From 3b35621671aaa6de3fc66d85d30e4208a77e2489 Mon Sep 17 00:00:00 2001
From: robbederks <robbe.derks@gmail.com>
Date: Mon, 13 Jan 2020 15:06:35 -0800
Subject: [PATCH] Grey gps fix (#423)

* Fixed GPS enabling on EON builds

* Bumped version

* Added automated GPS test

* Added import

* Fixed linting
---
 VERSION                    |  2 +-
 board/boards/grey.h        | 24 +++++++++++++++++++++++-
 tests/automated/8_gps.py   | 23 +++++++++++++++++++++++
 tests/automated/helpers.py |  4 ++++
 4 files changed, 51 insertions(+), 2 deletions(-)
 create mode 100644 tests/automated/8_gps.py

diff --git a/VERSION b/VERSION
index 75e4760..0d687f1 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-v1.7.2
\ No newline at end of file
+v1.7.3
\ No newline at end of file
diff --git a/board/boards/grey.h b/board/boards/grey.h
index 3dcb730..1c7278d 100644
--- a/board/boards/grey.h
+++ b/board/boards/grey.h
@@ -11,6 +11,28 @@ void grey_init(void) {
   current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
 }
 
+void grey_set_esp_gps_mode(uint8_t mode) {
+  switch (mode) {
+    case ESP_GPS_DISABLED:
+      // GPS OFF
+      set_gpio_output(GPIOC, 14, 0);
+      set_gpio_output(GPIOC, 5, 0);
+      break;
+    case ESP_GPS_ENABLED:
+      // GPS ON
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 1);
+      break;
+    case ESP_GPS_BOOTMODE:
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 0);
+      break;
+    default:
+      puts("Invalid ESP/GPS mode\n");
+      break;
+  }
+}
+
 const board board_grey = {
   .board_type = "Grey",
   .harness_config = &white_harness_config,
@@ -19,7 +41,7 @@ const board board_grey = {
   .enable_can_transcievers = white_enable_can_transcievers,
   .set_led = white_set_led,
   .set_usb_power_mode = white_set_usb_power_mode,
-  .set_esp_gps_mode = white_set_esp_gps_mode,
+  .set_esp_gps_mode = grey_set_esp_gps_mode,
   .set_can_mode = white_set_can_mode,
   .usb_power_mode_tick = white_usb_power_mode_tick,
   .check_ignition = white_check_ignition,
diff --git a/tests/automated/8_gps.py b/tests/automated/8_gps.py
new file mode 100644
index 0000000..fc387c9
--- /dev/null
+++ b/tests/automated/8_gps.py
@@ -0,0 +1,23 @@
+import time
+from panda import PandaSerial
+from .helpers import reset_pandas, test_all_gps_pandas, panda_connect_and_init
+
+# Reset the pandas before running tests
+def aaaa_reset_before_tests():
+  reset_pandas()
+
+@test_all_gps_pandas
+@panda_connect_and_init
+def test_gps_version(p):
+  serial = PandaSerial(p, 1, 9600)
+  # Reset and check twice to make sure the enabling works
+  for i in range(2):
+    # Reset GPS
+    p.set_esp_power(0)
+    time.sleep(0.5)
+    p.set_esp_power(1)
+    time.sleep(1)
+
+    # Read startup message and check if version is contained
+    dat = serial.read(0x1000)    # Read one full panda DMA buffer. This should include the startup message
+    assert b'HPG 1.40ROV' in dat
\ No newline at end of file
diff --git a/tests/automated/helpers.py b/tests/automated/helpers.py
index 43179e6..6b963e9 100644
--- a/tests/automated/helpers.py
+++ b/tests/automated/helpers.py
@@ -15,6 +15,7 @@ SPEED_GMLAN = 33.3
 BUS_SPEEDS = [(0, SPEED_NORMAL), (1, SPEED_NORMAL), (2, SPEED_NORMAL), (3, SPEED_GMLAN)]
 TIMEOUT = 30
 GEN2_HW_TYPES = [Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_UNO]
+GPS_HW_TYPES = [Panda.HW_TYPE_GREY_PANDA, Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_UNO]
 
 # Enable fault debug
 faulthandler.enable(all_threads=False)
@@ -48,6 +49,9 @@ test_all_pandas = parameterized(
 test_all_gen2_pandas = parameterized(
     list(map(lambda x: x[0], filter(lambda x: x[1] in GEN2_HW_TYPES, _panda_serials)))
   )
+test_all_gps_pandas = parameterized(
+    list(map(lambda x: x[0], filter(lambda x: x[1] in GPS_HW_TYPES, _panda_serials)))
+  )
 test_white_and_grey = parameterized([
     param(panda_type=Panda.HW_TYPE_WHITE_PANDA),
     param(panda_type=Panda.HW_TYPE_GREY_PANDA)