GnssAdapter: add support for ppe fix type and calibration info

(1) Add support to report out calibration confidence in position
    report
(2) Update gps quality of GGA, mode indicator for GMC and VTG
    NMEA sentences

Change-Id: Ia1aa5283deffed6638172b90a41b481c2d199229
CRs-fixed: 2438838

gnss/GnssAdapter.cpp

@@ -475,6 +475,16 @@ GnssAdapter::convertLocationInfo(GnssLocationInfoNotification& out,
         out.flags |= GNSS_LOCATION_INFO_TIME_UNC_BIT;
         out.timeUncMs = locationExtended.timeUncMs;
     }
+
+    if (GPS_LOCATION_EXTENDED_HAS_CALIBRATION_CONFIDENCE & locationExtended.flags) {
+        out.flags |= GNSS_LOCATION_INFO_CALIBRATION_CONFIDENCE_BIT;
+        out.calibrationConfidence = locationExtended.calibrationConfidence;
+    }
+
+    if (GPS_LOCATION_EXTENDED_HAS_CALIBRATION_STATUS & locationExtended.flags) {
+        out.flags |= GNSS_LOCATION_INFO_CALIBRATION_STATUS_BIT;
+        out.calibrationStatus = locationExtended.calibrationStatus;
+    }
 }
 
 

location/LocationDataTypes.h

@@ -172,8 +172,9 @@ typedef enum {
     GNSS_LOCATION_INFO_UP_VEL_UNC_BIT                   = (1<<21),// valid Up Velocity Uncertainty
     GNSS_LOCATION_INFO_LEAP_SECONDS_BIT                 = (1<<22),// valid leap seconds
     GNSS_LOCATION_INFO_TIME_UNC_BIT                     = (1<<23),// valid time uncertainty
-    GNSS_LOCATION_INFO_NUM_SV_USED_IN_POSITION_BIT      = (1<<24) // number of SV used in position
+    GNSS_LOCATION_INFO_NUM_SV_USED_IN_POSITION_BIT      = (1<<24), // number of SV used in position
-
+    GNSS_LOCATION_INFO_CALIBRATION_CONFIDENCE_BIT       = (1<<25), // valid sensor cal confidence
+    GNSS_LOCATION_INFO_CALIBRATION_STATUS_BIT           = (1<<26), // valid sensor cal status
 } GnssLocationInfoFlagBits;
 
 typedef enum {
@@ -601,6 +602,8 @@ typedef enum
 {
     GNSS_LOC_SV_SYSTEM_UNKNOWN                = 0,
     /** unknown sv system. */
+    GNSS_LOC_SV_SYSTEM_MIN                    = 1,
+    /**< Min enum of valid SV system. */
     GNSS_LOC_SV_SYSTEM_GPS                    = 1,
     /**< GPS satellite. */
     GNSS_LOC_SV_SYSTEM_GALILEO                = 2,
@@ -613,8 +616,10 @@ typedef enum
     /**< BDS satellite. */
     GNSS_LOC_SV_SYSTEM_QZSS                   = 6,
     /**< QZSS satellite. */
-    GNSS_LOC_SV_SYSTEM_NAVIC                  = 7
+    GNSS_LOC_SV_SYSTEM_NAVIC                  = 7,
     /**< QZSS satellite. */
+    GNSS_LOC_SV_SYSTEM_MAX                    = 7,
+    /**< Max enum of valid SV system. */
 } Gnss_LocSvSystemEnumType;
 
 typedef enum {
@@ -695,6 +700,20 @@ typedef struct {
     GnssAidingDataCommon common; // common aiding data
 } GnssAidingData;
 
+typedef uint16_t DrCalibrationStatusMask;
+typedef enum {
+    // Indicate that roll calibration is needed. Need to take more turns on level ground
+    DR_ROLL_CALIBRATION_NEEDED  = (1<<0),
+    // Indicate that pitch calibration is needed. Need to take more turns on level ground
+    DR_PITCH_CALIBRATION_NEEDED = (1<<1),
+    // Indicate that yaw calibration is needed. Need to accelerate in a straight line
+    DR_YAW_CALIBRATION_NEEDED   = (1<<2),
+    // Indicate that odo calibration is needed. Need to accelerate in a straight line
+    DR_ODO_CALIBRATION_NEEDED   = (1<<3),
+    // Indicate that gyro calibration is needed. Need to take more turns on level ground
+    DR_GYRO_CALIBRATION_NEEDED  = (1<<4)
+} DrCalibrationStatusBits;
+
 typedef struct {
     uint32_t size;           // set to sizeof(Location)
     LocationFlagsMask flags; // bitwise OR of LocationFlagsBits to mark which params are valid
@@ -975,6 +994,9 @@ typedef struct {
     GnssMeasUsageInfo measUsageInfo[GNSS_SV_MAX]; // GNSS Measurement Usage info
     uint8_t leapSeconds;                          // leap second
     float timeUncMs;                              // Time uncertainty in milliseconds
+    uint8_t calibrationConfidence;                // Sensor calibration confidence percent,
+                                                  // in range of [0, 100]
+    DrCalibrationStatusMask calibrationStatus;    // Sensor calibration status
 } GnssLocationInfoNotification;
 
 typedef struct {

utils/gps_extended_c.h

@@ -381,6 +381,10 @@ typedef uint64_t GpsLocationExtendedFlags;
 #define GPS_LOCATION_EXTENDED_HAS_HEADING_RATE           0x200000000
 /** GpsLocationExtended has multiband signals  **/
 #define GPS_LOCATION_EXTENDED_HAS_MULTIBAND              0x400000000
+/** GpsLocationExtended has sensor calibration confidence */
+#define GPS_LOCATION_EXTENDED_HAS_CALIBRATION_CONFIDENCE 0x800000000
+/** GpsLocationExtended has sensor calibration status */
+#define GPS_LOCATION_EXTENDED_HAS_CALIBRATION_STATUS     0x1000000000
 
 typedef uint32_t LocNavSolutionMask;
 /* Bitmask to specify whether SBAS ionospheric correction is used  */
@@ -397,6 +401,8 @@ typedef uint32_t LocNavSolutionMask;
 #define LOC_NAV_MASK_RTK_CORRECTION ((LocNavSolutionMask)0x0020)
 /**<  Bitmask to specify whether Position Report is PPP corrected   */
 #define LOC_NAV_MASK_PPP_CORRECTION ((LocNavSolutionMask)0x0040)
+/**<  Bitmask to specify whether Position Report is RTK fixed corrected   */
+#define LOC_NAV_MASK_RTK_FIXED_CORRECTION ((LocNavSolutionMask)0x0080)
 
 typedef uint32_t LocPosDataMask;
 /* Bitmask to specify whether Navigation data has Forward Acceleration  */
@@ -792,6 +798,9 @@ typedef struct {
         Range: 0 to 359.999. 946
         Unit: Degrees per Seconds */
     float headingRateDeg;
+    /** Sensor calibration confidence percent. Range: 0 - 100 */
+    uint8_t calibrationConfidence;
+    DrCalibrationStatusMask calibrationStatus;
 } GpsLocationExtended;
 
 enum loc_sess_status {

utils/loc_nmea.cpp

@@ -880,7 +880,7 @@ static void loc_nmea_generate_DTM(const LocLla &ref_lla,
 }
 
 /*===========================================================================
-FUNCTION    getUtcTimeWithLeapSecondTransition
+FUNCTION    get_utctime_with_leapsecond_transition
 
 DESCRIPTION
    This function returns true if the position report is generated during
@@ -900,10 +900,12 @@ SIDE EFFECTS
    N/A
 
 ===========================================================================*/
-bool getUtcTimeWithLeapSecondTransition(const UlpLocation &location,
+static bool get_utctime_with_leapsecond_transition(
+        const UlpLocation &location,
         const GpsLocationExtended &locationExtended,
         const LocationSystemInfo &systemInfo,
-                                        LocGpsUtcTime &utcPosTimestamp) {
+        LocGpsUtcTime &utcPosTimestamp)
+{
     bool inTransition = false;
 
     // position report is not generated during leap second transition,
@@ -952,6 +954,94 @@ bool getUtcTimeWithLeapSecondTransition(const UlpLocation &location,
     return inTransition;
 }
 
+/*===========================================================================
+FUNCTION    loc_nmea_get_fix_quality
+
+DESCRIPTION
+   This function obtains the fix quality for GGA sentence, mode indicator
+   for RMC and VTG sentence based on nav solution mask and tech mask in
+   the postion report.
+
+DEPENDENCIES
+   NONE
+
+Output parameter
+   ggaGpsQuality: gps quality field in GGA sentence
+   rmcModeIndicator: mode indicator field in RMC sentence
+   vtgModeIndicator: mode indicator field in VTG sentence
+
+SIDE EFFECTS
+   N/A
+
+===========================================================================*/
+static void loc_nmea_get_fix_quality(const UlpLocation & location,
+                                     const GpsLocationExtended & locationExtended,
+                                     char & ggaGpsQuality,
+                                     char & rmcModeIndicator,
+                                     char & vtgModeIndicator) {
+
+    ggaGpsQuality = '0';
+    rmcModeIndicator = 'N';
+    vtgModeIndicator = 'N';
+
+    do {
+        if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG)){
+            ggaGpsQuality = '0'; // 0 means no fix
+            rmcModeIndicator = 'N';
+            vtgModeIndicator = 'N';
+            break;
+        }
+        // NOTE: Order of the check is important
+        if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_NAV_SOLUTION_MASK) {
+            if (LOC_NAV_MASK_PPP_CORRECTION & locationExtended.navSolutionMask) {
+                ggaGpsQuality = '2';    // 2 means DGPS fix
+                rmcModeIndicator = 'P'; // P means precise
+                vtgModeIndicator = 'P'; // P means precise
+                break;
+            } else if (LOC_NAV_MASK_RTK_FIXED_CORRECTION & locationExtended.navSolutionMask){
+                ggaGpsQuality = '4';    // 4 means RTK Fixed fix
+                rmcModeIndicator = 'R'; // use R (RTK fixed)
+                vtgModeIndicator = 'D'; // use D (differential) as
+                                        // no RTK fixed defined for VTG in NMEA 183 spec
+                break;
+            } else if (LOC_NAV_MASK_RTK_CORRECTION & locationExtended.navSolutionMask){
+                ggaGpsQuality = '5';    // 5 means RTK float fix
+                rmcModeIndicator = 'F'; // F means RTK float fix
+                vtgModeIndicator = 'D'; // use D (differential) as
+                                        // no RTK float defined for VTG in NMEA 183 spec
+                break;
+            } else if (LOC_NAV_MASK_DGNSS_CORRECTION & locationExtended.navSolutionMask){
+                ggaGpsQuality = '2';    // 2 means DGPS fix
+                rmcModeIndicator = 'D'; // D means differential
+                vtgModeIndicator = 'D'; // D means differential
+                break;
+            } else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask){
+                ggaGpsQuality = '2';    // 2 means DGPS fix
+                rmcModeIndicator = 'D'; // D means differential
+                vtgModeIndicator = 'D'; // D means differential
+                break;
+            }
+        }
+        // NOTE: Order of the check is important
+        if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_POS_TECH_MASK) {
+            if (LOC_POS_TECH_MASK_SATELLITE & locationExtended.tech_mask){
+                ggaGpsQuality = '1'; // 1 means GPS
+                rmcModeIndicator = 'A'; // A means autonomous
+                vtgModeIndicator = 'A'; // A means autonomous
+                break;
+            } else if (LOC_POS_TECH_MASK_SENSORS & locationExtended.tech_mask){
+                ggaGpsQuality = '6'; // 6 means estimated (dead reckoning)
+                rmcModeIndicator = 'E'; // E means estimated (dead reckoning)
+                vtgModeIndicator = 'E'; // E means estimated (dead reckoning)
+                break;
+            }
+        }
+    } while (0);
+
+    LOC_LOGv("gps quality: %c, rmc mode indicator: %c, vtg mode indicator: %c",
+             ggaGpsQuality, rmcModeIndicator, vtgModeIndicator);
+}
+
 /*===========================================================================
 FUNCTION    loc_nmea_generate_pos
 
@@ -987,7 +1077,7 @@ void loc_nmea_generate_pos(const UlpLocation &location,
     LocGpsUtcTime utcPosTimestamp = 0;
     bool inLsTransition = false;
 
-    inLsTransition = getUtcTimeWithLeapSecondTransition
+    inLsTransition = get_utctime_with_leapsecond_transition
                     (location, locationExtended, systemInfo, utcPosTimestamp);
 
     time_t utcTime(utcPosTimestamp/1000);
@@ -1120,6 +1210,12 @@ void loc_nmea_generate_pos(const UlpLocation &location,
             talker[1] = sv_meta.talker[1];
         }
 
+        char ggaGpsQuality = '0';
+        char rmcModeIndicator = 'N';
+        char vtgModeIndicator = 'N';
+        loc_nmea_get_fix_quality(location, locationExtended,
+                                 ggaGpsQuality, rmcModeIndicator, vtgModeIndicator);
+
         // -------------------
         // ------$--VTG-------
         // -------------------
@@ -1174,17 +1270,7 @@ void loc_nmea_generate_pos(const UlpLocation &location,
         pMarker += length;
         lengthRemaining -= length;
 
-        if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG))
+        length = snprintf(pMarker, lengthRemaining, "%c", vtgModeIndicator);
-            // N means no fix
-            length = snprintf(pMarker, lengthRemaining, "%c", 'N');
-        else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask)
-            // D means differential
-            length = snprintf(pMarker, lengthRemaining, "%c", 'D');
-        else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask)
-            // E means estimated (dead reckoning)
-            length = snprintf(pMarker, lengthRemaining, "%c", 'E');
-        else // A means autonomous
-            length = snprintf(pMarker, lengthRemaining, "%c", 'A');
 
         length = loc_nmea_put_checksum(sentence, sizeof(sentence));
         nmeaArraystr.push_back(sentence);
@@ -1372,18 +1458,7 @@ void loc_nmea_generate_pos(const UlpLocation &location,
         pMarker += length;
         lengthRemaining -= length;
 
-        if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG))
+        length = snprintf(pMarker, lengthRemaining, "%c", rmcModeIndicator);
-            // N means no fix
-            length = snprintf(pMarker, lengthRemaining, "%c", 'N');
-        else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask)
-            // D means differential
-            length = snprintf(pMarker, lengthRemaining, "%c", 'D');
-        else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask)
-            // E means estimated (dead reckoning)
-            length = snprintf(pMarker, lengthRemaining, "%c", 'E');
-        else  // A means autonomous
-            length = snprintf(pMarker, lengthRemaining, "%c", 'A');
-
         pMarker += length;
         lengthRemaining -= length;
 
@@ -1600,28 +1675,18 @@ void loc_nmea_generate_pos(const UlpLocation &location,
         pMarker += length;
         lengthRemaining -= length;
 
-        char gpsQuality;
-        if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG))
-            gpsQuality = '0'; // 0 means no fix
-        else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask)
-            gpsQuality = '2'; // 2 means DGPS fix
-        else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask)
-            gpsQuality = '6'; // 6 means estimated (dead reckoning)
-        else
-            gpsQuality = '1'; // 1 means GPS fix
-
         // Number of satellites in use, 00-12
         if (svUsedCount > MAX_SATELLITES_IN_USE)
             svUsedCount = MAX_SATELLITES_IN_USE;
         if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP)
         {
             length = snprintf(pMarker, lengthRemaining, "%c,%02d,%.1f,",
-                              gpsQuality, svUsedCount, locationExtended.hdop);
+                              ggaGpsQuality, svUsedCount, locationExtended.hdop);
         }
         else
         {   // no hdop
             length = snprintf(pMarker, lengthRemaining, "%c,%02d,,",
-                              gpsQuality, svUsedCount);
+                              ggaGpsQuality, svUsedCount);
         }
 
         if (length < 0 || length >= lengthRemaining)