linguini1 opened a new pull request, #16778: URL: https://github.com/apache/nuttx/pull/16778
## Summary Updates the L86xxx driver to use the gnss lowerhalf and makes several other small performance improvements. ## Impact Makes it easier to maintain this driver. ## Testing Tested on custom STM32H743 based flight computer. The driver works, but I've noticed that it still sometimes fails to detect an `ACK` from the GPS because the response is buried in an onslaught of NMEA message output. I'm wondering if there would be a better way of checking for `ACKS` than doing `read_line` several times to search for it, because this also wastes NMEA data. Sometimes, if the MCU is power cycled while the GPS stays powered, the driver hangs during registration. Still not sure what causes this, I am investigating. ```console l86xxx_register: Waiting for GNSS to start... send_command: Sending command: $PMTK251,9600 to L86 send_command: Sending command: $PMTK220,1000 to L86 send_command: Waiting for ACK from L86... send_command: ACK received! sensor_custom_register: Registering /dev/uorb/sensor_gnss0 sensor_custom_register: Registering /dev/uorb/sensor_gnss_satellite0 sensor_custom_register: Registering /dev/uorb/sensor_gnss_measurement0 sensor_custom_register: Registering /dev/uorb/sensor_gnss_clock0 sensor_custom_register: Registering /dev/uorb/sensor_gnss_geofence_event0 l86xxx_register: Registered L86-XXX driver with kernel polling thread with baud rate 9600 and update rate 1000 NuttShell (NSH) NuttX-12.8.0 nsh> uorb_listener sensor_gnss Monitor objects num:2 object_name:sensor_gnss, object_instance:1 object_name:sensor_gnss, object_instance:0 sensor_custom_register: Registering /dev/uorb/sensor_gnss1 send_command: Sending command: $PMTK101 to L86 sensor_gnss(now:237030000):timestamp:237030000,time_utc:1753502745,latitude:xxxxxxxx,longitude:xxxxxxxxxx,altitude:36.900002,altitude_ellipsoid:24.200001,0 ``` (logs modified to not reveal my location) -- This is an automated message from the Apache Git Service. To respond to the message, please log on to GitHub and use the URL above to go to the specific comment. To unsubscribe, e-mail: commits-unsubscr...@nuttx.apache.org For queries about this service, please contact Infrastructure at: us...@infra.apache.org
