Teseo-LIV3F.cpp

00001 /*
00002  * -------------------------------------------------------------------------
00003  * Copyright (C) 2017  STMicroelectronics
00004  * Author: Francesco M. Virlinzi  <francesco.virlinzi@st.com>
00005  *
00006  * May be copied or modified under the terms of the GNU General Public
00007  * License V.2 ONLY.  See linux/COPYING for more information.
00008  *
00009  * -------------------------------------------------------------------------
00010  */
00011 #include "string.h"
00012 #include "Teseo-LIV3F.h"
00013 
00014 
00015 static char T3_name[] = "Teseo-LIV3F";
00016 
00017 char _OK[] = "OK";
00018 char _Failed[] = "Failed";
00019 char X_Nucleo_name[] = "X-Nucleo-GNSS1A1";
00020 
00021 struct teseo_cmd {
00022     char *cmd;
00023 };
00024 
00025 static struct teseo_cmd teseo_cmds[] = {
00026     [Teseo_LIV3F::GETSWVER] = {
00027             .cmd = "$PSTMGETSWVER,7",
00028     },
00029     [Teseo_LIV3F::FORCESTANDBY] = {
00030         .cmd = "$PSTMFORCESTANDBY,00007",
00031     },
00032     [Teseo_LIV3F::RFTESTON] = {
00033         .cmd  = "$PSTMRFTESTON,16",
00034     },
00035     [Teseo_LIV3F::RFTESTOFF] = {
00036         .cmd  = "$PSTMRFTESTOFF\n\r",
00037     },
00038     [Teseo_LIV3F::LOWPOWER] = {
00039         .cmd  = "$PSTMLOWPOWERONOFF,1,0,000,05,0,1,000,1,00010,01,0,0,1,01",
00040     },
00041     [Teseo_LIV3F::FWUPDATE] = {
00042         .cmd  = "$PSTMFWUPGRADE",
00043     },
00044 };
00045 
00046 
00047 Teseo_LIV3F::Teseo_LIV3F(PinName reset_pin, PinName wakeup_pin,
00048         PinName pps_pin, PinName uart_tx_pin, PinName uart_rx_pin,
00049         Serial *serial_debug):
00050         _reset(reset_pin, 1),
00051         _pps(pps_pin),
00052         _wakeup(wakeup_pin, 0),
00053         _uart(uart_rx_pin, uart_tx_pin, SDT_UART_BAUD),
00054         _serial_debug(serial_debug)
00055 {
00056         wait_ms(POWERON_STABLE_SIGNAL_DELAY_MS);
00057         _uart.baud(SDT_UART_BAUD);
00058         _uart.format(8, SerialBase::None, 1);
00059         _i2c = NULL;
00060         _uart_interleaded = false;
00061         _uart_discard = false;
00062 }
00063 
00064 Teseo_LIV3F::Teseo_LIV3F(PinName reset_pin, PinName wakeup_pin,
00065         PinName pps_pin, PinName uart_tx_pin, PinName uart_rx_pin,
00066         I2C *bus, Serial *serial_debug):
00067         _reset(reset_pin, 1),
00068         _pps(pps_pin),
00069         _wakeup(wakeup_pin, 0),
00070         _uart(uart_rx_pin, uart_tx_pin, SDT_UART_BAUD),
00071         _i2c(bus),
00072         _serial_debug(serial_debug)
00073 {
00074     wait_ms(POWERON_STABLE_SIGNAL_DELAY_MS);
00075     _uart.baud(SDT_UART_BAUD);
00076     _uart.format(8, SerialBase::None, 1);
00077     _uart_interleaded = false;
00078     _uart_discard = false;
00079 }
00080 
00081 int Teseo_LIV3F::EnableLowPower()
00082 {
00083     SendCommand(LOWPOWER);
00084     return 0;
00085 }
00086 
00087 void Teseo_LIV3F::Reset(Serial *serial_debug)
00088 {
00089     if (serial_debug)
00090         serial_debug->printf("%s: Resetting...", T3_name);
00091 
00092     _reset.write(0);
00093 
00094     wait_ms(50);
00095 
00096     _reset.write(1);
00097 
00098     wait_ms(70);
00099 
00100     if (serial_debug)
00101             serial_debug->printf("Done...\n\r");
00102 }
00103 
00104 enum {
00105         TESEO_FLASHER_IDENTIFIER = 0,   //  0xBCD501F4
00106         TESEO_FLASHER_SYNC,             //  0x83984073
00107         DEVICE_START_COMMUNICATION,     //  0xA3
00108         FLASHER_READY,                  //  0x4A
00109         ACK,                            //  0xCC
00110         NACK,
00111 };
00112 
00113 struct firmware_ctrl {
00114     char *cmd;
00115     unsigned char len;
00116     char *n;
00117 } ;
00118 
00119 /*
00120  * #define FWUPG_IDENTIFIER          0xBC D5 01 F4
00121  * #define FWUPG_SYNC                0x83 98 40 73
00122  */
00123 static struct firmware_ctrl fw_data[] = {
00124     [TESEO_FLASHER_IDENTIFIER] = {
00125             .cmd = (char *)(char[]){ 0xF4, 0x01, 0xD5, 0xBC},
00126             .len = 4,
00127             .n = "TESEO_FLASHER_IDENTIFIER",
00128     },
00129     [TESEO_FLASHER_SYNC] = {
00130             .cmd =(char *)(char[]){ 0x73, 0x40, 0x98, 0x83 },
00131             .len = 4,
00132             .n = "TESEO_FLASHER_SYNC",
00133     },
00134     [DEVICE_START_COMMUNICATION] = {
00135             .cmd = (char *)(char[]){0xA3},
00136             .len = 1,
00137             .n = "DEVICE_START_COMMUNICATION",
00138     },
00139     [FLASHER_READY] = {
00140             .cmd = (char *)(char[]){0x4A},
00141             .len = 1,
00142             .n = "FLASHER_READY",
00143     },
00144     [ACK]  = {
00145             .cmd = (char *)(char[]){0xCC},
00146             .len = 1,
00147             .n = "ACK",
00148     },
00149     [NACK]  = {
00150             .cmd = (char *)(char[]){0xDD},
00151             .len = 1,
00152             .n = "NACK",
00153         },
00154 };
00155 
00156 int Teseo_LIV3F::SendString(char *buf, int len)
00157 {
00158     for (int i = 0; i < len; ++i) {
00159         while (!_uart.writeable());
00160         _uart.putc(buf[i]);
00161         }
00162 }
00163 
00164 struct ImageOptions
00165 {
00166     unsigned char eraseNVM;
00167     unsigned char programOnly;
00168     unsigned char reserved;
00169     unsigned char baudRate;
00170     unsigned int firmwareSize;
00171     unsigned int firmwareCRC;
00172     unsigned int nvmAddressOffset;
00173     unsigned int nvmSize;
00174 } liv3f_img_option = {
00175         .eraseNVM       = 1,
00176         .programOnly    = 0,
00177         .reserved       = 0,
00178         .baudRate       = 1,
00179         .firmwareSize   = 0,
00180         .firmwareCRC    = 0,
00181         .nvmAddressOffset = 0x00100000,
00182         .nvmSize          = 0x00100000,
00183 
00184 };
00185 
00186 int Teseo_LIV3F::FwWaitAck()
00187 {
00188     while (!_uart.readable());
00189 
00190     char c = _uart.getc();
00191 
00192     if (fw_data[ACK].cmd[0] == c) {
00193         if (_serial_debug)
00194             _serial_debug->printf("%s (0x%x)\n\r", _OK,  c);
00195         return 0;
00196     }
00197 
00198     if (fw_data[NACK].cmd[0] == c) {
00199         if (_serial_debug)
00200             _serial_debug->printf("%s (%x)\n\r", _Failed, c);
00201         return -1;
00202     }
00203 
00204     if (_serial_debug)
00205         _serial_debug->printf("%s - Char not allowed (%x)\n\r", _Failed, c);
00206     return -1;
00207 }
00208 
00209 bool Teseo_LIV3F::FirmwareUpdate(bool is_recovery, char *data,
00210         unsigned int data_len,
00211         unsigned long crc,
00212         Serial *serial_debug)
00213 {
00214     unsigned int i;
00215 
00216     char _buf[4] = { 0xff, 0xff, 0xff, 0xff };
00217 
00218     liv3f_img_option.firmwareSize   = data_len;
00219     liv3f_img_option.firmwareCRC    = crc;
00220 
00221     if (data == NULL || !data_len)
00222         return false;
00223 
00224     if (is_recovery)
00225         Reset();
00226 
00227     {
00228 
00229         _uart.baud(FWU_UART_BAUD);
00230 
00231 #if 1
00232         while (1) {
00233             /* send TESEO_FLASHER_IDENTIFIER */
00234 /*
00235  * Device is under reset. Host sends continuously “TESEO2_FLASHER_IDENTIFIER� word.
00236  */
00237             SendString(fw_data[TESEO_FLASHER_IDENTIFIER].cmd, fw_data[TESEO_FLASHER_IDENTIFIER].len);
00238 
00239             /* try to read... TESEO_FLASHER_SYNC */
00240             if (_uart.readable())
00241                     for (i = 0; i < fw_data[TESEO_FLASHER_SYNC].len; ) {
00242 
00243                         while (!_uart.readable());
00244 
00245                         _buf[i] = _uart.getc();
00246 
00247                         if (fw_data[TESEO_FLASHER_SYNC].cmd[i] == _buf[i]) {
00248                                 if (serial_debug)
00249                                     serial_debug->printf("-- %d -- 0x%x -- ok--\n\r", i, _buf[i]);
00250                                 i++;
00251                                 goto exit_step_1; /* FMV: WA to have firmware update working.... */
00252                             } else {
00253                                 i = 0;
00254                             }
00255                     }
00256                     if (i == fw_data[TESEO_FLASHER_SYNC].len)
00257                         goto exit_step_1;
00258             }
00259 
00260 exit_step_1:
00261 
00262     _uart.abort_read();
00263 
00264     if (serial_debug)
00265         serial_debug->printf("Got: %s from %s\n\r", fw_data[TESEO_FLASHER_SYNC].n, T3_name);
00266 
00267 /*
00268  * Host sends “DEVICE_START_COMMUNICATION� word.
00269  */
00270     serial_debug->printf("\n\r%s Step: %s ",T3_name, fw_data[DEVICE_START_COMMUNICATION].n);
00271     SendString(fw_data[DEVICE_START_COMMUNICATION].cmd, fw_data[DEVICE_START_COMMUNICATION].len);
00272 
00273     FwWaitAck();
00274 
00275 /*
00276  * Host sends the binary image options. Both host and
00277  * device change UART baud rates. Host sends continuously
00278  * the “FLASHER_READY� word.
00279  */
00280     if (serial_debug)
00281         serial_debug->printf("%s Step: Send ImageOption\n\r",T3_name);
00282 
00283     SendString((char*)&liv3f_img_option, sizeof(ImageOptions));
00284 
00285     if (serial_debug)
00286             serial_debug->printf("%s Step: Send %s\n\r",T3_name, fw_data[FLASHER_READY].n);
00287 
00288     while (1) {
00289         SendString(fw_data[FLASHER_READY].cmd, fw_data[FLASHER_READY].len);
00290         if (_uart.readable())
00291             goto exit_step_3;
00292     }
00293 
00294     exit_step_3:
00295     FwWaitAck();
00296 
00297     if (serial_debug)
00298         serial_debug->printf("%s Step: Erasing flash area ",T3_name);
00299 
00300 
00301     FwWaitAck();
00302 
00303 /*
00304  * Device is erasing flash program. Host is waiting for an “ACK�.
00305  */
00306 
00307     if (serial_debug)
00308         serial_debug->printf("%s Step: Erasing NVM ",T3_name);
00309 
00310     while (!_uart.readable());
00311 
00312     FwWaitAck();
00313 
00314     if (serial_debug)
00315         serial_debug->printf("%s Step: Sending data... ",T3_name);
00316 
00317     for (i = 0; i < (data_len / (16*1024)); ++i) {
00318         SendString(&data[i], 16*1024);
00319 
00320         FwWaitAck();
00321     }
00322 
00323     serial_debug->printf("\n\r");
00324     /*
00325      * send remaining data...
00326      */
00327     if (data_len != (i * 16*1024)) {
00328         SendString(&data[i*16*1024], data_len-i*16*1024);
00329         FwWaitAck();
00330         }
00331     /*
00332      * wait CRC ack
00333      */
00334     FwWaitAck();
00335     }
00336 
00337 #else
00338     //_uart.format(8, SerialBase::Forced0, 1);
00339     while (1)
00340             {
00341                 /* send TESEO_FLASHER_IDENTIFIER */
00342                 for (i = 0; i < fw_data[TESEO_FLASHER_IDENTIFIER].len; ++i) {
00343                      while (!_uart.writeable());
00344                     _uart.putc(fw_data[TESEO_FLASHER_IDENTIFIER].cmd[i]);
00345                 }
00346 
00347 
00348                 /* try to read... TESEO_FLASHER_SYNC */
00349                 //while (!_uart.readable());
00350                 for (i = 0; i < fw_data[TESEO_FLASHER_SYNC].len && _uart.readable(); )
00351                     if (_uart.readable())
00352                     {
00353                         char c = _uart.getc();
00354     /*
00355                         if (!c)
00356                                 break;
00357     */
00358                         if (serial_debug)
00359                             serial_debug->printf("%x vs %x\n\r", c, fw_data[TESEO_FLASHER_SYNC].cmd[i]);
00360 
00361                         if (fw_data[TESEO_FLASHER_SYNC].cmd[i] == c)
00362                             i++;
00363                         else
00364                             i = 0;
00365                     }
00366 
00367                 if (i == fw_data[TESEO_FLASHER_SYNC].len && serial_debug)
00368                     serial_debug->printf("Got %s from %s\n\r",fw_data[TESEO_FLASHER_SYNC].n, T3_name);
00369             }
00370         }
00371 #endif
00372     if (serial_debug)
00373         serial_debug->printf("END\n\r");
00374 
00375     return true;
00376 }
00377 
00378 int Teseo_LIV3F::WakeUp()
00379 {
00380     wait_ms(100);
00381 
00382     _wakeup.write(1);
00383 
00384     wait_ms(500);
00385 
00386     _wakeup.write(0);
00387 
00388     return 0;
00389 }
00390 
00391 bool Teseo_LIV3F::CheckPPSWorking()
00392 {
00393     int val_0, val_1;
00394 
00395     wait_ms(500);
00396 
00397     val_0 = _pps.read();
00398 
00399     wait_ms(500);
00400     val_1 = _pps.read();
00401 
00402     if (val_0 != val_1)
00403         return true;
00404 
00405     return false;
00406 }
00407 
00408 int Teseo_LIV3F::CRC_(char *buf, int size)
00409 {
00410     int i = 0, ch = 0;
00411 
00412     if (buf[0] == '$')
00413         ++i;
00414 
00415     if (size)
00416         for (; i < size; ++i)
00417             ch ^= buf[i];
00418     else
00419         for (; buf[i] != 0; ++i)
00420             ch ^= buf[i];
00421 
00422     return ch;
00423 }
00424 
00425 bool Teseo_LIV3F::WaitBooting(Timer *t, float timeout)
00426 {
00427     unsigned int now = t->read_ms();;
00428     while (1) {
00429         if (CheckPPSWorking() == true)
00430             return true;
00431 
00432     if ((now + timeout*1000) < t->read_ms())
00433             break;
00434     }
00435 
00436     return false;
00437 }
00438 
00439 void Teseo_LIV3F::SendCommand(enum Teseo_LIV3F::cmd_enum c)
00440 {
00441     char crc[5];
00442 
00443     sprintf(crc, "*%02X\n\r", CRC_(teseo_cmds[c].cmd, 0));
00444 
00445     _uart_mutex_lock();
00446     _uart_interleaded = true;
00447     SendString(teseo_cmds[c].cmd, strlen(teseo_cmds[c].cmd));
00448     SendString(crc, 5);
00449     _uart_mutex_unlock();
00450 }
00451 
00452 char *Teseo_LIV3F::DetectSentence(const char *cmd, char *buf, unsigned long len)
00453 {
00454     char *result = NULL;
00455     unsigned int i = 0;
00456     const unsigned long cmd_len = strlen(cmd);
00457     len -= strlen(cmd);
00458 
00459     while (!result && i < len) {
00460         for (; buf[i] != '$' && i < len; ++i); /* 1. check '$' char */
00461         if (i == len)
00462             break; /* no more char.... */
00463 
00464         ++i; /* to point to the char after '$' */
00465 
00466         if (strncmp(&buf[i], cmd, cmd_len) == 0) {
00467             result = &buf[i];
00468         }
00469     }
00470 
00471     if (result) {
00472         for (i = 0; result[i] != '*'; ++i);
00473         result[i] = 0;
00474     }
00475 #if 0
00476     if (_serial_debug)
00477             _serial_debug->printf("%s: %s: %s %s FOUND\n\r", T3_name, __FUNCTION__, cmd, result ? " " : "NOT");
00478 #endif
00479     return result;
00480 }
00481 
00482 
00483 int Teseo_LIV3F::CheckI2C()
00484 {
00485 
00486     if (!_i2c)
00487         return -1;
00488 
00489     _i2c->start();
00490     int res = _i2c->write((TESEO_I2C_ADDRESS << 1) | 1);
00491     _i2c->stop();
00492     /*
00493     *  @returns
00494     *    '0' - NAK was received
00495     *    '1' - ACK was received,
00496     *    '2' - timeout
00497     */
00498     return res == 1 ? 0 : -1;
00499 }
00500 
00501  int Teseo_LIV3F::ReadMessage(char *buf, unsigned long len, Timer *t, float timeout)
00502 {
00503     memset(buf, 0, len);
00504 
00505     for (unsigned int i = 0; i < len; ++i){
00506         if (t) {
00507             unsigned int now = t->read_ms();;
00508             while (!_uart.readable() && (now + timeout*1000) > t->read_ms());
00509         } else
00510             while (!_uart.readable());
00511         if (_uart.readable())
00512             buf[i] = _uart.getc();;
00513     }
00514 #if 0
00515     if (_serial_debug) {
00516             unsigned int i;
00517             _serial_debug->printf("\n\r---------------------\n\r");
00518             for (i = 0; i < len ; ++i)
00519                 _serial_debug->putc((int)buf[i]);
00520             _serial_debug->printf("\n\r---------------------\n\r");
00521     }
00522 #endif
00523     return 0;
00524 }
00525 
00526  void Teseo_LIV3F::RFTest(bool enable)
00527  {
00528     if (enable)
00529         SendCommand(Teseo_LIV3F::RFTESTON);
00530     else
00531         SendCommand(Teseo_LIV3F::RFTESTOFF);
00532  }
00533 
00534 void Teseo_LIV3F::ReadLoop(Serial *serial_debug)
00535 {
00536     while (1)
00537         if (_uart.readable()) {
00538             int c = _uart.getc();
00539             serial_debug->putc(c);
00540         }
00541 }
00542 
00543 char *Teseo_LIV3F::ReadSentence(const char *cmd, char *buf, unsigned long len)
00544 {
00545     int ret = ReadMessage(buf, len);
00546     if (ret)
00547         return NULL;
00548      return DetectSentence(cmd, buf, len);
00549 }
00550 
00551 struct ___msg {
00552     unsigned char len;
00553     char *str;
00554 };
00555 
00556 
00557 static const struct ___msg teseo_msgs[] = {
00558     [ NMEA_GPGGA ]   = {    .len = 5,   .str = "GPGGA",     },
00559     [ NMEA_GPGLL ]   = {    .len = 5,   .str = "GPGLL",     },
00560     [ NMEA_GNGSA ]   = {    .len = 5,   .str = "GNGSA",     },
00561     [ NMEA_GPTXT ]   = {    .len = 5,   .str = "GPTXT",     },
00562     [ NMEA_GPVTG ]   = {    .len = 5,   .str = "GPVTG",     },
00563     [ NMEA_GPRMC ]   = {    .len = 5,   .str = "GPRMC",     },
00564     [ NMEA_PSTMCPU ] = {    .len = 7,   .str = "PSTMCPU",   },
00565     [ NMEA_PSTMVER ] = {    .len = 7,   .str = "PSTMVER",   },
00566 };
00567 
00568 
00569 enum nmea_msg_id Teseo_LIV3F::MsgDetect(char  *buf, int buf_len, Serial *serial_debug)
00570 {
00571     int i;
00572 
00573     if (buf[0] == '$')
00574         ++buf;
00575 
00576     for (i = 0; i < NMEA_END__; ++i)
00577         if (memcmp((void*)teseo_msgs[i].str, (void*)buf, teseo_msgs[i].len) == 0)
00578             return (enum nmea_msg_id) i;
00579 #if 0
00580     if (serial_debug) {
00581         serial_debug->puts("MESSAGE NOT FOUND: ");
00582         for (int i = 0; i < 5; ++i)
00583             serial_debug->putc(lbuf[i]);
00584         serial_debug->puts("\n\r");
00585     }
00586 #endif
00587     return NMEA_END__;
00588 }
00589 
00590 void Teseo_LIV3F::UARTStreamProcess(Serial *serial_debug)
00591 {
00592     enum nmea_msg_id id;
00593     char c;
00594 
00595     struct teseo_msg *msg = mpool.alloc();
00596     msg->len = 0;
00597 
00598     while (true) {
00599           _uart_mutex_lock();
00600 #if 0
00601           if (_uart_interleaded == true) {
00602               msg->len = 0;
00603               _uart_interleaded = false;
00604               _uart_discard = true;
00605           }
00606 #endif
00607           if (_uart.readable()) {
00608               c = _uart.getc();
00609               _uart_mutex_unlock();
00610               if (c == '$') {
00611                   queue.put(msg);
00612                   msg = mpool.alloc();
00613                   msg->len = 0;
00614                   _uart_discard = false;
00615               }
00616               if (!_uart_discard)
00617                   msg->buf[msg->len++] = c;
00618           } else {
00619               _uart_mutex_unlock();
00620               wait_us(100);
00621           }
00622     }
00623 }
00624 
00625 struct thr_data {
00626     Teseo_LIV3F *gnss;
00627     Serial *serial_debug;
00628 };
00629 
00630 static void Teseo_LIV3F_UARTStreamProcess(struct thr_data *data)
00631 {
00632     data->gnss->UARTStreamProcess(data->serial_debug);
00633 }
00634 
00635 void Teseo_LIV3F::startListener(Serial *serial_debug)
00636 {
00637     if (serialStreamThread.get_state() == Thread::Running)
00638         return;
00639 
00640     static struct thr_data data = {
00641         .gnss = this,
00642         .serial_debug = serial_debug,
00643     };
00644 
00645     serialStreamThread.start(Teseo_LIV3F_UARTStreamProcess, &data);
00646 }
00647 
00648 void Teseo_LIV3F::stopListener(Serial *serial_debug)
00649 {
00650     if (serialStreamThread.get_state() != Thread::Running)
00651         return;
00652     serialStreamThread.terminate();
00653 }
00654