Dear Andreas,
Thank you for your patch.
Am 28.01.24 um 18:33 schrieb Andreas Kemnade:
Add a driver for the Air Independent Interface protocol used by some TI
Wilink combo chips. Per default, send out just NMEA to userspace and turn
on/off things at open()/close() but keep the door open for any
sophisticated development regarding the AI2 protocol by having a kernel
parameter to turn it into raw mode resembling /dev/tigps provided by some
TI vendor kernels.
It’d be great, if you could add the name the kernel parameter *ai2raw*,
and also document at least one of these vendor kernels.
Could you give a high level overview of the driver design?
What device did you test with?
Signed-off-by: Andreas Kemnade <andreas@xxxxxxxxxxxx>
---
drivers/gnss/Kconfig | 13 ++
drivers/gnss/Makefile | 3 +
drivers/gnss/ai2.c | 523 ++++++++++++++++++++++++++++++++++++++++++
3 files changed, 539 insertions(+)
create mode 100644 drivers/gnss/ai2.c
diff --git a/drivers/gnss/Kconfig b/drivers/gnss/Kconfig
index d7fe265c28696..3a20212dacc9e 100644
--- a/drivers/gnss/Kconfig
+++ b/drivers/gnss/Kconfig
@@ -65,4 +65,17 @@ config GNSS_USB
If unsure, say N.
+config GNSS_AI2
+ tristate "TI AI2 procotol support"
+ depends on BT_HCIUART_LL
+ help
+ Say Y here if you have a Texas Instruments Wilink combo chip
+ contaning among other things a GNSS receiver speaking the
conta*i*ning
+ Air Independent Interface (AI2) protocol.
+
+ To compile this driver as a module, choose M here: the module will
+ be called gnss-ai2.
+
+ If unsure, say N.
+
endif # GNSS
diff --git a/drivers/gnss/Makefile b/drivers/gnss/Makefile
index bb2cbada34359..bf6fefcb2e823 100644
--- a/drivers/gnss/Makefile
+++ b/drivers/gnss/Makefile
@@ -20,3 +20,6 @@ gnss-ubx-y := ubx.o
obj-$(CONFIG_GNSS_USB) += gnss-usb.o
gnss-usb-y := usb.o
+
+obj-$(CONFIG_GNSS_AI2) += gnss-ai2.o
+gnss-ai2-y := ai2.o
diff --git a/drivers/gnss/ai2.c b/drivers/gnss/ai2.c
new file mode 100644
index 0000000000000..673fbe8de7ef2
--- /dev/null
+++ b/drivers/gnss/ai2.c
@@ -0,0 +1,523 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Texas Instruments AI2 (Air independent interface) protocol device driver
+ * Used for some TI WLAN/Bluetooth/GNSS combo chips.
+ *
+ * Copyright (C) 2024 Andreas Kemnade <andreas@xxxxxxxxxxxx>
+ */
+#include <linux/errno.h>
+#include <linux/gnss.h>
+#include <linux/init.h>
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/mod_devicetable.h>
+#include <linux/platform_device.h>
+#include <linux/slab.h>
+#include <linux/ti_wilink_st.h>
+#include <net/bluetooth/bluetooth.h>
+#include <net/bluetooth/hci_core.h>
+
+/* Channel-9 details for GPS */
+#define GPS_CH9_PKT_NUMBER 0x9
+#define GPS_CH9_OP_WRITE 0x1
+#define GPS_CH9_OP_READ 0x2
+#define GPS_CH9_OP_COMPLETED_EVT 0x3
+
+/* arbitarily chosen, should fit everything seen in the past */
+#define MAX_AI2_FRAME_SIZE 2048
+
+#define AI2_ESCAPE 0x10 /* if sent as data, it is doubled */
+#define AI2_END_MARKER 0x3
+#define AI2_ACK 0x2
+
+/* reports */
+#define AI2_REPORT_NMEA 0xd3
+
+#define NMEA_HEADER_LEN 4
+
+/* commands */
+#define AI2_CMD_RECEIVER_STATE 2
+
+#define RECEIVER_STATE_OFF 1
+#define RECEIVER_STATE_IDLE 2
+#define RECEIVER_STATE_ON 3
+
+#define AI2_CMD_CONFIG_NMEA 0xe5
+#define NMEA_MASK_GGA (1 << 0)
+#define NMEA_MASK_GLL (1 << 1)
+#define NMEA_MASK_GSA (1 << 2)
+#define NMEA_MASK_GSV (1 << 3)
+#define NMEA_MASK_RMC (1 << 4)
+#define NMEA_MASK_VTG (1 << 5)
+
+#define NMEA_MASK_ALL (NMEA_MASK_GGA | \
+ NMEA_MASK_GLL | \
+ NMEA_MASK_GSA | \
+ NMEA_MASK_GSV | \
+ NMEA_MASK_RMC | \
+ NMEA_MASK_VTG)
+
+
+static bool ai2raw;
+
+struct ai2_device {
+ struct mutex gdev_mutex;
+ bool gdev_open;
+ struct gnss_device *gdev;
+ struct device *dev;
+ struct sk_buff *recv_skb;
+ bool recv_esc;
+};
+
+static struct sk_buff *ai2_skb_alloc(unsigned int len, gfp_t how)
+{
+ struct sk_buff *skb;
+
+ skb = bt_skb_alloc(len + sizeof(struct gps_event_hdr), how);
+ if (skb)
+ skb_reserve(skb, sizeof(struct gps_event_hdr));
+
+ return skb;
+}
+
+static int ai2_send_frame(struct ai2_device *ai2dev,
+ struct sk_buff *skb)
+{
+ int len;
+ struct gps_event_hdr *gnssdrv_hdr;
+ struct hci_dev *hdev;
+
+ if (skb->len >= U16_MAX)
+ return -EINVAL;
+
+ /*
+ * note: fragmentation at this point not handled yet
+ * not needed for simple config commands
+ */
+ len = skb->len;
+ gnssdrv_hdr = skb_push(skb, sizeof(struct gps_event_hdr));
+ gnssdrv_hdr->opcode = GPS_CH9_OP_WRITE;
+ gnssdrv_hdr->plen = __cpu_to_le16(len);
+
+ hci_skb_pkt_type(skb) = GPS_CH9_PKT_NUMBER;
+ hdev = st_get_hci(ai2dev->dev->parent);
+ return hdev->send(hdev, skb);
+}
+
+static void ai2_put_escaped(struct sk_buff *skb, u8 d)
+{
+ skb_put_u8(skb, d);
+ if (d == 0x10)
+ skb_put_u8(skb, d);
+}
+
+static struct sk_buff *ai2_compose_frame(bool request_ack,
+ u8 cmd,
+ const u8 *data,
+ int len)
+{
+ u16 sum;
I’d use a non-fixed type.
+ int i;
+ /* duplicate the length to have space for worst case escaping */
+ struct sk_buff *skb = ai2_skb_alloc(2 + len * 2 + 2 + 2, GFP_KERNEL);
+
+ skb_put_u8(skb, AI2_ESCAPE);
+ skb_put_u8(skb, request_ack ? 1 : 0);
+
+ sum = AI2_ESCAPE;
+ if (request_ack)
+ sum++;
+
+ ai2_put_escaped(skb, cmd);
+ sum += cmd;
+
+ ai2_put_escaped(skb, len & 0xff);
+ sum += len & 0xff;
+
+ ai2_put_escaped(skb, len >> 8);
+ sum += len >> 8;
+
+ for (i = 0; i < len; i++) {
+ sum += data[i];
+ ai2_put_escaped(skb, data[i]);
+ }
+
+ ai2_put_escaped(skb, sum & 0xFF);
+ ai2_put_escaped(skb, sum >> 8);
+ skb_put_u8(skb, AI2_ESCAPE);
+ skb_put_u8(skb, AI2_END_MARKER);
+
+ return skb;
+}
+
+static int ai2_set_receiver_state(struct ai2_device *ai2dev,
+ uint8_t state)
+{
+ struct sk_buff *skb = ai2_compose_frame(true, AI2_CMD_RECEIVER_STATE,
+ &state, 1);
+ if (!skb)
+ return -ENOMEM;
+
+ return ai2_send_frame(ai2dev, skb);
+}
+
+static int ai2_config_nmea_reports(struct ai2_device *ai2dev,
+ uint8_t mask)
+{
+ u8 buf[4] = {0};
+ struct sk_buff *skb;
+
+ buf[0] = mask;
+ skb = ai2_compose_frame(true, AI2_CMD_CONFIG_NMEA,
+ buf, sizeof(buf));
+ if (!skb)
+ return -ENOMEM;
+
+ return ai2_send_frame(ai2dev, skb);
+}
+
+/*
+ * Unknown commands, give some version information, must be sent
+ * once, not sure what undoes them besides resetting the whole
+ * bt part, but no sings of significant things being still
si*gn*s
+ * turned on without undoing this.
+ */
+static int gnss_ai2_init(struct ai2_device *ai2dev)
+{
+ int ret;
+ u8 d = 0x01;
+ struct sk_buff *skb = ai2_compose_frame(true, 0xf5, &d, 1);
+
+ if (!skb)
+ return -ENOMEM;
+
+ ret = ai2_send_frame(ai2dev, skb);
+ if (ret)
+ return ret;
+
+ msleep(200);
I’d be great if you added a comment, why this long delay is needed.
+ d = 5;
+ skb = ai2_compose_frame(true, 0xf1, &d, 1);
+ if (!skb)
+ return -ENOMEM;
+
+ return ai2_send_frame(ai2dev, skb);
+}
+
+static int gnss_ai2_open(struct gnss_device *gdev)
+{
+ struct ai2_device *ai2dev = gnss_get_drvdata(gdev);
+ int ret;
+
+ mutex_lock(&ai2dev->gdev_mutex);
+ ai2dev->gdev_open = true;
+ mutex_unlock(&ai2dev->gdev_mutex);
+ if (ai2raw)
+ return 0;
+
+ ret = gnss_ai2_init(ai2dev);
+ if (ret)
+ goto err;
+
+ /* TODO: find out on what kind of ack we should wait */
+ msleep(200);
+ ret = ai2_set_receiver_state(ai2dev, RECEIVER_STATE_IDLE);
+ if (ret)
+ goto err;
+
+ msleep(200);
+ ret = ai2_config_nmea_reports(ai2dev, NMEA_MASK_ALL);
+ if (ret)
+ goto err;
+
+ msleep(200);
+ ret = ai2_set_receiver_state(ai2dev, RECEIVER_STATE_ON);
+ if (ret)
+ goto err;
+
+ return 0;
+err:
+ mutex_lock(&ai2dev->gdev_mutex);
+ ai2dev->gdev_open = false;
+ if (ai2dev->recv_skb)
+ kfree_skb(ai2dev->recv_skb);
+
+ ai2dev->recv_skb = NULL;
+ mutex_unlock(&ai2dev->gdev_mutex);
+ return ret;
+}
+
+static void gnss_ai2_close(struct gnss_device *gdev)
+{
+ struct ai2_device *ai2dev = gnss_get_drvdata(gdev);
+
+ /* TODO: find out on what kind of ack we should wait */
+ if (!ai2raw) {
+ msleep(200);
+ ai2_set_receiver_state(ai2dev, RECEIVER_STATE_IDLE);
+ msleep(200);
+ ai2_set_receiver_state(ai2dev, RECEIVER_STATE_OFF);
+ msleep(200);
+ }
+
+ mutex_lock(&ai2dev->gdev_mutex);
+ ai2dev->gdev_open = false;
+ if (ai2dev->recv_skb)
+ kfree_skb(ai2dev->recv_skb);
+
+ ai2dev->recv_skb = NULL;
+ mutex_unlock(&ai2dev->gdev_mutex);
+}
+
+
+static int gnss_ai2_write_raw(struct gnss_device *gdev,
+ const unsigned char *buf, size_t count)
+{
+ struct ai2_device *ai2dev = gnss_get_drvdata(gdev);
+ int err = 0;
+ struct sk_buff *skb = NULL;
+
+ if (!ai2raw)
+ return -EPERM;
+
+ /* allocate packet */
+ skb = ai2_skb_alloc(count, GFP_KERNEL);
+ if (!skb) {
+ BT_ERR("cannot allocate memory for HCILL packet");
+ err = -ENOMEM;
+ goto out;
+ }
+
+ skb_put_data(skb, buf, count);
+
+ err = ai2_send_frame(ai2dev, skb);
+ if (err)
+ goto out;
+
+ return count;
+out:
+ return err;
+}
+
+static const struct gnss_operations gnss_ai2_ops = {
+ .open = gnss_ai2_open,
+ .close = gnss_ai2_close,
+ .write_raw = gnss_ai2_write_raw,
+};
+
+static void process_ai2_packet(struct ai2_device *ai2dev,
+ u8 cmd, u8 *data, u16 len)
+{
+ if (cmd != AI2_REPORT_NMEA)
+ return;
+
+ if (len <= NMEA_HEADER_LEN)
+ return;
+
+ len -= NMEA_HEADER_LEN;
+ data += NMEA_HEADER_LEN;
+
+ gnss_insert_raw(ai2dev->gdev, data, len);
+}
+
+/* do some sanity checks and split frame into packets */
+static void process_ai2_frame(struct ai2_device *ai2dev)
+{
+ u16 sum;
+ int i;
+ u8 *head;
+ u8 *data;
+
+ sum = 0;
+ data = ai2dev->recv_skb->data;
+ for (i = 0; i < ai2dev->recv_skb->len - 2; i++)
+ sum += data[i];
+
+ print_hex_dump_bytes("ai2 frame: ", DUMP_PREFIX_OFFSET, data, ai2dev->recv_skb->len);
+
+ if (get_unaligned_le16(data + i) != sum) {
+ dev_dbg(ai2dev->dev,
+ "checksum error in reception, dropping frame\n");
+ return;
+ }
+
+ /* reached if byte 1 in the command packet is set to 1 */
+ if (data[1] == AI2_ACK)
+ return;
+
+ head = skb_pull(ai2dev->recv_skb, 2); /* drop frame start marker */
+ while (head && (ai2dev->recv_skb->len >= 3)) {
+ u8 cmd;
+ u16 pktlen;
+
+ cmd = head[0];
+ pktlen = get_unaligned_le16(head + 1);
+ data = skb_pull(ai2dev->recv_skb, 3);
+ if (!data)
+ break;
+
+ if (pktlen > ai2dev->recv_skb->len)
+ break;
+
+ head = skb_pull(ai2dev->recv_skb, pktlen);
+
+ process_ai2_packet(ai2dev, cmd, data, pktlen);
+ }
+}
+
+static void process_ai2_data(struct ai2_device *ai2dev,
+ u8 *data, int len)
+{
+ int i;
+
+ for (i = 0; i < len; i++) {
+ if (!ai2dev->recv_skb) {
+ ai2dev->recv_esc = false;
+ if (data[i] != AI2_ESCAPE) {
+ dev_dbg(ai2dev->dev, "dropping data, trying to resync\n");
+ continue;
+ }
+ ai2dev->recv_skb = alloc_skb(MAX_AI2_FRAME_SIZE, GFP_KERNEL);
+ if (!ai2dev->recv_skb)
+ return;
+
+ dev_dbg(ai2dev->dev, "starting packet\n");
+
+ /* this initial AI2_ESCAPE is part of checksum computation */
+ skb_put_u8(ai2dev->recv_skb, data[i]);
+ continue;
+ }
+ if (ai2dev->recv_skb->len == 1) {
+ if (data[i] == AI2_END_MARKER) {
+ dev_dbg(ai2dev->dev, "unexpected end of frame received\n");
+ kfree_skb(ai2dev->recv_skb);
+ ai2dev->recv_skb = NULL;
+ continue;
+ }
+ skb_put_u8(ai2dev->recv_skb, data[i]);
+ } else {
+ /* drop one of two AI2_ESCAPE */
+ if ((!ai2dev->recv_esc) &&
+ (data[i] == AI2_ESCAPE)) {
+ ai2dev->recv_esc = true;
+ continue;
+ }
+
+ if (ai2dev->recv_esc &&
+ (data[i] == AI2_END_MARKER)) {
+ process_ai2_frame(ai2dev);
+ kfree_skb(ai2dev->recv_skb);
+ ai2dev->recv_skb = NULL;
+ continue;
+ }
+ skb_put_u8(ai2dev->recv_skb, data[i]);
+ }
+ }
+}
+
+static void gnss_recv_frame(struct device *dev, struct sk_buff *skb)
+{
+ struct ai2_device *ai2dev = dev_get_drvdata(dev);
+ struct gps_event_hdr *gnss_hdr;
+ u8 *data;
+
+ if (!ai2dev->gdev) {
+ kfree_skb(skb);
+ return;
+ }
+
+ gnss_hdr = (struct gps_event_hdr *)skb->data;
+
+ data = skb_pull(skb, sizeof(*gnss_hdr));
+ /*
+ * REVISIT: maybe do something with the completed
+ * event
+ */
+ if (gnss_hdr->opcode == GPS_CH9_OP_READ) {
+ mutex_lock(&ai2dev->gdev_mutex);
+ if (ai2dev->gdev_open) {
+ if (ai2raw)
+ gnss_insert_raw(ai2dev->gdev, data, skb->len);
+ else
+ process_ai2_data(ai2dev, data, skb->len);
+ } else {
+ dev_dbg(ai2dev->dev,
+ "receiving data while chip should be off\n");
+ }
+ mutex_unlock(&ai2dev->gdev_mutex);
+ }
+ kfree_skb(skb);
+}
+
+static int gnss_ai2_probe(struct platform_device *pdev)
+{
+ struct gnss_device *gdev;
+ struct ai2_device *ai2dev;
+ int ret;
+
+ ai2dev = devm_kzalloc(&pdev->dev, sizeof(*ai2dev), GFP_KERNEL);
+ if (!ai2dev)
+ return -ENOMEM;
+
+ ai2dev->dev = &pdev->dev;
+ gdev = gnss_allocate_device(&pdev->dev);
+ if (!gdev)
+ return -ENOMEM;
+
+ gdev->ops = &gnss_ai2_ops;
+ gdev->type = ai2raw ? GNSS_TYPE_AI2 : GNSS_TYPE_NMEA;
+ gnss_set_drvdata(gdev, ai2dev);
+ platform_set_drvdata(pdev, ai2dev);
+ st_set_gnss_recv_func(pdev->dev.parent, gnss_recv_frame);
+ mutex_init(&ai2dev->gdev_mutex);
+
+ ret = gnss_register_device(gdev);
+ if (ret)
+ goto err;
+
+ ai2dev->gdev = gdev;
+ return 0;
+
+err:
+ st_set_gnss_recv_func(pdev->dev.parent, NULL);
+
+ if (ai2dev->recv_skb)
+ kfree_skb(ai2dev->recv_skb);
+
+ gnss_put_device(gdev);
+ return ret;
+}
+
+static void gnss_ai2_remove(struct platform_device *pdev)
+{
+ struct ai2_device *ai2dev = platform_get_drvdata(pdev);
+
+ st_set_gnss_recv_func(pdev->dev.parent, NULL);
+ gnss_deregister_device(ai2dev->gdev);
+ gnss_put_device(ai2dev->gdev);
+ if (ai2dev->recv_skb)
+ kfree_skb(ai2dev->recv_skb);
+}
+
+static const struct platform_device_id gnss_ai2_id[] = {
+ {
+ .name = "ti-ai2-gnss"
+ }, {
+ /* sentinel */
+ }
+};
+MODULE_DEVICE_TABLE(platform, gnss_ai2_id);
+
+static struct platform_driver gnss_ai2_driver = {
+ .driver = {
+ .name = "gnss-ai2",
+ },
+ .probe = gnss_ai2_probe,
+ .remove_new = gnss_ai2_remove,
+ .id_table = gnss_ai2_id,
+};
+module_platform_driver(gnss_ai2_driver);
+
+module_param(ai2raw, bool, 0600);
+MODULE_DESCRIPTION("AI2 GNSS driver");
+MODULE_LICENSE("GPL");
Acked-by: Paul Menzel <pmenzel@xxxxxxxxxxxxx>
Kind regards,
Paul
