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drivers/sensors/gnss: Different nbuffer for each topic

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Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
This commit is contained in:
wangjianyu3
2024-11-30 07:54:33 +08:00
committed by Xiang Xiao
parent 16f39fbb56
commit d2dd747e09
2 changed files with 48 additions and 37 deletions
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drivers/sensors/gnss_uorb.c
+39 -36
View File
@@ -45,13 +45,6 @@
#define GNSS_PATH_FMT "/dev/ttyGNSS%d" #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_PARSE_BUFFERSIZE 256
#define GNSS_KNOT_TO_KMH 1.852f #define GNSS_KNOT_TO_KMH 1.852f
@@ -86,7 +79,7 @@ struct gnss_user_s
struct gnss_upperhalf_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; struct list_node userlist;
FAR struct gnss_lowerhalf_s *lower; FAR struct gnss_lowerhalf_s *lower;
uint8_t crefs; uint8_t crefs;
@@ -537,7 +530,7 @@ static void gnss_parse_nmea(FAR struct gnss_upperhalf_s *upper,
satellite.satellites = frame.total_sats; satellite.satellites = frame.total_sats;
memcpy(satellite.info, frame.sats, memcpy(satellite.info, frame.sats,
sizeof(satellite.info[0]) * 4); 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++) for (i = 0; i < nitems(g_gnss_constellation); i++)
{ {
@@ -572,7 +565,7 @@ static void gnss_parse_nmea(FAR struct gnss_upperhalf_s *upper,
if (GNSS_FLAG_MARK == upper->flags) if (GNSS_FLAG_MARK == upper->flags)
{ {
upper->flags &= ~GNSS_FLAG_MARK; 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)); lower->push_event(lower->priv, &upper->gnss, sizeof(upper->gnss));
gnss_init_data(&upper->gnss); gnss_init_data(&upper->gnss);
} }
@@ -660,27 +653,27 @@ static void gnss_push_event(FAR void *priv, FAR const void *data,
if (type == SENSOR_TYPE_GNSS) 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); lower->push_event(lower->priv, data, bytes);
} }
else if (type == SENSOR_TYPE_GNSS_SATELLITE) 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); lower->push_event(lower->priv, data, bytes);
} }
else if (type == SENSOR_TYPE_GNSS_MEASUREMENT) 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); lower->push_event(lower->priv, data, bytes);
} }
else if (type == SENSOR_TYPE_GNSS_CLOCK) 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); lower->push_event(lower->priv, data, bytes);
} }
else if (type == SENSOR_TYPE_GNSS_GEOFENCE) 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); lower->push_event(lower->priv, data, bytes);
} }
} }
@@ -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 - The user specifies which device of this type, from 0. If the
* devno alerady exists, -EEXIST will be returned. * devno alerady exists, -EEXIST will be returned.
* nbuffer - The number of events that the circular buffer can hold. * nbuffer - The number of events that the circular buffer can hold.
* count - The array size of nbuffer.
* *
* Returned Value: * Returned Value:
* OK if the driver was successfully register; A negated errno value is * OK if the driver was successfully register; A negated errno value is
@@ -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, 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_upperhalf_s *upper;
FAR struct gnss_sensor_s *dev; FAR struct gnss_sensor_s *dev;
FAR char *path; FAR char *path;
int ret; int ret;
if (count != SENSOR_GNSS_IDX_GNSS_MAX)
{
return -EINVAL;
}
upper = kmm_zalloc(sizeof(struct gnss_upperhalf_s)); upper = kmm_zalloc(sizeof(struct gnss_upperhalf_s));
if (upper == NULL) if (upper == NULL)
{ {
@@ -745,10 +744,10 @@ int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,
/* GNSS register */ /* GNSS register */
dev = &upper->dev[GNSS_IDX]; dev = &upper->dev[SENSOR_GNSS_IDX_GNSS];
dev->lower.ops = &g_gnss_sensor_ops; dev->lower.ops = &g_gnss_sensor_ops;
dev->lower.type = SENSOR_TYPE_GNSS; dev->lower.type = SENSOR_TYPE_GNSS;
dev->lower.nbuffer = nbuffer; dev->lower.nbuffer = nbuffer[SENSOR_GNSS_IDX_GNSS];
dev->upper = upper; dev->upper = upper;
ret = sensor_register(&dev->lower, devno); ret = sensor_register(&dev->lower, devno);
if (ret < 0) if (ret < 0)
@@ -758,10 +757,10 @@ int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,
/* Satellite register */ /* 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.ops = &g_gnss_sensor_ops;
dev->lower.type = SENSOR_TYPE_GNSS_SATELLITE; dev->lower.type = SENSOR_TYPE_GNSS_SATELLITE;
dev->lower.nbuffer = nbuffer; dev->lower.nbuffer = nbuffer[SENSOR_GNSS_IDX_GNSS_SATELLITE];
dev->upper = upper; dev->upper = upper;
ret = sensor_register(&dev->lower, devno); ret = sensor_register(&dev->lower, devno);
if (ret < 0) if (ret < 0)
@@ -771,10 +770,10 @@ int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,
/* GNSS Measurement register */ /* 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.ops = &g_gnss_sensor_ops;
dev->lower.type = SENSOR_TYPE_GNSS_MEASUREMENT; dev->lower.type = SENSOR_TYPE_GNSS_MEASUREMENT;
dev->lower.nbuffer = nbuffer; dev->lower.nbuffer = nbuffer[SENSOR_GNSS_IDX_GNSS_MEASUREMENT];
dev->upper = upper; dev->upper = upper;
ret = sensor_register(&dev->lower, devno); ret = sensor_register(&dev->lower, devno);
if (ret < 0) if (ret < 0)
@@ -784,10 +783,10 @@ int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,
/* GNSS Colck register */ /* 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.ops = &g_gnss_sensor_ops;
dev->lower.type = SENSOR_TYPE_GNSS_CLOCK; dev->lower.type = SENSOR_TYPE_GNSS_CLOCK;
dev->lower.nbuffer = nbuffer; dev->lower.nbuffer = nbuffer[SENSOR_GNSS_IDX_GNSS_CLOCK];
dev->upper = upper; dev->upper = upper;
ret = sensor_register(&dev->lower, devno); ret = sensor_register(&dev->lower, devno);
if (ret < 0) if (ret < 0)
@@ -797,10 +796,10 @@ int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,
/* GNSS Geofence */ /* 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.ops = &g_gnss_sensor_ops;
dev->lower.type = SENSOR_TYPE_GNSS_GEOFENCE; dev->lower.type = SENSOR_TYPE_GNSS_GEOFENCE;
dev->lower.nbuffer = nbuffer; dev->lower.nbuffer = nbuffer[SENSOR_GNSS_IDX_GNSS_GEOFENCE];
dev->upper = upper; dev->upper = upper;
ret = sensor_register(&dev->lower, devno); ret = sensor_register(&dev->lower, devno);
if (ret < 0) if (ret < 0)
@@ -828,15 +827,17 @@ int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,
driver_err: driver_err:
circbuf_uninit(&upper->buffer); circbuf_uninit(&upper->buffer);
circ_err: 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: 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: 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: 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: satellite_err:
sensor_unregister(&upper->dev[GNSS_IDX].lower, devno); sensor_unregister(&upper->dev[SENSOR_GNSS_IDX_GNSS].lower, devno);
gnss_err: gnss_err:
nxmutex_destroy(&upper->lock); nxmutex_destroy(&upper->lock);
nxmutex_destroy(&upper->bufferlock); nxmutex_destroy(&upper->bufferlock);
@@ -872,11 +873,13 @@ void gnss_unregister(FAR struct gnss_lowerhalf_s *lower, int devno)
return; return;
} }
sensor_unregister(&upper->dev[GNSS_IDX].lower, devno); sensor_unregister(&upper->dev[SENSOR_GNSS_IDX_GNSS].lower, devno);
sensor_unregister(&upper->dev[GNSS_SATELLITE_IDX].lower, devno); sensor_unregister(&upper->dev[SENSOR_GNSS_IDX_GNSS_SATELLITE].lower,
sensor_unregister(&upper->dev[GNSS_MEASUREMENT_IDX].lower, devno); devno);
sensor_unregister(&upper->dev[GNSS_CLOCK_IDX].lower, devno); sensor_unregister(&upper->dev[SENSOR_GNSS_IDX_GNSS_MEASUREMENT].lower,
sensor_unregister(&upper->dev[GNSS_GEOFENCE_IDX].lower, devno); 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); snprintf(path, PATH_MAX, GNSS_PATH_FMT, devno);
unregister_driver(path); unregister_driver(path);
nxsem_destroy(&upper->buffersem); nxsem_destroy(&upper->buffersem);
include/nuttx/sensors/gnss.h
+9 -1
View File
@@ -33,6 +33,13 @@
* Pre-processor Definitions * 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 * Public Types
****************************************************************************/ ****************************************************************************/
@@ -202,6 +209,7 @@ extern "C"
* devno - The user specifies which device of this type, from 0. If the * devno - The user specifies which device of this type, from 0. If the
* devno alerady exists, -EEXIST will be returned. * devno alerady exists, -EEXIST will be returned.
* nbuffer - The number of events that the circular buffer can hold. * nbuffer - The number of events that the circular buffer can hold.
* count - The array size of nbuffer.
* *
* Returned Value: * Returned Value:
* OK if the driver was successfully register; A negated errno value is * OK if the driver was successfully register; A negated errno value is
@@ -210,7 +218,7 @@ extern "C"
****************************************************************************/ ****************************************************************************/
int gnss_register(FAR struct gnss_lowerhalf_s *dev, int devno, int gnss_register(FAR struct gnss_lowerhalf_s *dev, int devno,
uint32_t nbuffer); uint32_t nbuffer[], size_t count);
/**************************************************************************** /****************************************************************************
* Name: gnss_unregister * Name: gnss_unregister