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uORB/sensor: Add GNSS Geofence, Measurement & Clock.

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Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
This commit is contained in:
wangjianyu3 2024-07-12 10:44:32 +08:00 committed by Xiang Xiao
parent ad2514fc6f
commit d94aa77e19
3 changed files with 42 additions and 3 deletions
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39
system/uorb/sensor/gnss.c
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@ -29,13 +29,40 @@
****************************************************************************/
#ifdef CONFIG_DEBUG_UORB
#define UORB_DEBUG_FORMAT_SENSOR_GNSS \
"timestamp:%" PRIu64 ",time_utc:%" PRIu64 ",latitude:%hf,longitude:%hf," \
"altitude:%hf,altitude_ellipsoid:%hf,eph:%hf,epv:%hf,hdop:%hf,pdop:%hf," \
"vdop:%hf,ground_speed:%hf,course:%hf,satellites_used:%" PRIu32 ""
static const char sensor_gnss_format[] =
"timestamp:%" PRIu64 ",time_utc:%" PRIu64 ",latitude:%hf,longitude:%hf,"
"altitude:%hf,altitude_ellipsoid:%hf,eph:%hf,epv:%hf,hdop:%hf,pdop:%hf,"
"vdop:%hf,ground_speed:%hf,course:%hf,satellites_used:%" PRIu32 "";
UORB_DEBUG_FORMAT_SENSOR_GNSS;
static const char sensor_gnss_clock_format[] =
"flags:%" PRIx32 ",leap_second:%" PRId32 ",time_ns:%" PRId64 ","
"time_uncertainty_ns:%hf,hw_clock_discontinuity_count:%" PRIu32 ","
"full_bias_ns:%" PRId64 ",bias_ns:%hf,bias_uncertainty_ns:%hf,"
"drift_nsps:%hf,drift_uncertainty_nsps:%hf";
static const char sensor_gnss_geofence_event_format[] =
"type:%" PRId32 ",geofence_id:%" PRId32 ","
UORB_DEBUG_FORMAT_SENSOR_GNSS ","
"timestamp:%" PRId64 ",status:%" PRId32 ",transition:%" PRId32 "";
static const char sensor_gnss_measurement_format[] =
"flags:%" PRIx32 ",svid:%" PRId32 ",constellation:%" PRIu32 ","
"time_offset_ns:%hf,received_sv_time_in_ns:%" PRId64 ","
"received_sv_time_uncertainty_in_ns:%" PRId64 ",state:%" PRIu32 ","
"c_n0_dbhz:%hf,pseudorange_rate_mps:%hf,"
"pseudorange_rate_uncertainty_mps:%hf,"
"accumulated_delta_range_state:%" PRIu32 ",accumulated_delta_range_m:%hf,"
"accumulated_delta_range_uncertainty_m:%hf,"
"carrier_frequency_hz:%hf,carrier_cycles:%" PRId64 ",carrier_phase:%hf,"
"carrier_phase_uncertainty:%hf,multipath_indicator:%" PRIu32 ","
"snr:%" PRIu32 "";
static const char sensor_gnss_satellite_format[] =
"timestamp:%" PRIu64 ",count:%" PRIu32 ",satellites:%" PRIu32 ","
"constellation:%" PRIu32 ","
"svid0:%" PRIu32 ",elevation0:%" PRIu32 ",azimuth0:%" PRIu32 ","
"snr0:%" PRIu32 ",svid1:%" PRIu32 ",elevation1:%" PRIu32 ","
"azimuth1:%" PRIu32 ",snr1:%" PRIu32 ",svid2:%" PRIu32 ","
@ -49,5 +76,11 @@ static const char sensor_gnss_satellite_format[] =
****************************************************************************/
ORB_DEFINE(sensor_gnss, struct sensor_gnss, sensor_gnss_format);
ORB_DEFINE(sensor_gnss_clock, struct sensor_gnss_clock,
sensor_gnss_clock_format);
ORB_DEFINE(sensor_gnss_geofence_event, struct sensor_gnss_geofence_event,
sensor_gnss_geofence_event_format);
ORB_DEFINE(sensor_gnss_measurement, struct sensor_gnss_measurement,
sensor_gnss_measurement_format);
ORB_DEFINE(sensor_gnss_satellite, struct sensor_gnss_satellite,
sensor_gnss_satellite_format);

3
system/uorb/sensor/gnss.h
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@ -34,6 +34,9 @@
/* register this as object request broker structure */
ORB_DECLARE(sensor_gnss);
ORB_DECLARE(sensor_gnss_clock);
ORB_DECLARE(sensor_gnss_geofence_event);
ORB_DECLARE(sensor_gnss_measurement);
ORB_DECLARE(sensor_gnss_satellite);
#endif

3
system/uorb/sensor/topics.c
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@ -83,6 +83,9 @@ static FAR const struct orb_metadata *g_sensor_list[] =
ORB_ID(sensor_force),
ORB_ID(sensor_gas),
ORB_ID(sensor_gnss),
ORB_ID(sensor_gnss_clock),
ORB_ID(sensor_gnss_geofence_event),
ORB_ID(sensor_gnss_measurement),
ORB_ID(sensor_gnss_satellite),
ORB_ID(sensor_gyro),
ORB_ID(sensor_gyro_uncal),