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drivers: modem: hl7800: Add GNSS support

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Add API to use GNSS on the HL7800 modem.

Signed-off-by: Ryan Erickson <ryan.erickson@lairdconnect.com>
This commit is contained in:
Ryan Erickson 2021-08-20 15:45:11 -05:00 • committed by Anas Nashif
commit f094346e18
3 changed files with 297 additions and 2 deletions
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7
drivers/modem/Kconfig.hl7800
View file

@ -292,4 +292,11 @@ config MODEM_HL7800_BOOT_IN_AIRPLANE_MODE
endchoice
config MODEM_HL7800_GPS
bool "Enable GPS command and handlers"
config MODEM_HL7800_USE_GLONASS
bool "Use GLONASS in addition to GPS"
depends on MODEM_HL7800_GPS
endif # MODEM_HL7800

230
drivers/modem/hl7800.c
View file

@ -531,6 +531,11 @@ struct hl7800_iface_ctx {
#endif
bool local_time_valid;
bool configured;
#ifdef CONFIG_MODEM_HL7800_GPS
struct k_work_delayable gps_work;
uint32_t gps_query_location_rate_seconds;
#endif
};
struct cmd_handler {
@ -1111,6 +1116,52 @@ int32_t mdm_hl7800_set_functionality(enum mdm_hl7800_functionality mode)
return ret;
}
#ifdef CONFIG_MODEM_HL7800_GPS
int32_t mdm_hl7800_set_gps_rate(uint32_t rate)
{
int ret = -1;
hl7800_lock();
wakeup_hl7800();
ictx.gps_query_location_rate_seconds = rate;
/* Stopping first allows changing the rate between two non-zero values.
* Ignore error if GNSS isn't running.
*/
SEND_AT_CMD_IGNORE_ERROR("AT+GNSSSTOP");
if (rate == 0) {
SEND_AT_CMD_EXPECT_OK("AT+CFUN=1,0");
} else {
/* Navigation doesn't work when LTE is on. */
SEND_AT_CMD_EXPECT_OK("AT+CFUN=4,0");
SEND_AT_CMD_EXPECT_OK("AT+GNSSCONF=1,1");
if (IS_ENABLED(CONFIG_MODEM_HL7800_USE_GLONASS)) {
SEND_AT_CMD_EXPECT_OK("AT+GNSSCONF=10,1");
}
/* Enable all NMEA sentences */
SEND_AT_CMD_EXPECT_OK("AT+GNSSNMEA=0,1000,0,1FF");
/* Enable GPS */
SEND_AT_CMD_EXPECT_OK("AT+GNSSSTART=0");
}
error:
if (rate && ret == 0) {
k_work_reschedule_for_queue(&hl7800_workq, &ictx.gps_work,
K_SECONDS(ictx.gps_query_location_rate_seconds));
} else {
k_work_cancel_delayable(&ictx.gps_work);
}
LOG_DBG("GPS status: %d rate: %u", ret, rate);
allow_sleep(true);
hl7800_unlock();
return ret;
}
#endif /* CONFIG_MODEM_HL7800_GPS */
void mdm_hl7800_generate_status_events(void)
{
hl7800_lock();
@ -2336,6 +2387,166 @@ static void hl7800_rssi_query_work(struct k_work *work)
K_SECONDS(RSSI_TIMEOUT_SECS));
}
#ifdef CONFIG_MODEM_HL7800_GPS
/* Unsolicited notification
* Handler: +GNSSEV: <eventType>,<eventStatus>
*/
static bool on_cmd_gps_event(struct net_buf **buf, uint16_t len)
{
size_t out_len;
char value[MDM_MAX_RESP_SIZE];
char *start = NULL;
char *end = NULL;
int8_t event = -1;
int8_t status = -1;
memset(value, 0, sizeof(value));
out_len = net_buf_linearize(value, sizeof(value), *buf, 0, len);
if (out_len > 0) {
start = value;
event = strtol(start, &end, 10);
if (end == strchr(value, ',')) {
start = end + 1;
status = strtol(start, &end, 10);
}
}
LOG_INF("GPS event: %d status: %d", event, status);
if (event == HL7800_GNSS_EVENT_POSITION) {
event_handler(HL7800_EVENT_GPS_POSITION_STATUS, &status);
}
return true;
}
static void gps_work_callback(struct k_work *work)
{
ARG_UNUSED(work);
int r;
hl7800_lock();
wakeup_hl7800();
r = send_at_cmd(NULL, "AT+GNSSLOC?", MDM_CMD_SEND_TIMEOUT, 1, false);
allow_sleep(true);
hl7800_unlock();
LOG_DBG("GPS location request status: %d", r);
if (ictx.gps_query_location_rate_seconds) {
k_work_reschedule_for_queue(&hl7800_workq, &ictx.gps_work,
K_SECONDS(ictx.gps_query_location_rate_seconds));
}
}
/* The AT+GNSSLOC? command returns 1 of 2 things:
*
* +GNSSLOC:
* Latitude: "49 Deg 10 Min 21.49 Sec N"
* Longitude: "123 Deg 4 Min 14.76 Sec W"
* GpsTime: "yyyy mm dd hh:mm:ss"
* FixType: "2D" or "3D"
* HEPE: "8.485 m" (Horizontal Estimated Position Error)
* Altitude: "-1 m"
* AltUnc: "3.0 m"
* Direction: "0.0 deg"
* HorSpeed: "0.0 m/s"
* VerSpeed: "0.0 m/s"
* OK
*
* OR
*
* +GNSSLOC:
* FIX NOT AVAILABLE
* OK
*
* Since each response is on its own line, the command handler is used
* to handle each one as an individual response.
*/
static bool gps_handler(struct net_buf **buf, uint16_t len,
enum mdm_hl7800_gps_string_types str_type)
{
struct mdm_hl7800_compound_event event;
char gps_str[MDM_HL7800_MAX_GPS_STR_SIZE];
size_t gps_len = sizeof(gps_str) - 1;
struct net_buf *frag = NULL;
size_t out_len;
wait_for_modem_data_and_newline(buf, net_buf_frags_len(*buf), sizeof(gps_str));
frag = NULL;
len = net_buf_findcrlf(*buf, &frag);
if (!frag) {
LOG_ERR("Unable to find end");
goto done;
}
if (len > gps_len) {
LOG_WRN("GPS string too long (len:%d)", len);
len = gps_len;
}
out_len = net_buf_linearize(gps_str, gps_len, *buf, 0, len);
gps_str[out_len] = 0;
event.code = str_type;
event.string = gps_str;
event_handler(HL7800_EVENT_GPS, &event);
done:
return true;
}
static bool on_cmd_latitude(struct net_buf **buf, uint16_t len)
{
return gps_handler(buf, len, HL7800_GPS_STR_LATITUDE);
}
static bool on_cmd_longitude(struct net_buf **buf, uint16_t len)
{
return gps_handler(buf, len, HL7800_GPS_STR_LONGITUDE);
}
static bool on_cmd_gps_time(struct net_buf **buf, uint16_t len)
{
return gps_handler(buf, len, HL7800_GPS_STR_GPS_TIME);
}
static bool on_cmd_fix_type(struct net_buf **buf, uint16_t len)
{
return gps_handler(buf, len, HL7800_GPS_STR_FIX_TYPE);
}
static bool on_cmd_hepe(struct net_buf **buf, uint16_t len)
{
return gps_handler(buf, len, HL7800_GPS_STR_HEPE);
}
static bool on_cmd_altitude(struct net_buf **buf, uint16_t len)
{
return gps_handler(buf, len, HL7800_GPS_STR_ALTITUDE);
}
static bool on_cmd_alt_unc(struct net_buf **buf, uint16_t len)
{
return gps_handler(buf, len, HL7800_GPS_STR_ALT_UNC);
}
static bool on_cmd_direction(struct net_buf **buf, uint16_t len)
{
return gps_handler(buf, len, HL7800_GPS_STR_DIRECTION);
}
static bool on_cmd_hor_speed(struct net_buf **buf, uint16_t len)
{
return gps_handler(buf, len, HL7800_GPS_STR_HOR_SPEED);
}
static bool on_cmd_ver_speed(struct net_buf **buf, uint16_t len)
{
return gps_handler(buf, len, HL7800_GPS_STR_VER_SPEED);
}
#endif /* CONFIG_MODEM_HL7800_GPS */
static void notify_all_tcp_sockets_closed(void)
{
int i;
@ -3542,6 +3753,21 @@ static void hl7800_rx(void)
/* FIRMWARE UPDATE RESPONSES */
CMD_HANDLER("+WDSI: ", device_service_ind),
#ifdef CONFIG_MODEM_HL7800_GPS
CMD_HANDLER("+GNSSEV: ", gps_event),
CMD_HANDLER("Latitude: ", latitude),
CMD_HANDLER("Longitude: ", longitude),
CMD_HANDLER("GpsTime: ", gps_time),
CMD_HANDLER("FixType: ", fix_type),
CMD_HANDLER("HEPE: ", hepe),
CMD_HANDLER("Altitude: ", altitude),
CMD_HANDLER("AltUnc: ", alt_unc),
CMD_HANDLER("Direction: ", direction),
CMD_HANDLER("HorSpeed: ", hor_speed),
CMD_HANDLER("VerSpeed: ", ver_speed),
#endif
};
while (true) {
@ -5006,6 +5232,10 @@ static int hl7800_init(const struct device *dev)
k_work_init_delayable(&ictx.allow_sleep_work,
allow_sleep_work_callback);
#ifdef CONFIG_MODEM_HL7800_GPS
k_work_init_delayable(&ictx.gps_work, gps_work_callback);
#endif
#ifdef CONFIG_MODEM_HL7800_FW_UPDATE
k_work_init(&ictx.finish_fw_update_work,
finish_fw_update_work_callback);

62
include/drivers/modem/hl7800.h
View file

@ -15,6 +15,8 @@
extern "C" {
#endif
#include <zephyr/types.h>
#ifdef CONFIG_NEWLIB_LIBC
#include <time.h>
#endif
@ -68,6 +70,8 @@ struct mdm_hl7800_apn {
#define MDM_HL7800_MODEM_FUNCTIONALITY_STRLEN \
(MDM_HL7800_MODEM_FUNCTIONALITY_SIZE - 1)
#define MDM_HL7800_MAX_GPS_STR_SIZE 33
enum mdm_hl7800_radio_mode { MDM_RAT_CAT_M1 = 0, MDM_RAT_CAT_NB1 };
enum mdm_hl7800_event {
@ -83,7 +87,9 @@ enum mdm_hl7800_event {
HL7800_EVENT_ACTIVE_BANDS,
HL7800_EVENT_FOTA_STATE,
HL7800_EVENT_FOTA_COUNT,
HL7800_EVENT_REVISION
HL7800_EVENT_REVISION,
HL7800_EVENT_GPS,
HL7800_EVENT_GPS_POSITION_STATUS,
};
enum mdm_hl7800_startup_state {
@ -132,12 +138,50 @@ enum mdm_hl7800_functionality {
HL7800_FUNCTIONALITY_AIRPLANE = 4
};
/* The modem reports state values as an enumeration and a string */
/* The modem reports state values as an enumeration and a string.
* GPS values are reported with a type of value and string.
*/
struct mdm_hl7800_compound_event {
uint8_t code;
char *string;
};
enum mdm_hl7800_gnss_event {
HL7800_GNSS_EVENT_INVALID = -1,
HL7800_GNSS_EVENT_INIT,
HL7800_GNSS_EVENT_START,
HL7800_GNSS_EVENT_STOP,
HL7800_GNSS_EVENT_POSITION,
};
enum mdm_hl7800_gnss_status {
HL7800_GNSS_STATUS_INVALID = -1,
HL7800_GNSS_STATUS_FAILURE,
HL7800_GNSS_STATUS_SUCCESS,
};
enum mdm_hl7800_gnss_position_event {
HL7800_GNSS_POSITION_EVENT_INVALID = -1,
HL7800_GNSS_POSITION_EVENT_LOST_OR_NOT_AVAILABLE_YET,
HL7800_GNSS_POSITION_EVENT_PREDICTION_AVAILABLE,
HL7800_GNSS_POSITION_EVENT_2D_AVAILABLE,
HL7800_GNSS_POSITION_EVENT_3D_AVAILABLE,
HL7800_GNSS_POSITION_EVENT_FIXED_TO_INVALID,
};
enum mdm_hl7800_gps_string_types {
HL7800_GPS_STR_LATITUDE,
HL7800_GPS_STR_LONGITUDE,
HL7800_GPS_STR_GPS_TIME,
HL7800_GPS_STR_FIX_TYPE,
HL7800_GPS_STR_HEPE,
HL7800_GPS_STR_ALTITUDE,
HL7800_GPS_STR_ALT_UNC,
HL7800_GPS_STR_DIRECTION,
HL7800_GPS_STR_HOR_SPEED,
HL7800_GPS_STR_VER_SPEED
};
/**
* event - The type of event
* event_data - Pointer to event specific data structure
@ -153,6 +197,8 @@ struct mdm_hl7800_compound_event {
* HL7800_EVENT_FOTA_STATE - compound event
* HL7800_EVENT_FOTA_COUNT - uint32_t
* HL7800_EVENT_REVISION - string
* HL7800_EVENT_GPS - compound event
* HL7800_EVENT_GPS_POSITION_STATUS int
*/
typedef void (*mdm_hl7800_event_callback_t)(enum mdm_hl7800_event event,
void *event_data);
@ -312,6 +358,18 @@ int32_t mdm_hl7800_get_functionality(void);
*/
int32_t mdm_hl7800_set_functionality(enum mdm_hl7800_functionality mode);
/**
* @brief When rate is non-zero: Put modem into Airplane mode. Enable GPS and
* generate HL7800_EVENT_GPS events.
* When zero: Disable GPS and put modem into normal mode.
*
* @note Airplane mode isn't cleared when the modem is reset.
*
* @param rate in seconds to query location
* @return int32_t negative errno, 0 on success
*/
int32_t mdm_hl7800_set_gps_rate(uint32_t rate);
#ifdef __cplusplus
}
#endif