mbtk/mbtk_gnssd/gnss_asr5311.c

/*
*    gnss_asr5311.c
*
*    ASR 5311 gnss support source.
*
*/
/******************************************************************************

                          EDIT HISTORY FOR FILE

  WHEN        WHO       WHAT,WHERE,WHY
--------    --------    -------------------------------------------------------
2024/6/19     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_asr5311.h"

#define UART_BITRATE_NMEA_DEF_FW    115200   // Default bitrate.
#define GNSS_SET_TIMEOUT           3000     // 3s

static char config_msg_pm5[]    = "PMTEST,5";
static char config_msg_pm4[]    = "PMTEST,4";
static char config_msg_boot[]   = "START,1";

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;

int gnss_write(int fd, const void *data, int data_len);

static int gnss_send_cmd(int fd, const char *cmd, int cmd_len)
{
    unsigned char check_sum = 0;
    unsigned int index;
    int len  = 0;
    char cmd_buff[64] = {0};

    for(index = 0; index < strlen( (char *)cmd); index++)
        check_sum ^= cmd[index];

    sprintf((char *)cmd_buff, "$%s*%02x\r\n", cmd, check_sum);
    len = strlen((char *)cmd_buff)+1;
    return gnss_write(fd, cmd_buff, len);
}

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 gnss_hal_gpioctrl(char* str)
{
    int fd;
    fd = open("/sys/devices/platform/asr-gps/ctrl", O_WRONLY);

    if (fd >= 0) {
        write(fd, str, strlen(str));
        close(fd);
    }
}

static int gnss_module_wait_fw_download_done()
{
    int fd;
    char buf[64];
    int len;
    int ret = -1;

    fd = open("/sys/devices/platform/asr-gps/status", O_RDONLY);
    if (fd >= 0)  {
        sleep(1);
        len = read(fd, buf, 64);
        LOGD("FW DONE %s, %d", buf, len);
        if(!memcmp(buf, "status: on", 10))  {
           /* FW Downloading is OK. */
            ret = 0;
        }

        close(fd);
    }

    if(!ret)
        gnss_hal_gpioctrl("off");

    return ret;
}


int gnss_5311_dev_open()
{
    return 0;
}

int gnss_5311_dev_close(int fd)
{
    gnss_send_cmd(fd, config_msg_pm5, strlen(config_msg_pm5));
    return 0;
}

int gnss_5311_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_5311_close(int fd)
{
    pthread_mutex_destroy(&read_mutex);
    pthread_cond_destroy(&read_cond);

    return gnss_port_close(fd);
}

int gnss_5311_fw_dl(int fd, const char *fw_name, const char *dev)
{
    char cmd[256] = {0};
    if(memcmp(dev, "/dev/", 5) == 0) {
        snprintf(cmd, sizeof(cmd), "nice -n -10 aboot-tiny -B 2000000 -s %s -F /etc/jacana_fw.bin -P /etc/jacana_pvt.bin", dev + 5);
    } else {
        snprintf(cmd, sizeof(cmd), "nice -n -10 aboot-tiny -B 2000000 -s %s -F /etc/jacana_fw.bin -P /etc/jacana_pvt.bin", dev);
    }
    system(cmd);

    return gnss_module_wait_fw_download_done();
}

void gnss_5311_set_cb(const void *data, int data_len)
{
    const char *buff = (const char*)data;
    if(setting_busy) { // Has setting cmd process.

    }
}

gnss_err_enum gnss_5311_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;

        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) {

            } else if(mode == GNSS_RESET_TYPE_WARM) {

            } else if(mode == GNSS_RESET_TYPE_COLD) {

            } 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;
            }


            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) {

                }

                if(mode & GNSS_SET_MSGCFG_VTG) {

                }

                if(mode & GNSS_SET_MSGCFG_GGA) {

                }

                if(mode & GNSS_SET_MSGCFG_GSA) {

                }

                if(mode & GNSS_SET_MSGCFG_GRS) {

                }

                if(mode & GNSS_SET_MSGCFG_GSV) {

                }

                if(mode & GNSS_SET_MSGCFG_GLL) {

                }

                if(mode & GNSS_SET_MSGCFG_ZDA) {

                }

                if(mode & GNSS_SET_MSGCFG_GST) {

                }

                if(mode & GNSS_SET_MSGCFG_TXT) {

                }
            } 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;
    }
}