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Suggestions by pato for GPS UBX support (#831)

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This commit is contained in:
Pat Whittingslow
2026-01-08 09:21:44 -03:00
committed by Ron Evans
parent 1513808425
commit b390e3225a
5 changed files with 145 additions and 176 deletions
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gps/gps.go
+1 -3
View File
@@ -31,19 +31,18 @@ const (
// Device wraps a connection to a GPS device.
type Device struct {
buffer []byte
bufIdx int
sentence strings.Builder
uart drivers.UART
bus drivers.I2C
address uint16
buffer [bufferSize]byte
}
// NewUART creates a new UART GPS connection. The UART must already be configured.
func NewUART(uart drivers.UART) Device {
return Device{
uart: uart,
buffer: make([]byte, bufferSize),
bufIdx: bufferSize,
sentence: strings.Builder{},
}
@@ -60,7 +59,6 @@ func NewI2CWithAddress(bus drivers.I2C, i2cAddress uint16) Device {
return Device{
bus: bus,
address: i2cAddress,
buffer: make([]byte, bufferSize),
bufIdx: bufferSize,
sentence: strings.Builder{},
}
gps/ublox.go
+45 -57
View File
@@ -6,7 +6,7 @@ import (
// FlightModeCmd is a UBX-CFG-NAV5 command to set the GPS into
// flight mode (airborne <1g)
var FlightModeCmd = CfgNav5{
var flightModeCmd = CfgNav5{
Mask: CfgNav5Dyn | CfgNav5MinEl | CfgNav5PosFixMode,
DynModel: DynModeAirborne1g, // Airborne with <1g acceleration
FixMode: FixModeAuto, // Auto 2D/3D
@@ -28,59 +28,56 @@ var FlightModeCmd = CfgNav5{
}
// SetFlightMode sends UBX-CFG-NAV5 command to set GPS into flight mode
func SetFlightMode(d Device) (err error) {
if _, err = FlightModeCmd.Write(d.buffer[:]); err != nil {
return err
}
err = SendCommand(d, d.buffer[:])
return err
func (d *Device) SetFlightMode() (err error) {
flightModeCmd.Put42Bytes(d.buffer[:])
return d.SendCommand(d.buffer[:42])
}
var (
// GGA (time, lat/lng, altitude)
MessageRateGGACmd = CfgMsg1{
messageRateGGACmd = CfgMsg1{
MsgClass: 0xF0,
MsgID: 0x00,
Rate: 1, // Every position fix
}
// GLL (time, lat/lng)
MessageRateGLLCmd = CfgMsg1{
messageRateGLLCmd = CfgMsg1{
MsgClass: 0xF0,
MsgID: 0x01,
Rate: 0, // Disabled
}
// GSA (satellite id list)
MessageRateGSACmd = CfgMsg1{
messageRateGSACmd = CfgMsg1{
MsgClass: 0xF0,
MsgID: 0x02,
Rate: 1, // Every position fix
}
// GSV (satellite locations)
MessageRateGSVCmd = CfgMsg1{
messageRateGSVCmd = CfgMsg1{
MsgClass: 0xF0,
MsgID: 0x03,
Rate: 1, // Every position fix
}
// RMC (time, lat/lng, speed, course)
MessageRateRMCCmd = CfgMsg1{
messageRateRMCCmd = CfgMsg1{
MsgClass: 0xF0,
MsgID: 0x04,
Rate: 1, // Every position fix
}
// VTG (speed, course)
MessageRateVTGCmd = CfgMsg1{
messageRateVTGCmd = CfgMsg1{
MsgClass: 0xF0,
MsgID: 0x05,
Rate: 0, // Disabled
}
// ZDA (time, timezone)
MessageRateZDACmd = CfgMsg1{
messageRateZDACmd = CfgMsg1{
MsgClass: 0xF0,
MsgID: 0x08,
Rate: 0, // Disabled
}
// TXT (text transmission)
MessageRateTXTCmd = CfgMsg1{
messageRateTXTCmd = CfgMsg1{
MsgClass: 0xF0,
MsgID: 0x41,
Rate: 0, // Disabled
@@ -88,63 +85,53 @@ var (
)
// SetMessageRatesMinimal configures the GPS to output a minimal set of NMEA sentences
func SetMessageRatesMinimal(d Device) (err error) {
func SetMessageRatesMinimal(d *Device) (err error) {
commands := []CfgMsg1{
MessageRateGSACmd,
MessageRateGGACmd,
MessageRateGLLCmd,
MessageRateGSVCmd,
MessageRateRMCCmd,
MessageRateVTGCmd,
MessageRateZDACmd,
MessageRateTXTCmd,
messageRateGSACmd,
messageRateGGACmd,
messageRateGLLCmd,
messageRateGSVCmd,
messageRateRMCCmd,
messageRateVTGCmd,
messageRateZDACmd,
messageRateTXTCmd,
}
for _, cmd := range commands {
if _, err = cmd.Write(d.buffer[:]); err != nil {
return err
}
if err = SendCommand(d, d.buffer[:]); err != nil {
return err
}
}
return nil
return setCfg1s(d, commands)
}
// SetMessageRatesAllEnabled configures the GPS to output all NMEA sentences
func SetMessageRatesAllEnabled(d Device) (err error) {
func SetMessageRatesAllEnabled(d *Device) (err error) {
commands := []CfgMsg1{
MessageRateGSACmd,
MessageRateGGACmd,
MessageRateGLLCmd,
MessageRateGSVCmd,
MessageRateRMCCmd,
MessageRateVTGCmd,
MessageRateZDACmd,
MessageRateTXTCmd,
messageRateGSACmd,
messageRateGGACmd,
messageRateGLLCmd,
messageRateGSVCmd,
messageRateRMCCmd,
messageRateVTGCmd,
messageRateZDACmd,
messageRateTXTCmd,
}
return setCfg1s(d, commands)
}
func setCfg1s(d *Device, commands []CfgMsg1) (err error) {
var buf [9]byte
for _, cmd := range commands {
cmd.Rate = 1 // Enable all messages at 1 Hz
if _, err = cmd.Write(d.buffer[:]); err != nil {
return err
}
if err = SendCommand(d, d.buffer[:]); err != nil {
cmd.Put9Bytes(buf[:9])
if err = d.SendCommand(buf[:9]); err != nil {
return err
}
}
return nil
}
// GNSSDisableCmd is a UBX-CFG-GNSS command to disable all GNSS but GPS
// gnssDisableCmd is a UBX-CFG-GNSS command to disable all GNSS but GPS
// Needed for MAX8's, not needed for MAX7
var GNSSDisableCmd = CfgGnss{
var gnssDisableCmd = CfgGnss{
MsgVer: 0x00,
NumTrkChHw: 0x20, // 32 channels
NumTrkChUse: 0x20,
ConfigBlocks: []*CfgGnssConfigBlocksType{
ConfigBlocks: []CfgGnssConfigBlocksType{
{GnssId: 0, ResTrkCh: 8, MaxTrkCh: 16, Flags: CfgGnssEnable | 0x010000}, // GPS enabled
{GnssId: 1, ResTrkCh: 1, MaxTrkCh: 3, Flags: 0x010000}, // SBAS disabled
{GnssId: 3, ResTrkCh: 8, MaxTrkCh: 16, Flags: 0x010000}, // BeiDou disabled
@@ -154,15 +141,16 @@ var GNSSDisableCmd = CfgGnss{
}
// SetGNSSDisable sends UBX-CFG-GNSS command to disable all GNSS but GPS
func SetGNSSDisable(d Device) (err error) {
if _, err = GNSSDisableCmd.Write(d.buffer[:]); err != nil {
func (d *Device) SetGNSSDisable() (err error) {
err = gnssDisableCmd.Put(d.buffer[:])
if err != nil {
return err
}
return SendCommand(d, d.buffer[:])
return d.SendCommand(d.buffer[:])
}
// SendCommand sends a UBX command and waits for ACK/NAK response
func SendCommand(d Device, command []byte) error {
func (d *Device) SendCommand(command []byte) error {
// Calculate and append checksum
checksummed := appendChecksum(command)
d.WriteBytes(checksummed)
gps/ublox_test.go
+52 -79
View File
@@ -67,41 +67,41 @@ 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)
if flightModeCmd.DynModel != 6 {
t.Errorf("expected DynModel 6 (airborne <1g), got %d", flightModeCmd.DynModel)
}
if FlightModeCmd.FixMode != 3 {
t.Errorf("expected FixMode 3 (auto 2D/3D), got %d", FlightModeCmd.FixMode)
if flightModeCmd.FixMode != 3 {
t.Errorf("expected FixMode 3 (auto 2D/3D), got %d", flightModeCmd.FixMode)
}
expectedMask := CfgNav5Dyn | CfgNav5MinEl | CfgNav5PosFixMode
if FlightModeCmd.Mask != expectedMask {
t.Errorf("expected Mask 0x%04X, got 0x%04X", expectedMask, FlightModeCmd.Mask)
if flightModeCmd.Mask != expectedMask {
t.Errorf("expected Mask 0x%04X, got 0x%04X", expectedMask, flightModeCmd.Mask)
}
if FlightModeCmd.MinElev_deg != 5 {
t.Errorf("expected MinElev_deg 5, got %d", FlightModeCmd.MinElev_deg)
if flightModeCmd.MinElev_deg != 5 {
t.Errorf("expected MinElev_deg 5, got %d", flightModeCmd.MinElev_deg)
}
}
func TestGNSSDisableCmdConfig(t *testing.T) {
// Verify GNSSDisableCmd has expected structure
if GNSSDisableCmd.MsgVer != 0 {
t.Errorf("expected MsgVer 0, got %d", GNSSDisableCmd.MsgVer)
if gnssDisableCmd.MsgVer != 0 {
t.Errorf("expected MsgVer 0, got %d", gnssDisableCmd.MsgVer)
}
if GNSSDisableCmd.NumTrkChHw != 0x20 {
t.Errorf("expected NumTrkChHw 0x20, got 0x%02X", GNSSDisableCmd.NumTrkChHw)
if gnssDisableCmd.NumTrkChHw != 0x20 {
t.Errorf("expected NumTrkChHw 0x20, got 0x%02X", gnssDisableCmd.NumTrkChHw)
}
if len(GNSSDisableCmd.ConfigBlocks) != 5 {
t.Errorf("expected 5 config blocks, got %d", len(GNSSDisableCmd.ConfigBlocks))
if len(gnssDisableCmd.ConfigBlocks) != 5 {
t.Errorf("expected 5 config blocks, got %d", len(gnssDisableCmd.ConfigBlocks))
return
}
// Verify GPS is enabled
gpsBlock := GNSSDisableCmd.ConfigBlocks[0]
gpsBlock := gnssDisableCmd.ConfigBlocks[0]
if gpsBlock.GnssId != 0 {
t.Errorf("expected first block GnssId 0 (GPS), got %d", gpsBlock.GnssId)
}
@@ -110,8 +110,8 @@ func TestGNSSDisableCmdConfig(t *testing.T) {
}
// Verify other GNSS are disabled
for i := 1; i < len(GNSSDisableCmd.ConfigBlocks); i++ {
block := GNSSDisableCmd.ConfigBlocks[i]
for i := 1; i < len(gnssDisableCmd.ConfigBlocks); i++ {
block := gnssDisableCmd.ConfigBlocks[i]
if block.Flags&CfgGnssEnable != 0 {
t.Errorf("expected block %d (GnssId %d) to be disabled", i, block.GnssId)
}
@@ -120,15 +120,7 @@ func TestGNSSDisableCmdConfig(t *testing.T) {
func TestFlightModeCmdWrite(t *testing.T) {
buf := make([]byte, 64)
n, err := FlightModeCmd.Write(buf)
if err != nil {
t.Errorf("unexpected error: %v", err)
}
if n != 42 {
t.Errorf("expected 42 bytes, got %d", n)
}
flightModeCmd.Put42Bytes(buf)
// Verify sync chars
if buf[0] != 0xB5 || buf[1] != 0x62 {
@@ -148,16 +140,16 @@ func TestFlightModeCmdWrite(t *testing.T) {
func TestGNSSDisableCmdWrite(t *testing.T) {
buf := make([]byte, 64)
n, err := GNSSDisableCmd.Write(buf)
err := gnssDisableCmd.Put(buf)
if err != nil {
t.Errorf("unexpected error: %v", err)
t.Errorf("unexpected error, likely buffer too short for data: %v", err)
}
// 6 header + 4 payload header + 5*8 blocks = 50 bytes
expectedLen := 6 + 4 + 5*8
if n != expectedLen {
t.Errorf("expected %d bytes, got %d", expectedLen, n)
const expectedLen = 6 + 4 + 5*8
sz := gnssDisableCmd.Size()
if sz != expectedLen {
t.Errorf("expected %d bytes, got %d", expectedLen, sz)
}
// Verify sync chars
@@ -204,14 +196,14 @@ func TestMessageRateCmdConfigs(t *testing.T) {
msgID byte
rate byte
}{
{"GGA", MessageRateGGACmd, 0xF0, 0x00, 1},
{"GLL", MessageRateGLLCmd, 0xF0, 0x01, 0},
{"GSA", MessageRateGSACmd, 0xF0, 0x02, 1},
{"GSV", MessageRateGSVCmd, 0xF0, 0x03, 1},
{"RMC", MessageRateRMCCmd, 0xF0, 0x04, 1},
{"VTG", MessageRateVTGCmd, 0xF0, 0x05, 0},
{"ZDA", MessageRateZDACmd, 0xF0, 0x08, 0},
{"TXT", MessageRateTXTCmd, 0xF0, 0x41, 0},
{"GGA", messageRateGGACmd, 0xF0, 0x00, 1},
{"GLL", messageRateGLLCmd, 0xF0, 0x01, 0},
{"GSA", messageRateGSACmd, 0xF0, 0x02, 1},
{"GSV", messageRateGSVCmd, 0xF0, 0x03, 1},
{"RMC", messageRateRMCCmd, 0xF0, 0x04, 1},
{"VTG", messageRateVTGCmd, 0xF0, 0x05, 0},
{"ZDA", messageRateZDACmd, 0xF0, 0x08, 0},
{"TXT", messageRateTXTCmd, 0xF0, 0x41, 0},
}
for _, tc := range testCases {
@@ -237,16 +229,7 @@ func TestCfgMsg1Write(t *testing.T) {
}
buf := make([]byte, 16)
n, err := cmd.Write(buf)
if err != nil {
t.Errorf("unexpected error: %v", err)
}
if n != 9 {
t.Errorf("expected 9 bytes, got %d", n)
}
cmd.Put9Bytes(buf)
// Verify sync chars
if buf[0] != 0xB5 || buf[1] != 0x62 {
t.Errorf("expected sync 0xB5 0x62, got 0x%02X 0x%02X", buf[0], buf[1])
@@ -296,14 +279,14 @@ func TestMinimalMessageRatesConfig(t *testing.T) {
}
commands := []CfgMsg1{
MessageRateGGACmd,
MessageRateGLLCmd,
MessageRateGSACmd,
MessageRateGSVCmd,
MessageRateRMCCmd,
MessageRateVTGCmd,
MessageRateZDACmd,
MessageRateTXTCmd,
messageRateGGACmd,
messageRateGLLCmd,
messageRateGSACmd,
messageRateGSVCmd,
messageRateRMCCmd,
messageRateVTGCmd,
messageRateZDACmd,
messageRateTXTCmd,
}
for _, cmd := range commands {
@@ -321,28 +304,19 @@ func TestMinimalMessageRatesConfig(t *testing.T) {
func TestAllMessageRatesWriteCorrectBytes(t *testing.T) {
// Test that each message rate command writes the correct bytes
commands := []CfgMsg1{
MessageRateGGACmd,
MessageRateGLLCmd,
MessageRateGSACmd,
MessageRateGSVCmd,
MessageRateRMCCmd,
MessageRateVTGCmd,
MessageRateZDACmd,
MessageRateTXTCmd,
messageRateGGACmd,
messageRateGLLCmd,
messageRateGSACmd,
messageRateGSVCmd,
messageRateRMCCmd,
messageRateVTGCmd,
messageRateZDACmd,
messageRateTXTCmd,
}
for _, cmd := range commands {
buf := make([]byte, 16)
n, err := cmd.Write(buf)
if err != nil {
t.Errorf("MsgID 0x%02X: unexpected error: %v", cmd.MsgID, err)
continue
}
if n != 9 {
t.Errorf("MsgID 0x%02X: expected 9 bytes, got %d", cmd.MsgID, n)
}
cmd.Put9Bytes(buf)
// Verify MsgClass in payload
if buf[6] != 0xF0 {
@@ -363,7 +337,7 @@ 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 := messageRateGLLCmd // This one is disabled by default
if cmd.Rate != 0 {
t.Errorf("expected GLL default rate 0, got %d", cmd.Rate)
}
@@ -372,8 +346,7 @@ func TestSetMessageRatesAllEnabledModifiesRate(t *testing.T) {
cmd.Rate = 1
buf := make([]byte, 16)
_, _ = cmd.Write(buf)
cmd.Put9Bytes(buf)
if buf[8] != 1 {
t.Errorf("expected Rate 1 in buffer, got %d", buf[8])
}
gps/ubx.go
+37 -17
View File
@@ -1,5 +1,7 @@
package gps
import "io"
// UBX message classes
const (
ubxClassACK = 0x05
@@ -69,6 +71,8 @@ func (CfgNav5) classID() uint16 { return 0x2406 }
type CfgNav5Mask uint16
var _ io.WriterTo = CfgNav5{} // compile time guarantee of interface implementation.
const (
CfgNav5Dyn CfgNav5Mask = 0x1 // Apply dynamic model settings
CfgNav5MinEl CfgNav5Mask = 0x2 // Apply minimum elevation settings
@@ -82,8 +86,23 @@ const (
CfgNav5Utc CfgNav5Mask = 0x400 // Apply UTC settings (not supported in protocol versions less than 16).
)
func (cfg CfgNav5) Append(dst []byte) []byte {
var buf [42]byte
cfg.Put42Bytes(buf[:])
dst = append(dst, buf[:]...)
return dst
}
func (cfg CfgNav5) WriteTo(w io.Writer) (int64, error) {
var buf [42]byte
cfg.Put42Bytes(buf[:])
n, err := w.Write(buf[:])
return int64(n), err
}
// Write CfgNav5 message to buffer
func (cfg CfgNav5) Write(buf []byte) (int, error) {
func (cfg CfgNav5) Put42Bytes(buf []byte) {
_ = buf[41]
copy(buf, []byte{0xb5, 0x62, byte(cfg.classID()), byte(cfg.classID() >> 8), 36, 0})
buf[6] = byte(cfg.Mask)
@@ -117,8 +136,6 @@ func (cfg CfgNav5) Write(buf []byte) (int, error) {
buf[35] = byte(cfg.StaticHoldMaxDist_m >> 8)
buf[36] = cfg.UtcStandard
copy(buf[37:42], cfg.Reserved2[:])
return 42, nil
}
// Message ubx-cfg-msg
@@ -134,14 +151,11 @@ type CfgMsg1 struct {
func (CfgMsg1) classID() uint16 { return 0x0106 }
func (cfg CfgMsg1) Write(buf []byte) (int, error) {
func (cfg CfgMsg1) Put9Bytes(buf []byte) {
copy(buf, []byte{0xb5, 0x62, byte(cfg.classID()), byte(cfg.classID() >> 8), 3, 0})
buf[6] = cfg.MsgClass
buf[7] = cfg.MsgID
buf[8] = cfg.Rate
return 9, nil
}
// Message ubx-cfg-gnss
@@ -150,11 +164,11 @@ func (cfg CfgMsg1) Write(buf []byte) (int, error) {
// Class/Id 0x06 0x3e (4 + N*8 bytes)
// Gets or sets the GNSS system channel sharing configuration. If the receiver is sent a valid new configuration, it will respond with a UBX-ACK- ACK message and immediately change to the new configuration. Otherwise the receiver will reject the request, by issuing a UBX-ACK-NAK and continuing operation with the previous configuration. Configuration requirements: It is necessary for at least one major GNSS to be enabled, after applying the new configuration to the current one. It is also required that at least 4 tracking channels are available to each enabled major GNSS, i.e. maxTrkCh must have a minimum value of 4 for each enabled major GNSS. The number of tracking channels in use must not exceed the number of tracking channels available in hardware, and the sum of all reserved tracking channels needs to be less than or equal to the number of tracking channels in use. Notes: To avoid cross-correlation issues, it is recommended that GPS and QZSS are always both enabled or both disabled. Polling this message returns the configuration of all supported GNSS, whether enabled or not; it may also include GNSS unsupported by the particular product, but in such cases the enable flag will always be unset. See section GNSS Configuration for a discussion of the use of this message. See section Satellite Numbering for a description of the GNSS IDs available. Configuration specific to the GNSS system can be done via other messages (e. g. UBX-CFG-SBAS).
type CfgGnss struct {
MsgVer byte // Message version (0x00 for this version)
NumTrkChHw byte // Number of tracking channels available in hardware (read only)
NumTrkChUse byte // (Read only in protocol versions greater than 23) Number of tracking channels to use. Must be > 0, <= numTrkChHw. If 0xFF, then number of tracking channels to use will be set to numTrkChHw.
NumConfigBlocks byte `len:"ConfigBlocks"` // Number of configuration blocks following
ConfigBlocks []*CfgGnssConfigBlocksType // len: NumConfigBlocks
MsgVer byte // Message version (0x00 for this version)
NumTrkChHw byte // Number of tracking channels available in hardware (read only)
NumTrkChUse byte // (Read only in protocol versions greater than 23) Number of tracking channels to use. Must be > 0, <= numTrkChHw. If 0xFF, then number of tracking channels to use will be set to numTrkChHw.
NumConfigBlocks byte `len:"ConfigBlocks"` // Number of configuration blocks following
ConfigBlocks []CfgGnssConfigBlocksType // len: NumConfigBlocks
}
func (CfgGnss) classID() uint16 { return 0x3e06 }
@@ -175,14 +189,16 @@ const (
)
// Write CfgGnss message to buffer
func (cfg CfgGnss) Write(buf []byte) (int, error) {
func (cfg CfgGnss) Put(buf []byte) error {
sz := cfg.Size()
if sz > len(buf) {
return io.ErrShortBuffer
}
copy(buf, []byte{0xb5, 0x62, byte(cfg.classID()), byte(cfg.classID() >> 8), 4 + byte(len(cfg.ConfigBlocks))*8, 0})
buf[6] = cfg.MsgVer
buf[7] = cfg.NumTrkChHw
buf[8] = cfg.NumTrkChUse
buf[9] = byte(len(cfg.ConfigBlocks))
offset := 10
for _, block := range cfg.ConfigBlocks {
buf[offset] = block.GnssId
@@ -195,6 +211,10 @@ func (cfg CfgGnss) Write(buf []byte) (int, error) {
buf[offset+7] = byte(block.Flags >> 24)
offset += 8
}
return offset, nil
return nil
}
// Size returns length of CfgGnss in bytes when sent over the wire.
func (cfg CfgGnss) Size() int {
return 10 + 8*len(cfg.ConfigBlocks)
}
gps/ubx_test.go
+10 -20
View File
@@ -35,14 +35,7 @@ func TestCfgNav5Write(t *testing.T) {
}
buf := make([]byte, 64)
n, err := cfg.Write(buf)
if err != nil {
t.Errorf("unexpected error: %v", err)
}
if n != 42 {
t.Errorf("expected 42 bytes written, got %d", n)
}
cfg.Put42Bytes(buf)
// Check sync chars
if buf[0] != 0xb5 || buf[1] != 0x62 {
@@ -113,7 +106,7 @@ func TestCfgGnssWrite(t *testing.T) {
MsgVer: 0,
NumTrkChHw: 32,
NumTrkChUse: 32,
ConfigBlocks: []*CfgGnssConfigBlocksType{
ConfigBlocks: []CfgGnssConfigBlocksType{
{GnssId: 0, ResTrkCh: 8, MaxTrkCh: 16, Flags: CfgGnssEnable | 0x010000},
},
},
@@ -126,7 +119,7 @@ func TestCfgGnssWrite(t *testing.T) {
MsgVer: 0,
NumTrkChHw: 32,
NumTrkChUse: 32,
ConfigBlocks: []*CfgGnssConfigBlocksType{
ConfigBlocks: []CfgGnssConfigBlocksType{
{GnssId: 0, ResTrkCh: 8, MaxTrkCh: 16, Flags: CfgGnssEnable | 0x010000},
{GnssId: 6, ResTrkCh: 8, MaxTrkCh: 14, Flags: CfgGnssEnable | 0x010000},
},
@@ -139,15 +132,10 @@ func TestCfgGnssWrite(t *testing.T) {
for _, tc := range testCases {
t.Run(tc.name, func(t *testing.T) {
buf := make([]byte, 64)
n, err := tc.cfg.Write(buf)
err := tc.cfg.Put(buf)
if err != nil {
t.Errorf("unexpected error: %v", err)
t.Errorf("unexpected error, data too long?: %v", err)
}
if n != tc.expectedLen {
t.Errorf("expected %d bytes written, got %d", tc.expectedLen, n)
}
// Check sync chars
if buf[0] != 0xb5 || buf[1] != 0x62 {
t.Errorf("expected sync chars 0xb5 0x62, got 0x%02x 0x%02x", buf[0], buf[1])
@@ -171,14 +159,16 @@ func TestCfgGnssWriteBlockContent(t *testing.T) {
MsgVer: 0,
NumTrkChHw: 32,
NumTrkChUse: 32,
ConfigBlocks: []*CfgGnssConfigBlocksType{
ConfigBlocks: []CfgGnssConfigBlocksType{
{GnssId: 0, ResTrkCh: 8, MaxTrkCh: 16, Reserved1: 0, Flags: CfgGnssEnable | 0x010000},
},
}
buf := make([]byte, 64)
_, _ = cfg.Write(buf)
err := cfg.Put(buf)
if err != nil {
t.Fatal(err)
}
// Check first block at offset 10
if buf[10] != 0 {
t.Errorf("expected GnssId 0, got %d", buf[10])