added Communication ports and operation section

Base_Station.rst

@@ -4,3 +4,4 @@ OpenRTK as Base Station
 .. image:: media/clipboard.png
    :align: center
 
+Connect openrtk module and serial port, 'input' select serial port, fill in the parameters.

Communication_ports.rst

@@ -0,0 +1,16 @@
+Communication Ports and Operation
+---------------------------------
+
+USER UART has serial port IAP (program firmware APP) function, ST UART PROG serial port is 
+the serial port for SDK firmware programming, users must connect. BT UART and ETH can pull 
+base rtcm3 for RTK operation, users need to choose at least one connection. Other interface 
+users can connect according to their needs. The hardware design can refer to OpenRTK330 EVK.
+
+
+.. toctree::
+    :maxdepth: 1
+    :hidden:
+
+    ports/User_port
+    ports/ST_GNSS_UART1
+

OpenRTK330.rst

@@ -1,6 +1,3 @@
-OpenRTK330 Module
-=================
-
 The Aceinna OpenRTK330 module integrates a ST Teseo V automotive grade
 multi-constellation, multi-frequency Global Navigation Satellite System
 (**GNSS**) chipset (supports GPS, GALILEO, GLONASS, Beidou, QZSS and SBAS), a
@@ -19,7 +16,7 @@ market that requires a reliable, high-precision and yet cost effective
 -  UART / SPI / CAN / Ethernet Interfaces
 
 Technical characteristics
--------------------------
+=========================
 
  +-------------------------------------------------------------------+
  | **Accuracy** [#f1]_                                               |
@@ -133,7 +130,7 @@ Technical characteristics
 
 
 OpenRTK330 Module Pin Definitions
-----------------------------------
+=================================
 
 
  .. image:: media/OpenRTK330LI_pin_n.png
@@ -279,50 +276,4 @@ OpenRTK330 Module Pin Definitions
  |      68 |  AGND             |     P    | Internal GNSS RF path ground                                    |
  +---------+-------------------+----------+-----------------------------------------------------------------+
 
-
-Communication ports definitions
---------------------------------
-There are six serial communicatoins ports available on the OpenRTK330 module, including four configurable UART ports, one SPI port and one CAN port.
-
-UART PORTS
-~~~~~~~~~~
-The default configuration of the four UART ports is listed as follows
-
--  User port
-
-    - Pin: USER_UART_RX (#55), USER_UART_TX (#56)
-    - Default baud rate: 460800 b/s
-    - Default messages: output INS PVA packet ('pS'), satellite SNR, elevation and azimuth packet ('sK'),plus raw IMU data packet ('s1')
--  GNSS chipset firmware programming port
-
-    - Pin: ST_UART_PROG_TX (#49), ST_UART_PROG_RX (#50)
-    - Default baud rate: 460800 b/s
-    - Reserved for programming GNSS chipset, not applicable for output
--  Debug port
-
-    - Pin: DEBUG_TX (#51), DEBUG_RX (#52)
-    - Default baud rate: 460800 b/s
-    - Default message: output extended INS PVA packets ('p1')
--  GNSS Data port
-
-    - Pin: ST_UART1_TX (#59), ST_UART1_RX (#60)
-    - Default baud rate: 460800 b/s
-    - Default message: output RTCMv3 GNSS data stream (10 Hz)
-
-SPI PORT
-~~~~~~~~
-
-- Pin: USER_MOSI (#29), USER_SCK (#30), USER_NSS (#31), USER_MISO (#32)
-- Default Configuration
-
-    - Frame format: Motorola
-    - Data size: 8 bits
-    - First bit: MSB first
-    - CPOL: High
-    - CPHA: 2Edge
-
-CAN PORT
-~~~~~~~~
-
-- Pin: CAN_RX (#53), CAN_TX (#54)
-- Default message: output SAE J1939 messages 
+

index.rst

@@ -52,8 +52,11 @@ including custom data structures and packets very simple.
     :caption: OpenRTK330 Modules
     :maxdepth: 1
     :hidden:
+    :titlesonly:
 
     OpenRTK330
+    Communication_ports.rst
+    ST_GNSS_UART1.rst
 
 .. raw:: latex
 

ports/ST_GNSS_UART1.rst

@@ -0,0 +1,117 @@
+ST GNSS UART1
+~~~~~~~~~~~~~
+
+- **Pin**: ST_UART1_TX(#59), ST_UART1_RX(#60)
+- **Default configuration**
+
+ - Baud tare: 460800 b/s
+ - Stop bit: 1
+ - Data bits: 8
+ - Check Digit: None
+
+- **Data formation**: RTCM3 format
+- **Main function**: Send raw data of GNSS receiver satellite signal
+
+DEBUG UART1
+~~~~~~~~~~~
+
+- **Pin**: DEBUG_TX(#51), DEBUG_RX(#52)
+- **Default configuration**
+
+ - Baud tare: 460800 b/s
+ - Stop bit: 1
+ - Data bits: 8
+ - Check Digit: None
+
+- **Data formation**: ASSIC format, "P1" packet format
+- **Main function**: 
+
+ - Send "p1" packet data (more detailed than user serial port data), not sending by default
+ - Get user parameters (only basic parameters are included, user serial port can get all parameters)
+ - Control "p1" packet data on or off
+
+ST UART PROG
+~~~~~~~~~~~~
+
+- **Pin**: ST_UART_PROG_TX(#49), ST_UART1_PROG_RX(#50)
+- **Default configuration**
+
+ - Baud tare: 460800 b/s
+ - Stop bit: 1
+ - Data bits: 8
+ - Check Digit: None
+
+- **Main function**: ST GNSS chip firmware download interface (SDK download port)
+
+BT UART
+~~~~~~~
+
+- **Pin**: BT_UART2_RX(#35), BT_UART2_TX(#36)
+- **Default configuration**
+
+ - Baud tare: 460800 b/s
+ - Stop bit: 1
+ - Data bits: 8
+ - Check Digit: None
+
+- **Main function**
+
+ - Receive RTCM3 data from GNSS base station
+ -  Send module position data in NMEA GPGGA format
+
+SPI Pin Definition
+~~~~~~~~~~~~~~~~~~
+
+- **Pin**: USER_MOSI(#29), USER_SCK(#30), USER_NSS(#31), USER_MISO(#32)
+- **Default configuration**
+
+ - Frame format: Motorola
+ - Data length: 8 bits
+ - First bit: 1
+ - CPOL: High
+ - CPHA: 2Edge
+
+- **Main function**
+
+ - Send "p1" data, "p1" packet format (see 4.3 for details)
+
+CAN Pin Definition
+~~~~~~~~~~~~~~~~~~
+
+- **Pin**: CAN_RX(#53), CAN_TX(#54)
+- **Default configuration**
+
+ - ECU address: 128 (automatically match, add 1 to this address, maximum 247)
+ - Baud rate: 250K
+
+- **Data format**: can communication protocol, which can be divided into the following 3 categories 
+  according to functions:
+
+ - Setting parameters: the user sends a setting parameter command, the module does not return
+ - Get parameters: the user sends a get parameter command, the content of the command is the PF number 
+   and PS number of the data required by the user, and the module returns the corresponding data frame
+ - Data packet: The module continuously sends data packets according to the data type and frequency 
+   configured by the user
+
+- **Main function**
+
+ - Support SAE J1939 protocol
+ - Configure CAN interface parameters
+ - Send user data packet
+
+RMII Pin Definition
+~~~~~~~~~~~~~~~~~~~
+
+- **Pin**: ETH_RESET(#8), RMII_TXD0(#9), RMII_TXD1(#10), RMII_TX_EN(#11), VDD_CORE(#12), VIN(#13), RMII_RXD1(#14), 
+ETH_MDC(#15),RMII_RXD0(#16),RMII_REF_CLK(#17),ETH_MDIO(#18),RMII_CRS_DV(#19)
+
+- **Default configuration**
+
+ - DHCP mode
+ - Hostname: openrtk,  you can access the Web Interface through http://openrtk in the LAN
+
+- **Main function**
+
+ - Support static IP mode and DHCP mode
+ - Access to Web Interface configuration parameters (including Ethernet, NTRIP, etc.)
+ - Establish NTRIP CLIENT to pull base rtcm3 data

ports/User_port.rst

@@ -0,0 +1,84 @@
+User Port
+~~~~~~~~~
+
+- **Pin**: USER_UART_RX(#55), USER_UART_TX(#56)
+- **Default configuration**
+
+ - Baud tare: 460800 b/s
+ - Stop bit: 1
+ - Data bits: 8
+ - Check Digit: None
+
+- **Data format**: ACEINNA format, NMEA format
+- **The main function**
+
+ - Obtain module information: hardware version number, software version number;
+ - Obtain and configure module user parameters;
+ - Send data packets: IMU raw data, positioning data, satellite data;
+ - Send NMEA format data;
+
+- **Function details**
+ The following takes configuration parameters as an example to introduce how to use the ACEINNA format:
+
+ 1) Send the "gA" command to the module to obtain all current user parameters:
+  **gA command**: [0x55, 0x55, 0x67, 0x41, 0, 0x31, 0x0A]
+ 2) Use the "uP" command to modify the  parameters:
+  **uP command**: [0x55, 0x55, 0x75, 0x50, data length, parameter number, parameter value, CRC_L, CRC_H]
+
+  For example: configure the three parameters of leverArmBx, leverArmBy, leverArmBz to
+  [0.5, -0.5, 1] ​​(unit m), you need to send the "uP" command three times, and the setting result will 
+  be returned each time. After the last setting result is returned, send again Set the command next time.
+
+  - **Configure leverArmBx**: [0x55, 0x55, 0x75, 0x50, 0x08, 0x04, 0, 0, 0, 0, 0, 0, 0x3F, 0x1D, 0x32]
+  - **Configure leverArmBy**: [0x55, 0x55, 0x75, 0x50, 0x08, 0x05, 0, 0, 0, 0, 0, 0, 0xBF, 0xCB, 0x69]
+  - **Configure leverArmBz**: [0x55, 0x55, 0x75, 0x50, 0x08, 0x06, 0, 0, 0, 0, 0, 0x80, 0x3F, 0x89, 0x0C]
+
+ 3) Use the "sC" command to save the parameter value:
+  **sC command**: [0x55, 0x55, 0x73, 0x43, 0, 0xC8, 0xCB]
+
+Special Note
+""""""""""""
+
+.. image:: ../media/Fig_32_user_parameter.png
+
+The user serial port is the serial port connected by the python driver. If the user needs to enable the 
+data log function or automatically configure user parameters when the python driver is started, first 
+configure the "initial" field in openrtk.json as shown in Figure above.
+
+**Use OpenRTK/OpenIMU python driver operation**
+
+1) Set the log serial port
+
+When the python driver is started with the "-r" suffix, the log function will be enabled and the data of 
+the three serial ports of USER, GNSS and DEBUG will be recorded at the same time. The USER serial port 
+number can be automatically identified by the python driver, but GNSS and DEBUG cannot. The user must 
+set these two serial port numbers.
+
+*Case 1*: The GNSS/DEBUG of OpenRTK330 EVK is the USER serial port number plus 1 and 2 respectively. 
+Just configure the "useDefaultUart" field to 1, and the "uart" field does not work at this time.
+
+.. image:: ../media/Fig_27_Micro_USB.png
+
+*Case 2*: If the user needs to specify the GNSS/DEBUG serial port number, or does not use the GNSS/DEBUG 
+serial port (the user has not made a hardware connection), the "useDefaultUart" needs to be configured 
+to 0, and the "uart" field is valid at this time, the GNSS/DEBUG When "enable" is 1, it means to use 
+this serial port. When not in use, configure it to 0. "Value" should be the serial port name of the 
+serial port in the system. For example: under windos, open the device manager, as shown in Figure above, 
+find the connected GNSS and DEBUG serial numbers are COM10 and COM11 respectively, the configuration 
+should be as follows:
+
+.. image:: ../media/case_2_Configuration.png
+
+2) Setting parameters
+
+When starting the python driver with the "-s" suffix, the "userParameters" parameters can be automatically 
+configured to the OpenRTK device and saved after power off. Find "userParameters" as shown in Figure 2, 
+and configure fields for user parameters. All configurable fields are in "userConfiguration", except for 
+"Data CRC" and "Data Size" whose paramId is 0 or 1 are not configurable, the others can be added to 
+"userParameters". Among them, "paramId" and "value" are mandatory fields, the value of paramId must be 
+consistent with that in "userConfiguration", and the type of value must be consistent with "type".
+
+For example: to configure Ethernet and NTRIP services, the following configuration is required, where the 
+Ethnet mode value is 1 to use static IP mode, and the value is 0 to use DHCP mode.
+
+.. image:: ../media/Setting_parameters.png