cmd_tlm_server.txt

# This is a segment of the main cmd_tlm_server.txt that will be used with
# AUTO_INTERFACE_TARGETS or INTERFACE_TARGET
#
# Both receivers speak UBX and share the same target definition, so exactly one
# of the interfaces below should be enabled at a time. Enabling both would map
# two interfaces onto the same target.
#
# The LENGTH protocol arguments are identical for both and describe UBX framing:
#   32            length field starts at bit 32, immediately after class and id
#   16            length field is 16 bits
#   8             add 8 to the length value: sync(2) class(1) id(1) len(2) ck(2)
#   1             length counts bytes
#   LITTLE_ENDIAN length field byte order
#   0             discard no leading bytes
#   0xB562        UBX sync pattern

# u-blox 6 (NEO-6M) over an FTDI USB-serial bridge. The baud rate matters here
# and must match the receiver's CFG-PRT setting.
INTERFACE UBLOX6_INT serial_interface.rb /dev/ttyUSB0 /dev/ttyUSB0 57600 NONE 1 10.0 nil LENGTH 32 16 8 1 LITTLE_ENDIAN 0 0xB562
  TARGET UBLOX6

# u-blox 9 (ZED-F9P) dongle. It enumerates as a USB CDC-ACM device rather than
# through a serial bridge, so the baud rate is ignored and any legal value
# works. On macOS the device is /dev/cu.usbmodem<n>; on Linux it is
# /dev/ttyACM<n>.
#
# CHECK THE DEVICE PATH BEFORE ENABLING THIS. Unlike the FTDI bridge above,
# whose node name is derived from the chip's serial number and is therefore
# stable, a CDC-ACM node is numbered by the USB port it is plugged into. Moving
# the dongle to a different port renames it -- observed changing from
# /dev/cu.usbmodem101 to /dev/cu.usbmodem1101 on a replug. COSMOS needs a
# literal path and cannot glob, so this line has to be edited to match. Print
# the current path with:
#     c/ubxtool list
#
# The F9P must be emitting UBX before COSMOS will see anything: it ships
# configured for NMEA only, which this target does not decode. Configure and
# persist it first with:
#     c/ubxtool config --preset nav --ubx-only --save
#
# INTERFACE UBLOXF9P_INT serial_interface.rb /dev/cu.usbmodem1101 /dev/cu.usbmodem1101 115200 NONE 1 10.0 nil LENGTH 32 16 8 1 LITTLE_ENDIAN 0 0xB562
#   TARGET UBLOX6