GPL-GPS Development on Windows 2000/XP Hosts

Get CygWin

• Go to http://www.cygwin.com/ and download the their setup.exe program.
• Run it, and install CygWin. In particular, you'll need to select some extra packages:
  • Devel Packages
  • CVS
  • make
  • patchutils
  • subversion
  • Editors
  • nano (only if you're a VI wimp, like me :)
  • Misc
  • diff
  • Net
  • openssh
  • Utils
  • bzip2
  • patch

Get the eCos Configuration Tools

• Go to http://www.ecoscentric.com/devzone/configtool.shtml and get the latest configtool and ecosconfig.
  • You can download it, or you can build it from source. In either case, follow the instructions on that page.
• In CygWin, create two new folders, /opt and /opt/tools
• Move the two executables into /opt/tools
• I recommend renaming them to configtool.exe and ecosconfig.exe.
• Add /opt/tools onto your path: nano ~/.bash_profile and add the following line at the bottom: PATH="${PATH}":/opt/tools

Get the latest eCos Source out of CVS

• cd into /opt
• Follow the directoins at http://ecos.sourceware.org/anoncvs.html to use CVS to get the latest eCos source.
  • Yes, you've got the latest CVS, and no, you don't want the Red Hat license version.
• This will take a while!
• rename the ecos folder to ecos-cvs.

Get the latest arm-elf toolchain

• This is a matter of preference, really. A lot of people like to compile their toolchain... that's pretty much out of the scope of this document, so we'll leave youto your own demons on this one.
• GPL-GPS has been tested with arm-elf-gcc v3.4.3 and v3.4.5.
• I recommend going to http://www.gnuarm.org/ and downloading the latest executables.
  • gnuarm uses a Windows installer these days. Choose to extract your files to C:\cygwin\opt\arm
  • Choose NOT to install the CygWin DLL's, you've already got those.
  • DON'T let it modify your path.
• Add /opt/arm/bin onto your path: nano ~/.bash_profile and MODIFY the line you ALREADY entered so it is: PATH="${PATH}":/opt/tools:/opt/arm/bin

Get the latest GPL-GPS software

• In your home directory, type svn co http://svn.psas.pdx.edu/svn/psas/trunk/gps - this will make a directory called gps there.
• For more info on subversion access, see this page.

Setup the eCos Configtool

Compile redboot_ram

• In CygWin, cd to ~/gps/redboot/redboot_ram and type configtool redboot_ram.ecc &
  • If you get an error opening redboot_ram.ecc, then build the file manually:
  • Choose Build, Template and choose 'GPS 4020' from the hardware drop down list. Then choose 'redboot' from the 'Packages' drop down. Hit OK and then Continue when the conflicts dialog pops up. It'll handle the conflicts automatically.
  • Choose 'Import' from the File menu and import the file /opt/ecos/ecos-cvs/packages/hal/arm/gps4020/current/misc/redboot_RAM.ecm. This makes the final necessary tweaks to the gps4020/redboot template.
  • Choose Save from the File menu and save that file in the directory you made above. I called it redboot_ram.ecc.
• Choose the Build menu, Generate Build tree.
• Chose the Build menu, Build Library.
  • Annoyance: if you get a strange compilation error about 'lvalues', see: http://sources.redhat.com/ml/ecos-discuss/2006-02/msg00299.html.. you'll have to modify main.c by putting a local variable in (just do the first change to main.c in two locations, don't bother changing the macro).

Compile redboot_rom

• In CygWin, cd to ~/gps/redboot/redboot_rom and type configtool redboot_rom.ecc &
  • If you get an error opening redboot_ram.ecc, then build the file manually:
  • Choose Build, Template and choose 'GPS 4020' from the hardware drop down list. Then choose 'redboot' from the 'Packages' drop down. Hit OK and then Continue when the conflicts dialog pops up. It'll handle the conflicts automatically.
  • Choose 'Import' from the File menu and import the file /opt/ecos/ecos-cvs/packages/hal/arm/gps4020/current/misc/redboot_ROM.ecm. This makes the final necessary tweaks to the gps4020/redboot template.
  • Choose Save from the File menu and save that file in the directory you made above. I called it redboot_rom.ecc.
• Choose the Build menu, Generate Build tree.
• Chose the Build menu, Build Library.
  • Now, if you get a strange compilation error about 'lvalues', see: http://sources.redhat.com/ml/ecos-discuss/2006-02/msg00299.html.. you'll have to modify main.c by putting a local variable in (just do the first change to main.c in two locations, don't bother changing the macro).

Connect and verify the connection to the MG5001

• Put the 'fresh' MG5001 on the development board
• Plug in the development board - LED #7 should blink at 1 Hz.
• Connect UART1 to your PC's serial port (yes, you should be able to use a USB to serial converter).
• You'll need a windows serial port 'hyperterminal'-like program. I STRONGLY recommend you use TeraTerm - it's old, but it's totally solid.
• Open ?TeraTerm, select 'Serial'.
• Choose 'Setup', 'Serial Port'.
• Choose the correct port for your PC, 9600 'baud', 8 bit data, no parity, 1 stop bit, and Flow Control should be off.
• Type (You won't see your typing on the screen) $GPGPQ,GGA,1 and then hit control-m and then control-j.
• You should start to see NMEA $GGA messages start scrolling down the screen at 1 Hz. This confirms you have a connection to the device.

Save a copy of the MG5001's commercial firmware

Upload redboot_ram into the MG5001's RAM

Thanks to Tak, who's Hyperterminal instructions this is based on: http://www.geocities.com/tebinuma/osgps/redboot.html . He also has pretty pictures, to boot ;)

• Open TeraTerm, go to 'Setup', 'Serial Port', and choose 57600, 8, None, 1, Off.
• Switch the boot pin to 'Load' and hit Turn on your MG5001 receiver with the boot pin set to "LOAD" (i.e. set MULTI_FNIO high during a reset).
• Hit the reset button (or hit the switch).
• Choose 'File;, 'Send File...'.
• BE SURE TO CLICK THE 'Binary' OPTION AT THE BOTTOM OF THIS DIALOG.
• Choose Tak's ram_download.bin file, located in /gps/redboot/bootstrap (which would be c:\cygwin\home\<user>\gps\redboot\bootstrap).
• It should take about a second, and the LED #7 should turn off if it worked correctly. It should print a message that says Ready to download >> but it doesn't always print.
• Choose 'File', 'Send File...' and now choose the redboot_ram image, usually c:\cygwin\home\<user>\gps\redboot\redboot_ram\redboot_ram_instal\bin\redboot_ram.bin.
• After about 30 seconds, the download should end (it might pause for a while), and you should see the RedBoot> prompt.
• Type 'help' and verify that you can talk to redboot.

Burn redboot_rom into the MG5001's flash

RedBoot> load -r -b 0x20020000 -m xmodem
CRaw file loaded 0x20020000-0x2002e7d7, assumed entry at 0x20020000
xyzModem - CRC mode, 465(SOH)/0(STX)/0(CAN) packets, 7 retries

RedBoot> fis write -f 0x60000000 -b 0x20020000 -l 0x10000
* CAUTION * about to program FLASH
            at 0x60000000..0x6000ffff from 0x20020000 - continue (y/n)? y
... Erase from 0x60000000-0x60010000: .
... Program from 0x20020000-0x20030000 at 0x60000000: .
RedBoot>

RedBoot(tm) bootstrap and debug environment [ROM]
Non-certified release, version UNKNOWN - built 00:44:46, Mar 30 2005

Platform: GPS-4020 (ARM7TDMI)
Copyright (C) 2000, 2001, 2002, 2003, 2004 Red Hat, Inc.

RAM: 0x20000000-0x20040000, [0x200059c0-0x20040000] available
FLASH: 0x60000000 - 0x60040000, 4 blocks of 0x00010000 bytes each.
RedBoot>