etienne maillet / Mbed 2 deprecated GNSS1A1_FINAL

GNSS1A1 polytech grenoble

Dependencies:   mbed mbed-rtos

Teseo-LIV3F/Teseo-LIV3F.cpp@1:2f8deb2a7fe1, 2019-02-28 (annotated)

Committer:
etiene32
Date:
Thu Feb 28 18:41:10 2019 +0000
Revision:
1:2f8deb2a7fe1
Parent:
0:4e088cbb2dbf 
polytech grenoble etienne

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nirnakern 0:4e088cbb2dbf 1 /*
nirnakern 0:4e088cbb2dbf 2 * -------------------------------------------------------------------------
nirnakern 0:4e088cbb2dbf 3 * Copyright (C) 2017 STMicroelectronics
nirnakern 0:4e088cbb2dbf 4 * Author: Francesco M. Virlinzi <francesco.virlinzi@st.com>
nirnakern 0:4e088cbb2dbf 5 *
nirnakern 0:4e088cbb2dbf 6 * May be copied or modified under the terms of the GNU General Public
nirnakern 0:4e088cbb2dbf 7 * License V.2 ONLY. See linux/COPYING for more information.
nirnakern 0:4e088cbb2dbf 8 *
nirnakern 0:4e088cbb2dbf 9 * -------------------------------------------------------------------------
nirnakern 0:4e088cbb2dbf 10 */
nirnakern 0:4e088cbb2dbf 11 #include "string.h"
nirnakern 0:4e088cbb2dbf 12 #include "Teseo-LIV3F.h"
nirnakern 0:4e088cbb2dbf 13
nirnakern 0:4e088cbb2dbf 14
nirnakern 0:4e088cbb2dbf 15 static char T3_name[] = "Teseo-LIV3F";
nirnakern 0:4e088cbb2dbf 16
nirnakern 0:4e088cbb2dbf 17 char _OK[] = "OK";
nirnakern 0:4e088cbb2dbf 18 char _Failed[] = "Failed";
nirnakern 0:4e088cbb2dbf 19 char X_Nucleo_name[] = "X-Nucleo-GNSS1A1";
nirnakern 0:4e088cbb2dbf 20
nirnakern 0:4e088cbb2dbf 21 struct teseo_cmd {
nirnakern 0:4e088cbb2dbf 22 char *cmd;
nirnakern 0:4e088cbb2dbf 23 };
nirnakern 0:4e088cbb2dbf 24
nirnakern 0:4e088cbb2dbf 25 static struct teseo_cmd teseo_cmds[] = {
nirnakern 0:4e088cbb2dbf 26 [Teseo_LIV3F::GETSWVER] = {
nirnakern 0:4e088cbb2dbf 27 .cmd = "$PSTMGETSWVER,7",
nirnakern 0:4e088cbb2dbf 28 },
nirnakern 0:4e088cbb2dbf 29 [Teseo_LIV3F::FORCESTANDBY] = {
nirnakern 0:4e088cbb2dbf 30 .cmd = "$PSTMFORCESTANDBY,00007",
nirnakern 0:4e088cbb2dbf 31 },
nirnakern 0:4e088cbb2dbf 32 [Teseo_LIV3F::RFTESTON] = {
nirnakern 0:4e088cbb2dbf 33 .cmd = "$PSTMRFTESTON,16",
nirnakern 0:4e088cbb2dbf 34 },
nirnakern 0:4e088cbb2dbf 35 [Teseo_LIV3F::RFTESTOFF] = {
nirnakern 0:4e088cbb2dbf 36 .cmd = "$PSTMRFTESTOFF\n\r",
nirnakern 0:4e088cbb2dbf 37 },
nirnakern 0:4e088cbb2dbf 38 [Teseo_LIV3F::LOWPOWER] = {
nirnakern 0:4e088cbb2dbf 39 .cmd = "$PSTMLOWPOWERONOFF,1,0,000,05,0,1,000,1,00010,01,0,0,1,01",
nirnakern 0:4e088cbb2dbf 40 },
nirnakern 0:4e088cbb2dbf 41 [Teseo_LIV3F::FWUPDATE] = {
nirnakern 0:4e088cbb2dbf 42 .cmd = "$PSTMFWUPGRADE",
nirnakern 0:4e088cbb2dbf 43 },
nirnakern 0:4e088cbb2dbf 44 };
nirnakern 0:4e088cbb2dbf 45
nirnakern 0:4e088cbb2dbf 46
nirnakern 0:4e088cbb2dbf 47 Teseo_LIV3F::Teseo_LIV3F(PinName reset_pin, PinName wakeup_pin,
nirnakern 0:4e088cbb2dbf 48 PinName pps_pin, PinName uart_tx_pin, PinName uart_rx_pin,
nirnakern 0:4e088cbb2dbf 49 Serial *serial_debug):
nirnakern 0:4e088cbb2dbf 50 _reset(reset_pin, 1),
nirnakern 0:4e088cbb2dbf 51 _pps(pps_pin),
nirnakern 0:4e088cbb2dbf 52 _wakeup(wakeup_pin, 0),
nirnakern 0:4e088cbb2dbf 53 _uart(uart_rx_pin, uart_tx_pin, SDT_UART_BAUD),
nirnakern 0:4e088cbb2dbf 54 _serial_debug(serial_debug)
nirnakern 0:4e088cbb2dbf 55 {
nirnakern 0:4e088cbb2dbf 56 wait_ms(POWERON_STABLE_SIGNAL_DELAY_MS);
nirnakern 0:4e088cbb2dbf 57 _uart.baud(SDT_UART_BAUD);
nirnakern 0:4e088cbb2dbf 58 _uart.format(8, SerialBase::None, 1);
nirnakern 0:4e088cbb2dbf 59 _i2c = NULL;
nirnakern 0:4e088cbb2dbf 60 _uart_interleaded = false;
nirnakern 0:4e088cbb2dbf 61 _uart_discard = false;
nirnakern 0:4e088cbb2dbf 62 }
nirnakern 0:4e088cbb2dbf 63
nirnakern 0:4e088cbb2dbf 64 Teseo_LIV3F::Teseo_LIV3F(PinName reset_pin, PinName wakeup_pin,
nirnakern 0:4e088cbb2dbf 65 PinName pps_pin, PinName uart_tx_pin, PinName uart_rx_pin,
nirnakern 0:4e088cbb2dbf 66 I2C *bus, Serial *serial_debug):
nirnakern 0:4e088cbb2dbf 67 _reset(reset_pin, 1),
nirnakern 0:4e088cbb2dbf 68 _pps(pps_pin),
nirnakern 0:4e088cbb2dbf 69 _wakeup(wakeup_pin, 0),
nirnakern 0:4e088cbb2dbf 70 _uart(uart_rx_pin, uart_tx_pin, SDT_UART_BAUD),
nirnakern 0:4e088cbb2dbf 71 _i2c(bus),
nirnakern 0:4e088cbb2dbf 72 _serial_debug(serial_debug)
nirnakern 0:4e088cbb2dbf 73 {
nirnakern 0:4e088cbb2dbf 74 wait_ms(POWERON_STABLE_SIGNAL_DELAY_MS);
nirnakern 0:4e088cbb2dbf 75 _uart.baud(SDT_UART_BAUD);
nirnakern 0:4e088cbb2dbf 76 _uart.format(8, SerialBase::None, 1);
nirnakern 0:4e088cbb2dbf 77 _uart_interleaded = false;
nirnakern 0:4e088cbb2dbf 78 _uart_discard = false;
nirnakern 0:4e088cbb2dbf 79 }
nirnakern 0:4e088cbb2dbf 80
nirnakern 0:4e088cbb2dbf 81 int Teseo_LIV3F::EnableLowPower()
nirnakern 0:4e088cbb2dbf 82 {
nirnakern 0:4e088cbb2dbf 83 SendCommand(LOWPOWER);
nirnakern 0:4e088cbb2dbf 84 return 0;
nirnakern 0:4e088cbb2dbf 85 }
nirnakern 0:4e088cbb2dbf 86
nirnakern 0:4e088cbb2dbf 87 void Teseo_LIV3F::Reset(Serial *serial_debug)
nirnakern 0:4e088cbb2dbf 88 {
nirnakern 0:4e088cbb2dbf 89 if (serial_debug)
nirnakern 0:4e088cbb2dbf 90 serial_debug->printf("%s: Resetting...", T3_name);
nirnakern 0:4e088cbb2dbf 91
nirnakern 0:4e088cbb2dbf 92 _reset.write(0);
nirnakern 0:4e088cbb2dbf 93
nirnakern 0:4e088cbb2dbf 94 wait_ms(50);
nirnakern 0:4e088cbb2dbf 95
nirnakern 0:4e088cbb2dbf 96 _reset.write(1);
nirnakern 0:4e088cbb2dbf 97
nirnakern 0:4e088cbb2dbf 98 wait_ms(70);
nirnakern 0:4e088cbb2dbf 99
nirnakern 0:4e088cbb2dbf 100 if (serial_debug)
nirnakern 0:4e088cbb2dbf 101 serial_debug->printf("Done...\n\r");
nirnakern 0:4e088cbb2dbf 102 }
nirnakern 0:4e088cbb2dbf 103
nirnakern 0:4e088cbb2dbf 104 enum {
nirnakern 0:4e088cbb2dbf 105 TESEO_FLASHER_IDENTIFIER = 0, // 0xBCD501F4
nirnakern 0:4e088cbb2dbf 106 TESEO_FLASHER_SYNC, // 0x83984073
nirnakern 0:4e088cbb2dbf 107 DEVICE_START_COMMUNICATION, // 0xA3
nirnakern 0:4e088cbb2dbf 108 FLASHER_READY, // 0x4A
nirnakern 0:4e088cbb2dbf 109 ACK, // 0xCC
nirnakern 0:4e088cbb2dbf 110 NACK,
nirnakern 0:4e088cbb2dbf 111 };
nirnakern 0:4e088cbb2dbf 112
nirnakern 0:4e088cbb2dbf 113 struct firmware_ctrl {
nirnakern 0:4e088cbb2dbf 114 char *cmd;
nirnakern 0:4e088cbb2dbf 115 unsigned char len;
nirnakern 0:4e088cbb2dbf 116 char *n;
nirnakern 0:4e088cbb2dbf 117 } ;
nirnakern 0:4e088cbb2dbf 118
nirnakern 0:4e088cbb2dbf 119 /*
nirnakern 0:4e088cbb2dbf 120 * #define FWUPG_IDENTIFIER 0xBC D5 01 F4
nirnakern 0:4e088cbb2dbf 121 * #define FWUPG_SYNC 0x83 98 40 73
nirnakern 0:4e088cbb2dbf 122 */
nirnakern 0:4e088cbb2dbf 123 static struct firmware_ctrl fw_data[] = {
nirnakern 0:4e088cbb2dbf 124 [TESEO_FLASHER_IDENTIFIER] = {
nirnakern 0:4e088cbb2dbf 125 .cmd = (char *)(char[]){ 0xF4, 0x01, 0xD5, 0xBC},
nirnakern 0:4e088cbb2dbf 126 .len = 4,
nirnakern 0:4e088cbb2dbf 127 .n = "TESEO_FLASHER_IDENTIFIER",
nirnakern 0:4e088cbb2dbf 128 },
nirnakern 0:4e088cbb2dbf 129 [TESEO_FLASHER_SYNC] = {
nirnakern 0:4e088cbb2dbf 130 .cmd =(char *)(char[]){ 0x73, 0x40, 0x98, 0x83 },
nirnakern 0:4e088cbb2dbf 131 .len = 4,
nirnakern 0:4e088cbb2dbf 132 .n = "TESEO_FLASHER_SYNC",
nirnakern 0:4e088cbb2dbf 133 },
nirnakern 0:4e088cbb2dbf 134 [DEVICE_START_COMMUNICATION] = {
nirnakern 0:4e088cbb2dbf 135 .cmd = (char *)(char[]){0xA3},
nirnakern 0:4e088cbb2dbf 136 .len = 1,
nirnakern 0:4e088cbb2dbf 137 .n = "DEVICE_START_COMMUNICATION",
nirnakern 0:4e088cbb2dbf 138 },
nirnakern 0:4e088cbb2dbf 139 [FLASHER_READY] = {
nirnakern 0:4e088cbb2dbf 140 .cmd = (char *)(char[]){0x4A},
nirnakern 0:4e088cbb2dbf 141 .len = 1,
nirnakern 0:4e088cbb2dbf 142 .n = "FLASHER_READY",
nirnakern 0:4e088cbb2dbf 143 },
nirnakern 0:4e088cbb2dbf 144 [ACK] = {
nirnakern 0:4e088cbb2dbf 145 .cmd = (char *)(char[]){0xCC},
nirnakern 0:4e088cbb2dbf 146 .len = 1,
nirnakern 0:4e088cbb2dbf 147 .n = "ACK",
nirnakern 0:4e088cbb2dbf 148 },
nirnakern 0:4e088cbb2dbf 149 [NACK] = {
nirnakern 0:4e088cbb2dbf 150 .cmd = (char *)(char[]){0xDD},
nirnakern 0:4e088cbb2dbf 151 .len = 1,
nirnakern 0:4e088cbb2dbf 152 .n = "NACK",
nirnakern 0:4e088cbb2dbf 153 },
nirnakern 0:4e088cbb2dbf 154 };
nirnakern 0:4e088cbb2dbf 155
nirnakern 0:4e088cbb2dbf 156 int Teseo_LIV3F::SendString(char *buf, int len)
nirnakern 0:4e088cbb2dbf 157 {
nirnakern 0:4e088cbb2dbf 158 for (int i = 0; i < len; ++i) {
nirnakern 0:4e088cbb2dbf 159 while (!_uart.writeable());
nirnakern 0:4e088cbb2dbf 160 _uart.putc(buf[i]);
nirnakern 0:4e088cbb2dbf 161 }
etiene32 1:2f8deb2a7fe1 162
nirnakern 0:4e088cbb2dbf 163 }
nirnakern 0:4e088cbb2dbf 164
nirnakern 0:4e088cbb2dbf 165 struct ImageOptions
nirnakern 0:4e088cbb2dbf 166 {
nirnakern 0:4e088cbb2dbf 167 unsigned char eraseNVM;
nirnakern 0:4e088cbb2dbf 168 unsigned char programOnly;
nirnakern 0:4e088cbb2dbf 169 unsigned char reserved;
nirnakern 0:4e088cbb2dbf 170 unsigned char baudRate;
nirnakern 0:4e088cbb2dbf 171 unsigned int firmwareSize;
nirnakern 0:4e088cbb2dbf 172 unsigned int firmwareCRC;
nirnakern 0:4e088cbb2dbf 173 unsigned int nvmAddressOffset;
nirnakern 0:4e088cbb2dbf 174 unsigned int nvmSize;
nirnakern 0:4e088cbb2dbf 175 } liv3f_img_option = {
nirnakern 0:4e088cbb2dbf 176 .eraseNVM = 1,
nirnakern 0:4e088cbb2dbf 177 .programOnly = 0,
nirnakern 0:4e088cbb2dbf 178 .reserved = 0,
nirnakern 0:4e088cbb2dbf 179 .baudRate = 1,
nirnakern 0:4e088cbb2dbf 180 .firmwareSize = 0,
nirnakern 0:4e088cbb2dbf 181 .firmwareCRC = 0,
nirnakern 0:4e088cbb2dbf 182 .nvmAddressOffset = 0x00100000,
nirnakern 0:4e088cbb2dbf 183 .nvmSize = 0x00100000,
nirnakern 0:4e088cbb2dbf 184
nirnakern 0:4e088cbb2dbf 185 };
nirnakern 0:4e088cbb2dbf 186
nirnakern 0:4e088cbb2dbf 187 int Teseo_LIV3F::FwWaitAck()
nirnakern 0:4e088cbb2dbf 188 {
nirnakern 0:4e088cbb2dbf 189 while (!_uart.readable());
nirnakern 0:4e088cbb2dbf 190
nirnakern 0:4e088cbb2dbf 191 char c = _uart.getc();
nirnakern 0:4e088cbb2dbf 192
nirnakern 0:4e088cbb2dbf 193 if (fw_data[ACK].cmd[0] == c) {
nirnakern 0:4e088cbb2dbf 194 if (_serial_debug)
nirnakern 0:4e088cbb2dbf 195 _serial_debug->printf("%s (0x%x)\n\r", _OK, c);
nirnakern 0:4e088cbb2dbf 196 return 0;
nirnakern 0:4e088cbb2dbf 197 }
nirnakern 0:4e088cbb2dbf 198
nirnakern 0:4e088cbb2dbf 199 if (fw_data[NACK].cmd[0] == c) {
nirnakern 0:4e088cbb2dbf 200 if (_serial_debug)
nirnakern 0:4e088cbb2dbf 201 _serial_debug->printf("%s (%x)\n\r", _Failed, c);
nirnakern 0:4e088cbb2dbf 202 return -1;
nirnakern 0:4e088cbb2dbf 203 }
nirnakern 0:4e088cbb2dbf 204
nirnakern 0:4e088cbb2dbf 205 if (_serial_debug)
nirnakern 0:4e088cbb2dbf 206 _serial_debug->printf("%s - Char not allowed (%x)\n\r", _Failed, c);
nirnakern 0:4e088cbb2dbf 207 return -1;
nirnakern 0:4e088cbb2dbf 208 }
nirnakern 0:4e088cbb2dbf 209
nirnakern 0:4e088cbb2dbf 210 bool Teseo_LIV3F::FirmwareUpdate(bool is_recovery, char *data,
nirnakern 0:4e088cbb2dbf 211 unsigned int data_len,
nirnakern 0:4e088cbb2dbf 212 unsigned long crc,
nirnakern 0:4e088cbb2dbf 213 Serial *serial_debug)
nirnakern 0:4e088cbb2dbf 214 {
nirnakern 0:4e088cbb2dbf 215 unsigned int i;
nirnakern 0:4e088cbb2dbf 216
nirnakern 0:4e088cbb2dbf 217 char _buf[4] = { 0xff, 0xff, 0xff, 0xff };
nirnakern 0:4e088cbb2dbf 218
nirnakern 0:4e088cbb2dbf 219 liv3f_img_option.firmwareSize = data_len;
nirnakern 0:4e088cbb2dbf 220 liv3f_img_option.firmwareCRC = crc;
nirnakern 0:4e088cbb2dbf 221
nirnakern 0:4e088cbb2dbf 222 if (data == NULL || !data_len)
nirnakern 0:4e088cbb2dbf 223 return false;
nirnakern 0:4e088cbb2dbf 224
nirnakern 0:4e088cbb2dbf 225 if (is_recovery)
nirnakern 0:4e088cbb2dbf 226 Reset();
nirnakern 0:4e088cbb2dbf 227
nirnakern 0:4e088cbb2dbf 228 {
nirnakern 0:4e088cbb2dbf 229
nirnakern 0:4e088cbb2dbf 230 _uart.baud(FWU_UART_BAUD);
nirnakern 0:4e088cbb2dbf 231
nirnakern 0:4e088cbb2dbf 232 #if 1
nirnakern 0:4e088cbb2dbf 233 while (1) {
nirnakern 0:4e088cbb2dbf 234 /* send TESEO_FLASHER_IDENTIFIER */
nirnakern 0:4e088cbb2dbf 235 /*
nirnakern 0:4e088cbb2dbf 236 * Device is under reset. Host sends continuously “TESEO2_FLASHER_IDENTIFIER� word.
nirnakern 0:4e088cbb2dbf 237 */
nirnakern 0:4e088cbb2dbf 238 SendString(fw_data[TESEO_FLASHER_IDENTIFIER].cmd, fw_data[TESEO_FLASHER_IDENTIFIER].len);
nirnakern 0:4e088cbb2dbf 239
nirnakern 0:4e088cbb2dbf 240 /* try to read... TESEO_FLASHER_SYNC */
nirnakern 0:4e088cbb2dbf 241 if (_uart.readable())
nirnakern 0:4e088cbb2dbf 242 for (i = 0; i < fw_data[TESEO_FLASHER_SYNC].len; ) {
nirnakern 0:4e088cbb2dbf 243
nirnakern 0:4e088cbb2dbf 244 while (!_uart.readable());
nirnakern 0:4e088cbb2dbf 245
nirnakern 0:4e088cbb2dbf 246 _buf[i] = _uart.getc();
nirnakern 0:4e088cbb2dbf 247
nirnakern 0:4e088cbb2dbf 248 if (fw_data[TESEO_FLASHER_SYNC].cmd[i] == _buf[i]) {
nirnakern 0:4e088cbb2dbf 249 if (serial_debug)
nirnakern 0:4e088cbb2dbf 250 serial_debug->printf("-- %d -- 0x%x -- ok--\n\r", i, _buf[i]);
nirnakern 0:4e088cbb2dbf 251 i++;
nirnakern 0:4e088cbb2dbf 252 goto exit_step_1; /* FMV: WA to have firmware update working.... */
nirnakern 0:4e088cbb2dbf 253 } else {
nirnakern 0:4e088cbb2dbf 254 i = 0;
nirnakern 0:4e088cbb2dbf 255 }
nirnakern 0:4e088cbb2dbf 256 }
nirnakern 0:4e088cbb2dbf 257 if (i == fw_data[TESEO_FLASHER_SYNC].len)
nirnakern 0:4e088cbb2dbf 258 goto exit_step_1;
nirnakern 0:4e088cbb2dbf 259 }
nirnakern 0:4e088cbb2dbf 260
nirnakern 0:4e088cbb2dbf 261 exit_step_1:
nirnakern 0:4e088cbb2dbf 262
nirnakern 0:4e088cbb2dbf 263 _uart.abort_read();
nirnakern 0:4e088cbb2dbf 264
nirnakern 0:4e088cbb2dbf 265 if (serial_debug)
nirnakern 0:4e088cbb2dbf 266 serial_debug->printf("Got: %s from %s\n\r", fw_data[TESEO_FLASHER_SYNC].n, T3_name);
nirnakern 0:4e088cbb2dbf 267
nirnakern 0:4e088cbb2dbf 268 /*
nirnakern 0:4e088cbb2dbf 269 * Host sends “DEVICE_START_COMMUNICATION� word.
nirnakern 0:4e088cbb2dbf 270 */
nirnakern 0:4e088cbb2dbf 271 serial_debug->printf("\n\r%s Step: %s ",T3_name, fw_data[DEVICE_START_COMMUNICATION].n);
nirnakern 0:4e088cbb2dbf 272 SendString(fw_data[DEVICE_START_COMMUNICATION].cmd, fw_data[DEVICE_START_COMMUNICATION].len);
nirnakern 0:4e088cbb2dbf 273
nirnakern 0:4e088cbb2dbf 274 FwWaitAck();
nirnakern 0:4e088cbb2dbf 275
nirnakern 0:4e088cbb2dbf 276 /*
nirnakern 0:4e088cbb2dbf 277 * Host sends the binary image options. Both host and
nirnakern 0:4e088cbb2dbf 278 * device change UART baud rates. Host sends continuously
nirnakern 0:4e088cbb2dbf 279 * the “FLASHER_READY� word.
nirnakern 0:4e088cbb2dbf 280 */
nirnakern 0:4e088cbb2dbf 281 if (serial_debug)
nirnakern 0:4e088cbb2dbf 282 serial_debug->printf("%s Step: Send ImageOption\n\r",T3_name);
nirnakern 0:4e088cbb2dbf 283
nirnakern 0:4e088cbb2dbf 284 SendString((char*)&liv3f_img_option, sizeof(ImageOptions));
nirnakern 0:4e088cbb2dbf 285
nirnakern 0:4e088cbb2dbf 286 if (serial_debug)
nirnakern 0:4e088cbb2dbf 287 serial_debug->printf("%s Step: Send %s\n\r",T3_name, fw_data[FLASHER_READY].n);
nirnakern 0:4e088cbb2dbf 288
nirnakern 0:4e088cbb2dbf 289 while (1) {
nirnakern 0:4e088cbb2dbf 290 SendString(fw_data[FLASHER_READY].cmd, fw_data[FLASHER_READY].len);
nirnakern 0:4e088cbb2dbf 291 if (_uart.readable())
nirnakern 0:4e088cbb2dbf 292 goto exit_step_3;
nirnakern 0:4e088cbb2dbf 293 }
nirnakern 0:4e088cbb2dbf 294
nirnakern 0:4e088cbb2dbf 295 exit_step_3:
nirnakern 0:4e088cbb2dbf 296 FwWaitAck();
nirnakern 0:4e088cbb2dbf 297
nirnakern 0:4e088cbb2dbf 298 if (serial_debug)
nirnakern 0:4e088cbb2dbf 299 serial_debug->printf("%s Step: Erasing flash area ",T3_name);
nirnakern 0:4e088cbb2dbf 300
nirnakern 0:4e088cbb2dbf 301
nirnakern 0:4e088cbb2dbf 302 FwWaitAck();
nirnakern 0:4e088cbb2dbf 303
nirnakern 0:4e088cbb2dbf 304 /*
nirnakern 0:4e088cbb2dbf 305 * Device is erasing flash program. Host is waiting for an “ACK�.
nirnakern 0:4e088cbb2dbf 306 */
nirnakern 0:4e088cbb2dbf 307
nirnakern 0:4e088cbb2dbf 308 if (serial_debug)
nirnakern 0:4e088cbb2dbf 309 serial_debug->printf("%s Step: Erasing NVM ",T3_name);
nirnakern 0:4e088cbb2dbf 310
nirnakern 0:4e088cbb2dbf 311 while (!_uart.readable());
nirnakern 0:4e088cbb2dbf 312
nirnakern 0:4e088cbb2dbf 313 FwWaitAck();
nirnakern 0:4e088cbb2dbf 314
nirnakern 0:4e088cbb2dbf 315 if (serial_debug)
nirnakern 0:4e088cbb2dbf 316 serial_debug->printf("%s Step: Sending data... ",T3_name);
nirnakern 0:4e088cbb2dbf 317
nirnakern 0:4e088cbb2dbf 318 for (i = 0; i < (data_len / (16*1024)); ++i) {
nirnakern 0:4e088cbb2dbf 319 SendString(&data[i], 16*1024);
nirnakern 0:4e088cbb2dbf 320
nirnakern 0:4e088cbb2dbf 321 FwWaitAck();
nirnakern 0:4e088cbb2dbf 322 }
nirnakern 0:4e088cbb2dbf 323
nirnakern 0:4e088cbb2dbf 324 serial_debug->printf("\n\r");
nirnakern 0:4e088cbb2dbf 325 /*
nirnakern 0:4e088cbb2dbf 326 * send remaining data...
nirnakern 0:4e088cbb2dbf 327 */
nirnakern 0:4e088cbb2dbf 328 if (data_len != (i * 16*1024)) {
nirnakern 0:4e088cbb2dbf 329 SendString(&data[i*16*1024], data_len-i*16*1024);
nirnakern 0:4e088cbb2dbf 330 FwWaitAck();
nirnakern 0:4e088cbb2dbf 331 }
nirnakern 0:4e088cbb2dbf 332 /*
nirnakern 0:4e088cbb2dbf 333 * wait CRC ack
nirnakern 0:4e088cbb2dbf 334 */
nirnakern 0:4e088cbb2dbf 335 FwWaitAck();
nirnakern 0:4e088cbb2dbf 336 }
nirnakern 0:4e088cbb2dbf 337
nirnakern 0:4e088cbb2dbf 338 #else
nirnakern 0:4e088cbb2dbf 339 //_uart.format(8, SerialBase::Forced0, 1);
nirnakern 0:4e088cbb2dbf 340 while (1)
nirnakern 0:4e088cbb2dbf 341 {
nirnakern 0:4e088cbb2dbf 342 /* send TESEO_FLASHER_IDENTIFIER */
nirnakern 0:4e088cbb2dbf 343 for (i = 0; i < fw_data[TESEO_FLASHER_IDENTIFIER].len; ++i) {
nirnakern 0:4e088cbb2dbf 344 while (!_uart.writeable());
nirnakern 0:4e088cbb2dbf 345 _uart.putc(fw_data[TESEO_FLASHER_IDENTIFIER].cmd[i]);
nirnakern 0:4e088cbb2dbf 346 }
nirnakern 0:4e088cbb2dbf 347
nirnakern 0:4e088cbb2dbf 348
nirnakern 0:4e088cbb2dbf 349 /* try to read... TESEO_FLASHER_SYNC */
nirnakern 0:4e088cbb2dbf 350 //while (!_uart.readable());
nirnakern 0:4e088cbb2dbf 351 for (i = 0; i < fw_data[TESEO_FLASHER_SYNC].len && _uart.readable(); )
nirnakern 0:4e088cbb2dbf 352 if (_uart.readable())
nirnakern 0:4e088cbb2dbf 353 {
nirnakern 0:4e088cbb2dbf 354 char c = _uart.getc();
nirnakern 0:4e088cbb2dbf 355 /*
nirnakern 0:4e088cbb2dbf 356 if (!c)
nirnakern 0:4e088cbb2dbf 357 break;
nirnakern 0:4e088cbb2dbf 358 */
nirnakern 0:4e088cbb2dbf 359 if (serial_debug)
nirnakern 0:4e088cbb2dbf 360 serial_debug->printf("%x vs %x\n\r", c, fw_data[TESEO_FLASHER_SYNC].cmd[i]);
nirnakern 0:4e088cbb2dbf 361
nirnakern 0:4e088cbb2dbf 362 if (fw_data[TESEO_FLASHER_SYNC].cmd[i] == c)
nirnakern 0:4e088cbb2dbf 363 i++;
nirnakern 0:4e088cbb2dbf 364 else
nirnakern 0:4e088cbb2dbf 365 i = 0;
nirnakern 0:4e088cbb2dbf 366 }
nirnakern 0:4e088cbb2dbf 367
nirnakern 0:4e088cbb2dbf 368 if (i == fw_data[TESEO_FLASHER_SYNC].len && serial_debug)
nirnakern 0:4e088cbb2dbf 369 serial_debug->printf("Got %s from %s\n\r",fw_data[TESEO_FLASHER_SYNC].n, T3_name);
nirnakern 0:4e088cbb2dbf 370 }
nirnakern 0:4e088cbb2dbf 371 }
nirnakern 0:4e088cbb2dbf 372 #endif
nirnakern 0:4e088cbb2dbf 373 if (serial_debug)
nirnakern 0:4e088cbb2dbf 374 serial_debug->printf("END\n\r");
nirnakern 0:4e088cbb2dbf 375
nirnakern 0:4e088cbb2dbf 376 return true;
nirnakern 0:4e088cbb2dbf 377 }
nirnakern 0:4e088cbb2dbf 378
nirnakern 0:4e088cbb2dbf 379 int Teseo_LIV3F::WakeUp()
nirnakern 0:4e088cbb2dbf 380 {
nirnakern 0:4e088cbb2dbf 381 wait_ms(100);
nirnakern 0:4e088cbb2dbf 382
nirnakern 0:4e088cbb2dbf 383 _wakeup.write(1);
nirnakern 0:4e088cbb2dbf 384
nirnakern 0:4e088cbb2dbf 385 wait_ms(500);
nirnakern 0:4e088cbb2dbf 386
nirnakern 0:4e088cbb2dbf 387 _wakeup.write(0);
nirnakern 0:4e088cbb2dbf 388
nirnakern 0:4e088cbb2dbf 389 return 0;
nirnakern 0:4e088cbb2dbf 390 }
nirnakern 0:4e088cbb2dbf 391
nirnakern 0:4e088cbb2dbf 392 bool Teseo_LIV3F::CheckPPSWorking()
nirnakern 0:4e088cbb2dbf 393 {
nirnakern 0:4e088cbb2dbf 394 int val_0, val_1;
nirnakern 0:4e088cbb2dbf 395
nirnakern 0:4e088cbb2dbf 396 wait_ms(500);
nirnakern 0:4e088cbb2dbf 397
nirnakern 0:4e088cbb2dbf 398 val_0 = _pps.read();
nirnakern 0:4e088cbb2dbf 399
nirnakern 0:4e088cbb2dbf 400 wait_ms(500);
nirnakern 0:4e088cbb2dbf 401 val_1 = _pps.read();
nirnakern 0:4e088cbb2dbf 402
nirnakern 0:4e088cbb2dbf 403 if (val_0 != val_1)
nirnakern 0:4e088cbb2dbf 404 return true;
nirnakern 0:4e088cbb2dbf 405
nirnakern 0:4e088cbb2dbf 406 return false;
nirnakern 0:4e088cbb2dbf 407 }
nirnakern 0:4e088cbb2dbf 408
nirnakern 0:4e088cbb2dbf 409 int Teseo_LIV3F::CRC_(char *buf, int size)
nirnakern 0:4e088cbb2dbf 410 {
nirnakern 0:4e088cbb2dbf 411 int i = 0, ch = 0;
nirnakern 0:4e088cbb2dbf 412
nirnakern 0:4e088cbb2dbf 413 if (buf[0] == '$')
nirnakern 0:4e088cbb2dbf 414 ++i;
nirnakern 0:4e088cbb2dbf 415
nirnakern 0:4e088cbb2dbf 416 if (size)
nirnakern 0:4e088cbb2dbf 417 for (; i < size; ++i)
nirnakern 0:4e088cbb2dbf 418 ch ^= buf[i];
nirnakern 0:4e088cbb2dbf 419 else
nirnakern 0:4e088cbb2dbf 420 for (; buf[i] != 0; ++i)
nirnakern 0:4e088cbb2dbf 421 ch ^= buf[i];
nirnakern 0:4e088cbb2dbf 422
nirnakern 0:4e088cbb2dbf 423 return ch;
nirnakern 0:4e088cbb2dbf 424 }
nirnakern 0:4e088cbb2dbf 425
nirnakern 0:4e088cbb2dbf 426 bool Teseo_LIV3F::WaitBooting(Timer *t, float timeout)
nirnakern 0:4e088cbb2dbf 427 {
nirnakern 0:4e088cbb2dbf 428 unsigned int now = t->read_ms();;
nirnakern 0:4e088cbb2dbf 429 while (1) {
nirnakern 0:4e088cbb2dbf 430 if (CheckPPSWorking() == true)
nirnakern 0:4e088cbb2dbf 431 return true;
nirnakern 0:4e088cbb2dbf 432
nirnakern 0:4e088cbb2dbf 433 if ((now + timeout*1000) < t->read_ms())
nirnakern 0:4e088cbb2dbf 434 break;
nirnakern 0:4e088cbb2dbf 435 }
nirnakern 0:4e088cbb2dbf 436
nirnakern 0:4e088cbb2dbf 437 return false;
nirnakern 0:4e088cbb2dbf 438 }
nirnakern 0:4e088cbb2dbf 439
nirnakern 0:4e088cbb2dbf 440 void Teseo_LIV3F::SendCommand(enum Teseo_LIV3F::cmd_enum c)
nirnakern 0:4e088cbb2dbf 441 {
nirnakern 0:4e088cbb2dbf 442 char crc[5];
nirnakern 0:4e088cbb2dbf 443
nirnakern 0:4e088cbb2dbf 444 sprintf(crc, "*%02X\n\r", CRC_(teseo_cmds[c].cmd, 0));
nirnakern 0:4e088cbb2dbf 445
nirnakern 0:4e088cbb2dbf 446 _uart_mutex_lock();
nirnakern 0:4e088cbb2dbf 447 _uart_interleaded = true;
nirnakern 0:4e088cbb2dbf 448 SendString(teseo_cmds[c].cmd, strlen(teseo_cmds[c].cmd));
nirnakern 0:4e088cbb2dbf 449 SendString(crc, 5);
nirnakern 0:4e088cbb2dbf 450 _uart_mutex_unlock();
nirnakern 0:4e088cbb2dbf 451 }
nirnakern 0:4e088cbb2dbf 452
nirnakern 0:4e088cbb2dbf 453 char *Teseo_LIV3F::DetectSentence(const char *cmd, char *buf, unsigned long len)
nirnakern 0:4e088cbb2dbf 454 {
nirnakern 0:4e088cbb2dbf 455 char *result = NULL;
nirnakern 0:4e088cbb2dbf 456 unsigned int i = 0;
nirnakern 0:4e088cbb2dbf 457 const unsigned long cmd_len = strlen(cmd);
nirnakern 0:4e088cbb2dbf 458 len -= strlen(cmd);
nirnakern 0:4e088cbb2dbf 459
nirnakern 0:4e088cbb2dbf 460 while (!result && i < len) {
nirnakern 0:4e088cbb2dbf 461 for (; buf[i] != '$' && i < len; ++i); /* 1. check '$' char */
nirnakern 0:4e088cbb2dbf 462 if (i == len)
nirnakern 0:4e088cbb2dbf 463 break; /* no more char.... */
nirnakern 0:4e088cbb2dbf 464
nirnakern 0:4e088cbb2dbf 465 ++i; /* to point to the char after '$' */
nirnakern 0:4e088cbb2dbf 466
nirnakern 0:4e088cbb2dbf 467 if (strncmp(&buf[i], cmd, cmd_len) == 0) {
nirnakern 0:4e088cbb2dbf 468 result = &buf[i];
nirnakern 0:4e088cbb2dbf 469 }
nirnakern 0:4e088cbb2dbf 470 }
nirnakern 0:4e088cbb2dbf 471
nirnakern 0:4e088cbb2dbf 472 if (result) {
nirnakern 0:4e088cbb2dbf 473 for (i = 0; result[i] != '*'; ++i);
nirnakern 0:4e088cbb2dbf 474 result[i] = 0;
nirnakern 0:4e088cbb2dbf 475 }
nirnakern 0:4e088cbb2dbf 476 #if 0
nirnakern 0:4e088cbb2dbf 477 if (_serial_debug)
nirnakern 0:4e088cbb2dbf 478 _serial_debug->printf("%s: %s: %s %s FOUND\n\r", T3_name, __FUNCTION__, cmd, result ? " " : "NOT");
nirnakern 0:4e088cbb2dbf 479 #endif
nirnakern 0:4e088cbb2dbf 480 return result;
nirnakern 0:4e088cbb2dbf 481 }
nirnakern 0:4e088cbb2dbf 482
nirnakern 0:4e088cbb2dbf 483
nirnakern 0:4e088cbb2dbf 484 int Teseo_LIV3F::CheckI2C()
nirnakern 0:4e088cbb2dbf 485 {
nirnakern 0:4e088cbb2dbf 486
nirnakern 0:4e088cbb2dbf 487 if (!_i2c)
nirnakern 0:4e088cbb2dbf 488 return -1;
nirnakern 0:4e088cbb2dbf 489
nirnakern 0:4e088cbb2dbf 490 _i2c->start();
nirnakern 0:4e088cbb2dbf 491 int res = _i2c->write((TESEO_I2C_ADDRESS << 1) | 1);
nirnakern 0:4e088cbb2dbf 492 _i2c->stop();
nirnakern 0:4e088cbb2dbf 493 /*
nirnakern 0:4e088cbb2dbf 494 * @returns
nirnakern 0:4e088cbb2dbf 495 * '0' - NAK was received
nirnakern 0:4e088cbb2dbf 496 * '1' - ACK was received,
nirnakern 0:4e088cbb2dbf 497 * '2' - timeout
nirnakern 0:4e088cbb2dbf 498 */
nirnakern 0:4e088cbb2dbf 499 return res == 1 ? 0 : -1;
nirnakern 0:4e088cbb2dbf 500 }
nirnakern 0:4e088cbb2dbf 501
nirnakern 0:4e088cbb2dbf 502 int Teseo_LIV3F::ReadMessage(char *buf, unsigned long len, Timer *t, float timeout)
nirnakern 0:4e088cbb2dbf 503 {
nirnakern 0:4e088cbb2dbf 504 memset(buf, 0, len);
nirnakern 0:4e088cbb2dbf 505
nirnakern 0:4e088cbb2dbf 506 for (unsigned int i = 0; i < len; ++i){
nirnakern 0:4e088cbb2dbf 507 if (t) {
nirnakern 0:4e088cbb2dbf 508 unsigned int now = t->read_ms();;
nirnakern 0:4e088cbb2dbf 509 while (!_uart.readable() && (now + timeout*1000) > t->read_ms());
nirnakern 0:4e088cbb2dbf 510 } else
nirnakern 0:4e088cbb2dbf 511 while (!_uart.readable());
nirnakern 0:4e088cbb2dbf 512 if (_uart.readable())
nirnakern 0:4e088cbb2dbf 513 buf[i] = _uart.getc();;
nirnakern 0:4e088cbb2dbf 514 }
nirnakern 0:4e088cbb2dbf 515 #if 0
nirnakern 0:4e088cbb2dbf 516 if (_serial_debug) {
nirnakern 0:4e088cbb2dbf 517 unsigned int i;
nirnakern 0:4e088cbb2dbf 518 _serial_debug->printf("\n\r---------------------\n\r");
nirnakern 0:4e088cbb2dbf 519 for (i = 0; i < len ; ++i)
nirnakern 0:4e088cbb2dbf 520 _serial_debug->putc((int)buf[i]);
nirnakern 0:4e088cbb2dbf 521 _serial_debug->printf("\n\r---------------------\n\r");
nirnakern 0:4e088cbb2dbf 522 }
nirnakern 0:4e088cbb2dbf 523 #endif
nirnakern 0:4e088cbb2dbf 524 return 0;
nirnakern 0:4e088cbb2dbf 525 }
nirnakern 0:4e088cbb2dbf 526
nirnakern 0:4e088cbb2dbf 527 void Teseo_LIV3F::RFTest(bool enable)
nirnakern 0:4e088cbb2dbf 528 {
nirnakern 0:4e088cbb2dbf 529 if (enable)
nirnakern 0:4e088cbb2dbf 530 SendCommand(Teseo_LIV3F::RFTESTON);
nirnakern 0:4e088cbb2dbf 531 else
nirnakern 0:4e088cbb2dbf 532 SendCommand(Teseo_LIV3F::RFTESTOFF);
nirnakern 0:4e088cbb2dbf 533 }
nirnakern 0:4e088cbb2dbf 534
nirnakern 0:4e088cbb2dbf 535 void Teseo_LIV3F::ReadLoop(Serial *serial_debug)
nirnakern 0:4e088cbb2dbf 536 {
nirnakern 0:4e088cbb2dbf 537 while (1)
nirnakern 0:4e088cbb2dbf 538 if (_uart.readable()) {
nirnakern 0:4e088cbb2dbf 539 int c = _uart.getc();
nirnakern 0:4e088cbb2dbf 540 serial_debug->putc(c);
nirnakern 0:4e088cbb2dbf 541 }
nirnakern 0:4e088cbb2dbf 542 }
nirnakern 0:4e088cbb2dbf 543
nirnakern 0:4e088cbb2dbf 544 char *Teseo_LIV3F::ReadSentence(const char *cmd, char *buf, unsigned long len)
nirnakern 0:4e088cbb2dbf 545 {
nirnakern 0:4e088cbb2dbf 546 int ret = ReadMessage(buf, len);
nirnakern 0:4e088cbb2dbf 547 if (ret)
nirnakern 0:4e088cbb2dbf 548 return NULL;
nirnakern 0:4e088cbb2dbf 549 return DetectSentence(cmd, buf, len);
nirnakern 0:4e088cbb2dbf 550 }
nirnakern 0:4e088cbb2dbf 551
nirnakern 0:4e088cbb2dbf 552 struct ___msg {
nirnakern 0:4e088cbb2dbf 553 unsigned char len;
nirnakern 0:4e088cbb2dbf 554 char *str;
nirnakern 0:4e088cbb2dbf 555 };
nirnakern 0:4e088cbb2dbf 556
nirnakern 0:4e088cbb2dbf 557
nirnakern 0:4e088cbb2dbf 558 static const struct ___msg teseo_msgs[] = {
nirnakern 0:4e088cbb2dbf 559 [ NMEA_GPGGA ] = { .len = 5, .str = "GPGGA", },
nirnakern 0:4e088cbb2dbf 560 [ NMEA_GPGLL ] = { .len = 5, .str = "GPGLL", },
nirnakern 0:4e088cbb2dbf 561 [ NMEA_GNGSA ] = { .len = 5, .str = "GNGSA", },
nirnakern 0:4e088cbb2dbf 562 [ NMEA_GPTXT ] = { .len = 5, .str = "GPTXT", },
nirnakern 0:4e088cbb2dbf 563 [ NMEA_GPVTG ] = { .len = 5, .str = "GPVTG", },
nirnakern 0:4e088cbb2dbf 564 [ NMEA_GPRMC ] = { .len = 5, .str = "GPRMC", },
nirnakern 0:4e088cbb2dbf 565 [ NMEA_PSTMCPU ] = { .len = 7, .str = "PSTMCPU", },
nirnakern 0:4e088cbb2dbf 566 [ NMEA_PSTMVER ] = { .len = 7, .str = "PSTMVER", },
nirnakern 0:4e088cbb2dbf 567 };
nirnakern 0:4e088cbb2dbf 568
nirnakern 0:4e088cbb2dbf 569
nirnakern 0:4e088cbb2dbf 570 enum nmea_msg_id Teseo_LIV3F::MsgDetect(char *buf, int buf_len, Serial *serial_debug)
nirnakern 0:4e088cbb2dbf 571 {
nirnakern 0:4e088cbb2dbf 572 int i;
nirnakern 0:4e088cbb2dbf 573
nirnakern 0:4e088cbb2dbf 574 if (buf[0] == '$')
nirnakern 0:4e088cbb2dbf 575 ++buf;
nirnakern 0:4e088cbb2dbf 576
nirnakern 0:4e088cbb2dbf 577 for (i = 0; i < NMEA_END__; ++i)
nirnakern 0:4e088cbb2dbf 578 if (memcmp((void*)teseo_msgs[i].str, (void*)buf, teseo_msgs[i].len) == 0)
nirnakern 0:4e088cbb2dbf 579 return (enum nmea_msg_id) i;
nirnakern 0:4e088cbb2dbf 580 #if 0
nirnakern 0:4e088cbb2dbf 581 if (serial_debug) {
nirnakern 0:4e088cbb2dbf 582 serial_debug->puts("MESSAGE NOT FOUND: ");
nirnakern 0:4e088cbb2dbf 583 for (int i = 0; i < 5; ++i)
nirnakern 0:4e088cbb2dbf 584 serial_debug->putc(lbuf[i]);
nirnakern 0:4e088cbb2dbf 585 serial_debug->puts("\n\r");
nirnakern 0:4e088cbb2dbf 586 }
nirnakern 0:4e088cbb2dbf 587 #endif
nirnakern 0:4e088cbb2dbf 588 return NMEA_END__;
nirnakern 0:4e088cbb2dbf 589 }
nirnakern 0:4e088cbb2dbf 590
nirnakern 0:4e088cbb2dbf 591 void Teseo_LIV3F::UARTStreamProcess(Serial *serial_debug)
nirnakern 0:4e088cbb2dbf 592 {
nirnakern 0:4e088cbb2dbf 593 enum nmea_msg_id id;
nirnakern 0:4e088cbb2dbf 594 char c;
nirnakern 0:4e088cbb2dbf 595
nirnakern 0:4e088cbb2dbf 596 struct teseo_msg *msg = mpool.alloc();
nirnakern 0:4e088cbb2dbf 597 msg->len = 0;
nirnakern 0:4e088cbb2dbf 598
nirnakern 0:4e088cbb2dbf 599 while (true) {
nirnakern 0:4e088cbb2dbf 600 _uart_mutex_lock();
nirnakern 0:4e088cbb2dbf 601 #if 0
nirnakern 0:4e088cbb2dbf 602 if (_uart_interleaded == true) {
nirnakern 0:4e088cbb2dbf 603 msg->len = 0;
nirnakern 0:4e088cbb2dbf 604 _uart_interleaded = false;
nirnakern 0:4e088cbb2dbf 605 _uart_discard = true;
nirnakern 0:4e088cbb2dbf 606 }
nirnakern 0:4e088cbb2dbf 607 #endif
nirnakern 0:4e088cbb2dbf 608 if (_uart.readable()) {
nirnakern 0:4e088cbb2dbf 609 c = _uart.getc();
nirnakern 0:4e088cbb2dbf 610 _uart_mutex_unlock();
nirnakern 0:4e088cbb2dbf 611 if (c == '$') {
nirnakern 0:4e088cbb2dbf 612 queue.put(msg);
nirnakern 0:4e088cbb2dbf 613 msg = mpool.alloc();
nirnakern 0:4e088cbb2dbf 614 msg->len = 0;
nirnakern 0:4e088cbb2dbf 615 _uart_discard = false;
nirnakern 0:4e088cbb2dbf 616 }
nirnakern 0:4e088cbb2dbf 617 if (!_uart_discard)
nirnakern 0:4e088cbb2dbf 618 msg->buf[msg->len++] = c;
nirnakern 0:4e088cbb2dbf 619 } else {
nirnakern 0:4e088cbb2dbf 620 _uart_mutex_unlock();
nirnakern 0:4e088cbb2dbf 621 wait_us(100);
nirnakern 0:4e088cbb2dbf 622 }
nirnakern 0:4e088cbb2dbf 623 }
nirnakern 0:4e088cbb2dbf 624 }
nirnakern 0:4e088cbb2dbf 625
nirnakern 0:4e088cbb2dbf 626 struct thr_data {
nirnakern 0:4e088cbb2dbf 627 Teseo_LIV3F *gnss;
nirnakern 0:4e088cbb2dbf 628 Serial *serial_debug;
nirnakern 0:4e088cbb2dbf 629 };
nirnakern 0:4e088cbb2dbf 630
nirnakern 0:4e088cbb2dbf 631 static void Teseo_LIV3F_UARTStreamProcess(struct thr_data *data)
nirnakern 0:4e088cbb2dbf 632 {
nirnakern 0:4e088cbb2dbf 633 data->gnss->UARTStreamProcess(data->serial_debug);
nirnakern 0:4e088cbb2dbf 634 }
nirnakern 0:4e088cbb2dbf 635
nirnakern 0:4e088cbb2dbf 636 void Teseo_LIV3F::startListener(Serial *serial_debug)
nirnakern 0:4e088cbb2dbf 637 {
nirnakern 0:4e088cbb2dbf 638 if (serialStreamThread.get_state() == Thread::Running)
nirnakern 0:4e088cbb2dbf 639 return;
nirnakern 0:4e088cbb2dbf 640
nirnakern 0:4e088cbb2dbf 641 static struct thr_data data = {
nirnakern 0:4e088cbb2dbf 642 .gnss = this,
nirnakern 0:4e088cbb2dbf 643 .serial_debug = serial_debug,
nirnakern 0:4e088cbb2dbf 644 };
nirnakern 0:4e088cbb2dbf 645
nirnakern 0:4e088cbb2dbf 646 serialStreamThread.start(Teseo_LIV3F_UARTStreamProcess, &data);
nirnakern 0:4e088cbb2dbf 647 }
nirnakern 0:4e088cbb2dbf 648
nirnakern 0:4e088cbb2dbf 649 void Teseo_LIV3F::stopListener(Serial *serial_debug)
nirnakern 0:4e088cbb2dbf 650 {
nirnakern 0:4e088cbb2dbf 651 if (serialStreamThread.get_state() != Thread::Running)
nirnakern 0:4e088cbb2dbf 652 return;
nirnakern 0:4e088cbb2dbf 653 serialStreamThread.terminate();
nirnakern 0:4e088cbb2dbf 654 }