tinygo-org/drivers
1
0
Fork 0
mirror of https://github.com/tinygo-org/drivers.git synced 2026-08-21 06:59:00 +00:00
Code Issues Packages Projects Releases 10 Wiki Activity

Suggestions by pato for GPS UBX support (#831)

Browse Source 
* apply suggestions by pato

* whoopsie on inverted condition
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
Download Patch File Download Diff File Expand all files Collapse all files
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)
}