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Optimized GPS sensor and add gps satellite sensor.

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Signed-off-by: buyuer <dingddding@163.com>
This commit is contained in:
buyuer
2021-11-17 10:04:50 +08:00
committed by Xiang Xiao
parent a799835ec6
commit fa90a3dfd4
4 changed files with 104 additions and 60 deletions
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include/nuttx/sensors/sensor.h
+65 -13
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@@ -125,8 +125,9 @@
#define SENSOR_TYPE_IR 11
/* GPS
* A sensor of this type returns gps data. Include year, month, day,
* hour, minutes, seconds, altitude, longitude, latitude.
* A sensor of this type returns gps data. Include latitude, longitude,
* altitude, horizontal position accuracy, vertical position accuracy,
* horizontal dilution of precision, vertical dilution of precision...
*/
#define SENSOR_TYPE_GPS 12
@@ -254,9 +255,15 @@
#define SENSOR_TYPE_OTS 28
/* Sensor of gps satellite
* A sensor of this type returns the gps satellite information.
*/
#define SENSOR_TYPE_GPS_SATELLITE 29
/* The total number of sensor */
#define SENSOR_TYPE_COUNT 29
#define SENSOR_TYPE_COUNT 30
/****************************************************************************
* Inline Functions
@@ -364,19 +371,35 @@ struct sensor_event_ir /* Type: Infrared Ray */
struct sensor_event_gps /* Type: Gps */
{
int year; /* Time */
int month;
int day;
int hour;
int min;
int sec;
int msec;
uint64_t timestamp; /* Time since system start, Units is microseconds */
/* This is the timestamp which comes from the gps module. It might be
* unavailable right after cold start, indicated by a value of 0,
* Units is microseconds
*/
uint64_t time_utc;
float yaw; /* Unit is Si degrees */
float height; /* Unit is SI m */
float speed; /* Unit is m/s */
float latitude; /* Unit is degrees */
float longitude; /* Unit is degrees */
float altitude; /* Altitude above MSL(mean seal level), Unit is SI m */
float altitude_ellipsoid; /* Altitude bove Ellipsoid, Unit is SI m */
float eph; /* GPS horizontal position accuracy (metres) */
float epv; /* GPS vertical position accuracy (metres) */
float hdop; /* Horizontal dilution of precision */
float vdop; /* Vertical dilution of precision */
float ground_speed; /* GPS ground speed, Unit is m/s */
/* Course over ground (NOT heading, but direction of movement),
* Unit is Si degrees
*/
float course;
uint32_t satellites_used; /* Number of satellites used */
};
struct sensor_event_uv /* Type: Ultraviolet Light */
@@ -477,6 +500,35 @@ struct sensor_event_ots /* Type: OTS */
int32_t y; /* Axis Y in counts */
};
struct sensor_event_gps_satellite
{
uint64_t timestamp; /* Time since system start, Units is microseconds */
uint32_t count; /* Total number of messages of satellites visible */
uint32_t satellites; /* Total number of satellites in view */
struct satellite
{
uint32_t svid; /* Space vehicle ID */
/* Elevation (0: right on top of receiver,
* 90: on the horizon) of satellite
*/
uint32_t elevation;
/* Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint32_t azimuth;
/* dBHz, Signal to noise ratio of satellite C/N0, range 0..99,
* zero when not tracking this satellite
*/
uint32_t snr;
}
info[4];
};
/* The sensor lower half driver interface */
struct sensor_lowerhalf_s;