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313 lines
11 KiB
313 lines
11 KiB
#!/usr/bin/env python3
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import sys
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import time
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import signal
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import serial
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import struct
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import requests
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import urllib.parse
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from datetime import datetime
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from typing import List, Optional, Tuple
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from cereal import messaging
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from openpilot.common.params import Params
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from openpilot.common.swaglog import cloudlog
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from openpilot.system.hardware import TICI
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from openpilot.common.gpio import gpio_init, gpio_set
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from openpilot.system.hardware.tici.pins import GPIO
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UBLOX_TTY = "/dev/ttyHS0"
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UBLOX_ACK = b"\xb5\x62\x05\x01\x02\x00"
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UBLOX_NACK = b"\xb5\x62\x05\x00\x02\x00"
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UBLOX_SOS_ACK = b"\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x01\x00\x00\x00"
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UBLOX_SOS_NACK = b"\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x00\x00\x00\x00"
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UBLOX_BACKUP_RESTORE_MSG = b"\xb5\x62\x09\x14\x08\x00\x03"
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UBLOX_ASSIST_ACK = b"\xb5\x62\x13\x60\x08\x00"
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def set_power(enabled: bool) -> None:
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gpio_init(GPIO.UBLOX_SAFEBOOT_N, True)
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gpio_init(GPIO.GNSS_PWR_EN, True)
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gpio_init(GPIO.UBLOX_RST_N, True)
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gpio_set(GPIO.UBLOX_SAFEBOOT_N, True)
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gpio_set(GPIO.GNSS_PWR_EN, enabled)
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gpio_set(GPIO.UBLOX_RST_N, enabled)
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def add_ubx_checksum(msg: bytes) -> bytes:
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A = B = 0
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for b in msg[2:]:
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A = (A + b) % 256
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B = (B + A) % 256
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return msg + bytes([A, B])
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def get_assistnow_messages(token: bytes) -> List[bytes]:
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# make request
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# TODO: implement adding the last known location
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r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({
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'token': token,
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'gnss': 'gps,glo',
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'datatype': 'eph,alm,aux',
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}, safe=':,'), timeout=5)
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assert r.status_code == 200, "Got invalid status code"
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dat = r.content
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# split up messages
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msgs = []
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while len(dat) > 0:
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assert dat[:2] == b"\xB5\x62"
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msg_len = 6 + (dat[5] << 8 | dat[4]) + 2
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msgs.append(dat[:msg_len])
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dat = dat[msg_len:]
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return msgs
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class TTYPigeon():
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def __init__(self):
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self.tty = serial.VTIMESerial(UBLOX_TTY, baudrate=9600, timeout=0)
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def send(self, dat: bytes) -> None:
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self.tty.write(dat)
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def receive(self) -> bytes:
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dat = b''
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while len(dat) < 0x1000:
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d = self.tty.read(0x40)
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dat += d
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if len(d) == 0:
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break
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return dat
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def set_baud(self, baud: int) -> None:
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self.tty.baudrate = baud
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def wait_for_ack(self, ack: bytes = UBLOX_ACK, nack: bytes = UBLOX_NACK, timeout: float = 0.5) -> bool:
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dat = b''
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st = time.monotonic()
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while True:
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dat += self.receive()
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if ack in dat:
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cloudlog.debug("Received ACK from ublox")
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return True
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elif nack in dat:
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cloudlog.error("Received NACK from ublox")
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return False
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elif time.monotonic() - st > timeout:
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cloudlog.error("No response from ublox")
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raise TimeoutError('No response from ublox')
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time.sleep(0.001)
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def send_with_ack(self, dat: bytes, ack: bytes = UBLOX_ACK, nack: bytes = UBLOX_NACK) -> None:
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self.send(dat)
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self.wait_for_ack(ack, nack)
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def wait_for_backup_restore_status(self, timeout: float = 1.) -> int:
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dat = b''
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st = time.monotonic()
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while True:
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dat += self.receive()
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position = dat.find(UBLOX_BACKUP_RESTORE_MSG)
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if position >= 0 and len(dat) >= position + 11:
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return dat[position + 10]
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elif time.monotonic() - st > timeout:
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cloudlog.error("No backup restore response from ublox")
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raise TimeoutError('No response from ublox')
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time.sleep(0.001)
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def reset_device(self) -> bool:
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# deleting the backup does not always work on first try (mostly on second try)
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for _ in range(5):
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# device cold start
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self.send(b"\xb5\x62\x06\x04\x04\x00\xff\xff\x00\x00\x0c\x5d")
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time.sleep(1) # wait for cold start
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init_baudrate(self)
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# clear configuration
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self.send_with_ack(b"\xb5\x62\x06\x09\x0d\x00\x1f\x1f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x17\x71\xd7")
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# clear flash memory (almanac backup)
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self.send_with_ack(b"\xB5\x62\x09\x14\x04\x00\x01\x00\x00\x00\x22\xf0")
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# try restoring backup to verify it got deleted
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self.send(b"\xB5\x62\x09\x14\x00\x00\x1D\x60")
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# 1: failed to restore, 2: could restore, 3: no backup
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status = self.wait_for_backup_restore_status()
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if status == 1 or status == 3:
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return True
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return False
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def init_baudrate(pigeon: TTYPigeon):
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# ublox default setting on startup is 9600 baudrate
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pigeon.set_baud(9600)
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# $PUBX,41,1,0007,0003,460800,0*15\r\n
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pigeon.send(b"\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A")
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time.sleep(0.1)
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pigeon.set_baud(460800)
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def initialize_pigeon(pigeon: TTYPigeon) -> bool:
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# try initializing a few times
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for _ in range(10):
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try:
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# setup port config
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pigeon.send_with_ack(b"\xb5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F")
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pigeon.send_with_ack(b"\xb5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35")
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pigeon.send_with_ack(b"\xb5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80")
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pigeon.send_with_ack(b"\xb5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85")
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pigeon.send_with_ack(b"\xb5\x62\x06\x00\x00\x00\x06\x18")
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pigeon.send_with_ack(b"\xb5\x62\x06\x00\x01\x00\x01\x08\x22")
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pigeon.send_with_ack(b"\xb5\x62\x06\x00\x01\x00\x03\x0A\x24")
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# UBX-CFG-RATE (0x06 0x08)
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pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")
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# UBX-CFG-NAV5 (0x06 0x24)
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pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63")
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# UBX-CFG-ODO (0x06 0x1E)
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pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
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pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C")
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pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24")
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# UBX-CFG-NAV5 (0x06 0x24)
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pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84")
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pigeon.send_with_ack(b"\xB5\x62\x06\x23\x00\x00\x29\x81")
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pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x00\x00\x24\x72")
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pigeon.send_with_ack(b"\xB5\x62\x06\x39\x00\x00\x3F\xC3")
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# UBX-CFG-MSG (set message rate)
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pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51")
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pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70")
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pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C")
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pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70")
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pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74")
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pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x35\x01\x41\xAD")
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cloudlog.debug("pigeon configured")
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# try restoring almanac backup
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pigeon.send(b"\xB5\x62\x09\x14\x00\x00\x1D\x60")
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restore_status = pigeon.wait_for_backup_restore_status()
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if restore_status == 2:
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cloudlog.warning("almanac backup restored")
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elif restore_status == 3:
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cloudlog.warning("no almanac backup found")
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else:
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cloudlog.error(f"failed to restore almanac backup, status: {restore_status}")
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# sending time to ublox
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t_now = datetime.utcnow()
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if t_now >= datetime(2021, 6, 1):
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cloudlog.warning("Sending current time to ublox")
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# UBX-MGA-INI-TIME_UTC
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msg = add_ubx_checksum(b"\xB5\x62\x13\x40\x18\x00" + struct.pack("<BBBBHBBBBBxIHxxI",
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0x10,
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0x00,
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0x00,
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0x80,
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t_now.year,
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t_now.month,
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t_now.day,
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t_now.hour,
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t_now.minute,
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t_now.second,
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0,
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30,
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0
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))
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pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
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# try getting AssistNow if we have a token
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token = Params().get('AssistNowToken')
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if token is not None:
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try:
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for msg in get_assistnow_messages(token):
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pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
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cloudlog.warning("AssistNow messages sent")
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except Exception:
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cloudlog.warning("failed to get AssistNow messages")
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cloudlog.warning("Pigeon GPS on!")
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break
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except TimeoutError:
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cloudlog.warning("Initialization failed, trying again!")
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else:
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cloudlog.warning("Failed to initialize pigeon")
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return False
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return True
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def deinitialize_and_exit(pigeon: Optional[TTYPigeon]):
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cloudlog.warning("Storing almanac in ublox flash")
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if pigeon is not None:
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# controlled GNSS stop
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pigeon.send(b"\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74")
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# store almanac in flash
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pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC")
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try:
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if pigeon.wait_for_ack(ack=UBLOX_SOS_ACK, nack=UBLOX_SOS_NACK):
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cloudlog.warning("Done storing almanac")
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else:
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cloudlog.error("Error storing almanac")
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except TimeoutError:
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pass
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# turn off power and exit cleanly
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set_power(False)
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sys.exit(0)
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def create_pigeon() -> Tuple[TTYPigeon, messaging.PubMaster]:
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pigeon = None
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# register exit handler
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signal.signal(signal.SIGINT, lambda sig, frame: deinitialize_and_exit(pigeon))
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pm = messaging.PubMaster(['ubloxRaw'])
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# power cycle ublox
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set_power(False)
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time.sleep(0.1)
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set_power(True)
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time.sleep(0.5)
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pigeon = TTYPigeon()
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return pigeon, pm
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def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0):
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start_time = time.monotonic()
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def end_condition():
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return True if duration == 0 else time.monotonic() - start_time < duration
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while end_condition():
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dat = pigeon.receive()
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if len(dat) > 0:
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if dat[0] == 0x00:
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cloudlog.warning("received invalid data from ublox, re-initing!")
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init_baudrate(pigeon)
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initialize_pigeon(pigeon)
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continue
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# send out to socket
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msg = messaging.new_message('ubloxRaw', len(dat), valid=True)
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msg.ubloxRaw = dat[:]
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pm.send('ubloxRaw', msg)
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else:
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# prevent locking up a CPU core if ublox disconnects
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time.sleep(0.001)
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def main():
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assert TICI, "unsupported hardware for pigeond"
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pigeon, pm = create_pigeon()
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init_baudrate(pigeon)
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initialize_pigeon(pigeon)
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# start receiving data
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run_receiving(pigeon, pm)
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if __name__ == "__main__":
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main()
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