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gnss: Remove start and stop

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This commit is contained in:
Kamil Tomaszewski 2020-06-24 11:04:05 +02:00
parent c49f4bcc85
commit 3509dad5b3
4 changed files with 58 additions and 129 deletions
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64
ports/cxd56/common-hal/gnss/GNSS.c
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@ -40,24 +40,6 @@ typedef struct {
STATIC gnss_dev_t gnss_dev = {"/dev/gps", -1}; STATIC gnss_dev_t gnss_dev = {"/dev/gps", -1};
static unsigned long satellitesystem_type_to_bit_fields(gnss_satellitesystem_t system) {
switch (system) {
case SATELLITESYSTEM_GPS:
return CXD56_GNSS_SAT_GPS;
case SATELLITESYSTEM_GLONASS:
return CXD56_GNSS_SAT_GLONASS;
case SATELLITESYSTEM_SBAS:
return CXD56_GNSS_SAT_SBAS;
case SATELLITESYSTEM_QZSS_L1CA:
return CXD56_GNSS_SAT_QZ_L1CA;
case SATELLITESYSTEM_QZSS_L1S:
return CXD56_GNSS_SAT_QZ_L1S;
case SATELLITESYSTEM_NONE:
default:
return CXD56_GNSS_SAT_NONE;
}
}
static gnss_positionfix_t fix_to_positionfix_type(uint8_t fix) { static gnss_positionfix_t fix_to_positionfix_type(uint8_t fix) {
switch (fix) { switch (fix) {
case CXD56_GNSS_PVT_POSFIX_2D: case CXD56_GNSS_PVT_POSFIX_2D:
@ -70,7 +52,7 @@ static gnss_positionfix_t fix_to_positionfix_type(uint8_t fix) {
} }
} }
void common_hal_gnss_construct(gnss_obj_t *self) { void common_hal_gnss_construct(gnss_obj_t *self, unsigned long selection) {
if (gnss_dev.fd < 0) { if (gnss_dev.fd < 0) {
gnss_dev.fd = open(gnss_dev.devpath, O_RDONLY); gnss_dev.fd = open(gnss_dev.devpath, O_RDONLY);
if (gnss_dev.fd < 0) { if (gnss_dev.fd < 0) {
@ -80,6 +62,23 @@ void common_hal_gnss_construct(gnss_obj_t *self) {
self->satellite_system = 0; self->satellite_system = 0;
self->fix = POSITIONFIX_INVALID; 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) { void common_hal_gnss_deinit(gnss_obj_t *self) {
@ -95,33 +94,6 @@ bool common_hal_gnss_deinited(gnss_obj_t *self) {
return gnss_dev.fd < 0; return gnss_dev.fd < 0;
} }
void common_hal_gnss_select(gnss_obj_t *self, gnss_satellitesystem_t system) {
unsigned long selection = self->satellite_system | satellitesystem_type_to_bit_fields(system);
ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_SELECT_SATELLITE_SYSTEM, selection);
self->satellite_system = selection;
}
void common_hal_gnss_deselect(gnss_obj_t *self, gnss_satellitesystem_t system) {
unsigned long selection = self->satellite_system & ~satellitesystem_type_to_bit_fields(system);
ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_SELECT_SATELLITE_SYSTEM, selection);
self->satellite_system = selection;
}
void common_hal_gnss_start(gnss_obj_t *self) {
if (self->satellite_system == 0) {
mp_raise_ValueError(translate("Cannot start without selecting at least one satellite system."));
}
ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_START, CXD56_GNSS_STMOD_COLD);
}
void common_hal_gnss_stop(gnss_obj_t *self) {
ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_STOP, 0);
}
void common_hal_gnss_update(gnss_obj_t *self) { void common_hal_gnss_update(gnss_obj_t *self) {
struct cxd56_gnss_positiondata_s positiondata; struct cxd56_gnss_positiondata_s positiondata;

105
shared-bindings/gnss/GNSS.c
View File

@ -38,31 +38,54 @@
//| import gnss //| import gnss
//| import time //| import time
//| //|
//| gps = gnss.GNSS() //| nav = gnss.GNSS([gnss.SatelliteSystem.GPS, gnss.SatelliteSystem.GLONASS])
//| gps.select(gnss.SatelliteSystem.GPS)
//| gps.start()
//| last_print = time.monotonic() //| last_print = time.monotonic()
//| while True: //| while True:
//| gps.update() //| nav.update()
//| current = time.monotonic() //| current = time.monotonic()
//| if current - last_print >= 1.0: //| if current - last_print >= 1.0:
//| last_print = current //| last_print = current
//| if gps.fix is gnss.PositionFix.INVALID: //| if nav.fix is gnss.PositionFix.INVALID:
//| print("Waiting for fix...") //| print("Waiting for fix...")
//| continue //| continue
//| print("Latitude: {0:.6f} degrees".format(gps.latitude)) //| print("Latitude: {0:.6f} degrees".format(nav.latitude))
//| print("Longitude: {0:.6f} degrees".format(gps.longitude))""" //| print("Longitude: {0:.6f} degrees".format(nav.longitude))"""
//| //|
//| def __init__(self, ): //| def __init__(self, ):
//| """Turn on the GNSS.""" //| """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) { 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); gnss_obj_t *self = m_new_obj(gnss_obj_t);
self->base.type = &gnss_type; 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);
common_hal_gnss_construct(self); 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); return MP_OBJ_FROM_PTR(self);
} }
@ -83,64 +106,6 @@ STATIC void check_for_deinit(gnss_obj_t *self) {
} }
} }
//| def select(self, system: gnss.SatelliteSystem) -> Any:
//| """Add specified satellite system to selection for positioning.
//|
//| :param gnss.SatelliteSystem system: satellite system to use"""
//| ...
//|
STATIC mp_obj_t gnss_obj_select(mp_obj_t self_in, mp_obj_t system_obj) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
gnss_satellitesystem_t system = gnss_satellitesystem_obj_to_type(system_obj);
common_hal_gnss_select(self, system);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_2(gnss_select_obj, gnss_obj_select);
//| def deselect(self, system: gnss.SatelliteSystem) -> Any:
//| """Remove specified satellite system from selection for positioning.
//|
//| :param gnss.SatelliteSystem system: satellite system to remove"""
//| ...
//|
STATIC mp_obj_t gnss_obj_deselect(mp_obj_t self_in, mp_obj_t system_obj) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
gnss_satellitesystem_t system = gnss_satellitesystem_obj_to_type(system_obj);
common_hal_gnss_deselect(self, system);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_2(gnss_deselect_obj, gnss_obj_deselect);
//| def start(self, ) -> Any:
//| """Start positioning."""
//| ...
//|
STATIC mp_obj_t gnss_obj_start(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
common_hal_gnss_start(self);
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(gnss_start_obj, gnss_obj_start);
//| def stop(self, ) -> Any:
//| """Stop positioning."""
//| ...
//|
STATIC mp_obj_t gnss_obj_stop(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
common_hal_gnss_stop(self);
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(gnss_stop_obj, gnss_obj_stop);
//| def update(self, ) -> Any: //| def update(self, ) -> Any:
//| """Update GNSS positioning information.""" //| """Update GNSS positioning information."""
//| ... //| ...
@ -189,7 +154,7 @@ const mp_obj_property_t gnss_longitude_obj = {
}; };
//| altitude: Any = ... //| altitude: Any = ...
//| """Altitude of current position in degrees (float).""" //| """Altitude of current position in meters (float)."""
//| //|
STATIC mp_obj_t gnss_obj_get_altitude(mp_obj_t self_in) { STATIC mp_obj_t gnss_obj_get_altitude(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in); gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
@ -224,10 +189,6 @@ const mp_obj_property_t gnss_fix_obj = {
STATIC const mp_rom_map_elem_t gnss_locals_dict_table[] = { 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_deinit), MP_ROM_PTR(&gnss_deinit_obj) },
{ MP_ROM_QSTR(MP_QSTR_select), MP_ROM_PTR(&gnss_select_obj) },
{ MP_ROM_QSTR(MP_QSTR_deselect), MP_ROM_PTR(&gnss_deselect_obj) },
{ MP_ROM_QSTR(MP_QSTR_start), MP_ROM_PTR(&gnss_start_obj) },
{ MP_ROM_QSTR(MP_QSTR_stop), MP_ROM_PTR(&gnss_stop_obj) },
{ MP_ROM_QSTR(MP_QSTR_update), MP_ROM_PTR(&gnss_update_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_latitude), MP_ROM_PTR(&gnss_latitude_obj) },

6
shared-bindings/gnss/GNSS.h
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@ -33,13 +33,9 @@
extern const mp_obj_type_t gnss_type; extern const mp_obj_type_t gnss_type;
void common_hal_gnss_construct(gnss_obj_t *self); void common_hal_gnss_construct(gnss_obj_t *self, unsigned long selection);
void common_hal_gnss_deinit(gnss_obj_t *self); void common_hal_gnss_deinit(gnss_obj_t *self);
bool common_hal_gnss_deinited(gnss_obj_t *self); bool common_hal_gnss_deinited(gnss_obj_t *self);
void common_hal_gnss_select(gnss_obj_t *self, gnss_satellitesystem_t system);
void common_hal_gnss_deselect(gnss_obj_t *self, gnss_satellitesystem_t system);
void common_hal_gnss_start(gnss_obj_t *self);
void common_hal_gnss_stop(gnss_obj_t *self);
void common_hal_gnss_update(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_latitude(gnss_obj_t *self);

12
shared-bindings/gnss/SatelliteSystem.h
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@ -30,12 +30,12 @@
#include "py/obj.h" #include "py/obj.h"
typedef enum { typedef enum {
SATELLITESYSTEM_NONE, SATELLITESYSTEM_NONE = 0,
SATELLITESYSTEM_GPS, SATELLITESYSTEM_GPS = (1U << 0),
SATELLITESYSTEM_GLONASS, SATELLITESYSTEM_GLONASS = (1U << 1),
SATELLITESYSTEM_SBAS, SATELLITESYSTEM_SBAS = (1U << 2),
SATELLITESYSTEM_QZSS_L1CA, SATELLITESYSTEM_QZSS_L1CA = (1U << 3),
SATELLITESYSTEM_QZSS_L1S, SATELLITESYSTEM_QZSS_L1S = (1U << 4),
} gnss_satellitesystem_t; } gnss_satellitesystem_t;
const mp_obj_type_t gnss_satellitesystem_type; const mp_obj_type_t gnss_satellitesystem_type;