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kamtom480kamtom480
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gnss: Remove start and stop
1 parent c49f4bc commit 3509dad

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4 files changed

+58
-129
lines changed

4 files changed

+58
-129
lines changed

‎ports/cxd56/common-hal/gnss/GNSS.c

Lines changed: 18 additions & 46 deletions
Original file line numberDiff line numberDiff line change
@@ -40,24 +40,6 @@ typedef struct {
4040

4141
STATIC gnss_dev_t gnss_dev = {"/dev/gps", -1};
4242

43-
static unsigned long satellitesystem_type_to_bit_fields(gnss_satellitesystem_t system) {
44-
switch (system) {
45-
case SATELLITESYSTEM_GPS:
46-
return CXD56_GNSS_SAT_GPS;
47-
case SATELLITESYSTEM_GLONASS:
48-
return CXD56_GNSS_SAT_GLONASS;
49-
case SATELLITESYSTEM_SBAS:
50-
return CXD56_GNSS_SAT_SBAS;
51-
case SATELLITESYSTEM_QZSS_L1CA:
52-
return CXD56_GNSS_SAT_QZ_L1CA;
53-
case SATELLITESYSTEM_QZSS_L1S:
54-
return CXD56_GNSS_SAT_QZ_L1S;
55-
case SATELLITESYSTEM_NONE:
56-
default:
57-
return CXD56_GNSS_SAT_NONE;
58-
}
59-
}
60-
6143
static gnss_positionfix_t fix_to_positionfix_type(uint8_t fix) {
6244
switch (fix) {
6345
case CXD56_GNSS_PVT_POSFIX_2D:
@@ -70,7 +52,7 @@ static gnss_positionfix_t fix_to_positionfix_type(uint8_t fix) {
7052
}
7153
}
7254

73-
void common_hal_gnss_construct(gnss_obj_t *self) {
55+
void common_hal_gnss_construct(gnss_obj_t *self, unsigned long selection) {
7456
if (gnss_dev.fd < 0) {
7557
gnss_dev.fd = open(gnss_dev.devpath, O_RDONLY);
7658
if (gnss_dev.fd < 0) {
@@ -80,6 +62,23 @@ void common_hal_gnss_construct(gnss_obj_t *self) {
8062

8163
self->satellite_system = 0;
8264
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);
8382
}
8483

8584
void common_hal_gnss_deinit(gnss_obj_t *self) {
@@ -95,33 +94,6 @@ bool common_hal_gnss_deinited(gnss_obj_t *self) {
9594
return gnss_dev.fd < 0;
9695
}
9796

98-
void common_hal_gnss_select(gnss_obj_t *self, gnss_satellitesystem_t system) {
99-
unsigned long selection = self->satellite_system | satellitesystem_type_to_bit_fields(system);
100-
101-
ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_SELECT_SATELLITE_SYSTEM, selection);
102-
103-
self->satellite_system = selection;
104-
}
105-
106-
void common_hal_gnss_deselect(gnss_obj_t *self, gnss_satellitesystem_t system) {
107-
unsigned long selection = self->satellite_system & ~satellitesystem_type_to_bit_fields(system);
108-
109-
ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_SELECT_SATELLITE_SYSTEM, selection);
110-
111-
self->satellite_system = selection;
112-
}
113-
114-
void common_hal_gnss_start(gnss_obj_t *self) {
115-
if (self->satellite_system == 0) {
116-
mp_raise_ValueError(translate("Cannot start without selecting at least one satellite system."));
117-
}
118-
ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_START, CXD56_GNSS_STMOD_COLD);
119-
}
120-
121-
void common_hal_gnss_stop(gnss_obj_t *self) {
122-
ioctl(gnss_dev.fd, CXD56_GNSS_IOCTL_STOP, 0);
123-
}
124-
12597
void common_hal_gnss_update(gnss_obj_t *self) {
12698
struct cxd56_gnss_positiondata_s positiondata;
12799

‎shared-bindings/gnss/GNSS.c

Lines changed: 33 additions & 72 deletions
Original file line numberDiff line numberDiff line change
@@ -38,31 +38,54 @@
3838
//| import gnss
3939
//| import time
4040
//|
41-
//| gps = gnss.GNSS()
42-
//| gps.select(gnss.SatelliteSystem.GPS)
43-
//| gps.start()
41+
//| nav = gnss.GNSS([gnss.SatelliteSystem.GPS, gnss.SatelliteSystem.GLONASS])
4442
//| last_print = time.monotonic()
4543
//| while True:
46-
//| gps.update()
44+
//| nav.update()
4745
//| current = time.monotonic()
4846
//| if current - last_print >= 1.0:
4947
//| last_print = current
50-
//| if gps.fix is gnss.PositionFix.INVALID:
48+
//| if nav.fix is gnss.PositionFix.INVALID:
5149
//| print("Waiting for fix...")
5250
//| continue
53-
//| print("Latitude: {0:.6f} degrees".format(gps.latitude))
54-
//| print("Longitude: {0:.6f} degrees".format(gps.longitude))"""
51+
//| print("Latitude: {0:.6f} degrees".format(nav.latitude))
52+
//| print("Longitude: {0:.6f} degrees".format(nav.longitude))"""
5553
//|
5654

5755
//| def __init__(self, ):
58-
//| """Turn on the GNSS."""
56+
//| """Turn on the GNSS.
57+
//|
58+
//| :param gnss.SatelliteSystem system: satellite system to use"""
5959
//| ...
6060
//|
6161
STATIC mp_obj_t gnss_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
6262
gnss_obj_t *self = m_new_obj(gnss_obj_t);
6363
self->base.type = &gnss_type;
64+
enum { ARG_system };
65+
static const mp_arg_t allowed_args[] = {
66+
{ MP_QSTR_system, MP_ARG_REQUIRED | MP_ARG_OBJ },
67+
};
68+
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
69+
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
70+
71+
unsigned long selection = 0;
72+
if (MP_OBJ_IS_TYPE(args[ARG_system].u_obj, &gnss_satellitesystem_type)) {
73+
selection |= gnss_satellitesystem_obj_to_type(args[ARG_system].u_obj);
74+
} else if (MP_OBJ_IS_TYPE(args[ARG_system].u_obj, &mp_type_list)) {
75+
size_t systems_size = 0;
76+
mp_obj_t *systems;
77+
mp_obj_list_get(args[ARG_system].u_obj, &systems_size, &systems);
78+
for (size_t i = 0; i < systems_size; ++i) {
79+
if (!MP_OBJ_IS_TYPE(systems[i], &gnss_satellitesystem_type)) {
80+
mp_raise_TypeError(translate("System entry must be gnss.SatelliteSystem"));
81+
}
82+
selection |= gnss_satellitesystem_obj_to_type(systems[i]);
83+
}
84+
} else {
85+
mp_raise_TypeError(translate("System entry must be gnss.SatelliteSystem"));
86+
}
6487

65-
common_hal_gnss_construct(self);
88+
common_hal_gnss_construct(self, selection);
6689
return MP_OBJ_FROM_PTR(self);
6790
}
6891

@@ -83,64 +106,6 @@ STATIC void check_for_deinit(gnss_obj_t *self) {
83106
}
84107
}
85108

86-
//| def select(self, system: gnss.SatelliteSystem) -> Any:
87-
//| """Add specified satellite system to selection for positioning.
88-
//|
89-
//| :param gnss.SatelliteSystem system: satellite system to use"""
90-
//| ...
91-
//|
92-
STATIC mp_obj_t gnss_obj_select(mp_obj_t self_in, mp_obj_t system_obj) {
93-
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
94-
check_for_deinit(self);
95-
96-
gnss_satellitesystem_t system = gnss_satellitesystem_obj_to_type(system_obj);
97-
common_hal_gnss_select(self, system);
98-
return mp_const_none;
99-
}
100-
STATIC MP_DEFINE_CONST_FUN_OBJ_2(gnss_select_obj, gnss_obj_select);
101-
102-
//| def deselect(self, system: gnss.SatelliteSystem) -> Any:
103-
//| """Remove specified satellite system from selection for positioning.
104-
//|
105-
//| :param gnss.SatelliteSystem system: satellite system to remove"""
106-
//| ...
107-
//|
108-
STATIC mp_obj_t gnss_obj_deselect(mp_obj_t self_in, mp_obj_t system_obj) {
109-
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
110-
check_for_deinit(self);
111-
112-
gnss_satellitesystem_t system = gnss_satellitesystem_obj_to_type(system_obj);
113-
common_hal_gnss_deselect(self, system);
114-
return mp_const_none;
115-
}
116-
STATIC MP_DEFINE_CONST_FUN_OBJ_2(gnss_deselect_obj, gnss_obj_deselect);
117-
118-
//| def start(self, ) -> Any:
119-
//| """Start positioning."""
120-
//| ...
121-
//|
122-
STATIC mp_obj_t gnss_obj_start(mp_obj_t self_in) {
123-
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
124-
check_for_deinit(self);
125-
126-
common_hal_gnss_start(self);
127-
return mp_const_none;
128-
}
129-
MP_DEFINE_CONST_FUN_OBJ_1(gnss_start_obj, gnss_obj_start);
130-
131-
//| def stop(self, ) -> Any:
132-
//| """Stop positioning."""
133-
//| ...
134-
//|
135-
STATIC mp_obj_t gnss_obj_stop(mp_obj_t self_in) {
136-
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
137-
check_for_deinit(self);
138-
139-
common_hal_gnss_stop(self);
140-
return mp_const_none;
141-
}
142-
MP_DEFINE_CONST_FUN_OBJ_1(gnss_stop_obj, gnss_obj_stop);
143-
144109
//| def update(self, ) -> Any:
145110
//| """Update GNSS positioning information."""
146111
//| ...
@@ -189,7 +154,7 @@ const mp_obj_property_t gnss_longitude_obj = {
189154
};
190155

191156
//| altitude: Any = ...
192-
//| """Altitude of current position in degrees (float)."""
157+
//| """Altitude of current position in meters (float)."""
193158
//|
194159
STATIC mp_obj_t gnss_obj_get_altitude(mp_obj_t self_in) {
195160
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
@@ -224,10 +189,6 @@ const mp_obj_property_t gnss_fix_obj = {
224189

225190
STATIC const mp_rom_map_elem_t gnss_locals_dict_table[] = {
226191
{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&gnss_deinit_obj) },
227-
{ MP_ROM_QSTR(MP_QSTR_select), MP_ROM_PTR(&gnss_select_obj) },
228-
{ MP_ROM_QSTR(MP_QSTR_deselect), MP_ROM_PTR(&gnss_deselect_obj) },
229-
{ MP_ROM_QSTR(MP_QSTR_start), MP_ROM_PTR(&gnss_start_obj) },
230-
{ MP_ROM_QSTR(MP_QSTR_stop), MP_ROM_PTR(&gnss_stop_obj) },
231192
{ MP_ROM_QSTR(MP_QSTR_update), MP_ROM_PTR(&gnss_update_obj) },
232193

233194
{ MP_ROM_QSTR(MP_QSTR_latitude), MP_ROM_PTR(&gnss_latitude_obj) },

‎shared-bindings/gnss/GNSS.h

Lines changed: 1 addition & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -33,13 +33,9 @@
3333

3434
extern const mp_obj_type_t gnss_type;
3535

36-
void common_hal_gnss_construct(gnss_obj_t *self);
36+
void common_hal_gnss_construct(gnss_obj_t *self, unsigned long selection);
3737
void common_hal_gnss_deinit(gnss_obj_t *self);
3838
bool common_hal_gnss_deinited(gnss_obj_t *self);
39-
void common_hal_gnss_select(gnss_obj_t *self, gnss_satellitesystem_t system);
40-
void common_hal_gnss_deselect(gnss_obj_t *self, gnss_satellitesystem_t system);
41-
void common_hal_gnss_start(gnss_obj_t *self);
42-
void common_hal_gnss_stop(gnss_obj_t *self);
4339
void common_hal_gnss_update(gnss_obj_t *self);
4440

4541
mp_float_t common_hal_gnss_get_latitude(gnss_obj_t *self);

‎shared-bindings/gnss/SatelliteSystem.h

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -30,12 +30,12 @@
3030
#include "py/obj.h"
3131

3232
typedef enum {
33-
SATELLITESYSTEM_NONE,
34-
SATELLITESYSTEM_GPS,
35-
SATELLITESYSTEM_GLONASS,
36-
SATELLITESYSTEM_SBAS,
37-
SATELLITESYSTEM_QZSS_L1CA,
38-
SATELLITESYSTEM_QZSS_L1S,
33+
SATELLITESYSTEM_NONE = 0,
34+
SATELLITESYSTEM_GPS = (1U << 0),
35+
SATELLITESYSTEM_GLONASS = (1U << 1),
36+
SATELLITESYSTEM_SBAS = (1U << 2),
37+
SATELLITESYSTEM_QZSS_L1CA = (1U << 3),
38+
SATELLITESYSTEM_QZSS_L1S = (1U << 4),
3939
} gnss_satellitesystem_t;
4040

4141
const mp_obj_type_t gnss_satellitesystem_type;

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