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Fix uplink SPI RX opcode: 0x06 placeholder -> 0x02 (CMD_RADIO_RX_FIFO) - #36
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The placeholder opcode 0x06 does not exist in the ulysses-gnss-radio firmware's pull-mode command set (Core/Inc/protocol_config.h); the board would count it as an unknown command and always return zeros, so uplink commands would never reach the command thread. Confirmed against the GNSS firmware source: - Radio RX opcode is 0x02 (CMD_RADIO_RX_FIFO, oldest-first so commands keep their ground-sent order; 0x01 is the LIFO variant). - Transaction framing matches what gnss_spi_read() already clocks: [CMD:1][DUMMY:4][PAYLOAD:256] = 261 bytes. - The board splits the radio UART stream on 0x00, strips the terminator, and zero-pads messages into 256-byte queue slots, so the existing scan-to-first-zero COBS decode in command_thread.c works unchanged. - The board boots hardcoded into pull mode; no config frame is required.
ivan-lyf
marked this pull request as ready for review
July 26, 2026 19:51
jasonkwok475
approved these changes
Jul 26, 2026
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