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commit ed5785ad0684ae35196271a40340be2845f782c3
Author: SPRESENSE <41312067+sprese...@users.noreply.github.com>
AuthorDate: Sat Oct 28 19:19:38 2023 +0900
arch: cxd56xx: Update gnss header files
- Add some ioctl commands to get version, sleep, wakeup and reset.
- Add new data structures for CXD5610 GNSS Add-on board.
---
arch/arm/include/cxd56xx/gnss.h | 38 +++++++++++-
arch/arm/include/cxd56xx/gnss_type.h | 112 ++++++++++++++++++++++++++++++++++-
2 files changed, 148 insertions(+), 2 deletions(-)
diff --git a/arch/arm/include/cxd56xx/gnss.h b/arch/arm/include/cxd56xx/gnss.h
index 93ed1969a9..b9bb81ddb0 100644
--- a/arch/arm/include/cxd56xx/gnss.h
+++ b/arch/arm/include/cxd56xx/gnss.h
@@ -547,10 +547,46 @@ extern "C"
#define CXD56_GNSS_IOCTL_GET_1PPS_OUTPUT 53
+/**
+ * Get the firmware version
+ *
+ * param[in] arg
+ * string array of CXD56_GNSS_VERSION_MAXLEN
+ */
+
+#define CXD56_GNSS_IOCTL_GET_VERSION 54
+
+/**
+ * Sleep the firmware
+ *
+ * param[in] arg
+ * CXD56_GNSS_SLEEP(0) or CXD56_GNSS_DEEPSLEEP(1)
+ */
+
+#define CXD56_GNSS_IOCTL_SLEEP 55
+
+/**
+ * Wake up the firmware
+ *
+ * param arg
+ * Parameter is Unnecessary. Set Zero.
+ */
+
+#define CXD56_GNSS_IOCTL_WAKEUP 56
+
+/**
+ * Reset the firmware
+ *
+ * param arg
+ * Parameter is Unnecessary. Set Zero.
+ */
+
+#define CXD56_GNSS_IOCTL_RESET 57
+
/* check macros for GNSS commands */
#define CXD56_GNSS_IOCTL_INVAL 0
-#define CXD56_GNSS_IOCTL_MAX 54
+#define CXD56_GNSS_IOCTL_MAX 58
/* Same value to GD Start mode CXD56_GNSS_STMOD_XXXX for fw_gd_start */
diff --git a/arch/arm/include/cxd56xx/gnss_type.h
b/arch/arm/include/cxd56xx/gnss_type.h
index 48b62638af..871fdaf773 100644
--- a/arch/arm/include/cxd56xx/gnss_type.h
+++ b/arch/arm/include/cxd56xx/gnss_type.h
@@ -45,7 +45,8 @@ extern "C"
/* Max number of satellites */
-#define CXD56_GNSS_MAX_SV_NUM 32
+#define CXD56_GNSS_MAX_SV_NUM 32 /* for cxd56_gnss_positiondata_s */
+#define CXD56_GNSS_MAX_SV2_NUM 150 /* for cxd56_gnss_positiondata2_s */
/* GNSS satellite system */
@@ -59,6 +60,23 @@ extern "C"
#define CXD56_GNSS_SAT_BEIDOU (1U << 6) /* BeiDou */
#define CXD56_GNSS_SAT_GALILEO (1U << 7) /* Galileo */
+/* GNSS satellite signal type */
+
+#define CXD56_GNSS_SIGNAL_GPS_L1CA (0) /* GPS L1CA */
+#define CXD56_GNSS_SIGNAL_GPS_L5 (1) /* GPS L5 */
+#define CXD56_GNSS_SIGNAL_GLN_L1OF (2) /* GLONASS L1OF */
+#define CXD56_GNSS_SIGNAL_QZS_L1CA (3) /* QZSS L1CA */
+#define CXD56_GNSS_SIGNAL_QZS_L1S (4) /* QZSS L1S */
+#define CXD56_GNSS_SIGNAL_QZS_L5 (5) /* QZSS L5 */
+#define CXD56_GNSS_SIGNAL_BDS_B1ID1 (6) /* BeiDou B1I D1 */
+#define CXD56_GNSS_SIGNAL_BDS_B1ID2 (7) /* BeiDou B1I D2 */
+#define CXD56_GNSS_SIGNAL_BDS_B1C (8) /* BeiDou B1C */
+#define CXD56_GNSS_SIGNAL_BDS_B2A (9) /* BeiDou B2a */
+#define CXD56_GNSS_SIGNAL_GAL_E1 (10) /* Galileo E1B, E1C */
+#define CXD56_GNSS_SIGNAL_GAL_E5A (11) /* Galileo E5a */
+#define CXD56_GNSS_SIGNAL_NAV_L5 (12) /* NavIC L5 */
+#define CXD56_GNSS_SIGNAL_SBAS_L1 (13) /* SBAS L1 */
+
/* GNSS positioning type */
#define CXD56_GNSS_PVT_TYPE_NONE 0 /* Positioning data none */
@@ -194,6 +212,15 @@ extern "C"
#define CXD56_GNSS_PVT_RECEIVER_ASSIST_AEPPOS (0x08)
#define CXD56_GNSS_PVT_RECEIVER_ASSIST_AEPVEL (0x10)
+/* GNSS firmware version information */
+
+#define CXD56_GNSS_VERSION_MAXLEN 32
+
+/* GNSS sleep parameter */
+
+#define CXD56_GNSS_SLEEP 0
+#define CXD56_GNSS_DEEPSLEEP 1
+
/* GNSS positionig data elements */
/* Day (UTC) */
@@ -990,6 +1017,89 @@ struct cxd56_gnss_status_s
struct cxd56_pvtlog_date_s end_date; /* [in] Date (UTC) 4B */
};
+/* GNSS satellite data v2 */
+
+struct cxd56_gnss_sv2_s
+{
+ uint8_t type; /* Signal ID
+ * 0: GPS L1CA
+ * 1: GPS L5
+ * 2: GLN L1OF
+ * 3: QZS L1CA
+ * 4: QZS L1S
+ * 5: QZS L5
+ * 6: BDS B1I D1
+ * 7: BDS B1I D2
+ * 8: BDS B1C
+ * 9: BDS B2a
+ * 10: GAL E1B/E1C
+ * 11: GAL E5a
+ * 12: NavIC L5
+ * 13: SBAS L1
+ */
+ uint8_t svid; /* Satellite id */
+ int16_t azimuth; /* Azimuth [degree] */
+ uint8_t elevation; /* Elevation [degree] */
+ uint8_t siglevel; /* CN [dB] */
+ uint8_t stat; /* Using sv info, bit field; bit0:tracking,
+ * bit1:positioning, bit2:calculating velocity,
+ * bit3:visible satellite
+ */
+};
+
+/* GNSS Receiver data v2 */
+
+struct cxd56_gnss_receiver2_s
+{
+ struct cxd56_gnss_date_s date; /* Current day (UTC) */
+ struct cxd56_gnss_time_s time; /* Current time (UTC) */
+ double latitude; /* Latitude [degree] */
+ double longitude; /* Longitude [degree] */
+ double altitude; /* Altitude [m] */
+ double geoid; /* Geoid height [m] */
+ float velocity; /* Velocity [m/s] */
+ float direction; /* Direction [degree] */
+ float mag_course; /* Magnetic Course [degree] */
+ float up_velocity; /* Up Velocity [m/s] */
+ uint8_t pos_dataexist; /* 0:none 1:exist */
+ uint8_t fix_indicator; /* 0:invalid 1: Fix valid
+ * 2:Differential GPS 6:Dead reckoning
+ */
+ uint8_t pos_fixmode; /* 1:Invalid, 2:2D, 3:3D */
+ uint8_t vel_fixmode; /* 0:Invalid, 1:Autonomous 2:Differential
+ * 3: Dead reckoning
+ */
+ uint16_t svtype; /* Using sv system, bit field;
+ * 0:GPS, 1:GLONASS, 2:Galileo, 3:BeiDou,
+ * 4:QZS, 5:NavIC, 6: combined
+ */
+ uint8_t numsv; /* Nr of visible satellites */
+ float hvar; /* Horizontal uncertainty [m] */
+ float vvar; /* Vertical uncertainty [m] */
+ float hvar_speed; /* Horizontal uncertainty speed [km/h] */
+ float vvar_speed; /* Vertical uncertainty speed [km/h] */
+ float pdop; /* Position DOP */
+ float hdop; /* Horizontal DOP */
+ float vdop; /* Vertical DOP */
+ float majdop; /* Stdev of semi-major axis [m] */
+ float mindop; /* Stdev of semi-minor axis [m] */
+ float oridop; /* Orientation of semi-major axis [deg] */
+};
+
+/* Positioning data with SV data v2 */
+
+struct cxd56_gnss_positiondata2_s
+{
+ struct cxd56_gnss_receiver2_s receiver; /* Receiver data */
+ uint64_t timestamp; /* Timestamp [us] */
+ uint32_t status; /* Positioning data
+ * status 0 : Valid,
+ * <0 : Invalid
+ */
+ uint32_t svcount; /* Sv data count */
+ struct cxd56_gnss_sv2_s sv[CXD56_GNSS_MAX_SV2_NUM]; /* Sv data array */
+};
+
#ifdef __cplusplus
}
#endif /* __cplusplus */
