TX2 Uarts debuging (GPS)

1. Hardware UARTS connections

D9/D10+E9/E10 --- UARTC (UART1_TX/RX SOM Connector核心板)
UARTC will be enumerated as /dev/ttyTHS2

H9/H10+G9/G10 --- UARTD (UART3_TX/RX SOM Connector核心板)
UARTD will be enumerated as /dev/tty?

B16/B15+A16/A15 --- UARTB (UART2_TX/RX SOM Connector核心板)
UARTB will be enumerated as /dev/tty?

H12/G12+H12/G11 --- UARTA (UART0_TX/RX SOM Connector核心板)
UARTA will be enumerated as /dev/tty?

---

2. GPS + UARTC(/dev/ttyTHS2)

GPS Ubuntu tools: gpsd
gpsd 相关软件和库，如：gpsd gpsd-clients python-gps
若无请安装：sudo apt-get install gpsd gpsd-clients python-gps

GPS 模块接口和TX2 载板接口定义(W5 Pin5-6即Jetson TX2 UARTC)，如电压、RS232接法等 （比如：更改GPS 模组的RS232 电压，请将GPS置于室外、窗边，有利于定位）
GPS模块串口接上TX1/2，载板A302, 如下图链接方法：

image.png

通过可以使用cat命令查看gps模块输出: cat /dev/ ttyTHS2 （若乱码检查硬件链接电平---TX2 RS232，若模块电平不匹配则输出乱码）：

image.png

NMEA 数据解析：
$GPGLL message tell you about your location
$GPBOD - Bearing, origin to destination
$GPBWC - Bearing and distance to waypoint, great circle
$GPGGA - Global Positioning System Fix Data
$GPGLL - Geographic position, latitude / longitude
$GPGSA - GPS DOP and active satellites 
$GPGSV - GPS Satellites in view
$GPHDT - Heading, True
$GPR00 - List of waypoints in currently active route
$GPRMA - Recommended minimum specific Loran-C data
$GPRMB - Recommended minimum navigation info
$GPRMC - Recommended minimum specific GPS/Transit data
$GPRTE - Routes
$GPTRF - Transit Fix Data
$GPSTN - Multiple Data ID
$GPVBW - Dual Ground / Water Speed
$GPVTG - Track made good and ground speed
$GPWPL - Waypoint location
$GPXTE - Cross-track error, Measured
$GPZDA - Date & Time

Refer to: http://aprs.gids.nl/nmea/

---

3. TX1 UART Configuration
serial@70006000 --
serial@70006040 -- THS1 -- UART2
serial@70006200 -- THS2 -- UART3
serial@70006300 -- THS3 -- UART4