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The following commit(s) were added to refs/heads/master by this push:
new 9b68971853 goldfish: add goldfish gps driver
9b68971853 is described below
commit 9b689718531b0c82b39461434d19ccd975d675c3
Author: Shanmin Zhang <[email protected]>
AuthorDate: Mon Jul 17 21:56:34 2023 +0800
goldfish: add goldfish gps driver
Verification:
uorb_listener -r 1 sensor_gps
[ 18.240000] [13] [ INFO] [ap]
Mointor objects num:2
[ 18.240000] [13] [ INFO] [ap] object_name:sensor_gps, object_instance:0
[ 18.240000] [13] [ INFO] [ap] object_name:sensor_gps, object_instance:1
[ 18.240000] [13] [ ALERT] [ap] period_us = 1000000
[ 19.010000] [13] [ INFO] [ap] sensor_gps: timestamp: 19010000 (0 us
ago) time_utc: 1689601925 latitude: 37.4210 longitude: -121.9150
[ 19.010000] [13] [ INFO] [ap] sensor_gps: altitude: 0.0000
altitude_ellipsoid: 0.0000 ground_speed: 145.3254 course: 166.2700
[ 19.010000] [13] [ INFO] [ap] sensor_gps: eph: nan epv: nan hdop: nan
vdop: nan
[ 20.020000] [13] [ INFO] [ap] sensor_gps: timestamp: 20020000 (0 us
ago) time_utc: 1689601926 latitude: 37.4210 longitude: -121.9150
[ 20.020000] [13] [ INFO] [ap] sensor_gps: altitude: 0.0000
altitude_ellipsoid: 0.0000 ground_speed: 145.3254 course: 166.2700
[ 20.020000] [13] [ INFO] [ap] sensor_gps: eph: nan epv: nan hdop: nan
vdop: nan
[ 21.010000] [13] [ INFO] [ap] sensor_gps: timestamp: 21010000 (0 us
ago) time_utc: 1689601927 latitude: 37.4210 longitude: -121.9150
[ 21.010000] [13] [ INFO] [ap] sensor_gps: altitude: 0.0000
altitude_ellipsoid: 0.0000 ground_speed: 145.3254 course: 166.2700
[ 21.010000] [13] [ INFO] [ap] sensor_gps: eph: nan epv: nan hdop: nan
vdop: nan
[ 22.020000] [13] [ INFO] [ap] sensor_gps: timestamp: 22020000 (0 us
ago) time_utc: 1689601928 latitude: 37.4210 longitude: -121.9150
[ 22.020000] [13] [ INFO] [ap] sensor_gps: altitude: 0.0000
altitude_ellipsoid: 0.0000 ground_speed: 145.3254 course: 166.2700
[ 22.020000] [13] [ INFO] [ap] sensor_gps: eph: nan epv: nan hdop: nan
vdop: nan
[ 23.010000] [13] [ INFO] [ap] sensor_gps: timestamp: 23010000 (0 us
ago) time_utc: 1689601929 latitude: 37.4210 longitude: -121.9150
[ 23.010000] [13] [ INFO] [ap] sensor_gps: altitude: 0.0000
altitude_ellipsoid: 0.0000 ground_speed: 145.3254 course: 166.2700
[ 23.010000] [13] [ INFO] [ap] sensor_gps: eph: nan epv: nan hdop: nan
vdop: nan
...
Signed-off-by: Shanmin Zhang <[email protected]>
---
drivers/sensors/Kconfig | 5 +
drivers/sensors/Make.defs | 4 +
drivers/sensors/goldfish_gps.c | 222 +++++++++++++++++++++++++++++++++++
include/nuttx/sensors/goldfish_gps.h | 60 ++++++++++
4 files changed, 291 insertions(+)
diff --git a/drivers/sensors/Kconfig b/drivers/sensors/Kconfig
index 3cdb6909eb..2037b6d0ac 100644
--- a/drivers/sensors/Kconfig
+++ b/drivers/sensors/Kconfig
@@ -56,6 +56,11 @@ config SENSORS_FAKESENSOR
2.1234,3.23443,2.23456
...
+config SENSORS_GOLDFISH_GPS
+ bool "Goldfish GPS Support"
+ depends on SENSORS_GPS
+ default n
+
config SENSORS_APDS9960
bool "Avago APDS-9960 Gesture Sensor support"
default n
diff --git a/drivers/sensors/Make.defs b/drivers/sensors/Make.defs
index d17b951a94..1514994768 100644
--- a/drivers/sensors/Make.defs
+++ b/drivers/sensors/Make.defs
@@ -44,6 +44,10 @@ ifeq ($(CONFIG_SENSORS_FAKESENSOR),y)
CSRCS += fakesensor.c
endif
+ifeq ($(CONFIG_SENSORS_GOLDFISH_GPS),y)
+ CSRCS += goldfish_gps.c
+endif
+
ifeq ($(CONFIG_SENSORS_HCSR04),y)
CSRCS += hc_sr04.c
endif
diff --git a/drivers/sensors/goldfish_gps.c b/drivers/sensors/goldfish_gps.c
new file mode 100644
index 0000000000..e8a66eee82
--- /dev/null
+++ b/drivers/sensors/goldfish_gps.c
@@ -0,0 +1,222 @@
+/****************************************************************************
+ * drivers/sensors/goldfish_gps.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 <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <string.h>
+#include <debug.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/kthread.h>
+#include <nuttx/nuttx.h>
+#include <nuttx/semaphore.h>
+#include <nuttx/sensors/goldfish_gps.h>
+#include <nuttx/sensors/gps.h>
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct goldfish_gps_s
+{
+ struct gps_lowerhalf_s gps;
+ struct file pipe;
+ volatile bool running;
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static int goldfish_gps_activate(FAR struct gps_lowerhalf_s *lower,
+ FAR struct file *filep, bool enabled);
+static int goldfish_gps_thread(int argc, FAR char** argv);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static struct gps_ops_s g_goldfish_gps_ops =
+{
+ .activate = goldfish_gps_activate,
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static inline int goldfish_gps_write_pipe(FAR struct file *pipe,
+ FAR const void *buffer,
+ size_t size)
+{
+ FAR const char *p = (FAR const char *)buffer;
+
+ while (size > 0)
+ {
+ int n = file_write(pipe, p, size);
+ if (n < 0)
+ {
+ return n;
+ }
+
+ p += n;
+ size -= n;
+ }
+
+ return 0;
+}
+
+static inline int goldfish_gps_open_pipe(FAR struct file *filep,
+ FAR const char *ns,
+ FAR const char *pipe_name,
+ int flags)
+{
+ char buf[256];
+ int buf_len;
+ int ret;
+
+ ret = file_open(filep, "/dev/goldfish_pipe", flags);
+ if (ret < 0)
+ {
+ snerr("Could not open '%s': %s",
+ "/dev/goldfish_pipe", strerror(-ret));
+ return ret;
+ }
+
+ if (ns)
+ {
+ buf_len = snprintf(buf, sizeof(buf), "pipe:%s:%s", ns, pipe_name);
+ }
+ else
+ {
+ buf_len = snprintf(buf, sizeof(buf), "pipe:%s", pipe_name);
+ }
+
+ ret = goldfish_gps_write_pipe(filep, buf, buf_len + 1);
+ if (ret < 0)
+ {
+ snerr("Could not connect to the '%s' service: %s",
+ buf, strerror(-ret));
+ file_close(filep);
+ return ret;
+ }
+
+ return OK;
+}
+
+static int goldfish_gps_activate(FAR struct gps_lowerhalf_s *gps,
+ FAR struct file *filep,
+ bool enabled)
+{
+ FAR struct goldfish_gps_s *priv =
+ container_of(gps, struct goldfish_gps_s, gps);
+ priv->running = enabled;
+
+ return OK;
+}
+
+static int goldfish_gps_thread(int argc, FAR char** argv)
+{
+ FAR struct goldfish_gps_s *priv = (FAR struct goldfish_gps_s *)
+ ((uintptr_t)strtoul(argv[1], NULL, 0));
+ ssize_t len;
+ char buf[256];
+
+ while (true)
+ {
+ len = file_read(&priv->pipe, buf, sizeof(buf));
+ if (priv->running && len > 0)
+ {
+ priv->gps.push_data(priv->gps.priv, buf, len, true);
+ }
+ }
+
+ return OK;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: goldfish_gps_init
+ *
+ * Description:
+ * Goldfish GPS driver entrypoint.
+ *
+ * Input Parameters:
+ * devno - The user specifies which device of this type, from 0.
+ * batch_number- The maximum number of batch.
+ *
+ * Returned Value:
+ * Zero (OK) or positive on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int goldfish_gps_init(int devno, uint32_t batch_number)
+{
+ FAR struct goldfish_gps_s *gps;
+ FAR char *argv[2];
+ char arg1[32];
+ int ret;
+
+ /* Alloc memory for sensor */
+
+ gps = kmm_zalloc(sizeof(struct goldfish_gps_s));
+ if (!gps)
+ {
+ return -ENOMEM;
+ }
+
+ ret = goldfish_gps_open_pipe(&gps->pipe, "qemud", "gps", O_RDWR);
+ if (ret < 0)
+ {
+ kmm_free(gps);
+ return ret;
+ }
+
+ /* Create thread for sensor */
+
+ snprintf(arg1, 32, "%p", gps);
+ argv[0] = arg1;
+ argv[1] = NULL;
+ ret = kthread_create("goldfish_gps_thread", SCHED_PRIORITY_DEFAULT,
+ CONFIG_DEFAULT_TASK_STACKSIZE,
+ goldfish_gps_thread, argv);
+ if (ret < 0)
+ {
+ file_close(&gps->pipe);
+ kmm_free(gps);
+ return ret;
+ }
+
+ /* Register sensor */
+
+ gps->gps.ops = &g_goldfish_gps_ops;
+
+ return gps_register(&gps->gps, devno, batch_number);
+}
diff --git a/include/nuttx/sensors/goldfish_gps.h
b/include/nuttx/sensors/goldfish_gps.h
new file mode 100644
index 0000000000..3afd9a71bf
--- /dev/null
+++ b/include/nuttx/sensors/goldfish_gps.h
@@ -0,0 +1,60 @@
+/****************************************************************************
+ * include/nuttx/sensors/goldfish_gps.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_SENSORS_GOLDFISH_GPS_H
+#define __INCLUDE_NUTTX_SENSORS_GOLDFISH_GPS_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/****************************************************************************
+ * Name: goldfish_gps_init
+ *
+ * Description:
+ * Goldfish GPS driver entrypoint.
+ *
+ * Input Parameters:
+ * devno - The user specifies which device of this type, from 0.
+ * batch_number- The maximum number of batch.
+ *
+ * Returned Value:
+ * Zero (OK) or positive on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int goldfish_gps_init(int devno, uint32_t batch_number);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
