gnss.h

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#ifndef INFUSE_SDK_INCLUDE_INFUSE_TASK_RUNNER_TASKS_GNSS_H_
#define INFUSE_SDK_INCLUDE_INFUSE_TASK_RUNNER_TASKS_GNSS_H_
 
#include <zephyr/kernel.h>
#include <zephyr/drivers/gnss.h>
 
#include <infuse/task_runner/task.h>
#include <infuse/task_runner/schedule.h>
 
#include <infuse/task_runner/tasks/gnss_args.h>
#include <infuse/task_runner/tasks/infuse_task_ids.h>
 
/* UBLOX definitions are used since they are more specific than generic Zephyr */
#include <infuse/gnss/ubx/cfg.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
BUILD_ASSERT((uint32_t)TASK_GNSS_CONSTELLATIONS_GPS == (uint32_t)GNSS_SYSTEM_GPS);
BUILD_ASSERT((uint32_t)TASK_GNSS_CONSTELLATIONS_GLONASS == (uint32_t)GNSS_SYSTEM_GLONASS);
BUILD_ASSERT((uint32_t)TASK_GNSS_CONSTELLATIONS_GALILEO == (uint32_t)GNSS_SYSTEM_GALILEO);
BUILD_ASSERT((uint32_t)TASK_GNSS_CONSTELLATIONS_BEIDOU == (uint32_t)GNSS_SYSTEM_BEIDOU);
BUILD_ASSERT((uint32_t)TASK_GNSS_CONSTELLATIONS_QZSS == (uint32_t)GNSS_SYSTEM_QZSS);
BUILD_ASSERT((uint32_t)TASK_GNSS_CONSTELLATIONS_IRNSS == (uint32_t)GNSS_SYSTEM_IRNSS);
BUILD_ASSERT((uint32_t)TASK_GNSS_CONSTELLATIONS_SBAS == (uint32_t)GNSS_SYSTEM_SBAS);
BUILD_ASSERT((uint32_t)TASK_GNSS_CONSTELLATIONS_IMES == (uint32_t)GNSS_SYSTEM_IMES);
 
#ifdef CONFIG_TASK_RUNNER_TASK_GNSS_THREAD

void gnss_task_fn(const struct task_schedule *schedule, struct k_poll_signal *terminate,
                  void *gnss_dev);

#define GNSS_TASK(define_mem, define_config, gnss_ptr)                                             \
        IF_ENABLED(define_mem, (K_THREAD_STACK_DEFINE(gnss_stack_area,                             \
                                                      CONFIG_TASK_RUNNER_TASK_GNSS_STACK_SIZE);    \
                                struct k_thread gnss_thread_obj))                                  \
        IF_ENABLED(define_config,                                                                  \
                   ({                                                                              \
                           .name = "gnss",                                                         \
                           .task_id = TASK_ID_GNSS,                                                \
                           .exec_type = TASK_EXECUTOR_THREAD,                                      \
                           .flags = TASK_FLAG_ARG_IS_DEVICE,                                       \
                           .task_arg.dev = gnss_ptr,                                               \
                           .executor.thread =                                                      \
                                   {                                                               \
                                           .thread = &gnss_thread_obj,                             \
                                           .task_fn = gnss_task_fn,                                \
                                           .stack = gnss_stack_area,                               \
                                           .stack_size = K_THREAD_STACK_SIZEOF(gnss_stack_area),   \
                                   },                                                              \
                   }))
 
#endif /* CONFIG_TASK_RUNNER_TASK_GNSS_THREAD */
 
#ifdef CONFIG_TASK_RUNNER_TASK_GNSS_WORKQUEUE

void gnss_task_fn(struct k_work *work);

#define GNSS_TASK(define_mem, define_config, gnss_ptr)                                             \
        IF_ENABLED(define_config, ({.name = "gnss",                                                \
                                    .task_id = TASK_ID_GNSS,                                       \
                                    .exec_type = TASK_EXECUTOR_WORKQUEUE,                          \
                                    .flags = TASK_FLAG_ARG_IS_DEVICE,                              \
                                    .task_arg.dev = gnss_ptr,                                      \
                                    .executor.workqueue = {                                        \
                                            .worker_fn = gnss_task_fn,                             \
                                    }}))
 
#endif /* CONFIG_TASK_RUNNER_TASK_GNSS_WORKQUEUE */
 
#ifdef __cplusplus
}
#endif
 
#endif /* INFUSE_SDK_INCLUDE_INFUSE_TASK_RUNNER_TASKS_GNSS_H_ */