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How to use satpulsetool - GPS receiver configuration and packet decoding tool
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Implement gpsprot high-level (device-independent) configuration - the ConfigProtocol/Configurator - for a new GPS receiver protocol family
Build systematic collection of packet logs for a GPS receiver, covering all implemented decode paths per plan/packet-testing.md
Drive a test satpulsed instance from a recorded packet log, with no GPS hardware, by replaying the log through a FIFO with original packet pacing. Use to exercise the full scan/decode/event pipeline or the web interface from a capture.
End-to-end test of GPS message (gpsprot.*Msg) pipeline with GPS hardware
Stand up a throwaway satpulsed instance as an unprivileged user for testing, fed from a serial device or a FIFO. Use directly to run a test instance, or as the setup step for the drive-satpulsed-from-log and hardware-test-gps-msgs skills.
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| name | satpulsetool |
| description | How to use satpulsetool - GPS receiver configuration and packet decoding tool |
| allowed-tools | Read, Bash, Glob, Grep |
satpulsetool is a command-line tool with subcommands. Get help for any subcommand with --help:
out/amd64/satpulsetool gps --help
out/amd64/satpulsetool decode --help
Global options go BEFORE the subcommand. The useful one is -v for verbose output (repeat for more):
out/amd64/satpulsetool -v gps ...
out/amd64/satpulsetool -v -v decode ...
WRONG: satpulsetool gps -v ... (fails - -v is not a gps option)
Build with make. The binary location depends on platform:
out/amd64/satpulsetoolout/arm64/satpulsetoolout/darwin_arm64/satpulsetoolRun uname -m once to determine which.
The gps subcommand always needs -d (serial device) and -s (baud rate), or -f (config file containing both).
Look in CLAUDE.local.md for the device and speed of any connected receiver. If not documented there, ask the user and update CLAUDE.local.md with what they tell you.
Before using a serial device, check that satpulsed is not running (ps ax | grep satpulsed) since they cannot share the device.
Configures GPS receivers and captures packets. Full reference: docs/man/satpulsetool-gps.1.md. Four main uses:
Capture packets from a receiver to a JSONL file. This is passive - it just records what the receiver sends.
out/amd64/satpulsetool gps -d /dev/ttyACM0 -s 38400 --packet-log capture.jsonl --capture 10
Do NOT use the timeout command - use --capture N (seconds) instead. Note that --packet-log appends to an existing file, so use a new filename each time.
Message files are TOML files in configs/gpsmsg/ that define named messages for specific receivers. Messages are selected by tag. See configs/gpsmsg/tags.md for tag naming conventions. When sending messages, satpulsetool correlates receiver responses with sent commands and reports whether each message was accepted (OK) or rejected (NAK).
List available tags in a message file:
out/amd64/satpulsetool gps -m configs/gpsmsg/um980.toml --show-tags
Send tagged messages to a receiver:
out/arm64/satpulsetool gps -d /dev/ttyUSB0 -s 115200 -m configs/gpsmsg/um980.toml -t pps
Send multiple tags in order:
out/arm64/satpulsetool gps -d /dev/ttyUSB0 -s 115200 -m configs/gpsmsg/um980.toml -t get-version,get-pps
Combine with --packet-log to see the full exchange:
out/arm64/satpulsetool gps -d /dev/ttyUSB0 -s 115200 -m configs/gpsmsg/um980.toml -t pps --packet-log result.jsonl
When querying with a get-* tag, binary replies are printed as hex. Use satpulsetool decode --bin to decode them (see decode subcommand below).
Use -m - to pipe the message file as a here document. No temporary file needed. The TOML format handles checksums and binary packing for you. See configs/gpsmsg/format.md for the full format reference.
Send a line command (e.g. Unicore). For Unicore receivers, set responsePattern = "unicore" so satpulsetool can match the receiver's ACK/NAK reply — without it the tool has no way to tell if the command was accepted. Use a [default.line] block to apply it to every [[line]] in the document:
out/amd64/satpulsetool gps -d /dev/ttyUSB0 -s 115200 -m - <<'TOML'
[default.line]
responsePattern = "unicore"
[[line]]
text = "CONFIG PPP ENABLE E6-HAS"
TOML
Send an NMEA command (checksum computed automatically):
out/amd64/satpulsetool gps -d /dev/ttyUSB0 -s 115200 -m - <<'TOML'
[[nmea]]
text = "PQTMCFGPPS,W,1,1,100,2,1,0"
TOML
Send a binary command (payload packed automatically). Supported binary formats: [[ubx]] (u-blox), [[asbin]] (Allystar), [[casbin]] (CASIC), [[sdbp]] (Techtotop/Taidou). You specify the message class/id and the payload as type specifiers (payload.types) and values (payload.values). The type specifiers (U1, U2, U4 unsigned; I1, I2, I4 signed; R4, R8 float) can typically be read directly from the protocol specification for the message. Satpulsetool handles sync bytes, length fields, and checksums.
out/amd64/satpulsetool gps -d /dev/ttyUSB0 -s 115200 -m - <<'TOML'
[[ubx]]
class = 0x06
id = 0x03
payload.types = "U4U4U1I1U1U1R4"
payload.values = [1000000, 100000, 3, 0, 1, 0, 0.0]
TOML
Combine with --packet-log to see the response.
Device-independent options that satpulsetool translates into the right commands for the receiver. Currently supported on u-blox (6 through X20) and Unicore Nebulas IV (UM980/981/982/960).
Show receiver info (also the default if no config options given):
out/amd64/satpulsetool gps -d /dev/ttyACM0 -s 38400 --show-receiver
Show current configuration:
out/amd64/satpulsetool gps -d /dev/ttyACM0 -s 38400 --show-config
Enable constellations and bands:
out/amd64/satpulsetool gps -d /dev/ttyACM0 -s 38400 -g GPS,GAL -b L1,L2
Configure PPS (pulse width in seconds, 0 disables):
out/amd64/satpulsetool gps -d /dev/ttyACM0 -s 38400 --pps 0.5
Start a position survey (for timing mode):
out/amd64/satpulsetool gps -d /dev/ttyACM0 -s 38400 --survey --survey-time 3000 --survey-acc 1.5
Use a known fixed position:
out/amd64/satpulsetool gps -d /dev/ttyACM0 -s 38400 --fixed-pos-ecef -941709.7,5965766.5,1553280.3 --fixed-pos-acc 0.1
Enable binary output for satpulsed:
out/amd64/satpulsetool gps -d /dev/ttyACM0 -s 38400 --binary --pvt-out daemon
Configure RTCM output:
out/amd64/satpulsetool gps -d /dev/ttyACM0 -s 38400 --rtcm-out MSM4,ARP -g GPS,GAL,BDS
Save configuration to receiver's non-volatile memory:
out/amd64/satpulsetool gps -d /dev/ttyACM0 -s 38400 --save
Combine with --packet-log to see what commands are sent and how the receiver responds:
out/amd64/satpulsetool gps -d /dev/ttyACM0 -s 38400 --show-config --packet-log config.jsonl --capture 5
Reset, reload, factory reset:
out/amd64/satpulsetool gps -d /dev/ttyACM0 -s 38400 --reload
out/amd64/satpulsetool gps -d /dev/ttyACM0 -s 38400 --reset
out/amd64/satpulsetool gps -d /dev/ttyACM0 -s 38400 --factory-reset
Important note
--save, --factory-reset, and --reset modify persistent state - confirm with user before using.
Decodes a single GPS packet into JSON. Takes a positional DATA argument.
Auto-detection: if all characters in DATA are hex digits, it is treated as hex-encoded binary (odd length is an error); otherwise it is treated as ASCII text (with \r\n appended). Use --bin or --line to force interpretation.
out/amd64/satpulsetool decode b562010614000000...
out/amd64/satpulsetool decode '$GNGGA,034418.00,1343.91295,N,...*64'
out/amd64/satpulsetool decode --bin b562010614000000...
out/amd64/satpulsetool decode --line '$GNGGA,034418.00,1343.91295,N,...*64'
Options:
--bin - force hex interpretation--line - force ASCII interpretation (appends \r\n)-c / --compact - single-line JSON output--out - treat packet as outgoing (affects CFG-VAL* decoding direction)Annotates a JSONL packet log with decoded fields (header, payload, cfgData).
out/amd64/satpulsetool annotate capture.jsonl
out/amd64/satpulsetool annotate - < capture.jsonl
out/amd64/satpulsetool annotate < capture.jsonl
out/amd64/satpulsetool gps -d /dev/ttyACM0 -s 38400 --packet-log cap.jsonl --capture 10
out/amd64/satpulsetool annotate cap.jsonl > decoded.jsonl