Tools for the Duro GNSS receiver

Python tools for the Duro GNSS receiver. This repository includes a variety of command line utilities (firmware bootloader, serial port data logging, etc.).

Versioning

duro_tools versioning scheme is guided by the supported version of libsbp. The following major version schemes map to the supported versions of libsbp:

Building and Installing

duro_toolsuses poetry to organize dependencies and generate distributions. You can find more information on using potery has a packaging and dependency manager at https://python-poetry.org/.

Installing Poetry

project version: 1.8.3

installation: poetry installation docs

Building and Installing

It is advised to install duro_tools inside a virtual environment to avoid modifying system packages.

$ poetry build # build distributions
$ poetry install # install into local environment

Usage

Settings

For reading, writing and saving Duro settings/configuration

usage: python -m duro_tools.settings [-h] [-p PORT] [-b BAUD] [--rtscts] [-t] [-f] [--file] [--json] [--playback] [-v] [--timeout TIMEOUT] [-s] {save,reset,read,all,write,read_to_file,write_from_file} ...

Duro Settings Tool

positional arguments:
  {save,reset,read,all,write,read_to_file,write_from_file}
    save                save all the current settings to flash
    reset               reset settings to factory defaults
    read                read the current setting
    all                 read all the settings
    write               write the current setting
    read_to_file        read the current settings file from device
    write_from_file     write settings file to device

options:
  -h, --help            show this help message and exit
  -p PORT, --port PORT  specify the serial port to use
  -b BAUD, --baud BAUD  specify the baud rate to use
  --rtscts              enable Hardware Flow Control (RTS/CTS)
  -t, --tcp             use a TCP connection instead of a local serial port (if TCP is selected, the port is interpreted as host:port)
  -f, --ftdi            use pylibftdi instead of pyserial.
  --file                read with a filedriver rather than pyserial.
  --json                input is SBP JSON
  --playback            emulate real input
  -v, --verbose         print extra debugging information.
  --timeout TIMEOUT     timeout for settings calls in seconds (default: 0.5)
  -s, --save_after_write
                        save settings to flash after successful write or write_from_file

Returns:
  0: Upon success
  1: Runtime error or invalid settings request.
  2: Improper usage

File IO

For transferring files to and from the Duro

usage: python -m duro_tools.fileio [-h] [-w SOURCE DEST] [-r SOURCE [DEST ...]] [-l LIST] [-d DELETE] [-p PORT] [-b BAUD] [-t] [-v] [-x] [-f]

Duro File I/O Utility

options:
  -h, --help            show this help message and exit
  -w SOURCE DEST, --write SOURCE DEST
                        write a file from local SOURCE to remote destination DEST
  -r SOURCE [DEST ...], --read SOURCE [DEST ...]
                        read a file from remote SOURCE to local DEST. If no DEST is provided, file is read to stdout.
  -l LIST, --list LIST  list a directory
  -d DELETE, --delete DELETE
                        delete a file
  -p PORT, --port PORT  specify the serial port to use
  -b BAUD, --baud BAUD  specify the baud rate to use
  -t, --tcp             use a TCP connection instead of a local serial port (if TCP is selected, the port is interpreted as host:port)
  -v, --verbose         print extra debugging information
  -x, --hex             output in hex dump format
  -f, --ftdi            use pylibftdi instead of pyserial

Bootload

For updating Duro firmware

usage: python -m duro_tools.bootload_v3 [-h] [-p PORT] [-b BAUD] [--rtscts] [-t] [-f] [--file] [--json] [--playback] [-v] firmware

Duro Bootloader

positional arguments:
  firmware              the image set file to write to flash

options:
  -h, --help            show this help message and exit
  -p PORT, --port PORT  specify the serial port to use
  -b BAUD, --baud BAUD  specify the baud rate to use
  --rtscts              enable Hardware Flow Control (RTS/CTS)
  -t, --tcp             use a TCP connection instead of a local serial port (if TCP is selected, the port is interpreted as host:port)
  -f, --ftdi            use pylibftdi instead of pyserial
  --file                read with a filedriver rather than pyserial
  --json                input is SBP JSON
  --playback            emulate real input
  -v, --verbose         print extra debugging information

USB issues on OS X

The ftdi USB drivers are finicky on some versions of OS X. See their docs <http://pylibftdi.readthedocs.io/en/latest/troubleshooting.html#where-did-my-ttyusb-devices-go>__ for help debugging (tl;dr if you try to plug in multiple USB devices to the same port, the subsequent ones may not appear through ftdi even if they appear in the result of sudo dmesg. Only restarting your machine will fix this.)

License

Copyright (C) 2025 Carnegie Robotics LLC.