ZED-F9P-Integration Manual
UBX-18010802 - R02
4 Receiver description Page 30 of 114
Advance Information
4 Receiver description
This section describes in additional detail core features of the receiver firmware.
4.1 Receiver configuration
u-blox positioning receivers are fully configurable with UBX protocol messages. The configuration
used by the receiver during normal operation is called the "current configuration". The current
configuration can be changed during normal operation by sending UBX configuration messages
over any I/O port. The receiver can change its current configuration immediately after receiving a
configuration message. The receiver will always use the current configuration only.
The current configuration is loaded from permanent configuration hard-coded in the receiver
firmware (the defaults) and from non-volatile memory (user configuration) on startup of the
receiver. Changes made to the current configuration at run-time will be lost when there is a power
cycle, a hardware reset or a (complete) controlled software reset (see Forcing a Receiver Reset).
See the Configuration Interface section for a detailed description of the receiver configuration
system, the explanation of the configuration concept and its principles and interfaces.
The configuration interface has changed from earlier u-blox positioning receivers. There
is some backwards compatibility. Users are strongly advised to only use the Configuration
Interface referred to in the following sections.
4.2 Changing configuration
All configuration messages, including legacy UBX-CFG messages, will result in an ACK or NACK
response. If several configuration messages are sent without waiting for this response then the
receiver may pause processing of input messages until processing of a previous configuration
message has been completed. When this happens a warning message "wait for cfg ACK" will be sent
to the host.
4.3 Basic receiver configuration
This section summarizes the basic receiver configuration most commonly used.
4.3.1 Communication interface configuration
Several configuration items allow operation mode configuration of the various communications
interfaces. This includes parameters for the data framing, transfer rate and protocols used. See
Serial Communication Ports Description for details. The configuration items available for each
interface are:
• UART1 interface: CFG-UART1-*, CFG-UART1INPROT-*, CFG-UART1OUTPROT-*
• UART2 interface: CFG-UART2-*, CFG-UART2INPROT-*, CFG-UART2OUTPROT-*
• SPI interface: CFG-SPI-*, CFG-SPIINPROT-*, CFG-SPIOUTPROT-*
• I2C interface: CFG-I2C-*, CFG-I2CINPROT-*, CFG-I2COUTPROT-*
• USB interface: CFG-USB-*, CFG-USBINPROT-*, CFG-USBOUTPROT-*
4.3.2 Message output configuration
The rate of NMEA, UBX and RTCM protocol output messages is configurable. If the rate
configuration value is zero, then the corresponding message will not be output. Values greater than
zero indicate how often the message is output.
For periodic output messages the rate relates to the event the message is related to. For example,
the NAV-PVT (Navigation Position Velocity and Time Solution) is related to the navigation epoch.
To Next Page
Loading...
Need help?
General
