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03171162f1
Introduce a new CONFIG_UORB_FORMAT Kconfig option to control whether uORB format strings are compiled in. UORB_LISTENER, UORB_GENERATOR, and DEBUG_UORB all select UORB_FORMAT automatically, so format strings are included when any of these features are enabled. This replaces the previous approach of guarding format strings with CONFIG_DEBUG_UORB, which prevented uorb_listener from displaying sensor data when debug output was disabled. Signed-off-by: hanzhijian <hanzhijian@zepp.com>
108 lines
4.5 KiB
C
108 lines
4.5 KiB
C
/****************************************************************************
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* apps/system/uorb/sensor/gnss.c
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <sensor/gnss.h>
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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#ifdef CONFIG_UORB_FORMAT
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#define UORB_DEBUG_FORMAT_SENSOR_GNSS \
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"timestamp:%" PRIu64 \
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",time_utc:%" PRIu64 \
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",latitude:%hf" \
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",longitude:%hf" \
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",altitude:%hf" \
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",altitude_ellipsoid:%hf" \
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",eph:%hf" \
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",epv:%hf" \
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",hdop:%hf" \
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",pdop:%hf" \
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",vdop:%hf" \
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",ground_speed:%hf" \
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",course:%hf" \
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",satellites_used:%" PRIu32 ""
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#define SENSOR_GNSS_SATELLITE_INFO_FORMAT(idx) \
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",svid" #idx ":%" PRIu32 \
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",elevation" #idx ":%" PRIu32 \
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",azimuth" #idx ":%" PRIu32 \
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",snr" #idx ":%" PRIu32 \
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",flags" #idx ":%" PRIx32 ""
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static const char sensor_gnss_format[] =
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UORB_DEBUG_FORMAT_SENSOR_GNSS ",firmware_version:%" PRIu32 "";
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static const char sensor_gnss_clock_format[] =
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"timestamp:%" PRIu64 ","
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"flags:%" PRIx32 ",leap_second:%" PRId32 ",time_ns:%" PRId64 ","
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"time_uncertainty_ns:%hf,hw_clock_discontinuity_count:%" PRIu32 ","
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"full_bias_ns:%" PRId64 ",bias_ns:%hf,bias_uncertainty_ns:%hf,"
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"drift_nsps:%hf,drift_uncertainty_nsps:%hf";
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static const char sensor_gnss_geofence_event_format[] =
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"type:%" PRId32 ",geofence_id:%" PRId32 ","
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UORB_DEBUG_FORMAT_SENSOR_GNSS ","
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"timestamp:%" PRId64 ",status:%" PRId32 ",transition:%" PRId32 "";
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static const char sensor_gnss_measurement_format[] =
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"timestamp:%" PRIu64 ","
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"flags:%" PRIx32 ",svid:%" PRId32 ",constellation:%" PRIu32 ","
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"time_offset_ns:%hf,received_sv_time_in_ns:%" PRId64 ","
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"received_sv_time_uncertainty_in_ns:%" PRId64 ",state:%" PRIu32 ","
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"c_n0_dbhz:%hf,pseudorange_rate_mps:%hf,"
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"pseudorange_rate_uncertainty_mps:%hf,"
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"accumulated_delta_range_state:%" PRIu32 ",accumulated_delta_range_m:%hf,"
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"accumulated_delta_range_uncertainty_m:%hf,"
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"carrier_frequency_hz:%hf,carrier_cycles:%" PRId64 ",carrier_phase:%hf,"
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"carrier_phase_uncertainty:%hf,multipath_indicator:%" PRIu32 ","
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"snr:%" PRIu32 "";
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static const char sensor_gnss_satellite_format[] =
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"timestamp:%" PRIu64 ",count:%" PRIu32 ",satellites:%" PRIu32 ","
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"constellation:%" PRIu32 ""
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",cf:%hf"
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SENSOR_GNSS_SATELLITE_INFO_FORMAT(0)
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SENSOR_GNSS_SATELLITE_INFO_FORMAT(1)
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SENSOR_GNSS_SATELLITE_INFO_FORMAT(2)
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SENSOR_GNSS_SATELLITE_INFO_FORMAT(3)
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;
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#endif
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/****************************************************************************
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* Public Data
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****************************************************************************/
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ORB_DEFINE(sensor_gnss, struct sensor_gnss, sensor_gnss_format);
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ORB_DEFINE(sensor_gnss_clock, struct sensor_gnss_clock,
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sensor_gnss_clock_format);
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ORB_DEFINE(sensor_gnss_geofence_event, struct sensor_gnss_geofence_event,
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sensor_gnss_geofence_event_format);
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ORB_DEFINE(sensor_gnss_measurement, struct sensor_gnss_measurement,
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sensor_gnss_measurement_format);
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ORB_DEFINE(sensor_gnss_satellite, struct sensor_gnss_satellite,
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sensor_gnss_satellite_format);
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