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driver/sensors: Support GNSS Measurement & Clock

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Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
This commit is contained in:
wangjianyu3 2024-06-20 23:44:12 +08:00 committed by Xiang Xiao
parent e830db0316
commit bf83b3fafc
4 changed files with 255 additions and 37 deletions
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46
drivers/sensors/gnss_uorb.c
View file

@ -43,7 +43,9 @@
#define GNSS_IDX 0
#define GNSS_SATELLITE_IDX 1
#define GNSS_MAX_IDX 2
#define GNSS_MEASUREMENT_IDX 2
#define GNSS_CLOCK_IDX 3
#define GNSS_MAX_IDX 4
#define GNSS_PARSE_BUFFERSIZE 256
@ -643,6 +645,16 @@ static void gnss_push_event(FAR void *priv, FAR const void *data,
lower = &upper->dev[GNSS_SATELLITE_IDX].lower;
lower->push_event(lower->priv, data, bytes);
}
else if (type == SENSOR_TYPE_GNSS_MEASUREMENT)
{
lower = &upper->dev[GNSS_MEASUREMENT_IDX].lower;
lower->push_event(lower->priv, data, bytes);
}
else if (type == SENSOR_TYPE_GNSS_CLOCK)
{
lower = &upper->dev[GNSS_CLOCK_IDX].lower;
lower->push_event(lower->priv, data, bytes);
}
nxmutex_unlock(&upper->lock);
}
@ -722,6 +734,32 @@ int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,
goto satellite_err;
}
/* GNSS Measurement register */
dev = &upper->dev[GNSS_MEASUREMENT_IDX];
dev->lower.ops = &g_gnss_sensor_ops;
dev->lower.type = SENSOR_TYPE_GNSS_MEASUREMENT;
dev->lower.nbuffer = nbuffer;
dev->upper = upper;
ret = sensor_register(&dev->lower, devno);
if (ret < 0)
{
goto gnss_measurement_err;
}
/* GNSS Colck register */
dev = &upper->dev[GNSS_CLOCK_IDX];
dev->lower.ops = &g_gnss_sensor_ops;
dev->lower.type = SENSOR_TYPE_GNSS_CLOCK;
dev->lower.nbuffer = nbuffer;
dev->upper = upper;
ret = sensor_register(&dev->lower, devno);
if (ret < 0)
{
goto gnss_clock_err;
}
ret = circbuf_init(&upper->buffer, NULL,
CONFIG_SENSORS_GNSS_RECV_BUFFERSIZE);
if (ret < 0)
@ -741,6 +779,10 @@ int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,
driver_err:
circbuf_uninit(&upper->buffer);
circ_err:
sensor_unregister(&upper->dev[GNSS_CLOCK_IDX].lower, devno);
gnss_clock_err:
sensor_unregister(&upper->dev[GNSS_MEASUREMENT_IDX].lower, devno);
gnss_measurement_err:
sensor_unregister(&upper->dev[GNSS_SATELLITE_IDX].lower, devno);
satellite_err:
sensor_unregister(&upper->dev[GNSS_IDX].lower, devno);
@ -772,6 +814,8 @@ void gnss_unregister(FAR struct gnss_lowerhalf_s *lower, int devno)
sensor_unregister(&upper->dev[GNSS_IDX].lower, devno);
sensor_unregister(&upper->dev[GNSS_SATELLITE_IDX].lower, devno);
sensor_unregister(&upper->dev[GNSS_MEASUREMENT_IDX].lower, devno);
sensor_unregister(&upper->dev[GNSS_CLOCK_IDX].lower, devno);
snprintf(path, PATH_MAX, GNSS_PATH_FMT, devno);
unregister_driver(path);
nxsem_destroy(&upper->buffersem);

2
drivers/sensors/sensor.c
View file

@ -193,6 +193,8 @@ static const struct sensor_meta_s g_sensor_meta[] =
{sizeof(struct sensor_force), "force"},
{sizeof(struct sensor_gnss), "gnss"},
{sizeof(struct sensor_gnss_satellite), "gnss_satellite"},
{sizeof(struct sensor_gnss_measurement), "gnss_measurement"},
{sizeof(struct sensor_gnss_clock), "gnss_clock"},
};
static const struct file_operations g_sensor_fops =

1
include/nuttx/sensors/gnss.h
View file

@ -163,6 +163,7 @@ struct gnss_lowerhalf_s
* It is provided by upper half driver to lower half driver.
* lower half can use type to description the data type, eg:
* SENSOR_TYPE_GNSS, SENSOR_TYPE_GNSS_SATELLITE
* SENSOR_TYPE_GNSS_MEASUREMENT, SENSOR_TYPE_GNSS_CLOCK
*/
gnss_push_event_t push_event;

173
include/nuttx/uorb.h
View file

@ -305,9 +305,17 @@
#define SENSOR_TYPE_GNSS_SATELLITE 34
/* GNSS Measurement */
#define SENSOR_TYPE_GNSS_MEASUREMENT 35
/* GNSS Clock */
#define SENSOR_TYPE_GNSS_CLOCK 36
/* The total number of sensor */
#define SENSOR_TYPE_COUNT 35
#define SENSOR_TYPE_COUNT 37
/* The additional sensor open flags */
@ -326,6 +334,48 @@
#define SENSOR_EVENT_FLUSH_COMPLETE 0x01
/* GNSS Clock Flags, see `flags` of `struct sensor_gnss_clock`
* Refs: https://android.googlesource.com/platform/hardware/libhardware/+/
* refs/heads/android14-release/include/hardware/gps.h#140
*/
#define SENSOR_GNSS_CLOCK_HAS_LEAP_SECOND (1 << 0)
#define SENSOR_GNSS_CLOCK_HAS_TIME_UNCERTAINTY (1 << 1)
#define SENSOR_GNSS_CLOCK_HAS_FULL_BIAS (1 << 2)
#define SENSOR_GNSS_CLOCK_HAS_BIAS (1 << 3)
#define SENSOR_GNSS_CLOCK_HAS_BIAS_UNCERTAINTY (1 << 4)
#define SENSOR_GNSS_CLOCK_HAS_DRIFT (1 << 5)
#define SENSOR_GNSS_CLOCK_HAS_DRIFT_UNCERTAINTY (1 << 6)
/* GNSS Measurement Flags */
#define SENSOR_GNSS_MEASUREMENT_HAS_SNR (1 << 0)
#define SENSOR_GNSS_MEASUREMENT_HAS_CARRIER_FREQUENCY (1 << 9)
#define SENSOR_GNSS_MEASUREMENT_HAS_CARRIER_CYCLES (1 << 10)
#define SENSOR_GNSS_MEASUREMENT_HAS_CARRIER_PHASE (1 << 11)
#define SENSOR_GNSS_MEASUREMENT_HAS_CARRIER_PHASE_UNCERTAINTY (1 << 12)
#define SENSOR_GNSS_MEASUREMENT_HAS_AUTOMATIC_GAIN_CONTROL (1 << 13)
/* GNSS Measurement States */
#define SENSOR_GNSS_MEASUREMENT_STATE_UNKNOWN (0)
#define SENSOR_GNSS_MEASUREMENT_STATE_CODE_LOCK (1 << 0)
#define SENSOR_GNSS_MEASUREMENT_STATE_BIT_SYNC (1 << 1)
#define SENSOR_GNSS_MEASUREMENT_STATE_SUBFRAME_SYNC (1 << 2)
#define SENSOR_GNSS_MEASUREMENT_STATE_TOW_DECODED (1 << 3)
#define SENSOR_GNSS_MEASUREMENT_STATE_MSEC_AMBIGUOUS (1 << 4)
#define SENSOR_GNSS_MEASUREMENT_STATE_SYMBOL_SYNC (1 << 5)
#define SENSOR_GNSS_MEASUREMENT_STATE_GLO_STRING_SYNC (1 << 6)
#define SENSOR_GNSS_MEASUREMENT_STATE_GLO_TOD_DECODED (1 << 7)
#define SENSOR_GNSS_MEASUREMENT_STATE_BDS_D2_BIT_SYNC (1 << 8)
#define SENSOR_GNSS_MEASUREMENT_STATE_BDS_D2_SUBFRAME_SYNC (1 << 9)
#define SENSOR_GNSS_MEASUREMENT_STATE_GAL_E1BC_CODE_LOCK (1 << 10)
#define SENSOR_GNSS_MEASUREMENT_STATE_GAL_E1C_2ND_CODE_LOCK (1 << 11)
#define SENSOR_GNSS_MEASUREMENT_STATE_GAL_E1B_PAGE_SYNC (1 << 12)
#define SENSOR_GNSS_MEASUREMENT_STATE_SBAS_SYNC (1 << 13)
#define SENSOR_GNSS_MEASUREMENT_STATE_TOW_KNOWN (1 << 14)
#define SENSOR_GNSS_MEASUREMENT_STATE_GLO_TOD_KNOWN (1 << 15)
/****************************************************************************
* Public Types
****************************************************************************/
@ -754,4 +804,125 @@ struct sensor_device_info_s
char vendor[SENSOR_INFO_NAME_SIZE];
};
struct sensor_gnss_clock
{
/* Indicating what fields are valid.
* See SENSOR_GNSS_CLOCK_HAS_*.
*/
uint32_t flags;
/* Leap second data.
* flags: SENSOR_GNSS_CLOCK_HAS_LEAP_SECOND
*/
int32_t leap_second;
/* The GNSS receiver internal local hardware clock value.
* flags:
* SENSOR_GNSS_CLOCK_HAS_TIME_UNCERTAINTY
*/
int64_t time_ns;
float time_uncertainty_ns;
/* Discontinuities in the HW clock. */
uint32_t hw_clock_discontinuity_count;
/* The difference between hardware clock ('time' field) inside
* GPS receiver and the true GPS time since 0000Z, January 6, 1980, in
* nanoseconds.
* flags:
* SENSOR_GNSS_CLOCK_HAS_FULL_BIAS
* SENSOR_GNSS_CLOCK_HAS_BIAS
* SENSOR_GNSS_CLOCK_HAS_BIAS_UNCERTAINTY
*/
int64_t full_bias_ns;
float bias_ns; /* Sub-nanosecond bias */
float bias_uncertainty_ns;
/* The clock's drift in nanoseconds (per second).
* A positive value means that the frequency is higher than
* the nominal frequency.
* flags:
* SENSOR_GNSS_CLOCK_HAS_DRIFT
* SENSOR_GNSS_CLOCK_HAS_DRIFT_UNCERTAINTY
*/
float drift_nsps;
float drift_uncertainty_nsps;
};
struct sensor_gnss_measurement
{
/* Indicating what fields are valid.
* See SENSOR_GNSS_MEASUREMENT_HAS_*.
*/
uint32_t flags;
/* Space vehicle ID. */
int32_t svid;
/* Constellation of the given SV, see GNSS_CONSTELLATION_*. */
uint32_t constellation;
/* Offset between clock and time at which the measurement was taken in
* nanoseconds.
*/
float time_offset_ns;
/* The received GNSS Time-of-Week at the measurement time, in
* nanoseconds.
*/
int64_t received_sv_time_in_ns;
int64_t received_sv_time_uncertainty_in_ns;
/* GNSS measurement state, see SENSOR_GNSS_MEASUREMENT_STATE_*. */
uint32_t state;
/* dBHz, Carrier-to-noise density. */
float c_n0_dbhz;
/* Pseudorange rate(m/s) at the timestamp. */
float pseudorange_rate_mps;
float pseudorange_rate_uncertainty_mps;
/* Accumulated delta range. */
uint32_t accumulated_delta_range_state;
float accumulated_delta_range_m;
float accumulated_delta_range_uncertainty_m;
/* Carrier related between the satellite and the receiver.
* flags:
* SENSOR_GNSS_MEASUREMENT_HAS_CARRIER_CYCLES
* SENSOR_GNSS_MEASUREMENT_HAS_CARRIER_FREQUENCY
* SENSOR_GNSS_MEASUREMENT_HAS_CARRIER_PHASE
* SENSOR_GNSS_MEASUREMENT_HAS_CARRIER_PHASE_UNCERTAINTY
*/
float carrier_frequency_hz;
int64_t carrier_cycles;
float carrier_phase;
float carrier_phase_uncertainty;
uint32_t multipath_indicator;
/* dBHz, Signal to noise ratio of satellite C/N0.
* flags: SENSOR_GNSS_MEASUREMENT_HAS_SNR
*/
uint32_t snr;
};
#endif /* __INCLUDE_NUTTX_SENSORS_SENSOR_H */