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boards: cxd56xx: Add geoid to cxd5610 gnss driver

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Support the output of geoidal heights for cxd5610 gnss driver.
This commit is contained in:
SPRESENSE
2024-01-30 20:58:06 -08:00
committed by Xiang Xiao
parent 8ff97f6210
commit 708ae8e8d8
1 changed files with 11 additions and 2 deletions
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boards/arm/cxd56xx/drivers/sensors/cxd5610_gnss.c
+11 -2
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@@ -229,6 +229,7 @@ begin_packed_struct struct cmd_notify_pos_s
int32_t lat32;
int32_t lon32;
int32_t alt32;
int16_t geo16;
} end_packed_struct;
begin_packed_struct struct cmd_notify_vel_s
@@ -494,6 +495,7 @@ static int cxd5610_gnss_notify_pos(struct cxd5610_gnss_dev_s *priv, int len)
int32_t lat32;
int32_t lon32;
int32_t alt32;
int16_t geo16 = 0;
/* If the packet is invalid, do not update received data */
@@ -511,10 +513,15 @@ static int cxd5610_gnss_notify_pos(struct cxd5610_gnss_dev_s *priv, int len)
cxd5610_store32(&lat32, &param->lat32);
cxd5610_store32(&lon32, &param->lon32);
cxd5610_store32(&alt32, &param->alt32);
if (GET_PACKET_VERSION(param->ver8) > 0)
{
cxd5610_store16(&geo16, &param->geo16);
}
receiver->latitude = (double)lat32 / 10000000.0;
receiver->longitude = (double)lon32 / 10000000.0;
receiver->altitude = (double)alt32 / 100.0;
receiver->geoid = 0.0;
receiver->geoid = (double)geo16 / 100.0;
receiver->svtype = (param->mode >> 4);
receiver->fix_indicator = (param->mode & 0xf);
@@ -523,10 +530,12 @@ static int cxd5610_gnss_notify_pos(struct cxd5610_gnss_dev_s *priv, int len)
receiver->pos_dataexist = 1;
}
sninfo("lat=%.7lf[deg] lon=%.7lf[deg] alt=%.2lf[m] svtype=%d fix=%d\n",
sninfo("lat=%.7lf[deg] lon=%.7lf[deg] alt=%.2lf[m] "
"geo=%.2lf[m] svtype=%d fix=%d\n",
receiver->latitude,
receiver->longitude,
receiver->altitude,
receiver->geoid,
receiver->svtype,
receiver->fix_indicator);