raiden00pl commented on code in PR #11203: URL: https://github.com/apache/nuttx/pull/11203#discussion_r1396127194
########## arch/arm/src/nrf91/nrf91_modem_gnss.c: ########## @@ -0,0 +1,734 @@ +/**************************************************************************** + * arch/arm/src/nrf91/nrf91_modem_gnss.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <nuttx/kthread.h> + +#include <debug.h> +#include <string.h> +#include <time.h> + +#include <nuttx/sensors/gps.h> +#include <nuttx/sensors/sensor.h> + +#include "nrf_modem.h" +#include "nrf_modem_gnss.h" + +#include "nrf91_modem_at.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#ifndef CONFIG_SENSORS_GPS +# error nRF91 GNSS driver needs CONFIG_SENSORS_GPS +#endif + +/* NMEA and AGPS not supported yet */ + +#undef NRF91_GNSS_NMEA +#undef NRF91_GNSS_AGPS + +/* Some default values */ + +#define NRF91_GNSS_USE_CASE NRF_MODEM_GNSS_USE_CASE_MULTIPLE_HOT_START +#define NRF91_GNSS_POWER_MODE NRF_MODEM_GNSS_PSM_DISABLED +#ifdef NRF91_GNSS_NMEA +# define NRF91_GNSS_NMEA_MASK (NRF_MODEM_GNSS_NMEA_GGA_MASK | \ + NRF_MODEM_GNSS_NMEA_GLL_MASK | \ + NRF_MODEM_GNSS_NMEA_GSA_MASK | \ + NRF_MODEM_GNSS_NMEA_GSV_MASK | \ + NRF_MODEM_GNSS_NMEA_RMC_MASK) +#else +# define NRF91_GNSS_NMEA_MASK 0 +#endif + +/* Shorten some names */ + +#define NRF_GNSS_PVT_FRAME_LEN (sizeof(struct nrf_modem_gnss_pvt_data_frame)) +#define NRF_GNSS_NMEA_FRAME_LEN (sizeof(struct nrf_modem_gnss_nmea_data_frame)) +#define NRF_GNSS_AGPS_FRAME_LEN (sizeof(struct nrf_modem_gnss_agps_data_frame)) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +struct nrf91_gnss_s +{ + /* lower must be first element */ + + struct gps_lowerhalf_s lower; + bool running; + bool singlefix; + int notime_cntr; + sem_t rx_sem; + + /* PVT support */ + + bool pvt_evt; + struct nrf_modem_gnss_pvt_data_frame pvt; + +#ifdef NRF91_GNSS_NMEA + /* NMEA support */ + + bool nmea_evt; + struct nrf_modem_gnss_nmea_data_frame nmea; +#endif + +#ifdef NRF91_GNSS_AGPS + /* AGPS support */ + + bool agps_evt; + struct nrf_modem_gnss_agps_data_frame agps; +#endif +}; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/* GPS operations */ + +static int nrf91_gnss_activate(struct gps_lowerhalf_s *lower, + struct file *filep, bool enable); +static int nrf91_gnss_set_interval(struct gps_lowerhalf_s *lower, + struct file *filep, + unsigned long *period_us); +static int nrf91_gnss_control(struct gps_lowerhalf_s *lower, + struct file *filep, + int cmd, unsigned long arg); +static ssize_t nrf91_gnss_inject_data(struct gps_lowerhalf_s *lower, + struct file *filep, + const void *buffer, size_t buflen); + +/* Helpers */ + +static int nrf91_gnss_configure(void); +static bool nrf91_gnss_isactive(int cfun); +static int nrf91_gnss_enable(struct nrf91_gnss_s *priv, bool enable); +#ifdef CONFIG_NRF91_MODEM_GNSS_BOOST_PRIO +static void nrf91_gnss_boost_prio(struct nrf91_gnss_s *priv); +#endif +static void nrf91_gnss_pvt_event(struct nrf91_gnss_s *priv); +static void nrf91_gnss_event_handler(int event); +static int nrf91_gnss_thread(int argc, char** argv); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +struct gps_ops_s g_nrf91_gnss_ops = +{ + .activate = nrf91_gnss_activate, + .set_interval = nrf91_gnss_set_interval, + .control = nrf91_gnss_control, + .inject_data = nrf91_gnss_inject_data, +}; + +struct nrf91_gnss_s g_nrf91_gnss; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: nrf91_gnss_configure + ****************************************************************************/ + +static int nrf91_gnss_configure(void) +{ + int ret = 0; + + /* Set NMEA strings */ + + ret = nrf_modem_gnss_nmea_mask_set(NRF91_GNSS_NMEA_MASK); + if (ret < 0) + { + goto errout; + } + + /* Set targeted start and runtime performance */ + + ret = nrf_modem_gnss_use_case_set(NRF91_GNSS_USE_CASE); + if (ret < 0) + { + goto errout; + } + + /* Set the used power saving mode */ + + ret = nrf_modem_gnss_power_mode_set(NRF91_GNSS_POWER_MODE); + if (ret < 0) + { + goto errout; + } + +errout: + return ret; +} + +/**************************************************************************** + * Name: nrf91_gnss_isactive + ****************************************************************************/ + +static bool nrf91_gnss_isactive(int cfun) +{ + return (cfun == NRF91_MODEM_FUNC_FULL || + cfun == NRF91_MODEM_FUNC_RXONLY || + cfun == NRF91_MODEM_FUNC_DEACTIVATE_LTE || + cfun == NRF91_MODEM_FUNC_ACTIVATE_GNSS); +} + +/**************************************************************************** + * Name: nrf91_gnss_enable + ****************************************************************************/ + +static int nrf91_gnss_enable(struct nrf91_gnss_s *priv, bool enable) +{ + int ret = OK; + int cfun = 0; + + if (enable) + { + /* Get modem functional mode */ + + ret = nrf_modem_at_scanf("AT+CFUN?", "+CFUN: %d", &cfun); + if (ret < 0) + { + snerr("nrf_modem_at_scanf failed %d", ret); + goto errout; + } + + /* GNSS must be active */ + + if (!nrf91_gnss_isactive(cfun)) + { + snerr("GNSS is not activated!"); + ret = -EACCES; + goto errout; + } + + /* Configure GNSS modem */ + + ret = nrf91_gnss_configure(); + if (ret < 0) + { + snerr("nrf91_gnss_configure failed %d\n", ret); + return ret; + } + + ret = nrf_modem_gnss_start(); + if (ret < 0) + { + snerr("nrf_modem_gnss_start failed %d", ret); + goto errout; + } + + priv->running = true; + } + else + { + ret = nrf_modem_gnss_stop(); + if (ret < 0) + { + snerr("nrf_modem_gnss_stop failed %d", ret); + goto errout; + } + + priv->running = false; + } + +errout: + return ret; +} + +/**************************************************************************** + * Name: nrf91_gnss_activate + ****************************************************************************/ + +static int nrf91_gnss_activate(struct gps_lowerhalf_s *lower, + struct file *filep, bool enable) +{ + struct nrf91_gnss_s *priv = (struct nrf91_gnss_s *)lower; + + return nrf91_gnss_enable(priv, enable); +} + +/**************************************************************************** + * Name: nrf91_gnss_set_interval + ****************************************************************************/ + +static int nrf91_gnss_set_interval(struct gps_lowerhalf_s *lower, + struct file *filep, + unsigned long *period_us) +{ + struct nrf91_gnss_s *priv = (struct nrf91_gnss_s *)lower; + uint16_t fix_interval = 0; + int ret = OK; + bool running = priv->running; + + /* GNSS must be disabled when fix interval change */ + + if (running == true) + { + nrf91_gnss_enable(priv, false); + } + + /* Fix interval in seconds */ + + fix_interval = (*period_us) / 1000000; + + /* Handle GNSS mode */ + + if (fix_interval == 1) + { + /* Continuous navigation with 1 Hz rate */ + + fix_interval = 1; Review Comment: some leftovers, removed -- This is an automated message from the Apache Git Service. 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