spresense: Add support for GNSS

Author: kamtom480

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

@@ -0,0 +1,152 @@
+/*
+ * 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 <sys/ioctl.h>
+#include <arch/chip/gnss.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 unsigned long satellitesystem_type_to_bit_fields(gnss_satellitesystem_t system) {
+    switch (system) {
+        case SATELLITESYSTEM_GPS:
+            return CXD56_GNSS_SAT_GPS;
+        case SATELLITESYSTEM_GLONASS:
+            return CXD56_GNSS_SAT_GLONASS;
+        case SATELLITESYSTEM_SBAS:
+            return CXD56_GNSS_SAT_SBAS;
+        case SATELLITESYSTEM_QZSS_L1CA:
+            return CXD56_GNSS_SAT_QZ_L1CA;
+        case SATELLITESYSTEM_QZSS_L1S:
+            return CXD56_GNSS_SAT_QZ_L1S;
+        case SATELLITESYSTEM_NONE:
+        default:
+            return CXD56_GNSS_SAT_NONE;
+    }
+}
+
+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) {
+    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;
+}
+
+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_select(gnss_obj_t *self, gnss_satellitesystem_t system) {
+    unsigned long selection = self->satellite_system | satellitesystem_type_to_bit_fields(system);
+
+    ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_SELECT_SATELLITE_SYSTEM, selection);
+
+    self->satellite_system = selection;
+}
+
+void common_hal_gnss_deselect(gnss_obj_t *self, gnss_satellitesystem_t system) {
+    unsigned long selection = self->satellite_system & ~satellitesystem_type_to_bit_fields(system);
+
+    ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_SELECT_SATELLITE_SYSTEM, selection);
+
+    self->satellite_system = selection;
+}
+
+void common_hal_gnss_start(gnss_obj_t *self) {
+    if (self->satellite_system == 0) {
+        mp_raise_ValueError(translate("Cannot start without selecting at least one satellite system."));
+    }
+    ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_START, CXD56_GNSS_STMOD_COLD);
+}
+
+void common_hal_gnss_stop(gnss_obj_t *self) {
+    ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_STOP, 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;
+    }
+}
+
+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;
+}
+
+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 +1,41 @@
+/*
+ * 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 "py/obj.h"
+
+typedef struct {
+    mp_obj_base_t base;
+    unsigned long satellite_system;
+    uint8_t fix;
+    double latitude;
+    double longitude;
+    double altitude;
+} gnss_obj_t;
+
+#endif // MICROPY_INCLUDED_CXD56_COMMON_HAL_GNSS_GNSS_H

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

@@ -14,6 +14,7 @@ CIRCUITPY_I2CSLAVE = 0
 CIRCUITPY_ROTARYIO = 0
 CIRCUITPY_TOUCHIO = 0
 CIRCUITPY_GAMEPAD = 0
+CIRCUITPY_GNSS = 1
 CIRCUITPY_NEOPIXEL_WRITE = 0
 CIRCUITPY_NVM = 0
 CIRCUITPY_DISPLAYIO = 0