config-gnss: baud rate configuration for gnss receiver and ttyS3
Added recipes aswell as scripts to automatically configure the baud rate of ttyS3 and the GNSS receiver (NEO-M8L) with the baud rate specified in a new config file called /etc/gnss.conf tty interface also configured if receiver config gets launched manually. If config-gnss-receiver was launched manually it now executes config-gnss-tty to configure the tty interface before starting gpsd. BugzID: 60698 Signed-off-by: Tobias Jäggi <tobias.jaeggi@netmodule.com> Signed-off-by: Ramon Moesching <ramon.moesching@netmodule.com>
This commit is contained in:
Tobias Jäggi
Ramon Moesching
parent
7ced09c9c9
commit
903e748473
|
|
@ -0,0 +1,40 @@
|
|||
# Copyright (C) 2020 Tobias Jäggi <tobias.jaeggi@netmodule.com>
|
||||
# Released under the MIT license (see COPYING.MIT for the terms)
|
||||
DESCRIPTION = "NEO-M8L baud rate config service"
|
||||
HOMEPAGE = "www.netmodule.com"
|
||||
LICENSE = "MIT"
|
||||
SECTION = "bsp/firmware"
|
||||
LIC_FILES_CHKSUM = "file://${COMMON_LICENSE_DIR}/MIT;md5=0835ade698e0bcf8506ecda2f7b4f302"
|
||||
|
||||
inherit systemd
|
||||
|
||||
SRC_URI = " \
|
||||
file://config-gnss-receiver.service \
|
||||
file://config-gnss-receiver.sh \
|
||||
file://gnss.conf \
|
||||
file://gnss-receiver-save-state \
|
||||
"
|
||||
|
||||
S = "${WORKDIR}"
|
||||
|
||||
SYSTEMD_SERVICE_${PN} = " \
|
||||
config-gnss-receiver.service \
|
||||
"
|
||||
|
||||
FILES_${PN} = "${systemd_unitdir}/system ${bindir} ${localstatedir} ${sysconfdir}"
|
||||
|
||||
do_install() {
|
||||
install -d ${D}${systemd_unitdir}/system
|
||||
install -m 644 ${WORKDIR}/config-gnss-receiver.service ${D}${systemd_unitdir}/system/
|
||||
|
||||
install -d ${D}${bindir}
|
||||
install -m 744 ${WORKDIR}/config-gnss-receiver.sh ${D}${bindir}/config-gnss-receiver
|
||||
|
||||
install -d ${D}${sysconfdir}
|
||||
install -m 644 ${WORKDIR}/gnss.conf ${D}${sysconfdir}/gnss.conf
|
||||
|
||||
install -d ${D}${localstatedir}
|
||||
install -m 644 ${WORKDIR}/gnss-receiver-save-state ${D}${localstatedir}/gnss-receiver-save-state
|
||||
}
|
||||
|
||||
RDEPENDS_${PN} = "gpsd"
|
||||
|
|
@ -0,0 +1,32 @@
|
|||
# Copyright (C) 2020 Tobias Jäggi <tobias.jaeggi@netmodule.com>
|
||||
# Released under the MIT license (see COPYING.MIT for the terms)
|
||||
DESCRIPTION = "ttyS3 config service"
|
||||
HOMEPAGE = "www.netmodule.com"
|
||||
LICENSE = "MIT"
|
||||
SECTION = "bsp/firmware"
|
||||
LIC_FILES_CHKSUM = "file://${COMMON_LICENSE_DIR}/MIT;md5=0835ade698e0bcf8506ecda2f7b4f302"
|
||||
|
||||
|
||||
inherit systemd
|
||||
|
||||
SRC_URI = " \
|
||||
file://config-gnss-tty.service \
|
||||
file://config-gnss-tty.sh \
|
||||
"
|
||||
|
||||
S = "${WORKDIR}"
|
||||
|
||||
SYSTEMD_SERVICE_${PN} = " \
|
||||
config-gnss-tty.service \
|
||||
"
|
||||
|
||||
FILES_${PN} = "${systemd_unitdir}/system ${bindir}"
|
||||
|
||||
do_install() {
|
||||
install -d ${D}${systemd_unitdir}/system
|
||||
install -m 644 ${WORKDIR}/config-gnss-tty.service ${D}${systemd_unitdir}/system/
|
||||
|
||||
install -d ${D}${bindir}
|
||||
install -m 744 ${WORKDIR}/config-gnss-tty.sh ${D}${bindir}/config-gnss-tty
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
[Unit]
|
||||
Description=config baud rate on NEO-M8L
|
||||
Before=config-gnss-tty.service
|
||||
|
||||
[Service]
|
||||
|
||||
Type=oneshot
|
||||
ExecStart=/usr/bin/config-gnss-receiver
|
||||
RemainAfterExit=no
|
||||
|
||||
[Install]
|
||||
WantedBy=multi-user.target
|
||||
|
|
@ -0,0 +1,270 @@
|
|||
#!/bin/sh
|
||||
|
||||
# This script tries to figure out the baud rate of $DEVICE_NAME connected to $TTY_INTERFACE.
|
||||
# If the script successfully determines the baud rate of the receiver,
|
||||
# it changes both the baud rate of the ttyS3 interface and the receiver to the
|
||||
# value stored in DESIRED_BAUD_RATE
|
||||
|
||||
# exit codes:
|
||||
# 0 success
|
||||
# 1 unable to detect baud rate
|
||||
# 2 set baud rate was not successful
|
||||
# 3 baud rate not set to $DESIRED_BAUD_RATE or verifiying baud rate failed
|
||||
# 4 saving to flash failed
|
||||
# 5 baud rate specified in $CONFIG_FILE not supported by $DEVICE_NAME
|
||||
|
||||
# static variables
|
||||
DEVICE_NAME="NEO-M8L"
|
||||
TTY_INTERFACE="/dev/ttyS3"
|
||||
CONFIG_FILE="/etc/gnss.conf"
|
||||
SAVE_FILE="/var/gnss-receiver-save-state"
|
||||
# if the config file is missing, a new one gets created with $DEFAULT_BAUD_RATE baud
|
||||
DEFAULT_BAUD_RATE=115200
|
||||
# first baud rate in PRESELECTION_BAUD_RATES should be the one which is most likely the current baud rate of the GNSS receiver,
|
||||
# the last one should be the one least likely used by the reciever.
|
||||
# This can reduce the runtime of this script
|
||||
# Note that this array can be expanded to test more baud rates if needed
|
||||
PRESELECTION_BAUD_RATES=(9600 115200 4800)
|
||||
|
||||
# this array contains the baud rates that can be specified to be used by $DEVICE_NAME
|
||||
# There is no guarantee that those baud rates work in combination with your device
|
||||
# Note: 921600 is supported by M8L but not ubxtool
|
||||
#SUPPORTED_BAUD_RATES=(460800 230400 115200 57600 38400 19200 9600 4800)
|
||||
SUPPORTED_BAUD_RATES=(4800 9600 19200 38400 57600 115200 230400 460800)
|
||||
|
||||
ACK_MESSAGE="UBX-ACK-ACK:"
|
||||
MAX_ALLOWED_RETRIES=4
|
||||
|
||||
# non static variables
|
||||
# this is ugly, nobody likes non static global variables :(
|
||||
DETECTED_BAUD_RATE=0
|
||||
DESIRED_BAUD_RATE=0
|
||||
|
||||
# pass baudrate of ttyS3 as parameter $1
|
||||
# echo'es back the polled baud rate
|
||||
# if no baud rate is returned by the receiver this function echo'es back "0"
|
||||
poll_baud_rate_receiver () {
|
||||
local _br_ttys3
|
||||
_br_ttys3=$1
|
||||
read -r _br_receiver <<< "$(ubxtool -f "$TTY_INTERFACE" -p CFG-PRT -s "$_br_ttys3" | awk '/mode .* baudRate .*/{print $4}')"
|
||||
if test -z "$_br_receiver"; then
|
||||
# reading baud rate of receiver failed
|
||||
echo "0"
|
||||
else
|
||||
echo "$_br_receiver"
|
||||
fi
|
||||
}
|
||||
|
||||
# pass baud rate of ttyS3 as paramater $1 and baud rate to set on receiver as $2
|
||||
set_baud_rate_receiver () {
|
||||
local _br_ttys3
|
||||
_br_ttys3="$1"
|
||||
local _br_receiver
|
||||
_br_receiver="$2"
|
||||
# note: there is no ack when setting new baud rate
|
||||
# -> there is no way to confirm config change without sending an additional message
|
||||
ubxtool -f "$TTY_INTERFACE" -s "$1" -S "$2" > /dev/null
|
||||
return 0
|
||||
}
|
||||
|
||||
# args[0]: allowed retries
|
||||
# args[1:n]: baud rates to test
|
||||
detect_baud_rate () {
|
||||
local _args
|
||||
_args=("$@")
|
||||
local _allowed_retries
|
||||
_allowed_retries="${_args[0]}"
|
||||
local _baud_rates
|
||||
for i in "${_args[@]:1}"
|
||||
do
|
||||
_baud_rates+=("$i")
|
||||
done
|
||||
local _polled_baud_rate
|
||||
for br in "${_baud_rates[@]}";
|
||||
do
|
||||
printf "testing %s baud\n" "$br"
|
||||
for i in $(eval echo {1.."$_allowed_retries"})
|
||||
do
|
||||
_polled_baud_rate="$(poll_baud_rate_receiver "$br")"
|
||||
if [ "$_polled_baud_rate" == "0" ];then
|
||||
# increasing timeout for each try
|
||||
t=$(echo "$i" "0.1"| awk '{printf "%4.3f\n",$1*$2}')
|
||||
sleep "$t"
|
||||
else
|
||||
DETECTED_BAUD_RATE=$_polled_baud_rate
|
||||
return 0
|
||||
fi
|
||||
done
|
||||
printf "no luck so far\n"
|
||||
done
|
||||
# failed to detect baud rate
|
||||
printf "failed to detect baud rate\n"
|
||||
return 1
|
||||
}
|
||||
|
||||
save_receiver_config () {
|
||||
local _ack
|
||||
read -r _ack <<< "$(ubxtool -f "$TTY_INTERFACE" -p SAVE -s $DESIRED_BAUD_RATE | grep $ACK_MESSAGE)"
|
||||
if [ "$_ack" == "$ACK_MESSAGE" ]; then
|
||||
# saved successfully
|
||||
# log succe save
|
||||
echo 1 > $SAVE_FILE
|
||||
#touch
|
||||
return 0
|
||||
fi
|
||||
return 1
|
||||
}
|
||||
|
||||
# start of main
|
||||
|
||||
# check if script was launched by systemd
|
||||
if test -z "$INVOCATION_ID"; then
|
||||
# launched by user
|
||||
# TODO: get state of gpsd and decide accordingly
|
||||
systemctl stop gpsd.socket && systemctl stop gpsd
|
||||
RESTART_GPSD=1
|
||||
else
|
||||
RESTART_GPSD=0
|
||||
fi
|
||||
|
||||
# TODO: remove this hack in favour of a proper python environment
|
||||
# hack to get pyserial working
|
||||
PYTHONPATH=/usr/lib/python3.7/site-packages/ && export PYTHONPATH
|
||||
|
||||
# TODO: parse input args to display help which would explain usage of $CONFIG_FILE
|
||||
|
||||
# check if CONFIG_FILE exists
|
||||
if ! test -f "$CONFIG_FILE"; then
|
||||
# CONFIG_FILE doesn't exist
|
||||
printf "config file missing\n"
|
||||
touch $CONFIG_FILE
|
||||
echo -e "#\n# Define a baud rate to be used by the GNSS receiver\n# This file is part of ublox-gnss-config service\n#\n# Required fields:\n# br: baud rate to be used by the GNSS receiver\n#\n\n\n[default]\nbr=$DEFAULT_BAUD_RATE\n" > $CONFIG_FILE
|
||||
printf "created default config file %s with %s baud\n" "$CONFIG_FILE" "$DEFAULT_BAUD_RATE"
|
||||
fi
|
||||
|
||||
# check if SAVE_FILE exists
|
||||
if ! test -f "$SAVE_FILE"; then
|
||||
# SAVE_FILE doesn't exist
|
||||
printf "save file missing\n"
|
||||
touch $SAVE_FILE
|
||||
echo 0 > $SAVE_FILE
|
||||
printf "created save file %s\n" "$SAVE_FILE"
|
||||
fi
|
||||
|
||||
# read $DESIRED_BAUD_RATE specified in $CONFIG_FILE
|
||||
read -r DESIRED_BAUD_RATE <<< "$(awk '/br=(\d*)/{print $0}' < $CONFIG_FILE)"
|
||||
read -r DESIRED_BAUD_RATE <<< "$(echo "$DESIRED_BAUD_RATE"| cut -d'=' -f 2)"
|
||||
|
||||
# check if $DESIRED_BAUD_RATE is supported by $DEVICE_NAME
|
||||
baud_rate_supported_flag=0
|
||||
for i in "${SUPPORTED_BAUD_RATES[@]}"
|
||||
do
|
||||
if [ "$i" == "$DESIRED_BAUD_RATE" ];then
|
||||
baud_rate_supported_flag=1
|
||||
break
|
||||
fi
|
||||
done
|
||||
if [ "$baud_rate_supported_flag" == "0" ];then
|
||||
printf "baud rate specified in %s is not supported by receiver %s\n" "$CONFIG_FILE" "$DEVICE_NAME"
|
||||
printf "supported baud rates are:\n"
|
||||
for j in "${SUPPORTED_BAUD_RATES[@]}"
|
||||
do
|
||||
printf "%s " "$j"
|
||||
done
|
||||
printf "\n"
|
||||
exit 5 # baud rate specified in $CONFIG_FILE not supported by $DEVICE_NAME
|
||||
fi
|
||||
|
||||
# check if baud rate of $DEVICE_NAME matches $DESIRED_BAUD_RATE
|
||||
if br_receiver="$(poll_baud_rate_receiver "$DESIRED_BAUD_RATE")";then
|
||||
# read worked
|
||||
if [ "$br_receiver" == "$DESIRED_BAUD_RATE" ];then
|
||||
# baud rate of receiver is matching baud rate specified in CONFIG_FILE
|
||||
if [ "$(cat "$SAVE_FILE")" == "1" ];then
|
||||
printf "baud rate of %s is already at %s baud\n" "$DEVICE_NAME" "$DESIRED_BAUD_RATE"
|
||||
printf "configuration is saved in flash of %s\n" "$DEVICE_NAME"
|
||||
# script can exit
|
||||
exit 0 # baud rate of receiver is already matching $DESIRED_BAUD_RATE
|
||||
else
|
||||
# TODO: this could be way faster by telling the detector which baud rate to use since we already know it
|
||||
printf "baud rate of %s is already at %s baud\n" "$DEVICE_NAME" "$DESIRED_BAUD_RATE"
|
||||
printf "configuration is not saved in flash of %s\n" "$DEVICE_NAME"
|
||||
fi
|
||||
else
|
||||
printf "baud rates are not matching\n"
|
||||
fi
|
||||
else
|
||||
printf "read failed\n"
|
||||
fi
|
||||
|
||||
# determine current baud rate of receiver
|
||||
args=("2" "${PRESELECTION_BAUD_RATES[@]}")
|
||||
detect_baud_rate "${args[@]}"
|
||||
if [ "$?" == "1" ];then
|
||||
# retry with more baud rates and more tries per baud rate
|
||||
printf "retrying\n"
|
||||
# maybe a time out increase would also work when dealing with lower baud rates?
|
||||
args=("$MAX_ALLOWED_RETRIES" "${SUPPORTED_BAUD_RATES[@]}")
|
||||
detect_baud_rate "${args[@]}"
|
||||
if [ "$?" == "1" ];then
|
||||
printf "baud rate not detected, even after retry\n"
|
||||
exit 1 # unable to detect baud rate
|
||||
fi
|
||||
fi
|
||||
printf "detected baud rate of %s is %s baud\n" "$DEVICE_NAME" "$DETECTED_BAUD_RATE"
|
||||
|
||||
# upgrade to $DESIRED_BAUD_RATE baud
|
||||
new_baud_rate_set_flag=0
|
||||
for i in $(eval echo {0.."$MAX_ALLOWED_RETRIES"})
|
||||
do
|
||||
set_baud_rate_receiver "$DETECTED_BAUD_RATE" "$DESIRED_BAUD_RATE"
|
||||
|
||||
if br_receiver="$(poll_baud_rate_receiver "$DESIRED_BAUD_RATE")";then
|
||||
# poll of baud rate worked
|
||||
if [ "$br_receiver" == "$DESIRED_BAUD_RATE" ];then
|
||||
# baud rate of receiver is matching $DESIRED_BAUD_RATE
|
||||
new_baud_rate_set_flag=1
|
||||
# reset save log
|
||||
echo 0 > $SAVE_FILE
|
||||
break
|
||||
fi
|
||||
fi
|
||||
# increasing timeout for each try
|
||||
t=$(echo "$i" "0.1"| awk '{printf "%4.3f\n",$1*$2}')
|
||||
sleep "$t"
|
||||
done
|
||||
|
||||
if [ "$new_baud_rate_set_flag" == "0" ];then
|
||||
printf "baud rate of %s is not set to %s baud or unable to verify, retried %s times\n" "$DEVICE_NAME" "$DESIRED_BAUD_RATE" "$i"
|
||||
exit 3 # baud rate not set to $DESIRED_BAUD_RATE or verifiying baud rate failed
|
||||
else
|
||||
printf "baud rate of %s is set to desired %s baud, it took %s retries\n" "$DEVICE_NAME" "$DESIRED_BAUD_RATE" "$i"
|
||||
fi
|
||||
|
||||
# save config to flash
|
||||
config_saved_flag=0
|
||||
for i in $(eval echo {0.."$MAX_ALLOWED_RETRIES"})
|
||||
do
|
||||
if save_receiver_config;then
|
||||
config_saved_flag=1
|
||||
break # success
|
||||
fi
|
||||
# increasing timeout for each try
|
||||
t=$(echo "$i" "0.1"| awk '{printf "%4.3f\n",$1*$2}')
|
||||
sleep "$t"
|
||||
done
|
||||
|
||||
if [ "$config_saved_flag" == "0" ];then
|
||||
printf "saving to flash was not successful, retried %s times\n" "$i"
|
||||
exit 4 # saving to flash failed
|
||||
else
|
||||
printf "saving to flash was successful, it took %s retries\n" "$i"
|
||||
fi
|
||||
|
||||
# TODO: verify or error handling
|
||||
if [ "$RESTART_GPSD" -eq "1" ]; then
|
||||
config-gnss-tty # call config-gnss-tty to set baud rate of ttyS3 to the baud rate specified in $CONFIG_FILE before launching gpsd
|
||||
systemctl start gpsd
|
||||
fi
|
||||
|
||||
exit 0 # successfully changed baud rate to $DESIRED_BAUD_RATE specified in $CONFIG_FILE
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
[Unit]
|
||||
Description=config baud rate of tty used by gnss receiver
|
||||
Before=gpsd.service
|
||||
|
||||
[Service]
|
||||
|
||||
Type=oneshot
|
||||
ExecStart=/usr/bin/config-gnss-tty
|
||||
RemainAfterExit=no
|
||||
|
||||
[Install]
|
||||
WantedBy=multi-user.target
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
#!/bin/sh
|
||||
|
||||
# exit codes:
|
||||
# 0: success
|
||||
# 1: $CONFIG_FILE is missing (should have been created by config-gnss-receiver)
|
||||
# 2: failed to set baud rate of $TTY_INTERFACE to $DESIRED_BAUD_RATE
|
||||
|
||||
TTY_INTERFACE="/dev/ttyS3"
|
||||
CONFIG_FILE="/etc/gnss.conf"
|
||||
|
||||
# check if CONFIG_FILE exists
|
||||
if ! test -f "$CONFIG_FILE"; then
|
||||
# CONFIG_FILE doesn't exist
|
||||
printf "config file missing\n"
|
||||
exit 1 # $CONFIG_FILE is missing (should have been created by config-gnss-receiver)
|
||||
fi
|
||||
|
||||
# read $DESIRED_BAUD_RATE specified in $CONFIG_FILE
|
||||
read -r DESIRED_BAUD_RATE <<< "$(awk '/br=(\d*)/{print $0}' < $CONFIG_FILE)"
|
||||
read -r DESIRED_BAUD_RATE <<< "$(echo "$DESIRED_BAUD_RATE" | cut -d'=' -f 2)"
|
||||
|
||||
# set baud rate
|
||||
stty -F "$TTY_INTERFACE" speed "$DESIRED_BAUD_RATE" > /dev/null
|
||||
|
||||
# verify baud rate
|
||||
read -r TTYS3_BAUD_RATE <<< "$(stty -F "$TTY_INTERFACE" | awk '/speed .* baud;/{print $2}')"
|
||||
if [ "$TTYS3_BAUD_RATE" == "$DESIRED_BAUD_RATE" ];then
|
||||
printf "successfully set baud rate of %s to %s baud\n" "$TTY_INTERFACE" "$DESIRED_BAUD_RATE"
|
||||
exit 0 # success
|
||||
else
|
||||
printf "failed to set baud rate of %s to %s\n" "$TTY_INTERFACE" "$DESIRED_BAUD_RATE"
|
||||
exit 2
|
||||
fi
|
||||
|
|
@ -0,0 +1 @@
|
|||
0
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
#
|
||||
# Define a baud rate to be used by the GNSS receiver
|
||||
# This file is part of ublox-gnss-config service
|
||||
#
|
||||
# Required fields:
|
||||
# br: baud rate to be used by the GNSS receiver
|
||||
#
|
||||
|
||||
|
||||
[default]
|
||||
br=115200
|
||||
|
||||
Loading…
Reference in New Issue