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Re: [gpsd-dev] Initialization & probing questions

From: Kai Harrekilde-Petersen
Subject: Re: [gpsd-dev] Initialization & probing questions
Date: Thu, 29 Mar 2018 19:26:08 +0200
User-agent: Mozilla/5.0 (Windows NT 6.1; WOW64; rv:52.0) Gecko/20100101 Thunderbird/52.6.0

Hi Gary,

On 28-03-2018 01:18, Gary E. Miller wrote:
# scons check
Regression test successful: no errors in 113 tests (0 not found).
Elapsed time: 178.19
scons: done building targets.

It turned out that (temporarily) setting the UART speed to 115200 and then restoring it in the sky_init_query() function caused this.

The next problem I am facing is that test/daemon/skytraq-bin.log fails, because the test sends out 56 (pseudo)NMEA sentences that shouldn't be there. Some of them ($GPALM) are sent by pseudonmea.c - a file I haven't touched at all, which is a bit confusing.

Is there any documentation of the regression system outside of RTFS? It's a bit of a rabbit-hole to jump into (especially when not knowing Python).

I looked into skytraq-bin.log and it contains Raw Measurement Data Extention sentences (AN0030) only. I will grab a few Navigation Data messages (0xA8) and add them to the test suite once I get there.

BTW, I am unable to force gpsd to switch from NMEA mode to Skytraq mode using gpsctl, when the Skytraq is in NMEA mode. Maybe this is related?

It seems like that gpsd needs to see a \xA0\xA1 sequence from the module before it wants to switch. Sending a "gpsctl -b -t Skytraq /dev/ttyS0" don't get a message through to the driver selection code at all (or so it seems). What does work is killing gpsd and using echo to send a hand-crafted message (echo -n -e '\xA0\xA1\x00\x03\x09\x02\x00\x0B\x0D\x0A' > /dev/ttyS0) to the module go into binary mode and then start gpsd.

In the same vein, I've never been able to coax gpsctl into actually sending a sentence to the GPS for me (rather annoying). I ended up hand-crafting a number of useful commands that I then cat > /dev/ttyS0 to switch modes, change speeds and update rates.

I have attached my patches for the curious.

Best regards,


Attachment: 0001-Doc-fix.patch
Description: Text document

Attachment: 0002-On-Linux-systems-accept-try-up-to-921600-baud.patch
Description: Text document

Attachment: 0003-Reorder-_PACKET-defines-to-put-SKY_PACKET-MAX_GPSPAC.patch
Description: Text document

Attachment: 0004-Update-Skytraq-driver-to-support-Venus8-modules-chan.patch
Description: Text document

Attachment: 0005-Clean-compiler-typing-warnings-on-Ubuntu-but-not-RPi.patch
Description: Text document

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