mbtk/mbtk_gnssd/gnss_hd8122.c

/*
*    gnss_hd8122.c
*
*    HD8122 GNSS source.
*
*/
/******************************************************************************

                          EDIT HISTORY FOR FILE

  WHEN        WHO       WHAT,WHERE,WHY
--------    --------    -------------------------------------------------------
2024/6/14     LiuBin      Initial version

******************************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <errno.h>
#include <fcntl.h>
#include <pthread.h>

#include "mbtk_log.h"
#include "mbtk_type.h"
#include "mbtk_gpio.h"
#include "mbtk_utils.h"
#include "gnss_utils.h"
#include "gnss_hd8122.h"

#define UART_BITRATE_NMEA_DEF_FW    115200   // Default bitrate.
#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) {
    uint32_t sum1 = 0;
    uint32_t sum2 = 0;
    int index;

    for (index = 0; index < data_len; ++index ) {
        sum1 += data[index];
        sum2 += sum1;
    }

    return ((0xFF & sum2) << 8) | (0xFF & sum1);
}

static void gnss_set_timer_cb(int signo)
{
    if(setting_busy) {
        pthread_mutex_lock(&read_mutex);
        pthread_cond_signal(&read_cond);
        pthread_mutex_unlock(&read_mutex);
        gnss_set_result = GNSS_ERR_TIMEOUT;
    }
    return;
}

static void msg_init()
{
    unsigned int i = 0;
    while(i < ARRAY_SIZE(msg_array)) {
        msg_array[i].enable = FALSE;
        i++;
    }
}

static int msg_insert(uint8 gid, uint8 sid)
{
    unsigned 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)
{
    unsigned 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()
{
    unsigned 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)
{
    if(pack == NULL || pack_len < HD8122_PACK_LEN_MIN) {
        return -1;
    }
    memset(pack, 0, pack_len);
    uint8 *data_ptr = pack;
    data_ptr += uint16_2_byte(HD8122_PACK_HEAD, data_ptr, false);
    *data_ptr++ = (uint8)id_type;
    *data_ptr++ = id;
    data_ptr += uint16_2_byte(data_len, data_ptr, false);
    if(data_len > 0) {
        memcpy(data_ptr, data, data_len);
        data_ptr += data_len;
    }
    data_ptr += uint16_2_byte(fletcher16(pack + 2, 4 + data_len), data_ptr, false);
    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) {
        const 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);

    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, uint8 reset)
{
    uint8 buff[GNSS_PACK_BUFF_SIZE];
    LOGD("RESET");
    int len = pack_create(HD8122_ID_TYPE_CFG, HD8122_ID_CFG_SIMPLERST, 1, (uint8*)(&reset), 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_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);
}

int gnss_8122_dev_close()
{
    return mbtk_gpio_value_set(GNSS_POWER_GPIO, MBTK_GPIO_DIRECT_OUT, 0);
}

int gnss_8122_open(const char *dev)
{
    pthread_mutex_init(&read_mutex, NULL);
    pthread_cond_init(&read_cond, NULL);
    return gnss_port_open(dev, O_RDWR | O_NONBLOCK | O_NOCTTY, UART_BITRATE_NMEA_DEF_FW, TRUE);
}

int gnss_8122_close(int fd)
{
    pthread_mutex_destroy(&read_mutex);
    pthread_cond_destroy(&read_cond);
    return gnss_port_close(fd);
}

int gnss_8122_fw_dl(int fd, const char *dev)
{
    return 0;
}

void gnss_8122_set_cb(const void *data, int data_len)
{
    const char *buff = (const char*)data;
    if(setting_busy) { // Has setting cmd process.
        gnss_cmd_rsp_process(data, data_len);
    }
}

gnss_err_enum gnss_8122_set(int fd, const char *cmd, void *cmd_rsp, int cmd_rsp_len)
{
    if(setting_busy) {
        return GNSS_ERR_SET_BUSY;
    } else {
        bool should_wait_rsp = TRUE;
        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", 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
        {
            LOGW("Unknown cmd:%s", cmd);
            gnss_set_result = GNSS_ERR_UNSUPPORT;
            goto set_fail;
        }

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);
        } else {
            mbtk_timer_clear();
        }

        setting_busy = FALSE;
        return gnss_set_result;
set_fail:
        setting_busy = FALSE;
        mbtk_timer_clear();
        return gnss_set_result;
    }
}