Merge pull request #3042 from kamtom480/gnss

Add gnss module

Author: jepler

locale/circuitpython.pot

@@ -8,7 +8,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: PACKAGE VERSION\n"
 "Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2020-06-01 17:10-0700\n"
+"POT-Creation-Date: 2020-06-24 11:10+0200\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
 "Language-Team: LANGUAGE <[email protected]>\n"
@@ -572,6 +572,10 @@ msgstr ""
 msgid "Corrupt raw code"
 msgstr ""
 
+#: ports/cxd56/common-hal/gnss/GNSS.c
+msgid "Could not initialize GNSS"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 msgid "Could not initialize UART"
 msgstr ""
@@ -1425,6 +1429,10 @@ msgstr ""
 msgid "Supply at least one UART pin"
 msgstr ""
 
+#: shared-bindings/gnss/GNSS.c
+msgid "System entry must be gnss.SatelliteSystem"
+msgstr ""
+
 #: ports/stm/common-hal/microcontroller/Processor.c
 msgid "Temperature read timed out"
 msgstr ""
@@ -1611,6 +1619,7 @@ msgid ""
 msgstr ""
 
 #: ports/atmel-samd/common-hal/busio/I2C.c ports/cxd56/common-hal/busio/I2C.c
+#: ports/stm/common-hal/busio/I2C.c
 msgid "Unsupported baudrate"
 msgstr ""
 

ports/cxd56/common-hal/gnss/GNSS.c

@@ -0,0 +1,135 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <fcntl.h>
+#include <string.h>
+#include <sys/ioctl.h>
+
+#include "py/runtime.h"
+
+#include "shared-bindings/gnss/GNSS.h"
+
+typedef struct {
+    const char* devpath;
+    int fd;
+} gnss_dev_t;
+
+STATIC gnss_dev_t gnss_dev = {"/dev/gps", -1};
+
+static gnss_positionfix_t fix_to_positionfix_type(uint8_t fix) {
+    switch (fix) {
+        case CXD56_GNSS_PVT_POSFIX_2D:
+            return POSITIONFIX_2D;
+        case CXD56_GNSS_PVT_POSFIX_3D:
+            return POSITIONFIX_3D;
+        case CXD56_GNSS_PVT_POSFIX_INVALID:
+        default:
+            return POSITIONFIX_INVALID;
+    }
+}
+
+void common_hal_gnss_construct(gnss_obj_t *self, unsigned long selection) {
+    if (gnss_dev.fd < 0) {
+        gnss_dev.fd = open(gnss_dev.devpath, O_RDONLY);
+        if (gnss_dev.fd < 0) {
+            mp_raise_ValueError(translate("Could not initialize GNSS"));
+        }
+    }
+
+    self->satellite_system = 0;
+    self->fix = POSITIONFIX_INVALID;
+
+    unsigned long sel = 0;
+
+    if (selection & SATELLITESYSTEM_GPS) {
+        sel |= CXD56_GNSS_SAT_GPS;
+    } else if (selection & SATELLITESYSTEM_GLONASS) {
+        sel |= CXD56_GNSS_SAT_GLONASS;
+    } else if (selection & SATELLITESYSTEM_SBAS) {
+        sel |= CXD56_GNSS_SAT_SBAS;
+    } else if (selection & SATELLITESYSTEM_QZSS_L1CA) {
+        sel |= CXD56_GNSS_SAT_QZ_L1CA;
+    } else if (selection & SATELLITESYSTEM_QZSS_L1S) {
+        sel |= CXD56_GNSS_SAT_QZ_L1S;
+    }
+
+    ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_SELECT_SATELLITE_SYSTEM, sel);
+    ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_START, CXD56_GNSS_STMOD_COLD);
+}
+
+void common_hal_gnss_deinit(gnss_obj_t *self) {
+    if (common_hal_gnss_deinited(self)) {
+        return;
+    }
+
+    close(gnss_dev.fd);
+    gnss_dev.fd = -1;
+}
+
+bool common_hal_gnss_deinited(gnss_obj_t *self) {
+    return gnss_dev.fd < 0;
+}
+
+void common_hal_gnss_update(gnss_obj_t *self) {
+    struct cxd56_gnss_positiondata_s positiondata;
+
+    read(gnss_dev.fd, &positiondata, sizeof(struct cxd56_gnss_positiondata_s));
+
+    if (positiondata.receiver.pos_dataexist) {
+        self->fix = positiondata.receiver.pos_fixmode;
+        self->latitude = positiondata.receiver.latitude;
+        self->longitude = positiondata.receiver.longitude;
+        self->altitude = positiondata.receiver.altitude;
+        memcpy(&self->date, &positiondata.receiver.date, sizeof(struct cxd56_gnss_date_s));
+        memcpy(&self->time, &positiondata.receiver.time, sizeof(struct cxd56_gnss_time_s));
+    }
+}
+
+mp_float_t common_hal_gnss_get_latitude(gnss_obj_t *self) {
+    return (mp_float_t) self->latitude;
+}
+
+mp_float_t common_hal_gnss_get_longitude(gnss_obj_t *self) {
+    return (mp_float_t) self->longitude;
+}
+
+mp_float_t common_hal_gnss_get_altitude(gnss_obj_t *self) {
+    return (mp_float_t) self->altitude;
+}
+
+void common_hal_gnss_get_timestamp(gnss_obj_t *self, timeutils_struct_time_t *tm) {
+    tm->tm_year = self->date.year;
+    tm->tm_mon = self->date.month;
+    tm->tm_mday = self->date.day;
+    tm->tm_hour = self->time.hour;
+    tm->tm_min = self->time.minute;
+    tm->tm_sec = self->time.sec;
+}
+
+gnss_positionfix_t common_hal_gnss_get_fix(gnss_obj_t *self) {
+    return fix_to_positionfix_type(self->fix);
+}

ports/cxd56/common-hal/gnss/GNSS.h

@@ -0,0 +1,45 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MICROPY_INCLUDED_CXD56_COMMON_HAL_GNSS_GNSS_H
+#define MICROPY_INCLUDED_CXD56_COMMON_HAL_GNSS_GNSS_H
+
+#include <arch/chip/gnss.h>
+
+#include "py/obj.h"
+
+typedef struct {
+    mp_obj_base_t base;
+    unsigned long satellite_system;
+    uint8_t fix;
+    double latitude;
+    double longitude;
+    double altitude;
+    struct cxd56_gnss_date_s date;
+    struct cxd56_gnss_time_s time;
+} gnss_obj_t;
+
+#endif // MICROPY_INCLUDED_CXD56_COMMON_HAL_GNSS_GNSS_H

ports/cxd56/common-hal/gnss/PositionFix.c

@@ -13,6 +13,7 @@ CIRCUITPY_COUNTIO = 0
 CIRCUITPY_DISPLAYIO = 0
 CIRCUITPY_FREQUENCYIO = 0
 CIRCUITPY_GAMEPAD = 0
+CIRCUITPY_GNSS = 1
 CIRCUITPY_I2CSLAVE = 0
 CIRCUITPY_NEOPIXEL_WRITE = 0
 CIRCUITPY_NVM = 0

ports/cxd56/common-hal/gnss/SatelliteSystem.c

@@ -162,6 +162,9 @@ endif
 ifeq ($(CIRCUITPY_GAMEPADSHIFT),1)
 SRC_PATTERNS += gamepadshift/%
 endif
+ifeq ($(CIRCUITPY_GNSS),1)
+SRC_PATTERNS += gnss/%
+endif
 ifeq ($(CIRCUITPY_I2CSLAVE),1)
 SRC_PATTERNS += i2cslave/%
 endif
@@ -283,6 +286,10 @@ SRC_COMMON_HAL_ALL = \
 	displayio/ParallelBus.c \
 	frequencyio/FrequencyIn.c \
 	frequencyio/__init__.c \
+	gnss/__init__.c \
+	gnss/GNSS.c \
+	gnss/PositionFix.c \
+	gnss/SatelliteSystem.c \
 	i2cslave/I2CSlave.c \
 	i2cslave/__init__.c \
 	microcontroller/Pin.c \

ports/cxd56/common-hal/gnss/__init__.c

@@ -401,6 +401,13 @@ extern const struct _mp_obj_module_t gamepadshift_module;
 #define GAMEPAD_ROOT_POINTERS
 #endif
 
+#if CIRCUITPY_GNSS
+extern const struct _mp_obj_module_t gnss_module;
+#define GNSS_MODULE        { MP_OBJ_NEW_QSTR(MP_QSTR_gnss), (mp_obj_t)&gnss_module },
+#else
+#define GNSS_MODULE
+#endif
+
 #if CIRCUITPY_I2CSLAVE
 extern const struct _mp_obj_module_t i2cslave_module;
 #define I2CSLAVE_MODULE        { MP_OBJ_NEW_QSTR(MP_QSTR_i2cslave), (mp_obj_t)&i2cslave_module },
@@ -682,6 +689,7 @@ extern const struct _mp_obj_module_t watchdog_module;
     FREQUENCYIO_MODULE \
     GAMEPAD_MODULE \
     GAMEPADSHIFT_MODULE \
+    GNSS_MODULE \
     I2CSLAVE_MODULE \
     JSON_MODULE \
     MATH_MODULE \

ports/cxd56/mpconfigport.mk

@@ -109,6 +109,9 @@ CFLAGS += -DCIRCUITPY_GAMEPAD=$(CIRCUITPY_GAMEPAD)
 CIRCUITPY_GAMEPADSHIFT ?= 0
 CFLAGS += -DCIRCUITPY_GAMEPADSHIFT=$(CIRCUITPY_GAMEPADSHIFT)
 
+CIRCUITPY_GNSS ?= 0
+CFLAGS += -DCIRCUITPY_GNSS=$(CIRCUITPY_GNSS)
+
 CIRCUITPY_I2CSLAVE ?= $(CIRCUITPY_FULL_BUILD)
 CFLAGS += -DCIRCUITPY_I2CSLAVE=$(CIRCUITPY_I2CSLAVE)