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Merge pull request #3042 from kamtom480/gnss 

Add gnss module
This commit is contained in:
Jeff Epler 2020-06-25 11:08:40 -05:00 committed by GitHub
parent 3abdf744d5 d768d4d37a
commit 07eb7d653c
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GPG Key ID: 4AEE18F83AFDEB23
17 changed files with 896 additions and 1 deletions
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11
locale/circuitpython.pot
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@ -8,7 +8,7 @@ msgid ""
msgstr ""
"Project-Id-Version: PACKAGE VERSION\n"
"Report-Msgid-Bugs-To: \n"
"POT-Creation-Date: 2020-06-01 17:10-0700\n"
"POT-Creation-Date: 2020-06-24 11:10+0200\n"
"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
"Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
"Language-Team: LANGUAGE <LL@li.org>\n"
@ -572,6 +572,10 @@ msgstr ""
msgid "Corrupt raw code"
msgstr ""
#: ports/cxd56/common-hal/gnss/GNSS.c
msgid "Could not initialize GNSS"
msgstr ""
#: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
msgid "Could not initialize UART"
msgstr ""
@ -1425,6 +1429,10 @@ msgstr ""
msgid "Supply at least one UART pin"
msgstr ""
#: shared-bindings/gnss/GNSS.c
msgid "System entry must be gnss.SatelliteSystem"
msgstr ""
#: ports/stm/common-hal/microcontroller/Processor.c
msgid "Temperature read timed out"
msgstr ""
@ -1611,6 +1619,7 @@ msgid ""
msgstr ""
#: ports/atmel-samd/common-hal/busio/I2C.c ports/cxd56/common-hal/busio/I2C.c
#: ports/stm/common-hal/busio/I2C.c
msgid "Unsupported baudrate"
msgstr ""

135
ports/cxd56/common-hal/gnss/GNSS.c Normal file
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@ -0,0 +1,135 @@
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright 2020 Sony Semiconductor Solutions Corporation
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <unistd.h>
#include <fcntl.h>
#include <string.h>
#include <sys/ioctl.h>
#include "py/runtime.h"
#include "shared-bindings/gnss/GNSS.h"
typedef struct {
const char* devpath;
int fd;
} gnss_dev_t;
STATIC gnss_dev_t gnss_dev = {"/dev/gps", -1};
static gnss_positionfix_t fix_to_positionfix_type(uint8_t fix) {
switch (fix) {
case CXD56_GNSS_PVT_POSFIX_2D:
return POSITIONFIX_2D;
case CXD56_GNSS_PVT_POSFIX_3D:
return POSITIONFIX_3D;
case CXD56_GNSS_PVT_POSFIX_INVALID:
default:
return POSITIONFIX_INVALID;
}
}
void common_hal_gnss_construct(gnss_obj_t *self, unsigned long selection) {
if (gnss_dev.fd < 0) {
gnss_dev.fd = open(gnss_dev.devpath, O_RDONLY);
if (gnss_dev.fd < 0) {
mp_raise_ValueError(translate("Could not initialize GNSS"));
}
}
self->satellite_system = 0;
self->fix = POSITIONFIX_INVALID;
unsigned long sel = 0;
if (selection & SATELLITESYSTEM_GPS) {
sel |= CXD56_GNSS_SAT_GPS;
} else if (selection & SATELLITESYSTEM_GLONASS) {
sel |= CXD56_GNSS_SAT_GLONASS;
} else if (selection & SATELLITESYSTEM_SBAS) {
sel |= CXD56_GNSS_SAT_SBAS;
} else if (selection & SATELLITESYSTEM_QZSS_L1CA) {
sel |= CXD56_GNSS_SAT_QZ_L1CA;
} else if (selection & SATELLITESYSTEM_QZSS_L1S) {
sel |= CXD56_GNSS_SAT_QZ_L1S;
}
ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_SELECT_SATELLITE_SYSTEM, sel);
ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_START, CXD56_GNSS_STMOD_COLD);
}
void common_hal_gnss_deinit(gnss_obj_t *self) {
if (common_hal_gnss_deinited(self)) {
return;
}
close(gnss_dev.fd);
gnss_dev.fd = -1;
}
bool common_hal_gnss_deinited(gnss_obj_t *self) {
return gnss_dev.fd < 0;
}
void common_hal_gnss_update(gnss_obj_t *self) {
struct cxd56_gnss_positiondata_s positiondata;
read(gnss_dev.fd, &positiondata, sizeof(struct cxd56_gnss_positiondata_s));
if (positiondata.receiver.pos_dataexist) {
self->fix = positiondata.receiver.pos_fixmode;
self->latitude = positiondata.receiver.latitude;
self->longitude = positiondata.receiver.longitude;
self->altitude = positiondata.receiver.altitude;
memcpy(&self->date, &positiondata.receiver.date, sizeof(struct cxd56_gnss_date_s));
memcpy(&self->time, &positiondata.receiver.time, sizeof(struct cxd56_gnss_time_s));
}
}
mp_float_t common_hal_gnss_get_latitude(gnss_obj_t *self) {
return (mp_float_t) self->latitude;
}
mp_float_t common_hal_gnss_get_longitude(gnss_obj_t *self) {
return (mp_float_t) self->longitude;
}
mp_float_t common_hal_gnss_get_altitude(gnss_obj_t *self) {
return (mp_float_t) self->altitude;
}
void common_hal_gnss_get_timestamp(gnss_obj_t *self, timeutils_struct_time_t *tm) {
tm->tm_year = self->date.year;
tm->tm_mon = self->date.month;
tm->tm_mday = self->date.day;
tm->tm_hour = self->time.hour;
tm->tm_min = self->time.minute;
tm->tm_sec = self->time.sec;
}
gnss_positionfix_t common_hal_gnss_get_fix(gnss_obj_t *self) {
return fix_to_positionfix_type(self->fix);
}

45
ports/cxd56/common-hal/gnss/GNSS.h Normal file
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@ -0,0 +1,45 @@
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright 2020 Sony Semiconductor Solutions Corporation
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#ifndef MICROPY_INCLUDED_CXD56_COMMON_HAL_GNSS_GNSS_H
#define MICROPY_INCLUDED_CXD56_COMMON_HAL_GNSS_GNSS_H
#include <arch/chip/gnss.h>
#include "py/obj.h"
typedef struct {
mp_obj_base_t base;
unsigned long satellite_system;
uint8_t fix;
double latitude;
double longitude;
double altitude;
struct cxd56_gnss_date_s date;
struct cxd56_gnss_time_s time;
} gnss_obj_t;
#endif // MICROPY_INCLUDED_CXD56_COMMON_HAL_GNSS_GNSS_H

0
ports/cxd56/common-hal/gnss/PositionFix.c Normal file
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0
ports/cxd56/common-hal/gnss/SatelliteSystem.c Normal file
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0
ports/cxd56/common-hal/gnss/__init__.c Normal file
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1
ports/cxd56/mpconfigport.mk
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@ -13,6 +13,7 @@ CIRCUITPY_COUNTIO = 0
CIRCUITPY_DISPLAYIO = 0
CIRCUITPY_FREQUENCYIO = 0
CIRCUITPY_GAMEPAD = 0
CIRCUITPY_GNSS = 1
CIRCUITPY_I2CSLAVE = 0
CIRCUITPY_NEOPIXEL_WRITE = 0
CIRCUITPY_NVM = 0

7
py/circuitpy_defns.mk
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@ -162,6 +162,9 @@ endif
ifeq ($(CIRCUITPY_GAMEPADSHIFT),1)
SRC_PATTERNS += gamepadshift/%
endif
ifeq ($(CIRCUITPY_GNSS),1)
SRC_PATTERNS += gnss/%
endif
ifeq ($(CIRCUITPY_I2CSLAVE),1)
SRC_PATTERNS += i2cslave/%
endif
@ -283,6 +286,10 @@ SRC_COMMON_HAL_ALL = \
displayio/ParallelBus.c \
frequencyio/FrequencyIn.c \
frequencyio/__init__.c \
gnss/__init__.c \
gnss/GNSS.c \
gnss/PositionFix.c \
gnss/SatelliteSystem.c \
i2cslave/I2CSlave.c \
i2cslave/__init__.c \
microcontroller/Pin.c \

8
py/circuitpy_mpconfig.h
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@ -401,6 +401,13 @@ extern const struct _mp_obj_module_t gamepadshift_module;
#define GAMEPAD_ROOT_POINTERS
#endif
#if CIRCUITPY_GNSS
extern const struct _mp_obj_module_t gnss_module;
#define GNSS_MODULE { MP_OBJ_NEW_QSTR(MP_QSTR_gnss), (mp_obj_t)&gnss_module },
#else
#define GNSS_MODULE
#endif
#if CIRCUITPY_I2CSLAVE
extern const struct _mp_obj_module_t i2cslave_module;
#define I2CSLAVE_MODULE { MP_OBJ_NEW_QSTR(MP_QSTR_i2cslave), (mp_obj_t)&i2cslave_module },
@ -682,6 +689,7 @@ extern const struct _mp_obj_module_t watchdog_module;
FREQUENCYIO_MODULE \
GAMEPAD_MODULE \
GAMEPADSHIFT_MODULE \
GNSS_MODULE \
I2CSLAVE_MODULE \
JSON_MODULE \
MATH_MODULE \

3
py/circuitpy_mpconfig.mk
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@ -109,6 +109,9 @@ CFLAGS += -DCIRCUITPY_GAMEPAD=$(CIRCUITPY_GAMEPAD)
CIRCUITPY_GAMEPADSHIFT ?= 0
CFLAGS += -DCIRCUITPY_GAMEPADSHIFT=$(CIRCUITPY_GAMEPADSHIFT)
CIRCUITPY_GNSS ?= 0
CFLAGS += -DCIRCUITPY_GNSS=$(CIRCUITPY_GNSS)
CIRCUITPY_I2CSLAVE ?= $(CIRCUITPY_FULL_BUILD)
CFLAGS += -DCIRCUITPY_I2CSLAVE=$(CIRCUITPY_I2CSLAVE)

227
shared-bindings/gnss/GNSS.c Normal file
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@ -0,0 +1,227 @@
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright 2020 Sony Semiconductor Solutions Corporation
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "shared-bindings/gnss/GNSS.h"
#include "shared-bindings/time/__init__.h"
#include "shared-bindings/util.h"
#include "py/objproperty.h"
#include "py/runtime.h"
//| class GNSS:
//| """Get updated positioning information from Global Navigation Satellite System (GNSS)
//|
//| Usage::
//|
//| import gnss
//| import time
//|
//| nav = gnss.GNSS([gnss.SatelliteSystem.GPS, gnss.SatelliteSystem.GLONASS])
//| last_print = time.monotonic()
//| while True:
//| nav.update()
//| current = time.monotonic()
//| if current - last_print >= 1.0:
//| last_print = current
//| if nav.fix is gnss.PositionFix.INVALID:
//| print("Waiting for fix...")
//| continue
//| print("Latitude: {0:.6f} degrees".format(nav.latitude))
//| print("Longitude: {0:.6f} degrees".format(nav.longitude))"""
//|
//| def __init__(self, ):
//| """Turn on the GNSS.
//|
//| :param gnss.SatelliteSystem system: satellite system to use"""
//| ...
//|
STATIC mp_obj_t gnss_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
gnss_obj_t *self = m_new_obj(gnss_obj_t);
self->base.type = &gnss_type;
enum { ARG_system };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_system, MP_ARG_REQUIRED | MP_ARG_OBJ },
};
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
unsigned long selection = 0;
if (MP_OBJ_IS_TYPE(args[ARG_system].u_obj, &gnss_satellitesystem_type)) {
selection |= gnss_satellitesystem_obj_to_type(args[ARG_system].u_obj);
} else if (MP_OBJ_IS_TYPE(args[ARG_system].u_obj, &mp_type_list)) {
size_t systems_size = 0;
mp_obj_t *systems;
mp_obj_list_get(args[ARG_system].u_obj, &systems_size, &systems);
for (size_t i = 0; i < systems_size; ++i) {
if (!MP_OBJ_IS_TYPE(systems[i], &gnss_satellitesystem_type)) {
mp_raise_TypeError(translate("System entry must be gnss.SatelliteSystem"));
}
selection |= gnss_satellitesystem_obj_to_type(systems[i]);
}
} else {
mp_raise_TypeError(translate("System entry must be gnss.SatelliteSystem"));
}
common_hal_gnss_construct(self, selection);
return MP_OBJ_FROM_PTR(self);
}
//| def deinit(self, ) -> Any:
//| """Turn off the GNSS."""
//| ...
//|
STATIC mp_obj_t gnss_obj_deinit(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
common_hal_gnss_deinit(self);
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(gnss_deinit_obj, gnss_obj_deinit);
STATIC void check_for_deinit(gnss_obj_t *self) {
if (common_hal_gnss_deinited(self)) {
raise_deinited_error();
}
}
//| def update(self, ) -> Any:
//| """Update GNSS positioning information."""
//| ...
//|
STATIC mp_obj_t gnss_obj_update(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
common_hal_gnss_update(self);
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(gnss_update_obj, gnss_obj_update);
//| latitude: Any = ...
//| """Latitude of current position in degrees (float)."""
//|
STATIC mp_obj_t gnss_obj_get_latitude(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
return mp_obj_new_float(common_hal_gnss_get_latitude(self));
}
MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_latitude_obj, gnss_obj_get_latitude);
const mp_obj_property_t gnss_latitude_obj = {
.base.type = &mp_type_property,
.proxy = {(mp_obj_t)&gnss_get_latitude_obj,
(mp_obj_t)&mp_const_none_obj,
(mp_obj_t)&mp_const_none_obj},
};
//| longitude: Any = ...
//| """Longitude of current position in degrees (float)."""
//|
STATIC mp_obj_t gnss_obj_get_longitude(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
return mp_obj_new_float(common_hal_gnss_get_longitude(self));
}
MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_longitude_obj, gnss_obj_get_longitude);
const mp_obj_property_t gnss_longitude_obj = {
.base.type = &mp_type_property,
.proxy = {(mp_obj_t)&gnss_get_longitude_obj,
(mp_obj_t)&mp_const_none_obj,
(mp_obj_t)&mp_const_none_obj},
};
//| altitude: Any = ...
//| """Altitude of current position in meters (float)."""
//|
STATIC mp_obj_t gnss_obj_get_altitude(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
return mp_obj_new_float(common_hal_gnss_get_altitude(self));
}
MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_altitude_obj, gnss_obj_get_altitude);
const mp_obj_property_t gnss_altitude_obj = {
.base.type = &mp_type_property,
.proxy = {(mp_obj_t)&gnss_get_altitude_obj,
(mp_obj_t)&mp_const_none_obj,
(mp_obj_t)&mp_const_none_obj},
};
//| timestamp: Any = ...
//| """Time when the position data was updated."""
//|
STATIC mp_obj_t gnss_obj_get_timestamp(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
timeutils_struct_time_t tm;
common_hal_gnss_get_timestamp(self, &tm);
return struct_time_from_tm(&tm);
}
MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_timestamp_obj, gnss_obj_get_timestamp);
const mp_obj_property_t gnss_timestamp_obj = {
.base.type = &mp_type_property,
.proxy = {(mp_obj_t)&gnss_get_timestamp_obj,
(mp_obj_t)&mp_const_none_obj,
(mp_obj_t)&mp_const_none_obj},
};
//| fix: Any = ...
//| """Fix mode."""
//|
STATIC mp_obj_t gnss_obj_get_fix(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
return gnss_positionfix_type_to_obj(common_hal_gnss_get_fix(self));
}
MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_fix_obj, gnss_obj_get_fix);
const mp_obj_property_t gnss_fix_obj = {
.base.type = &mp_type_property,
.proxy = {(mp_obj_t)&gnss_get_fix_obj,
(mp_obj_t)&mp_const_none_obj,
(mp_obj_t)&mp_const_none_obj},
};
STATIC const mp_rom_map_elem_t gnss_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&gnss_deinit_obj) },
{ MP_ROM_QSTR(MP_QSTR_update), MP_ROM_PTR(&gnss_update_obj) },
{ MP_ROM_QSTR(MP_QSTR_latitude), MP_ROM_PTR(&gnss_latitude_obj) },
{ MP_ROM_QSTR(MP_QSTR_longitude), MP_ROM_PTR(&gnss_longitude_obj) },
{ MP_ROM_QSTR(MP_QSTR_altitude), MP_ROM_PTR(&gnss_altitude_obj) },
{ MP_ROM_QSTR(MP_QSTR_timestamp), MP_ROM_PTR(&gnss_timestamp_obj) },
{ MP_ROM_QSTR(MP_QSTR_fix), MP_ROM_PTR(&gnss_fix_obj) }
};
STATIC MP_DEFINE_CONST_DICT(gnss_locals_dict, gnss_locals_dict_table);
const mp_obj_type_t gnss_type = {
{ &mp_type_type },
.name = MP_QSTR_GNSS,
.make_new = gnss_make_new,
.locals_dict = (mp_obj_dict_t*)&gnss_locals_dict,
};

49
shared-bindings/gnss/GNSS.h Normal file
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@ -0,0 +1,49 @@
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright 2020 Sony Semiconductor Solutions Corporation
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#ifndef MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_GNSS_H
#define MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_GNSS_H
#include "common-hal/gnss/GNSS.h"
#include "shared-bindings/gnss/SatelliteSystem.h"
#include "shared-bindings/gnss/PositionFix.h"
#include "lib/timeutils/timeutils.h"
extern const mp_obj_type_t gnss_type;
void common_hal_gnss_construct(gnss_obj_t *self, unsigned long selection);
void common_hal_gnss_deinit(gnss_obj_t *self);
bool common_hal_gnss_deinited(gnss_obj_t *self);
void common_hal_gnss_update(gnss_obj_t *self);
mp_float_t common_hal_gnss_get_latitude(gnss_obj_t *self);
mp_float_t common_hal_gnss_get_longitude(gnss_obj_t *self);
mp_float_t common_hal_gnss_get_altitude(gnss_obj_t *self);
void common_hal_gnss_get_timestamp(gnss_obj_t *self, timeutils_struct_time_t *tm);
gnss_positionfix_t common_hal_gnss_get_fix(gnss_obj_t *self);
#endif // MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_GNSS_H

108
shared-bindings/gnss/PositionFix.c Normal file
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@ -0,0 +1,108 @@
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright 2020 Sony Semiconductor Solutions Corporation
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "shared-bindings/gnss/PositionFix.h"
//| class PositionFix:
//| """Position fix mode"""
//|
//| def __init__(self, ):
//| """Enum-like class to define the position fix mode."""
//|
//| INVALID: Any = ...
//| """No measurement.
//|
//| :type gnss.PositionFix:"""
//|
//| FIX_2D: Any = ...
//| """2D fix.
//|
//| :type gnss.PositionFix:"""
//|
//| FIX_3D: Any = ...
//| """3D fix.
//|
//| :type gnss.PositionFix:"""
//|
const mp_obj_type_t gnss_positionfix_type;
const gnss_positionfix_obj_t gnss_positionfix_invalid_obj = {
{ &gnss_positionfix_type },
};
const gnss_positionfix_obj_t gnss_positionfix_fix2d_obj = {
{ &gnss_positionfix_type },
};
const gnss_positionfix_obj_t gnss_positionfix_fix3d_obj = {
{ &gnss_positionfix_type },
};
gnss_positionfix_t gnss_positionfix_obj_to_type(mp_obj_t obj) {
gnss_positionfix_t posfix = POSITIONFIX_INVALID;
if (obj == MP_ROM_PTR(&gnss_positionfix_fix2d_obj)) {
posfix = POSITIONFIX_2D;
} else if (obj == MP_ROM_PTR(&gnss_positionfix_fix3d_obj)) {
posfix = POSITIONFIX_3D;
}
return posfix;
}
mp_obj_t gnss_positionfix_type_to_obj(gnss_positionfix_t posfix) {
switch (posfix) {
case POSITIONFIX_2D:
return (mp_obj_t)MP_ROM_PTR(&gnss_positionfix_fix2d_obj);
case POSITIONFIX_3D:
return (mp_obj_t)MP_ROM_PTR(&gnss_positionfix_fix3d_obj);
case POSITIONFIX_INVALID:
default:
return (mp_obj_t)MP_ROM_PTR(&gnss_positionfix_invalid_obj);
}
}
STATIC const mp_rom_map_elem_t gnss_positionfix_locals_dict_table[] = {
{MP_ROM_QSTR(MP_QSTR_INVALID), MP_ROM_PTR(&gnss_positionfix_invalid_obj)},
{MP_ROM_QSTR(MP_QSTR_FIX_2D), MP_ROM_PTR(&gnss_positionfix_fix2d_obj)},
{MP_ROM_QSTR(MP_QSTR_FIX_3D), MP_ROM_PTR(&gnss_positionfix_fix3d_obj)},
};
STATIC MP_DEFINE_CONST_DICT(gnss_positionfix_locals_dict, gnss_positionfix_locals_dict_table);
STATIC void gnss_positionfix_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
qstr posfix = MP_QSTR_INVALID;
if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_positionfix_fix2d_obj)) {
posfix = MP_QSTR_FIX_2D;
} else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_positionfix_fix3d_obj)) {
posfix = MP_QSTR_FIX_3D;
}
mp_printf(print, "%q.%q.%q", MP_QSTR_gnss, MP_QSTR_PositionFix, posfix);
}
const mp_obj_type_t gnss_positionfix_type = {
{ &mp_type_type },
.name = MP_QSTR_PositionFix,
.print = gnss_positionfix_print,
.locals_dict = (mp_obj_t)&gnss_positionfix_locals_dict,
};

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright 2020 Sony Semiconductor Solutions Corporation
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#ifndef MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_POSITIONFIX_H
#define MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_POSITIONFIX_H
#include "py/obj.h"
typedef enum {
POSITIONFIX_INVALID,
POSITIONFIX_2D,
POSITIONFIX_3D,
} gnss_positionfix_t;
const mp_obj_type_t gnss_positionfix_type;
gnss_positionfix_t gnss_positionfix_obj_to_type(mp_obj_t obj);
mp_obj_t gnss_positionfix_type_to_obj(gnss_positionfix_t mode);
typedef struct {
mp_obj_base_t base;
} gnss_positionfix_obj_t;
extern const gnss_positionfix_obj_t gnss_positionfix_invalid_obj;
extern const gnss_positionfix_obj_t gnss_positionfix_fix2d_obj;
extern const gnss_positionfix_obj_t gnss_positionfix_fix3d_obj;
#endif // MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_POSITIONFIX_H

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright 2020 Sony Semiconductor Solutions Corporation
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "shared-bindings/gnss/SatelliteSystem.h"
//| class SatelliteSystem:
//| """Satellite system type"""
//|
//| def __init__(self, ):
//| """Enum-like class to define the satellite system type."""
//|
//| GPS: Any = ...
//| """Global Positioning System.
//|
//| :type gnss.SatelliteSystem:"""
//|
//| GLONASS: Any = ...
//| """GLObal NAvigation Satellite System.
//|
//| :type gnss.SatelliteSystem:"""
//|
//| SBAS: Any = ...
//| """Satellite Based Augmentation System.
//|
//| :type gnss.SatelliteSystem:"""
//|
//| QZSS_L1CA: Any = ...
//| """Quasi-Zenith Satellite System L1C/A.
//|
//| :type gnss.SatelliteSystem:"""
//|
//| QZSS_L1S: Any = ...
//| """Quasi-Zenith Satellite System L1S.
//|
//| :type gnss.SatelliteSystem:"""
//|
const mp_obj_type_t gnss_satellitesystem_type;
const gnss_satellitesystem_obj_t gnss_satellitesystem_gps_obj = {
{ &gnss_satellitesystem_type },
};
const gnss_satellitesystem_obj_t gnss_satellitesystem_glonass_obj = {
{ &gnss_satellitesystem_type },
};
const gnss_satellitesystem_obj_t gnss_satellitesystem_sbas_obj = {
{ &gnss_satellitesystem_type },
};
const gnss_satellitesystem_obj_t gnss_satellitesystem_qzss_l1ca_obj = {
{ &gnss_satellitesystem_type },
};
const gnss_satellitesystem_obj_t gnss_satellitesystem_qzss_l1s_obj = {
{ &gnss_satellitesystem_type },
};
gnss_satellitesystem_t gnss_satellitesystem_obj_to_type(mp_obj_t obj) {
if (obj == MP_ROM_PTR(&gnss_satellitesystem_gps_obj)) {
return SATELLITESYSTEM_GPS;
} else if (obj == MP_ROM_PTR(&gnss_satellitesystem_glonass_obj)) {
return SATELLITESYSTEM_GLONASS;
} else if (obj == MP_ROM_PTR(&gnss_satellitesystem_sbas_obj)) {
return SATELLITESYSTEM_SBAS;
} else if (obj == MP_ROM_PTR(&gnss_satellitesystem_qzss_l1ca_obj)) {
return SATELLITESYSTEM_QZSS_L1CA;
} else if (obj == MP_ROM_PTR(&gnss_satellitesystem_qzss_l1s_obj)) {
return SATELLITESYSTEM_QZSS_L1S;
}
return SATELLITESYSTEM_NONE;
}
mp_obj_t gnss_satellitesystem_type_to_obj(gnss_satellitesystem_t system) {
switch (system) {
case SATELLITESYSTEM_GPS:
return (mp_obj_t)MP_ROM_PTR(&gnss_satellitesystem_gps_obj);
case SATELLITESYSTEM_GLONASS:
return (mp_obj_t)MP_ROM_PTR(&gnss_satellitesystem_glonass_obj);
case SATELLITESYSTEM_SBAS:
return (mp_obj_t)MP_ROM_PTR(&gnss_satellitesystem_sbas_obj);
case SATELLITESYSTEM_QZSS_L1CA:
return (mp_obj_t)MP_ROM_PTR(&gnss_satellitesystem_qzss_l1ca_obj);
case SATELLITESYSTEM_QZSS_L1S:
return (mp_obj_t)MP_ROM_PTR(&gnss_satellitesystem_qzss_l1s_obj);
case SATELLITESYSTEM_NONE:
default:
return (mp_obj_t)MP_ROM_PTR(&mp_const_none_obj);
}
}
STATIC const mp_rom_map_elem_t gnss_satellitesystem_locals_dict_table[] = {
{MP_ROM_QSTR(MP_QSTR_GPS), MP_ROM_PTR(&gnss_satellitesystem_gps_obj)},
{MP_ROM_QSTR(MP_QSTR_GLONASS), MP_ROM_PTR(&gnss_satellitesystem_glonass_obj)},
{MP_ROM_QSTR(MP_QSTR_SBAS), MP_ROM_PTR(&gnss_satellitesystem_sbas_obj)},
{MP_ROM_QSTR(MP_QSTR_QZSS_L1CA), MP_ROM_PTR(&gnss_satellitesystem_qzss_l1ca_obj)},
{MP_ROM_QSTR(MP_QSTR_QZSS_L1S), MP_ROM_PTR(&gnss_satellitesystem_qzss_l1s_obj)},
};
STATIC MP_DEFINE_CONST_DICT(gnss_satellitesystem_locals_dict, gnss_satellitesystem_locals_dict_table);
STATIC void gnss_satellitesystem_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
qstr system = MP_QSTR_None;
if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_satellitesystem_gps_obj)) {
system = MP_QSTR_GPS;
} else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_satellitesystem_glonass_obj)) {
system = MP_QSTR_GLONASS;
} else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_satellitesystem_sbas_obj)) {
system = MP_QSTR_SBAS;
} else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_satellitesystem_qzss_l1ca_obj)) {
system = MP_QSTR_QZSS_L1CA;
} else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&gnss_satellitesystem_qzss_l1s_obj)) {
system = MP_QSTR_QZSS_L1S;
}
mp_printf(print, "%q.%q.%q", MP_QSTR_gnss, MP_QSTR_SatelliteSystem, system);
}
const mp_obj_type_t gnss_satellitesystem_type = {
{ &mp_type_type },
.name = MP_QSTR_SatelliteSystem,
.print = gnss_satellitesystem_print,
.locals_dict = (mp_obj_t)&gnss_satellitesystem_locals_dict,
};

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright 2020 Sony Semiconductor Solutions Corporation
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#ifndef MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_SATELLITESYSTEM_H
#define MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_SATELLITESYSTEM_H
#include "py/obj.h"
typedef enum {
SATELLITESYSTEM_NONE = 0,
SATELLITESYSTEM_GPS = (1U << 0),
SATELLITESYSTEM_GLONASS = (1U << 1),
SATELLITESYSTEM_SBAS = (1U << 2),
SATELLITESYSTEM_QZSS_L1CA = (1U << 3),
SATELLITESYSTEM_QZSS_L1S = (1U << 4),
} gnss_satellitesystem_t;
const mp_obj_type_t gnss_satellitesystem_type;
gnss_satellitesystem_t gnss_satellitesystem_obj_to_type(mp_obj_t obj);
mp_obj_t gnss_satellitesystem_type_to_obj(gnss_satellitesystem_t mode);
typedef struct {
mp_obj_base_t base;
} gnss_satellitesystem_obj_t;
extern const gnss_satellitesystem_obj_t gnss_satellitesystem_gps_obj;
extern const gnss_satellitesystem_obj_t gnss_satellitesystem_glonass_obj;
extern const gnss_satellitesystem_obj_t gnss_satellitesystem_sbas_obj;
extern const gnss_satellitesystem_obj_t gnss_satellitesystem_qzss_l1ca_obj;
extern const gnss_satellitesystem_obj_t gnss_satellitesystem_qzss_l1s_obj;
#endif // MICROPY_INCLUDED_SHARED_BINDINGS_GNSS_SATELLITESYSTEM_H

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright 2020 Sony Semiconductor Solutions Corporation
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "py/obj.h"
#include "py/runtime.h"
#include "py/mphal.h"
#include "shared-bindings/gnss/GNSS.h"
#include "shared-bindings/gnss/SatelliteSystem.h"
#include "shared-bindings/gnss/PositionFix.h"
#include "shared-bindings/util.h"
//| """Global Navigation Satellite System
//|
//| The `gnss` module contains classes to control the GNSS and acquire positioning information."""
//|
STATIC const mp_rom_map_elem_t gnss_module_globals_table[] = {
{ MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_gnss) },
{ MP_ROM_QSTR(MP_QSTR_GNSS), MP_ROM_PTR(&gnss_type) },
// Enum-like Classes.
{ MP_ROM_QSTR(MP_QSTR_SatelliteSystem), MP_ROM_PTR(&gnss_satellitesystem_type) },
{ MP_ROM_QSTR(MP_QSTR_PositionFix), MP_ROM_PTR(&gnss_positionfix_type) },
};
STATIC MP_DEFINE_CONST_DICT(gnss_module_globals, gnss_module_globals_table);
const mp_obj_module_t gnss_module = {
.base = { &mp_type_module },
.globals = (mp_obj_dict_t*)&gnss_module_globals,
};