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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
+33 -13
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
@@ -154,7 +168,7 @@ type CfgGnss struct {
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
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])