Merge pull request #208 from semuconsulting/RC-1.3.4

Rc 1.3.4

Author: semuadmin

README.md

@@ -34,7 +34,7 @@ This is an independent project and we have no affiliation whatsoever with u-blox
 ![Contributors](https://img.shields.io/github/contributors/semuconsulting/pyubx2.svg)
 ![Open Issues](https://img.shields.io/github/issues-raw/semuconsulting/pyubx2)
 
-The library implements a comprehensive set of inbound (SET/POLL) and outbound (GET) messages for all current u-blox GPS/GNSS devices, but is readily [extensible](#extensibility). Refer to `UBX_MSGIDS` in [ubxtypes_core.py](https://github.com/semuconsulting/pyubx2/blob/master/src/pyubx2/ubxtypes_core.py) for the complete dictionary of messages currently supported. UBX protocol information sourced from public domain u-blox Interface Specifications © 2013-2025, u-blox AG.
+The library implements a comprehensive set of inbound (SET/POLL) and outbound (GET) messages for all current u-blox GPS/GNSS devices, but is readily [extensible](#extensibility). Refer to `UBX_MSGIDS` in [ubxtypes_core.py](https://github.com/semuconsulting/pyubx2/blob/master/src/pyubx2/ubxtypes_core.py) for the complete dictionary of messages currently supported. UBX protocol information sourced from public domain u-blox Interface Specifications © 2013-2026, u-blox AG.
 
 Sphinx API Documentation in HTML format is available at [https://www.semuconsulting.com/pyubx2/](https://www.semuconsulting.com/pyubx2/).
 
@@ -442,7 +442,7 @@ The UBX protocol is principally defined in the modules `ubxtypes_*.py` as a seri
 1. attribute names must be unique within each message class
 2. attribute types must be one of the valid types (I1, U2, X4, etc.)
 3. if the attribute is scaled, attribute type is list of [attribute type as string (I1, U2, etc.), scaling factor as float] e.g. {"lat": [I4, 1e-7]}
-4. repeating or bitfield groups must be defined as a tuple ('numr', {dict}), where:
+4. repeating or bitfield groups must be suffixed "_grp" or "_bit" and defined as a tuple ('numr', {dict}), where:
    'numr' is either:
      a. an integer representing a fixed number of repeats e.g. 32
      b. a string representing the name of a preceding attribute containing the number of repeats e.g. 'numCh'

RELEASE_NOTES.md

@@ -1,14 +1,13 @@
 # pyubx2 Release Notes
 
-### RELEASE 1.3.3
+### RELEASE 1.3.4
+
+1. Minor performance improvements to parsing.
+1. Update support for ZED-X20D (https://content.u-blox.com/sites/default/files/documents/ZED-X20D_HDG200_RN_UBXDOC-304424225-21402.pdf):
 
-1. Add new configuration database keys for ZED-X20P firmware HGP 2.10:
+### RELEASE 1.3.3
 
-    - "CFG_I2C_PULL_UPS_DISABLED": (0x1051000b, L),
-    - "CFG_NAVCOR_ENABLE_GAL_HAS": (0x100d0002, L),
-    - "CFG_NAVCOR_ENABLE_HOST": (0x100d0001, L),
-    - "CFG_RTCM_DF028_OUT": (0x30090010, U2),
-    - "CFG_SIGNAL_QZSS_L1CB_ENA": (0x10310039, L),
+1. Add new configuration database keys for ZED-X20P:
 
 ### RELEASE 1.3.2
 

pyproject.toml

@@ -33,7 +33,7 @@ classifiers = [
     "Topic :: Scientific/Engineering :: GIS",
 ]
 
-dependencies = ["pynmeagps >= 1.1.4", "pyrtcm >= 1.1.12"]
+dependencies = ["pynmeagps >= 1.1.5", "pyrtcm >= 1.1.12"]
 
 [project.urls]
 homepage = "https://github.com/semuconsulting/pyubx2"

src/pyubx2/_version.py

@@ -8,4 +8,4 @@
 :license: BSD 3-Clause
 """
 
-__version__ = "1.3.3"
+__version__ = "1.3.4"

src/pyubx2/ubxmessage.py

@@ -33,8 +33,10 @@
     val2bytes,
 )
 from pyubx2.ubxtypes_core import (
+    BITFIELD,
     CH,
     GET,
+    GROUP,
     POLL,
     SCALROUND,
     SET,
@@ -44,12 +46,6 @@
     UBX_CLASSES,
     UBX_HDR,
     UBX_MSGIDS,
-    X1,
-    X2,
-    X4,
-    X6,
-    X8,
-    X24,
 )
 from pyubx2.ubxtypes_get import UBX_PAYLOADS_GET
 from pyubx2.ubxtypes_poll import UBX_PAYLOADS_POLL
@@ -178,23 +174,22 @@ def _set_attribute(
         """
 
         adef = pdict[anam]  # get attribute definition
-        if isinstance(
-            adef, tuple
-        ):  # repeating group of attributes or subdefined bitfield
-            numr, _ = adef
-            if numr in (X1, X2, X4, X6, X8, X24):  # bitfield
-                if self._parsebf in (1, 2):  # if we're parsing bitfields
-                    if self._parsebf == 2:  # parse as bytes and bits
-                        self._set_attribute_single(anam, numr, offset, index, **kwargs)
-                    offset, index = self._set_attribute_bitfield(
-                        adef, offset, index, **kwargs
-                    )  # parse as bits
-                else:  # parse as bytes only
-                    offset = self._set_attribute_single(
-                        anam, numr, offset, index, **kwargs
+        if BITFIELD in anam:  # 'X' type bitfield
+            sdef, _ = adef
+            if self._parsebf in (1, 2):  # if we're parsing bitfields
+                if self._parsebf == 2:  # parse as bits and single attribute
+                    self._set_attribute_single(
+                        anam[0:-4], sdef, offset, index, **kwargs
                     )
-            else:  # repeating group of attributes
-                offset, index = self._set_attribute_group(adef, offset, index, **kwargs)
+                offset, index = self._set_attribute_bitfield(
+                    adef, offset, index, **kwargs
+                )
+            else:  # parse as single attribute only
+                offset = self._set_attribute_single(
+                    anam[0:-4], sdef, offset, index, **kwargs
+                )
+        elif GROUP in anam:  # repeating group
+            offset, index = self._set_attribute_group(adef, offset, index, **kwargs)
         else:  # single attribute
             offset = self._set_attribute_single(anam, adef, offset, index, **kwargs)
 
@@ -278,7 +273,7 @@ def _set_attribute_single(
 
         # if attribute is scaled
         ares = 1
-        if isinstance(adef, list):
+        if isinstance(adef, tuple):
             ares = adef[1]  # attribute resolution (i.e. scaling factor)
             adef = adef[0]  # attribute definition
 

src/pyubx2/ubxtypes_configdb.py

@@ -498,6 +498,11 @@
     "CFG_MSGOUT_UBX_MON_MSGPP_UART1": (0x20910197, U1),
     "CFG_MSGOUT_UBX_MON_MSGPP_UART2": (0x20910198, U1),
     "CFG_MSGOUT_UBX_MON_MSGPP_USB": (0x20910199, U1),
+    "CFG_MSGOUT_UBX_MON_PT2_I2C": (0x20910209, U1),
+    "CFG_MSGOUT_UBX_MON_PT2_SPI": (0x2091020D, U1),
+    "CFG_MSGOUT_UBX_MON_PT2_UART1": (0x2091020A, U1),
+    "CFG_MSGOUT_UBX_MON_PT2_UART2": (0x2091020B, U1),
+    "CFG_MSGOUT_UBX_MON_PT2_USB": (0x2091020C, U1),
     "CFG_MSGOUT_UBX_MON_RF_I2C": (0x20910359, U1),
     "CFG_MSGOUT_UBX_MON_RF_SPI": (0x2091035D, U1),
     "CFG_MSGOUT_UBX_MON_RF_UART1": (0x2091035A, U1),
@@ -678,6 +683,11 @@
     "CFG_MSGOUT_UBX_NAV_COV_UART1": (0x20910084, U1),
     "CFG_MSGOUT_UBX_NAV_COV_UART2": (0x20910085, U1),
     "CFG_MSGOUT_UBX_NAV_COV_USB": (0x20910086, U1),
+    "CFG_MSGOUT_UBX_NAV_DAHEADING_I2C": (0x209103DF, U1),
+    "CFG_MSGOUT_UBX_NAV_DAHEADING_SPI": (0x209103E3, U1),
+    "CFG_MSGOUT_UBX_NAV_DAHEADING_UART1": (0x209103E0, U1),
+    "CFG_MSGOUT_UBX_NAV_DAHEADING_UART2": (0x209103E1, U1),
+    "CFG_MSGOUT_UBX_NAV_DAHEADING_USB": (0x209103E2, U1),
     "CFG_MSGOUT_UBX_NAV_DGPS_I2C": (0x20910074, U1),
     "CFG_MSGOUT_UBX_NAV_DGPS_SPI": (0x20910078, U1),
     "CFG_MSGOUT_UBX_NAV_DGPS_UART1": (0x20910075, U1),
@@ -1005,13 +1015,14 @@
     "CFG_NAVMASK_SV_MASK_GPS": (0x50180013, X8),
     "CFG_NAVMASK_SV_MASK_NAVIC": (0x50180018, X8),
     "CFG_NAVMASK_SV_MASK_QZSS": (0x50180017, X8),
+    "CFG_NAVHPG_CORR_CONV_OSR": (0x30140062, X2),
     "CFG_NAVSPG_ACKAIDING": (0x10110025, L),
     "CFG_NAVSPG_CONSTR_ALT": (0x401100C1, I4),
     "CFG_NAVSPG_CONSTR_ALTVAR": (0x401100C2, U4),
     "CFG_NAVSPG_CONSTR_DGNSSTO": (0x201100C4, U1),
     "CFG_NAVSPG_CONSTR_DGNSSTO_SCALE": (0x201100C5, U1),
     "CFG_NAVSPG_CONSTR_PROPLIMIT": (0x401100C3, U4),
-    # "CFG_NAVSPG_DAHEADING_OFFSET": (0x40??????, U4),
+    "CFG_NAVSPG_DAHEADING_OFFSET": (0x401100E4, U4),  # not in docs, got from ucenter2
     "CFG_NAVSPG_DCMMODE": (0x20110023, E1),
     "CFG_NAVSPG_DYNMODEL": (0x20110021, E1),
     "CFG_NAVSPG_FIXMODE": (0x20110011, E1),
@@ -1135,6 +1146,8 @@
     "CFG_SEC_CFG_LOCK": (0x10F60009, L),
     "CFG_SEC_CFG_LOCK_UNLOCKGRP1": (0x30F6000A, U2),
     "CFG_SEC_CFG_LOCK_UNLOCKGRP2": (0x30F6000B, U2),
+    "CFG_SEC_COM_SIGN_RATE": (0x30F60061, U2),
+    "CFG_SEC_COM_SIGN_SCHEME": (0x30F60060, E2),
     "CFG_SEC_JAMDET_SENSITIVITY_HI": (0x10F60051, L),
     "CFG_SEC_SPOOFDET_SIM_SIG_DIS": (0x10F6005D, L),
     "CFG_SFCORE_HNR_RATE": (0x2008001A, U1),

src/pyubx2/ubxtypes_core.py

@@ -36,15 +36,55 @@
 """Ignore errors"""
 
 # scaling factor constants
-SCAL9 = 1e-9  # 0.000000001
-SCAL8 = 1e-8  # 0.00000001
-SCAL7 = 1e-7  # 0.0000001
-SCAL6 = 1e-6  # 0.000001
-SCAL5 = 1e-5  # 0.00001
-SCAL4 = 1e-4  # 0.0001
-SCAL3 = 1e-3  # 0.001
-SCAL2 = 1e-2  # 0.01
-SCAL1 = 1e-1  # 0.1
+E1_N1 = 1e-1  # 0.1
+E1_N2 = 1e-2  # 0.01
+E1_N3 = 1e-3  # 0.001
+E1_N4 = 1e-4  # 0.0001
+E1_N5 = 1e-5  # 0.00001
+E1_N6 = 1e-6  # 0.000001
+E1_N7 = 1e-7  # 0.0000001
+E1_N8 = 1e-8  # 0.00000001
+E1_N9 = 1e-9  # 0.000000001
+P2_N5 = 0.03125  # 2**-5
+P2_N6 = 0.015625  # 2**-6
+P2_N8 = 0.00390625  # 2**-8
+P2_N9 = 0.001953125  # 2**-9
+P2_N10 = 0.0009765625  # 2**-10
+P2_N11 = 0.00048828125  # 2**-11
+P2_N12 = 0.000244140625  # 2**-12
+P2_N14 = 6.103515625e-05  # 2**-14
+P2_N15 = 3.0517578125e-05  # 2**-15
+P2_N16 = 1.52587890625e-05  # 2**-16
+P2_N18 = 3.814697265625e-06  # 2**-18
+P2_N19 = 1.9073486328125e-06  # 2**-19
+P2_N20 = 9.5367431640625e-07  # 2**-20
+P2_N21 = 4.76837158203125e-07  # 2**-21
+P2_N23 = 1.1920928955078125e-07  # 2**-23
+P2_N24 = 5.960464477539063e-08  # 2**-24
+P2_N25 = 2.9802322387695312e-08  # 2**-25
+P2_N27 = 7.450580596923828e-09  # 2**-27
+P2_N29 = 1.862645149230957e-09  # 2**-29
+P2_N30 = 9.313225746154785e-10  # 2**-30
+P2_N31 = 4.656612873077393e-10  # 2**-31
+P2_N32 = 2.3283064365386963e-10  # 2**-32
+P2_N33 = 1.1641532182693481e-10  # 2**-33
+P2_N34 = 5.820766091346741e-11  # 2**-34
+P2_N35 = 2.9103830456733704e-11  # 2**-35
+P2_N38 = 3.637978807091713e-12  # 2**-38
+P2_N40 = 9.094947017729282e-13  # 2**-40
+P2_N43 = 1.1368683772161603e-13  # 2**-43
+P2_N46 = 1.4210854715202004e-14  # 2**-46
+P2_N50 = 8.881784197001252e-16  # 2**-50
+P2_N51 = 4.440892098500626e-16  # 2**-51
+P2_N55 = 2.7755575615628914e-17  # 2**-55
+P2_N59 = 1.734723475976807e-18  # 2**-59
+P2_N66 = 1.3552527156068805e-20  # 2**-66
+P2_P3 = 8  # 2**3
+P2_P4 = 16  # 2**4
+P2_P11 = 2048  # 2**11
+P2_P12 = 4096  # 2**12
+P2_P14 = 16384  # 2**14
+P2_P16 = 65536  # 2**16
 SCALROUND = 12  # number of dp to round scaled attributes to
 
 # **************************************************
@@ -78,12 +118,14 @@
 U10 = "U010"  # Unsigned Int 10 bytes
 U11 = "U011"  # Unsigned Int 11 bytes
 U12 = "U012"  # Unsigned Int 12 bytes
+U14 = "U014"  # Unsigned Int 14 bytes
 U15 = "U015"  # Unsigned Int 15 bytes
 U16 = "U016"  # Unsigned Int 16 bytes
 U20 = "U020"  # Unsigned Int 20 bytes
 U22 = "U022"  # Unsigned Int 22 bytes
 U23 = "U023"  # Unsigned Int 23 bytes
 U24 = "U024"  # Unsigned Int 24 bytes
+U27 = "U027"  # Unsigned Int 27 bytes
 U32 = "U032"  # Unsigned Int 32 bytes
 U40 = "U040"  # Unsigned Int 40 bytes
 U64 = "U064"  # Unsigned Int 64 bytes
@@ -98,6 +140,9 @@
 R4 = "R004"  # Float (IEEE 754) Single Precision 4 bytes
 R8 = "R008"  # Float (IEEE 754) Double Precision 8 bytes
 
+BITFIELD = "_bit"
+GROUP = "_grp"
+
 ATTTYPE = {
     "A": type([0, 1]),
     "C": (type(b"0"), type("0")),
@@ -311,6 +356,7 @@
     b"\x0a\x02": "MON-IO",  # deprecated, use MON-COMMS
     b"\x0a\x06": "MON-MSGPP",  # deprecated, use MON-COMMS
     b"\x0a\x27": "MON-PATCH",
+    b"\x0a\x2b": "MON-PT2",
     b"\x0a\x38": "MON-RF",
     b"\x0a\x07": "MON-RXBUF",  # deprecated, use MON-COMMS
     b"\x0a\x21": "MON-RXR",