icE1usb fw/gps: Use ericsson GPS 02/03 on aux uart
Signed-off-by: Sylvain Munaut <tnt@246tNt.com> Change-Id: Ia90d4e537445be2e037807c681d41e2d8f2759e2
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34b0d02865
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@ -57,6 +57,7 @@ HEADERS_app=\
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ice1usb_proto.h \
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i2c.h \
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misc.h \
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rs422.h \
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usb_desc_ids.h \
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usb_dev.h \
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usb_e1.h \
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@ -72,6 +73,7 @@ SOURCES_app=\
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gpsdo.c \
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i2c.c \
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misc.c \
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rs422.c \
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usb_desc_app.c \
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usb_dev.c \
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usb_e1.c \
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@ -18,6 +18,7 @@
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#define MISC_BASE 0x88000000
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#define GPS_UART_BASE 0x89000000
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#define I2C_BASE 0x8a000000
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#define AUX_UART_BASE 0x8b000000
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/* Alias for common code */
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#define UART_BASE DBG_UART_BASE
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@ -13,6 +13,7 @@
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#include "console.h"
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#include "gps.h"
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#include "misc.h"
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#include "rs422.h"
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#include "usb_gps.h"
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#include "utils.h"
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@ -28,7 +29,7 @@ struct gps_uart {
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#define GPS_UART_CSR_TX_EMPTY (1 << 29)
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#define GPS_UART_DATA_EMPTY (1 << 31)
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static volatile struct gps_uart * const gps_uart_regs = (void*)(GPS_UART_BASE);
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static volatile struct gps_uart * const gps_uart_regs = (void*)(AUX_UART_BASE);
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static struct {
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@ -159,37 +160,11 @@ _gps_query(void)
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void
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_gps_parse_nmea(const char *nmea)
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{
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/* Very basic parsing, we just look at GSA messages and consider
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* that if we have a 3D fix with PDOP < 5, the timing data should
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* be usable
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*/
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if (!strncmp(nmea, "$GPGSA", 6))
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/* Very basic parsing, we just look at $PERC,GPsts message for
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* state 1 (survey mode) and 2 (position-hold) */
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if (!strncmp(nmea, "$PERC,GPsts,", 12))
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{
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/* Check for Autonomous 3D fix (fixed field positions) */
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if ((nmea[7] != 'A') || (nmea[9] != '3')) {
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g_gps.fix.valid = false;
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return;
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}
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/* Find PDOP */
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const char *p = nmea;
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for (int i=0; (i < 15) && (*p != '*'); i += (*(p++)==',') );
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/* Is it low enough ? */
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g_gps.fix.valid = (p[1] < '5');
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}
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/* Parse TXT ANTENNA Status */
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if (!strncmp(nmea, "$GPTXT", 6) && nmea[13] == '0' && nmea[14] == '1')
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{
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if (!strncmp(&nmea[16], "ANTENNA OK", 10))
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g_gps.antenna = ANT_OK;
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else if (!strncmp(&nmea[16], "ANTENNA OPEN", 12))
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g_gps.antenna = ANT_OPEN;
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else if (!strncmp(&nmea[16], "ANTENNA SHORT", 13))
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g_gps.antenna = ANT_SHORT;
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else
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g_gps.antenna = ANT_UNKNOWN;
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g_gps.fix.valid = (nmea[12] == '1') || (nmea[12] == '2');
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}
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}
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@ -226,65 +201,31 @@ gps_poll(void)
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void
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gps_init(void)
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{
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int i;
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uint32_t start_time = time_now_read();
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bool init_ok;
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/* State init */
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memset(&g_gps, 0x00, sizeof(g_gps));
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/* Configure reset gpio */
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/* Hold onboard GPS in reset */
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gpio_out(3, false);
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gpio_dir(3, true);
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/* Attempt reset sequence at 9600 baud and then 115200 baud */
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for (i=0; i<2; i++)
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{
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uint32_t start_time = time_now_read();
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bool init_ok;
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/* Init RS422 board */
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rs422_init();
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/* Assert reset */
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gpio_out(3, false);
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/* Configure uart and empty buffer */
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gps_uart_regs->csr = GPS_UART_CSR_DIV(9600);
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_gps_empty(false);
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/* Configure uart and empty buffer */
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gps_uart_regs->csr = i ? GPS_UART_CSR_DIV(115200) : GPS_UART_CSR_DIV(9600);
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_gps_empty(false);
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/* Wait 100 ms */
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delay(100);
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/* Release reset line */
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gpio_out(3, true);
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/* Wait for first line of output as sign it's ready, timeout after 1s */
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while (!time_elapsed(start_time, SYS_CLK_FREQ))
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if ((init_ok = (_gps_query() != NULL)))
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break;
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if (init_ok) {
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printf("[+] GPS ok at %d baud\n", i ? 115200 : 9600);
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/* Wait for first line of output as sign it's ready, timeout after 10 s */
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while (!time_elapsed(start_time, 10 * SYS_CLK_FREQ))
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if ((init_ok = (_gps_query() != NULL)))
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break;
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}
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}
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/* Failed ? */
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if (i == 2) {
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if (init_ok) {
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printf("[+] GPS ok\n");
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} else {
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printf("[!] GPS init failed\n");
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return;
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}
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/* If success was at 9600 baud, need to speed up */
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if (i == 0) {
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/* Configure GPS to use serial at 115200 baud */
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_gps_send("PCAS01,5");
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/* Add dummy byte which will be mangled during baudrate switch ... */
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gps_uart_regs->data = 0x00;
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while (!(gps_uart_regs->csr & GPS_UART_CSR_TX_EMPTY));
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/* Set uart to 115200 and empty uart buffer, line aligned */
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gps_uart_regs->csr = GPS_UART_CSR_DIV(115200) ;
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_gps_empty(true);
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}
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/* Configure GPS to be GPS-only (no GLONASS/BEIDOU) */
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_gps_send("PCAS04,1");
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}
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@ -0,0 +1,96 @@
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/*
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* rs422.c
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*
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* Copyright (C) 2022 Sylvain Munaut <tnt@246tNt.com>
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* SPDX-License-Identifier: GPL-3.0-or-later
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*/
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#include <stdint.h>
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#include <stdbool.h>
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#include "console.h"
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#include "i2c.h"
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#include "misc.h"
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#include "config.h"
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/* Local side buffer control */
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#define BUF_TCA9534_ADDR 0x42
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#define BUF_TXD_RXEN_n (1 << 0)
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#define BUF_TXD_TXEN_n (1 << 1)
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#define BUF_PPS_RXEN_n (1 << 4)
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#define BUF_PPS_TXEN_n (1 << 5)
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#define BUF_RXD_RXEN_n (1 << 6)
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#define BUF_RXD_TXEN_n (1 << 7)
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/* Isolated side line driver control */
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#define LDRV_TCA9534_ADDR 0x40
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#define LDRV_TXD_RE_n (1 << 0)
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#define LDRV_TXD_DE (1 << 1)
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#define LDRV_RXD_RE_n (1 << 2)
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#define LDRV_RXD_DE (1 << 3)
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#define LDRV_PPS_DE (1 << 4)
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#define LDRV_PPS_RE_n (1 << 5)
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static void
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tca9534_set_out(uint8_t dev, uint8_t data)
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{
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/* Check device */
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if (!i2c_probe(dev)) {
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printf("[1] Unable to configure TCA9534 at address %02x\n", dev);
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return;
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}
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/* Output values */
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i2c_write_reg(dev, 1, data);
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/* No inversion */
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i2c_write_reg(dev, 2, 0x00);
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/* All pins as output to avoid floating pins */
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i2c_write_reg(dev, 3, 0x00);
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}
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void
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rs422_init(void)
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{
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/* Reset GPS receiver to free I2C bus */
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gpio_out(3, false);
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gpio_dir(3, true);
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/* Configure:
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* - TXD pair: Receive
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* - RXD pair: Transmit
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* - PPS pair: Receive
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*/
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tca9534_set_out(BUF_TCA9534_ADDR,
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BUF_TXD_TXEN_n |
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BUF_RXD_RXEN_n |
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BUF_PPS_TXEN_n |
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0
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);
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tca9534_set_out(LDRV_TCA9534_ADDR,
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LDRV_RXD_RE_n |
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#if 0
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/* We don't actually TX anything to the module and
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* this burns power ... */
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LDRV_RXD_DE |
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#endif
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0
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);
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/* Configure GPIO alt functions */
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/* Aux UART RX */
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gpio_sfn(0, true);
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/* Aux UART TX */
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gpio_sfn(1, true);
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/* PPS input */
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gpio_dir(2, false);
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gpio_sfn(2, true);
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}
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@ -0,0 +1,13 @@
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/*
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* rs422.h
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*
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* Copyright (C) 2022 Sylvain Munaut <tnt@246tNt.com>
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* SPDX-License-Identifier: GPL-3.0-or-later
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*/
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#pragma once
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#include <stdbool.h>
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#include <stdint.h>
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void rs422_init(void);
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