
<tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_adafruit___u_b_x.html" target="_self">Adafruit_UBX</a></td><td class="desc">Class for parsing UBX protocol messages from u-blox GPS/RTK modules </td></tr>
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<tr class="even"><td class="entry"><a class="el" href="class_adafruit___u_b_x.html#a7b590e56d1635e2870a69e67b1e41a1a">Adafruit_UBX</a>(Stream &amp;stream)</td><td class="entry"><a class="el" href="class_adafruit___u_b_x.html">Adafruit_UBX</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="class_adafruit___u_b_x.html#a373c93599ca9515b58fc8a038967e755">begin</a>()</td><td class="entry"><a class="el" href="class_adafruit___u_b_x.html">Adafruit_UBX</a></td><td class="entry"></td></tr>
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<tr class="even"><td class="entry"><a class="el" href="class_adafruit___u_b_x.html#aa0e1fbce664c381544821eda9c17170c">sendMessage</a>(uint8_t msgClass, uint8_t msgId, uint8_t *payload, uint16_t length)</td><td class="entry"><a class="el" href="class_adafruit___u_b_x.html">Adafruit_UBX</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="class_adafruit___u_b_x.html#a5c85fa48a8b11d05ce597ea4ecf23572">sendMessageWithAck</a>(uint8_t msgClass, uint8_t msgId, uint8_t *payload, uint16_t length, uint16_t timeout_ms=500)</td><td class="entry"><a class="el" href="class_adafruit___u_b_x.html">Adafruit_UBX</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_adafruit___u_b_x.html#a2ef23536037a2b56b7adf56bcf3c0251">setMessageCallback</a>(UBXMessageCallback callback)</td><td class="entry"><a class="el" href="class_adafruit___u_b_x.html">Adafruit_UBX</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="class_adafruit___u_b_x.html#ae87653ac10a272dd22b94011b5547cc0">setUBXOnly</a>(UBXPortId portID, bool checkAck=true, uint16_t timeout_ms=500)</td><td class="entry"><a class="el" href="class_adafruit___u_b_x.html">Adafruit_UBX</a></td><td class="entry"></td></tr>
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<tr><td class="entry"><a class="el" href="class_adafruit___u_b_x.html#ae5cc4a4b20f2f31798be72c88b586523">~Adafruit_UBX</a>()</td><td class="entry"><a class="el" href="class_adafruit___u_b_x.html">Adafruit_UBX</a></td><td class="entry"></td></tr>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p>Class for parsing UBX protocol messages from u-blox GPS/RTK modules.
<a href="class_adafruit___u_b_x.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="_adafruit___u_b_x_8h_source.html">Adafruit_UBX.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a7b590e56d1635e2870a69e67b1e41a1a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_b_x.html#a7b590e56d1635e2870a69e67b1e41a1a">Adafruit_UBX</a> (Stream &amp;stream)</td></tr>
<tr class="memdesc:a7b590e56d1635e2870a69e67b1e41a1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <a href="#a7b590e56d1635e2870a69e67b1e41a1a">More...</a><br /></td></tr>
<tr class="separator:a7b590e56d1635e2870a69e67b1e41a1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae5cc4a4b20f2f31798be72c88b586523"><td class="memItemLeft" align="right" valign="top"><a id="ae5cc4a4b20f2f31798be72c88b586523"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_b_x.html#ae5cc4a4b20f2f31798be72c88b586523">~Adafruit_UBX</a> ()</td></tr>
<tr class="memdesc:ae5cc4a4b20f2f31798be72c88b586523"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ae5cc4a4b20f2f31798be72c88b586523"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a373c93599ca9515b58fc8a038967e755"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_b_x.html#a373c93599ca9515b58fc8a038967e755">begin</a> ()</td></tr>
<tr class="memdesc:a373c93599ca9515b58fc8a038967e755"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializes the UBX parser. <a href="#a373c93599ca9515b58fc8a038967e755">More...</a><br /></td></tr>
<tr class="separator:a373c93599ca9515b58fc8a038967e755"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3febea7a538bf32960814b2d782f0f8b"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_b_x.html#a3febea7a538bf32960814b2d782f0f8b">checkMessages</a> ()</td></tr>
<tr class="memdesc:a3febea7a538bf32960814b2d782f0f8b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check for new UBX messages and parse them. <a href="#a3febea7a538bf32960814b2d782f0f8b">More...</a><br /></td></tr>
<tr class="separator:a3febea7a538bf32960814b2d782f0f8b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa0e1fbce664c381544821eda9c17170c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_b_x.html#aa0e1fbce664c381544821eda9c17170c">sendMessage</a> (uint8_t msgClass, uint8_t msgId, uint8_t *payload, uint16_t length)</td></tr>
<tr class="memdesc:aa0e1fbce664c381544821eda9c17170c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Send a UBX message to the GPS module. <a href="#aa0e1fbce664c381544821eda9c17170c">More...</a><br /></td></tr>
<tr class="separator:aa0e1fbce664c381544821eda9c17170c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5c85fa48a8b11d05ce597ea4ecf23572"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_adafruit__u_blox__typedef_8h.html#ae70fb0a16a62be1c77c8627265992601">UBXSendStatus</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_b_x.html#a5c85fa48a8b11d05ce597ea4ecf23572">sendMessageWithAck</a> (uint8_t msgClass, uint8_t msgId, uint8_t *payload, uint16_t length, uint16_t timeout_ms=500)</td></tr>
<tr class="memdesc:a5c85fa48a8b11d05ce597ea4ecf23572"><td class="mdescLeft">&#160;</td><td class="mdescRight">Send a UBX message and wait for acknowledgment. <a href="#a5c85fa48a8b11d05ce597ea4ecf23572">More...</a><br /></td></tr>
<tr class="separator:a5c85fa48a8b11d05ce597ea4ecf23572"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae87653ac10a272dd22b94011b5547cc0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_adafruit__u_blox__typedef_8h.html#ae70fb0a16a62be1c77c8627265992601">UBXSendStatus</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_b_x.html#ae87653ac10a272dd22b94011b5547cc0">setUBXOnly</a> (<a class="el" href="_adafruit__u_blox__typedef_8h.html#a04426de332e3384f4922a3e435e58b10">UBXPortId</a> portID, bool checkAck=true, uint16_t timeout_ms=500)</td></tr>
<tr class="memdesc:ae87653ac10a272dd22b94011b5547cc0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Configure the GPS module to output only UBX protocol (disables NMEA) <a href="#ae87653ac10a272dd22b94011b5547cc0">More...</a><br /></td></tr>
<tr class="separator:ae87653ac10a272dd22b94011b5547cc0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ef23536037a2b56b7adf56bcf3c0251"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_b_x.html#a2ef23536037a2b56b7adf56bcf3c0251">setMessageCallback</a> (<a class="el" href="_adafruit___u_b_x_8h.html#a0a0ecf74350f410cba0f0a0efd312d12">UBXMessageCallback</a> callback)</td></tr>
<tr class="memdesc:a2ef23536037a2b56b7adf56bcf3c0251"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the callback function for UBX messages. <a href="#a2ef23536037a2b56b7adf56bcf3c0251">More...</a><br /></td></tr>
<tr class="separator:a2ef23536037a2b56b7adf56bcf3c0251"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a79cfeedae7b7ffc2b05b94cfc327ab78"><td class="memItemLeft" align="right" valign="top"><a id="a79cfeedae7b7ffc2b05b94cfc327ab78"></a>
uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_b_x.html#a79cfeedae7b7ffc2b05b94cfc327ab78">verbose_debug</a> = 0</td></tr>
<tr class="memdesc:a79cfeedae7b7ffc2b05b94cfc327ab78"><td class="mdescLeft">&#160;</td><td class="mdescRight">0=off, 1=basic, 2=verbose <br /></td></tr>
<tr class="separator:a79cfeedae7b7ffc2b05b94cfc327ab78"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2901fce2f2f3ecf4652069fdf97e99e3"><td class="memItemLeft" align="right" valign="top"><a id="a2901fce2f2f3ecf4652069fdf97e99e3"></a>
<a class="el" href="_adafruit___u_b_x_8h.html#a0a0ecf74350f410cba0f0a0efd312d12">UBXMessageCallback</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_b_x.html#a2901fce2f2f3ecf4652069fdf97e99e3">onUBXMessage</a></td></tr>
<tr class="memdesc:a2901fce2f2f3ecf4652069fdf97e99e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback for message received. <br /></td></tr>
<tr class="separator:a2901fce2f2f3ecf4652069fdf97e99e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Class for parsing UBX protocol messages from u-blox GPS/RTK modules. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a7b590e56d1635e2870a69e67b1e41a1a">&#9670;&nbsp;</a></span>Adafruit_UBX()</h2>
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<td class="memname">Adafruit_UBX::Adafruit_UBX </td>
<td>(</td>
<td class="paramtype">Stream &amp;&#160;</td>
<td class="paramname"><em>stream</em></td><td>)</td>
<td></td>
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<p>Constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">stream</td><td>Reference to a Stream object (Serial, <a class="el" href="class_adafruit___u_blox_d_d_c.html" title="Arduino library for interfacing with u-blox GPS/RTK modules over I2C. ">Adafruit_UBloxDDC</a>, etc.) </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a373c93599ca9515b58fc8a038967e755"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a373c93599ca9515b58fc8a038967e755">&#9670;&nbsp;</a></span>begin()</h2>
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<td class="memname">bool Adafruit_UBX::begin </td>
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<td class="paramname"></td><td>)</td>
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<p>Initializes the UBX parser. </p>
<dl class="section return"><dt>Returns</dt><dd>Always returns true (initialization is trivial) </dd></dl>
</div>
</div>
<a id="a3febea7a538bf32960814b2d782f0f8b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3febea7a538bf32960814b2d782f0f8b">&#9670;&nbsp;</a></span>checkMessages()</h2>
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<td class="memname">bool Adafruit_UBX::checkMessages </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
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<p>Check for new UBX messages and parse them. </p>
<dl class="section return"><dt>Returns</dt><dd>True if a complete message was parsed </dd></dl>
</div>
</div>
<a id="aa0e1fbce664c381544821eda9c17170c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa0e1fbce664c381544821eda9c17170c">&#9670;&nbsp;</a></span>sendMessage()</h2>
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<td class="memname">bool Adafruit_UBX::sendMessage </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>msgClass</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>msgId</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>payload</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16_t&#160;</td>
<td class="paramname"><em>length</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<p>Send a UBX message to the GPS module. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">msgClass</td><td>Message class </td></tr>
<tr><td class="paramname">msgId</td><td>Message ID </td></tr>
<tr><td class="paramname">payload</td><td>Pointer to the payload data (can be NULL for zero-length payload) </td></tr>
<tr><td class="paramname">length</td><td>Length of payload </td></tr>
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</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>True if message was sent successfully </dd></dl>
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a5c85fa48a8b11d05ce597ea4ecf23572">&#9670;&nbsp;</a></span>sendMessageWithAck()</h2>
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<td class="memname"><a class="el" href="_adafruit__u_blox__typedef_8h.html#ae70fb0a16a62be1c77c8627265992601">UBXSendStatus</a> Adafruit_UBX::sendMessageWithAck </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>msgClass</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>msgId</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>payload</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16_t&#160;</td>
<td class="paramname"><em>length</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16_t&#160;</td>
<td class="paramname"><em>timeout_ms</em> = <code>500</code>&#160;</td>
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<p>Send a UBX message and wait for acknowledgment. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">msgClass</td><td>Message class </td></tr>
<tr><td class="paramname">msgId</td><td>Message ID </td></tr>
<tr><td class="paramname">payload</td><td>Pointer to the payload data </td></tr>
<tr><td class="paramname">length</td><td>Length of payload </td></tr>
<tr><td class="paramname">timeout_ms</td><td>Maximum time to wait for acknowledgment </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>UBXSendStatus indicating success, failure, or timeout </dd></dl>
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</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae87653ac10a272dd22b94011b5547cc0">&#9670;&nbsp;</a></span>setUBXOnly()</h2>
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<td class="memname"><a class="el" href="_adafruit__u_blox__typedef_8h.html#ae70fb0a16a62be1c77c8627265992601">UBXSendStatus</a> Adafruit_UBX::setUBXOnly </td>
<td>(</td>
<td class="paramtype"><a class="el" href="_adafruit__u_blox__typedef_8h.html#a04426de332e3384f4922a3e435e58b10">UBXPortId</a>&#160;</td>
<td class="paramname"><em>portID</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool&#160;</td>
<td class="paramname"><em>checkAck</em> = <code>true</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16_t&#160;</td>
<td class="paramname"><em>timeout_ms</em> = <code>500</code>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
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<p>Configure the GPS module to output only UBX protocol (disables NMEA) </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">portID</td><td>Port identifier (UBX_PORT_DDC, UBX_PORT_UART1, etc.) </td></tr>
<tr><td class="paramname">checkAck</td><td>Whether to wait for acknowledgment </td></tr>
<tr><td class="paramname">timeout_ms</td><td>Maximum time to wait for acknowledgment in milliseconds </td></tr>
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</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>UBXSendStatus indicating success, failure, or timeout </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a2ef23536037a2b56b7adf56bcf3c0251">&#9670;&nbsp;</a></span>setMessageCallback()</h2>
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<td class="memname">void Adafruit_UBX::setMessageCallback </td>
<td>(</td>
<td class="paramtype"><a class="el" href="_adafruit___u_b_x_8h.html#a0a0ecf74350f410cba0f0a0efd312d12">UBXMessageCallback</a>&#160;</td>
<td class="paramname"><em>callback</em></td><td>)</td>
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<p>Sets the callback function for UBX messages. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">callback</td><td>Function pointer to call when a complete UBX message is received </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="_adafruit___u_b_x_8h_source.html">Adafruit_UBX.h</a></li>
<li><a class="el" href="_adafruit___u_b_x_8cpp.html">Adafruit_UBX.cpp</a></li>
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<tr class="even"><td class="entry"><a class="el" href="class_adafruit___u_blox_d_d_c.html#a1d3186a12d82023995200b7509f2fdd0">Adafruit_UBloxDDC</a>(uint8_t address=0x42, TwoWire *wire=&amp;Wire)</td><td class="entry"><a class="el" href="class_adafruit___u_blox_d_d_c.html">Adafruit_UBloxDDC</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="class_adafruit___u_blox_d_d_c.html#a3ab820207d549ae4f222c13d1f9b2bd7">available</a>() override</td><td class="entry"><a class="el" href="class_adafruit___u_blox_d_d_c.html">Adafruit_UBloxDDC</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_adafruit___u_blox_d_d_c.html#a8e8de7b4a6fa0bf548b3a9e7d7a0bc47">begin</a>()</td><td class="entry"><a class="el" href="class_adafruit___u_blox_d_d_c.html">Adafruit_UBloxDDC</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="class_adafruit___u_blox_d_d_c.html#ab80cf21423ef7a5471755ed777005d87">peek</a>() override</td><td class="entry"><a class="el" href="class_adafruit___u_blox_d_d_c.html">Adafruit_UBloxDDC</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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<tr><td class="entry"><a class="el" href="class_adafruit___u_blox_d_d_c.html#ac98cfaa49ddf5f2b4502cb406575d52b">readBytes</a>(uint8_t *buffer, uint16_t length)</td><td class="entry"><a class="el" href="class_adafruit___u_blox_d_d_c.html">Adafruit_UBloxDDC</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_adafruit___u_blox_d_d_c.html#a405cc264938a0ecdc2f6d060e61da7e4">readMessage</a>(uint8_t *buffer, uint16_t maxLength)</td><td class="entry"><a class="el" href="class_adafruit___u_blox_d_d_c.html">Adafruit_UBloxDDC</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="class_adafruit___u_blox_d_d_c.html#a2a7b11759e0778d649e585092f663f4f">readMessage</a>(uint16_t *messageLength)</td><td class="entry"><a class="el" href="class_adafruit___u_blox_d_d_c.html">Adafruit_UBloxDDC</a></td><td class="entry"></td></tr>
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<tr><td class="entry"><a class="el" href="class_adafruit___u_blox_d_d_c.html#ac53068f3386d3e841ae88e6da1700ca2">write</a>(const uint8_t *buffer, size_t size) override</td><td class="entry"><a class="el" href="class_adafruit___u_blox_d_d_c.html">Adafruit_UBloxDDC</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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<p>Arduino library for interfacing with u-blox GPS/RTK modules over I2C.
<a href="class_adafruit___u_blox_d_d_c.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="_adafruit___u_blox_d_d_c_8h_source.html">Adafruit_UBloxDDC.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for Adafruit_UBloxDDC:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a1d3186a12d82023995200b7509f2fdd0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_blox_d_d_c.html#a1d3186a12d82023995200b7509f2fdd0">Adafruit_UBloxDDC</a> (uint8_t address=0x42, TwoWire *wire=&amp;Wire)</td></tr>
<tr class="memdesc:a1d3186a12d82023995200b7509f2fdd0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <a href="#a1d3186a12d82023995200b7509f2fdd0">More...</a><br /></td></tr>
<tr class="separator:a1d3186a12d82023995200b7509f2fdd0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0d7e39448350ccbda11d425bfafd8e63"><td class="memItemLeft" align="right" valign="top"><a id="a0d7e39448350ccbda11d425bfafd8e63"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_blox_d_d_c.html#a0d7e39448350ccbda11d425bfafd8e63">~Adafruit_UBloxDDC</a> ()</td></tr>
<tr class="memdesc:a0d7e39448350ccbda11d425bfafd8e63"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor - frees allocated resources. <br /></td></tr>
<tr class="separator:a0d7e39448350ccbda11d425bfafd8e63"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e8de7b4a6fa0bf548b3a9e7d7a0bc47"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_blox_d_d_c.html#a8e8de7b4a6fa0bf548b3a9e7d7a0bc47">begin</a> ()</td></tr>
<tr class="memdesc:a8e8de7b4a6fa0bf548b3a9e7d7a0bc47"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializes the GPS module and I2C interface. <a href="#a8e8de7b4a6fa0bf548b3a9e7d7a0bc47">More...</a><br /></td></tr>
<tr class="separator:a8e8de7b4a6fa0bf548b3a9e7d7a0bc47"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ab820207d549ae4f222c13d1f9b2bd7"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_blox_d_d_c.html#a3ab820207d549ae4f222c13d1f9b2bd7">available</a> () override</td></tr>
<tr class="memdesc:a3ab820207d549ae4f222c13d1f9b2bd7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the number of bytes available for reading. <a href="#a3ab820207d549ae4f222c13d1f9b2bd7">More...</a><br /></td></tr>
<tr class="separator:a3ab820207d549ae4f222c13d1f9b2bd7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab6740ffe9727f1ab0500f42e4e56b4f6"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_blox_d_d_c.html#ab6740ffe9727f1ab0500f42e4e56b4f6">read</a> () override</td></tr>
<tr class="memdesc:ab6740ffe9727f1ab0500f42e4e56b4f6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reads a single byte from the data stream. <a href="#ab6740ffe9727f1ab0500f42e4e56b4f6">More...</a><br /></td></tr>
<tr class="separator:ab6740ffe9727f1ab0500f42e4e56b4f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab80cf21423ef7a5471755ed777005d87"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_blox_d_d_c.html#ab80cf21423ef7a5471755ed777005d87">peek</a> () override</td></tr>
<tr class="memdesc:ab80cf21423ef7a5471755ed777005d87"><td class="mdescLeft">&#160;</td><td class="mdescRight">Peek at the next available byte without removing it from the stream. <a href="#ab80cf21423ef7a5471755ed777005d87">More...</a><br /></td></tr>
<tr class="separator:ab80cf21423ef7a5471755ed777005d87"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a15c816aeabf456c901594b265cfa4c3f"><td class="memItemLeft" align="right" valign="top">virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_blox_d_d_c.html#a15c816aeabf456c901594b265cfa4c3f">write</a> (uint8_t) override</td></tr>
<tr class="memdesc:a15c816aeabf456c901594b265cfa4c3f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Write a single byte (required by Stream but not suitable for I2C) <a href="#a15c816aeabf456c901594b265cfa4c3f">More...</a><br /></td></tr>
<tr class="separator:a15c816aeabf456c901594b265cfa4c3f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac53068f3386d3e841ae88e6da1700ca2"><td class="memItemLeft" align="right" valign="top">virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_blox_d_d_c.html#ac53068f3386d3e841ae88e6da1700ca2">write</a> (const uint8_t *buffer, size_t size) override</td></tr>
<tr class="memdesc:ac53068f3386d3e841ae88e6da1700ca2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Write multiple bytes at once (required for I2C/DDC) <a href="#ac53068f3386d3e841ae88e6da1700ca2">More...</a><br /></td></tr>
<tr class="separator:ac53068f3386d3e841ae88e6da1700ca2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac98cfaa49ddf5f2b4502cb406575d52b"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_blox_d_d_c.html#ac98cfaa49ddf5f2b4502cb406575d52b">readBytes</a> (uint8_t *buffer, uint16_t length)</td></tr>
<tr class="memdesc:ac98cfaa49ddf5f2b4502cb406575d52b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read multiple bytes from the data stream. <a href="#ac98cfaa49ddf5f2b4502cb406575d52b">More...</a><br /></td></tr>
<tr class="separator:ac98cfaa49ddf5f2b4502cb406575d52b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a405cc264938a0ecdc2f6d060e61da7e4"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_blox_d_d_c.html#a405cc264938a0ecdc2f6d060e61da7e4">readMessage</a> (uint8_t *buffer, uint16_t maxLength)</td></tr>
<tr class="memdesc:a405cc264938a0ecdc2f6d060e61da7e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read a complete message from the device. <a href="#a405cc264938a0ecdc2f6d060e61da7e4">More...</a><br /></td></tr>
<tr class="separator:a405cc264938a0ecdc2f6d060e61da7e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2a7b11759e0778d649e585092f663f4f"><td class="memItemLeft" align="right" valign="top">uint8_t *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_adafruit___u_blox_d_d_c.html#a2a7b11759e0778d649e585092f663f4f">readMessage</a> (uint16_t *messageLength)</td></tr>
<tr class="memdesc:a2a7b11759e0778d649e585092f663f4f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read a message into the internal buffer and return a pointer to it. <a href="#a2a7b11759e0778d649e585092f663f4f">More...</a><br /></td></tr>
<tr class="separator:a2a7b11759e0778d649e585092f663f4f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Arduino library for interfacing with u-blox GPS/RTK modules over I2C. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a1d3186a12d82023995200b7509f2fdd0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1d3186a12d82023995200b7509f2fdd0">&#9670;&nbsp;</a></span>Adafruit_UBloxDDC()</h2>
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<td class="memname">Adafruit_UBloxDDC::Adafruit_UBloxDDC </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>address</em> = <code>0x42</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">TwoWire *&#160;</td>
<td class="paramname"><em>wire</em> = <code>&amp;Wire</code>&#160;</td>
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<td></td>
<td>)</td>
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<p>Constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">address</td><td>i2c address (default 0x42) </td></tr>
<tr><td class="paramname">wire</td><td>TwoWire instance (default &amp;Wire) </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a8e8de7b4a6fa0bf548b3a9e7d7a0bc47"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8e8de7b4a6fa0bf548b3a9e7d7a0bc47">&#9670;&nbsp;</a></span>begin()</h2>
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<td class="memname">bool Adafruit_UBloxDDC::begin </td>
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<td class="paramname"></td><td>)</td>
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<p>Initializes the GPS module and I2C interface. </p>
<dl class="section return"><dt>Returns</dt><dd>True if GPS module responds, false on any failure </dd></dl>
</div>
</div>
<a id="a3ab820207d549ae4f222c13d1f9b2bd7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3ab820207d549ae4f222c13d1f9b2bd7">&#9670;&nbsp;</a></span>available()</h2>
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<td class="memname">int Adafruit_UBloxDDC::available </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
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</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
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<p>Gets the number of bytes available for reading. </p>
<dl class="section return"><dt>Returns</dt><dd>Number of bytes available, or 0 if no data or error </dd></dl>
</div>
</div>
<a id="ab6740ffe9727f1ab0500f42e4e56b4f6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab6740ffe9727f1ab0500f42e4e56b4f6">&#9670;&nbsp;</a></span>read()</h2>
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<td class="mlabels-left">
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<td class="memname">int Adafruit_UBloxDDC::read </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
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</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
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<p>Reads a single byte from the data stream. </p>
<dl class="section return"><dt>Returns</dt><dd>-1 if no data available or error, otherwise the byte read (0-255) </dd></dl>
</div>
</div>
<a id="ab80cf21423ef7a5471755ed777005d87"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab80cf21423ef7a5471755ed777005d87">&#9670;&nbsp;</a></span>peek()</h2>
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<td class="mlabels-left">
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<td class="memname">int Adafruit_UBloxDDC::peek </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
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</table>
</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
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<p>Peek at the next available byte without removing it from the stream. </p>
<dl class="section return"><dt>Returns</dt><dd>-1 if no data available or error, otherwise the byte (0-255) </dd></dl>
</div>
</div>
<a id="a15c816aeabf456c901594b265cfa4c3f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a15c816aeabf456c901594b265cfa4c3f">&#9670;&nbsp;</a></span>write() <span class="overload">[1/2]</span></h2>
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<td class="memname">size_t Adafruit_UBloxDDC::write </td>
<td>(</td>
<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>val</em></td><td>)</td>
<td></td>
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</table>
</td>
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<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
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<p>Write a single byte (required by Stream but not suitable for I2C) </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">val</td><td>Byte to write </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Always returns 0 as single-byte writes aren't supported on I2C </dd></dl>
</div>
</div>
<a id="ac53068f3386d3e841ae88e6da1700ca2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac53068f3386d3e841ae88e6da1700ca2">&#9670;&nbsp;</a></span>write() <span class="overload">[2/2]</span></h2>
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<td class="memname">size_t Adafruit_UBloxDDC::write </td>
<td>(</td>
<td class="paramtype">const uint8_t *&#160;</td>
<td class="paramname"><em>buffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t&#160;</td>
<td class="paramname"><em>size</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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</table>
</td>
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<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
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<p>Write multiple bytes at once (required for I2C/DDC) </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">buffer</td><td>Pointer to data buffer </td></tr>
<tr><td class="paramname">size</td><td>Number of bytes to write </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Number of bytes written </dd></dl>
</div>
</div>
<a id="ac98cfaa49ddf5f2b4502cb406575d52b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac98cfaa49ddf5f2b4502cb406575d52b">&#9670;&nbsp;</a></span>readBytes()</h2>
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<td class="memname">uint16_t Adafruit_UBloxDDC::readBytes </td>
<td>(</td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>buffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16_t&#160;</td>
<td class="paramname"><em>length</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Read multiple bytes from the data stream. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">buffer</td><td>Pointer to buffer to store data </td></tr>
<tr><td class="paramname">length</td><td>Maximum number of bytes to read </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Number of bytes actually read, which may be less than requested </dd></dl>
</div>
</div>
<a id="a405cc264938a0ecdc2f6d060e61da7e4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a405cc264938a0ecdc2f6d060e61da7e4">&#9670;&nbsp;</a></span>readMessage() <span class="overload">[1/2]</span></h2>
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<td class="memname">uint16_t Adafruit_UBloxDDC::readMessage </td>
<td>(</td>
<td class="paramtype">uint8_t *&#160;</td>
<td class="paramname"><em>buffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16_t&#160;</td>
<td class="paramname"><em>maxLength</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
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</div><div class="memdoc">
<p>Read a complete message from the device. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">buffer</td><td>Pointer to buffer to store message data </td></tr>
<tr><td class="paramname">maxLength</td><td>Maximum length of buffer </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Number of bytes read into the buffer </dd></dl>
</div>
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<a id="a2a7b11759e0778d649e585092f663f4f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2a7b11759e0778d649e585092f663f4f">&#9670;&nbsp;</a></span>readMessage() <span class="overload">[2/2]</span></h2>
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<td class="memname">uint8_t * Adafruit_UBloxDDC::readMessage </td>
<td>(</td>
<td class="paramtype">uint16_t *&#160;</td>
<td class="paramname"><em>messageLength</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Read a message into the internal buffer and return a pointer to it. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">messageLength</td><td>Pointer to variable to store message length </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Pointer to internal buffer containing the message </dd></dl>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="_adafruit___u_blox_d_d_c_8h_source.html">Adafruit_UBloxDDC.h</a></li>
<li><a class="el" href="_adafruit___u_blox_d_d_c_8cpp.html">Adafruit_UBloxDDC.cpp</a></li>
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<div id="projectname">Adafruit uBlox Library
</div>
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<table class="directory">
<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a href="_adafruit__u_blox__typedef_8h_source.html"><span class="icondoc"></span></a><a class="el" href="_adafruit__u_blox__typedef_8h.html" target="_self">Adafruit_uBlox_typedef.h</a></td><td class="desc"></td></tr>
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
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<title>Adafruit uBlox Library: Class Members</title>
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<script type="text/javascript" src="jquery.js"></script>
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<table cellspacing="0" cellpadding="0">
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<tr style="height: 56px;">
<td id="projectalign" style="padding-left: 0.5em;">
<div id="projectname">Adafruit uBlox Library
</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.13 -->
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<div class="contents">
<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
<h3><a id="index_a"></a>- a -</h3><ul>
<li>Adafruit_UBloxDDC()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#a1d3186a12d82023995200b7509f2fdd0">Adafruit_UBloxDDC</a>
</li>
<li>Adafruit_UBX()
: <a class="el" href="class_adafruit___u_b_x.html#a7b590e56d1635e2870a69e67b1e41a1a">Adafruit_UBX</a>
</li>
<li>available()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#a3ab820207d549ae4f222c13d1f9b2bd7">Adafruit_UBloxDDC</a>
</li>
</ul>
<h3><a id="index_b"></a>- b -</h3><ul>
<li>baudRate
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#aa30114a64c30fbbab6f97894ae2a91fc">UBX_CFG_PRT_t</a>
</li>
<li>begin()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#a8e8de7b4a6fa0bf548b3a9e7d7a0bc47">Adafruit_UBloxDDC</a>
, <a class="el" href="class_adafruit___u_b_x.html#a373c93599ca9515b58fc8a038967e755">Adafruit_UBX</a>
</li>
</ul>
<h3><a id="index_c"></a>- c -</h3><ul>
<li>checkMessages()
: <a class="el" href="class_adafruit___u_b_x.html#a3febea7a538bf32960814b2d782f0f8b">Adafruit_UBX</a>
</li>
</ul>
<h3><a id="index_f"></a>- f -</h3><ul>
<li>fields
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#aa8ae7f835d131b4211dfcad9c9625195">UBX_CFG_PRT_t</a>
</li>
<li>flags
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#af6831f3beca708d3af38a143e09d9c75">UBX_CFG_PRT_t</a>
</li>
</ul>
<h3><a id="index_i"></a>- i -</h3><ul>
<li>inProtoMask
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#a5605d35661306375cb037078f2460f7f">UBX_CFG_PRT_t</a>
</li>
</ul>
<h3><a id="index_m"></a>- m -</h3><ul>
<li>mode
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#a62220062ed5f68284cdfb7f23cae77c2">UBX_CFG_PRT_t</a>
</li>
</ul>
<h3><a id="index_o"></a>- o -</h3><ul>
<li>onUBXMessage
: <a class="el" href="class_adafruit___u_b_x.html#a2901fce2f2f3ecf4652069fdf97e99e3">Adafruit_UBX</a>
</li>
<li>outProtoMask
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#a8687323c8289878634ba8e7c8c0a89da">UBX_CFG_PRT_t</a>
</li>
</ul>
<h3><a id="index_p"></a>- p -</h3><ul>
<li>peek()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#ab80cf21423ef7a5471755ed777005d87">Adafruit_UBloxDDC</a>
</li>
<li>portID
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#af16f4e05b02f8a50f6a967b668a8b558">UBX_CFG_PRT_t</a>
</li>
</ul>
<h3><a id="index_r"></a>- r -</h3><ul>
<li>raw
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#adbf6dbaafb00a3b49093db91441a9025">UBX_CFG_PRT_t</a>
</li>
<li>read()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#ab6740ffe9727f1ab0500f42e4e56b4f6">Adafruit_UBloxDDC</a>
</li>
<li>readBytes()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#ac98cfaa49ddf5f2b4502cb406575d52b">Adafruit_UBloxDDC</a>
</li>
<li>readMessage()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#a405cc264938a0ecdc2f6d060e61da7e4">Adafruit_UBloxDDC</a>
</li>
<li>reserved1
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#a1338889d75e27f4927a19719f550757a">UBX_CFG_PRT_t</a>
</li>
<li>reserved2
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#a26ea918f34dfc279c009edc2e4a57830">UBX_CFG_PRT_t</a>
</li>
</ul>
<h3><a id="index_s"></a>- s -</h3><ul>
<li>sendMessage()
: <a class="el" href="class_adafruit___u_b_x.html#aa0e1fbce664c381544821eda9c17170c">Adafruit_UBX</a>
</li>
<li>sendMessageWithAck()
: <a class="el" href="class_adafruit___u_b_x.html#a5c85fa48a8b11d05ce597ea4ecf23572">Adafruit_UBX</a>
</li>
<li>setMessageCallback()
: <a class="el" href="class_adafruit___u_b_x.html#a2ef23536037a2b56b7adf56bcf3c0251">Adafruit_UBX</a>
</li>
<li>setUBXOnly()
: <a class="el" href="class_adafruit___u_b_x.html#ae87653ac10a272dd22b94011b5547cc0">Adafruit_UBX</a>
</li>
</ul>
<h3><a id="index_t"></a>- t -</h3><ul>
<li>txReady
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#aab821b1e10e95cb253d447ebe76c786c">UBX_CFG_PRT_t</a>
</li>
</ul>
<h3><a id="index_v"></a>- v -</h3><ul>
<li>verbose_debug
: <a class="el" href="class_adafruit___u_b_x.html#a79cfeedae7b7ffc2b05b94cfc327ab78">Adafruit_UBX</a>
</li>
</ul>
<h3><a id="index_w"></a>- w -</h3><ul>
<li>write()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#a15c816aeabf456c901594b265cfa4c3f">Adafruit_UBloxDDC</a>
</li>
</ul>
<h3><a id="index_0x7e"></a>- ~ -</h3><ul>
<li>~Adafruit_UBloxDDC()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#a0d7e39448350ccbda11d425bfafd8e63">Adafruit_UBloxDDC</a>
</li>
<li>~Adafruit_UBX()
: <a class="el" href="class_adafruit___u_b_x.html#ae5cc4a4b20f2f31798be72c88b586523">Adafruit_UBX</a>
</li>
</ul>
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&#160;<ul>
<li>Adafruit_UBloxDDC()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#a1d3186a12d82023995200b7509f2fdd0">Adafruit_UBloxDDC</a>
</li>
<li>Adafruit_UBX()
: <a class="el" href="class_adafruit___u_b_x.html#a7b590e56d1635e2870a69e67b1e41a1a">Adafruit_UBX</a>
</li>
<li>available()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#a3ab820207d549ae4f222c13d1f9b2bd7">Adafruit_UBloxDDC</a>
</li>
<li>begin()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#a8e8de7b4a6fa0bf548b3a9e7d7a0bc47">Adafruit_UBloxDDC</a>
, <a class="el" href="class_adafruit___u_b_x.html#a373c93599ca9515b58fc8a038967e755">Adafruit_UBX</a>
</li>
<li>checkMessages()
: <a class="el" href="class_adafruit___u_b_x.html#a3febea7a538bf32960814b2d782f0f8b">Adafruit_UBX</a>
</li>
<li>peek()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#ab80cf21423ef7a5471755ed777005d87">Adafruit_UBloxDDC</a>
</li>
<li>read()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#ab6740ffe9727f1ab0500f42e4e56b4f6">Adafruit_UBloxDDC</a>
</li>
<li>readBytes()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#ac98cfaa49ddf5f2b4502cb406575d52b">Adafruit_UBloxDDC</a>
</li>
<li>readMessage()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#a405cc264938a0ecdc2f6d060e61da7e4">Adafruit_UBloxDDC</a>
</li>
<li>sendMessage()
: <a class="el" href="class_adafruit___u_b_x.html#aa0e1fbce664c381544821eda9c17170c">Adafruit_UBX</a>
</li>
<li>sendMessageWithAck()
: <a class="el" href="class_adafruit___u_b_x.html#a5c85fa48a8b11d05ce597ea4ecf23572">Adafruit_UBX</a>
</li>
<li>setMessageCallback()
: <a class="el" href="class_adafruit___u_b_x.html#a2ef23536037a2b56b7adf56bcf3c0251">Adafruit_UBX</a>
</li>
<li>setUBXOnly()
: <a class="el" href="class_adafruit___u_b_x.html#ae87653ac10a272dd22b94011b5547cc0">Adafruit_UBX</a>
</li>
<li>write()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#a15c816aeabf456c901594b265cfa4c3f">Adafruit_UBloxDDC</a>
</li>
<li>~Adafruit_UBloxDDC()
: <a class="el" href="class_adafruit___u_blox_d_d_c.html#a0d7e39448350ccbda11d425bfafd8e63">Adafruit_UBloxDDC</a>
</li>
<li>~Adafruit_UBX()
: <a class="el" href="class_adafruit___u_b_x.html#ae5cc4a4b20f2f31798be72c88b586523">Adafruit_UBX</a>
</li>
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<div class="contents">
&#160;<ul>
<li>baudRate
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#aa30114a64c30fbbab6f97894ae2a91fc">UBX_CFG_PRT_t</a>
</li>
<li>fields
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#aa8ae7f835d131b4211dfcad9c9625195">UBX_CFG_PRT_t</a>
</li>
<li>flags
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#af6831f3beca708d3af38a143e09d9c75">UBX_CFG_PRT_t</a>
</li>
<li>inProtoMask
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#a5605d35661306375cb037078f2460f7f">UBX_CFG_PRT_t</a>
</li>
<li>mode
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#a62220062ed5f68284cdfb7f23cae77c2">UBX_CFG_PRT_t</a>
</li>
<li>onUBXMessage
: <a class="el" href="class_adafruit___u_b_x.html#a2901fce2f2f3ecf4652069fdf97e99e3">Adafruit_UBX</a>
</li>
<li>outProtoMask
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#a8687323c8289878634ba8e7c8c0a89da">UBX_CFG_PRT_t</a>
</li>
<li>portID
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#af16f4e05b02f8a50f6a967b668a8b558">UBX_CFG_PRT_t</a>
</li>
<li>raw
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#adbf6dbaafb00a3b49093db91441a9025">UBX_CFG_PRT_t</a>
</li>
<li>reserved1
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#a1338889d75e27f4927a19719f550757a">UBX_CFG_PRT_t</a>
</li>
<li>reserved2
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#a26ea918f34dfc279c009edc2e4a57830">UBX_CFG_PRT_t</a>
</li>
<li>txReady
: <a class="el" href="union_u_b_x___c_f_g___p_r_t__t.html#aab821b1e10e95cb253d447ebe76c786c">UBX_CFG_PRT_t</a>
</li>
<li>verbose_debug
: <a class="el" href="class_adafruit___u_b_x.html#a79cfeedae7b7ffc2b05b94cfc327ab78">Adafruit_UBX</a>
</li>
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<title>Adafruit uBlox Library: File Members</title>
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<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<td id="projectalign" style="padding-left: 0.5em;">
<div id="projectname">Adafruit uBlox Library
</div>
</td>
</tr>
</tbody>
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<div class="contents">
<div class="textblock">Here is a list of all documented file members with links to the documentation:</div><ul>
<li>UBX_ACK_ACK
: <a class="el" href="_adafruit___u_b_x_8h.html#a9863f96e55b0bd012a94613a086515c7">Adafruit_UBX.h</a>
</li>
<li>UBX_ACK_NAK
: <a class="el" href="_adafruit___u_b_x_8h.html#a708b6ea6923c64a09c24502cdcac3a9b">Adafruit_UBX.h</a>
</li>
<li>UBX_PROTOCOL_NMEA
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#a6210c02436bf457745a27c9edcf8a15e">Adafruit_uBlox_typedef.h</a>
</li>
<li>UBX_PROTOCOL_RTCM
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#a4f3f0e692df4fa4f0328eb5a4fe34ee6">Adafruit_uBlox_typedef.h</a>
</li>
<li>UBX_PROTOCOL_RTCM3
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#adf4de42aaab8bfa4bf0f417ed7fa8645">Adafruit_uBlox_typedef.h</a>
</li>
<li>UBX_PROTOCOL_UBX
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#ac8736b21efe1e6ffd28faffb977ce520">Adafruit_uBlox_typedef.h</a>
</li>
<li>UBX_SYNC_CHAR_1
: <a class="el" href="_adafruit___u_b_x_8h.html#ab9b7171ae257a615aa33d2510e484554">Adafruit_UBX.h</a>
</li>
<li>UBX_SYNC_CHAR_2
: <a class="el" href="_adafruit___u_b_x_8h.html#a18c4bdc24d4cbedd9214cfc352b6f16c">Adafruit_UBX.h</a>
</li>
<li>UBXCfgMessageId
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#a02519f110ce36d6a6fbba19f5fbcb8f3">Adafruit_uBlox_typedef.h</a>
</li>
<li>UBXMessageCallback
: <a class="el" href="_adafruit___u_b_x_8h.html#a0a0ecf74350f410cba0f0a0efd312d12">Adafruit_UBX.h</a>
</li>
<li>UBXMessageClass
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#a2ffd52bc8ed73f9b14ebbec077395add">Adafruit_uBlox_typedef.h</a>
</li>
<li>UBXPortId
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#a04426de332e3384f4922a3e435e58b10">Adafruit_uBlox_typedef.h</a>
</li>
<li>UBXSendStatus
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#ae70fb0a16a62be1c77c8627265992601">Adafruit_uBlox_typedef.h</a>
</li>
<li>UBXUARTMode
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#a6585bf057b503034ba3b60010a8c28bf">Adafruit_uBlox_typedef.h</a>
</li>
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&#160;<ul>
<li>UBX_ACK_ACK
: <a class="el" href="_adafruit___u_b_x_8h.html#a9863f96e55b0bd012a94613a086515c7">Adafruit_UBX.h</a>
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<li>UBX_ACK_NAK
: <a class="el" href="_adafruit___u_b_x_8h.html#a708b6ea6923c64a09c24502cdcac3a9b">Adafruit_UBX.h</a>
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<li>UBX_PROTOCOL_NMEA
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#a6210c02436bf457745a27c9edcf8a15e">Adafruit_uBlox_typedef.h</a>
</li>
<li>UBX_PROTOCOL_RTCM
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#a4f3f0e692df4fa4f0328eb5a4fe34ee6">Adafruit_uBlox_typedef.h</a>
</li>
<li>UBX_PROTOCOL_RTCM3
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#adf4de42aaab8bfa4bf0f417ed7fa8645">Adafruit_uBlox_typedef.h</a>
</li>
<li>UBX_PROTOCOL_UBX
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#ac8736b21efe1e6ffd28faffb977ce520">Adafruit_uBlox_typedef.h</a>
</li>
<li>UBX_SYNC_CHAR_1
: <a class="el" href="_adafruit___u_b_x_8h.html#ab9b7171ae257a615aa33d2510e484554">Adafruit_UBX.h</a>
</li>
<li>UBX_SYNC_CHAR_2
: <a class="el" href="_adafruit___u_b_x_8h.html#a18c4bdc24d4cbedd9214cfc352b6f16c">Adafruit_UBX.h</a>
</li>
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&#160;<ul>
<li>UBXCfgMessageId
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#a02519f110ce36d6a6fbba19f5fbcb8f3">Adafruit_uBlox_typedef.h</a>
</li>
<li>UBXMessageClass
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#a2ffd52bc8ed73f9b14ebbec077395add">Adafruit_uBlox_typedef.h</a>
</li>
<li>UBXPortId
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#a04426de332e3384f4922a3e435e58b10">Adafruit_uBlox_typedef.h</a>
</li>
<li>UBXSendStatus
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#ae70fb0a16a62be1c77c8627265992601">Adafruit_uBlox_typedef.h</a>
</li>
<li>UBXUARTMode
: <a class="el" href="_adafruit__u_blox__typedef_8h.html#a6585bf057b503034ba3b60010a8c28bf">Adafruit_uBlox_typedef.h</a>
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