dummy commits for HW16

board/nm/netbird_v2/Makefile

@@ -10,4 +10,4 @@ ifeq ($(CONFIG_SKIP_LOWLEVEL_INIT),)
 obj-y	:= mux.o
 endif
 
-obj-y	+= board.o ../common/bdparser.o ../common/board_descriptor.o shield.o shield_can.o shield_comio.o fileaccess.o
+obj-y	+= board.o ../common/bdparser.o ../common/board_descriptor.o shield.o shield_can.o shield_comio.o shield_gnss_can.o fileaccess.o

board/nm/netbird_v2/board.c

@@ -40,6 +40,7 @@
 #include "shield.h"
 #include "shield_can.h"
 #include "shield_comio.h"
+#include "shield_gnss_can.h"
 #include "fileaccess.h"
 
 DECLARE_GLOBAL_DATA_PTR;
@@ -82,6 +83,7 @@ static BD_Context   bdctx[3];		/* The descriptor context */
 
 #define SHIELD_COM_IO	0
 #define SHIELD_DUALCAN	1
+#define SHIELD_GNSS_CAN 2
 
 static int _bd_init(void)
 {
@@ -591,6 +593,16 @@ static struct shield_command known_shield_commands[] = {
 		"fdt set $can1 status okay;",
 		can_shield_init
 	},
+	{
+		SHIELD_GNSS_CAN,
+		"gnss-can",
+		"shield gnss-can gnss-mode uart can termination off",
+		"fdt get value serial0 /aliases serial0;" \
+		"fdt set $serial0 status okay;" \
+		"fdt get value can1 /aliases d_can1;" \
+		"fdt set $can1 status okay;",
+		gnss_can_shield_init
+	},
 };
 
 static const struct shield_command* get_shield_command(int shield_id)
@@ -614,7 +626,7 @@ static void shield_config(void)
 	const struct shield_command *cmd;
 	int len;
 
-	int shield_id = bd_get_shield(0);
+	int shield_id = SHIELD_GNSS_CAN;//bd_get_shield(0);
 	if (shield_id < 0) {
 		debug("No shield found in bd\n");
 		return;

board/nm/netbird_v2/shield.c

@@ -65,7 +65,7 @@ static int do_shieldmode(cmd_tbl_t *cmdtp, int flag, int argc, char * const argv
 }
 
 U_BOOT_CMD(
-	shield,	6,	1,	do_shieldmode,
+	shield,	7,	1,	do_shieldmode,
 	"Set the shield mode",
 	"dualcan termination [on|off] [on|off]\n"
 	"shield comio mode [rs232|rs485] termination [on|off]\n"

board/nm/netbird_v2/shield_gnss_can.c

@@ -0,0 +1,222 @@
+#define DEBUG
+
+#include <common.h>
+#include <asm/gpio.h>
+#include <asm/arch/mux.h>
+
+#include "shield.h"
+#include "board.h"
+
+#define NETBIRD_GPIO_RST_SHIELD_N GPIO_TO_PIN(0, 27)
+#define NETBIRD_GPIO_LATCH GPIO_TO_PIN(0, 7)
+#define NETBIRD_GPIO_MODE_1 GPIO_TO_PIN(1, 10)
+
+static int shield_slot_initialized = 0;
+
+
+static struct module_pin_mux can_shield_netbird_pin_mux_config[] = {
+	/* Leave UART0 unconfigured because we want to configure it as needed by linux (can/spi/uart/etc) */
+	{OFFSET(uart0_ctsn), (MODE(7) | PULLUDEN | PULLUP_EN)},	                        /* CAN1 tx */
+	//{OFFSET(uart0_rxd), (MODE(7) | PULLUDEN | PULLUP_EN)},			/* CAN0 tx */
+	{OFFSET(ecap0_in_pwm0_out), (MODE(7) | PULLUDEN | PULLUP_EN)},			/* Latch EN */
+	{-1},
+};
+
+static struct module_pin_mux can_shield_netbird_pin_mux_final[] = {
+	/* Leave UART0 unconfigured because we want to configure it as needed by linux (can/spi/uart/etc) */
+	{OFFSET(uart0_ctsn), (MODE(2) | PULLUDEN | PULLUP_EN)},	         /* E18 CAN1 tx */
+	{OFFSET(uart0_rtsn), (MODE(2) | PULLUDDIS | RXACTIVE)},	         /* E17 CAN1 rx */
+	{OFFSET(uart0_rxd), (MODE(7) | PULLUDDIS)},                      /* (E15) UART0_RXD */
+	{OFFSET(uart0_txd), (MODE(7) | PULLUDEN | PULLUP_EN)},           /* (E16) UART0_TXD */
+	//{OFFSET(uart0_txd), (MODE(2) | PULLUDDIS | RXACTIVE)},         /* CAN0 rx */
+	//{OFFSET(uart0_rxd), (MODE(2) | PULLUDEN | PULLUP_EN)},         /* CAN0 tx */
+	{-1},
+};
+
+static struct module_pin_mux gnss_shield_netbird_pin_mux_uart[] = {
+	/* Leave UART0 unconfigured because we want to configure it as needed by linux (can/spi/uart/etc) */
+	{OFFSET(uart0_rxd), (MODE(7) | PULLUDDIS)},	/* (E15) UART0_RXD */
+	{OFFSET(uart0_txd), (MODE(7) | PULLUDEN | PULLUP_EN)},	/* (E16) UART0_TXD */
+	{-1},
+};
+
+static struct module_pin_mux gnss_shield_netbird_pin_mux_i2c[] = {
+	{OFFSET(uart0_rxd), (MODE(3) | PULLUDDIS)},	/* (E15) UART0_RXD - I2C2_SDA */
+	{OFFSET(uart0_txd), (MODE(3) | PULLUDEN | PULLUP_EN)},	/* (E16) UART0_TXD - I2C_SCL */
+	{-1},
+};
+
+static int request_gpios(void)
+{
+	int ret;
+
+	debug("Shield configure gpios\n");
+ 	ret = shield_gpio_request_as_input(NETBIRD_GPIO_RST_SHIELD_N, "shield-rst");
+	if ((ret < 0))
+		return -1;
+	ret = shield_gpio_request_as_input(NETBIRD_GPIO_LATCH, "shield-load");
+	if ((ret < 0))
+		return -1;
+	/*
+	ret = shield_gpio_request_as_input(NETBIRD_GPIO_MODE_0, "shield-mode0");
+	if ((ret < 0))
+		return -1;
+	*/
+	ret = shield_gpio_request_as_input(NETBIRD_GPIO_MODE_1, "shield-mode1");
+	if ((ret < 0))
+		return -1;
+
+	shield_slot_initialized = 1;
+	return 0;
+}
+
+static int configure_can_termination(int termination)
+{
+	int ret;
+
+
+	debug ("Set can termination to %d\n", termination);
+
+	if (!shield_slot_initialized) {
+		if (request_gpios()) {
+			puts("Failed to request gpios\n");
+			return -1;
+		}
+	}
+
+	debug("Configure shield pin muxing for configuration\n");
+	configure_module_pin_mux(can_shield_netbird_pin_mux_config);
+
+	debug("Make sure shield module is in reset\n");
+	ret = gpio_direction_output(NETBIRD_GPIO_RST_SHIELD_N, 0);
+	if (ret < 0) {
+		puts("Can not set shield-rst as output\n");
+		return -1;
+	}
+	udelay(10);
+
+	debug("Set latch to high\n");
+	ret = gpio_direction_output(NETBIRD_GPIO_LATCH, 1);
+	if (ret < 0) {
+		puts("Can not set shield-load as output\n");
+		return -1;
+	}
+	udelay(10);
+	
+	debug("Write termination to GPIOs\n");
+	/*
+	ret = gpio_direction_output(NETBIRD_GPIO_MODE_0, mode & 0x01);
+	if (ret < 0) {
+		puts("Can not set shield-mode0 as output\n");
+		return -1;
+	}
+	*/
+	ret = gpio_direction_output(NETBIRD_GPIO_MODE_1, termination);
+	if (ret < 0) {
+		puts("Can not set shield-mode1 as output\n");  ///////////////// 1
+		return -1;
+	}
+	udelay(10);
+
+	debug("Set latch to low\n");
+	gpio_set_value(NETBIRD_GPIO_LATCH, 0);
+	udelay(10);
+
+	debug("Set mode0 and mode1 to highz again\n");
+/*	ret = gpio_direction_input(NETBIRD_GPIO_MODE_0);
+	if ((ret < 0)) {
+		puts("Could not configure shield slot mode0 gpio as input\n");
+		return -1;
+	}
+*/
+	ret = gpio_direction_input(NETBIRD_GPIO_MODE_1);
+	if ((ret < 0)) {
+		puts("Could not configure shield slot mode1 gpio as input\n");
+		return -1;
+	}
+	udelay(10);
+
+	debug("Take shield out of reset\n");
+	gpio_set_value(NETBIRD_GPIO_RST_SHIELD_N, 1);
+	udelay(10);
+
+	debug("Set final can shield muxing\n");
+	configure_module_pin_mux(can_shield_netbird_pin_mux_final);
+
+	return 0;
+
+}
+
+static int get_termination(const char* termination)
+{
+	if (strcmp("on", termination) == 0) {
+		return 1;
+	}
+	else if (strcmp("off", termination) == 0)  {
+		return 0;
+	}
+
+	debug ("Invalid termination mode %s (falling back to off)", termination);
+	return -1;
+}
+
+
+static int get_termination_from_args(char * const argv[], int argc)
+{
+	int termination;
+	
+	if(argc != 2){
+		debug("2 arguments are needed for can configuration\n");
+		return -1;
+	}
+	if (strcmp ("termination", argv[0])) {
+		debug("The only option for can is terminations\n");
+		return -1;
+	}
+
+	termination = get_termination(argv[1]);
+	if (termination < 0) {
+		return -1;
+	}
+
+	/* Termination is inverse */
+	return !termination;
+}
+
+// shield gnss-can gnss-mode uart can termination off
+static int set_shieldmode(char * const argv[], int argc)
+{
+	int ret = 0;
+	if (argc != 5) {
+		printf("Too few arguments for gnss-can\n");
+		return -1;
+	}
+
+	if (strcmp ("gnss-mode", argv[0])) {
+		printf("gnss can module want a gnss-mode\n");
+		return -1;
+	}
+	ret = 0;//configure_gnss_mode(argv[1]);
+	if(ret != 0) return ret;
+	
+	
+	if (strcmp ("can", argv[2])) {
+		printf("gnss can module wants a gnss-mode\n");
+		return -1;
+	}
+	printf("configure_can_termination");
+	ret = configure_can_termination(get_termination_from_args(&argv[3], 2));
+	if(ret != 0) return ret;
+	
+	return 0;
+}
+
+struct shield_t gnss_can_shield = {
+	"gnss-can", set_shieldmode
+};
+
+void gnss_can_shield_init(void)
+{
+	shield_register(&gnss_can_shield);
+}
+

board/nm/netbird_v2/shield_gnss_can.h

@@ -0,0 +1,9 @@
+#ifndef SHIELD_GNSS_CAN_H
+#define SHIELD_GNSS_CAN_H
+
+int shield_gnss_can_init(void);
+int shield_gnss_can_setmode(int mode);
+
+void gnss_can_shield_init(void);
+
+#endif // SHIELD_GNSS_CAN_H

include/configs/am335x_netbird_v2.h

@@ -59,7 +59,7 @@
 	"load_addr=" LOAD_ADDR "\0" \
 	"root_part=1\0" /* Default root partition, overwritte in board file */ \
 	"defaultconsole=ttyS1\0" /* Default output console */ \
-	"add_sd_bootargs=setenv bootargs $bootargs root=/dev/mmcblk0p$root_part rootfstype=ext4 console=$defaultconsole,115200 rootwait loglevel=4\0" \
+	"add_sd_bootargs=setenv bootargs $bootargs root=/dev/mmcblk1p$root_part rootfstype=ext4 console=$defaultconsole,115200 rootwait loglevel=4\0" \
 	"add_version_bootargs=setenv bootargs $bootargs\0" \
 	"fdt_skip_update=yes\0" \
 	"ethprime=cpsw\0" \