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| 1 | +/* |
| 2 | + * This file is part of the MicroPython project, http://micropython.org/ |
| 3 | + * |
| 4 | + * The MIT License (MIT) |
| 5 | + * |
| 6 | + * Copyright 2020 Sony Semiconductor Solutions Corporation |
| 7 | + * |
| 8 | + * Permission is hereby granted, free of charge, to any person obtaining a copy |
| 9 | + * of this software and associated documentation files (the "Software"), to deal |
| 10 | + * in the Software without restriction, including without limitation the rights |
| 11 | + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| 12 | + * copies of the Software, and to permit persons to whom the Software is |
| 13 | + * furnished to do so, subject to the following conditions: |
| 14 | + * |
| 15 | + * The above copyright notice and this permission notice shall be included in |
| 16 | + * all copies or substantial portions of the Software. |
| 17 | + * |
| 18 | + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| 19 | + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| 20 | + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| 21 | + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| 22 | + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| 23 | + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| 24 | + * THE SOFTWARE. |
| 25 | + */ |
| 26 | + |
| 27 | +#include <unistd.h> |
| 28 | +#include <fcntl.h> |
| 29 | +#include <string.h> |
| 30 | +#include <sys/ioctl.h> |
| 31 | + |
| 32 | +#include "py/runtime.h" |
| 33 | + |
| 34 | +#include "shared-bindings/gnss/GNSS.h" |
| 35 | + |
| 36 | +typedef struct { |
| 37 | + const char* devpath; |
| 38 | + int fd; |
| 39 | +} gnss_dev_t; |
| 40 | + |
| 41 | +STATIC gnss_dev_t gnss_dev = {"/dev/gps", -1}; |
| 42 | + |
| 43 | +static gnss_positionfix_t fix_to_positionfix_type(uint8_t fix) { |
| 44 | + switch (fix) { |
| 45 | + case CXD56_GNSS_PVT_POSFIX_2D: |
| 46 | + return POSITIONFIX_2D; |
| 47 | + case CXD56_GNSS_PVT_POSFIX_3D: |
| 48 | + return POSITIONFIX_3D; |
| 49 | + case CXD56_GNSS_PVT_POSFIX_INVALID: |
| 50 | + default: |
| 51 | + return POSITIONFIX_INVALID; |
| 52 | + } |
| 53 | +} |
| 54 | + |
| 55 | +void common_hal_gnss_construct(gnss_obj_t *self, unsigned long selection) { |
| 56 | + if (gnss_dev.fd < 0) { |
| 57 | + gnss_dev.fd = open(gnss_dev.devpath, O_RDONLY); |
| 58 | + if (gnss_dev.fd < 0) { |
| 59 | + mp_raise_ValueError(translate("Could not initialize GNSS")); |
| 60 | + } |
| 61 | + } |
| 62 | + |
| 63 | + self->satellite_system = 0; |
| 64 | + self->fix = POSITIONFIX_INVALID; |
| 65 | + |
| 66 | + unsigned long sel = 0; |
| 67 | + |
| 68 | + if (selection & SATELLITESYSTEM_GPS) { |
| 69 | + sel |= CXD56_GNSS_SAT_GPS; |
| 70 | + } else if (selection & SATELLITESYSTEM_GLONASS) { |
| 71 | + sel |= CXD56_GNSS_SAT_GLONASS; |
| 72 | + } else if (selection & SATELLITESYSTEM_SBAS) { |
| 73 | + sel |= CXD56_GNSS_SAT_SBAS; |
| 74 | + } else if (selection & SATELLITESYSTEM_QZSS_L1CA) { |
| 75 | + sel |= CXD56_GNSS_SAT_QZ_L1CA; |
| 76 | + } else if (selection & SATELLITESYSTEM_QZSS_L1S) { |
| 77 | + sel |= CXD56_GNSS_SAT_QZ_L1S; |
| 78 | + } |
| 79 | + |
| 80 | + ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_SELECT_SATELLITE_SYSTEM, sel); |
| 81 | + ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_START, CXD56_GNSS_STMOD_COLD); |
| 82 | +} |
| 83 | + |
| 84 | +void common_hal_gnss_deinit(gnss_obj_t *self) { |
| 85 | + if (common_hal_gnss_deinited(self)) { |
| 86 | + return; |
| 87 | + } |
| 88 | + |
| 89 | + close(gnss_dev.fd); |
| 90 | + gnss_dev.fd = -1; |
| 91 | +} |
| 92 | + |
| 93 | +bool common_hal_gnss_deinited(gnss_obj_t *self) { |
| 94 | + return gnss_dev.fd < 0; |
| 95 | +} |
| 96 | + |
| 97 | +void common_hal_gnss_update(gnss_obj_t *self) { |
| 98 | + struct cxd56_gnss_positiondata_s positiondata; |
| 99 | + |
| 100 | + read(gnss_dev.fd, &positiondata, sizeof(struct cxd56_gnss_positiondata_s)); |
| 101 | + |
| 102 | + if (positiondata.receiver.pos_dataexist) { |
| 103 | + self->fix = positiondata.receiver.pos_fixmode; |
| 104 | + self->latitude = positiondata.receiver.latitude; |
| 105 | + self->longitude = positiondata.receiver.longitude; |
| 106 | + self->altitude = positiondata.receiver.altitude; |
| 107 | + memcpy(&self->date, &positiondata.receiver.date, sizeof(struct cxd56_gnss_date_s)); |
| 108 | + memcpy(&self->time, &positiondata.receiver.time, sizeof(struct cxd56_gnss_time_s)); |
| 109 | + } |
| 110 | +} |
| 111 | + |
| 112 | +mp_float_t common_hal_gnss_get_latitude(gnss_obj_t *self) { |
| 113 | + return (mp_float_t) self->latitude; |
| 114 | +} |
| 115 | + |
| 116 | +mp_float_t common_hal_gnss_get_longitude(gnss_obj_t *self) { |
| 117 | + return (mp_float_t) self->longitude; |
| 118 | +} |
| 119 | + |
| 120 | +mp_float_t common_hal_gnss_get_altitude(gnss_obj_t *self) { |
| 121 | + return (mp_float_t) self->altitude; |
| 122 | +} |
| 123 | + |
| 124 | +void common_hal_gnss_get_timestamp(gnss_obj_t *self, timeutils_struct_time_t *tm) { |
| 125 | + tm->tm_year = self->date.year; |
| 126 | + tm->tm_mon = self->date.month; |
| 127 | + tm->tm_mday = self->date.day; |
| 128 | + tm->tm_hour = self->time.hour; |
| 129 | + tm->tm_min = self->time.minute; |
| 130 | + tm->tm_sec = self->time.sec; |
| 131 | +} |
| 132 | + |
| 133 | +gnss_positionfix_t common_hal_gnss_get_fix(gnss_obj_t *self) { |
| 134 | + return fix_to_positionfix_type(self->fix); |
| 135 | +} |
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