From 83a2edbd1b7219c53503ba25fa49358324ef95ea Mon Sep 17 00:00:00 2001
From: David Leskowicz <dave@pointonenav.com>
Date: Wed, 7 Aug 2024 12:48:54 -0700
Subject: [PATCH 01/11] wip! Start adding support for the STA5635 based boards.

---
 BUILD                                         |  1 +
 src/point_one/fusion_engine/messages/core.h   |  1 +
 src/point_one/fusion_engine/messages/defs.h   | 15 ++++
 src/point_one/fusion_engine/messages/device.h |  4 +
 .../fusion_engine/messages/uart_to_st5635.h   | 83 +++++++++++++++++++
 5 files changed, 104 insertions(+)
 create mode 100644 src/point_one/fusion_engine/messages/uart_to_st5635.h

diff --git a/BUILD b/BUILD
index bca55bd0..56a4a547 100644
--- a/BUILD
+++ b/BUILD
@@ -56,6 +56,7 @@ cc_library(
         "src/point_one/fusion_engine/messages/measurements.h",
         "src/point_one/fusion_engine/messages/signal_defs.h",
         "src/point_one/fusion_engine/messages/solution.h",
+        "src/point_one/fusion_engine/messages/uart_to_st5635.h",
     ],
     deps = [
         ":common",
diff --git a/src/point_one/fusion_engine/messages/core.h b/src/point_one/fusion_engine/messages/core.h
index f1e009e3..c4998c60 100644
--- a/src/point_one/fusion_engine/messages/core.h
+++ b/src/point_one/fusion_engine/messages/core.h
@@ -12,3 +12,4 @@
 #include "point_one/fusion_engine/messages/device.h"
 #include "point_one/fusion_engine/messages/measurements.h"
 #include "point_one/fusion_engine/messages/solution.h"
+#include "point_one/fusion_engine/messages/uart_to_st5635.h"
diff --git a/src/point_one/fusion_engine/messages/defs.h b/src/point_one/fusion_engine/messages/defs.h
index 19a4d4e9..d58e1be5 100644
--- a/src/point_one/fusion_engine/messages/defs.h
+++ b/src/point_one/fusion_engine/messages/defs.h
@@ -86,6 +86,9 @@ enum class MessageType : uint16_t {
   FAULT_CONTROL = 13006, ///< @ref FaultControlMessage
   DEVICE_ID = 13007, ///< @ref DeviceIDMessage
   STARTUP_REQUEST = 13008, ///< @ref StartupRequest
+  SPI_CMD = 13009, ///< @ref SpiCmd
+  SPI_CMD_RESPONSE = 13010, ///< @ref SpiCmdResponse
+  SPI_LBAND_PACKET = 13011, ///< @ref SpiLbandPacket
 
   SET_CONFIG = 13100, ///< @ref SetConfigMessage
   GET_CONFIG = 13101, ///< @ref GetConfigMessage
@@ -228,6 +231,15 @@ P1_CONSTEXPR_FUNC const char* to_string(MessageType type) {
     case MessageType::STARTUP_REQUEST:
       return "Startup Request";
 
+    case MessageType::SPI_CMD:
+      return "SPI Command";
+
+    case MessageType::SPI_CMD_RESPONSE:
+      return "SPI Command Response";
+
+    case MessageType::SPI_LBAND_PACKET:
+      return "SPI Lband Packet";
+
     case MessageType::DEVICE_ID:
       return "Device ID Information";
 
@@ -301,6 +313,9 @@ P1_CONSTEXPR_FUNC bool IsCommand(MessageType message_type) {
     case MessageType::RESET_REQUEST:
     case MessageType::STARTUP_REQUEST:
     case MessageType::SHUTDOWN_REQUEST:
+    case MessageType::SPI_CMD:
+    case MessageType::SPI_CMD_RESPONSE:
+    case MessageType::SPI_LBAND_PACKET:
     case MessageType::FAULT_CONTROL:
     case MessageType::SET_CONFIG:
     case MessageType::GET_CONFIG:
diff --git a/src/point_one/fusion_engine/messages/device.h b/src/point_one/fusion_engine/messages/device.h
index 56c3e497..568a9b2c 100644
--- a/src/point_one/fusion_engine/messages/device.h
+++ b/src/point_one/fusion_engine/messages/device.h
@@ -103,6 +103,8 @@ enum class DeviceType : uint8_t {
   SSR_LG69T = 6,
   /** Point One SSR client running on a desktop platform. */
   SSR_DESKTOP = 7,
+  /** Point One Uart to SPI prototype system (host to ST5635) */
+  P1_ST5635 = 8,
 };
 
 /**
@@ -131,6 +133,8 @@ P1_CONSTEXPR_FUNC const char* to_string(DeviceType val) {
       return "SSR_LG69T";
     case DeviceType::SSR_DESKTOP:
       return "SSR_DESKTOP";
+    case DeviceType::P1_ST5635:
+      return "P1_ST5635";
   }
   return "Unrecognized";
 }
diff --git a/src/point_one/fusion_engine/messages/uart_to_st5635.h b/src/point_one/fusion_engine/messages/uart_to_st5635.h
new file mode 100644
index 00000000..d4e78c3f
--- /dev/null
+++ b/src/point_one/fusion_engine/messages/uart_to_st5635.h
@@ -0,0 +1,83 @@
+/**************************************************************************/ /**
+ * @brief Uart to ST5365 and back messages.
+ * @file
+ ******************************************************************************/
+
+#pragma once
+
+#include "point_one/fusion_engine/common/portability.h"
+#include "point_one/fusion_engine/messages/defs.h"
+
+namespace point_one {
+namespace fusion_engine {
+namespace messages {
+
+// Enforce 4-byte alignment and packing of all data structures and values.
+// Floating point values are aligned on platforms that require it. This is done
+// with a combination of setting struct attributes, and manual alignment
+// within the definitions. See the "Message Packing" section of the README.
+#pragma pack(push, 1)
+
+/**
+ * @defgroup uart_spi Uart to/from SPI messages
+ * @brief Messages for sending/receiving control messages to/from the ST5635
+ * @ingroup device_control
+ *
+ * See also @ref messages.
+ */
+
+/**************************************************************************/ /**
+ * @defgroup device_control Device Control Messages
+ * @brief Messages for high-level device control (reset, shutdown, etc.).
+ * @ingroup config_and_ctrl_messages
+ ******************************************************************************/
+
+/**
+ * @brief Response to indicate if SPI command was processed successfully (@ref
+ *        MessageType::SPI_CMD_RESPONSE, version 1.0).
+ * @ingroup device_control
+ */
+struct P1_ALIGNAS(4) SpiCmdResponse : public MessagePayload {
+  static constexpr MessageType MESSAGE_TYPE = MessageType::SPI_CMD_RESPONSE;
+  static constexpr uint8_t MESSAGE_VERSION = 0;
+
+  int64_t system_time_ns = 0;
+  uint8_t data_0 = 0;
+  uint8_t data_1 = 0;
+  uint8_t data_2 = 0;
+  uint8_t data_3 = 0;
+};
+
+/**
+ * @brief SPI Command to be sent to ST5635 (@ref
+ *        MessageType::SPI_CMD, version 1.0).
+ * @ingroup device_control
+ */
+struct P1_ALIGNAS(4) SpiCmd : public MessagePayload {
+  static constexpr MessageType MESSAGE_TYPE = MessageType::SPI_CMD;
+  static constexpr uint8_t MESSAGE_VERSION = 0;
+
+  uint8_t cmd = 0;
+  uint8_t address = 0;
+  uint8_t val1 = 0;
+  uint8_t val2 = 0;
+};
+
+/**
+ * @brief L-band frame contents from ST5635 (@ref
+ *        MessageType::SPI_LBAND_PACKET, version 1.0).
+ * @ingroup device_control
+
+ */
+struct P1_ALIGNAS(4) SpiLbandPacket : public MessagePayload {
+  static constexpr MessageType MESSAGE_TYPE = MessageType::SPI_LBAND_PACKET;
+  static constexpr uint8_t MESSAGE_VERSION = 0;
+  uint32_t msg_counter;
+  uint8_t packet[260];
+};
+
+#pragma pack(pop)
+
+} // namespace messages
+} // namespace fusion_engine
+} // namespace point_one

From aab1229f474dd397b40f698dbe4bddf9de1946e3 Mon Sep 17 00:00:00 2001
From: David Leskowicz <dave@pointonenav.com>
Date: Fri, 25 Oct 2024 15:23:16 -0700
Subject: [PATCH 02/11] Addressed PR comments.

Cleaned up message definitions, and removed ST5635LbandPacket in favor of
InputDataWrapper.
---
 BUILD                                         |  2 +-
 src/point_one/fusion_engine/messages/core.h   |  1 -
 src/point_one/fusion_engine/messages/defs.h   | 28 +++----
 src/point_one/fusion_engine/messages/device.h |  4 -
 src/point_one/fusion_engine/messages/st5635.h | 82 ++++++++++++++++++
 .../fusion_engine/messages/uart_to_st5635.h   | 83 -------------------
 6 files changed, 95 insertions(+), 105 deletions(-)
 create mode 100644 src/point_one/fusion_engine/messages/st5635.h
 delete mode 100644 src/point_one/fusion_engine/messages/uart_to_st5635.h

diff --git a/BUILD b/BUILD
index 56a4a547..394143dc 100644
--- a/BUILD
+++ b/BUILD
@@ -56,7 +56,7 @@ cc_library(
         "src/point_one/fusion_engine/messages/measurements.h",
         "src/point_one/fusion_engine/messages/signal_defs.h",
         "src/point_one/fusion_engine/messages/solution.h",
-        "src/point_one/fusion_engine/messages/uart_to_st5635.h",
+        "src/point_one/fusion_engine/messages/st5635.h",
     ],
     deps = [
         ":common",
diff --git a/src/point_one/fusion_engine/messages/core.h b/src/point_one/fusion_engine/messages/core.h
index c4998c60..f1e009e3 100644
--- a/src/point_one/fusion_engine/messages/core.h
+++ b/src/point_one/fusion_engine/messages/core.h
@@ -12,4 +12,3 @@
 #include "point_one/fusion_engine/messages/device.h"
 #include "point_one/fusion_engine/messages/measurements.h"
 #include "point_one/fusion_engine/messages/solution.h"
-#include "point_one/fusion_engine/messages/uart_to_st5635.h"
diff --git a/src/point_one/fusion_engine/messages/defs.h b/src/point_one/fusion_engine/messages/defs.h
index d58e1be5..df8b179d 100644
--- a/src/point_one/fusion_engine/messages/defs.h
+++ b/src/point_one/fusion_engine/messages/defs.h
@@ -86,9 +86,6 @@ enum class MessageType : uint16_t {
   FAULT_CONTROL = 13006, ///< @ref FaultControlMessage
   DEVICE_ID = 13007, ///< @ref DeviceIDMessage
   STARTUP_REQUEST = 13008, ///< @ref StartupRequest
-  SPI_CMD = 13009, ///< @ref SpiCmd
-  SPI_CMD_RESPONSE = 13010, ///< @ref SpiCmdResponse
-  SPI_LBAND_PACKET = 13011, ///< @ref SpiLbandPacket
 
   SET_CONFIG = 13100, ///< @ref SetConfigMessage
   GET_CONFIG = 13101, ///< @ref GetConfigMessage
@@ -107,8 +104,11 @@ enum class MessageType : uint16_t {
 
   LBAND_FRAME = 14000, ///< @ref LBandFrameMessage
 
+  ST5635_COMMAND = 14100, ///< @ref ST5635Command
+  ST5635_COMMAND_RESPONSE = 14101, ///< @ref ST5635CommandResponse
+
   /// The maximum defined @ref MessageType enum value.
-  MAX_VALUE = LBAND_FRAME,
+  MAX_VALUE = ST5635_COMMAND_RESPONSE,
 };
 
 /**
@@ -231,15 +231,6 @@ P1_CONSTEXPR_FUNC const char* to_string(MessageType type) {
     case MessageType::STARTUP_REQUEST:
       return "Startup Request";
 
-    case MessageType::SPI_CMD:
-      return "SPI Command";
-
-    case MessageType::SPI_CMD_RESPONSE:
-      return "SPI Command Response";
-
-    case MessageType::SPI_LBAND_PACKET:
-      return "SPI Lband Packet";
-
     case MessageType::DEVICE_ID:
       return "Device ID Information";
 
@@ -284,6 +275,12 @@ P1_CONSTEXPR_FUNC const char* to_string(MessageType type) {
 
     case MessageType::LBAND_FRAME:
       return "L-band Frame Contents";
+
+    case MessageType::ST5635_COMMAND:
+      return "ST5635 Command";
+
+    case MessageType::ST5635_COMMAND_RESPONSE:
+      return "ST5635 Command Response";
   }
   return "Unrecognized Message";
 }
@@ -313,9 +310,6 @@ P1_CONSTEXPR_FUNC bool IsCommand(MessageType message_type) {
     case MessageType::RESET_REQUEST:
     case MessageType::STARTUP_REQUEST:
     case MessageType::SHUTDOWN_REQUEST:
-    case MessageType::SPI_CMD:
-    case MessageType::SPI_CMD_RESPONSE:
-    case MessageType::SPI_LBAND_PACKET:
     case MessageType::FAULT_CONTROL:
     case MessageType::SET_CONFIG:
     case MessageType::GET_CONFIG:
@@ -324,6 +318,7 @@ P1_CONSTEXPR_FUNC bool IsCommand(MessageType message_type) {
     case MessageType::EXPORT_DATA:
     case MessageType::SET_MESSAGE_RATE:
     case MessageType::GET_MESSAGE_RATE:
+    case MessageType::ST5635_COMMAND:
       return true;
     case MessageType::INVALID:
     case MessageType::POSE:
@@ -363,6 +358,7 @@ P1_CONSTEXPR_FUNC bool IsCommand(MessageType message_type) {
     case MessageType::MESSAGE_RATE_RESPONSE:
     case MessageType::SUPPORTED_IO_INTERFACES:
     case MessageType::LBAND_FRAME:
+    case MessageType::ST5635_COMMAND_RESPONSE:
       return false;
   }
   return false;
diff --git a/src/point_one/fusion_engine/messages/device.h b/src/point_one/fusion_engine/messages/device.h
index 568a9b2c..56c3e497 100644
--- a/src/point_one/fusion_engine/messages/device.h
+++ b/src/point_one/fusion_engine/messages/device.h
@@ -103,8 +103,6 @@ enum class DeviceType : uint8_t {
   SSR_LG69T = 6,
   /** Point One SSR client running on a desktop platform. */
   SSR_DESKTOP = 7,
-  /** Point One Uart to SPI prototype system (host to ST5635) */
-  P1_ST5635 = 8,
 };
 
 /**
@@ -133,8 +131,6 @@ P1_CONSTEXPR_FUNC const char* to_string(DeviceType val) {
       return "SSR_LG69T";
     case DeviceType::SSR_DESKTOP:
       return "SSR_DESKTOP";
-    case DeviceType::P1_ST5635:
-      return "P1_ST5635";
   }
   return "Unrecognized";
 }
diff --git a/src/point_one/fusion_engine/messages/st5635.h b/src/point_one/fusion_engine/messages/st5635.h
new file mode 100644
index 00000000..5a164847
--- /dev/null
+++ b/src/point_one/fusion_engine/messages/st5635.h
@@ -0,0 +1,82 @@
+/**************************************************************************/ /**
+ * @brief Command/control support for an attached ST5365 RF front-end.
+ * @file
+ ******************************************************************************/
+
+#pragma once
+
+#include "point_one/fusion_engine/common/portability.h"
+#include "point_one/fusion_engine/messages/defs.h"
+
+namespace point_one {
+namespace fusion_engine {
+namespace messages {
+
+// Enforce 4-byte alignment and packing of all data structures and values.
+// Floating point values are aligned on platforms that require it. This is done
+// with a combination of setting struct attributes, and manual alignment
+// within the definitions. See the "Message Packing" section of the README.
+#pragma pack(push, 1)
+
+/**************************************************************************/ /**
+ * @defgroup st5635 ST5635 Command/Control Messages
+ * @brief Messages for interacting with an attached ST5635 RF front-end device.
+ * @ingroup device_control
+ *
+ * These messages are intended to be used only for devices with an
+ * STMicroelectronics ST5635 RF front-end where direct user control of the
+ * front-end is needed. This is not common and should not be used on most
+ * platforms.
+ *
+ * For platforms using an ST5635, the device will output @ref LBandFrameMessage
+ * containing I/Q samples from the RF front-end. The format and use of the I/Q
+ * samples is platform-specific.
+ *
+ * See also @ref messages.
+ ******************************************************************************/
+
+/**
+ * @brief Result from a ST5635 sent in response to an @ref ST5635Command (@ref
+ *        MessageType::ST5635_COMMAND_RESPONSE, version 1.0).
+ * @ingroup st5635
+ */
+struct P1_ALIGNAS(4) ST5635CommandResponse : public MessagePayload {
+  static constexpr MessageType MESSAGE_TYPE =
+      MessageType::ST5635_COMMAND_RESPONSE;
+  static constexpr uint8_t MESSAGE_VERSION = 0;
+
+  /**
+   * The system time when the response was received (in nanoseconds). Note that
+   * this is not synchronized to P1 or GNSS time.
+   */
+  int64_t system_time_ns = 0;
+  uint32_t sequence_number = 0;
+  uint8_t data_0 = 0;
+  uint8_t data_1 = 0;
+  uint8_t data_2 = 0;
+  uint8_t data_3 = 0;
+};
+
+/**
+ * @brief ~SPI~ Command to be sent to an attached ST5635 front end. (@ref
+ *        MessageType::ST5635_COMMAND, version 1.0).
+ * @ingroup st5635
+ */
+struct P1_ALIGNAS(4) ST5635Command : public MessagePayload {
+  static constexpr MessageType MESSAGE_TYPE = MessageType::ST5635_COMMAND;
+  static constexpr uint8_t MESSAGE_VERSION = 0;
+
+  /**
+   * See the STA5635 data sheet for the values below can be.
+   */
+  uint8_t command = 0; // ST5635 command code
+  uint8_t address = 0; // ST5635 register address
+  uint8_t value_msb = 0; // STA5635 register value msb
+  uint8_t value_lsb = 0; // STA5635 register value lsb
+};
+
+#pragma pack(pop)
+
+} // namespace messages
+} // namespace fusion_engine
+} // namespace point_one
diff --git a/src/point_one/fusion_engine/messages/uart_to_st5635.h b/src/point_one/fusion_engine/messages/uart_to_st5635.h
deleted file mode 100644
index d4e78c3f..00000000
--- a/src/point_one/fusion_engine/messages/uart_to_st5635.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************/ /**
- * @brief Uart to ST5365 and back messages.
- * @file
- ******************************************************************************/
-
-#pragma once
-
-#include "point_one/fusion_engine/common/portability.h"
-#include "point_one/fusion_engine/messages/defs.h"
-
-namespace point_one {
-namespace fusion_engine {
-namespace messages {
-
-// Enforce 4-byte alignment and packing of all data structures and values.
-// Floating point values are aligned on platforms that require it. This is done
-// with a combination of setting struct attributes, and manual alignment
-// within the definitions. See the "Message Packing" section of the README.
-#pragma pack(push, 1)
-
-/**
- * @defgroup uart_spi Uart to/from SPI messages
- * @brief Messages for sending/receiving control messages to/from the ST5635
- * @ingroup device_control
- *
- * See also @ref messages.
- */
-
-/**************************************************************************/ /**
- * @defgroup device_control Device Control Messages
- * @brief Messages for high-level device control (reset, shutdown, etc.).
- * @ingroup config_and_ctrl_messages
- ******************************************************************************/
-
-/**
- * @brief Response to indicate if SPI command was processed successfully (@ref
- *        MessageType::SPI_CMD_RESPONSE, version 1.0).
- * @ingroup device_control
- */
-struct P1_ALIGNAS(4) SpiCmdResponse : public MessagePayload {
-  static constexpr MessageType MESSAGE_TYPE = MessageType::SPI_CMD_RESPONSE;
-  static constexpr uint8_t MESSAGE_VERSION = 0;
-
-  int64_t system_time_ns = 0;
-  uint8_t data_0 = 0;
-  uint8_t data_1 = 0;
-  uint8_t data_2 = 0;
-  uint8_t data_3 = 0;
-};
-
-/**
- * @brief SPI Command to be sent to ST5635 (@ref
- *        MessageType::SPI_CMD, version 1.0).
- * @ingroup device_control
- */
-struct P1_ALIGNAS(4) SpiCmd : public MessagePayload {
-  static constexpr MessageType MESSAGE_TYPE = MessageType::SPI_CMD;
-  static constexpr uint8_t MESSAGE_VERSION = 0;
-
-  uint8_t cmd = 0;
-  uint8_t address = 0;
-  uint8_t val1 = 0;
-  uint8_t val2 = 0;
-};
-
-/**
- * @brief L-band frame contents from ST5635 (@ref
- *        MessageType::SPI_LBAND_PACKET, version 1.0).
- * @ingroup device_control
-
- */
-struct P1_ALIGNAS(4) SpiLbandPacket : public MessagePayload {
-  static constexpr MessageType MESSAGE_TYPE = MessageType::SPI_LBAND_PACKET;
-  static constexpr uint8_t MESSAGE_VERSION = 0;
-  uint32_t msg_counter;
-  uint8_t packet[260];
-};
-
-#pragma pack(pop)
-
-} // namespace messages
-} // namespace fusion_engine
-} // namespace point_one

From 6ce0c3d4a1d95b775ba214cced9c98c2a5735058 Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 29 Oct 2024 13:58:56 -0400
Subject: [PATCH 03/11] Corrected STA5635 name.

---
 BUILD                                         |  2 +-
 src/point_one/fusion_engine/messages/defs.h   | 18 +++++-----
 .../messages/{st5635.h => sta5635.h}          | 34 +++++++++----------
 3 files changed, 27 insertions(+), 27 deletions(-)
 rename src/point_one/fusion_engine/messages/{st5635.h => sta5635.h} (65%)

diff --git a/BUILD b/BUILD
index 394143dc..a20ac246 100644
--- a/BUILD
+++ b/BUILD
@@ -56,7 +56,7 @@ cc_library(
         "src/point_one/fusion_engine/messages/measurements.h",
         "src/point_one/fusion_engine/messages/signal_defs.h",
         "src/point_one/fusion_engine/messages/solution.h",
-        "src/point_one/fusion_engine/messages/st5635.h",
+        "src/point_one/fusion_engine/messages/sta5635.h",
     ],
     deps = [
         ":common",
diff --git a/src/point_one/fusion_engine/messages/defs.h b/src/point_one/fusion_engine/messages/defs.h
index df8b179d..f3947090 100644
--- a/src/point_one/fusion_engine/messages/defs.h
+++ b/src/point_one/fusion_engine/messages/defs.h
@@ -104,11 +104,11 @@ enum class MessageType : uint16_t {
 
   LBAND_FRAME = 14000, ///< @ref LBandFrameMessage
 
-  ST5635_COMMAND = 14100, ///< @ref ST5635Command
-  ST5635_COMMAND_RESPONSE = 14101, ///< @ref ST5635CommandResponse
+  STA5635_COMMAND = 14100, ///< @ref STA5635Command
+  STA5635_COMMAND_RESPONSE = 14101, ///< @ref STA5635CommandResponse
 
   /// The maximum defined @ref MessageType enum value.
-  MAX_VALUE = ST5635_COMMAND_RESPONSE,
+  MAX_VALUE = STA5635_COMMAND_RESPONSE,
 };
 
 /**
@@ -276,11 +276,11 @@ P1_CONSTEXPR_FUNC const char* to_string(MessageType type) {
     case MessageType::LBAND_FRAME:
       return "L-band Frame Contents";
 
-    case MessageType::ST5635_COMMAND:
-      return "ST5635 Command";
+    case MessageType::STA5635_COMMAND:
+      return "STA5635 Command";
 
-    case MessageType::ST5635_COMMAND_RESPONSE:
-      return "ST5635 Command Response";
+    case MessageType::STA5635_COMMAND_RESPONSE:
+      return "STA5635 Command Response";
   }
   return "Unrecognized Message";
 }
@@ -318,7 +318,7 @@ P1_CONSTEXPR_FUNC bool IsCommand(MessageType message_type) {
     case MessageType::EXPORT_DATA:
     case MessageType::SET_MESSAGE_RATE:
     case MessageType::GET_MESSAGE_RATE:
-    case MessageType::ST5635_COMMAND:
+    case MessageType::STA5635_COMMAND:
       return true;
     case MessageType::INVALID:
     case MessageType::POSE:
@@ -358,7 +358,7 @@ P1_CONSTEXPR_FUNC bool IsCommand(MessageType message_type) {
     case MessageType::MESSAGE_RATE_RESPONSE:
     case MessageType::SUPPORTED_IO_INTERFACES:
     case MessageType::LBAND_FRAME:
-    case MessageType::ST5635_COMMAND_RESPONSE:
+    case MessageType::STA5635_COMMAND_RESPONSE:
       return false;
   }
   return false;
diff --git a/src/point_one/fusion_engine/messages/st5635.h b/src/point_one/fusion_engine/messages/sta5635.h
similarity index 65%
rename from src/point_one/fusion_engine/messages/st5635.h
rename to src/point_one/fusion_engine/messages/sta5635.h
index 5a164847..6a1a4b89 100644
--- a/src/point_one/fusion_engine/messages/st5635.h
+++ b/src/point_one/fusion_engine/messages/sta5635.h
@@ -1,5 +1,5 @@
 /**************************************************************************/ /**
- * @brief Command/control support for an attached ST5365 RF front-end.
+ * @brief Command/control support for an attached STA5635 RF front-end.
  * @file
  ******************************************************************************/
 
@@ -19,16 +19,16 @@ namespace messages {
 #pragma pack(push, 1)
 
 /**************************************************************************/ /**
- * @defgroup st5635 ST5635 Command/Control Messages
- * @brief Messages for interacting with an attached ST5635 RF front-end device.
+ * @defgroup sta5635 STA5635 Command/Control Messages
+ * @brief Messages for interacting with an attached STA5635 RF front-end device.
  * @ingroup device_control
  *
  * These messages are intended to be used only for devices with an
- * STMicroelectronics ST5635 RF front-end where direct user control of the
+ * STMicroelectronics STA5635 RF front-end where direct user control of the
  * front-end is needed. This is not common and should not be used on most
  * platforms.
  *
- * For platforms using an ST5635, the device will output @ref LBandFrameMessage
+ * For platforms using an STA5635, the device will output @ref LBandFrameMessage
  * containing I/Q samples from the RF front-end. The format and use of the I/Q
  * samples is platform-specific.
  *
@@ -36,13 +36,13 @@ namespace messages {
  ******************************************************************************/
 
 /**
- * @brief Result from a ST5635 sent in response to an @ref ST5635Command (@ref
- *        MessageType::ST5635_COMMAND_RESPONSE, version 1.0).
- * @ingroup st5635
+ * @brief Result from a STA5635 sent in response to an @ref STA5635Command (@ref
+ *        MessageType::STA5635_COMMAND_RESPONSE, version 1.0).
+ * @ingroup sta5635
  */
-struct P1_ALIGNAS(4) ST5635CommandResponse : public MessagePayload {
+struct P1_ALIGNAS(4) STA5635CommandResponse : public MessagePayload {
   static constexpr MessageType MESSAGE_TYPE =
-      MessageType::ST5635_COMMAND_RESPONSE;
+      MessageType::STA5635_COMMAND_RESPONSE;
   static constexpr uint8_t MESSAGE_VERSION = 0;
 
   /**
@@ -58,19 +58,19 @@ struct P1_ALIGNAS(4) ST5635CommandResponse : public MessagePayload {
 };
 
 /**
- * @brief ~SPI~ Command to be sent to an attached ST5635 front end. (@ref
- *        MessageType::ST5635_COMMAND, version 1.0).
- * @ingroup st5635
+ * @brief A command to be sent to an attached STA5635 front end. (@ref
+ *        MessageType::STA5635_COMMAND, version 1.0).
+ * @ingroup sta5635
  */
-struct P1_ALIGNAS(4) ST5635Command : public MessagePayload {
-  static constexpr MessageType MESSAGE_TYPE = MessageType::ST5635_COMMAND;
+struct P1_ALIGNAS(4) STA5635Command : public MessagePayload {
+  static constexpr MessageType MESSAGE_TYPE = MessageType::STA5635_COMMAND;
   static constexpr uint8_t MESSAGE_VERSION = 0;
 
   /**
    * See the STA5635 data sheet for the values below can be.
    */
-  uint8_t command = 0; // ST5635 command code
-  uint8_t address = 0; // ST5635 register address
+  uint8_t command = 0; // STA5635 command code
+  uint8_t address = 0; // STA5635 register address
   uint8_t value_msb = 0; // STA5635 register value msb
   uint8_t value_lsb = 0; // STA5635 register value lsb
 };

From 8fd40c360f0d68d1af8c2be400425d8337fb4089 Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 29 Oct 2024 14:03:28 -0400
Subject: [PATCH 04/11] Combined data fields into arrays, and improved
 documentation.

---
 .../fusion_engine/messages/sta5635.h          | 26 ++++++++++++-------
 1 file changed, 17 insertions(+), 9 deletions(-)

diff --git a/src/point_one/fusion_engine/messages/sta5635.h b/src/point_one/fusion_engine/messages/sta5635.h
index 6a1a4b89..fd158c62 100644
--- a/src/point_one/fusion_engine/messages/sta5635.h
+++ b/src/point_one/fusion_engine/messages/sta5635.h
@@ -50,29 +50,37 @@ struct P1_ALIGNAS(4) STA5635CommandResponse : public MessagePayload {
    * this is not synchronized to P1 or GNSS time.
    */
   int64_t system_time_ns = 0;
+  /**
+   * The sequence number contained in the @ref STA5635Command to which this
+   * response belongs.
+   */
   uint32_t sequence_number = 0;
-  uint8_t data_0 = 0;
-  uint8_t data_1 = 0;
-  uint8_t data_2 = 0;
-  uint8_t data_3 = 0;
+  /**
+   * The response from the device, where `data[0]` contains the first byte in
+   * the response.
+   */
+  uint8_t data[4] = {0};
 };
 
 /**
  * @brief A command to be sent to an attached STA5635 front end. (@ref
  *        MessageType::STA5635_COMMAND, version 1.0).
  * @ingroup sta5635
+ *
+ * See the STA5635 data sheet for the allowed command, address, and data values.
  */
 struct P1_ALIGNAS(4) STA5635Command : public MessagePayload {
   static constexpr MessageType MESSAGE_TYPE = MessageType::STA5635_COMMAND;
   static constexpr uint8_t MESSAGE_VERSION = 0;
 
+  /** The STA5635 command code to be issued. */
+  uint8_t command = 0;
+  /** The address of the STA5635 register to be accessed. */
+  uint8_t address = 0;
   /**
-   * See the STA5635 data sheet for the values below can be.
+   * The value to be sent to the device, where `data[0]` contains the MSB.
    */
-  uint8_t command = 0; // STA5635 command code
-  uint8_t address = 0; // STA5635 register address
-  uint8_t value_msb = 0; // STA5635 register value msb
-  uint8_t value_lsb = 0; // STA5635 register value lsb
+  uint8_t data[2] = {0};
 };
 
 #pragma pack(pop)

From 023ce01b0392763356e4e85aeccf8fabba3d4d9f Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 29 Oct 2024 14:06:17 -0400
Subject: [PATCH 05/11] Swapped struct order.

---
 .../fusion_engine/messages/sta5635.h          | 42 +++++++++----------
 1 file changed, 21 insertions(+), 21 deletions(-)

diff --git a/src/point_one/fusion_engine/messages/sta5635.h b/src/point_one/fusion_engine/messages/sta5635.h
index fd158c62..83281736 100644
--- a/src/point_one/fusion_engine/messages/sta5635.h
+++ b/src/point_one/fusion_engine/messages/sta5635.h
@@ -35,6 +35,27 @@ namespace messages {
  * See also @ref messages.
  ******************************************************************************/
 
+/**
+ * @brief A command to be sent to an attached STA5635 front end. (@ref
+ *        MessageType::STA5635_COMMAND, version 1.0).
+ * @ingroup sta5635
+ *
+ * See the STA5635 data sheet for the allowed command, address, and data values.
+ */
+struct P1_ALIGNAS(4) STA5635Command : public MessagePayload {
+  static constexpr MessageType MESSAGE_TYPE = MessageType::STA5635_COMMAND;
+  static constexpr uint8_t MESSAGE_VERSION = 0;
+
+  /** The STA5635 command code to be issued. */
+  uint8_t command = 0;
+  /** The address of the STA5635 register to be accessed. */
+  uint8_t address = 0;
+  /**
+   * The value to be sent to the device, where `data[0]` contains the MSB.
+   */
+  uint8_t data[2] = {0};
+};
+
 /**
  * @brief Result from a STA5635 sent in response to an @ref STA5635Command (@ref
  *        MessageType::STA5635_COMMAND_RESPONSE, version 1.0).
@@ -62,27 +83,6 @@ struct P1_ALIGNAS(4) STA5635CommandResponse : public MessagePayload {
   uint8_t data[4] = {0};
 };
 
-/**
- * @brief A command to be sent to an attached STA5635 front end. (@ref
- *        MessageType::STA5635_COMMAND, version 1.0).
- * @ingroup sta5635
- *
- * See the STA5635 data sheet for the allowed command, address, and data values.
- */
-struct P1_ALIGNAS(4) STA5635Command : public MessagePayload {
-  static constexpr MessageType MESSAGE_TYPE = MessageType::STA5635_COMMAND;
-  static constexpr uint8_t MESSAGE_VERSION = 0;
-
-  /** The STA5635 command code to be issued. */
-  uint8_t command = 0;
-  /** The address of the STA5635 register to be accessed. */
-  uint8_t address = 0;
-  /**
-   * The value to be sent to the device, where `data[0]` contains the MSB.
-   */
-  uint8_t data[2] = {0};
-};
-
 #pragma pack(pop)
 
 } // namespace messages

From f99fca2fffd9ccf9a09dedf98756a27c2916e9a8 Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 29 Oct 2024 14:06:57 -0400
Subject: [PATCH 06/11] Minor cleanup.

---
 src/point_one/fusion_engine/messages/sta5635.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/point_one/fusion_engine/messages/sta5635.h b/src/point_one/fusion_engine/messages/sta5635.h
index 83281736..70bb39cd 100644
--- a/src/point_one/fusion_engine/messages/sta5635.h
+++ b/src/point_one/fusion_engine/messages/sta5635.h
@@ -36,7 +36,7 @@ namespace messages {
  ******************************************************************************/
 
 /**
- * @brief A command to be sent to an attached STA5635 front end. (@ref
+ * @brief A command to be sent to an attached STA5635 RF front-end. (@ref
  *        MessageType::STA5635_COMMAND, version 1.0).
  * @ingroup sta5635
  *
@@ -57,8 +57,8 @@ struct P1_ALIGNAS(4) STA5635Command : public MessagePayload {
 };
 
 /**
- * @brief Result from a STA5635 sent in response to an @ref STA5635Command (@ref
- *        MessageType::STA5635_COMMAND_RESPONSE, version 1.0).
+ * @brief Result from an STA5635 sent in response to an @ref STA5635Command.
+ *        (@ref MessageType::STA5635_COMMAND_RESPONSE, version 1.0).
  * @ingroup sta5635
  */
 struct P1_ALIGNAS(4) STA5635CommandResponse : public MessagePayload {

From 78f152a8dec8117b265d068cf5714e1127598be3 Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 29 Oct 2024 14:16:57 -0400
Subject: [PATCH 07/11] Renamed command sequence number.

---
 src/point_one/fusion_engine/messages/sta5635.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/point_one/fusion_engine/messages/sta5635.h b/src/point_one/fusion_engine/messages/sta5635.h
index 70bb39cd..503587f5 100644
--- a/src/point_one/fusion_engine/messages/sta5635.h
+++ b/src/point_one/fusion_engine/messages/sta5635.h
@@ -75,7 +75,7 @@ struct P1_ALIGNAS(4) STA5635CommandResponse : public MessagePayload {
    * The sequence number contained in the @ref STA5635Command to which this
    * response belongs.
    */
-  uint32_t sequence_number = 0;
+  uint32_t command_sequence_number = 0;
   /**
    * The response from the device, where `data[0]` contains the first byte in
    * the response.

From 0e3120691635604ab70e33a5c4b5e6178449766d Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 29 Oct 2024 14:17:20 -0400
Subject: [PATCH 08/11] Added STA5635 Python support.

---
 .../fusion_engine_client/messages/__init__.py |  1 +
 python/fusion_engine_client/messages/defs.py  |  3 +
 .../fusion_engine_client/messages/sta5635.py  | 80 +++++++++++++++++++
 3 files changed, 84 insertions(+)
 create mode 100644 python/fusion_engine_client/messages/sta5635.py

diff --git a/python/fusion_engine_client/messages/__init__.py b/python/fusion_engine_client/messages/__init__.py
index 8081f995..42a29a5a 100644
--- a/python/fusion_engine_client/messages/__init__.py
+++ b/python/fusion_engine_client/messages/__init__.py
@@ -1,6 +1,7 @@
 from .core import *
 from .fault_control import *
 from . import ros
+from . import sta5635
 
 message_type_to_class = MessagePayload.message_type_to_class
 message_type_by_name = MessagePayload.message_type_by_name
diff --git a/python/fusion_engine_client/messages/defs.py b/python/fusion_engine_client/messages/defs.py
index 253af2fa..8fcfb0c2 100644
--- a/python/fusion_engine_client/messages/defs.py
+++ b/python/fusion_engine_client/messages/defs.py
@@ -154,6 +154,9 @@ class MessageType(IntEnum):
 
     LBAND_FRAME = 14000
 
+    STA5635_COMMAND = 14100
+    STA5635_COMMAND_RESPONSE = 14101
+
     RESERVED = 20000
 
     @classmethod
diff --git a/python/fusion_engine_client/messages/sta5635.py b/python/fusion_engine_client/messages/sta5635.py
new file mode 100644
index 00000000..05a3ff4b
--- /dev/null
+++ b/python/fusion_engine_client/messages/sta5635.py
@@ -0,0 +1,80 @@
+from construct import (Struct, Int8ul, Int32ul, Int64sl, Bytes)
+
+from ..utils.construct_utils import construct_message_to_string
+from .defs import *
+
+
+class STA5635Command(MessagePayload):
+    """!
+    @brief A command to be sent to an attached STA5635 RF front-end.
+    """
+    MESSAGE_TYPE = MessageType.STA5635_COMMAND
+    MESSAGE_VERSION = 0
+
+    Construct = Struct(
+        "command" / Int8ul,
+        "address" / Int8ul,
+        "data" / Bytes(2),
+    )
+
+    def __init__(self):
+        self.command = 0
+        self.address = 0
+        self.data = bytes()
+
+    def pack(self, buffer: Optional[bytes] = None, offset: int = 0, return_buffer: bool = True) -> (bytes, int):
+        values = vars(self)
+        packed_data = self.Construct.build(values)
+        return PackedDataToBuffer(packed_data, buffer, offset, return_buffer)
+
+    def unpack(self, buffer: bytes, offset: int = 0, message_version: int = MessagePayload._UNSPECIFIED_VERSION) -> int:
+        parsed = self.Construct.parse(buffer[offset:])
+        self.__dict__.update(parsed)
+        del self.__dict__['_io']
+        return parsed._io.tell()
+
+    def calcsize(self) -> int:
+        return self.Construct.sizeof()
+
+    def __repr__(self):
+        result = super().__repr__()[:-1]
+        result += f', command=0x{self.command:02X}, address=0x{self.address:02X}, data={self.data}]'
+        return result
+
+
+class STA5635CommandResponse(MessagePayload):
+    """!
+    @brief Result from an STA5635 sent in response to an @ref STA5635Command.
+    """
+    MESSAGE_TYPE = MessageType.STA5635_COMMAND_RESPONSE
+    MESSAGE_VERSION = 0
+
+    Construct = Struct(
+        "system_time_ns" / Int64sl,
+        "command_sequence_number" / Int32ul,
+        "data" / Bytes(4),
+    )
+
+    def __init__(self):
+        self.system_time_ns = 0
+        self.command_sequence_number = 0
+        self.data = bytes()
+
+    def pack(self, buffer: Optional[bytes] = None, offset: int = 0, return_buffer: bool = True) -> (bytes, int):
+        values = vars(self)
+        packed_data = self.Construct.build(values)
+        return PackedDataToBuffer(packed_data, buffer, offset, return_buffer)
+
+    def unpack(self, buffer: bytes, offset: int = 0, message_version: int = MessagePayload._UNSPECIFIED_VERSION) -> int:
+        parsed = self.Construct.parse(buffer[offset:])
+        self.__dict__.update(parsed)
+        del self.__dict__['_io']
+        return parsed._io.tell()
+
+    def calcsize(self) -> int:
+        return self.Construct.sizeof()
+
+    def __repr__(self):
+        result = super().__repr__()[:-1]
+        result += f', seq={self.command_sequence_number}, data={self.data}]'
+        return result

From 858a363c6cf1cba1f538eae2f6f1477c103b76ec Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 29 Oct 2024 14:24:55 -0400
Subject: [PATCH 09/11] Separated STA5635 into its own Bazel target.

---
 BUILD | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/BUILD b/BUILD
index a20ac246..7189a67c 100644
--- a/BUILD
+++ b/BUILD
@@ -56,7 +56,6 @@ cc_library(
         "src/point_one/fusion_engine/messages/measurements.h",
         "src/point_one/fusion_engine/messages/signal_defs.h",
         "src/point_one/fusion_engine/messages/solution.h",
-        "src/point_one/fusion_engine/messages/sta5635.h",
     ],
     deps = [
         ":common",
@@ -64,6 +63,17 @@ cc_library(
     ],
 )
 
+# STA5635 RF front-end message definitions.
+cc_library(
+    name = "sta5635",
+    hdrs = [
+        "src/point_one/fusion_engine/messages/sta5635.h",
+    ],
+    deps = [
+        ":core_headers",
+    ],
+)
+
 # ROS translation message definitions.
 cc_library(
     name = "ros_support",

From 3d00602504eecc191878aa254869da3099fa84cc Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 29 Oct 2024 14:26:35 -0400
Subject: [PATCH 10/11] Include STA5635 response in IsResponse().

---
 src/point_one/fusion_engine/messages/defs.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/point_one/fusion_engine/messages/defs.h b/src/point_one/fusion_engine/messages/defs.h
index f3947090..26e964a4 100644
--- a/src/point_one/fusion_engine/messages/defs.h
+++ b/src/point_one/fusion_engine/messages/defs.h
@@ -379,6 +379,7 @@ P1_CONSTEXPR_FUNC bool IsResponse(MessageType message_type) {
     case MessageType::COMMAND_RESPONSE:
     case MessageType::CONFIG_RESPONSE:
     case MessageType::MESSAGE_RATE_RESPONSE:
+    case MessageType::STA5635_COMMAND_RESPONSE:
       return true;
     default:
       return false;

From b7110c2ea4b4c14af7347bd967c4fb10376bec22 Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 29 Oct 2024 17:02:04 -0400
Subject: [PATCH 11/11] Print command and address in hex.

---
 python/fusion_engine_client/messages/sta5635.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/python/fusion_engine_client/messages/sta5635.py b/python/fusion_engine_client/messages/sta5635.py
index 05a3ff4b..421575c3 100644
--- a/python/fusion_engine_client/messages/sta5635.py
+++ b/python/fusion_engine_client/messages/sta5635.py
@@ -41,6 +41,12 @@ def __repr__(self):
         result += f', command=0x{self.command:02X}, address=0x{self.address:02X}, data={self.data}]'
         return result
 
+    def __str__(self):
+        return construct_message_to_string(message=self, value_to_string={
+            'command': lambda x: f'0x{x:02X}',
+            'address': lambda x: f'0x{x:02X}',
+        })
+
 
 class STA5635CommandResponse(MessagePayload):
     """!