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drivers/sensors/gnss: Different nbuffer for each topic #14999

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merged 3 commits into from
Nov 30, 2024
Merged

drivers/sensors/gnss: Different nbuffer for each topic #14999

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bc2ec5e
drivers/sensors/gnss: Different nbuffer for each topic
JianyuWang0623 Nov 29, 2024
8039963
nrf91: Support using different nbuffer for each topic
JianyuWang0623 Nov 30, 2024
6ff1770
sensors/fakesensor_uorb: Using different nbuffer for each topic of GNSS
JianyuWang0623 Nov 30, 2024
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10 changes: 9 additions & 1 deletion arch/arm/src/nrf91/nrf91_modem_gnss.c
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@

#include <debug.h>
#include <string.h>
#include <sys/param.h>
#include <time.h>

#include <nuttx/sensors/gnss.h>
Expand Down Expand Up @@ -689,6 +690,13 @@ static int nrf91_gnss_thread(int argc, char** argv)
int nrf91_gnss_register(int devno, uint32_t batch_number)
{
int ret = OK;
uint32_t nbuffer[] = {
[SENSOR_GNSS_IDX_GNSS] = batch_number,
[SENSOR_GNSS_IDX_GNSS_SATELLITE] = batch_number,
[SENSOR_GNSS_IDX_GNSS_MEASUREMENT] = batch_number,
[SENSOR_GNSS_IDX_GNSS_CLOCK] = batch_number,
[SENSOR_GNSS_IDX_GNSS_GEOFENCE] = batch_number,
};

if (!nrf_modem_is_initialized())
{
Expand Down Expand Up @@ -728,5 +736,5 @@ int nrf91_gnss_register(int devno, uint32_t batch_number)

g_nrf91_gnss.lower.ops = &g_nrf91_gnss_ops;

return gnss_register(&g_nrf91_gnss.lower, devno, batch_number);
return gnss_register(&g_nrf91_gnss.lower, devno, nbuffer, nitems(nbuffer));
}
11 changes: 10 additions & 1 deletion drivers/sensors/fakesensor_uorb.c
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@
#include <math.h>
#include <stdio.h>
#include <string.h>
#include <sys/param.h>

#include <nuttx/fs/fs.h>
#include <nuttx/kmalloc.h>
Expand Down Expand Up @@ -401,6 +402,14 @@ int fakesensor_init(int type, FAR const char *file_name,
FAR struct fakesensor_s *sensor;
FAR char *argv[2];
char arg1[32];
uint32_t nbuffer[] = {
[SENSOR_GNSS_IDX_GNSS] = batch_number,
[SENSOR_GNSS_IDX_GNSS_SATELLITE] = batch_number,
[SENSOR_GNSS_IDX_GNSS_MEASUREMENT] = batch_number,
[SENSOR_GNSS_IDX_GNSS_CLOCK] = batch_number,
[SENSOR_GNSS_IDX_GNSS_GEOFENCE] = batch_number,
};

int ret;

/* Alloc memory for sensor */
Expand Down Expand Up @@ -436,7 +445,7 @@ int fakesensor_init(int type, FAR const char *file_name,
if (type == SENSOR_TYPE_GNSS || type == SENSOR_TYPE_GNSS_SATELLITE)
{
sensor->gnss.ops = &g_fakegnss_ops;
gnss_register(&sensor->gnss, devno, batch_number);
gnss_register(&sensor->gnss, devno, nbuffer, nitems(nbuffer));
}
else
{
Expand Down
75 changes: 39 additions & 36 deletions drivers/sensors/gnss_uorb.c
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Original file line number Diff line number Diff line change
Expand Up @@ -45,13 +45,6 @@

#define GNSS_PATH_FMT "/dev/ttyGNSS%d"

#define GNSS_IDX 0
#define GNSS_SATELLITE_IDX 1
#define GNSS_MEASUREMENT_IDX 2
#define GNSS_CLOCK_IDX 3
#define GNSS_GEOFENCE_IDX 4
#define GNSS_MAX_IDX 5

#define GNSS_PARSE_BUFFERSIZE 256

#define GNSS_KNOT_TO_KMH 1.852f
Expand Down Expand Up @@ -86,7 +79,7 @@ struct gnss_user_s

struct gnss_upperhalf_s
{
struct gnss_sensor_s dev[GNSS_MAX_IDX];
struct gnss_sensor_s dev[SENSOR_GNSS_IDX_GNSS_MAX];
struct list_node userlist;
FAR struct gnss_lowerhalf_s *lower;
uint8_t crefs;
Expand Down Expand Up @@ -537,7 +530,7 @@ static void gnss_parse_nmea(FAR struct gnss_upperhalf_s *upper,
satellite.satellites = frame.total_sats;
memcpy(satellite.info, frame.sats,
sizeof(satellite.info[0]) * 4);
lower = &upper->dev[GNSS_SATELLITE_IDX].lower;
lower = &upper->dev[SENSOR_GNSS_IDX_GNSS_SATELLITE].lower;

for (i = 0; i < nitems(g_gnss_constellation); i++)
{
Expand Down Expand Up @@ -572,7 +565,7 @@ static void gnss_parse_nmea(FAR struct gnss_upperhalf_s *upper,
if (GNSS_FLAG_MARK == upper->flags)
{
upper->flags &= ~GNSS_FLAG_MARK;
lower = &upper->dev[GNSS_IDX].lower;
lower = &upper->dev[SENSOR_GNSS_IDX_GNSS].lower;
lower->push_event(lower->priv, &upper->gnss, sizeof(upper->gnss));
gnss_init_data(&upper->gnss);
}
Expand Down Expand Up @@ -660,27 +653,27 @@ static void gnss_push_event(FAR void *priv, FAR const void *data,

if (type == SENSOR_TYPE_GNSS)
{
lower = &upper->dev[GNSS_IDX].lower;
lower = &upper->dev[SENSOR_GNSS_IDX_GNSS].lower;
lower->push_event(lower->priv, data, bytes);
}
else if (type == SENSOR_TYPE_GNSS_SATELLITE)
{
lower = &upper->dev[GNSS_SATELLITE_IDX].lower;
lower = &upper->dev[SENSOR_GNSS_IDX_GNSS_SATELLITE].lower;
lower->push_event(lower->priv, data, bytes);
}
else if (type == SENSOR_TYPE_GNSS_MEASUREMENT)
{
lower = &upper->dev[GNSS_MEASUREMENT_IDX].lower;
lower = &upper->dev[SENSOR_GNSS_IDX_GNSS_MEASUREMENT].lower;
lower->push_event(lower->priv, data, bytes);
}
else if (type == SENSOR_TYPE_GNSS_CLOCK)
{
lower = &upper->dev[GNSS_CLOCK_IDX].lower;
lower = &upper->dev[SENSOR_GNSS_IDX_GNSS_CLOCK].lower;
lower->push_event(lower->priv, data, bytes);
}
else if (type == SENSOR_TYPE_GNSS_GEOFENCE)
{
lower = &upper->dev[GNSS_GEOFENCE_IDX].lower;
lower = &upper->dev[SENSOR_GNSS_IDX_GNSS_GEOFENCE].lower;
lower->push_event(lower->priv, data, bytes);
}
}
Expand All @@ -704,6 +697,7 @@ static void gnss_push_event(FAR void *priv, FAR const void *data,
* devno - The user specifies which device of this type, from 0. If the
* devno alerady exists, -EEXIST will be returned.
* nbuffer - The number of events that the circular buffer can hold.
* count - The array size of nbuffer.
*
* Returned Value:
* OK if the driver was successfully register; A negated errno value is
Expand All @@ -712,13 +706,18 @@ static void gnss_push_event(FAR void *priv, FAR const void *data,
****************************************************************************/

int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,
uint32_t nbuffer)
uint32_t nbuffer[], size_t count)
{
FAR struct gnss_upperhalf_s *upper;
FAR struct gnss_sensor_s *dev;
FAR char *path;
int ret;

if (count != SENSOR_GNSS_IDX_GNSS_MAX)
{
return -EINVAL;
}

upper = kmm_zalloc(sizeof(struct gnss_upperhalf_s));
if (upper == NULL)
{
Expand All @@ -745,10 +744,10 @@ int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,

/* GNSS register */

dev = &upper->dev[GNSS_IDX];
dev = &upper->dev[SENSOR_GNSS_IDX_GNSS];
dev->lower.ops = &g_gnss_sensor_ops;
dev->lower.type = SENSOR_TYPE_GNSS;
dev->lower.nbuffer = nbuffer;
dev->lower.nbuffer = nbuffer[SENSOR_GNSS_IDX_GNSS];
dev->upper = upper;
ret = sensor_register(&dev->lower, devno);
if (ret < 0)
Expand All @@ -758,10 +757,10 @@ int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,

/* Satellite register */

dev = &upper->dev[GNSS_SATELLITE_IDX];
dev = &upper->dev[SENSOR_GNSS_IDX_GNSS_SATELLITE];
dev->lower.ops = &g_gnss_sensor_ops;
dev->lower.type = SENSOR_TYPE_GNSS_SATELLITE;
dev->lower.nbuffer = nbuffer;
dev->lower.nbuffer = nbuffer[SENSOR_GNSS_IDX_GNSS_SATELLITE];
dev->upper = upper;
ret = sensor_register(&dev->lower, devno);
if (ret < 0)
Expand All @@ -771,10 +770,10 @@ int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,

/* GNSS Measurement register */

dev = &upper->dev[GNSS_MEASUREMENT_IDX];
dev = &upper->dev[SENSOR_GNSS_IDX_GNSS_MEASUREMENT];
dev->lower.ops = &g_gnss_sensor_ops;
dev->lower.type = SENSOR_TYPE_GNSS_MEASUREMENT;
dev->lower.nbuffer = nbuffer;
dev->lower.nbuffer = nbuffer[SENSOR_GNSS_IDX_GNSS_MEASUREMENT];
dev->upper = upper;
ret = sensor_register(&dev->lower, devno);
if (ret < 0)
Expand All @@ -784,10 +783,10 @@ int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,

/* GNSS Colck register */

dev = &upper->dev[GNSS_CLOCK_IDX];
dev = &upper->dev[SENSOR_GNSS_IDX_GNSS_CLOCK];
dev->lower.ops = &g_gnss_sensor_ops;
dev->lower.type = SENSOR_TYPE_GNSS_CLOCK;
dev->lower.nbuffer = nbuffer;
dev->lower.nbuffer = nbuffer[SENSOR_GNSS_IDX_GNSS_CLOCK];
dev->upper = upper;
ret = sensor_register(&dev->lower, devno);
if (ret < 0)
Expand All @@ -797,10 +796,10 @@ int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,

/* GNSS Geofence */

dev = &upper->dev[GNSS_GEOFENCE_IDX];
dev = &upper->dev[SENSOR_GNSS_IDX_GNSS_GEOFENCE];
dev->lower.ops = &g_gnss_sensor_ops;
dev->lower.type = SENSOR_TYPE_GNSS_GEOFENCE;
dev->lower.nbuffer = nbuffer;
dev->lower.nbuffer = nbuffer[SENSOR_GNSS_IDX_GNSS_GEOFENCE];
dev->upper = upper;
ret = sensor_register(&dev->lower, devno);
if (ret < 0)
Expand Down Expand Up @@ -828,15 +827,17 @@ int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,
driver_err:
circbuf_uninit(&upper->buffer);
circ_err:
sensor_unregister(&upper->dev[GNSS_GEOFENCE_IDX].lower, devno);
sensor_unregister(&upper->dev[SENSOR_GNSS_IDX_GNSS_GEOFENCE].lower, devno);
gnss_geofence_err:
sensor_unregister(&upper->dev[GNSS_CLOCK_IDX].lower, devno);
sensor_unregister(&upper->dev[SENSOR_GNSS_IDX_GNSS_CLOCK].lower, devno);
gnss_clock_err:
sensor_unregister(&upper->dev[GNSS_MEASUREMENT_IDX].lower, devno);
sensor_unregister(&upper->dev[SENSOR_GNSS_IDX_GNSS_MEASUREMENT].lower,
devno);
gnss_measurement_err:
sensor_unregister(&upper->dev[GNSS_SATELLITE_IDX].lower, devno);
sensor_unregister(&upper->dev[SENSOR_GNSS_IDX_GNSS_SATELLITE].lower,
devno);
satellite_err:
sensor_unregister(&upper->dev[GNSS_IDX].lower, devno);
sensor_unregister(&upper->dev[SENSOR_GNSS_IDX_GNSS].lower, devno);
gnss_err:
nxmutex_destroy(&upper->lock);
nxmutex_destroy(&upper->bufferlock);
Expand Down Expand Up @@ -872,11 +873,13 @@ void gnss_unregister(FAR struct gnss_lowerhalf_s *lower, int devno)
return;
}

sensor_unregister(&upper->dev[GNSS_IDX].lower, devno);
sensor_unregister(&upper->dev[GNSS_SATELLITE_IDX].lower, devno);
sensor_unregister(&upper->dev[GNSS_MEASUREMENT_IDX].lower, devno);
sensor_unregister(&upper->dev[GNSS_CLOCK_IDX].lower, devno);
sensor_unregister(&upper->dev[GNSS_GEOFENCE_IDX].lower, devno);
sensor_unregister(&upper->dev[SENSOR_GNSS_IDX_GNSS].lower, devno);
sensor_unregister(&upper->dev[SENSOR_GNSS_IDX_GNSS_SATELLITE].lower,
devno);
sensor_unregister(&upper->dev[SENSOR_GNSS_IDX_GNSS_MEASUREMENT].lower,
devno);
sensor_unregister(&upper->dev[SENSOR_GNSS_IDX_GNSS_CLOCK].lower, devno);
sensor_unregister(&upper->dev[SENSOR_GNSS_IDX_GNSS_GEOFENCE].lower, devno);
snprintf(path, PATH_MAX, GNSS_PATH_FMT, devno);
unregister_driver(path);
nxsem_destroy(&upper->buffersem);
Expand Down
10 changes: 9 additions & 1 deletion include/nuttx/sensors/gnss.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,13 @@
* Pre-processor Definitions
****************************************************************************/

#define SENSOR_GNSS_IDX_GNSS 0
#define SENSOR_GNSS_IDX_GNSS_SATELLITE 1
#define SENSOR_GNSS_IDX_GNSS_MEASUREMENT 2
#define SENSOR_GNSS_IDX_GNSS_CLOCK 3
#define SENSOR_GNSS_IDX_GNSS_GEOFENCE 4
#define SENSOR_GNSS_IDX_GNSS_MAX 5

/****************************************************************************
* Public Types
****************************************************************************/
Expand Down Expand Up @@ -202,6 +209,7 @@ extern "C"
* devno - The user specifies which device of this type, from 0. If the
* devno alerady exists, -EEXIST will be returned.
* nbuffer - The number of events that the circular buffer can hold.
* count - The array size of nbuffer.
*
* Returned Value:
* OK if the driver was successfully register; A negated errno value is
Expand All @@ -210,7 +218,7 @@ extern "C"
****************************************************************************/

int gnss_register(FAR struct gnss_lowerhalf_s *dev, int devno,
uint32_t nbuffer);
uint32_t nbuffer[], size_t count);

/****************************************************************************
* Name: gnss_unregister
Expand Down
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