The utility ubxtool from gpsd can be used to customise the GPS configuration.
This document shows some commands that work for the BerryGPS receiver chip - u-blox M8C.
Ubxtool examples:
BerryGPS-IMU
uBLOX M8
- https://ozzmaker.com/wp-content/uploads/2016/08/CAM-M8-FW3_DataSheet_UBX-15031574.pdf
- https://ozzmaker.com/wp-content/uploads/2019/09/u-blox8-M8_ReceiverDescrProtSpec_UBX-13003221_Public.pdf
ubxtool -p MON-VER localhost:2947:/dev/ttyAMA0
UBX-MON-VER:
swVersion ROM CORE 3.01 (107888)
hwVersion 00080000
extension FWVER=SPG 3.01
extension PROTVER=18.00
extension GPS;GLO;GAL;BDS
extension SBAS;IMES;QZSS
Set protocol variable:
export UBXOPTS="-P 18 -v 2"
ubxtool -p CFG-GNSS localhost:2947:/dev/ttyAMA0
UBX-CFG-GNSS:
msgVer 0 numTrkChHw 32 numTrkChUse 32 numConfigBlocks 7
gnssId 0 TrkCh 8 maxTrCh 16 reserved 0 Flags x01010001
GPS L1C/A enabled
gnssId 1 TrkCh 1 maxTrCh 3 reserved 0 Flags x01010001
SBAS L1C/A enabled
gnssId 2 TrkCh 4 maxTrCh 8 reserved 0 Flags x01010001
Galileo E1 enabled
gnssId 3 TrkCh 8 maxTrCh 16 reserved 0 Flags x01010000
BeiDou B1I
gnssId 4 TrkCh 0 maxTrCh 8 reserved 0 Flags x03010000
IMES L1
gnssId 5 TrkCh 0 maxTrCh 3 reserved 0 Flags x05050001
QZSS L1C/A enabled
gnssId 6 TrkCh 8 maxTrCh 14 reserved 0 Flags x01010001
GLONASS L1 enabled
This will clear all settings back to the initial setup
ubxtool -p RESET localhost:2947:/dev/ttyAMA0
Use the binary protocol instead of NMEA:
ubxtool -e BINARY localhost:2947:/dev/ttyAMA0
ubxtool -d NMEA localhost:2947:/dev/ttyAMA0
ubxtool -p MON-GNSS localhost:2947:/dev/ttyAMA0
UBX-MON-GNSS:
version 0 supported 0xf defaultGnss 0x3 enabled 0xb
simultaneous 3 reserved1 0 0 0
supported (GPS Glonass Beidou Galileo)
defaultGnss (GPS Glonass)
enabled (GPS Glonass Galileo)
Enable Galileo:
ubxtool -e Galileo localhost:2947:/dev/ttyAMA0
Disable/Enable GLONASS
ubxtool -d GLONASS localhost:2947:/dev/ttyAMA0
ubxtool -e GLONASS localhost:2947:/dev/ttyAMA0
Enable/Disable BEIDOU
ubxtool -e BEIDOU,1 localhost:2947:/dev/ttyAMA0
ubxtool -d BEIDOU localhost:2947:/dev/ttyAMA0
Enable QZSS L1SAIF:
ubxtool -e GPS,5 localhost:2947:/dev/ttyAMA0
ubxtool -p CFG-GNSS localhost:2947:/dev/ttyAMA0
UBX-CFG-GNSS:
msgVer 0 numTrkChHw 32 numTrkChUse 32 numConfigBlocks 7
gnssId 0 TrkCh 8 maxTrCh 16 reserved 0 Flags x01010001
GPS L1C/A enabled
gnssId 1 TrkCh 1 maxTrCh 3 reserved 0 Flags x01010001
SBAS L1C/A enabled
gnssId 2 TrkCh 4 maxTrCh 8 reserved 0 Flags x01010000
Galileo E1
gnssId 3 TrkCh 8 maxTrCh 16 reserved 0 Flags x01010000
BeiDou B1I
gnssId 4 TrkCh 0 maxTrCh 8 reserved 0 Flags x03010000
IMES L1
gnssId 5 TrkCh 0 maxTrCh 3 reserved 0 Flags x05050001
QZSS L1C/A L1S enabled
gnssId 6 TrkCh 8 maxTrCh 14 reserved 0 Flags x01010001
GLONASS L1 enabled
Can’t find a way to disable this once it’s been enabled - needs to be reset.
ubxtool -p CFG-NAV5 localhost:2947:/dev/ttyAMA0
UBX-CFG-NAV5:
mask 0xffff dynModel 0 fixmode 3 fixedAlt 0 FixedAltVar 10000
minElev 5 drLimit 0 pDop 250 tDop 250 pAcc 100 tAcc 350
staticHoldThresh 0 dgpsTimeOut 60 cnoThreshNumSVs 0
cnoThresh 0 res 0 staticHoldMaxDist 0 utcStandard 0
reserved x0 0
dynModel (Portable) fixMode (Auto 2D/3D) utcStandard (Default)
mask (dyn minEl posFixMode drLim posMask timeMask staticHoldMask dgpsMask cnoThreshold utc)
Stationary:
ubxtool -p MODEL,2 localhost:2947:/dev/ttyAMA0
ubxtool -p CFG-NAV5 localhost:2947:/dev/ttyAMA0
UBX-CFG-NAV5:
mask 0xffff dynModel 2 fixmode 3 fixedAlt 0 FixedAltVar 10000
minElev 5 drLimit 0 pDop 250 tDop 250 pAcc 100 tAcc 350
staticHoldThresh 0 dgpsTimeOut 60 cnoThreshNumSVs 0
cnoThresh 0 res 0 staticHoldMaxDist 0 utcStandard 0
reserved x0 0
dynModel (Stationary) fixMode (Auto 2D/3D) utcStandard (Default)
mask (dyn minEl posFixMode drLim posMask timeMask staticHoldMask dgpsMask cnoThreshold utc)
| Mode | Code |
|---|---|
| Portable | 0 |
| Stationary | 2 |
| Pedestrian | 3 |
| Automotive | 4 |
| Sea | 5 |
| Airborne < 1g | 6 |
| Airborne < 2g | 7 |
| Airborne < 4g | 8 |
| Wrist Worn Watch | 9 |
ubxtool -p CFG-RATE localhost:2947:/dev/ttyAMA0
UBX-CFG-RATE:
measRate 1000 navRate 1 timeRef 1 (GPS)
Query current settings for TIMEPULSE pin:
ubxtool -p CFG-TP5,0 localhost:2947:/dev/ttyAMA0
UBX-CFG-TP5:
tpIdx 0 version 1 reserved1 0
antCableDelay 50 rfGroupDelay 0 freqPeriod 1000000 freqPeriodLock 1000000
pulseLenRatio 0 pulseLenRatioLock 100000 userConfigDelay 0
flags x77
flags (Active lockGnssFreq lockedOtherSet isLength alignToTow RisingEdge)
gridToGps (UTC) syncMode 0
Query current settings for TIMEPULSE2 pin:
ubxtool -p CFG-TP5,1 localhost:2947:/dev/ttyAMA0
UBX-CFG-TP5:
tpIdx 1 version 1 reserved1 0
antCableDelay 50 rfGroupDelay 0 freqPeriod 4 freqPeriodLock 1
pulseLenRatio 125000 pulseLenRatioLock 100000 userConfigDelay 0
flags x7e
flags (lockGnssFreq lockedOtherSet isFreq isLength alignToTow RisingEdge)
gridToGps (UTC) syncMode 0