ublox-rs/ublox

Rust crate to talk UBX protocol to u-blox GPS devices.

uBlox for Rust

This project aims to build a pure-rust I/O library for uBlox GPS devices, specifically using the UBX protocol.

Examples of usage of the library can be found in the examples/ directory. A basic CLI for interacting with an uBlox device can be found in examples/ublox-cli directory. See the specific examples/README.

Constructing Packets

Constructing packets happens using the Builder variant of the packet, for example:

use ublox::{CfgPrtUartBuilder, UartPortId, UartMode, DataBits, Parity, StopBits, InProtoMask, OutProtoMask};
let packet: [u8; 28] = CfgPrtUartBuilder {
   portid: UartPortId::Uart1,
   reserved0: 0,
   tx_ready: 0,
   mode: UartMode::new(DataBits::Eight, Parity::None, StopBits::One),
   baud_rate: 9600,
   in_proto_mask: InProtoMask::all(),
   out_proto_mask: OutProtoMask::UBLOX,
   flags: 0,
   reserved5: 0,
}.into_packet_bytes();

For variable-size packet like CfgValSet, you can construct it into a new Vec<u8>:

use ublox::{cfg_val::CfgVal::*, CfgLayer, CfgValSetBuilder};
let packet_vec: Vec<u8> = CfgValSetBuilder {
    version: 1,
    layers: CfgLayer::RAM,
    reserved1: 0,
    cfg_data: &[UsbOutProtNmea(true), UsbOutProtRtcm3x(true), UsbOutProtUbx(true)],
}
.into_packet_vec();
let packet: &[u8] = packet_vec.as_slice();

Or by extending to an existing one:

let mut packet_vec = Vec::new();
CfgValSetBuilder {
    version: 1,
    layers: CfgLayer::RAM,
    reserved1: 0,
    cfg_data: &[UsbOutProtNmea(true), UsbOutProtRtcm3x(true), UsbOutProtUbx(true)],
}
.extend_to(&mut packet_vec);
let packet = packet_vec.as_slice();

See the documentation for the individual Builder structs for information on the fields.

Parsing Packets

Parsing packets happens by instantiating a Parser object and then adding data into it using its consume() method. The parser contains an internal buffer of data, and when consume() is called that data is copied into the internal buffer and an iterator-like object is returned to access the packets. For example:

use ublox::Parser;
let mut parser = Parser::default();
let my_raw_data = vec![1, 2, 3, 4]; // From your serial port
let mut it = parser.consume(&my_raw_data);
loop {
    match it.next() {
        Some(Ok(packet)) => {
            // We've received a &PacketRef, we can handle it
        }
        Some(Err(_)) => {
            // Received a malformed packet
        }
        None => {
            // The internal buffer is now empty
            break;
        }
    }
}

no_std Support

This library supports no_std environments with a deterministic-size Parser. See the documentation for more information.

Minimum Supported Rust Version

The library crate will support at least the previous year's worth of Rust compilers. Currently, the MSRV is 1.65.0. Note that, as we are pre-1.0, breaking the MSRV will not force a minor update - the MSRV can change in a patch update.