mirror of
https://github.com/tinygo-org/drivers.git
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Suggestions by pato for GPS UBX support (#831)
* apply suggestions by pato * whoopsie on inverted condition
This commit is contained in:
Pat Whittingslow
committed by
Ron Evans
Ron Evans
parent
1513808425
commit
b390e3225a
+52
-79
@@ -67,41 +67,41 @@ func TestAppendChecksumPreservesOriginal(t *testing.T) {
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func TestFlightModeCmdConfig(t *testing.T) {
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// Verify FlightModeCmd has expected values
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if FlightModeCmd.DynModel != 6 {
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t.Errorf("expected DynModel 6 (airborne <1g), got %d", FlightModeCmd.DynModel)
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if flightModeCmd.DynModel != 6 {
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t.Errorf("expected DynModel 6 (airborne <1g), got %d", flightModeCmd.DynModel)
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}
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if FlightModeCmd.FixMode != 3 {
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t.Errorf("expected FixMode 3 (auto 2D/3D), got %d", FlightModeCmd.FixMode)
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if flightModeCmd.FixMode != 3 {
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t.Errorf("expected FixMode 3 (auto 2D/3D), got %d", flightModeCmd.FixMode)
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}
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expectedMask := CfgNav5Dyn | CfgNav5MinEl | CfgNav5PosFixMode
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if FlightModeCmd.Mask != expectedMask {
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t.Errorf("expected Mask 0x%04X, got 0x%04X", expectedMask, FlightModeCmd.Mask)
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if flightModeCmd.Mask != expectedMask {
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t.Errorf("expected Mask 0x%04X, got 0x%04X", expectedMask, flightModeCmd.Mask)
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}
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if FlightModeCmd.MinElev_deg != 5 {
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t.Errorf("expected MinElev_deg 5, got %d", FlightModeCmd.MinElev_deg)
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if flightModeCmd.MinElev_deg != 5 {
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t.Errorf("expected MinElev_deg 5, got %d", flightModeCmd.MinElev_deg)
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}
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}
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func TestGNSSDisableCmdConfig(t *testing.T) {
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// Verify GNSSDisableCmd has expected structure
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if GNSSDisableCmd.MsgVer != 0 {
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t.Errorf("expected MsgVer 0, got %d", GNSSDisableCmd.MsgVer)
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if gnssDisableCmd.MsgVer != 0 {
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t.Errorf("expected MsgVer 0, got %d", gnssDisableCmd.MsgVer)
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}
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if GNSSDisableCmd.NumTrkChHw != 0x20 {
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t.Errorf("expected NumTrkChHw 0x20, got 0x%02X", GNSSDisableCmd.NumTrkChHw)
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if gnssDisableCmd.NumTrkChHw != 0x20 {
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t.Errorf("expected NumTrkChHw 0x20, got 0x%02X", gnssDisableCmd.NumTrkChHw)
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}
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if len(GNSSDisableCmd.ConfigBlocks) != 5 {
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t.Errorf("expected 5 config blocks, got %d", len(GNSSDisableCmd.ConfigBlocks))
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if len(gnssDisableCmd.ConfigBlocks) != 5 {
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t.Errorf("expected 5 config blocks, got %d", len(gnssDisableCmd.ConfigBlocks))
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return
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}
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// Verify GPS is enabled
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gpsBlock := GNSSDisableCmd.ConfigBlocks[0]
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gpsBlock := gnssDisableCmd.ConfigBlocks[0]
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if gpsBlock.GnssId != 0 {
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t.Errorf("expected first block GnssId 0 (GPS), got %d", gpsBlock.GnssId)
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}
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@@ -110,8 +110,8 @@ func TestGNSSDisableCmdConfig(t *testing.T) {
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}
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// Verify other GNSS are disabled
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for i := 1; i < len(GNSSDisableCmd.ConfigBlocks); i++ {
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block := GNSSDisableCmd.ConfigBlocks[i]
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for i := 1; i < len(gnssDisableCmd.ConfigBlocks); i++ {
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block := gnssDisableCmd.ConfigBlocks[i]
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if block.Flags&CfgGnssEnable != 0 {
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t.Errorf("expected block %d (GnssId %d) to be disabled", i, block.GnssId)
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}
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@@ -120,15 +120,7 @@ func TestGNSSDisableCmdConfig(t *testing.T) {
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func TestFlightModeCmdWrite(t *testing.T) {
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buf := make([]byte, 64)
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n, err := FlightModeCmd.Write(buf)
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if err != nil {
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t.Errorf("unexpected error: %v", err)
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}
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if n != 42 {
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t.Errorf("expected 42 bytes, got %d", n)
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}
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flightModeCmd.Put42Bytes(buf)
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// Verify sync chars
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if buf[0] != 0xB5 || buf[1] != 0x62 {
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@@ -148,16 +140,16 @@ func TestFlightModeCmdWrite(t *testing.T) {
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func TestGNSSDisableCmdWrite(t *testing.T) {
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buf := make([]byte, 64)
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n, err := GNSSDisableCmd.Write(buf)
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err := gnssDisableCmd.Put(buf)
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if err != nil {
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t.Errorf("unexpected error: %v", err)
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t.Errorf("unexpected error, likely buffer too short for data: %v", err)
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}
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// 6 header + 4 payload header + 5*8 blocks = 50 bytes
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expectedLen := 6 + 4 + 5*8
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if n != expectedLen {
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t.Errorf("expected %d bytes, got %d", expectedLen, n)
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const expectedLen = 6 + 4 + 5*8
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sz := gnssDisableCmd.Size()
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if sz != expectedLen {
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t.Errorf("expected %d bytes, got %d", expectedLen, sz)
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}
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// Verify sync chars
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@@ -204,14 +196,14 @@ func TestMessageRateCmdConfigs(t *testing.T) {
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msgID byte
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rate byte
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}{
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{"GGA", MessageRateGGACmd, 0xF0, 0x00, 1},
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{"GLL", MessageRateGLLCmd, 0xF0, 0x01, 0},
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{"GSA", MessageRateGSACmd, 0xF0, 0x02, 1},
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{"GSV", MessageRateGSVCmd, 0xF0, 0x03, 1},
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{"RMC", MessageRateRMCCmd, 0xF0, 0x04, 1},
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{"VTG", MessageRateVTGCmd, 0xF0, 0x05, 0},
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{"ZDA", MessageRateZDACmd, 0xF0, 0x08, 0},
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{"TXT", MessageRateTXTCmd, 0xF0, 0x41, 0},
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{"GGA", messageRateGGACmd, 0xF0, 0x00, 1},
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{"GLL", messageRateGLLCmd, 0xF0, 0x01, 0},
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{"GSA", messageRateGSACmd, 0xF0, 0x02, 1},
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{"GSV", messageRateGSVCmd, 0xF0, 0x03, 1},
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{"RMC", messageRateRMCCmd, 0xF0, 0x04, 1},
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{"VTG", messageRateVTGCmd, 0xF0, 0x05, 0},
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{"ZDA", messageRateZDACmd, 0xF0, 0x08, 0},
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{"TXT", messageRateTXTCmd, 0xF0, 0x41, 0},
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}
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for _, tc := range testCases {
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@@ -237,16 +229,7 @@ func TestCfgMsg1Write(t *testing.T) {
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}
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buf := make([]byte, 16)
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n, err := cmd.Write(buf)
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if err != nil {
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t.Errorf("unexpected error: %v", err)
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}
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if n != 9 {
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t.Errorf("expected 9 bytes, got %d", n)
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}
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cmd.Put9Bytes(buf)
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// Verify sync chars
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if buf[0] != 0xB5 || buf[1] != 0x62 {
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t.Errorf("expected sync 0xB5 0x62, got 0x%02X 0x%02X", buf[0], buf[1])
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@@ -296,14 +279,14 @@ func TestMinimalMessageRatesConfig(t *testing.T) {
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}
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commands := []CfgMsg1{
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MessageRateGGACmd,
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MessageRateGLLCmd,
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MessageRateGSACmd,
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MessageRateGSVCmd,
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MessageRateRMCCmd,
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MessageRateVTGCmd,
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MessageRateZDACmd,
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MessageRateTXTCmd,
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messageRateGGACmd,
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messageRateGLLCmd,
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messageRateGSACmd,
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messageRateGSVCmd,
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messageRateRMCCmd,
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messageRateVTGCmd,
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messageRateZDACmd,
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messageRateTXTCmd,
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}
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for _, cmd := range commands {
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@@ -321,28 +304,19 @@ func TestMinimalMessageRatesConfig(t *testing.T) {
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func TestAllMessageRatesWriteCorrectBytes(t *testing.T) {
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// Test that each message rate command writes the correct bytes
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commands := []CfgMsg1{
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MessageRateGGACmd,
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MessageRateGLLCmd,
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MessageRateGSACmd,
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MessageRateGSVCmd,
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MessageRateRMCCmd,
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MessageRateVTGCmd,
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MessageRateZDACmd,
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MessageRateTXTCmd,
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messageRateGGACmd,
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messageRateGLLCmd,
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messageRateGSACmd,
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messageRateGSVCmd,
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messageRateRMCCmd,
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messageRateVTGCmd,
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messageRateZDACmd,
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messageRateTXTCmd,
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}
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for _, cmd := range commands {
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buf := make([]byte, 16)
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n, err := cmd.Write(buf)
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if err != nil {
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t.Errorf("MsgID 0x%02X: unexpected error: %v", cmd.MsgID, err)
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continue
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}
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if n != 9 {
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t.Errorf("MsgID 0x%02X: expected 9 bytes, got %d", cmd.MsgID, n)
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}
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cmd.Put9Bytes(buf)
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// Verify MsgClass in payload
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if buf[6] != 0xF0 {
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@@ -363,7 +337,7 @@ func TestAllMessageRatesWriteCorrectBytes(t *testing.T) {
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func TestSetMessageRatesAllEnabledModifiesRate(t *testing.T) {
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// Verify that when we copy a command and set Rate=1, it works correctly
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cmd := MessageRateGLLCmd // This one is disabled by default
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cmd := messageRateGLLCmd // This one is disabled by default
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if cmd.Rate != 0 {
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t.Errorf("expected GLL default rate 0, got %d", cmd.Rate)
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}
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@@ -372,8 +346,7 @@ func TestSetMessageRatesAllEnabledModifiesRate(t *testing.T) {
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cmd.Rate = 1
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buf := make([]byte, 16)
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_, _ = cmd.Write(buf)
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cmd.Put9Bytes(buf)
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if buf[8] != 1 {
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t.Errorf("expected Rate 1 in buffer, got %d", buf[8])
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}
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