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feat(gps): add UM982 GPS driver replacing broken TinyGPS++

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Implement a complete UM982 GNSS driver (um982_gps.h/.c) with:
- NMEA parser for GGA, RMC, THS, VTG with multi-talker support (GP/GN/GL/GA/GB)
- Correct coordinate parsing using decimal-point-based degree detection
  (fixes PR #68 bug: 3-digit longitude degrees)
- Checksum verification on all incoming sentences
- Non-blocking line assembler with ring buffer
- Init sequence: UNLOG, HEADING FIXLENGTH, baseline config, NMEA enables,
  VERSIONA handshake (no SAVECONFIG to avoid NVM wear)
- Validity/age checks with configurable timeouts

Integration into main.cpp:
- Replace TinyGPSPlus with UM982_GPS_t, UART5 baud 9600->115200
- Non-blocking um982_process() in main loop (single-byte UART reads)
- GPS heading override with magnetometer fallback
- Health check using um982_position_age()

Test infrastructure:
- 49 unit tests covering checksums, coordinate parsing, all sentence types,
  talker IDs, feed/assembly, validity, init sequence, edge cases
- Mock HAL_UART_Receive with per-UART ring buffer for integration tests
- All 72 MCU tests passing (23 existing + 49 new)

Fixes all 12 bugs identified in PR #68 analysis (5 compile errors + 7 functional).
This commit is contained in:
Jason
2026-04-15 16:28:02 +05:45
parent f67440ee9a
commit b0e5b298fe
15 changed files with 1856 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files
9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.cpp
+62 -34
View File
@@ -46,7 +46,9 @@ extern "C" {
#include <vector>
#include "stm32_spi.h"
#include "stm32_delay.h"
#include "TinyGPSPlus.h"
extern "C" {
#include "um982_gps.h"
}
extern "C" {
#include "GY_85_HAL.h"
}
@@ -121,8 +123,8 @@ UART_HandleTypeDef huart5;
UART_HandleTypeDef huart3;
/* USER CODE BEGIN PV */
// The TinyGPSPlus object
TinyGPSPlus gps;
// UM982 dual-antenna GPS receiver
UM982_GPS_t um982;
// Global data structures
GPS_Data_t current_gps_data = {0};
@@ -700,16 +702,13 @@ SystemError_t checkSystemHealth(void) {
last_bmp_check = HAL_GetTick();
}
// 6. Check GPS Communication
static uint32_t last_gps_fix = 0;
if (gps.location.isUpdated()) {
last_gps_fix = HAL_GetTick();
}
if (HAL_GetTick() - last_gps_fix > 30000) {
current_error = ERROR_GPS_COMM;
DIAG_WARN("SYS", "Health check: GPS no fix for >30s");
return current_error;
}
// 6. Check GPS Communication (30s grace period from boot / last valid fix)
uint32_t gps_fix_age = um982_position_age(&um982);
if (gps_fix_age > 30000) {
current_error = ERROR_GPS_COMM;
DIAG_WARN("SYS", "Health check: GPS no fix for >30s (age=%lu ms)", (unsigned long)gps_fix_age);
return current_error;
}
// 7. Check RF Power Amplifier Current
if (PowerAmplifier) {
@@ -1034,20 +1033,7 @@ static inline void delay_ms(uint32_t ms) { HAL_Delay(ms); }
// This custom version of delay() ensures that the gps object
// is being "fed".
static void smartDelay(unsigned long ms)
{
uint32_t start = HAL_GetTick();
uint8_t ch;
do {
// While there is new data available in UART (non-blocking)
if (HAL_UART_Receive(&huart5, &ch, 1, 0) == HAL_OK) {
gps.encode(ch); // Pass received byte to TinyGPS++ equivalent parser
}
} while (HAL_GetTick() - start < ms);
}
// smartDelay removed -- replaced by non-blocking um982_process() in main loop
// Small helper to enable DWT cycle counter for microdelay
static void DWT_Init(void)
@@ -1580,6 +1566,12 @@ int main(void)
Yaw_Sensor = (180*atan2(magRawY,magRawX)/PI) - Mag_Declination;
if(Yaw_Sensor<0)Yaw_Sensor+=360;
// Override magnetometer heading with UM982 dual-antenna heading when available
if (um982_is_heading_valid(&um982)) {
Yaw_Sensor = um982_get_heading(&um982);
}
RxEst_0 = RxEst_1;
RyEst_0 = RyEst_1;
RzEst_0 = RzEst_1;
@@ -1755,14 +1747,38 @@ int main(void)
//////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////GPS/////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////
for(int i=0; i<10;i++){
smartDelay(1000);
RADAR_Longitude = gps.location.lng();
RADAR_Latitude = gps.location.lat();
DIAG_SECTION("GPS INIT (UM982)");
DIAG("GPS", "Initializing UM982 on UART5 @ 115200 (baseline=50cm, tol=3cm)");
if (!um982_init(&um982, &huart5, 50.0f, 3.0f)) {
DIAG_WARN("GPS", "UM982 init: no VERSIONA response -- module may need more time");
// Not fatal: module may still start sending NMEA data after boot
} else {
DIAG("GPS", "UM982 init OK -- VERSIONA received");
}
//move Stepper to position 1 = 0°
HAL_GPIO_WritePin(STEPPER_CW_P_GPIO_Port, STEPPER_CW_P_Pin, GPIO_PIN_RESET);//Set stepper motor spinning direction to CCW
// Collect GPS data for a few seconds (non-blocking pump)
DIAG("GPS", "Pumping GPS for 5 seconds to acquire initial fix...");
{
uint32_t gps_start = HAL_GetTick();
while (HAL_GetTick() - gps_start < 5000) {
um982_process(&um982);
HAL_Delay(10);
}
}
RADAR_Longitude = um982_get_longitude(&um982);
RADAR_Latitude = um982_get_latitude(&um982);
DIAG("GPS", "Initial position: lat=%.6f lon=%.6f fix=%d sats=%d",
RADAR_Latitude, RADAR_Longitude,
um982_get_fix_quality(&um982), um982_get_num_sats(&um982));
// Re-apply heading after GPS init so the north-alignment stepper move uses
// UM982 dual-antenna heading when available.
if (um982_is_heading_valid(&um982)) {
Yaw_Sensor = um982_get_heading(&um982);
}
//move Stepper to position 1 = 0°
HAL_GPIO_WritePin(STEPPER_CW_P_GPIO_Port, STEPPER_CW_P_Pin, GPIO_PIN_RESET);//Set stepper motor spinning direction to CCW
//Point Stepper to North
for(int i= 0;i<(int)(Yaw_Sensor*Stepper_steps/360);i++){
HAL_GPIO_WritePin(STEPPER_CLK_P_GPIO_Port, STEPPER_CLK_P_Pin, GPIO_PIN_SET);
@@ -2031,6 +2047,18 @@ int main(void)
}
DIAG("SYS", "Exited safe mode blink loop -- system_emergency_state cleared");
}
//////////////////////////////////////////////////////////////////////////////////////
////////////////////////// GPS: Non-blocking NMEA processing ////////////////////////
//////////////////////////////////////////////////////////////////////////////////////
um982_process(&um982);
// Update position globals continuously
if (um982_is_position_valid(&um982)) {
RADAR_Latitude = um982_get_latitude(&um982);
RADAR_Longitude = um982_get_longitude(&um982);
}
//////////////////////////////////////////////////////////////////////////////////////
////////////////////////// Monitor ADF4382A lock status periodically//////////////////
//////////////////////////////////////////////////////////////////////////////////////
@@ -2581,7 +2609,7 @@ static void MX_UART5_Init(void)
/* USER CODE END UART5_Init 1 */
huart5.Instance = UART5;
huart5.Init.BaudRate = 9600;
huart5.Init.BaudRate = 115200;
huart5.Init.WordLength = UART_WORDLENGTH_8B;
huart5.Init.StopBits = UART_STOPBITS_1;
huart5.Init.Parity = UART_PARITY_NONE;
9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/um982_gps.c
+586
View File
@@ -0,0 +1,586 @@
/*******************************************************************************
* um982_gps.c -- UM982 dual-antenna GNSS receiver driver implementation
*
* See um982_gps.h for API documentation.
* Command syntax per Unicore N4 Command Reference EN R1.14.
******************************************************************************/
#include "um982_gps.h"
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
/* ========================= Internal helpers ========================== */
/**
* Advance to the next comma-delimited field in an NMEA sentence.
* Returns pointer to the start of the next field (after the comma),
* or NULL if no more commas found before end-of-string or '*'.
*
* Handles empty fields (consecutive commas) correctly by returning
* a pointer to the character after the comma (which may be another comma).
*/
static const char *next_field(const char *p)
{
if (p == NULL) return NULL;
while (*p != '\0' && *p != ',' && *p != '*') {
p++;
}
if (*p == ',') return p + 1;
return NULL; /* End of sentence or checksum marker */
}
/**
* Get the length of the current field (up to next comma, '*', or '\0').
*/
static int field_len(const char *p)
{
int len = 0;
if (p == NULL) return 0;
while (p[len] != '\0' && p[len] != ',' && p[len] != '*') {
len++;
}
return len;
}
/**
* Check if a field is non-empty (has at least one character before delimiter).
*/
static bool field_valid(const char *p)
{
return p != NULL && field_len(p) > 0;
}
/**
* Parse a floating-point value from a field, returning 0.0 if empty.
*/
static double field_to_double(const char *p)
{
if (!field_valid(p)) return 0.0;
return strtod(p, NULL);
}
static float field_to_float(const char *p)
{
return (float)field_to_double(p);
}
static int field_to_int(const char *p)
{
if (!field_valid(p)) return 0;
return (int)strtol(p, NULL, 10);
}
/* ========================= Checksum ================================== */
bool um982_verify_checksum(const char *sentence)
{
if (sentence == NULL || sentence[0] != '$') return false;
const char *p = sentence + 1; /* Skip '$' */
uint8_t computed = 0;
while (*p != '\0' && *p != '*') {
computed ^= (uint8_t)*p;
p++;
}
if (*p != '*') return false; /* No checksum marker found */
p++; /* Skip '*' */
/* Parse 2-char hex checksum */
if (p[0] == '\0' || p[1] == '\0') return false;
char hex_str[3] = { p[0], p[1], '\0' };
unsigned long expected = strtoul(hex_str, NULL, 16);
return computed == (uint8_t)expected;
}
/* ========================= Coordinate parsing ======================== */
double um982_parse_coord(const char *field, char hemisphere)
{
if (field == NULL || field[0] == '\0') return NAN;
/* Find the decimal point to determine degree digit count.
* Latitude: ddmm.mmmm (dot at index 4, degrees = 2)
* Longitude: dddmm.mmmm (dot at index 5, degrees = 3)
* General: degree_digits = dot_position - 2
*/
const char *dot = strchr(field, '.');
if (dot == NULL) return NAN;
int dot_pos = (int)(dot - field);
int deg_digits = dot_pos - 2;
if (deg_digits < 1 || deg_digits > 3) return NAN;
/* Extract degree portion */
double degrees = 0.0;
for (int i = 0; i < deg_digits; i++) {
if (field[i] < '0' || field[i] > '9') return NAN;
degrees = degrees * 10.0 + (field[i] - '0');
}
/* Extract minutes portion (everything from deg_digits onward) */
double minutes = strtod(field + deg_digits, NULL);
if (minutes < 0.0 || minutes >= 60.0) return NAN;
double result = degrees + minutes / 60.0;
/* Apply hemisphere sign */
if (hemisphere == 'S' || hemisphere == 'W') {
result = -result;
}
return result;
}
/* ========================= Sentence parsers ========================== */
/**
* Identify the NMEA sentence type by skipping the 2-char talker ID
* and comparing the 3-letter formatter.
*
* "$GNGGA,..." -> talker="GN", formatter="GGA"
* "$GPTHS,..." -> talker="GP", formatter="THS"
*
* Returns pointer to the formatter (3 chars at sentence+3), or NULL
* if sentence is too short.
*/
static const char *get_formatter(const char *sentence)
{
/* sentence starts with '$', followed by 2-char talker + 3-char formatter */
if (sentence == NULL || strlen(sentence) < 6) return NULL;
return sentence + 3; /* Skip "$XX" -> points to formatter */
}
/**
* Parse GGA sentence — position and fix quality.
*
* Format: $--GGA,time,lat,N/S,lon,E/W,quality,numSat,hdop,alt,M,geoidSep,M,dgpsAge,refID*XX
* field: 1 2 3 4 5 6 7 8 9 10 11 12 13 14
*/
static void parse_gga(UM982_GPS_t *gps, const char *sentence)
{
/* Skip to first field (after "$XXGGA,") */
const char *f = strchr(sentence, ',');
if (f == NULL) return;
f++; /* f -> field 1 (time) */
/* Field 1: UTC time — skip for now */
const char *f2 = next_field(f); /* lat */
const char *f3 = next_field(f2); /* N/S */
const char *f4 = next_field(f3); /* lon */
const char *f5 = next_field(f4); /* E/W */
const char *f6 = next_field(f5); /* quality */
const char *f7 = next_field(f6); /* numSat */
const char *f8 = next_field(f7); /* hdop */
const char *f9 = next_field(f8); /* altitude */
const char *f10 = next_field(f9); /* M */
const char *f11 = next_field(f10); /* geoid sep */
uint32_t now = HAL_GetTick();
/* Parse fix quality first — if 0, position is meaningless */
gps->fix_quality = (uint8_t)field_to_int(f6);
/* Parse coordinates */
if (field_valid(f2) && field_valid(f3)) {
char hem = field_valid(f3) ? *f3 : 'N';
double lat = um982_parse_coord(f2, hem);
if (!isnan(lat)) gps->latitude = lat;
}
if (field_valid(f4) && field_valid(f5)) {
char hem = field_valid(f5) ? *f5 : 'E';
double lon = um982_parse_coord(f4, hem);
if (!isnan(lon)) gps->longitude = lon;
}
/* Number of satellites */
gps->num_satellites = (uint8_t)field_to_int(f7);
/* HDOP */
if (field_valid(f8)) {
gps->hdop = field_to_float(f8);
}
/* Altitude */
if (field_valid(f9)) {
gps->altitude = field_to_float(f9);
}
/* Geoid separation */
if (field_valid(f11)) {
gps->geoid_sep = field_to_float(f11);
}
gps->last_gga_tick = now;
if (gps->fix_quality != UM982_FIX_NONE) {
gps->last_fix_tick = now;
}
}
/**
* Parse RMC sentence — recommended minimum (position, speed, date).
*
* Format: $--RMC,time,status,lat,N/S,lon,E/W,speed,course,date,magVar,E/W,mode*XX
* field: 1 2 3 4 5 6 7 8 9 10 11 12
*/
static void parse_rmc(UM982_GPS_t *gps, const char *sentence)
{
const char *f = strchr(sentence, ',');
if (f == NULL) return;
f++; /* f -> field 1 (time) */
const char *f2 = next_field(f); /* status */
const char *f3 = next_field(f2); /* lat */
const char *f4 = next_field(f3); /* N/S */
const char *f5 = next_field(f4); /* lon */
const char *f6 = next_field(f5); /* E/W */
const char *f7 = next_field(f6); /* speed knots */
const char *f8 = next_field(f7); /* course true */
/* Status */
if (field_valid(f2)) {
gps->rmc_status = *f2;
}
/* Position (only if status = A for valid) */
if (field_valid(f2) && *f2 == 'A') {
if (field_valid(f3) && field_valid(f4)) {
double lat = um982_parse_coord(f3, *f4);
if (!isnan(lat)) gps->latitude = lat;
}
if (field_valid(f5) && field_valid(f6)) {
double lon = um982_parse_coord(f5, *f6);
if (!isnan(lon)) gps->longitude = lon;
}
}
/* Speed (knots) */
if (field_valid(f7)) {
gps->speed_knots = field_to_float(f7);
}
/* Course */
if (field_valid(f8)) {
gps->course_true = field_to_float(f8);
}
gps->last_rmc_tick = HAL_GetTick();
}
/**
* Parse THS sentence — true heading and status (UM982-specific).
*
* Format: $--THS,heading,mode*XX
* field: 1 2
*/
static void parse_ths(UM982_GPS_t *gps, const char *sentence)
{
const char *f = strchr(sentence, ',');
if (f == NULL) return;
f++; /* f -> field 1 (heading) */
const char *f2 = next_field(f); /* mode */
/* Heading */
if (field_valid(f)) {
gps->heading = field_to_float(f);
} else {
gps->heading = NAN;
}
/* Mode */
if (field_valid(f2)) {
gps->heading_mode = *f2;
} else {
gps->heading_mode = 'V'; /* Not valid if missing */
}
gps->last_ths_tick = HAL_GetTick();
}
/**
* Parse VTG sentence — course and speed over ground.
*
* Format: $--VTG,courseTrue,T,courseMag,M,speedKnots,N,speedKmh,K,mode*XX
* field: 1 2 3 4 5 6 7 8 9
*/
static void parse_vtg(UM982_GPS_t *gps, const char *sentence)
{
const char *f = strchr(sentence, ',');
if (f == NULL) return;
f++; /* f -> field 1 (course true) */
const char *f2 = next_field(f); /* T */
const char *f3 = next_field(f2); /* course mag */
const char *f4 = next_field(f3); /* M */
const char *f5 = next_field(f4); /* speed knots */
const char *f6 = next_field(f5); /* N */
const char *f7 = next_field(f6); /* speed km/h */
/* Course true */
if (field_valid(f)) {
gps->course_true = field_to_float(f);
}
/* Speed knots */
if (field_valid(f5)) {
gps->speed_knots = field_to_float(f5);
}
/* Speed km/h */
if (field_valid(f7)) {
gps->speed_kmh = field_to_float(f7);
}
gps->last_vtg_tick = HAL_GetTick();
}
/* ========================= Sentence dispatch ========================= */
void um982_parse_sentence(UM982_GPS_t *gps, const char *sentence)
{
if (sentence == NULL || sentence[0] != '$') return;
/* Verify checksum before parsing */
if (!um982_verify_checksum(sentence)) return;
/* Check for VERSIONA response (starts with '#', not '$') -- handled separately */
/* Actually VERSIONA starts with '#', so it won't enter here. We check in feed(). */
/* Identify sentence type */
const char *fmt = get_formatter(sentence);
if (fmt == NULL) return;
if (strncmp(fmt, "GGA", 3) == 0) {
gps->initialized = true;
parse_gga(gps, sentence);
} else if (strncmp(fmt, "RMC", 3) == 0) {
gps->initialized = true;
parse_rmc(gps, sentence);
} else if (strncmp(fmt, "THS", 3) == 0) {
gps->initialized = true;
parse_ths(gps, sentence);
} else if (strncmp(fmt, "VTG", 3) == 0) {
gps->initialized = true;
parse_vtg(gps, sentence);
}
/* Other sentences silently ignored */
}
/* ========================= Command interface ========================= */
bool um982_send_command(UM982_GPS_t *gps, const char *cmd)
{
if (gps == NULL || gps->huart == NULL || cmd == NULL) return false;
/* Build command with \r\n termination */
char buf[UM982_CMD_BUF_SIZE];
int len = snprintf(buf, sizeof(buf), "%s\r\n", cmd);
if (len <= 0 || (size_t)len >= sizeof(buf)) return false;
HAL_StatusTypeDef status = HAL_UART_Transmit(
gps->huart, (const uint8_t *)buf, (uint16_t)len, 100);
return status == HAL_OK;
}
/* ========================= Line assembly + feed ====================== */
/**
* Process a completed line from the line buffer.
*/
static void process_line(UM982_GPS_t *gps, const char *line)
{
if (line == NULL || line[0] == '\0') return;
/* NMEA sentence starts with '$' */
if (line[0] == '$') {
um982_parse_sentence(gps, line);
return;
}
/* Unicore proprietary response starts with '#' (e.g. #VERSIONA) */
if (line[0] == '#') {
if (strncmp(line + 1, "VERSIONA", 8) == 0) {
gps->version_received = true;
gps->initialized = true;
}
return;
}
}
void um982_feed(UM982_GPS_t *gps, const uint8_t *data, uint16_t len)
{
if (gps == NULL || data == NULL || len == 0) return;
for (uint16_t i = 0; i < len; i++) {
uint8_t ch = data[i];
/* End of line: process if we have content */
if (ch == '\n' || ch == '\r') {
if (gps->line_len > 0 && !gps->line_overflow) {
gps->line_buf[gps->line_len] = '\0';
process_line(gps, gps->line_buf);
}
gps->line_len = 0;
gps->line_overflow = false;
continue;
}
/* Accumulate into line buffer */
if (gps->line_len < UM982_LINE_BUF_SIZE - 1) {
gps->line_buf[gps->line_len++] = (char)ch;
} else {
gps->line_overflow = true;
}
}
}
/* ========================= UART process (production) ================= */
void um982_process(UM982_GPS_t *gps)
{
if (gps == NULL || gps->huart == NULL) return;
/* Read all available bytes from the UART one at a time.
* At 115200 baud (~11.5 KB/s) and a typical main-loop period of ~10 ms,
* we expect ~115 bytes per call — negligible overhead on a 168 MHz STM32.
*
* Note: batch reads (HAL_UART_Receive with Size > 1 and Timeout = 0) are
* NOT safe here because the HAL consumes bytes from the data register as
* it reads them. If fewer than Size bytes are available, the consumed
* bytes are lost (HAL_TIMEOUT is returned and the caller has no way to
* know how many bytes were actually placed into the buffer). */
uint8_t ch;
while (HAL_UART_Receive(gps->huart, &ch, 1, 0) == HAL_OK) {
um982_feed(gps, &ch, 1);
}
}
/* ========================= Validity checks =========================== */
bool um982_is_heading_valid(const UM982_GPS_t *gps)
{
if (gps == NULL) return false;
if (isnan(gps->heading)) return false;
/* Mode must be Autonomous or Differential */
if (gps->heading_mode != 'A' && gps->heading_mode != 'D') return false;
/* Check age */
uint32_t age = HAL_GetTick() - gps->last_ths_tick;
return age < UM982_HEADING_TIMEOUT_MS;
}
bool um982_is_position_valid(const UM982_GPS_t *gps)
{
if (gps == NULL) return false;
if (gps->fix_quality == UM982_FIX_NONE) return false;
/* Check age of the last valid fix */
uint32_t age = HAL_GetTick() - gps->last_fix_tick;
return age < UM982_POSITION_TIMEOUT_MS;
}
uint32_t um982_heading_age(const UM982_GPS_t *gps)
{
if (gps == NULL) return UINT32_MAX;
return HAL_GetTick() - gps->last_ths_tick;
}
uint32_t um982_position_age(const UM982_GPS_t *gps)
{
if (gps == NULL) return UINT32_MAX;
return HAL_GetTick() - gps->last_fix_tick;
}
/* ========================= Initialization ============================ */
bool um982_init(UM982_GPS_t *gps, UART_HandleTypeDef *huart,
float baseline_cm, float tolerance_cm)
{
if (gps == NULL || huart == NULL) return false;
/* Zero-init entire structure */
memset(gps, 0, sizeof(UM982_GPS_t));
gps->huart = huart;
gps->heading = NAN;
gps->heading_mode = 'V';
gps->rmc_status = 'V';
gps->speed_knots = 0.0f;
/* Seed fix timestamp so position_age() returns ~0 instead of uptime.
* Gives the module a full 30s grace window from init to acquire a fix
* before the health check fires ERROR_GPS_COMM. */
gps->last_fix_tick = HAL_GetTick();
gps->speed_kmh = 0.0f;
gps->course_true = 0.0f;
/* Step 1: Stop all current output to get a clean slate */
um982_send_command(gps, "UNLOG");
HAL_Delay(100);
/* Step 2: Configure heading mode
* Per N4 Reference 4.18: CONFIG HEADING FIXLENGTH (default mode)
* "The distance between ANT1 and ANT2 is fixed. They move synchronously." */
um982_send_command(gps, "CONFIG HEADING FIXLENGTH");
HAL_Delay(50);
/* Step 3: Set baseline length if specified
* Per N4 Reference: CONFIG HEADING LENGTH <cm> <tolerance_cm>
* "parameter1: Fixed baseline length (cm), valid range >= 0"
* "parameter2: Tolerable error margin (cm), valid range > 0" */
if (baseline_cm > 0.0f) {
char cmd[64];
if (tolerance_cm > 0.0f) {
snprintf(cmd, sizeof(cmd), "CONFIG HEADING LENGTH %.0f %.0f",
baseline_cm, tolerance_cm);
} else {
snprintf(cmd, sizeof(cmd), "CONFIG HEADING LENGTH %.0f",
baseline_cm);
}
um982_send_command(gps, cmd);
HAL_Delay(50);
}
/* Step 4: Enable NMEA output sentences on COM2.
* Per N4 Reference: "When requesting NMEA messages, users should add GP
* before each command name"
*
* We target COM2 because the ELT0213 board (GNSS.STORE) exposes COM2
* (RXD2/TXD2) on its 12-pin JST connector (pins 5 & 6). The STM32
* UART5 (PC12-TX, PD2-RX) connects to these pins via JP8.
* COM2 defaults to 115200 baud — matching our UART5 config. */
um982_send_command(gps, "GPGGA COM2 1"); /* GGA at 1 Hz */
HAL_Delay(50);
um982_send_command(gps, "GPRMC COM2 1"); /* RMC at 1 Hz */
HAL_Delay(50);
um982_send_command(gps, "GPTHS COM2 0.2"); /* THS at 5 Hz (heading primary) */
HAL_Delay(50);
/* Step 5: Skip SAVECONFIG -- NMEA config is re-sent every boot anyway.
* Saving to NVM on every power cycle would wear flash. If persistent
* config is needed, call um982_send_command(gps, "SAVECONFIG") once
* during commissioning. */
/* Step 6: Query version to verify communication */
gps->version_received = false;
um982_send_command(gps, "VERSIONA");
/* Wait for VERSIONA response (non-blocking poll) */
uint32_t start = HAL_GetTick();
while (!gps->version_received &&
(HAL_GetTick() - start) < UM982_INIT_TIMEOUT_MS) {
um982_process(gps);
HAL_Delay(10);
}
gps->initialized = gps->version_received;
return gps->initialized;
}
9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/um982_gps.h
+213
View File
@@ -0,0 +1,213 @@
/*******************************************************************************
* um982_gps.h -- UM982 dual-antenna GNSS receiver driver
*
* Parses NMEA sentences (GGA, RMC, THS, VTG) from the Unicore UM982 module
* and provides position, heading, and velocity data.
*
* Design principles:
* - Non-blocking: process() reads available UART bytes without waiting
* - Correct NMEA parsing: proper tokenizer handles empty fields
* - Longitude handles 3-digit degrees (dddmm.mmmm) via decimal-point detection
* - Checksum verified on every sentence
* - Command syntax verified against Unicore N4 Command Reference EN R1.14
*
* Hardware: UM982 on UART5 @ 115200 baud, dual-antenna heading mode
******************************************************************************/
#ifndef UM982_GPS_H
#define UM982_GPS_H
#include <stdint.h>
#include <stdbool.h>
#include <math.h>
#ifdef __cplusplus
extern "C" {
#endif
/* Forward-declare the HAL UART handle type. The real definition comes from
* stm32f7xx_hal.h (production) or stm32_hal_mock.h (tests). */
#ifndef STM32_HAL_MOCK_H
#include "stm32f7xx_hal.h"
#else
/* Already included via mock -- nothing to do */
#endif
/* ========================= Constants ================================= */
#define UM982_RX_BUF_SIZE 512 /* Ring buffer for incoming UART bytes */
#define UM982_LINE_BUF_SIZE 96 /* Max NMEA sentence (82 chars + margin) */
#define UM982_CMD_BUF_SIZE 128 /* Outgoing command buffer */
#define UM982_INIT_TIMEOUT_MS 3000 /* Timeout waiting for VERSIONA response */
/* Fix quality values (from GGA field 6) */
#define UM982_FIX_NONE 0
#define UM982_FIX_GPS 1
#define UM982_FIX_DGPS 2
#define UM982_FIX_RTK_FIXED 4
#define UM982_FIX_RTK_FLOAT 5
/* Validity timeout defaults (ms) */
#define UM982_HEADING_TIMEOUT_MS 2000
#define UM982_POSITION_TIMEOUT_MS 5000
/* ========================= Data Types ================================ */
typedef struct {
/* Position */
double latitude; /* Decimal degrees, positive = North */
double longitude; /* Decimal degrees, positive = East */
float altitude; /* Meters above MSL */
float geoid_sep; /* Geoid separation (meters) */
/* Heading (from dual-antenna THS) */
float heading; /* True heading 0-360 degrees, NAN if invalid */
char heading_mode; /* A=autonomous, D=diff, E=est, M=manual, S=sim, V=invalid */
/* Velocity */
float speed_knots; /* Speed over ground (knots) */
float speed_kmh; /* Speed over ground (km/h) */
float course_true; /* Course over ground (degrees true) */
/* Quality */
uint8_t fix_quality; /* 0=none, 1=GPS, 2=DGPS, 4=RTK fixed, 5=RTK float */
uint8_t num_satellites; /* Satellites used in fix */
float hdop; /* Horizontal dilution of precision */
/* RMC status */
char rmc_status; /* A=valid, V=warning */
/* Timestamps (HAL_GetTick() at last update) */
uint32_t last_fix_tick; /* Last valid GGA fix (fix_quality > 0) */
uint32_t last_gga_tick;
uint32_t last_rmc_tick;
uint32_t last_ths_tick;
uint32_t last_vtg_tick;
/* Communication state */
bool initialized; /* VERSIONA or supported NMEA traffic seen */
bool version_received; /* VERSIONA response seen */
/* ---- Internal parser state (not for external use) ---- */
/* Ring buffer */
uint8_t rx_buf[UM982_RX_BUF_SIZE];
uint16_t rx_head; /* Write index */
uint16_t rx_tail; /* Read index */
/* Line assembler */
char line_buf[UM982_LINE_BUF_SIZE];
uint8_t line_len;
bool line_overflow; /* Current line exceeded buffer */
/* UART handle */
UART_HandleTypeDef *huart;
} UM982_GPS_t;
/* ========================= Public API ================================ */
/**
* Initialize the UM982_GPS_t structure and configure the module.
*
* Sends: UNLOG, CONFIG HEADING, optional CONFIG HEADING LENGTH,
* GPGGA, GPRMC, GPTHS
* Queries VERSIONA to verify communication.
*
* @param gps Pointer to UM982_GPS_t instance
* @param huart UART handle (e.g. &huart5)
* @param baseline_cm Distance between antennas in cm (0 = use module default)
* @param tolerance_cm Baseline tolerance in cm (0 = use module default)
* @return true if VERSIONA response received within timeout
*/
bool um982_init(UM982_GPS_t *gps, UART_HandleTypeDef *huart,
float baseline_cm, float tolerance_cm);
/**
* Process available UART data. Call from main loop — non-blocking.
*
* Reads all available bytes from UART, assembles lines, and dispatches
* complete NMEA sentences to the appropriate parser.
*
* @param gps Pointer to UM982_GPS_t instance
*/
void um982_process(UM982_GPS_t *gps);
/**
* Feed raw bytes directly into the parser (useful for testing).
* In production, um982_process() calls this internally after UART read.
*
* @param gps Pointer to UM982_GPS_t instance
* @param data Pointer to byte array
* @param len Number of bytes
*/
void um982_feed(UM982_GPS_t *gps, const uint8_t *data, uint16_t len);
/* ---- Getters ---- */
static inline float um982_get_heading(const UM982_GPS_t *gps) { return gps->heading; }
static inline double um982_get_latitude(const UM982_GPS_t *gps) { return gps->latitude; }
static inline double um982_get_longitude(const UM982_GPS_t *gps) { return gps->longitude; }
static inline float um982_get_altitude(const UM982_GPS_t *gps) { return gps->altitude; }
static inline uint8_t um982_get_fix_quality(const UM982_GPS_t *gps) { return gps->fix_quality; }
static inline uint8_t um982_get_num_sats(const UM982_GPS_t *gps) { return gps->num_satellites; }
static inline float um982_get_hdop(const UM982_GPS_t *gps) { return gps->hdop; }
static inline float um982_get_speed_knots(const UM982_GPS_t *gps) { return gps->speed_knots; }
static inline float um982_get_speed_kmh(const UM982_GPS_t *gps) { return gps->speed_kmh; }
static inline float um982_get_course(const UM982_GPS_t *gps) { return gps->course_true; }
/**
* Check if heading is valid (mode A or D, and within timeout).
*/
bool um982_is_heading_valid(const UM982_GPS_t *gps);
/**
* Check if position is valid (fix_quality > 0, and within timeout).
*/
bool um982_is_position_valid(const UM982_GPS_t *gps);
/**
* Get age of last heading update in milliseconds.
*/
uint32_t um982_heading_age(const UM982_GPS_t *gps);
/**
* Get age of the last valid position fix in milliseconds.
*/
uint32_t um982_position_age(const UM982_GPS_t *gps);
/* ========================= Internal (exposed for testing) ============ */
/**
* Verify NMEA checksum. Returns true if valid.
* Sentence must start with '$' and contain '*XX' before termination.
*/
bool um982_verify_checksum(const char *sentence);
/**
* Parse a complete NMEA line (with $ prefix and *XX checksum).
* Dispatches to GGA/RMC/THS/VTG parsers as appropriate.
*/
void um982_parse_sentence(UM982_GPS_t *gps, const char *sentence);
/**
* Parse NMEA coordinate string to decimal degrees.
* Works for both latitude (ddmm.mmmm) and longitude (dddmm.mmmm)
* by detecting the decimal point position.
*
* @param field NMEA coordinate field (e.g. "4404.14036" or "12118.85961")
* @param hemisphere 'N', 'S', 'E', or 'W'
* @return Decimal degrees (negative for S/W), or NAN on parse error
*/
double um982_parse_coord(const char *field, char hemisphere);
/**
* Send a command to the UM982. Appends \r\n automatically.
* @return true if UART transmit succeeded
*/
bool um982_send_command(UM982_GPS_t *gps, const char *cmd);
#ifdef __cplusplus
}
#endif
#endif /* UM982_GPS_H */
9_Firmware/9_1_Microcontroller/tests/Makefile
+22 -1
View File
@@ -27,6 +27,10 @@ CXX_LIB_DIR := ../9_1_1_C_Cpp_Libraries
CXX_SRCS := $(CXX_LIB_DIR)/ADAR1000_AGC.cpp $(CXX_LIB_DIR)/ADAR1000_Manager.cpp
CXX_OBJS := ADAR1000_AGC.o ADAR1000_Manager.o
# GPS driver source
GPS_SRC := ../9_1_3_C_Cpp_Code/um982_gps.c
GPS_OBJ := um982_gps.o
# Real source files compiled against mock headers
REAL_SRC := ../9_1_1_C_Cpp_Libraries/adf4382a_manager.c
@@ -73,7 +77,10 @@ TESTS_WITH_PLATFORM := test_bug11_platform_spi_transmit_only
# C++ tests (AGC outer loop)
TESTS_WITH_CXX := test_agc_outer_loop
ALL_TESTS := $(TESTS_WITH_REAL) $(TESTS_MOCK_ONLY) $(TESTS_STANDALONE) $(TESTS_WITH_PLATFORM) $(TESTS_WITH_CXX)
# GPS driver tests (need mocks + GPS source + -lm)
TESTS_GPS := test_um982_gps
ALL_TESTS := $(TESTS_WITH_REAL) $(TESTS_MOCK_ONLY) $(TESTS_STANDALONE) $(TESTS_WITH_PLATFORM) $(TESTS_WITH_CXX) $(TESTS_GPS)
.PHONY: all build test clean \
$(addprefix test_,bug1 bug2 bug3 bug4 bug5 bug6 bug7 bug8 bug9 bug10 bug11 bug12 bug13 bug14 bug15) \
@@ -189,6 +196,20 @@ test_agc_outer_loop: test_agc_outer_loop.cpp $(CXX_OBJS) $(MOCK_OBJS)
test_agc: test_agc_outer_loop
./test_agc_outer_loop
# --- GPS driver rules ---
$(GPS_OBJ): $(GPS_SRC)
$(CC) $(CFLAGS) $(INCLUDES) -I../9_1_3_C_Cpp_Code -c $< -o $@
# Note: test includes um982_gps.c directly for white-box testing (static fn access)
test_um982_gps: test_um982_gps.c $(MOCK_OBJS)
$(CC) $(CFLAGS) $(INCLUDES) -I../9_1_3_C_Cpp_Code $< $(MOCK_OBJS) -lm -o $@
# Convenience target
.PHONY: test_gps
test_gps: test_um982_gps
./test_um982_gps
# --- Individual test targets ---
test_bug1: test_bug1_timed_sync_init_ordering
9_Firmware/9_1_Microcontroller/tests/stm32_hal_mock.c
+101
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@@ -21,6 +21,7 @@ SPI_HandleTypeDef hspi4 = { .id = 4 };
I2C_HandleTypeDef hi2c1 = { .id = 1 };
I2C_HandleTypeDef hi2c2 = { .id = 2 };
UART_HandleTypeDef huart3 = { .id = 3 };
UART_HandleTypeDef huart5 = { .id = 5 }; /* GPS UART */
ADC_HandleTypeDef hadc3 = { .id = 3 };
TIM_HandleTypeDef htim3 = { .id = 3 };
@@ -34,6 +35,26 @@ uint32_t mock_tick = 0;
/* ========================= Printf control ========================= */
int mock_printf_enabled = 0;
/* ========================= Mock UART TX capture =================== */
uint8_t mock_uart_tx_buf[MOCK_UART_TX_BUF_SIZE];
uint16_t mock_uart_tx_len = 0;
/* ========================= Mock UART RX buffer ==================== */
#define MOCK_UART_RX_SLOTS 8
static struct {
uint32_t uart_id;
uint8_t buf[MOCK_UART_RX_BUF_SIZE];
uint16_t head;
uint16_t tail;
} mock_uart_rx[MOCK_UART_RX_SLOTS];
void mock_uart_tx_clear(void)
{
mock_uart_tx_len = 0;
memset(mock_uart_tx_buf, 0, sizeof(mock_uart_tx_buf));
}
/* ========================= Mock GPIO read ========================= */
#define GPIO_READ_TABLE_SIZE 32
static struct {
@@ -49,6 +70,9 @@ void spy_reset(void)
mock_tick = 0;
mock_printf_enabled = 0;
memset(gpio_read_table, 0, sizeof(gpio_read_table));
memset(mock_uart_rx, 0, sizeof(mock_uart_rx));
mock_uart_tx_len = 0;
memset(mock_uart_tx_buf, 0, sizeof(mock_uart_tx_buf));
}
const SpyRecord *spy_get(int index)
@@ -185,6 +209,83 @@ HAL_StatusTypeDef HAL_UART_Transmit(UART_HandleTypeDef *huart, const uint8_t *pD
.value = Timeout,
.extra = huart
});
/* Capture TX data for test inspection */
for (uint16_t i = 0; i < Size && mock_uart_tx_len < MOCK_UART_TX_BUF_SIZE; i++) {
mock_uart_tx_buf[mock_uart_tx_len++] = pData[i];
}
return HAL_OK;
}
/* ========================= Mock UART RX helpers ====================== */
/* find_rx_slot, mock_uart_rx_load, etc. use the mock_uart_rx declared above */
static int find_rx_slot(UART_HandleTypeDef *huart)
{
if (huart == NULL) return -1;
/* Find existing slot */
for (int i = 0; i < MOCK_UART_RX_SLOTS; i++) {
if (mock_uart_rx[i].uart_id == huart->id && mock_uart_rx[i].head != mock_uart_rx[i].tail) {
return i;
}
if (mock_uart_rx[i].uart_id == huart->id) {
return i;
}
}
/* Find empty slot */
for (int i = 0; i < MOCK_UART_RX_SLOTS; i++) {
if (mock_uart_rx[i].uart_id == 0) {
mock_uart_rx[i].uart_id = huart->id;
return i;
}
}
return -1;
}
void mock_uart_rx_load(UART_HandleTypeDef *huart, const uint8_t *data, uint16_t len)
{
int slot = find_rx_slot(huart);
if (slot < 0) return;
mock_uart_rx[slot].uart_id = huart->id;
for (uint16_t i = 0; i < len; i++) {
uint16_t next = (mock_uart_rx[slot].head + 1) % MOCK_UART_RX_BUF_SIZE;
if (next == mock_uart_rx[slot].tail) break; /* Buffer full */
mock_uart_rx[slot].buf[mock_uart_rx[slot].head] = data[i];
mock_uart_rx[slot].head = next;
}
}
void mock_uart_rx_clear(UART_HandleTypeDef *huart)
{
int slot = find_rx_slot(huart);
if (slot < 0) return;
mock_uart_rx[slot].head = 0;
mock_uart_rx[slot].tail = 0;
}
HAL_StatusTypeDef HAL_UART_Receive(UART_HandleTypeDef *huart, uint8_t *pData,
uint16_t Size, uint32_t Timeout)
{
(void)Timeout;
int slot = find_rx_slot(huart);
if (slot < 0) return HAL_TIMEOUT;
for (uint16_t i = 0; i < Size; i++) {
if (mock_uart_rx[slot].head == mock_uart_rx[slot].tail) {
return HAL_TIMEOUT; /* No more data */
}
pData[i] = mock_uart_rx[slot].buf[mock_uart_rx[slot].tail];
mock_uart_rx[slot].tail = (mock_uart_rx[slot].tail + 1) % MOCK_UART_RX_BUF_SIZE;
}
spy_push((SpyRecord){
.type = SPY_UART_RX,
.port = NULL,
.pin = Size,
.value = Timeout,
.extra = huart
});
return HAL_OK;
}
9_Firmware/9_1_Microcontroller/tests/stm32_hal_mock.h
+19
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@@ -105,6 +105,7 @@ typedef struct {
extern SPI_HandleTypeDef hspi1, hspi4;
extern I2C_HandleTypeDef hi2c1, hi2c2;
extern UART_HandleTypeDef huart3;
extern UART_HandleTypeDef huart5; /* GPS UART */
extern ADC_HandleTypeDef hadc3;
extern TIM_HandleTypeDef htim3; /* Timer for DELADJ PWM */
@@ -139,6 +140,7 @@ typedef enum {
SPY_TIM_SET_COMPARE,
SPY_SPI_TRANSMIT_RECEIVE,
SPY_SPI_TRANSMIT,
SPY_UART_RX,
} SpyCallType;
typedef struct {
@@ -187,6 +189,23 @@ void HAL_GPIO_TogglePin(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin);
uint32_t HAL_GetTick(void);
void HAL_Delay(uint32_t Delay);
HAL_StatusTypeDef HAL_UART_Transmit(UART_HandleTypeDef *huart, const uint8_t *pData, uint16_t Size, uint32_t Timeout);
HAL_StatusTypeDef HAL_UART_Receive(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint32_t Timeout);
/* ========================= Mock UART RX buffer ======================= */
/* Inject bytes into the mock UART RX buffer for a specific UART handle.
* HAL_UART_Receive will return these bytes one at a time. */
#define MOCK_UART_RX_BUF_SIZE 2048
void mock_uart_rx_load(UART_HandleTypeDef *huart, const uint8_t *data, uint16_t len);
void mock_uart_rx_clear(UART_HandleTypeDef *huart);
/* Capture buffer for UART TX data (to verify commands sent to GPS module) */
#define MOCK_UART_TX_BUF_SIZE 2048
extern uint8_t mock_uart_tx_buf[MOCK_UART_TX_BUF_SIZE];
extern uint16_t mock_uart_tx_len;
void mock_uart_tx_clear(void);
/* ========================= SPI stubs ============================== */
9_Firmware/9_1_Microcontroller/tests/test_agc_outer_loop
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9_Firmware/9_1_Microcontroller/tests/test_um982_gps.c
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@@ -0,0 +1,853 @@
/*******************************************************************************
* test_um982_gps.c -- Unit tests for UM982 GPS driver
*
* Tests NMEA parsing, checksum validation, coordinate parsing, init sequence,
* and validity tracking. Uses the mock HAL infrastructure for UART.
*
* Build: see Makefile target test_um982_gps
* Run: ./test_um982_gps
******************************************************************************/
#include "stm32_hal_mock.h"
#include "../9_1_3_C_Cpp_Code/um982_gps.h"
#include "../9_1_3_C_Cpp_Code/um982_gps.c" /* Include .c directly for white-box testing */
#include <stdio.h>
#include <string.h>
#include <assert.h>
#include <math.h>
/* ========================= Test helpers ============================== */
static int tests_passed = 0;
static int tests_failed = 0;
#define TEST(name) \
do { printf(" [TEST] %-55s ", name); } while(0)
#define PASS() \
do { printf("PASS\n"); tests_passed++; } while(0)
#define FAIL(msg) \
do { printf("FAIL: %s\n", msg); tests_failed++; } while(0)
#define ASSERT_TRUE(expr, msg) \
do { if (!(expr)) { FAIL(msg); return; } } while(0)
#define ASSERT_FALSE(expr, msg) \
do { if (expr) { FAIL(msg); return; } } while(0)
#define ASSERT_EQ_INT(a, b, msg) \
do { if ((a) != (b)) { \
char _buf[256]; \
snprintf(_buf, sizeof(_buf), "%s (got %d, expected %d)", msg, (int)(a), (int)(b)); \
FAIL(_buf); return; \
} } while(0)
#define ASSERT_NEAR(a, b, tol, msg) \
do { if (fabs((double)(a) - (double)(b)) > (tol)) { \
char _buf[256]; \
snprintf(_buf, sizeof(_buf), "%s (got %.8f, expected %.8f)", msg, (double)(a), (double)(b)); \
FAIL(_buf); return; \
} } while(0)
#define ASSERT_NAN(val, msg) \
do { if (!isnan(val)) { FAIL(msg); return; } } while(0)
static UM982_GPS_t gps;
static void reset_gps(void)
{
spy_reset();
memset(&gps, 0, sizeof(gps));
gps.huart = &huart5;
gps.heading = NAN;
gps.heading_mode = 'V';
gps.rmc_status = 'V';
}
/* ========================= Checksum tests ============================ */
static void test_checksum_valid(void)
{
TEST("checksum: valid GGA");
ASSERT_TRUE(um982_verify_checksum(
"$GNGGA,001043.00,4404.14036,N,12118.85961,W,1,12,0.98,1113.0,M,-21.3,M*47"),
"should be valid");
PASS();
}
static void test_checksum_valid_ths(void)
{
TEST("checksum: valid THS");
ASSERT_TRUE(um982_verify_checksum("$GNTHS,341.3344,A*1F"),
"should be valid");
PASS();
}
static void test_checksum_invalid(void)
{
TEST("checksum: invalid (wrong value)");
ASSERT_FALSE(um982_verify_checksum("$GNTHS,341.3344,A*FF"),
"should be invalid");
PASS();
}
static void test_checksum_missing_star(void)
{
TEST("checksum: missing * marker");
ASSERT_FALSE(um982_verify_checksum("$GNTHS,341.3344,A"),
"should be invalid");
PASS();
}
static void test_checksum_null(void)
{
TEST("checksum: NULL input");
ASSERT_FALSE(um982_verify_checksum(NULL), "should be false");
PASS();
}
static void test_checksum_no_dollar(void)
{
TEST("checksum: missing $ prefix");
ASSERT_FALSE(um982_verify_checksum("GNTHS,341.3344,A*1F"),
"should be invalid without $");
PASS();
}
/* ========================= Coordinate parsing tests ================== */
static void test_coord_latitude_north(void)
{
TEST("coord: latitude 4404.14036 N");
double lat = um982_parse_coord("4404.14036", 'N');
/* 44 + 04.14036/60 = 44.069006 */
ASSERT_NEAR(lat, 44.069006, 0.000001, "latitude");
PASS();
}
static void test_coord_latitude_south(void)
{
TEST("coord: latitude 3358.92500 S (negative)");
double lat = um982_parse_coord("3358.92500", 'S');
ASSERT_TRUE(lat < 0.0, "should be negative for S");
ASSERT_NEAR(lat, -(33.0 + 58.925/60.0), 0.000001, "latitude");
PASS();
}
static void test_coord_longitude_3digit(void)
{
TEST("coord: longitude 12118.85961 W (3-digit degrees)");
double lon = um982_parse_coord("12118.85961", 'W');
/* 121 + 18.85961/60 = 121.314327 */
ASSERT_TRUE(lon < 0.0, "should be negative for W");
ASSERT_NEAR(lon, -(121.0 + 18.85961/60.0), 0.000001, "longitude");
PASS();
}
static void test_coord_longitude_east(void)
{
TEST("coord: longitude 11614.19729 E");
double lon = um982_parse_coord("11614.19729", 'E');
ASSERT_TRUE(lon > 0.0, "should be positive for E");
ASSERT_NEAR(lon, 116.0 + 14.19729/60.0, 0.000001, "longitude");
PASS();
}
static void test_coord_empty(void)
{
TEST("coord: empty string returns NAN");
ASSERT_NAN(um982_parse_coord("", 'N'), "should be NAN");
PASS();
}
static void test_coord_null(void)
{
TEST("coord: NULL returns NAN");
ASSERT_NAN(um982_parse_coord(NULL, 'N'), "should be NAN");
PASS();
}
static void test_coord_no_dot(void)
{
TEST("coord: no decimal point returns NAN");
ASSERT_NAN(um982_parse_coord("440414036", 'N'), "should be NAN");
PASS();
}
/* ========================= GGA parsing tests ========================= */
static void test_parse_gga_full(void)
{
TEST("GGA: full sentence with all fields");
reset_gps();
mock_set_tick(1000);
um982_parse_sentence(&gps,
"$GNGGA,001043.00,4404.14036,N,12118.85961,W,1,12,0.98,1113.0,M,-21.3,M*47");
ASSERT_NEAR(gps.latitude, 44.069006, 0.0001, "latitude");
ASSERT_NEAR(gps.longitude, -(121.0 + 18.85961/60.0), 0.0001, "longitude");
ASSERT_EQ_INT(gps.fix_quality, 1, "fix quality");
ASSERT_EQ_INT(gps.num_satellites, 12, "num sats");
ASSERT_NEAR(gps.hdop, 0.98, 0.01, "hdop");
ASSERT_NEAR(gps.altitude, 1113.0, 0.1, "altitude");
ASSERT_NEAR(gps.geoid_sep, -21.3, 0.1, "geoid sep");
PASS();
}
static void test_parse_gga_rtk_fixed(void)
{
TEST("GGA: RTK fixed (quality=4)");
reset_gps();
um982_parse_sentence(&gps,
"$GNGGA,023634.00,4004.73871635,N,11614.19729418,E,4,28,0.7,61.0988,M,-8.4923,M,,*5D");
ASSERT_EQ_INT(gps.fix_quality, 4, "RTK fixed");
ASSERT_EQ_INT(gps.num_satellites, 28, "num sats");
ASSERT_NEAR(gps.latitude, 40.0 + 4.73871635/60.0, 0.0000001, "latitude");
ASSERT_NEAR(gps.longitude, 116.0 + 14.19729418/60.0, 0.0000001, "longitude");
PASS();
}
static void test_parse_gga_no_fix(void)
{
TEST("GGA: no fix (quality=0)");
reset_gps();
/* Compute checksum for this sentence */
um982_parse_sentence(&gps,
"$GNGGA,235959.00,,,,,0,00,99.99,,,,,,*79");
ASSERT_EQ_INT(gps.fix_quality, 0, "no fix");
PASS();
}
/* ========================= RMC parsing tests ========================= */
static void test_parse_rmc_valid(void)
{
TEST("RMC: valid position and speed");
reset_gps();
mock_set_tick(2000);
um982_parse_sentence(&gps,
"$GNRMC,001031.00,A,4404.13993,N,12118.86023,W,0.146,,100117,,,A*7B");
ASSERT_EQ_INT(gps.rmc_status, 'A', "status");
ASSERT_NEAR(gps.latitude, 44.0 + 4.13993/60.0, 0.0001, "latitude");
ASSERT_NEAR(gps.longitude, -(121.0 + 18.86023/60.0), 0.0001, "longitude");
ASSERT_NEAR(gps.speed_knots, 0.146, 0.001, "speed");
PASS();
}
static void test_parse_rmc_void(void)
{
TEST("RMC: void status (no valid fix)");
reset_gps();
gps.latitude = 12.34; /* Pre-set to check it doesn't get overwritten */
um982_parse_sentence(&gps,
"$GNRMC,235959.00,V,,,,,,,100117,,,N*64");
ASSERT_EQ_INT(gps.rmc_status, 'V', "void status");
ASSERT_NEAR(gps.latitude, 12.34, 0.001, "lat should not change on void");
PASS();
}
/* ========================= THS parsing tests ========================= */
static void test_parse_ths_autonomous(void)
{
TEST("THS: autonomous heading 341.3344");
reset_gps();
mock_set_tick(3000);
um982_parse_sentence(&gps, "$GNTHS,341.3344,A*1F");
ASSERT_NEAR(gps.heading, 341.3344, 0.001, "heading");
ASSERT_EQ_INT(gps.heading_mode, 'A', "mode");
PASS();
}
static void test_parse_ths_not_valid(void)
{
TEST("THS: not valid mode");
reset_gps();
um982_parse_sentence(&gps, "$GNTHS,,V*10");
ASSERT_NAN(gps.heading, "heading should be NAN when empty");
ASSERT_EQ_INT(gps.heading_mode, 'V', "mode V");
PASS();
}
static void test_parse_ths_zero(void)
{
TEST("THS: heading exactly 0.0000");
reset_gps();
um982_parse_sentence(&gps, "$GNTHS,0.0000,A*19");
ASSERT_NEAR(gps.heading, 0.0, 0.001, "heading zero");
ASSERT_EQ_INT(gps.heading_mode, 'A', "mode A");
PASS();
}
static void test_parse_ths_360_boundary(void)
{
TEST("THS: heading near 360");
reset_gps();
um982_parse_sentence(&gps, "$GNTHS,359.9999,D*13");
ASSERT_NEAR(gps.heading, 359.9999, 0.001, "heading near 360");
ASSERT_EQ_INT(gps.heading_mode, 'D', "mode D");
PASS();
}
/* ========================= VTG parsing tests ========================= */
static void test_parse_vtg(void)
{
TEST("VTG: course and speed");
reset_gps();
um982_parse_sentence(&gps,
"$GPVTG,220.86,T,,M,2.550,N,4.724,K,A*34");
ASSERT_NEAR(gps.course_true, 220.86, 0.01, "course");
ASSERT_NEAR(gps.speed_knots, 2.550, 0.001, "speed knots");
ASSERT_NEAR(gps.speed_kmh, 4.724, 0.001, "speed kmh");
PASS();
}
/* ========================= Talker ID tests =========================== */
static void test_talker_gp(void)
{
TEST("talker: GP prefix parses correctly");
reset_gps();
um982_parse_sentence(&gps, "$GPTHS,123.4567,A*07");
ASSERT_NEAR(gps.heading, 123.4567, 0.001, "heading with GP");
PASS();
}
static void test_talker_gl(void)
{
TEST("talker: GL prefix parses correctly");
reset_gps();
um982_parse_sentence(&gps, "$GLTHS,123.4567,A*1B");
ASSERT_NEAR(gps.heading, 123.4567, 0.001, "heading with GL");
PASS();
}
/* ========================= Feed / line assembly tests ================ */
static void test_feed_single_sentence(void)
{
TEST("feed: single complete sentence with CRLF");
reset_gps();
mock_set_tick(5000);
const char *data = "$GNTHS,341.3344,A*1F\r\n";
um982_feed(&gps, (const uint8_t *)data, (uint16_t)strlen(data));
ASSERT_NEAR(gps.heading, 341.3344, 0.001, "heading");
PASS();
}
static void test_feed_multiple_sentences(void)
{
TEST("feed: multiple sentences in one chunk");
reset_gps();
mock_set_tick(5000);
const char *data =
"$GNTHS,100.0000,A*18\r\n"
"$GNGGA,001043.00,4404.14036,N,12118.85961,W,1,12,0.98,1113.0,M,-21.3,M*47\r\n";
um982_feed(&gps, (const uint8_t *)data, (uint16_t)strlen(data));
ASSERT_NEAR(gps.heading, 100.0, 0.01, "heading from THS");
ASSERT_EQ_INT(gps.fix_quality, 1, "fix from GGA");
PASS();
}
static void test_feed_partial_then_complete(void)
{
TEST("feed: partial bytes then complete");
reset_gps();
mock_set_tick(5000);
const char *part1 = "$GNTHS,200.";
const char *part2 = "5000,A*1E\r\n";
um982_feed(&gps, (const uint8_t *)part1, (uint16_t)strlen(part1));
/* Heading should not be set yet */
ASSERT_NAN(gps.heading, "should be NAN before complete");
um982_feed(&gps, (const uint8_t *)part2, (uint16_t)strlen(part2));
ASSERT_NEAR(gps.heading, 200.5, 0.01, "heading after complete");
PASS();
}
static void test_feed_bad_checksum_rejected(void)
{
TEST("feed: bad checksum sentence is rejected");
reset_gps();
mock_set_tick(5000);
const char *data = "$GNTHS,999.0000,A*FF\r\n";
um982_feed(&gps, (const uint8_t *)data, (uint16_t)strlen(data));
ASSERT_NAN(gps.heading, "heading should remain NAN");
PASS();
}
static void test_feed_versiona_response(void)
{
TEST("feed: VERSIONA response sets flag");
reset_gps();
const char *data = "#VERSIONA,79,GPS,FINE,2326,378237000,15434,0,18,889;\"UM982\"\r\n";
um982_feed(&gps, (const uint8_t *)data, (uint16_t)strlen(data));
ASSERT_TRUE(gps.version_received, "version_received should be true");
ASSERT_TRUE(gps.initialized, "VERSIONA should mark communication alive");
PASS();
}
/* ========================= Validity / age tests ====================== */
static void test_heading_valid_within_timeout(void)
{
TEST("validity: heading valid within timeout");
reset_gps();
mock_set_tick(10000);
um982_parse_sentence(&gps, "$GNTHS,341.3344,A*1F");
/* Still at tick 10000 */
ASSERT_TRUE(um982_is_heading_valid(&gps), "should be valid");
PASS();
}
static void test_heading_invalid_after_timeout(void)
{
TEST("validity: heading invalid after 2s timeout");
reset_gps();
mock_set_tick(10000);
um982_parse_sentence(&gps, "$GNTHS,341.3344,A*1F");
/* Advance past timeout */
mock_set_tick(12500);
ASSERT_FALSE(um982_is_heading_valid(&gps), "should be invalid after 2.5s");
PASS();
}
static void test_heading_invalid_mode_v(void)
{
TEST("validity: heading invalid with mode V");
reset_gps();
mock_set_tick(10000);
um982_parse_sentence(&gps, "$GNTHS,,V*10");
ASSERT_FALSE(um982_is_heading_valid(&gps), "mode V is invalid");
PASS();
}
static void test_position_valid(void)
{
TEST("validity: position valid with fix quality 1");
reset_gps();
mock_set_tick(10000);
um982_parse_sentence(&gps,
"$GNGGA,001043.00,4404.14036,N,12118.85961,W,1,12,0.98,1113.0,M,-21.3,M*47");
ASSERT_TRUE(um982_is_position_valid(&gps), "should be valid");
PASS();
}
static void test_position_invalid_no_fix(void)
{
TEST("validity: position invalid with no fix");
reset_gps();
mock_set_tick(10000);
um982_parse_sentence(&gps,
"$GNGGA,235959.00,,,,,0,00,99.99,,,,,,*79");
ASSERT_FALSE(um982_is_position_valid(&gps), "no fix = invalid");
PASS();
}
static void test_position_age_uses_last_valid_fix(void)
{
TEST("age: position age uses last valid fix, not no-fix GGA");
reset_gps();
mock_set_tick(10000);
um982_parse_sentence(&gps,
"$GNGGA,001043.00,4404.14036,N,12118.85961,W,1,12,0.98,1113.0,M,-21.3,M*47");
mock_set_tick(12000);
um982_parse_sentence(&gps,
"$GNGGA,235959.00,,,,,0,00,99.99,,,,,,*79");
mock_set_tick(12500);
ASSERT_EQ_INT(um982_position_age(&gps), 2500, "age should still be from last valid fix");
ASSERT_FALSE(um982_is_position_valid(&gps), "latest no-fix GGA should invalidate position");
PASS();
}
static void test_heading_age(void)
{
TEST("age: heading age computed correctly");
reset_gps();
mock_set_tick(10000);
um982_parse_sentence(&gps, "$GNTHS,341.3344,A*1F");
mock_set_tick(10500);
uint32_t age = um982_heading_age(&gps);
ASSERT_EQ_INT(age, 500, "age should be 500ms");
PASS();
}
/* ========================= Send command tests ======================== */
static void test_send_command_appends_crlf(void)
{
TEST("send_command: appends \\r\\n");
reset_gps();
um982_send_command(&gps, "GPGGA COM2 1");
/* Check that TX buffer contains "GPGGA COM2 1\r\n" */
const char *expected = "GPGGA COM2 1\r\n";
ASSERT_TRUE(mock_uart_tx_len == strlen(expected), "TX length");
ASSERT_TRUE(memcmp(mock_uart_tx_buf, expected, strlen(expected)) == 0,
"TX content should be 'GPGGA COM2 1\\r\\n'");
PASS();
}
static void test_send_command_null_safety(void)
{
TEST("send_command: NULL gps returns false");
ASSERT_FALSE(um982_send_command(NULL, "RESET"), "should return false");
PASS();
}
/* ========================= Init sequence tests ======================= */
static void test_init_sends_correct_commands(void)
{
TEST("init: sends correct command sequence");
spy_reset();
mock_uart_tx_clear();
/* Pre-load VERSIONA response so init succeeds */
const char *ver_resp = "#VERSIONA,79,GPS,FINE,2326,378237000,15434,0,18,889;\"UM982\"\r\n";
mock_uart_rx_load(&huart5, (const uint8_t *)ver_resp, (uint16_t)strlen(ver_resp));
UM982_GPS_t init_gps;
bool ok = um982_init(&init_gps, &huart5, 50.0f, 3.0f);
ASSERT_TRUE(ok, "init should succeed");
ASSERT_TRUE(init_gps.initialized, "should be initialized");
/* Verify TX buffer contains expected commands */
const char *tx = (const char *)mock_uart_tx_buf;
ASSERT_TRUE(strstr(tx, "UNLOG\r\n") != NULL, "should send UNLOG");
ASSERT_TRUE(strstr(tx, "CONFIG HEADING FIXLENGTH\r\n") != NULL, "should send CONFIG HEADING");
ASSERT_TRUE(strstr(tx, "CONFIG HEADING LENGTH 50 3\r\n") != NULL, "should send LENGTH");
ASSERT_TRUE(strstr(tx, "GPGGA COM2 1\r\n") != NULL, "should enable GGA");
ASSERT_TRUE(strstr(tx, "GPRMC COM2 1\r\n") != NULL, "should enable RMC");
ASSERT_TRUE(strstr(tx, "GPTHS COM2 0.2\r\n") != NULL, "should enable THS at 5Hz");
ASSERT_TRUE(strstr(tx, "SAVECONFIG\r\n") == NULL, "should NOT save config (NVM wear)");
ASSERT_TRUE(strstr(tx, "VERSIONA\r\n") != NULL, "should query version");
/* Verify command order: UNLOG should come before GPGGA */
const char *unlog_pos = strstr(tx, "UNLOG\r\n");
const char *gpgga_pos = strstr(tx, "GPGGA COM2 1\r\n");
ASSERT_TRUE(unlog_pos < gpgga_pos, "UNLOG should precede GPGGA");
PASS();
}
static void test_init_no_baseline(void)
{
TEST("init: baseline=0 skips LENGTH command");
spy_reset();
mock_uart_tx_clear();
const char *ver_resp = "#VERSIONA,79,GPS,FINE,2326,378237000,15434,0,18,889;\"UM982\"\r\n";
mock_uart_rx_load(&huart5, (const uint8_t *)ver_resp, (uint16_t)strlen(ver_resp));
UM982_GPS_t init_gps;
um982_init(&init_gps, &huart5, 0.0f, 0.0f);
const char *tx = (const char *)mock_uart_tx_buf;
ASSERT_TRUE(strstr(tx, "CONFIG HEADING LENGTH") == NULL, "should NOT send LENGTH");
PASS();
}
static void test_init_fails_no_version(void)
{
TEST("init: fails if no VERSIONA response");
spy_reset();
mock_uart_tx_clear();
/* Don't load any RX data — init should timeout */
UM982_GPS_t init_gps;
bool ok = um982_init(&init_gps, &huart5, 50.0f, 3.0f);
ASSERT_FALSE(ok, "init should fail without version response");
ASSERT_FALSE(init_gps.initialized, "should not be initialized");
PASS();
}
static void test_nmea_traffic_sets_initialized_without_versiona(void)
{
TEST("init state: supported NMEA traffic sets initialized");
reset_gps();
ASSERT_FALSE(gps.initialized, "should start uninitialized");
um982_parse_sentence(&gps, "$GNTHS,341.3344,A*1F");
ASSERT_TRUE(gps.initialized, "supported NMEA should mark communication alive");
PASS();
}
/* ========================= Edge case tests =========================== */
static void test_empty_fields_handled(void)
{
TEST("edge: GGA with empty lat/lon fields");
reset_gps();
gps.latitude = 99.99;
gps.longitude = 99.99;
/* GGA with empty position fields (no fix) */
um982_parse_sentence(&gps,
"$GNGGA,235959.00,,,,,0,00,99.99,,,,,,*79");
ASSERT_EQ_INT(gps.fix_quality, 0, "no fix");
/* Latitude/longitude should not be updated (fields are empty) */
ASSERT_NEAR(gps.latitude, 99.99, 0.01, "lat unchanged");
ASSERT_NEAR(gps.longitude, 99.99, 0.01, "lon unchanged");
PASS();
}
static void test_sentence_too_short(void)
{
TEST("edge: sentence too short to have formatter");
reset_gps();
/* Should not crash */
um982_parse_sentence(&gps, "$GN");
um982_parse_sentence(&gps, "$");
um982_parse_sentence(&gps, "");
um982_parse_sentence(&gps, NULL);
PASS();
}
static void test_line_overflow(void)
{
TEST("edge: oversized line is dropped");
reset_gps();
/* Create a line longer than UM982_LINE_BUF_SIZE */
char big[200];
memset(big, 'X', sizeof(big));
big[0] = '$';
big[198] = '\n';
big[199] = '\0';
um982_feed(&gps, (const uint8_t *)big, 199);
/* Should not crash, heading should still be NAN */
ASSERT_NAN(gps.heading, "no valid data from overflow");
PASS();
}
static void test_process_via_mock_uart(void)
{
TEST("process: reads from mock UART RX buffer");
reset_gps();
mock_set_tick(5000);
/* Load data into mock UART RX */
const char *data = "$GNTHS,275.1234,D*18\r\n";
mock_uart_rx_load(&huart5, (const uint8_t *)data, (uint16_t)strlen(data));
/* Call process() which reads from UART */
um982_process(&gps);
ASSERT_NEAR(gps.heading, 275.1234, 0.001, "heading via process()");
ASSERT_EQ_INT(gps.heading_mode, 'D', "mode D");
PASS();
}
/* ========================= PR #68 bug regression tests =============== */
/* These tests specifically verify the bugs found in the reverted PR #68 */
static void test_regression_sentence_id_with_gn_prefix(void)
{
TEST("regression: GN-prefixed GGA is correctly identified");
reset_gps();
/* PR #68 bug: strncmp(sentence, "GGA", 3) compared "GNG" vs "GGA" — never matched.
* Our fix: skip 2-char talker ID, compare at sentence+3. */
um982_parse_sentence(&gps,
"$GNGGA,001043.00,4404.14036,N,12118.85961,W,1,12,0.98,1113.0,M,-21.3,M*47");
ASSERT_EQ_INT(gps.fix_quality, 1, "GGA should parse with GN prefix");
ASSERT_NEAR(gps.latitude, 44.069006, 0.001, "latitude should be parsed");
PASS();
}
static void test_regression_longitude_3digit_degrees(void)
{
TEST("regression: 3-digit longitude degrees parsed correctly");
reset_gps();
/* PR #68 bug: hardcoded 2-digit degrees for longitude.
* 12118.85961 should be 121° 18.85961' = 121.314327° */
um982_parse_sentence(&gps,
"$GNGGA,001043.00,4404.14036,N,12118.85961,W,1,12,0.98,1113.0,M,-21.3,M*47");
ASSERT_NEAR(gps.longitude, -(121.0 + 18.85961/60.0), 0.0001,
"longitude 121° should not be parsed as 12°");
ASSERT_TRUE(gps.longitude < -100.0, "longitude should be > 100 degrees");
PASS();
}
static void test_regression_hemisphere_no_ptr_corrupt(void)
{
TEST("regression: hemisphere parsing doesn't corrupt field pointer");
reset_gps();
/* PR #68 bug: GGA/RMC hemisphere cases manually advanced ptr,
* desynchronizing from field counter. Our parser uses proper tokenizer. */
um982_parse_sentence(&gps,
"$GNGGA,001043.00,4404.14036,N,12118.85961,W,1,12,0.98,1113.0,M,-21.3,M*47");
/* After lat/lon, remaining fields should be correct */
ASSERT_EQ_INT(gps.num_satellites, 12, "sats after hemisphere");
ASSERT_NEAR(gps.hdop, 0.98, 0.01, "hdop after hemisphere");
ASSERT_NEAR(gps.altitude, 1113.0, 0.1, "altitude after hemisphere");
PASS();
}
static void test_regression_rmc_also_parsed(void)
{
TEST("regression: RMC sentence is actually parsed (not dead code)");
reset_gps();
/* PR #68 bug: identifySentence never matched GGA/RMC, so position
* parsing was dead code. */
um982_parse_sentence(&gps,
"$GNRMC,001031.00,A,4404.13993,N,12118.86023,W,0.146,,100117,,,A*7B");
ASSERT_TRUE(gps.latitude > 44.0, "RMC lat should be parsed");
ASSERT_TRUE(gps.longitude < -121.0, "RMC lon should be parsed");
ASSERT_NEAR(gps.speed_knots, 0.146, 0.001, "RMC speed");
PASS();
}
/* ========================= Main ====================================== */
int main(void)
{
printf("=== UM982 GPS Driver Tests ===\n\n");
printf("--- Checksum ---\n");
test_checksum_valid();
test_checksum_valid_ths();
test_checksum_invalid();
test_checksum_missing_star();
test_checksum_null();
test_checksum_no_dollar();
printf("\n--- Coordinate Parsing ---\n");
test_coord_latitude_north();
test_coord_latitude_south();
test_coord_longitude_3digit();
test_coord_longitude_east();
test_coord_empty();
test_coord_null();
test_coord_no_dot();
printf("\n--- GGA Parsing ---\n");
test_parse_gga_full();
test_parse_gga_rtk_fixed();
test_parse_gga_no_fix();
printf("\n--- RMC Parsing ---\n");
test_parse_rmc_valid();
test_parse_rmc_void();
printf("\n--- THS Parsing ---\n");
test_parse_ths_autonomous();
test_parse_ths_not_valid();
test_parse_ths_zero();
test_parse_ths_360_boundary();
printf("\n--- VTG Parsing ---\n");
test_parse_vtg();
printf("\n--- Talker IDs ---\n");
test_talker_gp();
test_talker_gl();
printf("\n--- Feed / Line Assembly ---\n");
test_feed_single_sentence();
test_feed_multiple_sentences();
test_feed_partial_then_complete();
test_feed_bad_checksum_rejected();
test_feed_versiona_response();
printf("\n--- Validity / Age ---\n");
test_heading_valid_within_timeout();
test_heading_invalid_after_timeout();
test_heading_invalid_mode_v();
test_position_valid();
test_position_invalid_no_fix();
test_position_age_uses_last_valid_fix();
test_heading_age();
printf("\n--- Send Command ---\n");
test_send_command_appends_crlf();
test_send_command_null_safety();
printf("\n--- Init Sequence ---\n");
test_init_sends_correct_commands();
test_init_no_baseline();
test_init_fails_no_version();
test_nmea_traffic_sets_initialized_without_versiona();
printf("\n--- Edge Cases ---\n");
test_empty_fields_handled();
test_sentence_too_short();
test_line_overflow();
test_process_via_mock_uart();
printf("\n--- PR #68 Regression ---\n");
test_regression_sentence_id_with_gn_prefix();
test_regression_longitude_3digit_degrees();
test_regression_hemisphere_no_ptr_corrupt();
test_regression_rmc_also_parsed();
printf("\n===============================================\n");
printf(" Results: %d passed, %d failed (of %d total)\n",
tests_passed, tests_failed, tests_passed + tests_failed);
printf("===============================================\n");
return tests_failed > 0 ? 1 : 0;
}