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Support for choosing navigation systems #72

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Support for choosing navigation systems #72

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0aeae60
Support for choosing navigation systems
Sep 1, 2020
852e1af
fixed function redefinition
Sep 3, 2020
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50 changes: 48 additions & 2 deletions ports/gprs_a9/modgps.c
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Original file line number Diff line number Diff line change
Expand Up @@ -47,9 +47,11 @@
#include "py/mperrno.h"

STATIC mp_obj_t modgps_off(void);
mp_obj_t gps_callback = mp_const_none;

void modgps_init0(void) {
modgps_off();
gps_callback = mp_const_none;
}

// ------
Expand All @@ -60,37 +62,74 @@ GPS_Info_t* gpsInfo = NULL;

void modgps_notify_gps_update(API_Event_t* event) {
GPS_Update(event->pParam1,event->param1);

if (gps_callback && gps_callback != mp_const_none) {
mp_sched_schedule(gps_callback, MP_OBJ_NEW_SMALL_INT(0));
}
}

STATIC mp_obj_t modgps_on_update(mp_obj_t callable) {
// ========================================
// Sets a callback on GPS update.
// Args:
// callback (Callable): a callback to
// execute on GPS data received from UART.
// ========================================
gps_callback = callable;
return mp_const_none;
}

STATIC MP_DEFINE_CONST_FUN_OBJ_1(modgps_on_update_obj, modgps_on_update);

// -------
// Methods
// -------

#define USE_GPS 1
#define USE_GLONASS 2
#define USE_BEIDOU 4
#define USE_GALILEO 8

STATIC mp_obj_t modgps_on(size_t n_args, const mp_obj_t *arg) {
// ========================================
// Turns GPS on.
// Args:
// timeout (int): timeout in seconds;
// mode(int): navigation systems to use, GPS, GLONASS, BEIDOU, GALILEO as bitmask
// Raises:
// ValueError if failed to turn GPS on.
// ========================================
uint32_t timeout = 0;
uint8_t search_mode = USE_GPS;

if (n_args == 0) {
timeout = DEFAULT_GPS_TIMEOUT;
} else {
}
else {
timeout = mp_obj_get_int(arg[0]);

if (n_args == 2) {
search_mode = mp_obj_get_int(arg[1]);
}

}

timeout *= 1000 * CLOCKS_PER_MSEC;
gpsInfo = Gps_GetInfo();
gpsInfo->rmc.latitude.value = 0;
gpsInfo->rmc.longitude.value = 0;
GPS_Init();
GPS_Open(NULL);

GPS_SetSearchMode(!!(search_mode & USE_GPS), !!(search_mode & USE_GLONASS),
!!(search_mode & USE_BEIDOU), !!(search_mode & USE_GALILEO));

WAIT_UNTIL(gpsInfo->rmc.latitude.value, timeout, 100, mp_raise_OSError(MP_ETIMEDOUT));

return mp_const_none;
}

STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(modgps_on_obj, 0, 1, modgps_on);
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(modgps_on_obj, 0, 2, modgps_on);

STATIC mp_obj_t modgps_off(void) {
// ========================================
Expand Down Expand Up @@ -357,6 +396,12 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_0(modgps_nmea_data_obj, modgps_nmea_data);
STATIC const mp_map_elem_t mp_module_gps_globals_table[] = {
{ MP_OBJ_NEW_QSTR(MP_QSTR___name__), MP_OBJ_NEW_QSTR(MP_QSTR_gps) },

// GNSS
{ MP_ROM_QSTR(MP_QSTR_GLONASS), MP_ROM_INT(USE_GLONASS) },
{ MP_ROM_QSTR(MP_QSTR_GPS), MP_ROM_INT(USE_GPS) },
{ MP_ROM_QSTR(MP_QSTR_GALILEO), MP_ROM_INT(USE_GALILEO) },
{ MP_ROM_QSTR(MP_QSTR_BEIDOU), MP_ROM_INT(USE_BEIDOU) },

{ MP_OBJ_NEW_QSTR(MP_QSTR_on), (mp_obj_t)&modgps_on_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_off), (mp_obj_t)&modgps_off_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_firmware_version), (mp_obj_t)&modgps_get_firmware_version_obj },
Expand All @@ -365,6 +410,7 @@ STATIC const mp_map_elem_t mp_module_gps_globals_table[] = {
{ MP_OBJ_NEW_QSTR(MP_QSTR_get_satellites), (mp_obj_t)&modgps_get_satellites_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_time), (mp_obj_t)&modgps_time_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_nmea_data), (mp_obj_t)&modgps_nmea_data_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_on_update), (mp_obj_t)&modgps_on_update},
};

STATIC MP_DEFINE_CONST_DICT(mp_module_gps_globals, mp_module_gps_globals_table);
Expand Down