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Add support for generating NMEA sentences for QZSS.

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Change-Id: Ib1350fceeabcb2dc67812641b1f967b1b240cefd
CRs-Fixed: 2036931
This commit is contained in:
Harikrishnan Hariharan 2017-04-24 18:13:05 +05:30
parent 2a49c5a0ef
commit 0029fafd92
1 changed files with 90 additions and 5 deletions
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95
utils/loc_nmea.cpp
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@ -35,6 +35,15 @@
#define GLONASS_SV_ID_OFFSET 64
#define MAX_SATELLITES_IN_USE 12
// GNSS system id according to NMEA spec
#define SYSTEM_ID_GPS 1
#define SYSTEM_ID_GLONASS 2
#define SYSTEM_ID_GALILEO 3
// Extended systems
#define SYSTEM_ID_BEIDOU 4
#define SYSTEM_ID_QZSS 5
typedef struct loc_nmea_sv_meta_s
{
char talker[3];
@ -42,6 +51,7 @@ typedef struct loc_nmea_sv_meta_s
uint32_t mask;
uint32_t svCount;
uint32_t svIdOffset;
uint32_t systemId;
} loc_nmea_sv_meta;
typedef struct loc_sv_cache_info_s
@ -49,9 +59,11 @@ typedef struct loc_sv_cache_info_s
uint32_t gps_used_mask;
uint32_t glo_used_mask;
uint32_t gal_used_mask;
uint32_t qzss_used_mask;
uint32_t gps_count;
uint32_t glo_count;
uint32_t gal_count;
uint32_t qzss_count;
float hdop;
float pdop;
float vdop;
@ -81,26 +93,39 @@ static loc_nmea_sv_meta* loc_nmea_sv_meta_init(loc_nmea_sv_meta& sv_meta,
{
memset(&sv_meta, 0, sizeof(sv_meta));
sv_meta.svType = svType;
sv_meta.talker[0] = 'G';
switch (svType)
{
case GNSS_SV_TYPE_GPS:
sv_meta.talker[0] = 'G';
sv_meta.talker[1] = 'P';
sv_meta.mask = sv_cache_info.gps_used_mask;
sv_meta.svCount = sv_cache_info.gps_count;
sv_meta.systemId = SYSTEM_ID_GPS;
break;
case GNSS_SV_TYPE_GLONASS:
sv_meta.talker[0] = 'G';
sv_meta.talker[1] = 'L';
sv_meta.mask = sv_cache_info.glo_used_mask;
sv_meta.svCount = sv_cache_info.glo_count;
// GLONASS SV ids are from 65-96
sv_meta.svIdOffset = GLONASS_SV_ID_OFFSET;
sv_meta.systemId = SYSTEM_ID_GLONASS;
break;
case GNSS_SV_TYPE_GALILEO:
sv_meta.talker[0] = 'G';
sv_meta.talker[1] = 'A';
sv_meta.mask = sv_cache_info.gal_used_mask;
sv_meta.svCount = sv_cache_info.gal_count;
sv_meta.systemId = SYSTEM_ID_GALILEO;
break;
case GNSS_SV_TYPE_QZSS:
sv_meta.talker[0] = 'P';
sv_meta.talker[1] = 'Q';
sv_meta.mask = sv_cache_info.qzss_used_mask;
sv_meta.svCount = sv_cache_info.qzss_count;
// QZSS SV ids are from 193-197. So keep svIdOffset 0
sv_meta.systemId = SYSTEM_ID_QZSS;
break;
default:
LOC_LOGE("NMEA Error unknow constellation type: %d", svType);
@ -109,12 +134,14 @@ static loc_nmea_sv_meta* loc_nmea_sv_meta_init(loc_nmea_sv_meta& sv_meta,
if (needCombine &&
(sv_cache_info.gps_used_mask ? 1 : 0) +
(sv_cache_info.glo_used_mask ? 1 : 0) +
(sv_cache_info.gal_used_mask ? 1 : 0) > 1)
(sv_cache_info.gal_used_mask ? 1 : 0) +
(sv_cache_info.qzss_used_mask ? 1 : 0) > 1)
{
// If GPS, GLONASS, Galileo etc. are combined
// If GPS, GLONASS, Galileo, QZSS etc. are combined
// to obtain the reported position solution,
// talker shall be set to GN, to indicate that
// the satellites are used in a combined solution
sv_meta.talker[0] = 'G';
sv_meta.talker[1] = 'N';
}
return &sv_meta;
@ -260,15 +287,22 @@ static uint32_t loc_nmea_generate_GSA(const GpsLocationExtended &locationExtende
// Add the position/horizontal/vertical DOP values
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP)
{
length = snprintf(pMarker, lengthRemaining, "%.1f,%.1f,%.1f",
length = snprintf(pMarker, lengthRemaining, "%.1f,%.1f,%.1f,",
locationExtended.pdop,
locationExtended.hdop,
locationExtended.vdop);
}
else
{ // no dop
length = snprintf(pMarker, lengthRemaining, ",,");
length = snprintf(pMarker, lengthRemaining, ",,,");
}
pMarker += length;
lengthRemaining -= length;
// system id
length = snprintf(pMarker, lengthRemaining, "%d", sv_meta_p->systemId);
pMarker += length;
lengthRemaining -= length;
/* Sentence is ready, add checksum and broadcast */
length = loc_nmea_put_checksum(sentence, bufSize);
@ -385,6 +419,15 @@ static void loc_nmea_generate_GSV(const GnssSvNotification &svNotify,
}
// The following entries are specific to QZSS and BDS
if (sv_meta_p->svType == GNSS_SV_TYPE_QZSS)
{
// last one is System id and second last is Signal Id which is always zero
length = snprintf(pMarker, lengthRemaining,",%d,%d",0,sv_meta_p->systemId);
pMarker += length;
lengthRemaining -= length;
}
length = loc_nmea_put_checksum(sentence, bufSize);
nmeaArraystr.push_back(sentence);
sentenceNumber++;
@ -455,6 +498,7 @@ void loc_nmea_generate_pos(const UlpLocation &location,
if (count > 0)
{
svUsedCount += count;
talker[0] = sv_meta.talker[0];
talker[1] = sv_meta.talker[1];
}
@ -467,6 +511,7 @@ void loc_nmea_generate_pos(const UlpLocation &location,
if (count > 0)
{
svUsedCount += count;
talker[0] = sv_meta.talker[0];
talker[1] = sv_meta.talker[1];
}
@ -479,9 +524,22 @@ void loc_nmea_generate_pos(const UlpLocation &location,
if (count > 0)
{
svUsedCount += count;
talker[0] = sv_meta.talker[0];
talker[1] = sv_meta.talker[1];
}
// -------------------
// ---$PQGSA/$GNGSA---
// -------------------
count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence),
loc_nmea_sv_meta_init(sv_meta, GNSS_SV_TYPE_QZSS, false), nmeaArraystr);
if (count > 0)
{
svUsedCount += count;
// talker should be default "GP". If GPS, GLO etc is used, it should be "GN"
}
// -------------------
// ------$--VTG-------
// -------------------
@ -844,6 +902,7 @@ void loc_nmea_generate_pos(const UlpLocation &location,
sv_cache_info.gps_used_mask = 0;
sv_cache_info.glo_used_mask = 0;
sv_cache_info.gal_used_mask = 0;
sv_cache_info.qzss_used_mask = 0;
}
//Send blank NMEA reports for non-final fixes
else {
@ -855,6 +914,10 @@ void loc_nmea_generate_pos(const UlpLocation &location,
length = loc_nmea_put_checksum(sentence, sizeof(sentence));
nmeaArraystr.push_back(sentence);
strlcpy(sentence, "$PQGSA,A,1,,,,,,,,,,,,,,,", sizeof(sentence));
length = loc_nmea_put_checksum(sentence, sizeof(sentence));
nmeaArraystr.push_back(sentence);
strlcpy(sentence, "$GPVTG,,T,,M,,N,,K,N", sizeof(sentence));
length = loc_nmea_put_checksum(sentence, sizeof(sentence));
nmeaArraystr.push_back(sentence);
@ -908,10 +971,12 @@ void loc_nmea_generate_sv(const GnssSvNotification &svNotify,
sv_cache_info.gps_used_mask = 0;
sv_cache_info.glo_used_mask = 0;
sv_cache_info.gal_used_mask = 0;
sv_cache_info.qzss_used_mask = 0;
sv_cache_info.gps_count = 0;
sv_cache_info.glo_count = 0;
sv_cache_info.gal_count = 0;
sv_cache_info.qzss_count = 0;
for(svNumber=1; svNumber <= svCount; svNumber++) {
if (GNSS_SV_TYPE_GPS == svNotify.gnssSvs[svNumber - 1].type)
{
@ -949,6 +1014,19 @@ void loc_nmea_generate_sv(const GnssSvNotification &svNotify,
}
sv_cache_info.gal_count++;
}
else if (GNSS_SV_TYPE_QZSS == svNotify.gnssSvs[svNumber - 1].type)
{
// cache the used in fix mask, as it will be needed to send $PQGSA
// during the position report
if (GNSS_SV_OPTIONS_USED_IN_FIX_BIT ==
(svNotify.gnssSvs[svNumber - 1].gnssSvOptionsMask &
GNSS_SV_OPTIONS_USED_IN_FIX_BIT))
{
sv_cache_info.qzss_used_mask |= (1 << (svNotify.gnssSvs[svNumber - 1].svId - 1));
}
sv_cache_info.qzss_count++;
}
}
loc_nmea_sv_meta sv_meta;
@ -973,5 +1051,12 @@ void loc_nmea_generate_sv(const GnssSvNotification &svNotify,
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
loc_nmea_sv_meta_init(sv_meta, GNSS_SV_TYPE_GALILEO, false), nmeaArraystr);
// ------------------
// ------$PQGSV------
// ------------------
loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence),
loc_nmea_sv_meta_init(sv_meta, GNSS_SV_TYPE_QZSS, false), nmeaArraystr);
EXIT_LOG(%d, 0);
}