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GPS: fix hwVersion field size from uint32_t to uint8_t #11510

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Merged
sensei-hacker merged 2 commits into from
Apr 25, 2026
Merged

GPS: fix hwVersion field size from uint32_t to uint8_t #11510

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21ea4c8
GPS: fix hwVersion field size from uint32_t to uint8_t
sensei-hacker Apr 25, 2026
690c1ec
GPS: update MSP_GPSSTATISTICS docs for uint8_t hwVersion encoding
sensei-hacker Apr 25, 2026
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6 changes: 3 additions & 3 deletions docs/development/msp/msp_messages.json
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Original file line number Diff line number Diff line change
Expand Up @@ -4914,9 +4914,9 @@
},
{
"name": "hwVersion",
"ctype": "uint32_t",
"desc": "GPS hardware version (`gpsState.hwVersion`). Values: 500=UBLOX5, 600=UBLOX6, 700=UBLOX7, 800=UBLOX8, 900=UBLOX9, 1000=UBLOX10, 0=UNKNOWN",
"units": "Version code"
"ctype": "uint8_t",
"desc": "GPS hardware version bit-field: bits[7:6]=series (0b01=u-blox Neo/M), bits[5:0]=generation. E.g. 0x48=M8, 0x49=M9, 0x4A=M10, 0=unknown.",
"units": ""
}
]
},
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2 changes: 1 addition & 1 deletion src/main/fc/fc_msp.c
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Expand Up @@ -1009,7 +1009,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, gpsSol.hdop);
sbufWriteU16(dst, gpsSol.eph);
sbufWriteU16(dst, gpsSol.epv);
sbufWriteU32(dst, gpsState.hwVersion);
sbufWriteU8(dst, gpsState.hwVersion);
break;
#endif
case MSP2_ADSB_VEHICLE_LIST:
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2 changes: 1 addition & 1 deletion src/main/io/gps_private.h
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Expand Up @@ -42,7 +42,7 @@ typedef struct {
const serialConfig_t * serialConfig;
serialPort_t * gpsPort; // Serial GPS only

uint32_t hwVersion;
uint8_t hwVersion; // See UBX_HW_VERSION_* in gps_ublox.h
uint8_t swVersionMajor;
uint8_t swVersionMinor;

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2 changes: 1 addition & 1 deletion src/main/io/gps_ublox.c
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Expand Up @@ -556,7 +556,7 @@ static void gpsDecodeProtocolVersion(const char *proto, size_t bufferLength)
}
}

static uint32_t gpsDecodeHardwareVersion(const char * szBuf, unsigned nBufSize)
static uint8_t gpsDecodeHardwareVersion(const char * szBuf, unsigned nBufSize)
{
// ublox_5 hwVersion 00040005
if (strncmp(szBuf, "00040005", nBufSize) == 0) {
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26 changes: 19 additions & 7 deletions src/main/io/gps_ublox.h
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Expand Up @@ -62,13 +62,25 @@ STATIC_ASSERT(MAX_UBLOX_PAYLOAD_SIZE >= 256, ubx_size_too_small);
#define UBX_VALID_GPS_TIME(valid) (valid & 1 << 1)
#define UBX_VALID_GPS_DATE_TIME(valid) (UBX_VALID_GPS_DATE(valid) && UBX_VALID_GPS_TIME(valid))

#define UBX_HW_VERSION_UNKNOWN 0
#define UBX_HW_VERSION_UBLOX5 500
#define UBX_HW_VERSION_UBLOX6 600
#define UBX_HW_VERSION_UBLOX7 700
#define UBX_HW_VERSION_UBLOX8 800
#define UBX_HW_VERSION_UBLOX9 900
#define UBX_HW_VERSION_UBLOX10 1000
/*
* hwVersion encoding (fits in uint8_t):
* bits [7:6] series: 0b00=unknown, 0b01=u-blox Neo/M series
* bits [5:0] generation within series (e.g. 8=M8, 9=M9, 10=M10)
*
* This leaves 0b10 and 0b11 available for future series (e.g. u-blox F9,
* other manufacturers).
*/
#define UBX_HW_SERIES_MASK 0xC0
#define UBX_HW_GEN_MASK 0x3F
#define UBX_HW_SERIES_UBLOX_NM 0x40 // 0b01 << 6: u-blox Neo/M series

#define UBX_HW_VERSION_UNKNOWN 0
#define UBX_HW_VERSION_UBLOX5 (UBX_HW_SERIES_UBLOX_NM | 5) // 0x45
#define UBX_HW_VERSION_UBLOX6 (UBX_HW_SERIES_UBLOX_NM | 6) // 0x46
#define UBX_HW_VERSION_UBLOX7 (UBX_HW_SERIES_UBLOX_NM | 7) // 0x47
#define UBX_HW_VERSION_UBLOX8 (UBX_HW_SERIES_UBLOX_NM | 8) // 0x48
#define UBX_HW_VERSION_UBLOX9 (UBX_HW_SERIES_UBLOX_NM | 9) // 0x49
#define UBX_HW_VERSION_UBLOX10 (UBX_HW_SERIES_UBLOX_NM | 10) // 0x4A

#define UBLOX_CFG_MSGOUT_NAV_POSLLH_UART1 0x2091002a // U1
#define UBLOX_CFG_MSGOUT_NAV_SAT_UART1 0x20910016 // U1
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