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goldfish: add goldfish gps driver

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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 <zhangshanmin@xiaomi.com>
This commit is contained in:
Shanmin Zhang 2023-07-17 21:56:34 +08:00 committed by Xiang Xiao
parent a2c806027f
commit 9b68971853
4 changed files with 291 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
drivers/sensors/Kconfig
View File

@ -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

4
drivers/sensors/Make.defs
View File

@ -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

222
drivers/sensors/goldfish_gps.c Normal file
View File

@ -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);
}

60
include/nuttx/sensors/goldfish_gps.h Normal file
View File

@ -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