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-rw-r--r--gnss/src/main.c344
1 files changed, 344 insertions, 0 deletions
diff --git a/gnss/src/main.c b/gnss/src/main.c
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+#if 1
+/*
+ * Copyright (c) 2024 Conexio Technologies, Inc
+ *
+ * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+ */
+
+#include <stdio.h>
+#include <zephyr/kernel.h>
+
+#include <zephyr/logging/log.h>
+#include <modem/nrf_modem_lib.h>
+#include <modem/lte_lc.h>
+#include <dk_buttons_and_leds.h>
+
+/* Include the header file for the GNSS interface */
+#include <nrf_modem_gnss.h>
+
+/* Define the PVT data frame variable */
+static struct nrf_modem_gnss_pvt_data_frame pvt_data;
+
+/* Declare helper variables to find the TTFF */
+static int64_t gnss_start_time;
+static bool first_fix = false;
+
+static K_SEM_DEFINE(lte_connected, 0, 1);
+
+LOG_MODULE_REGISTER(GNSS_sample, LOG_LEVEL_INF);
+
+
+static int modem_configure(void)
+{
+ int err;
+
+ LOG_INF("Initializing modem library");
+
+ err = nrf_modem_lib_init();
+ if (err) {
+ LOG_ERR("Failed to initialize the modem library, error: %d", err);
+ return err;
+ }
+
+ err = lte_lc_init();
+ if (err) {
+ LOG_ERR("Failed to initialize LTE Link Controller, error: %d", err);
+ return err;
+ }
+
+ return 0;
+}
+
+/* Define a function to log fix data in a readable format */
+static void print_fix_data(struct nrf_modem_gnss_pvt_data_frame *pvt_data)
+{
+ LOG_INF("Latitude: %.06f", pvt_data->latitude);
+ LOG_INF("Longitude: %.06f", pvt_data->longitude);
+ LOG_INF("Altitude: %.01f m", pvt_data->altitude);
+ LOG_INF("Time (UTC): %02u:%02u:%02u.%03u",
+ pvt_data->datetime.hour,
+ pvt_data->datetime.minute,
+ pvt_data->datetime.seconds,
+ pvt_data->datetime.ms);
+}
+
+
+static void gnss_event_handler(int event)
+{
+ int err;
+
+ switch (event) {
+ /* On a PVT event, confirm if PVT data is a valid fix */
+ case NRF_MODEM_GNSS_EVT_PVT:
+ LOG_INF("Searching...");
+ /* Print satellite information */
+ int num_satellites = 0;
+ for (int i = 0; i < 12 ; i++) {
+ if (pvt_data.sv[i].signal != 0) {
+ LOG_INF("sv: %d, cn0: %d", pvt_data.sv[i].sv, pvt_data.sv[i].cn0);
+ num_satellites++;
+ }
+ }
+ LOG_INF("Number of current satellites: %d", num_satellites);
+ err = nrf_modem_gnss_read(&pvt_data, sizeof(pvt_data), NRF_MODEM_GNSS_DATA_PVT);
+ if (err) {
+ LOG_ERR("nrf_modem_gnss_read failed, err %d", err);
+ return;
+ }
+ if (pvt_data.flags & NRF_MODEM_GNSS_PVT_FLAG_FIX_VALID) {
+ dk_set_led_on(DK_LED1);
+ print_fix_data(&pvt_data);
+ /* Print the time to first fix */
+ if (!first_fix) {
+ LOG_INF("Time to first fix: %2.1lld s", (k_uptime_get() - gnss_start_time)/1000);
+ first_fix = true;
+ }
+ return;
+ }
+ break;
+ /* Log when the GNSS sleeps and wakes up */
+ case NRF_MODEM_GNSS_EVT_PERIODIC_WAKEUP:
+ LOG_INF("GNSS has woken up");
+ break;
+ case NRF_MODEM_GNSS_EVT_SLEEP_AFTER_FIX:
+ LOG_INF("GNSS enter sleep after fix");
+ break;
+ default:
+ break;
+ }
+}
+
+int main(void)
+{
+ int err;
+
+ LOG_INF("Stratus GNSS sample started");
+
+ if (dk_leds_init() != 0) {
+ LOG_ERR("Failed to initialize the LEDs Library");
+ }
+
+ err = modem_configure();
+ if (err) {
+ LOG_ERR("Failed to configure the modem");
+ return 0;
+ }
+
+ /* Activate only the GNSS stack */
+ if (lte_lc_func_mode_set(LTE_LC_FUNC_MODE_ACTIVATE_GNSS) != 0) {
+ LOG_ERR("Failed to activate GNSS functional mode");
+ return 0;
+ }
+
+ /* Register the GNSS event handler */
+ if (nrf_modem_gnss_event_handler_set(gnss_event_handler) != 0) {
+ LOG_ERR("Failed to set GNSS event handler");
+ return 0;
+ }
+
+ /* Set the GNSS fix interval and GNSS fix retry period */
+ if (nrf_modem_gnss_fix_interval_set(CONFIG_GNSS_PERIODIC_INTERVAL) != 0) {
+ LOG_ERR("Failed to set GNSS fix interval");
+ return 0;
+ }
+
+ if (nrf_modem_gnss_fix_retry_set(CONFIG_GNSS_PERIODIC_TIMEOUT) != 0) {
+ LOG_ERR("Failed to set GNSS fix retry");
+ return 0;
+ }
+
+ /* Start the GNSS receiver */
+ LOG_INF("Starting GNSS");
+ if (nrf_modem_gnss_start() != 0) {
+ LOG_ERR("Failed to start GNSS");
+ return 0;
+ }
+
+ /* Log the current system uptime */
+ gnss_start_time = k_uptime_get();
+
+ return 0;
+}
+#elif 0
+/* */
+/* Copyright (c) 2020 Nordic Semiconductor ASA */
+/* */
+/* SPDX-License-Identifier: LicenseRef-Nordic-5-Clause */
+#include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
+#include <zephyr/drivers/i2c.h>
+
+/* STEP 8 - Define the addresses of relevant registers */
+#define CTRLMEAS 0xF4
+#define CALIB00 0x88
+#define ID 0xD0
+#define TEMPMSB 0xFA
+
+#define CHIP_ID 0x61
+#define SENSOR_CONFIG_VALUE 0x93
+
+/* STEP 6 - Get the node identifier of the sensor */
+#define I2C_NODE DT_NODELABEL(mysensor)
+
+/* Data structure to store BME280 data */
+struct bme280_data {
+ /* Compensation parameters */
+ uint16_t dig_t1;
+ int16_t dig_t2;
+ int16_t dig_t3;
+} bmedata;
+
+/* Read sensor calibration data and stores these into sensor data */
+void bme_calibrationdata(const struct i2c_dt_spec *spec, struct bme280_data *sensor_data_ptr)
+{
+
+ /* Step 10 - Put calibration function code */
+ uint8_t values[6];
+
+ int ret = i2c_burst_read_dt(spec, CALIB00, values, 6);
+
+ if (ret != 0) {
+ printk("Failed to read register %x \n", CALIB00);
+ return;
+ }
+
+ sensor_data_ptr->dig_t1 = ((uint16_t)values[1]) << 8 | values[0];
+ sensor_data_ptr->dig_t2 = ((uint16_t)values[3]) << 8 | values[2];
+ sensor_data_ptr->dig_t3 = ((uint16_t)values[5]) << 8 | values[4];
+}
+
+/* Compensate current temperature using previously stored sensor calibration data */
+static int32_t bme280_compensate_temp(struct bme280_data *data, int32_t adc_temp)
+{
+ int32_t var1, var2;
+
+ var1 = (((adc_temp >> 3) - ((int32_t)data->dig_t1 << 1)) * ((int32_t)data->dig_t2)) >> 11;
+
+ var2 = (((((adc_temp >> 4) - ((int32_t)data->dig_t1)) *
+ ((adc_temp >> 4) - ((int32_t)data->dig_t1))) >>
+ 12) *
+ ((int32_t)data->dig_t3)) >>
+ 14;
+
+ return ((var1 + var2) * 5 + 128) >> 8;
+}
+
+int main(void)
+{
+
+ /* STEP 7 - Retrieve the API-specific device structure and make sure that the device is
+ * ready to use */
+ static const struct i2c_dt_spec dev_i2c = I2C_DT_SPEC_GET(I2C_NODE);
+
+ if (!device_is_ready(dev_i2c.bus)) {
+ printk("I2C bus %s is not ready!\n", dev_i2c.bus->name);
+ return -1;
+ }
+
+ /* STEP 9 - Verify it is proper device by reading device id */
+ uint8_t id = 0;
+ uint8_t regs[] = {ID};
+
+ int ret = i2c_write_read_dt(&dev_i2c, regs, 1, &id, 1);
+
+ if (ret != 0) {
+ printk("Failed to read register %x \n", regs[0]);
+ return -1;
+ }
+
+ if (id != CHIP_ID) {
+ printk("Invalid chip id! %x \n", id);
+ return -1;
+ }
+
+ bme_calibrationdata(&dev_i2c, &bmedata);
+
+ /* STEP 11 - Setup the sensor by writing the value 0x93 to the Configuration register */
+ uint8_t sensor_config[] = {CTRLMEAS, SENSOR_CONFIG_VALUE};
+
+ ret = i2c_write_dt(&dev_i2c, sensor_config, 2);
+
+ if (ret != 0) {
+ printk("Failed to write register %x \n", sensor_config[0]);
+ return -1;
+ }
+
+ while (1) {
+
+ /* STEP 12 - Read the temperature from the sensor */
+ uint8_t temp_val[3] = {0};
+
+ int ret = i2c_burst_read_dt(&dev_i2c, TEMPMSB, temp_val, 3);
+
+ if (ret != 0) {
+ printk("Failed to read register %x \n", TEMPMSB);
+ k_msleep(1000);
+ continue;
+ }
+
+ /* STEP 12.1 - Put the data read from registers into actual order (see datasheet) */
+ int32_t adc_temp =
+ (temp_val[0] << 12) | (temp_val[1] << 4) | ((temp_val[2] >> 4) & 0x0F);
+
+ /* STEP 12.2 - Compensate temperature */
+ int32_t comp_temp = bme280_compensate_temp(&bmedata, adc_temp);
+
+ /* STEP 12.3 - Convert temperature */
+ float temperature = (float)comp_temp / 100.0f;
+ double fTemp = (double)temperature * 1.8 + 32;
+
+ // Print reading to console
+ printk("Temperature in Celsius : %8.2f C\n", (double)temperature);
+ printk("Temperature in Fahrenheit : %.2f F\n", fTemp);
+
+ k_msleep(1000);
+ }
+}
+#else
+
+/*
+ * Copyright (c) 2018 Bosch Sensortec GmbH
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+ #include <zephyr/kernel.h>
+ #include <zephyr/device.h>
+ #include <zephyr/drivers/sensor.h>
+ #include <stdio.h>
+
+ int main(void)
+ {
+ const struct device *const dev = DEVICE_DT_GET_ONE(bosch_bme680);
+ struct sensor_value temp, press, humidity, gas_res;
+
+ if (!device_is_ready(dev)) {
+ printk("sensor: device not ready.\n");
+ return 0;
+ }
+
+ printf("Device %p name is %s\n", dev, dev->name);
+
+ #ifndef CONFIG_COVERAGE
+ while (1) {
+ #else
+ for (int i = 0; i < 5; i++) {
+ #endif
+ k_sleep(K_MSEC(3000));
+
+ sensor_sample_fetch(dev);
+ sensor_channel_get(dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);
+ sensor_channel_get(dev, SENSOR_CHAN_PRESS, &press);
+ sensor_channel_get(dev, SENSOR_CHAN_HUMIDITY, &humidity);
+ sensor_channel_get(dev, SENSOR_CHAN_GAS_RES, &gas_res);
+
+ printf("Temp: %d.%02d degC; Press: %d.%02d kPa; RH: %d.%02d %%; G: %d.%02d Ohm\n",
+ temp.val1, temp.val2, press.val1, press.val2,
+ humidity.val1, humidity.val2, gas_res.val1,
+ gas_res.val2);
+ }
+ return 0;
+ }
+
+
+#endif
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