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xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git
The following commit(s) were added to refs/heads/master by this push:
new fa90a3d Optimized GPS sensor and add gps satellite sensor.
fa90a3d is described below
commit fa90a3dfd4a0b9c6a879c1c4d9cca3de88bb5ee7
Author: buyuer <dingddd...@163.com>
AuthorDate: Wed Nov 17 10:04:50 2021 +0800
Optimized GPS sensor and add gps satellite sensor.
Signed-off-by: buyuer <dingddd...@163.com>
---
drivers/sensors/fakesensor.c | 2 +-
drivers/sensors/sensor.c | 59 ++++++++++++++++---------------
drivers/sensors/wtgahrs2.c | 25 +++++--------
include/nuttx/sensors/sensor.h | 80 ++++++++++++++++++++++++++++++++++--------
4 files changed, 105 insertions(+), 61 deletions(-)
diff --git a/drivers/sensors/fakesensor.c b/drivers/sensors/fakesensor.c
index fa3e564..2860f96 100644
--- a/drivers/sensors/fakesensor.c
+++ b/drivers/sensors/fakesensor.c
@@ -207,7 +207,7 @@ static inline void fakesensor_read_gps(FAR struct
fakesensor_s *sensor)
gps.latitude /= 100.0f;
gps.longitude /= 100.0f;
- gps.height = altitude;
+ gps.altitude = altitude;
sensor->lower.push_event(sensor->lower.priv, &gps,
sizeof(struct sensor_event_gps));
diff --git a/drivers/sensors/sensor.c b/drivers/sensors/sensor.c
index 5b48ce0..fc9d1c8 100644
--- a/drivers/sensors/sensor.c
+++ b/drivers/sensors/sensor.c
@@ -100,35 +100,36 @@ static int sensor_poll(FAR struct file *filep, FAR
struct pollfd *fds,
static const struct sensor_info g_sensor_info[] =
{
- {0, NULL},
- {sizeof(struct sensor_event_accel), "accel"},
- {sizeof(struct sensor_event_mag), "mag"},
- {sizeof(struct sensor_event_gyro), "gyro"},
- {sizeof(struct sensor_event_light), "light"},
- {sizeof(struct sensor_event_baro), "baro"},
- {sizeof(struct sensor_event_prox), "prox"},
- {sizeof(struct sensor_event_humi), "humi"},
- {sizeof(struct sensor_event_temp), "temp"},
- {sizeof(struct sensor_event_rgb), "rgb"},
- {sizeof(struct sensor_event_hall), "hall"},
- {sizeof(struct sensor_event_ir), "ir"},
- {sizeof(struct sensor_event_gps), "gps"},
- {sizeof(struct sensor_event_uv), "uv"},
- {sizeof(struct sensor_event_noise), "noise"},
- {sizeof(struct sensor_event_pm25), "pm25"},
- {sizeof(struct sensor_event_pm1p0), "pm1p0"},
- {sizeof(struct sensor_event_pm10), "pm10"},
- {sizeof(struct sensor_event_co2), "co2"},
- {sizeof(struct sensor_event_hcho), "hcho"},
- {sizeof(struct sensor_event_tvoc), "tvoc"},
- {sizeof(struct sensor_event_ph), "ph"},
- {sizeof(struct sensor_event_dust), "dust"},
- {sizeof(struct sensor_event_hrate), "hrate"},
- {sizeof(struct sensor_event_hbeat), "hbeat"},
- {sizeof(struct sensor_event_ecg), "ecg"},
- {sizeof(struct sensor_event_ppg), "ppg"},
- {sizeof(struct sensor_event_impd), "impd"},
- {sizeof(struct sensor_event_ots), "ots"},
+ {0, NULL},
+ {sizeof(struct sensor_event_accel), "accel"},
+ {sizeof(struct sensor_event_mag), "mag"},
+ {sizeof(struct sensor_event_gyro), "gyro"},
+ {sizeof(struct sensor_event_light), "light"},
+ {sizeof(struct sensor_event_baro), "baro"},
+ {sizeof(struct sensor_event_prox), "prox"},
+ {sizeof(struct sensor_event_humi), "humi"},
+ {sizeof(struct sensor_event_temp), "temp"},
+ {sizeof(struct sensor_event_rgb), "rgb"},
+ {sizeof(struct sensor_event_hall), "hall"},
+ {sizeof(struct sensor_event_ir), "ir"},
+ {sizeof(struct sensor_event_gps), "gps"},
+ {sizeof(struct sensor_event_uv), "uv"},
+ {sizeof(struct sensor_event_noise), "noise"},
+ {sizeof(struct sensor_event_pm25), "pm25"},
+ {sizeof(struct sensor_event_pm1p0), "pm1p0"},
+ {sizeof(struct sensor_event_pm10), "pm10"},
+ {sizeof(struct sensor_event_co2), "co2"},
+ {sizeof(struct sensor_event_hcho), "hcho"},
+ {sizeof(struct sensor_event_tvoc), "tvoc"},
+ {sizeof(struct sensor_event_ph), "ph"},
+ {sizeof(struct sensor_event_dust), "dust"},
+ {sizeof(struct sensor_event_hrate), "hrate"},
+ {sizeof(struct sensor_event_hbeat), "hbeat"},
+ {sizeof(struct sensor_event_ecg), "ecg"},
+ {sizeof(struct sensor_event_ppg), "ppg"},
+ {sizeof(struct sensor_event_impd), "impd"},
+ {sizeof(struct sensor_event_ots), "ots"},
+ {sizeof(struct sensor_event_gps_satellite), "gps_satellite"},
};
static const struct file_operations g_sensor_fops =
diff --git a/drivers/sensors/wtgahrs2.c b/drivers/sensors/wtgahrs2.c
index 42d28d9..8d726ef 100644
--- a/drivers/sensors/wtgahrs2.c
+++ b/drivers/sensors/wtgahrs2.c
@@ -303,22 +303,15 @@ static void wtgahrs2_gps_data(FAR struct wtgahrs2_dev_s
*rtdata,
{
case WTGAHRS2_GPS0_INFO:
rtdata->gps_mask |= WTGAHRS2_GPS0_MASK;
- rtdata->gps.year = 2000 + buffer[0];
- rtdata->gps.month = buffer[1];
- rtdata->gps.day = buffer[2];
- rtdata->gps.hour = buffer[3];
- rtdata->gps.min = buffer[4];
- rtdata->gps.sec = buffer[5];
- rtdata->gps.msec = (buffer[7] << 8) | buffer[6];
break;
case WTGAHRS2_GPS1_INFO:
rtdata->gps_mask |= WTGAHRS2_GPS1_MASK;
- rtdata->gps.longitude = (long)(buffer[3] << 8
+ rtdata->gps.longitude = (buffer[3] << 8
| buffer[2] << 8
| buffer[1] << 8
| buffer[0]) / 10000000.0f;
- rtdata->gps.latitude = (long)(buffer[7] << 8
+ rtdata->gps.latitude = (buffer[7] << 8
| buffer[6] << 8
| buffer[5] << 8
| buffer[4]) / 10000000.0f;
@@ -326,9 +319,8 @@ static void wtgahrs2_gps_data(FAR struct wtgahrs2_dev_s
*rtdata,
case WTGAHRS2_GPS2_INFO:
rtdata->gps_mask |= WTGAHRS2_GPS2_MASK;
- rtdata->gps.height = (short)(buffer[1] << 8 | buffer[0]) / 10.0f;
- rtdata->gps.yaw = (short)(buffer[3] << 8 | buffer[2]) / 10.0f;
- rtdata->gps.speed = (long)(buffer[7] << 8 | buffer[6] << 8
+ rtdata->gps.altitude = (float)(buffer[1] << 8 | buffer[0]) / 10.0f;
+ rtdata->gps.ground_speed = (float)(buffer[7] << 8 | buffer[6] << 8
| buffer[5] << 8 | buffer[4]) / 3600.0f;
break;
}
@@ -337,13 +329,12 @@ static void wtgahrs2_gps_data(FAR struct wtgahrs2_dev_s
*rtdata,
{
rtdata->gps_mask = 0;
lower->push_event(lower->priv, &rtdata->gps, sizeof(rtdata->gps));
- sninfo("Time : %d/%d/%d-%d:%d:%d\n", rtdata->gps.year,
- rtdata->gps.month, rtdata->gps.day, rtdata->gps.hour,
- rtdata->gps.min, rtdata->gps.sec);
+ sninfo("Time : %llu utc_time: %llu\n",
+ rtdata->gps.timestamp, rtdata->gps.time_utc);
sninfo("GPS longitude : %fdegree, latitude:%fdegree\n",
rtdata->gps.longitude, rtdata->gps.latitude);
- sninfo("GPS speed: %fm/s, yaw:%fdegrees, height:%fm \n",
- rtdata->gps.speed, rtdata->gps.yaw, rtdata->gps.height);
+ sninfo("GPS speed: %fm/s, altitude: %fm \n",
+ rtdata->gps.ground_speed, rtdata->gps.altitude);
}
}
diff --git a/include/nuttx/sensors/sensor.h b/include/nuttx/sensors/sensor.h
index 139646a..6374c8a 100644
--- a/include/nuttx/sensors/sensor.h
+++ b/include/nuttx/sensors/sensor.h
@@ -125,8 +125,9 @@
#define SENSOR_TYPE_IR 11
/* GPS
- * A sensor of this type returns gps data. Include year, month, day,
- * hour, minutes, seconds, altitude, longitude, latitude.
+ * A sensor of this type returns gps data. Include latitude, longitude,
+ * altitude, horizontal position accuracy, vertical position accuracy,
+ * horizontal dilution of precision, vertical dilution of precision...
*/
#define SENSOR_TYPE_GPS 12
@@ -254,9 +255,15 @@
#define SENSOR_TYPE_OTS 28
+/* Sensor of gps satellite
+ * A sensor of this type returns the gps satellite information.
+ */
+
+#define SENSOR_TYPE_GPS_SATELLITE 29
+
/* The total number of sensor */
-#define SENSOR_TYPE_COUNT 29
+#define SENSOR_TYPE_COUNT 30
/****************************************************************************
* Inline Functions
@@ -364,19 +371,35 @@ struct sensor_event_ir /* Type: Infrared Ray */
struct sensor_event_gps /* Type: Gps */
{
- int year; /* Time */
- int month;
- int day;
- int hour;
- int min;
- int sec;
- int msec;
-
- float yaw; /* Unit is Si degrees */
- float height; /* Unit is SI m */
- float speed; /* Unit is m/s */
+ uint64_t timestamp; /* Time since system start, Units is microseconds
*/
+
+ /* This is the timestamp which comes from the gps module. It might be
+ * unavailable right after cold start, indicated by a value of 0,
+ * Units is microseconds
+ */
+
+ uint64_t time_utc;
+
float latitude; /* Unit is degrees */
float longitude; /* Unit is degrees */
+ float altitude; /* Altitude above MSL(mean seal level), Unit is SI
m */
+ float altitude_ellipsoid; /* Altitude bove Ellipsoid, Unit is SI m */
+
+ float eph; /* GPS horizontal position accuracy (metres) */
+ float epv; /* GPS vertical position accuracy (metres) */
+
+ float hdop; /* Horizontal dilution of precision */
+ float vdop; /* Vertical dilution of precision */
+
+ float ground_speed; /* GPS ground speed, Unit is m/s */
+
+ /* Course over ground (NOT heading, but direction of movement),
+ * Unit is Si degrees
+ */
+
+ float course;
+
+ uint32_t satellites_used; /* Number of satellites used */
};
struct sensor_event_uv /* Type: Ultraviolet Light */
@@ -477,6 +500,35 @@ struct sensor_event_ots /* Type: OTS */
int32_t y; /* Axis Y in counts */
};
+struct sensor_event_gps_satellite
+{
+ uint64_t timestamp; /* Time since system start, Units is microseconds
*/
+ uint32_t count; /* Total number of messages of satellites visible
*/
+ uint32_t satellites; /* Total number of satellites in view */
+
+ struct satellite
+ {
+ uint32_t svid; /* Space vehicle ID */
+
+ /* Elevation (0: right on top of receiver,
+ * 90: on the horizon) of satellite
+ */
+
+ uint32_t elevation;
+
+ /* Direction of satellite, 0: 0 deg, 255: 360 deg. */
+
+ uint32_t azimuth;
+
+ /* dBHz, Signal to noise ratio of satellite C/N0, range 0..99,
+ * zero when not tracking this satellite
+ */
+
+ uint32_t snr;
+ }
+ info[4];
+};
+
/* The sensor lower half driver interface */
struct sensor_lowerhalf_s;
