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gps: improvements and corrections for config commands

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This contains some improvements and corrections for the gps driver
It adds some additional functions for different modes (automobile, bike, etc)
and also ignores the return results from any config commands.

Basically due to the fact that there is a constant stream of updates
coming from NMEA messages, the results from sending any UBX commands
are getting lost. Better to just ignore them for now.

Signed-off-by: deadprogram <ron@hybridgroup.com>
This commit is contained in:
deadprogram
2026-01-11 16:08:13 +01:00
committed by Ron Evans
parent 892265b733
commit 0e2fb829ef
6 changed files with 133 additions and 38 deletions
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examples/gps/uart/main.go
+4 -1
View File
@@ -52,7 +52,10 @@ func main() {
}
println()
} else {
println("Waiting for fix...")
if fix.Type == gps.GSV {
// GSV sentence provides satellite count even if no fix yet
println(fix.Satellites, "satellites visible")
}
}
time.Sleep(200 * time.Millisecond)
}
gps/gps.go
+1
View File
@@ -15,6 +15,7 @@ var (
ErrInvalidNMEASentence = errors.New("invalid NMEA sentence format")
ErrEmptyNMEASentence = errors.New("cannot parse empty NMEA sentence")
ErrUnknownNMEASentence = errors.New("unsupported NMEA sentence type")
errInvalidGSVSentence = errors.New("invalid GSV NMEA sentence")
errInvalidGGASentence = errors.New("invalid GGA NMEA sentence")
errInvalidRMCSentence = errors.New("invalid RMC NMEA sentence")
errInvalidGLLSentence = errors.New("invalid GLL NMEA sentence")
gps/gpsparser.go
+36
View File
@@ -6,12 +6,28 @@ import (
"time"
)
type NMEASentenceType string
const (
GSA NMEASentenceType = "GSA"
GGA NMEASentenceType = "GGA"
GLL NMEASentenceType = "GLL"
GSV NMEASentenceType = "GSV"
RMC NMEASentenceType = "RMC"
VTG NMEASentenceType = "VTG"
ZDA NMEASentenceType = "ZDA"
TXT NMEASentenceType = "TXT"
)
// Parser for GPS NMEA sentences.
type Parser struct {
}
// Fix is a GPS location fix
type Fix struct {
// Type is the NMEA sentence type that provided this fix.
Type NMEASentenceType
// Valid if the fix was valid.
Valid bool
@@ -53,6 +69,23 @@ func (parser *Parser) Parse(sentence string) (Fix, error) {
}
typ := sentence[3:6]
switch typ {
case "GSV":
// https://docs.novatel.com/OEM7/Content/Logs/GPGSV.htm
fields := strings.Split(sentence, ",")
// GSV sentences have at least 4 fields, but typically 8, 12, 16, or 20 depending on satellites in view
if len(fields) < 4 {
return fix, errInvalidGSVSentence
}
fix.Type = GSV
// Number of satellites in view is always field 3
fix.Satellites = findSatellites(fields[3])
// GSV does not provide position, time, or fix validity
fix.Valid = false
return fix, nil
case "GGA":
// https://docs.novatel.com/OEM7/Content/Logs/GPGGA.htm
fields := strings.Split(sentence, ",")
@@ -60,6 +93,7 @@ func (parser *Parser) Parse(sentence string) (Fix, error) {
return fix, errInvalidGGASentence
}
fix.Type = GGA
fix.Time = findTime(fields[1])
fix.Latitude = findLatitude(fields[2], fields[3])
fix.Longitude = findLongitude(fields[4], fields[5])
@@ -75,6 +109,7 @@ func (parser *Parser) Parse(sentence string) (Fix, error) {
return fix, errInvalidGLLSentence
}
fix.Type = GLL
fix.Latitude = findLatitude(fields[1], fields[2])
fix.Longitude = findLongitude(fields[3], fields[4])
fix.Time = findTime(fields[5])
@@ -89,6 +124,7 @@ func (parser *Parser) Parse(sentence string) (Fix, error) {
return fix, errInvalidRMCSentence
}
fix.Type = RMC
fix.Time = findTime(fields[1])
fix.Valid = (fields[2] == "A")
fix.Latitude = findLatitude(fields[3], fields[4])
gps/gpsparser_test.go
+17 -1
View File
@@ -10,13 +10,29 @@ import (
func TestParseUnknownSentence(t *testing.T) {
p := NewParser()
val := "$GPGSV,3,1,09,07,14,317,22,08,31,284,25,10,32,133,39,16,85,232,29*7F"
val := "$GPVTG,89.68,T,,M,0.00,N,0.0,K*5F"
_, err := p.Parse(val)
if err == nil {
t.Error("should have unknown sentence err")
}
}
func TestParseGSV(t *testing.T) {
c := qt.New(t)
p := NewParser()
val := "$GPGSV,3,1,09,07,14,317,22,08,31,284,25,10,32,133,39,16,85,232,29*7F"
fix, err := p.Parse(val)
if err != nil {
t.Error("should have parsed")
}
c.Assert(fix.Type, qt.Equals, GSV)
c.Assert(fix.Satellites, qt.Equals, int16(9))
c.Assert(fix.Valid, qt.Equals, false)
}
func TestParseGGA(t *testing.T) {
c := qt.New(t)
gps/ublox.go
+55 -16
View File
@@ -4,9 +4,8 @@ import (
"time"
)
// FlightModeCmd is a UBX-CFG-NAV5 command to set the GPS into
// flight mode (airborne <1g)
var flightModeCmd = CfgNav5{
// FlightModeCmd is a UBX-CFG-NAV5 command
var nav5Cmd = CfgNav5{
Mask: CfgNav5Dyn | CfgNav5MinEl | CfgNav5PosFixMode,
DynModel: DynModeAirborne1g, // Airborne with <1g acceleration
FixMode: FixModeAuto, // Auto 2D/3D
@@ -29,7 +28,37 @@ var flightModeCmd = CfgNav5{
// SetFlightMode sends UBX-CFG-NAV5 command to set GPS into flight mode
func (d *Device) SetFlightMode() (err error) {
flightModeCmd.Put42Bytes(d.buffer[:])
nav5Cmd.DynModel = DynModeAirborne1g
nav5Cmd.FixMode = FixModeAuto
nav5Cmd.Put42Bytes(d.buffer[:])
return d.SendCommand(d.buffer[:42])
}
// SetPedestrianMode sends UBX-CFG-NAV5 command to set GPS into pedestrian mode
func (d *Device) SetPedestrianMode() (err error) {
nav5Cmd.DynModel = DynModePedestrian
nav5Cmd.FixMode = FixModeAuto
nav5Cmd.Put42Bytes(d.buffer[:])
return d.SendCommand(d.buffer[:42])
}
// SetAutomotiveMode sends UBX-CFG-NAV5 command to set GPS into automotive mode
func (d *Device) SetAutomotiveMode() (err error) {
nav5Cmd.DynModel = DynModeAutomotive
nav5Cmd.FixMode = FixModeAuto
nav5Cmd.Put42Bytes(d.buffer[:])
return d.SendCommand(d.buffer[:42])
}
// SetBikeMode sends UBX-CFG-NAV5 command to set GPS into bike mode
func (d *Device) SetBikeMode() (err error) {
nav5Cmd.DynModel = DynModeBike
nav5Cmd.FixMode = FixModeAuto
nav5Cmd.Put42Bytes(d.buffer[:])
return d.SendCommand(d.buffer[:42])
}
@@ -44,19 +73,19 @@ var (
messageRateGLLCmd = CfgMsg1{
MsgClass: 0xF0,
MsgID: 0x01,
Rate: 0, // Disabled
Rate: 1, // Every position fix
}
// GSA (satellite id list)
messageRateGSACmd = CfgMsg1{
MsgClass: 0xF0,
MsgID: 0x02,
Rate: 1, // Every position fix
Rate: 0, // Disabled
}
// GSV (satellite locations)
messageRateGSVCmd = CfgMsg1{
MsgClass: 0xF0,
MsgID: 0x03,
Rate: 1, // Every position fix
Rate: 0, // Every position fix
}
// RMC (time, lat/lng, speed, course)
messageRateRMCCmd = CfgMsg1{
@@ -84,18 +113,19 @@ var (
}
)
// SetMessageRatesMinimal configures the GPS to output a minimal set of NMEA sentences
// SetMessageRatesMinimal configures the GPS to output a minimal set of NMEA sentences:
// GSV, GGA, GLL, and RMC only.
func SetMessageRatesMinimal(d *Device) (err error) {
commands := []CfgMsg1{
messageRateGSACmd,
messageRateGGACmd,
messageRateGLLCmd,
messageRateGSVCmd,
messageRateRMCCmd,
messageRateVTGCmd,
messageRateZDACmd,
messageRateTXTCmd,
}
for i := range commands {
commands[i].Rate = 0 // Disable
}
return setCfg1s(d, commands)
}
@@ -111,18 +141,26 @@ func SetMessageRatesAllEnabled(d *Device) (err error) {
messageRateZDACmd,
messageRateTXTCmd,
}
for i := range commands {
commands[i].Rate = 1 // Enable
}
return setCfg1s(d, commands)
}
func setCfg1s(d *Device, commands []CfgMsg1) (err error) {
var buf [9]byte
for _, cmd := range commands {
cmd.Put9Bytes(buf[:9])
if err = d.SendCommand(buf[:9]); err != nil {
return err
}
cmd.Put9Bytes(buf[:])
// TODO handle errors differently here?
// This implementation just saves the last error and continues.
// Due to the GPS modules sending updates asynchronously
// the response is interleaved along with regular ASCII
// NMEA messages.
err = d.SendCommand(buf[:])
time.Sleep(100 * time.Millisecond)
}
return nil
return
}
// gnssDisableCmd is a UBX-CFG-GNSS command to disable all GNSS but GPS
@@ -146,6 +184,7 @@ func (d *Device) SetGNSSDisable() (err error) {
if err != nil {
return err
}
return d.SendCommand(d.buffer[:])
}
gps/ublox_test.go
+20 -20
View File
@@ -65,23 +65,23 @@ func TestAppendChecksumPreservesOriginal(t *testing.T) {
}
}
func TestFlightModeCmdConfig(t *testing.T) {
// Verify FlightModeCmd has expected values
if flightModeCmd.DynModel != 6 {
t.Errorf("expected DynModel 6 (airborne <1g), got %d", flightModeCmd.DynModel)
func TestNav5CmdConfig(t *testing.T) {
// Verify nav5Cmd has expected values
if nav5Cmd.DynModel != 6 {
t.Errorf("expected DynModel 6 (airborne <1g), got %d", nav5Cmd.DynModel)
}
if flightModeCmd.FixMode != 3 {
t.Errorf("expected FixMode 3 (auto 2D/3D), got %d", flightModeCmd.FixMode)
if nav5Cmd.FixMode != 3 {
t.Errorf("expected FixMode 3 (auto 2D/3D), got %d", nav5Cmd.FixMode)
}
expectedMask := CfgNav5Dyn | CfgNav5MinEl | CfgNav5PosFixMode
if flightModeCmd.Mask != expectedMask {
t.Errorf("expected Mask 0x%04X, got 0x%04X", expectedMask, flightModeCmd.Mask)
if nav5Cmd.Mask != expectedMask {
t.Errorf("expected Mask 0x%04X, got 0x%04X", expectedMask, nav5Cmd.Mask)
}
if flightModeCmd.MinElev_deg != 5 {
t.Errorf("expected MinElev_deg 5, got %d", flightModeCmd.MinElev_deg)
if nav5Cmd.MinElev_deg != 5 {
t.Errorf("expected MinElev_deg 5, got %d", nav5Cmd.MinElev_deg)
}
}
@@ -118,9 +118,9 @@ func TestGNSSDisableCmdConfig(t *testing.T) {
}
}
func TestFlightModeCmdWrite(t *testing.T) {
func TestNav5CmdWrite(t *testing.T) {
buf := make([]byte, 64)
flightModeCmd.Put42Bytes(buf)
nav5Cmd.Put42Bytes(buf)
// Verify sync chars
if buf[0] != 0xB5 || buf[1] != 0x62 {
@@ -197,9 +197,9 @@ func TestMessageRateCmdConfigs(t *testing.T) {
rate byte
}{
{"GGA", messageRateGGACmd, 0xF0, 0x00, 1},
{"GLL", messageRateGLLCmd, 0xF0, 0x01, 0},
{"GSA", messageRateGSACmd, 0xF0, 0x02, 1},
{"GSV", messageRateGSVCmd, 0xF0, 0x03, 1},
{"GLL", messageRateGLLCmd, 0xF0, 0x01, 1},
{"GSA", messageRateGSACmd, 0xF0, 0x02, 0},
{"GSV", messageRateGSVCmd, 0xF0, 0x03, 0},
{"RMC", messageRateRMCCmd, 0xF0, 0x04, 1},
{"VTG", messageRateVTGCmd, 0xF0, 0x05, 0},
{"ZDA", messageRateZDACmd, 0xF0, 0x08, 0},
@@ -269,9 +269,9 @@ func TestMinimalMessageRatesConfig(t *testing.T) {
// GGA and RMC should be enabled (rate=1), others disabled (rate=0)
expectedRates := map[byte]byte{
0x00: 1, // GGA - enabled
0x01: 0, // GLL - disabled
0x02: 1, // GSA - enabled
0x03: 1, // GSV - enabled
0x01: 1, // GLL - enabled
0x02: 0, // GSA - disabled
0x03: 0, // GSV - disabled
0x04: 1, // RMC - enabled
0x05: 0, // VTG - disabled
0x08: 0, // ZDA - disabled
@@ -337,9 +337,9 @@ func TestAllMessageRatesWriteCorrectBytes(t *testing.T) {
func TestSetMessageRatesAllEnabledModifiesRate(t *testing.T) {
// Verify that when we copy a command and set Rate=1, it works correctly
cmd := messageRateGLLCmd // This one is disabled by default
cmd := messageRateGSACmd // This one is disabled by default
if cmd.Rate != 0 {
t.Errorf("expected GLL default rate 0, got %d", cmd.Rate)
t.Errorf("expected GSA default rate 0, got %d", cmd.Rate)
}
// Simulate what SetMessageRatesAllEnabled does