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Posted to commits@nuttx.apache.org by xi...@apache.org on 2024/09/18 19:42:43 UTC
(nuttx-apps) 06/06: uORB/sensor: Add GNSS Geofence, Measurement & Clock.
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/nuttx-apps.git
commit d94aa77e1999817c79e0559f1f6c4dab1c2a3ae6
Author: wangjianyu3 <wa...@xiaomi.com>
AuthorDate: Fri Jul 12 10:44:32 2024 +0800
uORB/sensor: Add GNSS Geofence, Measurement & Clock.
Signed-off-by: wangjianyu3 <wa...@xiaomi.com>
---
system/uorb/sensor/gnss.c | 39 ++++++++++++++++++++++++++++++++++++---
system/uorb/sensor/gnss.h | 3 +++
system/uorb/sensor/topics.c | 3 +++
3 files changed, 42 insertions(+), 3 deletions(-)
diff --git a/system/uorb/sensor/gnss.c b/system/uorb/sensor/gnss.c
index 23b64949f..f221184d1 100644
--- a/system/uorb/sensor/gnss.c
+++ b/system/uorb/sensor/gnss.c
@@ -29,13 +29,40 @@
****************************************************************************/
#ifdef CONFIG_DEBUG_UORB
+#define UORB_DEBUG_FORMAT_SENSOR_GNSS \
+ "timestamp:%" PRIu64 ",time_utc:%" PRIu64 ",latitude:%hf,longitude:%hf," \
+ "altitude:%hf,altitude_ellipsoid:%hf,eph:%hf,epv:%hf,hdop:%hf,pdop:%hf," \
+ "vdop:%hf,ground_speed:%hf,course:%hf,satellites_used:%" PRIu32 ""
+
static const char sensor_gnss_format[] =
- "timestamp:%" PRIu64 ",time_utc:%" PRIu64 ",latitude:%hf,longitude:%hf,"
- "altitude:%hf,altitude_ellipsoid:%hf,eph:%hf,epv:%hf,hdop:%hf,pdop:%hf,"
- "vdop:%hf,ground_speed:%hf,course:%hf,satellites_used:%" PRIu32 "";
+ UORB_DEBUG_FORMAT_SENSOR_GNSS;
+
+static const char sensor_gnss_clock_format[] =
+ "flags:%" PRIx32 ",leap_second:%" PRId32 ",time_ns:%" PRId64 ","
+ "time_uncertainty_ns:%hf,hw_clock_discontinuity_count:%" PRIu32 ","
+ "full_bias_ns:%" PRId64 ",bias_ns:%hf,bias_uncertainty_ns:%hf,"
+ "drift_nsps:%hf,drift_uncertainty_nsps:%hf";
+
+static const char sensor_gnss_geofence_event_format[] =
+ "type:%" PRId32 ",geofence_id:%" PRId32 ","
+ UORB_DEBUG_FORMAT_SENSOR_GNSS ","
+ "timestamp:%" PRId64 ",status:%" PRId32 ",transition:%" PRId32 "";
+
+static const char sensor_gnss_measurement_format[] =
+ "flags:%" PRIx32 ",svid:%" PRId32 ",constellation:%" PRIu32 ","
+ "time_offset_ns:%hf,received_sv_time_in_ns:%" PRId64 ","
+ "received_sv_time_uncertainty_in_ns:%" PRId64 ",state:%" PRIu32 ","
+ "c_n0_dbhz:%hf,pseudorange_rate_mps:%hf,"
+ "pseudorange_rate_uncertainty_mps:%hf,"
+ "accumulated_delta_range_state:%" PRIu32 ",accumulated_delta_range_m:%hf,"
+ "accumulated_delta_range_uncertainty_m:%hf,"
+ "carrier_frequency_hz:%hf,carrier_cycles:%" PRId64 ",carrier_phase:%hf,"
+ "carrier_phase_uncertainty:%hf,multipath_indicator:%" PRIu32 ","
+ "snr:%" PRIu32 "";
static const char sensor_gnss_satellite_format[] =
"timestamp:%" PRIu64 ",count:%" PRIu32 ",satellites:%" PRIu32 ","
+ "constellation:%" PRIu32 ","
"svid0:%" PRIu32 ",elevation0:%" PRIu32 ",azimuth0:%" PRIu32 ","
"snr0:%" PRIu32 ",svid1:%" PRIu32 ",elevation1:%" PRIu32 ","
"azimuth1:%" PRIu32 ",snr1:%" PRIu32 ",svid2:%" PRIu32 ","
@@ -49,5 +76,11 @@ static const char sensor_gnss_satellite_format[] =
****************************************************************************/
ORB_DEFINE(sensor_gnss, struct sensor_gnss, sensor_gnss_format);
+ORB_DEFINE(sensor_gnss_clock, struct sensor_gnss_clock,
+ sensor_gnss_clock_format);
+ORB_DEFINE(sensor_gnss_geofence_event, struct sensor_gnss_geofence_event,
+ sensor_gnss_geofence_event_format);
+ORB_DEFINE(sensor_gnss_measurement, struct sensor_gnss_measurement,
+ sensor_gnss_measurement_format);
ORB_DEFINE(sensor_gnss_satellite, struct sensor_gnss_satellite,
sensor_gnss_satellite_format);
diff --git a/system/uorb/sensor/gnss.h b/system/uorb/sensor/gnss.h
index 86024d549..4ca00dff8 100644
--- a/system/uorb/sensor/gnss.h
+++ b/system/uorb/sensor/gnss.h
@@ -34,6 +34,9 @@
/* register this as object request broker structure */
ORB_DECLARE(sensor_gnss);
+ORB_DECLARE(sensor_gnss_clock);
+ORB_DECLARE(sensor_gnss_geofence_event);
+ORB_DECLARE(sensor_gnss_measurement);
ORB_DECLARE(sensor_gnss_satellite);
#endif
diff --git a/system/uorb/sensor/topics.c b/system/uorb/sensor/topics.c
index cb577cf97..80af39c1b 100644
--- a/system/uorb/sensor/topics.c
+++ b/system/uorb/sensor/topics.c
@@ -83,6 +83,9 @@ static FAR const struct orb_metadata *g_sensor_list[] =
ORB_ID(sensor_force),
ORB_ID(sensor_gas),
ORB_ID(sensor_gnss),
+ ORB_ID(sensor_gnss_clock),
+ ORB_ID(sensor_gnss_geofence_event),
+ ORB_ID(sensor_gnss_measurement),
ORB_ID(sensor_gnss_satellite),
ORB_ID(sensor_gyro),
ORB_ID(sensor_gyro_uncal),