sergiotarxz/nuttx
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

arch: cxd56xx: Update gnss header files

Browse Source 
- Add some ioctl commands to get version, sleep, wakeup and reset.
- Add new data structures for CXD5610 GNSS Add-on board.
This commit is contained in:
SPRESENSE 2023-10-28 19:19:38 +09:00 committed by Alin Jerpelea
parent c1db9732c5
commit ed5785ad06
2 changed files with 148 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
arch/arm/include/cxd56xx/gnss.h
View File

@ -547,10 +547,46 @@ extern "C"
#define CXD56_GNSS_IOCTL_GET_1PPS_OUTPUT 53
/**
* Get the firmware version
*
* param[in] arg
* string array of CXD56_GNSS_VERSION_MAXLEN
*/
#define CXD56_GNSS_IOCTL_GET_VERSION 54
/**
* Sleep the firmware
*
* param[in] arg
* CXD56_GNSS_SLEEP(0) or CXD56_GNSS_DEEPSLEEP(1)
*/
#define CXD56_GNSS_IOCTL_SLEEP 55
/**
* Wake up the firmware
*
* param arg
* Parameter is Unnecessary. Set Zero.
*/
#define CXD56_GNSS_IOCTL_WAKEUP 56
/**
* Reset the firmware
*
* param arg
* Parameter is Unnecessary. Set Zero.
*/
#define CXD56_GNSS_IOCTL_RESET 57
/* check macros for GNSS commands */
#define CXD56_GNSS_IOCTL_INVAL 0
#define CXD56_GNSS_IOCTL_MAX 54
#define CXD56_GNSS_IOCTL_MAX 58
/* Same value to GD Start mode CXD56_GNSS_STMOD_XXXX for fw_gd_start */

112
arch/arm/include/cxd56xx/gnss_type.h
View File

@ -45,7 +45,8 @@ extern "C"
/* Max number of satellites */
#define CXD56_GNSS_MAX_SV_NUM 32
#define CXD56_GNSS_MAX_SV_NUM 32 /* for cxd56_gnss_positiondata_s */
#define CXD56_GNSS_MAX_SV2_NUM 150 /* for cxd56_gnss_positiondata2_s */
/* GNSS satellite system */
@ -59,6 +60,23 @@ extern "C"
#define CXD56_GNSS_SAT_BEIDOU (1U << 6) /* BeiDou */
#define CXD56_GNSS_SAT_GALILEO (1U << 7) /* Galileo */
/* GNSS satellite signal type */
#define CXD56_GNSS_SIGNAL_GPS_L1CA (0) /* GPS L1CA */
#define CXD56_GNSS_SIGNAL_GPS_L5 (1) /* GPS L5 */
#define CXD56_GNSS_SIGNAL_GLN_L1OF (2) /* GLONASS L1OF */
#define CXD56_GNSS_SIGNAL_QZS_L1CA (3) /* QZSS L1CA */
#define CXD56_GNSS_SIGNAL_QZS_L1S (4) /* QZSS L1S */
#define CXD56_GNSS_SIGNAL_QZS_L5 (5) /* QZSS L5 */
#define CXD56_GNSS_SIGNAL_BDS_B1ID1 (6) /* BeiDou B1I D1 */
#define CXD56_GNSS_SIGNAL_BDS_B1ID2 (7) /* BeiDou B1I D2 */
#define CXD56_GNSS_SIGNAL_BDS_B1C (8) /* BeiDou B1C */
#define CXD56_GNSS_SIGNAL_BDS_B2A (9) /* BeiDou B2a */
#define CXD56_GNSS_SIGNAL_GAL_E1 (10) /* Galileo E1B, E1C */
#define CXD56_GNSS_SIGNAL_GAL_E5A (11) /* Galileo E5a */
#define CXD56_GNSS_SIGNAL_NAV_L5 (12) /* NavIC L5 */
#define CXD56_GNSS_SIGNAL_SBAS_L1 (13) /* SBAS L1 */
/* GNSS positioning type */
#define CXD56_GNSS_PVT_TYPE_NONE 0 /* Positioning data none */
@ -194,6 +212,15 @@ extern "C"
#define CXD56_GNSS_PVT_RECEIVER_ASSIST_AEPPOS (0x08)
#define CXD56_GNSS_PVT_RECEIVER_ASSIST_AEPVEL (0x10)
/* GNSS firmware version information */
#define CXD56_GNSS_VERSION_MAXLEN 32
/* GNSS sleep parameter */
#define CXD56_GNSS_SLEEP 0
#define CXD56_GNSS_DEEPSLEEP 1
/* GNSS positionig data elements */
/* Day (UTC) */
@ -990,6 +1017,89 @@ struct cxd56_gnss_status_s
struct cxd56_pvtlog_date_s end_date; /* [in] Date (UTC) 4B */
};
/* GNSS satellite data v2 */
struct cxd56_gnss_sv2_s
{
uint8_t type; /* Signal ID
* 0: GPS L1CA
* 1: GPS L5
* 2: GLN L1OF
* 3: QZS L1CA
* 4: QZS L1S
* 5: QZS L5
* 6: BDS B1I D1
* 7: BDS B1I D2
* 8: BDS B1C
* 9: BDS B2a
* 10: GAL E1B/E1C
* 11: GAL E5a
* 12: NavIC L5
* 13: SBAS L1
*/
uint8_t svid; /* Satellite id */
int16_t azimuth; /* Azimuth [degree] */
uint8_t elevation; /* Elevation [degree] */
uint8_t siglevel; /* CN [dB] */
uint8_t stat; /* Using sv info, bit field; bit0:tracking,
* bit1:positioning, bit2:calculating velocity,
* bit3:visible satellite
*/
};
/* GNSS Receiver data v2 */
struct cxd56_gnss_receiver2_s
{
struct cxd56_gnss_date_s date; /* Current day (UTC) */
struct cxd56_gnss_time_s time; /* Current time (UTC) */
double latitude; /* Latitude [degree] */
double longitude; /* Longitude [degree] */
double altitude; /* Altitude [m] */
double geoid; /* Geoid height [m] */
float velocity; /* Velocity [m/s] */
float direction; /* Direction [degree] */
float mag_course; /* Magnetic Course [degree] */
float up_velocity; /* Up Velocity [m/s] */
uint8_t pos_dataexist; /* 0:none 1:exist */
uint8_t fix_indicator; /* 0:invalid 1: Fix valid
* 2:Differential GPS 6:Dead reckoning
*/
uint8_t pos_fixmode; /* 1:Invalid, 2:2D, 3:3D */
uint8_t vel_fixmode; /* 0:Invalid, 1:Autonomous 2:Differential
* 3: Dead reckoning
*/
uint16_t svtype; /* Using sv system, bit field;
* 0:GPS, 1:GLONASS, 2:Galileo, 3:BeiDou,
* 4:QZS, 5:NavIC, 6: combined
*/
uint8_t numsv; /* Nr of visible satellites */
float hvar; /* Horizontal uncertainty [m] */
float vvar; /* Vertical uncertainty [m] */
float hvar_speed; /* Horizontal uncertainty speed [km/h] */
float vvar_speed; /* Vertical uncertainty speed [km/h] */
float pdop; /* Position DOP */
float hdop; /* Horizontal DOP */
float vdop; /* Vertical DOP */
float majdop; /* Stdev of semi-major axis [m] */
float mindop; /* Stdev of semi-minor axis [m] */
float oridop; /* Orientation of semi-major axis [deg] */
};
/* Positioning data with SV data v2 */
struct cxd56_gnss_positiondata2_s
{
struct cxd56_gnss_receiver2_s receiver; /* Receiver data */
uint64_t timestamp; /* Timestamp [us] */
uint32_t status; /* Positioning data
* status 0 : Valid,
* <0 : Invalid
*/
uint32_t svcount; /* Sv data count */
struct cxd56_gnss_sv2_s sv[CXD56_GNSS_MAX_SV2_NUM]; /* Sv data array */
};
#ifdef __cplusplus
}
#endif /* __cplusplus */