blob: 2f23f4d73530fb6decfdd2d6c638465a0b19ecfa [file] [log] [blame]
/*
* Copyright (c) 2023 Trackunit Corporation
* Copyright (c) 2023 Bjarki Arge Andreasen
* Copyright 2023 Google LLC
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/drivers/gnss.h>
#include <zephyr/drivers/gnss/gnss_publish.h>
#include <zephyr/modem/chat.h>
#include <zephyr/modem/backend/uart.h>
#include <zephyr/kernel.h>
#include <zephyr/drivers/gpio.h>
#include <string.h>
#include "gnss_nmea0183.h"
#include "gnss_nmea0183_match.h"
#include "gnss_parse.h"
#include <zephyr/logging/log.h>
LOG_MODULE_REGISTER(gnss_nmea_generic, CONFIG_GNSS_LOG_LEVEL);
#define DT_DRV_COMPAT gnss_nmea_generic
#define UART_RECV_BUF_SZ 128
#define CHAT_RECV_BUF_SZ 256
#define CHAT_ARGV_SZ 32
struct gnss_nmea_generic_config {
const struct device *uart;
};
struct gnss_nmea_generic_data {
struct gnss_nmea0183_match_data match_data;
#if CONFIG_GNSS_SATELLITES
struct gnss_satellite satellites[CONFIG_GNSS_NMEA_GENERIC_SATELLITES_COUNT];
#endif
/* UART backend */
struct modem_pipe *uart_pipe;
struct modem_backend_uart uart_backend;
uint8_t uart_backend_receive_buf[UART_RECV_BUF_SZ];
/* Modem chat */
struct modem_chat chat;
uint8_t chat_receive_buf[CHAT_RECV_BUF_SZ];
uint8_t *chat_argv[CHAT_ARGV_SZ];
struct k_spinlock lock;
};
MODEM_CHAT_MATCHES_DEFINE(unsol_matches,
MODEM_CHAT_MATCH_WILDCARD("$??GGA,", ",*", gnss_nmea0183_match_gga_callback),
MODEM_CHAT_MATCH_WILDCARD("$??RMC,", ",*", gnss_nmea0183_match_rmc_callback),
#if CONFIG_GNSS_SATELLITES
MODEM_CHAT_MATCH_WILDCARD("$??GSV,", ",*", gnss_nmea0183_match_gsv_callback),
#endif
);
static int gnss_nmea_generic_resume(const struct device *dev)
{
struct gnss_nmea_generic_data *data = dev->data;
int ret;
ret = modem_pipe_open(data->uart_pipe);
if (ret < 0) {
return ret;
}
ret = modem_chat_attach(&data->chat, data->uart_pipe);
if (ret < 0) {
modem_pipe_close(data->uart_pipe);
return ret;
}
return ret;
}
static struct gnss_driver_api gnss_api = {
};
static int gnss_nmea_generic_init_nmea0183_match(const struct device *dev)
{
struct gnss_nmea_generic_data *data = dev->data;
const struct gnss_nmea0183_match_config match_config = {
.gnss = dev,
#if CONFIG_GNSS_SATELLITES
.satellites = data->satellites,
.satellites_size = ARRAY_SIZE(data->satellites),
#endif
};
return gnss_nmea0183_match_init(&data->match_data, &match_config);
}
static void gnss_nmea_generic_init_pipe(const struct device *dev)
{
const struct gnss_nmea_generic_config *cfg = dev->config;
struct gnss_nmea_generic_data *data = dev->data;
const struct modem_backend_uart_config uart_backend_config = {
.uart = cfg->uart,
.receive_buf = data->uart_backend_receive_buf,
.receive_buf_size = sizeof(data->uart_backend_receive_buf),
};
data->uart_pipe = modem_backend_uart_init(&data->uart_backend, &uart_backend_config);
}
static uint8_t gnss_nmea_generic_char_delimiter[] = {'\r', '\n'};
static int gnss_nmea_generic_init_chat(const struct device *dev)
{
struct gnss_nmea_generic_data *data = dev->data;
const struct modem_chat_config chat_config = {
.user_data = data,
.receive_buf = data->chat_receive_buf,
.receive_buf_size = sizeof(data->chat_receive_buf),
.delimiter = gnss_nmea_generic_char_delimiter,
.delimiter_size = ARRAY_SIZE(gnss_nmea_generic_char_delimiter),
.filter = NULL,
.filter_size = 0,
.argv = data->chat_argv,
.argv_size = ARRAY_SIZE(data->chat_argv),
.unsol_matches = unsol_matches,
.unsol_matches_size = ARRAY_SIZE(unsol_matches),
};
return modem_chat_init(&data->chat, &chat_config);
}
static int gnss_nmea_generic_init(const struct device *dev)
{
int ret;
ret = gnss_nmea_generic_init_nmea0183_match(dev);
if (ret < 0) {
return ret;
}
gnss_nmea_generic_init_pipe(dev);
ret = gnss_nmea_generic_init_chat(dev);
if (ret < 0) {
return ret;
}
ret = gnss_nmea_generic_resume(dev);
if (ret < 0) {
return ret;
}
return 0;
}
#define GNSS_NMEA_GENERIC(inst) \
static struct gnss_nmea_generic_config gnss_nmea_generic_cfg_##inst = { \
.uart = DEVICE_DT_GET(DT_INST_BUS(inst)), \
}; \
\
static struct gnss_nmea_generic_data gnss_nmea_generic_data_##inst; \
\
DEVICE_DT_INST_DEFINE(inst, gnss_nmea_generic_init, NULL, \
&gnss_nmea_generic_data_##inst, \
&gnss_nmea_generic_cfg_##inst, \
POST_KERNEL, CONFIG_GNSS_INIT_PRIORITY, &gnss_api);
DT_INST_FOREACH_STATUS_OKAY(GNSS_NMEA_GENERIC)