Fix mbtk_gnssd setting.
Change-Id: I3fc4664ff357f869466ee5aaf1648658493c64c8
diff --git a/mbtk/mbtk_gnssd/gnss_hd8122.c b/mbtk/mbtk_gnssd/gnss_hd8122.c
index 57b2e30..dff4599 100755
--- a/mbtk/mbtk_gnssd/gnss_hd8122.c
+++ b/mbtk/mbtk_gnssd/gnss_hd8122.c
@@ -29,30 +29,30 @@
#define GNSS_POWER_GPIO 43
#define GNSS_SET_TIMEOUT 3000 // 3s
#define GNSS_PACK_BUFF_SIZE 1024
+#define GNSS_MSG_NUM_MAX 30
static pthread_cond_t read_cond;
static pthread_mutex_t read_mutex;
+static bool setting_waitting = FALSE;
static bool setting_busy = FALSE;
static void *gnss_set_rsp_ptr = NULL;
static gnss_err_enum gnss_set_result = GNSS_ERR_OK;
+static hd8122_msg_id_t msg_array[GNSS_MSG_NUM_MAX];
int gnss_write(int fd, const void *data, int data_len);
static uint16 fletcher16(const uint8_t* data, int data_len) {
- uint16_t sum1 = 0;
- uint16_t sum2 = 0;
+ uint32_t sum1 = 0;
+ uint32_t sum2 = 0;
int index;
for (index = 0; index < data_len; ++index ) {
- sum1 = (sum1 + data[index]) % 0xff;
- sum2 = (sum2 + sum1) % 0xff;
+ sum1 += data[index];
+ sum2 += sum1;
}
- // ???
- sum2--;
-
- return (sum2 << 8) | sum1;
+ return ((0xFF & sum2) << 8) | (0xFF & sum1);
}
static void gnss_set_timer_cb(int signo)
@@ -66,6 +66,77 @@
return;
}
+static void msg_init()
+{
+ int i = 0;
+ while(i < ARRAY_SIZE(msg_array)) {
+ msg_array[i].enable = FALSE;
+ i++;
+ }
+}
+
+
+static int msg_insert(uint8 gid, uint8 sid)
+{
+ int i = 0;
+ while(i < ARRAY_SIZE(msg_array)) {
+ if(!msg_array[i].enable)
+ break;
+ i++;
+ }
+
+ if(i == ARRAY_SIZE(msg_array)) {
+ LOGE("Msg full : %d", i);
+ return -1;
+ } else {
+ msg_array[i].enable = TRUE;
+ msg_array[i].gid = gid;
+ msg_array[i].sid = sid;
+ return 0;
+ }
+}
+
+static int msg_find(uint8 gid, uint8 sid)
+{
+ int i = 0;
+ while(i < ARRAY_SIZE(msg_array)) {
+ if(msg_array[i].enable && gid == msg_array[i].gid && sid == msg_array[i].sid)
+ break;
+ i++;
+ }
+
+ if(i == ARRAY_SIZE(msg_array)) {
+ LOGE("No found %d - %d", gid, sid);
+ return -1;
+ } else {
+ return i;
+ }
+}
+
+static int msg_remove(uint8 gid, uint8 sid)
+{
+ int i = msg_find(gid, sid);
+ if(i >= 0) {
+ msg_array[i].enable = FALSE;
+ msg_array[i].gid = 0;
+ msg_array[i].sid = 0;
+ return 0;
+ } else {
+ return -1;
+ }
+}
+
+static int msg_count()
+{
+ int i = 0;
+ int count = 0;
+ while(i < ARRAY_SIZE(msg_array)) {
+ if(msg_array[i].enable)
+ count++;
+ i++;
+ }
+ return count;
+}
static int pack_create(hd8122_id_type_enum id_type, uint8 id, uint16 data_len, const uint8 *data, uint8 *pack, int pack_len)
{
@@ -86,20 +157,81 @@
return (data_ptr - pack);
}
+// f1 d9 05 01 02 00 06 01 0f 38
+// or
+// f1 d9 05 00 02 00 06 01 0f 38
+static int msg_array_change(const uint8 *pack, int pack_len, hd8122_id_ack_enum *ack_nak)
+{
+ if(pack_len == 0 || pack_len % 10) {
+ LOGE("pack_len(%d) error.", pack_len);
+ return -1;
+ }
+ int count = pack_len / 10;
+ int i = 0;
+ while(i < count) {
+ uint8 *ptr = pack + i * 10;
+ if(ptr[0] != 0xf1 || ptr[1] != 0xd9) {
+ LOGE("Pack head error : %02x %02x", ptr[0], ptr[1]);
+ return -1;
+ }
+
+ if(ptr[2] != 0x05) {
+ LOGE("Type not 0x05 : %02x", ptr[2]);
+ return -1;
+ }
+
+ int index = msg_find(ptr[6], ptr[7]);
+ if(index >= 0) {
+ if(ptr[3] == 0x01) {
+ msg_array[index].ack_nak = HD8122_ID_ACK_ACK;
+ } else if(ptr[3] == 0x00) {
+ msg_array[index].ack_nak = HD8122_ID_ACK_NAK;
+
+ // There is a nak as a failure.
+ *ack_nak = HD8122_ID_ACK_NAK;
+ } else {
+ LOGE("ID not 0x00 or 0x01 : %02x", ptr[3]);
+ return -1;
+ }
+
+ msg_array[index].enable = FALSE;
+ } else {
+ LOGE("Unknown gid - %d, sid - %d", ptr[6], ptr[7]);
+ return -1;
+ }
+ i++;
+ }
+
+ return 0;
+}
+
static void gnss_cmd_rsp_process(const void *data, int data_len) {
const char *ptr = (const char*)data;
log_hex("RSP", data, data_len);
- if(0)
- {
- mbtk_timer_clear();
- pthread_mutex_lock(&read_mutex);
- pthread_cond_signal(&read_cond);
- pthread_mutex_unlock(&read_mutex);
+ hd8122_id_ack_enum ack_nak = HD8122_ID_ACK_ACK;
+ if(!msg_array_change((const uint8*)data, data_len, &ack_nak)) {
+ if(setting_waitting && msg_count() == 0)
+ {
+ if(ack_nak == HD8122_ID_ACK_ACK) {
+ gnss_set_result = GNSS_ERR_OK;
+ } else {
+ gnss_set_result = GNSS_ERR_UNKNOWN;
+ }
+
+ mbtk_timer_clear();
+
+ pthread_mutex_lock(&read_mutex);
+ pthread_cond_signal(&read_cond);
+ pthread_mutex_unlock(&read_mutex);
+ setting_waitting = FALSE;
+ }
+ } else {
+ LOGW("Unknown rsp data.");
}
}
-static gnss_err_enum gnss_8122_reset(int fd, int reset)
+static gnss_err_enum gnss_8122_reset(int fd, uint8 reset)
{
uint8 buff[GNSS_PACK_BUFF_SIZE];
LOGD("RESET");
@@ -113,6 +245,72 @@
return GNSS_ERR_OK;
}
+static gnss_err_enum gnss_8122_syscfg(int fd, uint32 mode)
+{
+ uint8 buff[GNSS_PACK_BUFF_SIZE];
+ LOGD("SYSCFG");
+ //uint8 mode_str[4];
+ //uint32_2_byte(mode, mode_str, TRUE);
+ int len = pack_create(HD8122_ID_TYPE_CFG, HD8122_ID_CFG_NAVSAT, 4, (uint8*)(&mode), buff, sizeof(buff));
+ if(len <= 0) {
+ LOGE("pack_create() fail.");
+ return GNSS_ERR_ARG;
+ }
+ log_hex("PACK", buff, len);
+ gnss_write(fd, buff, len);
+ msg_insert(HD8122_ID_TYPE_CFG, HD8122_ID_CFG_NAVSAT);
+ return GNSS_ERR_OK;
+}
+
+static gnss_err_enum gnss_8122_msgcfg(int fd, uint8 type, uint8 id, uint8 period)
+{
+ uint8 buff[GNSS_PACK_BUFF_SIZE];
+ LOGD("MSGCFG");
+ uint8 data[3];
+ data[0] = type;
+ data[1] = id;
+ data[2] = period;
+ int len = pack_create(HD8122_ID_TYPE_CFG, HD8122_ID_CFG_MSG, 3, data, buff, sizeof(buff));
+ if(len <= 0) {
+ LOGE("pack_create() fail.");
+ return GNSS_ERR_ARG;
+ }
+ log_hex("PACK", buff, len);
+ gnss_write(fd, buff, len);
+ msg_insert(HD8122_ID_TYPE_CFG, HD8122_ID_CFG_MSG);
+ return GNSS_ERR_OK;
+}
+
+static gnss_err_enum gnss_8122_minel(int fd, float *elev)
+{
+ uint8 buff[GNSS_PACK_BUFF_SIZE];
+ LOGD("ELEV");
+ //uint8 elev_buff[4];
+ //uint32_2_byte((uint32)elev, elev_buff, TRUE);
+ int len = pack_create(HD8122_ID_TYPE_CFG, HD8122_ID_CFG_ELEV, 8, (uint8*)elev, buff, sizeof(buff));
+ if(len <= 0) {
+ LOGE("pack_create() fail.");
+ return GNSS_ERR_ARG;
+ }
+ log_hex("PACK", buff, len);
+ gnss_write(fd, buff, len);
+ return GNSS_ERR_OK;
+}
+
+static gnss_err_enum gnss_8122_nmeaver(int fd, uint8 ver)
+{
+ uint8 buff[GNSS_PACK_BUFF_SIZE];
+ LOGD("NMEA-VER");
+ int len = pack_create(HD8122_ID_TYPE_CFG, HD8122_ID_CFG_NMEAVER, 1, (uint8*)(&ver), buff, sizeof(buff));
+ if(len <= 0) {
+ LOGE("pack_create() fail.");
+ return GNSS_ERR_ARG;
+ }
+ log_hex("PACK", buff, len);
+ gnss_write(fd, buff, len);
+ return GNSS_ERR_OK;
+}
+
int gnss_8122_dev_open()
{
return mbtk_gpio_value_set(GNSS_POWER_GPIO, MBTK_GPIO_DIRECT_OUT, 1);
@@ -145,7 +343,7 @@
void gnss_8122_set_cb(const void *data, int data_len)
{
const char *buff = (const char*)data;
- if(setting_busy) {
+ if(setting_busy) { // Has setting cmd process.
gnss_cmd_rsp_process(data, data_len);
}
}
@@ -159,14 +357,187 @@
setting_busy = TRUE;
gnss_set_rsp_ptr = cmd_rsp;
gnss_set_result = GNSS_ERR_OK;
+ msg_init();
mbtk_timer_set(gnss_set_timer_cb, GNSS_SET_TIMEOUT);
- if(memcmp(cmd, "reset", 5) == 0) {
- gnss_set_result = gnss_8122_reset(fd, atoi(cmd + 6));
+ if(memcmp(cmd, "$RESET", 6) == 0) { // $RESET,<mode>
+ gnss_reset_type_enum mode = (gnss_reset_type_enum)atoi(cmd + 7);
+ if(mode == GNSS_RESET_TYPE_HOT) {
+ gnss_set_result = gnss_8122_reset(fd, 3);
+ } else if(mode == GNSS_RESET_TYPE_WARM) {
+ gnss_set_result = gnss_8122_reset(fd, 2);
+ } else if(mode == GNSS_RESET_TYPE_COLD) {
+ gnss_set_result = gnss_8122_reset(fd, 1);
+ } else {
+ gnss_set_result = GNSS_ERR_ARG;
+ goto set_fail;
+ }
if(gnss_set_result != GNSS_ERR_OK) {
goto set_fail;
}
should_wait_rsp = FALSE;
+ } else if(memcmp(cmd, "$SYSCFG", 7) == 0) { // $SYSCFG,<mode>
+ uint32 mode = 0;
+ mode = (uint32)atoi(cmd + 8);
+ uint32 new_mode = 0;
+ if(((GNSS_SET_SYSCFG_GPS | GNSS_SET_SYSCFG_BDS | GNSS_SET_SYSCFG_GLO | GNSS_SET_SYSCFG_GAL) & mode) != mode) {
+ gnss_set_result = GNSS_ERR_ARG;
+ goto set_fail;
+ }
+
+ if(mode & GNSS_SET_SYSCFG_GPS) { // GPS
+ new_mode |= 0x00000001;
+ }
+ if(mode & GNSS_SET_SYSCFG_BDS) { // BDS
+ new_mode |= 0x00000002;
+ }
+ if(mode & GNSS_SET_SYSCFG_GLO) { // GLO
+ new_mode |= 0x00000004;
+ }
+ if(mode & GNSS_SET_SYSCFG_GAL) { // GAL
+ new_mode |= 0x00000010;
+ }
+
+ gnss_set_result = gnss_8122_syscfg(fd, new_mode);
+ if(gnss_set_result != GNSS_ERR_OK) {
+ goto set_fail;
+ }
+ should_wait_rsp = TRUE;
+ } else if(memcmp(cmd, "$MSGCFG", 7) == 0) { // $MSGCFG,<mode>,<rate>
+ uint32 mode;
+ int rate;
+ if(2 == sscanf(cmd, "$MSGCFG,%d,%d", &mode, &rate)) {
+ int time = rate / 1000; // s
+ if(time < 0) {
+ gnss_set_result = GNSS_ERR_ARG;
+ goto set_fail;
+ }
+
+ if(((GNSS_SET_MSGCFG_RMC | GNSS_SET_MSGCFG_VTG | GNSS_SET_MSGCFG_GGA | GNSS_SET_MSGCFG_GSA
+ | GNSS_SET_MSGCFG_GRS | GNSS_SET_MSGCFG_GSV | GNSS_SET_MSGCFG_GLL | GNSS_SET_MSGCFG_ZDA
+ | GNSS_SET_MSGCFG_GST | GNSS_SET_MSGCFG_TXT) & mode) != mode) {
+ gnss_set_result = GNSS_ERR_ARG;
+ goto set_fail;
+ }
+
+ if(mode & GNSS_SET_MSGCFG_RMC) {
+ gnss_set_result = gnss_8122_msgcfg(fd, 0xF8, 0x05, time);
+ if(gnss_set_result != GNSS_ERR_OK) {
+ goto set_fail;
+ }
+ }
+
+ if(mode & GNSS_SET_MSGCFG_VTG) {
+ gnss_set_result = gnss_8122_msgcfg(fd, 0xF0, 0x06, time);
+ if(gnss_set_result != GNSS_ERR_OK) {
+ goto set_fail;
+ }
+ }
+
+ if(mode & GNSS_SET_MSGCFG_GGA) {
+ gnss_set_result = gnss_8122_msgcfg(fd, 0xF0, 0x00, time);
+ if(gnss_set_result != GNSS_ERR_OK) {
+ goto set_fail;
+ }
+ }
+
+ if(mode & GNSS_SET_MSGCFG_GSA) {
+ gnss_set_result = gnss_8122_msgcfg(fd, 0xF0, 0x02, time);
+ if(gnss_set_result != GNSS_ERR_OK) {
+ goto set_fail;
+ }
+ }
+
+ if(mode & GNSS_SET_MSGCFG_GRS) {
+ gnss_set_result = gnss_8122_msgcfg(fd, 0xF0, 0x03, time);
+ if(gnss_set_result != GNSS_ERR_OK) {
+ goto set_fail;
+ }
+ }
+
+ if(mode & GNSS_SET_MSGCFG_GSV) {
+ gnss_set_result = gnss_8122_msgcfg(fd, 0xF0, 0x04, time);
+ if(gnss_set_result != GNSS_ERR_OK) {
+ goto set_fail;
+ }
+ }
+
+ if(mode & GNSS_SET_MSGCFG_GLL) {
+ gnss_set_result = gnss_8122_msgcfg(fd, 0xF0, 0x01, time);
+ if(gnss_set_result != GNSS_ERR_OK) {
+ goto set_fail;
+ }
+ }
+
+ if(mode & GNSS_SET_MSGCFG_ZDA) {
+ gnss_set_result = gnss_8122_msgcfg(fd, 0xF0, 0x07, time);
+ if(gnss_set_result != GNSS_ERR_OK) {
+ goto set_fail;
+ }
+ }
+
+ if(mode & GNSS_SET_MSGCFG_GST) {
+ gnss_set_result = gnss_8122_msgcfg(fd, 0xF0, 0x08, time);
+ if(gnss_set_result != GNSS_ERR_OK) {
+ goto set_fail;
+ }
+ }
+
+ if(mode & GNSS_SET_MSGCFG_TXT) {
+ gnss_set_result = gnss_8122_msgcfg(fd, 0xF0, 0x20, time);
+ if(gnss_set_result != GNSS_ERR_OK) {
+ goto set_fail;
+ }
+ }
+ } else {
+ gnss_set_result = GNSS_ERR_ARG;
+ goto set_fail;
+ }
+
+ should_wait_rsp = TRUE;
+ } else if(memcmp(cmd, "$MINEL", 6) == 0) { // $MINEL,<elev>
+#if 0
+ float elev = 0.0f;
+ elev = (float)atof(cmd + 7);
+// LOGD("ELEV : %f", elev);
+// log_hex("ELEV", &elev, sizeof(double));
+ if(elev < -90.0f || elev > 90.0f) {
+ gnss_set_result = GNSS_ERR_ARG;
+ goto set_fail;
+ }
+ float elevs[2];
+ elevs[0] = elev;
+ elevs[1] = elev;
+ gnss_set_result = gnss_8122_minel(fd, elevs);
+ if(gnss_set_result != GNSS_ERR_OK) {
+ goto set_fail;
+ }
+ should_wait_rsp = FALSE;
+#else
+ gnss_set_result = GNSS_ERR_UNSUPPORT;
+ goto set_fail;
+#endif
+ } else if(memcmp(cmd, "$NMEACFG", 8) == 0) { // $NMEACFG,<ver>
+#if 0
+ gnss_memaver_type_enum version = (gnss_memaver_type_enum)atoi(cmd + 9);
+ if(version == GNSS_MEMAVER_TYPE_3_0) {
+ gnss_set_result = gnss_8122_nmeaver(fd, 1);
+ } else if(version == GNSS_MEMAVER_TYPE_4_0) {
+ gnss_set_result = gnss_8122_nmeaver(fd, 2);
+ } else if(version == GNSS_MEMAVER_TYPE_4_1) {
+ gnss_set_result = gnss_8122_nmeaver(fd, 3);
+ } else {
+ gnss_set_result = GNSS_ERR_ARG;
+ goto set_fail;
+ }
+ if(gnss_set_result != GNSS_ERR_OK) {
+ goto set_fail;
+ }
+ should_wait_rsp = FALSE;
+#else
+ gnss_set_result = GNSS_ERR_UNSUPPORT;
+ goto set_fail;
+#endif
}
else
{
@@ -177,6 +548,7 @@
set_success:
if(should_wait_rsp) {
+ setting_waitting = TRUE;
pthread_mutex_lock(&read_mutex);
pthread_cond_wait(&read_cond, &read_mutex);
pthread_mutex_unlock(&read_mutex);