EliasJRH commented on code in PR #16605: URL: https://github.com/apache/nuttx/pull/16605#discussion_r2164761740
########## drivers/sensors/l86xxx_uorb.c: ########## @@ -0,0 +1,749 @@ +/**************************************************************************** + * drivers/sensors/l86xxx_uorb.c + * + * NOTE: EXPERIMENTAL DRIVER + * + * Contributed by Carleton University InSpace + * + * SPDX-License-Identifier: Apache-2.0 + * + * 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/nuttx.h> +#include <debug.h> + +#include <errno.h> +#include <fcntl.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <stdbool.h> +#include <stdint.h> +#include <unistd.h> +#include <math.h> +#include <time.h> +#include <termios.h> + +#include <nuttx/fs/fs.h> +#include <nuttx/kmalloc.h> +#include <nuttx/kthread.h> +#include <nuttx/mutex.h> +#include <nuttx/semaphore.h> +#include <nuttx/signal.h> +#include <nuttx/wqueue.h> +#include <nuttx/sensors/sensor.h> +#include <minmea/minmea.h> + +#include <nuttx/sensors/l86xxx.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#ifndef CONFIG_SENSORS_L86_XXX_THREAD_STACKSIZE +#define CONFIG_SENSORS_L86_XXX_THREAD_STACKSIZE 10000 +#endif + +#ifndef CONFIG_L86_XXX_BAUD +#define CONFIG_L86_XXX_BAUD 9600 +#endif + +#if CONFIG_L86_XXX_BAUD == 4800 + #define L86_XXX_BAUD_RATE 4800 +#elif CONFIG_L86_XXX_BAUD == 9600 + #define L86_XXX_BAUD_RATE 9600 +#elif CONFIG_L86_XXX_BAUD == 14400 + #define L86_XXX_BAUD_RATE 14400 +#elif CONFIG_L86_XXX_BAUD == 19200 + #define L86_XXX_BAUD_RATE 19200 +#elif CONFIG_L86_XXX_BAUD == 38400 + #define L86_XXX_BAUD_RATE 38400 +#elif CONFIG_L86_XXX_BAUD == 57600 + #define L86_XXX_BAUD_RATE 57600 +#elif CONFIG_L86_XXX_BAUD == 115200 + #define L86_XXX_BAUD_RATE 115200 +#else + #error "Invalid baud rate. Supported baud rates are: 4800, 5600, 14400, 19200, 38400, 57600, 115200" +#endif + +#ifdef CONFIG_L86_XXX_FIX_INT +#define L86_XXX_FIX_INT CONFIG_L86_XXX_FIX_INT +#endif + +/* Helper to get array length */ + +#define MINMEA_MAX_LENGTH 256 + +/**************************************************************************** + * Private Data Types + ****************************************************************************/ + +/* GNSS device struct */ + +typedef struct +{ + FAR struct file uart; /* UART interface */ + struct sensor_lowerhalf_s lower; /* UORB lower-half */ + mutex_t devlock; /* Exclusive access */ + sem_t run; /* Start/stop collection thread */ + bool enabled; /* If module has started */ + char buffer[MINMEA_MAX_LENGTH]; /* Buffer for UART interface */ +#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS + int16_t crefs; /* Number of open references */ +#endif +} l86xxx_dev_s; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +static int l86xxx_control(FAR struct sensor_lowerhalf_s *lower, + FAR struct file *filep, int cmd, unsigned long arg); +static int l86xxx_activate(FAR struct sensor_lowerhalf_s *lower, + FAR struct file *filep, bool enable); +static int l86xxx_set_interval(FAR struct sensor_lowerhalf_s *lower, + FAR struct file *filep, + FAR uint32_t *period_us); +static char calculate_checksum(char *data, int len); +static int set_baud_rate(l86xxx_dev_s *dev, int br); +static int send_command(l86xxx_dev_s *dev, + L86XXX_PMTK_COMMAND cmd, unsigned long arg); +static void read_line(l86xxx_dev_s *dev); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static const struct sensor_ops_s g_sensor_ops = +{ + .control = l86xxx_control, + .activate = l86xxx_activate, + .set_interval = l86xxx_set_interval, +}; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ +/**************************************************************************** + * Name: calculate_checksum + * + * Description: + * Calculate checksum of PMTK command. + * + * Arguments: + * data - Char pointer to calculate checksum for + * len - Length of char string + * + * Returns: + * 1-byte checksum value to be interpreted as a hex byte + ****************************************************************************/ + +static char calculate_checksum(char *data, int len) +{ + char ret = 0; + for (int i = 0; i < len; ++i) + { + ret = ret ^ *(data + i); + } + + return ret; +} + +/**************************************************************************** Review Comment: Didn't see that minmea library has a checksum function that seems to do the same thing, will use that. -- This is an automated message from the Apache Git Service. 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