Updated uBlox stuff

gps_vcones/ublox/ublox-6h-100ms.txt

@@ -51,7 +51,7 @@ CFG-MSG - 06 01 08 00 F0 0A 00 00 00 00 00 00
 CFG-MSG - 06 01 08 00 F1 00 00 00 00 00 00 00
 CFG-MSG - 06 01 08 00 F1 03 00 00 00 00 00 00
 CFG-MSG - 06 01 08 00 F1 04 00 00 00 00 00 00
-CFG-NAV5 - 06 24 24 00 FF FF 00 03 00 00 00 00 10 27 00 00 05 00 FA 00 FA 00 64 00 2C 01 00 3C 00 00 00 00 00 00 00 00 00 00 00 00
+CFG-NAV5 - 06 24 24 00 FF FF 04 03 00 00 00 00 10 27 00 00 05 00 FA 00 FA 00 64 00 2C 01 00 3C 00 00 00 00 00 00 00 00 00 00 00 00
 CFG-NAVX5 - 06 23 28 00 00 00 FF FF 43 00 00 00 03 02 03 10 07 00 00 01 00 00 43 06 00 00 00 00 01 01 00 00 00 64 78 00 00 00 00 00 00 00 00 00
 CFG-NMEA - 06 17 04 00 00 23 00 02
 CFG-PM - 06 32 18 00 00 06 00 00 04 90 00 00 E8 03 00 00 10 27 00 00 00 00 00 00 02 00 00 00
@@ -65,7 +65,7 @@ CFG-RATE - 06 08 06 00 64 00 01 00 01 00
 CFG-RINV - 06 34 18 00 00 4E 6F 74 69 63 65 3A 20 6E 6F 20 64 61 74 61 20 73 61 76 65 64 21 00
 CFG-RXM - 06 11 02 00 08 00
 CFG-SBAS - 06 16 08 00 01 03 03 00 51 62 06 00
-CFG-TP - 06 07 14 00 40 42 0F 00 A0 86 01 00 01 01 00 00 32 00 00 00 00 00 00 00
+CFG-TP - 06 07 14 00 40 42 0F 00 A0 86 01 00 FF 01 00 00 32 00 40 00 00 00 00 00
-CFG-TP5 - 06 31 20 00 00 07 40 00 32 00 00 00 40 42 0F 00 40 42 0F 00 00 00 00 00 A0 86 01 00 00 00 00 00 F7 00 00 00
+CFG-TP5 - 06 31 20 00 00 07 40 00 32 00 40 00 40 42 0F 00 40 42 0F 00 00 00 00 00 A0 86 01 00 00 00 00 00 B7 00 00 00
-CFG-TP5 - 06 31 20 00 01 07 40 00 32 00 00 00 04 00 00 00 01 00 00 00 48 E8 01 00 A0 86 01 00 00 00 00 00 FE 00 00 00
+CFG-TP5 - 06 31 20 00 01 07 40 00 32 00 40 00 0A 00 00 00 05 00 00 00 01 00 00 00 20 08 40 00 F7 05 21 00 D0 00 00 00
 CFG-USB - 06 1B 6C 00 46 15 A6 01 00 00 00 00 64 00 00 00 75 2D 62 6C 6F 78 20 41 47 20 2D 20 77 77 77 2E 75 2D 62 6C 6F 78 2E 63 6F 6D 00 00 00 00 00 00 75 2D 62 6C 6F 78 20 36 20 20 2D 20 20 47 50 53 20 52 65 63 65 69 76 65 72 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

gps_vcones/ublox/ublox-6h-250ms.txt

@@ -1,71 +0,0 @@
-MON-VER - 0A 04 28 00 37 2E 30 33 20 28 34 35 39 36 39 29 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 30 30 30 34 30 30 30 37 00 00
-CFG-ANT - 06 13 04 00 1B 00 8B A9
-CFG-DAT - 06 06 02 00 00 00
-CFG-FXN - 06 0E 24 00 0C 00 00 00 00 00 00 00 00 00 00 00 10 27 00 00 10 27 00 00 D0 07 00 00 18 FC FF FF 00 00 00 00 00 00 00 00
-CFG-INF - 06 02 0A 00 00 00 00 00 00 00 00 00 00 00
-CFG-INF - 06 02 0A 00 01 00 00 00 87 87 87 87 87 87
-CFG-INF - 06 02 0A 00 03 00 00 00 00 00 00 00 00 00
-CFG-ITFM - 06 39 08 00 F3 AC 62 2D 1E 03 00 00
-CFG-MSG - 06 01 08 00 0B 30 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0B 32 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0B 33 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0B 31 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0B 01 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0B 00 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0A 0B 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0A 09 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0A 02 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0A 06 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0A 07 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0A 21 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0A 08 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 60 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 22 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 31 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 04 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 01 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 02 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 32 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 06 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 03 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 30 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 20 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 21 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 11 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 12 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 02 20 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0D 03 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0D 01 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0D 06 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 F0 00 01 01 01 01 01 01
-CFG-MSG - 06 01 08 00 F0 01 01 01 01 01 01 01
-CFG-MSG - 06 01 08 00 F0 02 01 01 01 01 01 01
-CFG-MSG - 06 01 08 00 F0 03 01 01 01 01 01 01
-CFG-MSG - 06 01 08 00 F0 04 01 01 01 01 01 01
-CFG-MSG - 06 01 08 00 F0 05 01 01 01 01 01 01
-CFG-MSG - 06 01 08 00 F0 06 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 F0 07 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 F0 08 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 F0 09 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 F0 0A 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 F1 00 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 F1 03 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 F1 04 00 00 00 00 00 00
-CFG-NAV5 - 06 24 24 00 FF FF 00 03 00 00 00 00 10 27 00 00 05 00 FA 00 FA 00 64 00 2C 01 00 3C 00 00 00 00 00 00 00 00 00 00 00 00
-CFG-NAVX5 - 06 23 28 00 00 00 FF FF 43 00 00 00 03 02 03 10 07 00 00 01 00 00 43 06 00 00 00 00 01 01 00 00 00 64 78 00 00 00 00 00 00 00 00 00
-CFG-NMEA - 06 17 04 00 00 23 00 02
-CFG-PM - 06 32 18 00 00 06 00 00 04 90 00 00 E8 03 00 00 10 27 00 00 00 00 00 00 02 00 00 00
-CFG-PM2 - 06 3B 2C 00 01 06 00 00 00 90 02 00 E8 03 00 00 10 27 00 00 00 00 00 00 02 00 00 00 2C 01 00 00 4F C1 03 00 86 02 00 00 FE 00 00 00 64 40 01 00
-CFG-PRT - 06 00 14 00 00 00 00 00 84 00 00 00 00 00 00 00 07 00 07 00 00 00 00 00
-CFG-PRT - 06 00 14 00 01 00 00 00 C0 08 00 00 00 C2 01 00 07 00 03 00 00 00 00 00
-CFG-PRT - 06 00 14 00 02 00 00 00 C0 08 00 00 80 25 00 00 00 00 00 00 00 00 00 00
-CFG-PRT - 06 00 14 00 03 00 00 00 00 00 00 00 00 00 00 00 07 00 07 00 00 00 00 00
-CFG-PRT - 06 00 14 00 04 00 00 00 00 32 00 00 00 00 00 00 07 00 07 00 00 00 00 00
-CFG-RATE - 06 08 06 00 FA 00 01 00 01 00
-CFG-RINV - 06 34 18 00 00 4E 6F 74 69 63 65 3A 20 6E 6F 20 64 61 74 61 20 73 61 76 65 64 21 00
-CFG-RXM - 06 11 02 00 08 00
-CFG-SBAS - 06 16 08 00 01 03 03 00 51 62 06 00
-CFG-TP - 06 07 14 00 40 42 0F 00 A0 86 01 00 01 01 00 00 32 00 00 00 00 00 00 00
-CFG-TP5 - 06 31 20 00 00 07 40 00 32 00 00 00 40 42 0F 00 40 42 0F 00 00 00 00 00 A0 86 01 00 00 00 00 00 F7 00 00 00
-CFG-TP5 - 06 31 20 00 01 07 40 00 32 00 00 00 04 00 00 00 01 00 00 00 48 E8 01 00 A0 86 01 00 00 00 00 00 FE 00 00 00
-CFG-USB - 06 1B 6C 00 46 15 A6 01 00 00 00 00 64 00 00 00 75 2D 62 6C 6F 78 20 41 47 20 2D 20 77 77 77 2E 75 2D 62 6C 6F 78 2E 63 6F 6D 00 00 00 00 00 00 75 2D 62 6C 6F 78 20 36 20 20 2D 20 20 47 50 53 20 52 65 63 65 69 76 65 72 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

gps_vcones/ublox/ublox-6h-500ms.txt

@@ -1,71 +0,0 @@
-MON-VER - 0A 04 28 00 37 2E 30 33 20 28 34 35 39 36 39 29 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 30 30 30 34 30 30 30 37 00 00
-CFG-ANT - 06 13 04 00 1B 00 8B A9
-CFG-DAT - 06 06 02 00 00 00
-CFG-FXN - 06 0E 24 00 0C 00 00 00 00 00 00 00 00 00 00 00 10 27 00 00 10 27 00 00 D0 07 00 00 18 FC FF FF 00 00 00 00 00 00 00 00
-CFG-INF - 06 02 0A 00 00 00 00 00 00 00 00 00 00 00
-CFG-INF - 06 02 0A 00 01 00 00 00 87 87 87 87 87 87
-CFG-INF - 06 02 0A 00 03 00 00 00 00 00 00 00 00 00
-CFG-ITFM - 06 39 08 00 F3 AC 62 2D 1E 03 00 00
-CFG-MSG - 06 01 08 00 0B 30 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0B 32 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0B 33 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0B 31 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0B 01 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0B 00 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0A 0B 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0A 09 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0A 02 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0A 06 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0A 07 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0A 21 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0A 08 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 60 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 22 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 31 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 04 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 01 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 02 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 32 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 06 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 03 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 30 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 20 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 21 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 11 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 01 12 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 02 20 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0D 03 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0D 01 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 0D 06 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 F0 00 01 01 01 01 01 01
-CFG-MSG - 06 01 08 00 F0 01 01 01 01 01 01 01
-CFG-MSG - 06 01 08 00 F0 02 01 01 01 01 01 01
-CFG-MSG - 06 01 08 00 F0 03 01 01 01 01 01 01
-CFG-MSG - 06 01 08 00 F0 04 01 01 01 01 01 01
-CFG-MSG - 06 01 08 00 F0 05 01 01 01 01 01 01
-CFG-MSG - 06 01 08 00 F0 06 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 F0 07 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 F0 08 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 F0 09 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 F0 0A 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 F1 00 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 F1 03 00 00 00 00 00 00
-CFG-MSG - 06 01 08 00 F1 04 00 00 00 00 00 00
-CFG-NAV5 - 06 24 24 00 FF FF 00 03 00 00 00 00 10 27 00 00 05 00 FA 00 FA 00 64 00 2C 01 00 3C 00 00 00 00 00 00 00 00 00 00 00 00
-CFG-NAVX5 - 06 23 28 00 00 00 FF FF 43 00 00 00 03 02 03 10 07 00 00 01 00 00 43 06 00 00 00 00 01 01 00 00 00 64 78 00 00 00 00 00 00 00 00 00
-CFG-NMEA - 06 17 04 00 00 23 00 02
-CFG-PM - 06 32 18 00 00 06 00 00 04 90 00 00 E8 03 00 00 10 27 00 00 00 00 00 00 02 00 00 00
-CFG-PM2 - 06 3B 2C 00 01 06 00 00 00 90 02 00 E8 03 00 00 10 27 00 00 00 00 00 00 02 00 00 00 2C 01 00 00 4F C1 03 00 86 02 00 00 FE 00 00 00 64 40 01 00
-CFG-PRT - 06 00 14 00 00 00 00 00 84 00 00 00 00 00 00 00 07 00 07 00 00 00 00 00
-CFG-PRT - 06 00 14 00 01 00 00 00 C0 08 00 00 00 C2 01 00 07 00 03 00 00 00 00 00
-CFG-PRT - 06 00 14 00 02 00 00 00 C0 08 00 00 80 25 00 00 00 00 00 00 00 00 00 00
-CFG-PRT - 06 00 14 00 03 00 00 00 00 00 00 00 00 00 00 00 07 00 07 00 00 00 00 00
-CFG-PRT - 06 00 14 00 04 00 00 00 00 32 00 00 00 00 00 00 07 00 07 00 00 00 00 00
-CFG-RATE - 06 08 06 00 F4 01 01 00 01 00
-CFG-RINV - 06 34 18 00 00 4E 6F 74 69 63 65 3A 20 6E 6F 20 64 61 74 61 20 73 61 76 65 64 21 00
-CFG-RXM - 06 11 02 00 08 00
-CFG-SBAS - 06 16 08 00 01 03 03 00 51 62 06 00
-CFG-TP - 06 07 14 00 40 42 0F 00 A0 86 01 00 01 01 00 00 32 00 00 00 00 00 00 00
-CFG-TP5 - 06 31 20 00 00 07 40 00 32 00 00 00 40 42 0F 00 40 42 0F 00 00 00 00 00 A0 86 01 00 00 00 00 00 F7 00 00 00
-CFG-TP5 - 06 31 20 00 01 07 40 00 32 00 00 00 04 00 00 00 01 00 00 00 48 E8 01 00 A0 86 01 00 00 00 00 00 FE 00 00 00
-CFG-USB - 06 1B 6C 00 46 15 A6 01 00 00 00 00 64 00 00 00 75 2D 62 6C 6F 78 20 41 47 20 2D 20 77 77 77 2E 75 2D 62 6C 6F 78 2E 63 6F 6D 00 00 00 00 00 00 75 2D 62 6C 6F 78 20 36 20 20 2D 20 20 47 50 53 20 52 65 63 65 69 76 65 72 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

gps_vcones/ublox/ubxconfig.sh

@@ -0,0 +1,195 @@
+#!/bin/bash
+
+###AUTHOR###
+#Harry Dove-Robinson 5/8/2017
+#harry@doverobinson.me
+#https://gist.github.com/hdoverobinson
+#https://github.com/hdoverobinson
+
+###USAGE###
+#This is a script used to configure u-blox GPS/GNSS modules from a text file generated by u-center.
+#This allows for the possibility of simple in-situ u-blox receiver configuration on a Linux host. (u-center is Windows-only software.)
+#It has been tested on the NEO-M8T and EVK-M8T modules with u-center 8.24 and should work with any GPS receiver on the u-blox 8/M8 firmware.
+#The script takes its first argument as the path to a GPS device file and the second argument as the path to a .txt file used to configure the GPS.
+#Example: ./ubxconfig.sh /dev/ttyACM0 NEO-M8T_10HZ_GNSS_SBAS.txt
+#The receiver is first reset to factory defaults before it is configured from the text file. The configuration is then saved to all available flash.
+#The configuration text file used should be one that is outputted from u-center (Tools -> GNSS Configuration...).
+#The packages "dos2unix" and "bc" are required for this script to run.
+
+###NOTES###
+#The script will not run unless there is an exact match between the MON-VER string of the text file and the MON-VER output of the GPS receiver.
+#The MON-VER response is the longest parsed by the script, and it may take a few tries before the full message is able to be parsed.
+#All other messages are sent up to 10 times before being permanently declared "NOT ACKNOWLEDGED". Note that this does not mean that it was explicitly rejected.
+#If "ERROR - MESSAGE NOT ACKNOWLEDGED" is shown after 10 retries, then there is likely a problem with the contents of the configuration file or communication with the GPS receiver.
+#It is expected behavior for some UBX messages to be rejected by the receiver. Try running the configuration file within u-center to see which ones.
+#The STTY variable holds the stty configuration message that sets up the serial line for this script. It assumes a USB device able to run at 921600 baud.
+#Other stty configuration messages can be loaded in with the output of "stty -F /dev/GPS0 -g" where "GPS0" is the character device file of the GPS.
+#Currently this script cannot handle changes in the baudrate when used over an analog serial line. The GPS receiver should be connected to the host via USB.
+
+export GPS=$1
+export CONFIG=$2
+export STTY="406:0:18b7:8a30:3:1c:7f:8:4:2:64:0:11:13:1a:0:12:f:17:16:0:0:0:0:0:0:0:0:0:0:0:0:0:0:0:0"
+export RETRY_COUNT="10"
+export TIMEOUT=".25s"
+export UBX_ACK_ACK="b5620501"
+export UBX_ACK_NAK="b5620500"
+export UBX_PREAMBLE="B5 62"
+export UBX_MON_VER_POLL="0A 04 00 00"
+export UBX_CFG_CFG_REVERTDEFAULT="06 09 0D 00 FF FF 00 00 00 00 00 00 FF FF 00 00 17"
+export UBX_CFG_CFG_SAVE="06 09 0D 00 00 00 00 00 FF FF 00 00 00 00 00 00 17"
+
+#counts number of sent messages up to the set number of retries
+#anything sent into the counter should fail with exit code 1 and pass with exit code 0
+send_counter ()
+{
+SENT_COUNTER=0
+until [ $SENT_COUNTER == $RETRY_COUNT ] && echo "$(tput setaf 1)ERROR - MESSAGE NOT ACKNOWLEDGED$(tput sgr0)" && let ERROR_COUNTER=ERROR_COUNTER+1 || "$@"
+do
+let SENT_COUNTER=SENT_COUNTER+1
+echo "NOT ACKNOWLEDGED"
+if [ $SENT_COUNTER -ge 1 ] && [ $SENT_COUNTER -le $(expr $RETRY_COUNT - 1) ]
+then
+echo "RETRYING"
+fi
+done
+}
+
+#these needed to be functions so that ver_check can loop multiple times if it fails
+file_mon_ver ()
+{
+#pulls MON-VER string from configuration file, finds only the hex and reformats for comparison
+grep "MON-VER" $1 | sed 's/^.*-\s//' | xxd -r -p | xxd -p | tr -d '\n'
+}
+dev_mon_ver ()
+{
+#sends the MON-VER polling message, has larger timeout and set byte range because we expect a long response
+echo "`ubx_chksum "$UBX_MON_VER_POLL"`" | xxd -r -p > $GPS && timeout 5s cat $GPS | xxd -p -l50000 | grep -m1 -a -A 10 "b5620a04" | tr -d '\n'
+}
+
+ver_check ()
+{
+if [[ `dev_mon_ver` =~ .*`file_mon_ver $1`.* ]]
+then
+echo "Version match!"
+else
+return 1
+fi
+}
+
+send_ubx ()
+{
+echo "Sending UBX message: "$@""
+#timeout is allowed in case no response is received
+ubx_response=`timeout $TIMEOUT cat $GPS | xxd -p | grep -m1 -a -e "$UBX_ACK_ACK" -e "$UBX_ACK_NAK" & echo $2 | xxd -r -p > $GPS`
+if [[ $ubx_response == *$UBX_ACK_ACK* ]]
+then
+echo "$(tput setaf 2)ACKNOWLEDGED$(tput sgr0)" && let ACK_COUNTER=ACK_COUNTER+1
+elif [[ $ubx_response == *$UBX_ACK_NAK* ]]
+then
+echo "$(tput setaf 3)REJECTED$(tput sgr0)" && let NAK_COUNTER=NAK_COUNTER+1
+else
+return 1
+fi
+}
+
+ubx_chksum ()
+#############################################################################################################################
+###Fletcher checksum calculator adapted from: http://www.aeronetworks.ca/2014/07/fletcher-checksum-calculator-in-bash.html###
+#############################################################################################################################
+{
+SUM=0
+FLETCHER=0
+j=0
+
+printf "$UBX_PREAMBLE "
+
+for i in $1
+do
+ j=$(echo "ibase=16;$i" | bc)
+ printf "%02X " "$j"
+ SUM=$(echo "$SUM + $j" | bc)
+ SUM=$(echo "$SUM%256" | bc)
+
+ FLETCHER=$(echo "$FLETCHER + $SUM" | bc)
+ FLETCHER=$(echo "$FLETCHER%256" | bc)
+done
+
+printf "%02X " "$SUM"
+printf "%02X\n" "$FLETCHER"
+}
+
+main ()
+{
+#validate the GPS device and .txt file
+if [[ -c $GPS ]] && [[ -f $CONFIG && -s $CONFIG && $CONFIG == *.txt ]]
+then
+#prepare serial port
+stty -F $GPS $STTY
+#remove windows carriage returns from config file
+dos2unix $CONFIG
+
+#version compatibility loop
+echo "Checking compatibility..."
+until ver_check $1
+do
+echo "Version mismatch! Checking again..."
+done
+
+ACK_COUNTER=0
+NAK_COUNTER=0
+ERROR_COUNTER=0
+
+#configuration start
+echo "Configuring u-blox GPS at $GPS from $1..."
+echo "Resetting to factory defaults..."
+send_counter send_ubx "UBX-CFG-CFG-REVERTDEFAULT" "$(ubx_chksum "$UBX_CFG_CFG_REVERTDEFAULT")"
+
+echo "Restoring configuration from file..."
+#loop through config file after MON-VER line and pass through ubx_chksum, send_ubx, and send_counter
+while read -r line
+do
+send_counter send_ubx "`echo $line | sed 's/\s.*$//'`" "`ubx_chksum "$(echo $line | sed 's/^.*-\s//')"`"
+done < <(tail -n+2 $1)
+
+echo "Saving configuration to flash..."
+send_counter send_ubx "UBX-CFG-CFG-SAVE" "$(ubx_chksum "$UBX_CFG_CFG_SAVE")"
+
+echo -en "\n"
+echo "Done!"
+
+#print message stats
+TOTAL=$(($ACK_COUNTER+$NAK_COUNTER+$ERROR_COUNTER))
+echo -en "\n"
+echo "----------------------------------------"
+echo -en "\n"
+echo "UBX MESSAGE STATISTICS:"
+echo "$(tput setaf 2)ACKNOWLEDGED:$(tput sgr0) $ACK_COUNTER ($(echo "scale=2; $ACK_COUNTER / $TOTAL * 100" | bc | sed s/\\.[0-9]\\+//)%)"
+echo "$(tput setaf 3)REJECTED:$(tput sgr0) $NAK_COUNTER ($(echo "scale=2; $NAK_COUNTER / $TOTAL * 100" | bc | sed s/\\.[0-9]\\+//)%)"
+echo "$(tput setaf 1)ERRORS:$(tput sgr0) $ERROR_COUNTER ($(echo "scale=2; $ERROR_COUNTER / $TOTAL * 100" | bc | sed s/\\.[0-9]\\+//)%)"
+echo "TOTAL SENT: $TOTAL"
+echo -en "\n"
+
+else
+echo "Provide the GPS device as first argument and .txt file as second!"
+return 1
+fi
+}
+
+#check for dos2unix
+if ! command -v dos2unix > /dev/null 2>&1
+then
+echo "Please install dos2unix!"
+exit 2
+fi
+
+#check for bc
+if ! command -v bc > /dev/null 2>&1
+then
+echo "Please install bc!"
+exit 2
+fi
+
+#run
+main $CONFIG
+
+exit $ERROR_COUNTER