johann2 / 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.

An example of using this library to talk to a device can be seen in the ublox_cli subfolder of this project.

Constructing Packets

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

use ublox::{CfgPrtUartBuilder, UartPortId};
let packet: [u8; 28] = CfgPrtUartBuilder {
   portid: UartPortId::Uart1,
   reserved0: 0,
   tx_ready: 0,
   mode: 0x8d0,
   baud_rate: 9600,
   in_proto_mask: 0x07,
   out_proto_mask: 0x01,
   flags: 0,
   reserved5: 0,
}.into_packet_bytes();

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 two caveats about the Parser traits:

• You must have a global allocator configured, and
• If your device is "poorly behaved" (i.e. is not a real u-blox GPS device but a maliciously designed device), then the amount of memory allocated can grow up to 64K.

A deterministic-memory Parser implementation is on the roadmap.