add CfgEsfWt message

- this message is available on Series 8 devices - for series 9 it is considered legacy and there is no gurantee according to the manual that it will work. Series 9 devices introduced a new set of messages specific for ADR produts. See reference manual from uBlox. - this messages has been tested for Vehicle Speed configuration on F9R devices and it worked Signed-off-by: Andrei Gherghescu <[email protected]>
andrei-ng · Jan 31, 2025 · 2601a30 · 2601a30
1 parent 194c79e
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,6 +6,7 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) a
 
 ## [0.1.0] - 2025-xx-xx
 ### Added
+- [[#28](https://github.com/andrei-ng/u-blox.rs/pull/28)] Add UBX-CFG-ESFWT message 
 - [[#27](https://github.com/andrei-ng/u-blox.rs/pull/27)] Merge [ublox-rs/ublox/pull/24](https://github.com/ublox-rs/ublox/pull/24) PR that adds `UBX-NAV-RELPOSNED` into this repository.
     - remove duplicate package definition `MgaGpsEph`
     - add features flags to differentiate between uBlox Series 8 and uBlox Series 9 devices; As  `UBX-NAV-RELPOSNED` has different lengths depending on the protocol /series.
diff --git a/examples/adr-message-parsing/src/main.rs b/examples/adr-message-parsing/src/main.rs
@@ -128,12 +128,6 @@ fn main() {
         )
         .expect("Could not configure ports for UBX-CFG-ESFALG");
 
-    device
-        .write_all(
-            &CfgMsgAllPortsBuilder::set_rate_for::<EsfAlg>([0, 1, 0, 1, 0, 0]).into_packet_bytes(),
-        )
-        .expect("Could not configure ports for UBX-ESF-INS");
-
     device
         .write_all(
             &CfgMsgAllPortsBuilder::set_rate_for::<NavPvt>([0, 0, 0, 0, 0, 0]).into_packet_bytes(),
@@ -173,12 +167,40 @@ fn main() {
         )
         .expect("Could not write UBX-CFG-ESFALG msg due to: {e}");
 
-    // Send packet request to read the new CfgEsfAlg
     device
         .write_all(&UbxPacketRequest::request_for::<CfgEsfAlg>().into_packet_bytes())
         .expect("Unable to write request/poll for UBX-CFG-ESFALG message");
 
-    // Start reading data
+    device
+        .write_all(
+            &CfgMsgAllPortsBuilder::set_rate_for::<CfgEsfAlg>([0, 1, 0, 1, 0, 0])
+                .into_packet_bytes(),
+        )
+        .expect("Could not configure ports for UBX-ESF-INS");
+
+    // Configure Wheel Speed for ESF
+    device
+        .write_all(
+            &ublox::CfgEsfWtBuilder {
+                flags1: CfgEsfWtFlags1::USE_WHEEL_TICK_SPEED,
+                wt_frequency: 13,
+                ..Default::default()
+            }
+            .into_packet_bytes(),
+        )
+        .expect("Could not write UBX-CFG-ESFALG msg due to: {e}");
+
+    device
+        .write_all(&UbxPacketRequest::request_for::<CfgEsfWt>().into_packet_bytes())
+        .expect("Unable to write request/poll for UBX-CFG-ESFALG message");
+
+    device
+        .write_all(
+            &CfgMsgAllPortsBuilder::set_rate_for::<CfgEsfWt>([0, 1, 0, 1, 0, 0])
+                .into_packet_bytes(),
+        )
+        .expect("Could not configure ports for UBX-ESF-INS");
+
     println!("Opened uBlox device, waiting for messages...");
     loop {
         device
@@ -191,6 +213,14 @@ fn main() {
                         packet.extension().collect::<Vec<&str>>()
                     );
                 },
+                PacketRef::CfgEsfWt(msg) => {
+                    println!("Received: {:?}", msg);
+                },
+                PacketRef::CfgEsfAlg(msg) => {
+                    println!("Received: {:?}", msg);
+                },
+
+
                 PacketRef::EsfStatus(status) => {
                     println!(
                         "EsfStatus: tow: {}, version: {}, {:?},{:?}, fusion_mode: {:?}, num_sens: {}",
@@ -215,9 +245,8 @@ fn main() {
                     }
                     println!("calib_tag: {:?}", msg.calib_tag());
                 },
-
                 _ => {
-                    println!("{:?}", packet);
+                    {} //println!("{:?}", packet);
                 },
             })
             .unwrap();

diff --git a/ublox/src/ubx_packets/packets.rs b/ublox/src/ubx_packets/packets.rs
@@ -2869,6 +2869,89 @@ impl fmt::Debug for CfgEsfAlgFlags {
     }
 }
 
+/// Get/set wheel-tick configuration
+/// Only available for ADR products
+#[ubx_packet_recv_send]
+#[ubx(
+    class = 0x06,
+    id = 0x82,
+    fixed_payload_len = 32,
+    flags = "default_for_builder"
+)]
+struct CfgEsfWt {
+    version: u8,
+
+    #[ubx(map_type = CfgEsfWtFlags1)]
+    flags1: u8,
+
+    #[ubx(map_type = CfgEsfWtFlags2)]
+    flags2: u8,
+    reserved1: u8,
+
+    /// Wheel tick scaling factor
+    #[ubx(map_type = f64, scale = 1e-6)]
+    wt_factor: u32,
+
+    /// Wheel tick quantization
+    #[ubx(map_type = f64, scale = 1e-6)]
+    wt_quant_error: u32,
+
+    /// Wheel tick counter maximum value
+    wt_count_max: u32,
+
+    /// Wheel tick latency due to e.g. CAN bus
+    wt_latency: u16,
+
+    /// Nominal wheel tick data frequency
+    wt_frequency: u8,
+
+    #[ubx(map_type = CfgEsfWtFlags3)]
+    flags3: u8,
+
+    /// Speed sensor dead band
+    speed_dead_band: u16,
+
+    reserved2: [u8; 10],
+}
+
+#[ubx_extend_bitflags]
+#[ubx(from, into_raw, rest_reserved)]
+bitflags! {
+    #[derive(Default, Debug)]
+    pub struct CfgEsfWtFlags1 : u8 {
+        /// Use combined rear wheel-ticks
+        const COMBINED_TICKS = 0x01;
+        /// Low-speed COG filter enabled flag
+        const USE_WHEEL_TICK_SPEED = 0x10;
+        /// Direction pin polarity
+        const DIR_PIN_POLARITY = 0x20;
+        /// Use wheel tick pin for speed measurement
+        const USE_WT_PIN = 0x40;
+    }
+}
+
+#[ubx_extend_bitflags]
+#[ubx(from, into_raw, rest_reserved)]
+bitflags! {
+    #[derive(Default, Debug)]
+    pub struct CfgEsfWtFlags2 : u8 {
+        const AUTO_WT_COUNT_MAX_OFF = 0x01;
+        const AUTO_DIR_PIN_POL_OFF = 0x02;
+        const AUTO_SOFTWARE_WT_OFF = 0x04;
+        const AUTO_USE_WT_SPEED_OFF = 0x08;
+    }
+}
+
+#[ubx_extend_bitflags]
+#[ubx(from, into_raw, rest_reserved)]
+bitflags! {
+    #[derive(Default, Debug)]
+    pub struct CfgEsfWtFlags3 : u8 {
+        /// Count both rising and falling edges of wheel-tick
+        const CNT_BOTH_EDGES = 0x01;
+    }
+}
+
 #[ubx_extend]
 #[ubx(from, rest_reserved)]
 #[repr(u8)]
@@ -4526,6 +4609,7 @@ define_recv_packets!(
         CfgTmode3,
         CfgTp5,
         CfgEsfAlg,
+        CfgEsfWt,
         EsfAlg,
         EsfIns,
         EsfMeas,