Devuan fork of gpsd
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  1. '\" t
  2. .\" Title: ubxtool
  3. .\" Author: [see the "AUTHOR" section]
  4. .\" Generator: DocBook XSL Stylesheets v1.79.1 <http://docbook.sf.net/>
  5. .\" Date: 5 December 2020
  6. .\" Manual: GPSD Documentation
  7. .\" Source: The GPSD Project
  8. .\" Language: English
  9. .\"
  10. .TH "UBXTOOL" "1" "5 December 2020" "The GPSD Project" "GPSD Documentation"
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  15. .\" http://bugs.debian.org/507673
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  24. .nh
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  28. .\" * MAIN CONTENT STARTS HERE *
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  30. .SH "NAME"
  31. ubxtool \- u\-blox tool
  32. .SH "SYNOPSIS"
  33. .HP \w'\fBubxtool\fR\ 'u
  34. \fBubxtool\fR [\-?] [\-\-command\ \fIcommand\fR] [\-\-delitem\ \fIitem,layers\fR] [\-\-device\ \fIdevice\fR] [\-\-disable\ \fIdisable\fR] [\-\-enable\ \fIenable\fR] [\-\-file\ \fIfile/device\fR] [\-\-getitem\ \fIitem,layer,position,end\fR] [\-\-help] [\-\-host\ \fIhost\fR] [\-\-inspeed\ \fIspeed\fR] [\-\-port\ \fIport\fR] [\-\-portid\ \fIport\fR] [\-\-preset\ \fIpreset\fR] [\-\-protver\ \fIprotver\fR] [\-\-rawfile\ \fIrawfile\fR] [\-\-readonly] [\-\-setitem\ \fIitem,val,layers\fR] [\-\-setspeed\ \fIsetspeed\fR] [\-\-timestamp] [\-\-verbosity\ \fIverbosity\fR] [\-\-version] [\-\-wait\ \fIwait\fR] [\-c\ \fIcommand\fR] [\-d\ \fIdisable\fR] [\-e\ \fIenable\fR] [\-f\ \fIfile/device\fR] [\-g\ \fIitem,layer,position,end\fR] [\-h] [\-i\ \fIport\fR] [\-p\ \fIpreset\fR] [\-P\ \fIprotver\fR] [\-r] [\-R\ \fIrawfile\fR] [\-S\ \fIsetspeed\fR] [\-s\ \fIspeed\fR] [\-t] [\-V] [\-v\ \fIverbosity\fR] [\-w\ \fIwait\fR] [\-x\ \fIitem,layers\fR] [\-z\ \fIitem,val,layers\fR] [[server[:port[:device]]]]
  35. .SH "DESCRIPTION"
  36. .PP
  37. ubxtool
  38. is a tool for u\-blox GPS\&. If you do not have a u\-blox GPS then can stop reading now\&.
  39. .PP
  40. This tool operates with your u\-blox GPS at a very low level\&. To understand
  41. ubxtool
  42. you must first be familiar with your u\-blox GPS and the documentation for the u\-blox binary protocol\&. The u\-blox protocol varies greatly depending on GPS model and firmware revision\&. Use the u\-blox documentation for your model and firmware\&.
  43. .PP
  44. ubxtool
  45. can decode common u\-blox binary messages, poll the GPS status, enable and disable GPS features, and send user generated commands to the GPS\&. It can read binary messages from a file\&. It can read and write directly through a serial device, or through a running gpsd instance\&.
  46. .SH "OPTIONS"
  47. .PP
  48. The program accepts the following options:
  49. .PP
  50. \fB\-?\fR, \fB\-h\fR, \fB\-\-help\fR
  51. .RS 4
  52. Makes
  53. ubxtool
  54. print a usage message and exit\&. Use with
  55. \fB\-v 2\fR
  56. to see all enable/disable and preset values\&. Use with
  57. \fB\-v 3\fR
  58. to additionally see all configuration items (long)\&.
  59. .RE
  60. .PP
  61. \fB\-c COMMAND\fR, \fB\-\-command COMMAND\fR
  62. .RS 4
  63. Send a command to the GPS\&. Accepts one parameter, COMMAND, a comma\-separated list of hexadecimal bytes specifying the class, the ID, and any needed payload\&. The header, length, and checksum are added automatically\&.
  64. .RE
  65. .PP
  66. \fB\-\-device DEVICE\fR
  67. .RS 4
  68. The DEVICE on the
  69. gpsd
  70. to connect to\&. Defaults to all\&.
  71. .RE
  72. .PP
  73. \fB\-d OPTION\fR, \fB\-\-disable OPTION\fR
  74. .RS 4
  75. Disable an option in the GPS\&. Accepts one parameter, OPTION, the option to disable\&. Use
  76. \fB\-h \-v 2\fR
  77. to see all possible OPTIONs\&. A few possible OPTIONs are:
  78. .PP
  79. BEIDOU
  80. .RS 4
  81. Disable use of the BeiDou (COMPASS) constellation\&.
  82. .RE
  83. .PP
  84. BINARY
  85. .RS 4
  86. Disable sending of the basic binary messages\&.
  87. .RE
  88. .PP
  89. ECEF
  90. .RS 4
  91. Disable sending of ECEF binary messages\&.
  92. .RE
  93. .PP
  94. GALILEO
  95. .RS 4
  96. Disable use of the GALILEO constellation\&.
  97. .RE
  98. .PP
  99. GLONASS
  100. .RS 4
  101. Disable use of the GLONASS constellation\&.
  102. .RE
  103. .PP
  104. GPS
  105. .RS 4
  106. Disable use of the GPS and QZSS constellations\&.
  107. .RE
  108. .PP
  109. NED
  110. .RS 4
  111. Disable sending of NED binary messages\&. UBX\-NAV\-VELNED and UBX\-NAV\-RELPOSNED\&.
  112. .RE
  113. .PP
  114. NMEA
  115. .RS 4
  116. Disable sending basic NMEA messages\&. The messages are GBS, GGA, GSA, GGL, GST, GSV, RMC, VTG, and ZDA\&.
  117. .RE
  118. .PP
  119. PPS
  120. .RS 4
  121. Disable TIMEPULSE 0\&.
  122. .RE
  123. .PP
  124. RAWX
  125. .RS 4
  126. Disable sending of the UBX\-RXM\-RAWX messages\&.
  127. .RE
  128. .PP
  129. SBAS
  130. .RS 4
  131. Disable use of the SBAS constellation\&.
  132. .RE
  133. .PP
  134. SFRBX
  135. .RS 4
  136. Disable use of the SFRBX messages\&.
  137. .RE
  138. .PP
  139. SURVEYIN
  140. .RS 4
  141. Disable survey\-in mode with TMODE2\&.
  142. .RE
  143. .PP
  144. TP
  145. .RS 4
  146. Disable sending UBX\-TIM\-TP\&.
  147. .RE
  148. .RE
  149. .PP
  150. \fB\-e OPTION\fR, \fB\-\-enable OPTION\fR
  151. .RS 4
  152. Enable an option in the GPS\&. Accepts one parameter, OPTION, the option to enable\&.
  153. \fB\-e\fR
  154. accepts the same OPTIONs as
  155. \fB\-d\fR, except the action is to enable the option\&.
  156. .RE
  157. .PP
  158. \fB\-f FILE\fR, \fB\-\-file FILE\fR
  159. .RS 4
  160. Connect to a file or device\&. Accepts one parameter, FILE, the file or device to open\&. Files are opened read\-only\&. Character devices are opened read/write, unless the
  161. \fB\-r\fR
  162. parameter is given\&. Requires the pyserial module\&.
  163. .RE
  164. .PP
  165. \fB\-g ITEM,LAYER,POSITION,END\fR, \fB\-\-getitem ITEM,LAYER,POSITION,END\fR
  166. .RS 4
  167. Get the value of ITEM from LAYER, starting at POSITION, up to END key/value pairs (UBX\-CFG\-VALGET)\&. All parameters past ITEM are optional and decimal\&. If LAYER is absent, then layers 0, 1, 2 and 7 are all requested\&. See the section on CONFIGURATION ITEMS
  168. .RE
  169. .PP
  170. \fB\-\-host HOST\fR
  171. .RS 4
  172. Connect to the
  173. gpsd
  174. on HOST (server)\&. Defaults to localhost\&.
  175. .RE
  176. .PP
  177. \fB\-i port\fR, \fB\-\-portid port\fR
  178. .RS 4
  179. Specifies port ID # (interface) for port\-related commands such as UBX_CFG\-PRT\&.
  180. .RE
  181. .PP
  182. \fB\-p PRESET\fR, \fB\-\-preset PRESET\fR
  183. .RS 4
  184. Send a preset command the GPS\&. Usually accepts one parameter, PRESET, the name of the command to send\&. A few PRESETS, like LOG\-FINDTIME, accept additional comma separated parameters\&. More than one \-p may be used\&.
  185. .sp
  186. Only the common PRESETS are shown here\&. To see the full list, including optional parameters, run "ubxtool \-h \-v 2"\&.
  187. .PP
  188. COLDBOOT
  189. .RS 4
  190. Coldboot the GPS (UBX\-CFG\-RST)\&.
  191. .RE
  192. .PP
  193. HOTBOOT
  194. .RS 4
  195. Hotboot the GPS (UBX\-CFG\-RST)\&.
  196. .RE
  197. .PP
  198. MODEL,model
  199. .RS 4
  200. Configure the Dynamic Platform Model to model\&. (UBX\-CFG\-NAV5)\&. Model is the decimal number of the desired mode\&.
  201. .RE
  202. .PP
  203. PMS
  204. .RS 4
  205. Set power management settings (UBX\-CFG\-PMS)\&. "PMS,pow" where pow is powerSetupValue\&.
  206. .RE
  207. .PP
  208. RATE
  209. .RS 4
  210. Set measurement and nav rate (UBX\-CFG\-RATE)\&. "RATE,meas,nav" meas is the measRate in milli seconds\&. The nav argument is the navRate in cycles and defaults to 1
  211. .RE
  212. .PP
  213. RESET
  214. .RS 4
  215. Reset configuration to defaults (UBX\-CFG\-CFG)\&.
  216. .RE
  217. .PP
  218. SAVE
  219. .RS 4
  220. Save current configuration (UBX\-CFG\-CFG)\&.
  221. .RE
  222. .PP
  223. MON\-RESETODO
  224. .RS 4
  225. Reset the odometer (UBX\-MON\-RESETODO)\&.
  226. .RE
  227. .PP
  228. MON\-VER
  229. .RS 4
  230. Poll GPS version (UBX\-MON\-VER)\&.
  231. .RE
  232. .PP
  233. WARMBOOT
  234. .RS 4
  235. Warmboot the GPS (UBX\-CFG\-RST)\&.
  236. .RE
  237. .sp
  238. Most PRESET parameters are simple poll commands\&. They merely poll the GPS to respond with the associated message\&. For example "ubxtool \-p CFG\-GNSS" asks the GPS to respond with a UBX\-CFG\-GNSS message describing the current GNSS configuration\&. Increase the verbosity of the output by adding the "\-v 2" or "\-v 3" options\&.
  239. .RE
  240. .PP
  241. \fB\-\-port PORT\fR
  242. .RS 4
  243. Use PORT to connect to
  244. gpsd\&. Defaults to 2947\&.
  245. .RE
  246. .PP
  247. \fB\-P protver\fR, \fB\-\-protver protver\fR
  248. .RS 4
  249. Sets the protocol version to use for sending commands\&. Minimum 6 (Antaris 4)\&. Use "ubxtool \-p MON\-VER" to see the version your receiver supports\&. Many newer u\-blox receivers will fail silently or oddly if this is not set correctly\&. Default 10 (u\-blox 5)\&.
  250. .RE
  251. .PP
  252. \fB\-r\fR, \fB\-readonly\fR
  253. .RS 4
  254. Read only\&. Do not send anything to the GPS\&.
  255. .RE
  256. .PP
  257. \fB\-R RAW\fR, \fB\-\-rawfile RAW\fR
  258. .RS 4
  259. Save all raw serial data received from the GPS into the file RAW\&.
  260. .RE
  261. .PP
  262. \fB\-s SPEED\fR, \fB\-\-inspeed SPEED\fR
  263. .RS 4
  264. Set local serial port speed to SPEED bps\&. Default 9,600 bps\&.
  265. .RE
  266. .PP
  267. \fB\-S SPEED\fR, \fB\-\-setspeed SPEED\fR
  268. .RS 4
  269. Set the GPS serial port speed to SPEED bps\&.
  270. .RE
  271. .PP
  272. \fB\-t\fR, \fB\-\-timestamp\fR
  273. .RS 4
  274. Timestamp decoded messages with seconds since the epoch\&. Use it twice and also get UTC time\&.
  275. .RE
  276. .PP
  277. \fB\-v VERBOSITY\fR, \fB\-\-verbosity VERBOSITY\fR
  278. .RS 4
  279. Set verbosity level to VERBOSITY\&. Verbosity can be from 0 (very quiet), 2 (decode messages), to 4 (very noisy)\&. Default 1\&.
  280. .RE
  281. .PP
  282. \fB\-V\fR, \fB\-\-version\fR
  283. .RS 4
  284. Print
  285. ubxtool
  286. version and exit\&.
  287. .RE
  288. .PP
  289. \fB\-w WAIT\fR, \fB\-\-wait WAIT\fR
  290. .RS 4
  291. Wait for WAIT seconds before exiting\&. Default 2 seconds\&.
  292. .RE
  293. .PP
  294. \fB\-x ITEM,LAYERS\fR, \fB\-\-delitem ITEM,LAYERS\fR
  295. .RS 4
  296. Delete the value of ITEM name from LAYERS\&. The bit map LAYERS is optional\&. By default, delete in both the BBR and FLASH layers in the receiver (UBX_CFG\-VALDEL)\&. Returning to the reciver default for that item\&. See the section on CONFIGURATION ITEMS
  297. .RE
  298. .PP
  299. \fB\-z ITEM,VAL,LAYERS\fR, \fB\-\-setitem ITEM,VAL,LAYERS\fR
  300. .RS 4
  301. Set the value of ITEM name to VAL in LAYERS in the GPS (UBX\-CFG\-VALSET)\&. VAL and the bit mask LAYERS are decimal\&. ",LAYERS" is optional\&. The default LAYERS are RAM and FLASH See the section on CONFIGURATION ITEMS
  302. .RE
  303. .PP
  304. \fB[server[:port[:device]]]\fR
  305. .RS 4
  306. By default,
  307. ubxtool
  308. collects data from all compatible devices on localhost, using the default GPSD port 2947\&. An optional argument may specify a server to get data from\&. A colon\-separated suffix is taken as a port number\&. If there is a second colon\-separated suffix, that is taken as a specific device name to be watched\&. Further details on the
  309. \fBgps\fR(1)
  310. man page\&.
  311. .RE
  312. .SH "CONFIGURATION ITEMS"
  313. .PP
  314. Configuring u\-blox GPS with the traditional configuration messages is fraught with problems\&. Many configuration messages interact in odd ways\&. Something as simple as changing the serial port speed requires you to read the current configuration using UBX\-CFG\-PRT for the proper port, merging in the change, the writing back the changed UBX\-CFG\-PRT message\&. Or just guessing at the current configuration and overwriting it all\&.
  315. .PP
  316. The u\-blox 9 series, protocol version 27+, tries, but does not completely succeed, to solve the problem with Configuration Items\&. If your GPS does not support protocol version 27+, then this section does not apply to you\&.
  317. .PP
  318. Most of the configuration variables in the GPS have been assigned a 32\-bit Key ID\&. Each Key references one specific value\&. A typical receiver may have over 1,100 Key IDs\&. Each Key ID has been assigned a Key Name\&. Most of the Key Names are documented by u\-blox and supported by ubxtool\&. To see all the Key Name understood by ubxtool do: "ubxtool \-h \-v 3"\&.
  319. .PP
  320. To get the value related to an item, use "\-g ITEM"\&.
  321. .PP
  322. To reset the value related to an item to it default value, use "\-x ITEM"\&.
  323. .PP
  324. To set an ITEM name to a value, use "\-z ITEM,VAL"\&.
  325. .PP
  326. If you only want to set an ITEM in one layer, use "\-z ITEM,VAL,LAYER"\&.
  327. .PP
  328. See the EXAMPLES section for concrete examples\&.
  329. .SH "EXAMPLES"
  330. .PP
  331. All examples assume that UBXOPTS is set with the protocol version of your receiver\&. Be sure to replace the "\-P 18" with your correct prototype version\&.
  332. .sp
  333. .if n \{\
  334. .RS 4
  335. .\}
  336. .nf
  337. export UBXOPTS="\-P 18"
  338. .fi
  339. .if n \{\
  340. .RE
  341. .\}
  342. .PP
  343. Dump configuration and status of the GNSS recceiver\&. The "\-w 4" is to provide extra time for the operations to complete\&.
  344. .sp
  345. .if n \{\
  346. .RS 4
  347. .\}
  348. .nf
  349. ubxtool \-p CONFIG \-p STATUS \-w 4 \-v 2
  350. .fi
  351. .if n \{\
  352. .RE
  353. .\}
  354. .PP
  355. Decode raw log file:
  356. .sp
  357. .if n \{\
  358. .RS 4
  359. .\}
  360. .nf
  361. ubxtool \-r \-f ublox\-neo\-m8n\&.log
  362. .fi
  363. .if n \{\
  364. .RE
  365. .\}
  366. .PP
  367. Change GPS port speed of device on /dev/ttyAMA0 to 230,400 bps:
  368. .sp
  369. .if n \{\
  370. .RS 4
  371. .\}
  372. .nf
  373. ubxtool \-S 230400 \-f /dev/ttyAMA0
  374. .fi
  375. .if n \{\
  376. .RE
  377. .\}
  378. .PP
  379. Watch entire GPS reset cycle, include $GPTXT messages:
  380. .sp
  381. .if n \{\
  382. .RS 4
  383. .\}
  384. .nf
  385. ubxtool \-p COLDBOOT \-w 20 \-v 2
  386. .fi
  387. .if n \{\
  388. .RE
  389. .\}
  390. .PP
  391. Poll Enabled Constellations:
  392. .sp
  393. .if n \{\
  394. .RS 4
  395. .\}
  396. .nf
  397. ubxtool \-p CFG\-GNSS
  398. .fi
  399. .if n \{\
  400. .RE
  401. .\}
  402. .sp
  403. Dump gpsd data from a remote server named x\&.example\&.com:
  404. .sp
  405. .if n \{\
  406. .RS 4
  407. .\}
  408. .nf
  409. ubxtool \-w 5 x\&.example\&.com
  410. .fi
  411. .if n \{\
  412. .RE
  413. .\}
  414. .sp
  415. .SS "Version 27+ examples"
  416. .PP
  417. The following examples require a GPS supporting protocol 27 or greater\&. Be sure to set your protocol version first:
  418. .sp
  419. .if n \{\
  420. .RS 4
  421. .\}
  422. .nf
  423. export UBXOPTS="\-P 32"
  424. .fi
  425. .if n \{\
  426. .RE
  427. .\}
  428. .PP
  429. To check the current dynamic model, change it to 6 (AIR1, Airborne with <1g acceleration), revert to the default setting, and verify the faults was restored\&.
  430. .sp
  431. .if n \{\
  432. .RS 4
  433. .\}
  434. .nf
  435. $ ubxtool \-g CFG\-NAVSPG\-DYNMODEL
  436. [\&.\&.\&.]
  437. UBX\-CFG\-VALGET:
  438. version 1 layer 0 reserved 0,0
  439. layers (ram)
  440. item CFG\-NAVSPG\-DYNMODEL/0x20110021 val 2
  441. [\&.\&.\&.]
  442. $ ubxtool \-z CFG\-NAVSPG\-DYNMODEL,6
  443. [\&.\&.\&.]
  444. UBX\-ACK\-ACK:
  445. ACK to Class x6 (CFG) ID x8a (VALSET)
  446. [\&.\&.\&.]
  447. $ ubxtool \-g CFG\-NAVSPG\-DYNMODEL
  448. [\&.\&.\&.]
  449. UBX\-CFG\-VALGET:
  450. version 1 layer 0 reserved 0,0
  451. layers (ram)
  452. item CFG\-NAVSPG\-DYNMODEL/0x20110021 val 6
  453. [\&.\&.\&.]
  454. $ ubxtool \-x CFG\-NAVSPG\-DYNMODEL
  455. [\&.\&.\&.]
  456. UBX\-ACK\-ACK:
  457. ACK to Class x6 (CFG) ID x8c (VALDEL)
  458. [\&.\&.\&.]
  459. $ ubxtool \-g CFG\-NAVSPG\-DYNMODEL
  460. [\&.\&.\&.]
  461. UBX\-CFG\-VALGET:
  462. version 1 layer 0 reserved 0,0
  463. layers (ram)
  464. item CFG\-NAVSPG\-DYNMODEL/0x20110021 val 6
  465. .fi
  466. .if n \{\
  467. .RE
  468. .\}
  469. .PP
  470. Notice that the current DYNMODEL stayed at 6 (AIR1)\&. The "\-x" only affects the saved setting, not the current setting\&. To change the current setting you must set it with "\-z"\&.
  471. .PP
  472. Getting all the Configuration Items in a group one by one could be very tedious\&. VAL\-GET allows you to wild card the item number and dump all the items in a group\&. To get all the CFG\-TP items in ram, the currently active ones, you can do this:
  473. .sp
  474. .if n \{\
  475. .RS 4
  476. .\}
  477. .nf
  478. $ ubxtool \-g CFG\-TP,0
  479. [\&.\&.\&.]
  480. UBX\-CFG\-VALGET:
  481. version 1 layer 0 position 0
  482. layers (ram)
  483. item CFG\-TP\-TP1_ENA/0x10050007 val 1
  484. item CFG\-TP\-SYNC_GNSS_TP1/0x10050008 val 1
  485. item CFG\-TP\-USE_LOCKED_TP1/0x10050009 val 1
  486. [\&.\&.\&.]
  487. .fi
  488. .if n \{\
  489. .RE
  490. .\}
  491. .PP
  492. The truly masochistic can dump all the Configuration Items by wildcarding the group\&. Dumping all 1,000+ of them, 64 at a time, could still be tedious\&. The \-g parameter optionally allows you to specify the starting position to get from, as well as the ending position\&. To get all the known, and unknown, items supported by the receiver that are currently in ram:
  493. .sp
  494. .if n \{\
  495. .RS 4
  496. .\}
  497. .nf
  498. $ ubxtool \-g CFG,0,0,1200 | fgrep "item CFG\-"
  499. item CFG\-1\-1/0x10010001 val 0
  500. item CFG\-1\-1/0x10010101 val 0
  501. item CFG\-4\-1/0x10040001 val 1
  502. item CFG\-4\-2/0x10040002 val 0
  503. item CFG\-4\-3/0x10040003 val 0
  504. item CFG\-4\-4/0x10040004 val 0
  505. item CFG\-4\-9/0x10040009 val 0
  506. item CFG\-TP\-TP1_ENA/0x10050007 val 1
  507. item CFG\-TP\-SYNC_GNSS_TP1/0x10050008 val 1
  508. [\&.\&.\&.]
  509. .fi
  510. .if n \{\
  511. .RE
  512. .\}
  513. .PP
  514. Changing
  515. \fICFG,0,0,1200\fR
  516. to
  517. \fICFG,7,0,1200\fR
  518. would instead dump all the configuration defaults, from the Default layer (7)\&.
  519. .SH "ENVIRONMENT"
  520. .PP
  521. Options can be placed in the UBXOPTS environment variable\&. UBXOPTS is processed before the CLI options\&.
  522. .SH "SEE ALSO"
  523. .PP
  524. ubxtool
  525. is written to conform to the official u\-blox documentation for the u\-blox binary protocol\&.
  526. \m[blue]\fB\%https://www.u-blox.com/en/product-resources\fR\m[]
  527. .PP
  528. \fBcgps\fR(1),
  529. \fBgpscat\fR(1),
  530. \fBgpsctl\fR(1),
  531. \fBgpsfake\fR(1),
  532. \fBxgps\fR(1),
  533. \fBgpsd\fR(8),
  534. .SH "AUTHOR"
  535. .PP
  536. Gary E\&. Miller<gem@rellim\&.com>